高压电器2025，Vol.61Issue(4)：187-193,7.DOI:10.13296/j.1001-1609.hva.2025.04.021
气体绝缘开关设备检测维护机器人控制系统设计
Design on Control System of Robot for Inspection and Maintenance of GIS
摘要
Abstract
In view of the actual needs on the fault detection and foreign object removal of GIS compartment,a kind of detection and maintenance robot of gas-insulated switchgear that combines a flexible arm and a wheeled mobile plat-form is developed.On the basis of this robot,the robot control system with the microprocessor STM32 and the comput-ing module Jetson Xavier NX as the core and fusion of multi-sensor is designed,which realizes the functions of real-time remote video detection and motion control of the robot and,with combination of the foreign object detection and positioning algorithm,realizes a intelligent control scheme of flexible arm.The final test results show that the robot can operate smoothly inside the compartment of GIS,realize fault detection and removal foreign object and possess a good real-time performance.关键词
GIS/柔性臂/轮式移动平台/异物检测定位Key words
GIS/flexible arm/wheeled mobile platform/detection and positioning of foreign object引用本文复制引用
吴霖,马飞越,佃松宜,杨家勇,范智霖..气体绝缘开关设备检测维护机器人控制系统设计[J].高压电器,2025,61(4):187-193,7.基金项目
国家重点研发计划(2018YFB1307401). Project Supported by National Key Research and Development Program(2018YFB1307401). （2018YFB1307401）
