电力学报2025，Vol.40Issue(3)：182-194,13.DOI:10.13357/j.dlxb.2025.020
500kV变电站接地作业机器人的作业控制方法研究
Research on the Operation Control Method of Grounding Operation Robot in 500 kV Substation
摘要
Abstract
To address the inefficiency and high risk of manual grounding operations in 500 kV substations,a com-pact and lightweight grounding robot using drone rope hanging and robot suspension system is developed.The YOLOv11 target detection algorithm is employed to recognize the monkey head clamp and conductor,and bin-ocular cameras are used to obtain the three-dimensional coordinates of the relevant components.An MSFNet-based gap recognition algorithm between the monkey head clamp and conductor is proposed to assist the robot in controlling the gap during the clamping operation.A three-ring control based on position,speed,and current is used to hang the monkey head clamp on the conductor,followed by RBF-PID control of the rotational manipu-lator to secure the clamp on the conductor.Simulations and field tests show that the visual recognition algorithm achieves overall average recognition rates of 97%and 87.5%for the monkey head clamp and conductor,respec-tively.The three-dimensional coordinates measured by binocular camera deviate less from actual coordinates by 1 cm,meeting operational requirements.The RBF-PID control,aided by feedback from the gap recognition al-gorithm,effectively and robustly completed the clamping operation,confirming the control method's feasibili-ty.The designed grounding robot can efficiently and high-quality perform grounding operations in substations,and have significant practical application value and significance.关键词
变电站/机器人/接地作业/YOLOv11/三维定位/间隙识别/MSFNet/RBF-PIDKey words
substation/robot/grounding operation/YOLOv11/three-dimensional positioning/gap recognition/MSFNet/RBF-PID分类
动力与电气工程引用本文复制引用
黎晋宏,王旭红,樊绍胜..500kV变电站接地作业机器人的作业控制方法研究[J].电力学报,2025,40(3):182-194,13.基金项目
国家自然科学基金(62473065) （62473065）
湖南省自然科学基金项目(2023JJ50078). （2023JJ50078）
