电力学报2025，Vol.40Issue(3)：195-208,14.DOI:10.13357/j.dlxb.2025.021
基于有限状态机的间隔棒安装机器人的作业控制方法研究
Research on the Operation Control Method of Spacer Rod Installation Robot based on Finite State Machine
摘要
Abstract
To address the challenges of complex control and low efficiency in spacer installation robots caused by dynamic variations in conductor spacing during operation,a finite state machine-based control method is pro-posed.In object recognition,the YOLOv11 object detection algorithm is employed to locate robot components and conductors,while depth cameras provide conductor spacing measurements.A DeepLabV3+-based gap recognition algorithm is developed to monitor and regulate conductor gaps during installation.For spacer flip-ping(S4),sliding mode control is used to prevent collisions during rotation,and fuzzy PID control is used to op-timize gap adjustment(S5)to rapidly align conductors within spacer slots.The overall recognition accuracy of the vision system algorithm is more than 94%,and the deviation between the wire spacing measured by depth camera and actual value is less than 1 cm.Experimental results demonstrate during spacer flipping,sliding mode control maintaines safe gaps around the preset value.In on-site trials,the robot autonomously installed spacer dampers in an average of 3 min 30 s.The proposed finite state machine(FSM)-based control method for this task showed good performance,satisfying the demands of practical engineering.关键词
机器人/带电作业/间隔棒安装/有限状态机/YOLOv11/间隙识别/深度相机Key words
robots/electrified work/spacer rod installation/finite state machine/YOLOv11/gap recognition/depth camera分类
动力与电气工程引用本文复制引用
侯泽昀,王旭红,樊绍胜..基于有限状态机的间隔棒安装机器人的作业控制方法研究[J].电力学报,2025,40(3):195-208,14.基金项目
湖南省自然科学基金项目(2023JJ50078). （2023JJ50078）
