第60卷第6期2023年6月15日电测与仪表ElectricalMeasurement&InstrumentationVol.60No.6Jun.15,2023基于实时多任务流系统的高空自动化接线机器人研究郭川，徐文虎，韩舒（南京远能电力工程有限公司送变电分公司，南京210007）摘要：文中针对电网高空作业的检修需求进行高空全自动化接线机器人设计，从高空自动化接线机器人机械臂功能设计和接线功能实现方面进行了介绍。高空自动化接线机器人机械臂的结构设计分为机械臂和绝缘设计。采用嵌入“准时”（JustinTime，JIT）调度思想的基于优先级的立即抢先算法实时处理接线多任务，新增绝缘防护失效控制模块，目的是提高处理效率和人机交互的智能化。该系统包括机械臂控制系统、电动机驱动电路系统、移动平台系统等多个模块。通过现场实施测试，证实该系统可以根据任务程序有序、高效地执行实时维护。与传统人工接线相比，高空自动化接线装置具有效率高，安全性好等优越性。关键词：高空作业；自动化接线；机械臂；任务流；人机交互D0I:10.19753/j.issn1001-1390.2023.06.007中图分类号：TM645Researchonhigh-altitudeautomaticwiringrobotbasedon(TransmissionandDistributionBranchofNanjingYuannengElectricPowerEngineeringCo.,Ltd.,Nanjing210007,China)Abstract:Inthispaper,thedesignoffully-automaticwiringrobotsforhigh-altitudeautomaticwiringrobotsisdesignedaccordingtothemaintenancerequirementsofaerialworkinthepowergrid.Thestructuredesignoftheroboticarmoftheairautomationwiringrobotisdividedintoamechanicalarmandaninsulationdesign.Apriority-basedimmediatepreemp-tionalgorithmbasedonthejustintime(JIT)schedulingideaisusedtohandlemulti-taskinginrealtime,andanewin-sulationprotectionfailurecontrolmoduleisaddedtoimproveprocessingefficiencyandintelligenthuman-computerinterac-tion.Thesystemincludesmultiplemodulessuchasaroboticarmcontrolsystem,amotordrivecircuitsystem,andamo-bileplatformsystem.Throughon-sitetesting,itisconfirmedthatthesystemcanperformreal-timemaintenanceinanor-derlyandefficientmanneraccordingtothetaskprogram.Comparedwiththetraditionalmanualwiring,thehigh-altitudeautomaticwiringdevicehastheadvantagesofhighefficiencyandgoodsafety.Keywords:aerialwork,automaticwiring,mechanicalarm,task-flow,human-computer...
