CAJ | 학술논문

针对电能表自动化检定，本文设计并实现一种智能机器人系统及可靠挂卸表方案。采用基于以太网和PROFIBUS总线的电气控制架构，软件控制层采用OPC控制组件对传输数据进行封装，方便PLC控制器与上层调度系统数据交互，实现挂卸表、条码扫描、表箱绑定、视觉定位等功能。为提高机器人挂卸表鲁棒性，设计反表、无表、少箱等异常情况的处理机制，保证任务流程正常进行。挂卸表完成之后，利用前馈加反馈控制原理对电能表挂卸状态进行视觉判定，对于位置偏差较大的表位状态进行位置调整。同时，根据机器人运行空间规划挂卸表路径，使机器人能够有效避开周围设备，高效安全完成任务动作。本文设计的机器人系统及可靠挂卸表方案在江苏省电力公司计量中心得到实验验证，运行结果表明系统运行稳定可靠，有效提高了电能表检定效率，具有很强的推广应用价值。
침대전능표자동화검정，본문설계병실현일충지능궤기인계통급가고괘사표방안。채용기우이태망화PROFIBUS총선적전기공제가구，연건공제층채용OPC공제조건대전수수거진행봉장，방편PLC공제기여상층조도계통수거교호，실현괘사표、조마소묘、표상방정、시각정위등공능。위제고궤기인괘사표로봉성，설계반표、무표、소상등이상정황적처리궤제，보증임무류정정상진행。괘사표완성지후，이용전궤가반궤공제원리대전능표괘사상태진행시각판정，대우위치편차교대적표위상태진행위치조정。동시，근거궤기인운행공간규화괘사표로경，사궤기인능구유효피개주위설비，고효안전완성임무동작。본문설계적궤기인계통급가고괘사표방안재강소성전력공사계량중심득도실험험증，운행결과표명계통운행은정가고，유효제고료전능표검정효솔，구유흔강적추엄응용개치。
For energy meter automated calibration, this submission designs and implements an intelligent robot system and the solution for reliable hanging/unloading of energy meters. The electric control architecture is based on Ethernet and PROFIBUS. By using OPC control components for data package, software control layer is convenient to transfer data between the PLC controller and the upper dispatch system. The robot implements the functions of energy meter hanging/unloading, bar code scanning, meter box binding, visual positioning and so on. In order to improve the robustness of the energy meter hanging/unloading, the abnormal handling mechanisms of anti-putting energy meters, no energy meters and meter box lacking to ensure the task flow. After the robot hanging/unloading energy meters, the on-board camera judges the position status according to the feedforward and feedback control principles. For large deviation energy meters, the robot adjusts their positions automatically. Meanwhile, the robot end-effector running paths are planned based on the operating space, so that the robot can effectively avoid surrounding equipments effectively and safely. The design of the robot system and the solution for reliable hanging/unloading of energy meters are tested in the Measurement Center of Jiangsu Province Power Company. The experimental results show that the proposed method can improve the efficiency of energy meter calibration and has a strong promotion value.