| With the development of intelligent robot technology,the use of robotic arms to replace manual inspection and operation of electrical equipment has become a major trend in order to improve production efficiency.Meanwhile,due to the impact of the epidemic in recent years,remote work has also become an important technical requirement.Therefore,this article designs a mechanical arm remote control system for electrical equipment control,and on this basis,combines image recognition technology and electrical switchgear usage standards to develop the inspection function of the switchgear.Based on the investigation of actual inspection work scenarios,this article analyzes the design requirements and overall plan of the system.First,the hardware of the system was selected and installed according to the overall scheme.Then,the motion control and image recognition modules of the system were designed.In the motion control module,the mathematical model of the four degree of freedom manipulator used for electrical equipment manipulation in this design was established,and on this basis,the analytic expression of inverse kinematics of the manipulator was obtained using geometric analysis method to achieve the control of the manipulator.At the same time,in order to improve the stability of the robotic arm movement,an auto-disturbance rejection controller is used to control the robotic arm motor.In the electrical equipment identification module,in order to meet the actual meter reading requirements of the system,an algorithm was designed to read the pointer and dial readings of the switchgear.Finally,at the application level,two working modes of electrical equipment automatic inspection and manual inspection were designed based on actual work scenario requirements.In the automatic inspection mode,the operator only needs to input the equipment information and inspection specifications.The system will control the robotic arm to automatically reach the target position based on the equipment position information,and then take corresponding actions,such as reading the pointer dial reading or operating the switch.In manual inspection mode,the operator only needs to control the robotic arm to reach the target device position by continuously adjusting the position of the hand based on the real-time image transmitted from the work site.Afterwards,the system will automatically recognize the device and operate it based on the recognition results and the information of the device in the database.This research involves many fields,such as manipulator mechanism design,manipulator forward kinematics,manipulator inverse kinematics control,motor control,image recognition algorithm and Python application development.This design aims to achieve remote control of electrical equipment such as switchgear at the lowest cost,and has broad application prospects in power equipment inspection. |
