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In view o f the prob lem th a t the existing G IS pipeline detection m ethod can no t take in to account the fo re ign m atte r clean ing, a robo t system based on Edison In te r p la tfo rm fo r the detection and cleaning was presented. T he design o f robo t system was in troduced in detail fro m aspects o f hardw are, kinem atic model and human com puter in te raction p la tfo rm . O n the h a rd w a re s h ig h ly in tegrated processor Edison In te r is used as the center to connect the m odularized design during the hardware developm ent. O n the hum an-com puter in te raction p la tfo rm , based on the A n d ro id develop­ m ent p la tfo rm , the func tion o f the 3D dynamic d isp la y ,m o tio n process c o n tro l, robo t a ttitude con tro l have been in plemented in rea ltim e im plem ented. T he test shows th a t the robo t is unque, sm ooth runn ing in the G IS pipeline. T he robo t can achieve the displa lem ent o f about 20 degress. T he camera has no dead corners. T he video pictures o f human-compu­ te r in te raction is clear. T he whole system can satis fy the requirem ent o f detection and cleaning.

一种用于气体绝缘开关设备异物清扫与检测的机器人系统 (Robot System for GIS Foreign Body Clean and Cavity Detection).