CN109514520A - A kind of high-voltage hot-line work principal and subordinate robot apparatus for work and method - Google Patents
A kind of high-voltage hot-line work principal and subordinate robot apparatus for work and method Download PDFInfo
- Publication number
- CN109514520A CN109514520A CN201811435316.8A CN201811435316A CN109514520A CN 109514520 A CN109514520 A CN 109514520A CN 201811435316 A CN201811435316 A CN 201811435316A CN 109514520 A CN109514520 A CN 109514520A
- Authority
- CN
- China
- Prior art keywords
- work
- fault point
- principal
- robot
- voltage hot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
This application discloses a kind of high-voltage hot-line work principal and subordinate robot apparatus for work and method, device includes: unmanned plane, aerial lift device with insulated arm and servo control platform；The unmanned plane carries binocular vision camera, hovers above the aerial lift device with insulated arm；The servo control platform and the aerial lift device with insulated arm communicate to connect.The application is by positioning unmanned plane to fault point, entire operating environment can be monitored, so that robot substitution service personnel carries out altitude hot-line operation, substantially reduces the working strength and degree of risk of service personnel, the Production Safety Precaution Work of many early periods is saved, electric power first-aid efficiency is improved.
Description
Technical field
This application involves a kind of robot aerial work platforms more particularly to a kind of high-voltage hot-line work principal and subordinate robot to make
Industry device and method.
Background technique
The livewire work of high-tension line is the important means of power equipment test, maintenance and transformation, it can to improve power supply
By property, reduces loss of outage, guarantees that power grid security is made that tremendous contribution.Livewire work is to the technical level of operator and ripe
Practice degree, weather conditions, safety protective tools etc. require it is very strict, due to worrying security risk, lacking suitable person peace
Not enough etc., some areas limit the livewire work of distribution line, cause for full protection apparatus and livewire work technical training
Keep distribution line power failure operation frequent, distribution reliability index cannot be completed, to bring very big economy to electric power enterprise
Loss, brings big inconvenience to people's lives and production.Current technology scheme passes through remote control mechanical arm end mostly
Ending tool carries out fault target and overhauls task close to electric power target, allows service personnel from the operating environment of high-altitude danger
In detach.In order to mitigate the work load of operator, binocular camera is installed in the end of mechanical arm, robot is allowed to have
There is certain automated job ability, while a global video camera being installed, is used for the entire operating environment of supervisory-controlled robot, but
It is so job platform to fully rely on the participation of service personnel when carrying out live-line maintenance operation, there is no machine is added
Intelligence auxiliary, automatic capability lacks, inefficiency and there are high altitude operation is hidden to service personnel's bring personal safety
Suffer from.
Summary of the invention
This application provides a kind of altitude hot-line operation principal and subordinate robot apparatus for work and methods, by unmanned plane come to event
Barrier point is positioned, and entire operating environment can be monitored, so that robot for overhauling substitution service personnel carries out altitude hot-line operation,
The working strength and degree of risk for substantially reducing service personnel save the Production Safety Precaution Work of many early periods, improve electric power first-aid
Efficiency.
This application provides a kind of high-voltage hot-line work principal and subordinate robot apparatus for work, comprising:
Unmanned plane, aerial lift device with insulated arm and servo control platform；
The unmanned plane carries binocular vision camera, hovers above the aerial lift device with insulated arm；
The servo control platform and the aerial lift device with insulated arm communicate to connect.
Preferably, the mechanical arm tail end of the aerial lift device with insulated arm carries robot for overhauling.
Preferably, the robot for overhauling includes two sixdegree-of-freedom simulations, described two sixdegree-of-freedom simulation ends
End is fitted with binocular depth camera.
Preferably, the robot for overhauling further includes mechanical arm tail end maintenance controller, the mechanical arm tail end maintenance control
Device processed executes maintenance task for controlling described two sixdegree-of-freedom simulations.
Preferably, the servo control platform includes global monitors, remote-controlled operation platform and wireless high-frequency signaling module, institute
Global monitors are stated for obtaining robot for overhauling work data, the remote-controlled operation platform is for sending control instruction to the inspection
Robot is repaired, the wireless high-frequency signaling module is for receiving high-frequency signal and sending the high-frequency signal.
Preferably, described two six degree of freedom Machinery Ministries end is additionally provided with mark object, the mark object for pair
The detection identification of the work jibs and spatial attitude estimation.
The application second aspect provides a kind of high-voltage hot-line work principal and subordinate robot operational method, a kind of high pressure belt
Electric operation principal and subordinate robot operational method is executed in a kind of foregoing high-voltage hot-line work principal and subordinate robot apparatus for work, institute
State method comprising steps of
Obtain the location information of fault point；
The relative position of real-time detection bucket arm vehicle and the fault point, when the relative position is less than or equal to pre-set co-ordinate
When range, starts the bucket arm vehicle and upkeep operation is implemented to the fault point.
Preferably, the location information for obtaining fault point specifically includes:
Detection identifies the location information of the fault point, and obtains the location information of the mark object of bucket arm vehicle；
Respectively according to the location information of the fault point and it is described mark object location information, construct the fault point and
The three-dimensional space position data of the mark object, and the fault point and institute are calculated by the three-dimensional space position data
State the coordinate residual quantity of mark object.
Preferably, the relative position of the real-time detection bucket arm vehicle and the fault point, be less than when the relative position or
When equal to pre-set co-ordinate range, starting robot for overhauling carries out upkeep operation and starts the bucket arm vehicle to fault point implementation inspection
Operation is repaired to specifically include:
The coordinate residual quantity of the mark object of the fault point and the bucket arm vehicle is obtained in real time, and judges the coordinate residual quantity
Whether pre-set co-ordinate range is less than or equal to, if so, starting the bucket arm vehicle carries out upkeep operation.
As can be seen from the above technical solutions, the application has the following advantages:
This application provides a kind of high-voltage hot-line work principal and subordinate robot apparatus for work and method, device include: unmanned plane,
Aerial lift device with insulated arm and servo control platform；The unmanned plane carries binocular vision camera, hovers in the aerial lift device with insulated arm
Top；The servo control platform and the aerial lift device with insulated arm communicate to connect.
Device provided by the present application can monitor entire operating environment by positioning to unmanned plane to fault point,
So that robot for overhauling substitution service personnel carries out altitude hot-line operation, the working strength and risk journey of service personnel are substantially reduced
Degree saves the Production Safety Precaution Work of many early periods, improves electric power first-aid efficiency.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structure of one embodiment of high-voltage hot-line work principal and subordinate robot provided by the present application apparatus for work
Schematic diagram one；
Fig. 2 is a kind of structure of one embodiment of high-voltage hot-line work principal and subordinate robot provided by the present application apparatus for work
Schematic diagram two；
Fig. 3 is a kind of structure of one embodiment of high-voltage hot-line work principal and subordinate robot provided by the present application apparatus for work
Schematic diagram three.
Specific embodiment
This application provides a kind of high-voltage hot-line work principal and subordinate robot apparatus for work and methods, can monitor entire operation
Environment so that robot for overhauling substitution service personnel carry out altitude hot-line operation, substantially reduce service personnel working strength and
Degree of risk saves the Production Safety Precaution Work of many early periods, improves electric power first-aid efficiency.
To enable present invention purpose, feature, advantage more obvious and understandable, below in conjunction with the application
Attached drawing in embodiment, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that disclosed below
Embodiment be only some embodiments of the present application, and not all embodiment.Based on the embodiment in the application, this field
Those of ordinary skill's all other embodiment obtained without making creative work belongs to the application protection
Range.
Fig. 1-3 is please referred to, Fig. 1 is one of a kind of high-voltage hot-line work principal and subordinate robot provided by the present application apparatus for work
The structural schematic diagram one of embodiment；Fig. 2 is the one of a kind of high-voltage hot-line work principal and subordinate robot provided by the present application apparatus for work
The structural schematic diagram two of a embodiment；Fig. 3 is a kind of high-voltage hot-line work principal and subordinate robot provided by the present application apparatus for work
The structural schematic diagram three of one embodiment.
This application provides a kind of high-voltage hot-line work principal and subordinate robot apparatus for work, comprising:
Unmanned plane 1, aerial lift device with insulated arm 7 and servo control platform；
Unmanned plane 1 carries binocular vision camera, hovers above aerial lift device with insulated arm 7；
Servo control platform and aerial lift device with insulated arm 7 communicate to connect.
Further, the mechanical arm tail end of aerial lift device with insulated arm 7 carries robot for overhauling.
Further, robot for overhauling includes two sixdegree-of-freedom simulations 2, and two 22 ends of sixdegree-of-freedom simulation are all
Binocular depth camera is installed.
Further, robot for overhauling further includes mechanical arm tail end maintenance controller, and mechanical arm tail end repairs controller and uses
Maintenance task is executed in two sixdegree-of-freedom simulations 2 of control.
Further, servo control platform includes global monitors 3, remote-controlled operation platform 4 and wireless high-frequency signaling module 5,
Global monitors for obtaining robot for overhauling work data, remote-controlled operation platform 4 for sending control instruction to robot for overhauling,
Wireless high-frequency signaling module is for receiving high-frequency signal and sending high-frequency signal.
Further, two 2 ends of sixdegree-of-freedom simulation are additionally provided with mark object, and mark object is used for work jibs
Detection identification and spatial attitude estimation.
It should be noted that a kind of altitude hot-line operation principal and subordinate robot provided by the present application apparatus for work, includes ground
The servo control platform at face end and the unmanned plane 1 for carrying binocular camera carry out global visual field acquisition and robot for overhauling
There are global monitors, remote-controlled operation platform 4 and wireless high-frequency signaling module 5 in the autonomous upkeep operation in high-altitude, near end, and wherein this is wireless
High frequency signal block 5 specifically includes wireless high-frequency signal receiver and wireless high-frequency signal generator；Service personnel passes through the overall situation
Monitor checks the handling situations of robot for overhauling, and is sent to some special circumstances and emergency by remote-controlled operation platform 4
Control instruction carries out advanced decision and urgent intervention to robot for overhauling；
High-altitude maintenance operation is worked in coordination by robot for overhauling and aerial lift device with insulated arm 7, wherein the mechanical arm of aerial lift device with insulated arm 7
End carries robot for overhauling, and end is equipped with mark object, be mounted with the unmanned plane 1 of binocular vision video camera by pair
Three-dimensional space and target detection and knowledge are set up between the marker and fault point 6 of the mechanical arm tail end of aerial lift device with insulated arm 7
Not, the coordinate of the two in three dimensions is calculated, controller is repaired in 2 end of mechanical arm of feedback to bucket arm vehicle mechanical arm, when
Controller detect mark object and fault point 6 space coordinate departure whether within the scope of preset coordinate t (△ x, △ y,
△z).Robot for overhauling includes that there are two sixdegree-of-freedom simulations 2, and the end of mechanical arm 2 is by binocular vision servo and binocular
Visual servoing control device is constituted；And sixdegree-of-freedom simulation 2 is equipped with binocular depth camera, binocular camera utilizes parallax pair
The coordinate (x, y, z) of the abort situation detected in object space is passed through sky by power failure scenario building objective space
Between rotation and vector translation be mapped to the world coordinate system position (X, Y, Z) of 2 bottom of mechanical arm, to perceive target faults in machine
The spatial pose of 2 world coordinate system of tool arm, as shown in Figure 3: after mechanical arm 2 finds target disorders, the maintenance of 2 end of mechanical arm
Controller will be close to target position, and two mechanical arms 2, which repair collaboration 2 end of contexture by self mechanical arm maintenance controller, appoints
Business.
The mechanical arm tail end of aerial lift device with insulated arm 7 is provided with mark object, for the detection identification and space appearance to mechanical arm
State estimation, unmanned plane 1 carry binocular vision camera, and hovering carries out three to fault point 6 and bucket arm vehicle mark object in aerial
Dimension space building and detection identification.Three-dimensional space (O-XYZ) is set up by binocular vision, as shown in Fig. 2, calculating fault bit
The coordinate residual quantity with bucket arm vehicle mark object is set, then controller is repaired in 2 end of mechanical arm of feedback to bucket arm vehicle, adjusts bucket arm
The spatial attitude of the work jibs of vehicle, until the departure with fault point 6 within the scope of the preset coordinate of system t (△ x, △ y, △
Z), it completes the automation alignment of aerial lift device with insulated arm 7 and arrives at fault point 6.Starting is overhauled machine after work jibs reach 6 region of fault point
People carries out upkeep operation.
The mechanical arm AUTONOMOUS TASK function of the application, can be realized when unattended automatic fault location target into
Row maintenance task.The end of mechanical arm 2 is equipped with binocular depth camera, for carrying out objective space to the object of maintenance
Building, as shown in Figure 3.Object space coordinate system (x, y, z) needs are further mapped to using mechanical arm bottom as the world of base
Coordinate system space (X, Y, Z) obtains maintenance target and estimates in the pose of the world coordinate system of mechanical arm bottom.Its mapping relations is such as
Shown in formula 1, object space coordinate is rotated by R matrix, is then translated using vector T and just obtains mechanical arm generation
Boundary coordinate system space.
Wherein R is the unit orthogonal matrix of a 3*3, and T is a translation vector.(x, y, z) mechanical arm tail end binocular vision
Feel object space coordinate system, (X, Y, Z) is the world coordinate system of mechanical arm bottom.
The high-voltage hot-line work principal and subordinate robot apparatus for work of the application is captured entirely using the hovering of unmanned plane 1 in high-altitude
Robot high altitude operation environment is monitored as overall Vision, and global camera is fixed on aerial lift device with insulated arm work jibs end by substitution
Indicate that object and fault point 6 overhaul position detection and identification and three-dimensional modeling, it can be achieved that maintenance mesh is arrived in work jibs automation
Cursor position.In addition binocular camera also is installed in mechanical arm tail end and automates maintenance task, ground work for realizing mechanical arm 2
Make people can be added in personnel by remote-controlled operation platform 4 advanced intelligent decision-making and emergent management.The clear superiority of the application exists
In automatization level height, operating efficiency is high, is not constrained by working space, at the same avoid people high altitude operation personal safety risk with
And global camera is placed in visual disturbances caused by aerial lift device with insulated arm 7.
The application second aspect provides a kind of high-voltage hot-line work principal and subordinate robot operational method, a kind of electrification in high voltage work
Owner executes from robot operational method in a kind of such as any one of preceding high-voltage hot-line work principal and subordinate robot apparatus for work, method
Comprising steps of
Obtain the location information of fault point；
The relative position of real-time detection bucket arm vehicle and the fault point, when the relative position is less than or equal to pre-set co-ordinate
When range, starts the bucket arm vehicle and upkeep operation is implemented to the fault point.
Further, the location information for obtaining fault point specifically includes:
Detection identifies the location information of the fault point, and obtains the location information of the mark object of bucket arm vehicle；
Respectively according to the location information of the fault point and it is described mark object location information, construct the fault point and
The three-dimensional space position data of the mark object, and the fault point and institute are calculated by the three-dimensional space position data
State the coordinate residual quantity of mark object.
Further, the relative position of the real-time detection bucket arm vehicle and the fault point, when the relative position is less than
Or when being equal to pre-set co-ordinate range, starting robot for overhauling, which carries out the upkeep operation starting bucket arm vehicle, implements the fault point
Upkeep operation specifically includes:
The coordinate residual quantity of the mark object of the fault point and the bucket arm vehicle is obtained in real time, and judges the coordinate residual quantity
Whether pre-set co-ordinate range is less than or equal to, if so, starting the bucket arm vehicle carries out upkeep operation.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
More than, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (9)
1. a kind of high-voltage hot-line work principal and subordinate robot apparatus for work characterized by comprising
Unmanned plane, aerial lift device with insulated arm and servo control platform；
The unmanned plane carries binocular vision camera, hovers above the aerial lift device with insulated arm；
The servo control platform and the aerial lift device with insulated arm communicate to connect.
2. a kind of high-voltage hot-line work principal and subordinate robot according to claim 1 apparatus for work, which is characterized in that described exhausted
The mechanical arm tail end of edge bucket arm vehicle carries robot for overhauling.
3. a kind of high-voltage hot-line work principal and subordinate robot according to claim 2 apparatus for work, which is characterized in that the inspection
Repairing robot includes two sixdegree-of-freedom simulations, and described two sixdegree-of-freedom simulation ends are fitted with binocular depth camera shooting
Head.
4. a kind of altitude hot-line operation principal and subordinate robot according to claim 2 apparatus for work, which is characterized in that the inspection
Repairing robot further includes mechanical arm tail end maintenance controller, and the mechanical arm tail end maintenance controller is for controlling described two six
Degree-of-freedom manipulator executes maintenance task.
5. a kind of high-voltage hot-line work principal and subordinate robot according to claim 1 apparatus for work, which is characterized in that described to watch
Taking control platform includes global monitors, remote-controlled operation platform and wireless high-frequency signaling module, and the global monitors are for obtaining
Robot for overhauling work data, the remote-controlled operation platform is for sending control instruction to the robot for overhauling, the wireless height
Frequency signaling module is for receiving high-frequency signal and sending the high-frequency signal.
6. a kind of high-voltage hot-line work principal and subordinate robot according to claim 3 apparatus for work, which is characterized in that described two
A six degree of freedom Machinery Ministry end is additionally provided with mark object, the mark object be used for detection identification to the work jibs and
Spatial attitude estimation.
7. a kind of high-voltage hot-line work principal and subordinate robot operational method, which is characterized in that a kind of high-voltage hot-line work principal and subordinate
Robot manipulating task method is held in a kind of high-voltage hot-line work principal and subordinate robot described in any one of claims 1-6 apparatus for work
Row, the method includes the steps:
Obtain the location information of fault point；
The relative position of real-time detection bucket arm vehicle and the fault point, when the relative position is less than or equal to pre-set co-ordinate range
When, start the bucket arm vehicle and upkeep operation is implemented to the fault point.
8. a kind of high-voltage hot-line work principal and subordinate robot according to claim 7 operational method, which is characterized in that described to obtain
The location information of fault point is taken to specifically include:
Detection identifies the location information of the fault point, and obtains the location information of the mark object of bucket arm vehicle；
Respectively according to the location information of the location information of the fault point and the mark object, the fault point and described is constructed
Indicate the three-dimensional space position data of object, and calculates the fault point and the mark by the three-dimensional space position data
The coordinate residual quantity of will object.
9. a kind of high-voltage hot-line work principal and subordinate robot according to claim 7 operational method, which is characterized in that the reality
When detect the relative position of bucket arm vehicle and the fault point and opened when the relative position is less than or equal to pre-set co-ordinate range
Dynamic robot for overhauling carries out the upkeep operation starting bucket arm vehicle and specifically includes to fault point implementation upkeep operation:
The coordinate residual quantity of the mark object of the fault point and the bucket arm vehicle is obtained in real time, and whether judges the coordinate residual quantity
Less than or equal to pre-set co-ordinate range, if so, starting the bucket arm vehicle carries out upkeep operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811435316.8A CN109514520A (en) | 2018-11-28 | 2018-11-28 | A kind of high-voltage hot-line work principal and subordinate robot apparatus for work and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811435316.8A CN109514520A (en) | 2018-11-28 | 2018-11-28 | A kind of high-voltage hot-line work principal and subordinate robot apparatus for work and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109514520A true CN109514520A (en) | 2019-03-26 |
Family
ID=65793575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811435316.8A Pending CN109514520A (en) | 2018-11-28 | 2018-11-28 | A kind of high-voltage hot-line work principal and subordinate robot apparatus for work and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109514520A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109936081A (en) * | 2019-04-09 | 2019-06-25 | 北京国电富通科技发展有限责任公司 | Livewire work device |
| CN110021078A (en) * | 2019-05-10 | 2019-07-16 | 成都轨道建设管理有限公司 | An a kind of Metro Construction hidden troubles removing improvement point cruising inspection system |
| CN110802577A (en) * | 2019-11-29 | 2020-02-18 | 山东送变电工程有限公司 | Somatosensory remote control overhead equipment inspection mechanical arm device |
| CN110948486A (en) * | 2019-11-20 | 2020-04-03 | 北京国电富通科技发展有限责任公司 | Operation method and device of robot with motor and controller |
| CN112415086A (en) * | 2020-11-16 | 2021-02-26 | 东南大学 | High-altitude metal pipeline flaw detection system based on teleoperation flying mechanical arm |
| CN112506185A (en) * | 2020-11-05 | 2021-03-16 | 浙江华云信息科技有限公司 | Control method and device for live-wire work 6-degree-of-freedom operating platform |
| CN112954280A (en) * | 2021-04-21 | 2021-06-11 | 国网瑞嘉(天津)智能机器人有限公司 | Intelligent wearable device-based manual live working system and method |
| CN113467477A (en) * | 2021-08-03 | 2021-10-01 | 艾乐尔机器人科技(南京)有限公司 | Many intelligent robot underground cable maintenance device based on video identification technique |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0825254A (en) * | 1994-07-14 | 1996-01-30 | Nec Corp | Master-slave type robot arm device and arm positioning/ guiding method |
| CN103085084A (en) * | 2013-01-29 | 2013-05-08 | 山东电力集团公司电力科学研究院 | Visual system and working method for high-voltage hot-line operating robot |
| US9344623B2 (en) * | 2011-08-19 | 2016-05-17 | Google Inc. | Methods and systems for providing functionality of an interface to control orientations of a camera on a device |
| CN106426186A (en) * | 2016-12-14 | 2017-02-22 | 国网江苏省电力公司常州供电公司 | Electrified operation robot autonomous operation method based on multi-sensor information fusion |
| CN106493708A (en) * | 2016-12-09 | 2017-03-15 | 南京理工大学 | A kind of hot line robot control system based on double mechanical arms and sub-arm |
| CN207290116U (en) * | 2017-09-04 | 2018-05-01 | 广东电网有限责任公司清远供电局 | A kind of crawler belt switchgear operation robot |
-
2018
- 2018-11-28 CN CN201811435316.8A patent/CN109514520A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0825254A (en) * | 1994-07-14 | 1996-01-30 | Nec Corp | Master-slave type robot arm device and arm positioning/ guiding method |
| US9344623B2 (en) * | 2011-08-19 | 2016-05-17 | Google Inc. | Methods and systems for providing functionality of an interface to control orientations of a camera on a device |
| CN103085084A (en) * | 2013-01-29 | 2013-05-08 | 山东电力集团公司电力科学研究院 | Visual system and working method for high-voltage hot-line operating robot |
| CN106493708A (en) * | 2016-12-09 | 2017-03-15 | 南京理工大学 | A kind of hot line robot control system based on double mechanical arms and sub-arm |
| CN106426186A (en) * | 2016-12-14 | 2017-02-22 | 国网江苏省电力公司常州供电公司 | Electrified operation robot autonomous operation method based on multi-sensor information fusion |
| CN207290116U (en) * | 2017-09-04 | 2018-05-01 | 广东电网有限责任公司清远供电局 | A kind of crawler belt switchgear operation robot |
Non-Patent Citations (2)
| Title |
|---|
| 徐德 等: "《机器人视觉测量与控制》", 31 May 2011, 国防工业出版社 * |
| 程多祥: "《无人机移动测量数据快速获取与处理》", 30 September 2015, 测绘出版社 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109936081A (en) * | 2019-04-09 | 2019-06-25 | 北京国电富通科技发展有限责任公司 | Livewire work device |
| CN110021078A (en) * | 2019-05-10 | 2019-07-16 | 成都轨道建设管理有限公司 | An a kind of Metro Construction hidden troubles removing improvement point cruising inspection system |
| CN110021078B (en) * | 2019-05-10 | 2021-08-20 | 成都轨道建设管理有限公司 | Inspection system for inspection management points of hidden danger in subway engineering construction |
| CN110948486A (en) * | 2019-11-20 | 2020-04-03 | 北京国电富通科技发展有限责任公司 | Operation method and device of robot with motor and controller |
| CN110802577A (en) * | 2019-11-29 | 2020-02-18 | 山东送变电工程有限公司 | Somatosensory remote control overhead equipment inspection mechanical arm device |
| CN112506185A (en) * | 2020-11-05 | 2021-03-16 | 浙江华云信息科技有限公司 | Control method and device for live-wire work 6-degree-of-freedom operating platform |
| CN112415086A (en) * | 2020-11-16 | 2021-02-26 | 东南大学 | High-altitude metal pipeline flaw detection system based on teleoperation flying mechanical arm |
| CN112415086B (en) * | 2020-11-16 | 2023-09-19 | 东南大学 | High-altitude metal pipeline flaw detection system based on teleoperation flying mechanical arm |
| CN112954280A (en) * | 2021-04-21 | 2021-06-11 | 国网瑞嘉(天津)智能机器人有限公司 | Intelligent wearable device-based manual live working system and method |
| CN112954280B (en) * | 2021-04-21 | 2023-08-04 | 国网瑞嘉(天津)智能机器人有限公司 | Artificial live working system and method based on intelligent wearable equipment |
| CN113467477A (en) * | 2021-08-03 | 2021-10-01 | 艾乐尔机器人科技(南京)有限公司 | Many intelligent robot underground cable maintenance device based on video identification technique |
| CN113467477B (en) * | 2021-08-03 | 2023-03-10 | 艾乐尔机器人科技(南京)有限公司 | Many intelligent robot underground cable maintenance device based on video identification technique |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109514520A (en) | A kind of high-voltage hot-line work principal and subordinate robot apparatus for work and method | |
| Menendez et al. | Robotics in power systems: Enabling a more reliable and safe grid | |
| CN109240311B (en) | Outdoor electric power field construction operation supervision method based on intelligent robot | |
| CN106493708B (en) | A kind of hot line robot control system based on double mechanical arms and sub-arm | |
| CN107650124A (en) | A kind of robot for high-voltage hot-line work aerial work platform and its method for unloading gold utensil screw | |
| CN102176161B (en) | Flight simulation system facing to power line polling | |
| CN111463637A (en) | Distribution network live lapping lead operation flow method | |
| CN102856827A (en) | Omnibearing ground-space isomeric substation polling system | |
| CN109318204A (en) | A kind of livewire work tow-armed robot intelligence control system | |
| CN109129488A (en) | A kind of high-altitude maintenance robot localization method and device based on near-earth overall Vision | |
| CN111884333B (en) | Unmanned inspection unmanned aerial vehicle cooperative work system and method thereof | |
| CN106826756A (en) | A kind of conducting wire mending method based on robot for high-voltage hot-line work | |
| CN113352289A (en) | Mechanical arm track planning control system of overhead ground wire hanging and dismounting operation vehicle | |
| CN111258331A (en) | Unmanned aerial vehicle power line operation and maintenance system and method | |
| CN110421559B (en) | Teleoperation method and motion track library construction method of distribution network live working robot | |
| CN112085623A (en) | Engineering supervision method based on artificial intelligence mode | |
| Feng et al. | Autonomous live-line maintenance robot for a 10 kV overhead line | |
| CN207696530U (en) | A kind of robot for high-voltage hot-line work aerial work platform | |
| Chen et al. | Intelligent power distribution live‐line operation robot systems based on stereo camera | |
| CN107962577A (en) | A kind of deicing robot vision system structure and control method | |
| CN108068107A (en) | A kind of deicing high-voltage power transmission line robot vision control method | |
| CN111882077B (en) | Method and system for establishing defense space of transformer substation | |
| CN109244935A (en) | A kind of high-altitude robot hotline maintenance system based on VR vision | |
| CN113034847B (en) | Intelligent safety monitoring system and method applied to thermal power plant inspection operation | |
| Lei et al. | Design of high voltage live operation robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200119 Address after: 510000 room 501-503, annex building, Huaye building, No.1-3, Chumo new street, Xihua Road, Yuexiu District, Guangzhou City, Guangdong Province Applicant after: GUANGDONG DIANKEYUAN ENERGY TECHNOLOGY Co.,Ltd. Address before: 510600 No. 757 Dongfeng East Road, Guangzhou, Guangdong, Yuexiu District Applicant before: GUANGDONG POWER GRID Co.,Ltd. Applicant before: ELECTRIC POWER RESEARCH INSTITUTE OF GUANGDONG POWER GRID Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Room 501-503, annex building, Huaye building, No.1-3 Chuimao new street, Xihua Road, Yuexiu District, Guangzhou City, Guangdong Province 510000 Applicant after: China Southern Power Grid Power Technology Co.,Ltd. Address before: Room 501-503, annex building, Huaye building, No.1-3 Chuimao new street, Xihua Road, Yuexiu District, Guangzhou City, Guangdong Province 510000 Applicant before: GUANGDONG DIANKEYUAN ENERGY TECHNOLOGY Co.,Ltd. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190326 |