CN104199454A - Control system of inspection robot for high voltage line - Google Patents
Control system of inspection robot for high voltage line Download PDFInfo
- Publication number
- CN104199454A CN104199454A CN201410506138.9A CN201410506138A CN104199454A CN 104199454 A CN104199454 A CN 104199454A CN 201410506138 A CN201410506138 A CN 201410506138A CN 104199454 A CN104199454 A CN 104199454A
- Authority
- CN
- China
- Prior art keywords
- barrier
- monitoring host
- host computer
- wireless communication
- image
- 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
Abstract
The invention relates to a control system of an inspection robot for a high voltage line. The control system comprises an infrared sensor, a CCD camera, a monitoring host and a wireless communication interface, wherein the monitoring host is connected with the infrared sensor, the CCD camera and the wireless communication interface respectively; the monitoring host is provided with a remote control mode and an automatic control mode, and is used for determining whether to switch to the remote control mode on the basis of the detection result of the infrared sensor and the CCD camera; when in the remote control mode, the monitoring host realizes control of the inspection robot according to the remote control information received by the wireless communication interface. The control system can realize automatic spanning of obstacles in determined types when the monitoring host is in the automatic control mode; the remote control mode under the wireless communication control is adopted to avoid the obstacles that the inspection robot cannot automatically span, so that the normal inspection work of the inspection robot is guaranteed.
Description
Technical field
The present invention relates to power monitoring field, relate in particular to a kind of inspection robot for high-voltage line control system.
Background technology
Mobile robot technology integrated application comprise the technology such as multiple sensors, mechanical motion control, telecommunications, in family expenses, amusement, security, monitoring, the disaster relief and Military Application every field, all have broad prospects.Every country is all absorbed in the research and development of mobile robot technology at present, to occupying one seat aspect this.
Mobile robot, for the application of electric power supervisory control, patrolling and examining of ultra-high-tension power transmission line is a sub-field of important application wherein.The demand of this sub-field Zhong Dui robot is not only to require robot on ultra-high-tension power transmission line, freely to advance fast, and more need to cross over dissimilar barrier, such as stockbridge damper, strain clamp and suspension clamp etc.As can be seen here, ultra-high-tension power transmission line patrols and examines having relatively high expectations to mobile robot.
Yet, the mobile robot of power monitoring in prior art, only can detect by ultrasonic sensor or infrared ray sensor the distance of the place ahead obstacle distance robot, the means that there is no barrier type identification, when barrier is difficult to cross over, helpless especially, like this, the work of carrying out the robot patrolling and examining of ultra-high-tension power transmission line is usually interrupted, and needs the manual operation could be by robot above water, causes patrolling and examining that risk increases and efficiency is not high.
Therefore, need a kind of new inspection robot for high-voltage line control system, no matter the place ahead runs into the barrier of which kind of type, can make flexibly and hide scheme, reduces on-the-spot artificial interference, guarantees the security of electric inspection process.
Summary of the invention
In order to address the above problem, the invention provides a kind of inspection robot for high-voltage line control system, in the situation that infrared ray sensor detects barrier, by image recognition apparatus, identify barrier type, if belong to the type that can automatically cross over, control each movable joint and automatically cross over, if do not belong to the type that can automatically cross over, image scene is sent to far-end and controls platform, and based on far-end, control steering order realization the dodging barrier of platform.
According to an aspect of the present invention, a kind of inspection robot for high-voltage line control system is provided, described control system comprises infrared ray sensor, ccd video camera, monitoring host computer and wireless communication interface, described monitoring host computer and described infrared ray sensor, described ccd video camera is connected respectively with described wireless communication interface, described monitoring host computer has distance control mode and automatic control mode, testing result based on described infrared ray sensor and described ccd video camera determines whether to be switched to distance control mode, described monitoring host computer is under distance control mode, the control of the Long-distance Control information realization receiving according to described wireless communication interface to described crusing robot.
More specifically, described inspection robot for high-voltage line control system also comprises a plurality of movable joints, be separately positioned on the diverse location of described crusing robot, each movable joint is electrically connected with described monitoring host computer, under the control of described monitoring host computer, carry out different motion direction and different motion stroke, described infrared ray sensor is arranged on the shell front end of described crusing robot, comprise infra-red ray transmitting unit, infrared receiver unit and computing unit, described infra-red ray transmitting unit is used for launching infrared ray, described infrared receiver unit is for receiving the infrared ray reflecting through the place ahead barrier, described computing unit is connected respectively with described infrared receiver unit with described infra-red ray transmitting unit, for based on infrared ray transmitter and receiver mistiming and infrared ray propagation rate, calculate the obstacle distance of crusing robot described in the obstacle distance of the place ahead, storer, be arranged in the shell front end of described crusing robot, pre-stored barrier characteristic type database, described barrier characteristic type database has been preserved barrier feature corresponding to each barrier type and across barrier instruction, described storer is also pre-stored default obstacle distance threshold value, described ccd video camera, is arranged on the shell front end of described crusing robot, for gathering the place ahead image, image recognition apparatus, be arranged in the shell front end of described crusing robot, comprise image cutting unit and image identification unit, described image cutting unit is connected with described ccd video camera, described the place ahead image is carried out to barrier subimage to be cut apart with acquired disturbance thing subimage, described image identification unit is connected respectively with described storer with described image cutting unit, described barrier subimage is carried out to feature identification with acquired disturbance thing feature, and the barrier feature the recognizing barrier feature corresponding with each barrier type in described barrier characteristic type database mated, if the match is successful, using the corresponding barrier type of the barrier feature recognizing as the place ahead barrier type, export, if it fails to match, output matching failure information, described wireless communication interface is arranged on the shell front end of described crusing robot, for receiving far-end, control the Long-distance Control information that platform sends, described Long-distance Control information comprises joint order, macros and switching controls order, and described wireless communication interface is also controlled platform for the place ahead image of the barrier warning message of described monitoring host computer transmission and forwarding is sent to far-end, described monitoring host computer is arranged in the shell front end of described crusing robot, be defaulted as automatic control mode, with described infrared ray sensor, described storer, described ccd video camera, described image recognition apparatus is connected respectively with described wireless communication interface, when the obstacle distance receiving is less than or equal to default obstacle distance threshold value, start described ccd video camera and described image recognition apparatus, after starting described ccd video camera and described image recognition apparatus, when receiving the place ahead barrier type, in described storer, search corresponding to described the place ahead barrier type barrier instruction, according to what find, corresponding across barrier instruction, control described a plurality of movable joints, when the information that receives that it fails to match, described barrier warning message is sent to described wireless communication interface and enters described distance control mode, wherein, in described distance control mode, described monitoring host computer reception forwards by described wireless communication interface, far-end is controlled the Long-distance Control information that platform sends, if described Long-distance Control information is joint order, described monitoring host computer is directly transmitted to joint order movable joint corresponding to described joint order, if described Long-distance Control information is macros, described monitoring host computer is resolved described macros, determine that the direction of motion of each movable joint and movement travel are to control each movable joint respectively, if described Long-distance Control information is switching controls order, described monitoring host computer is switched to described automatic control mode, described wireless communication interface also comprises TCP encapsulation unit and TCP resolution unit, described TCP encapsulation unit is controlled platform for described barrier warning message being encapsulated as to TCP bag to send to described far-end by cordless communication network, and described TCP resolution unit wraps to obtain described Long-distance Control information for resolving the TCP receiving from described far-end control platform.
More specifically, described inspection robot for high-voltage line control system also comprises image encoder, be connected respectively with described wireless communication interface with described monitoring host computer, the place ahead image forwarding for receiving described monitoring host computer, and to described the place ahead image compression encoding, to generate compression coded image and to send to described wireless communication interface.
More specifically, in described inspection robot for high-voltage line control system, described image encoder is the image encoder of MPEG-4 compression and coding standard.
More specifically, in described inspection robot for high-voltage line control system, described a plurality of movable joints comprise forearm and the postbrachium of two arms of described crusing robot.
More specifically, in described inspection robot for high-voltage line control system, a plurality of movable joints also send to described monitoring host computer in real time by direction of motion separately and movement travel, so that described monitoring host computer is realized the parsing to described macros.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
The block diagram that Fig. 1 is the inspection robot for high-voltage line control system that illustrates according to an embodiment of the present invention.
Embodiment
Below with reference to accompanying drawings the embodiment of inspection robot for high-voltage line control system of the present invention is elaborated.
From applied environment, mobile robot can be divided into two large class, i.e. industrial robot and specialized robots.So-called industrial robot is exactly multi-joint manipulator or the multi-freedom robot towards industrial circle.Specialized robot be except industrial robot, for nonmanufacturing industry and serve the mankind's various sophisticated machine people, comprising: service robot, underwater robot, supervisory-controlled robot, amusement robot, military robot, agricultural robot, robotize machine etc.In specialized robot, some branch's development is very fast, has the trend of independent architectonical, as service robot, underwater robot, military robot, micro-manipulating robot etc.The international scholar of robot, is also divided into two classes from applied environment by robot: service and human emulated robot under the industrial robot manufacturing environment and non-manufacturing environment.
Because the singularity of power department work, electric power place is a Different high risk sites, and high pressure and high electromagnetic radiation are larger to field personnel's injury, should not frequently carry out on-the-spot manual operation.And mobile robot is because its dirigibility and intelligent degree are higher, by power department is favored, be usually customized to adapt to multiple electric power place, for example high voltage substation, for to the long-range meter reading of high tension instrument or to the on-the-spot inspection of high-tension line, thereby replace staff, carry out various tasks.
But; complicated site environment due to electric power place; robot often can run into various types of barriers in action; these barriers stop the normal walking of robot; further hinder robot to execute the task; in order to dodge these barriers; current; generally when using ultrasonic sensor or infrared ray sensor the place ahead to be detected to have barrier; by far-end, control platform and send the action that concrete steering order is carried out control, yet, a problem brought so again; the frequent information interaction of on-the-spot and far-end, has affected the work efficiency of robot.
Inspection robot for high-voltage line control system of the present invention, there are two kinds of control models, be distance control mode and automatic control mode, in the time can recognizing barrier type, corresponding default of barrier type based on recognizing kept away barrier instruction, automatically realizes barrier and dodges, at None-identified during to barrier type, side controls by far-end the image that platform is passed back in real time according to scene, sends concrete operational order and completes the control to on-the-spot robot.
The block diagram that Fig. 1 is the inspection robot for high-voltage line control system that illustrates according to an embodiment of the present invention, as shown in Figure 1, described control system comprises wireless communication interface 1, ccd video camera 2, image recognition apparatus 3, monitoring host computer 4, infrared ray sensor 5, a storer 6 and n movable joint 7, wherein n is greater than 1 natural number, described monitoring host computer 4 and described wireless communication interface 1, ccd video camera 2, image recognition apparatus 3, infrared ray sensor 5, storer 6 is connected respectively with n movable joint 7, described monitoring host computer 4 has distance control mode and automatic control mode, testing result based on described infrared ray sensor 5 and described ccd video camera 2 determines whether to be switched to distance control mode, described monitoring host computer 4 is under distance control mode, the control of the Long-distance Control information realization receiving according to described wireless communication interface 1 to described crusing robot, wherein said wireless communication interface 1 and far-end are controlled platform 8 and by wireless network, are realized the bidirectional transmit-receive of data.
Then, the structure of inspection robot for high-voltage line control system of the present invention is carried out to more specific description.
A described n movable joint 7, is separately positioned on the diverse location of described crusing robot, and each movable joint 7 and described monitoring host computer 4 are electrically connected, and under the control of described monitoring host computer 4, carry out different motion direction and different motion stroke.
Described infrared ray sensor 5 is arranged on the shell front end of described crusing robot, comprise infra-red ray transmitting unit, infrared receiver unit and computing unit, described infra-red ray transmitting unit is used for launching infrared ray, described infrared receiver unit is for receiving the infrared ray reflecting through the place ahead barrier, described computing unit is connected respectively with described infrared receiver unit with described infra-red ray transmitting unit, for based on infrared ray transmitter and receiver mistiming and infrared ray propagation rate, calculate the obstacle distance of crusing robot described in the obstacle distance of the place ahead.
Described storer 6 is arranged in the shell front end of described crusing robot, pre-stored barrier characteristic type database, described barrier characteristic type database has been preserved barrier feature corresponding to each barrier type and across barrier instruction, described storer 6 is also pre-stored default obstacle distance threshold value.
Described ccd video camera 2 is arranged on the shell front end of described crusing robot, for gathering the place ahead image.
Described image recognition apparatus 3 is arranged in the shell front end of described crusing robot, comprise image cutting unit and image identification unit, described image cutting unit is connected with described ccd video camera 2, described the place ahead image is carried out to barrier subimage to be cut apart with acquired disturbance thing subimage, described image identification unit is connected respectively with described storer with described image cutting unit, described barrier subimage is carried out to feature identification with acquired disturbance thing feature, and the barrier feature the recognizing barrier feature corresponding with each barrier type in described barrier characteristic type database mated, if the match is successful, using the corresponding barrier type of the barrier feature recognizing as the place ahead barrier type, export, if it fails to match, output matching failure information.
Described wireless communication interface 1 is arranged on the shell front end of described crusing robot, for receiving far-end, control the Long-distance Control information that platform 8 sends, described Long-distance Control information comprises joint order, macros and switching controls order, and described wireless communication interface 1 is also for sending to far-end control platform 8 by the described monitoring host computer 4 barrier warning messages of transmission and the place ahead image of forwarding.
Described monitoring host computer 4 is arranged in the shell front end of described crusing robot, be defaulted as automatic control mode, according to the various data that receive, realize following control, when the obstacle distance receiving is less than or equal to default obstacle distance threshold value, start described ccd video camera 2 and described image recognition apparatus 3, after starting described ccd video camera 2 and described image recognition apparatus 3, when receiving the place ahead barrier type, in described storer 6, search corresponding to described the place ahead barrier type barrier instruction, according to what find, corresponding across barrier instruction, control a described n movable joint 7, when the information that receives that it fails to match, described barrier warning message is sent to described wireless communication interface 1 and enters described distance control mode.
Wherein, in described distance control mode, described monitoring host computer 4 receptions forward by described wireless communication interface 1, far-end is controlled the Long-distance Control information that platform 8 sends, if described Long-distance Control information is joint order, described monitoring host computer 4 is directly transmitted to joint order the movable joint of described joint order 7 correspondences, if described Long-distance Control information is macros, 4 pairs of described macros of described monitoring host computer are resolved, determine that the direction of motion of each movable joint 7 and movement travel are to control each movable joint 7 respectively, if described Long-distance Control information is switching controls order, described monitoring host computer 4 is switched to described automatic control mode.
Described wireless communication interface 1 also comprises TCP encapsulation unit and TCP resolution unit, described TCP encapsulation unit is controlled platform 8 for described barrier warning message being encapsulated as to TCP bag to send to described far-end by cordless communication network, and described TCP resolution unit wraps to obtain described Long-distance Control information for resolving the TCP receiving from described far-end control platform 8.
Wherein, described inspection robot for high-voltage line control system can also comprise image encoder, be connected respectively with described wireless communication interface 1 with described monitoring host computer 4, the place ahead image forwarding for receiving described monitoring host computer 4, and to described the place ahead image compression encoding, to generate compression coded image and to send to described wireless communication interface 1, described image encoder may be selected to be the image encoder of MPEG-4 compression and coding standard, forearm and the postbrachium that in a described n movable joint 7, can comprise two arms of described crusing robot, a described n movable joint 7 can also send to described monitoring host computer 4 in real time by direction of motion separately and movement travel, so that the parsing that described monitoring host computer 4 is realized described macros.
In addition, video compression algorithm mainly contains except MPEG-4: MPEG-1; MPEG-2; MOTION-JPEG; H.263; Small echo.MPEG-4 is the best compression algorithm of generally acknowledging.MPEG-4 has the following advantages:
(1) resolution is high: MPEG-4 can reach the high resolving power effect that approaches very much MPEG-2.MPEG-4 algorithm+RET resolution of POS-Watch is strengthened technology, make screen resolution can reach 704*576, and other products (the particularly industry control type product based on PC-base) are even if what adopt is MPEG-4 compression algorithm, because its system resource need to be supported huge WINDOWS system, without resolution, strengthen technology again, so can only accomplish the resolution of 352*288.
(2) compressibility is high: the compressibility of MPEG-4 can be up to 200:1, and the capacity of a frame picture only has 1-2KB.Like this high compressibility, has solved the bottleneck of hard-disk capacity, makes people can store the video file of longer time.In addition, playing function is also that MPEG-4 is peculiar frame by frame.
(3) the code stream bandwidth of dynamic assignment code stream: MPEG-4 is unfixed (and MPEG-1 fixedly code stream 1.5Mbits/s), he can adjust code stream automatically according to the complexity of picture and intensity of variation, in picture more complicated or change in more violent and take more bandwidth, guaranteed image quality; Picture fairly simple or static in, take less bandwidth, saved resource.
(4) applicable Internet Transmission: POS-Watch mono-road real-time (25 frame/second) is uploaded shared bandwidth and is approximately 600Kbits/s (fixing, bandwidth different depending on concrete condition and that take are also different), the Internet Transmission of very applicable low bandwidth.Even network bandwidth wretched insufficiency, MPEG-4 can reduce certain frame number and guarantee image quality.In addition, a plurality of video and audio object codings of video source are applicable to interactive multimedia communication very much.
(5) algorithm is unfixing: MPEG-4 is an open algorithm (MPEG-1 and MPEG-2 are fixing algorithms), each manufacturer can develop the MPEG-4 algorithm of oneself, the MPEG-4 algorithm Shi You POSDATA company of POS-Watch is for DSP (digital signal processor of the reduced instruction set computer) exploitation of TI (Texas Instrument), in addition, because the MPEG-4 of each manufacturer's exploitation is different, so obtaining very high assurance aspect security and confidentiality.
(6) high resistance error code: present supervisory system substantially all will relate to network, however the error code of Ethernet is very high, if there is no very high anti-error code, can have a strong impact on the transmission quality of picture.The robustness that MPEG-4 mistake is processed, contributes to storage and the transmission of low-bit rate video signal under high bit-error environment.
Adopt inspection robot for high-voltage line control system of the present invention, for the existing electric power place lower needs of robot avoiding barrier ability, more how far hold the technical matters of controlling, based on image processing techniques, barrier is identified, determine that can barrier successful with existing type matching, if belong to existing type, according to the leap instruction corresponding with existing type, realize and automatically dodging, if do not belong to existing type, the steering order realization that root is controlled platform according to far-end is effectively dodged, like this, can dodge all types of barriers, reduce on-the-spot manpower intervention and far-end and control data volume, improve the automatization level of robot.
Be understandable that, although the present invention with preferred embodiment disclosure as above, yet above-described embodiment is not in order to limit the present invention.For any those of ordinary skill in the art, do not departing from technical solution of the present invention scope situation, all can utilize the technology contents of above-mentioned announcement to make many possible changes and modification to technical solution of the present invention, or be revised as the equivalent embodiment of equivalent variations.Therefore, every content that does not depart from technical solution of the present invention,, all still belongs in the scope of technical solution of the present invention protection any simple modification made for any of the above embodiments, equivalent variations and modification according to technical spirit of the present invention.
Claims (6)
1. an inspection robot for high-voltage line control system, it is characterized in that, described control system comprises infrared ray sensor, ccd video camera, monitoring host computer and wireless communication interface, described monitoring host computer and described infrared ray sensor, described ccd video camera is connected respectively with described wireless communication interface, described monitoring host computer has distance control mode and automatic control mode, testing result based on described infrared ray sensor and described ccd video camera determines whether to be switched to distance control mode, described monitoring host computer is under distance control mode, the control of the Long-distance Control information realization receiving according to described wireless communication interface to described crusing robot.
2. inspection robot for high-voltage line control system as claimed in claim 1, is characterized in that,
Described control system also comprises:
A plurality of movable joints, are separately positioned on the diverse location of described crusing robot, and each movable joint is electrically connected with described monitoring host computer, under the control of described monitoring host computer, carry out different motion direction and different motion stroke;
Described infrared ray sensor is arranged on the shell front end of described crusing robot, comprise infra-red ray transmitting unit, infrared receiver unit and computing unit, described infra-red ray transmitting unit is used for launching infrared ray, described infrared receiver unit is for receiving the infrared ray reflecting through the place ahead barrier, described computing unit is connected respectively with described infrared receiver unit with described infra-red ray transmitting unit, for based on infrared ray transmitter and receiver mistiming and infrared ray propagation rate, calculate the obstacle distance of crusing robot described in the obstacle distance of the place ahead;
Storer, be arranged in the shell front end of described crusing robot, pre-stored barrier characteristic type database, described barrier characteristic type database has been preserved barrier feature corresponding to each barrier type and across barrier instruction, described storer is also pre-stored default obstacle distance threshold value;
Described ccd video camera, is arranged on the shell front end of described crusing robot, for gathering the place ahead image;
Image recognition apparatus, be arranged in the shell front end of described crusing robot, comprise image cutting unit and image identification unit, described image cutting unit is connected with described ccd video camera, described the place ahead image is carried out to barrier subimage to be cut apart with acquired disturbance thing subimage, described image identification unit is connected respectively with described storer with described image cutting unit, described barrier subimage is carried out to feature identification with acquired disturbance thing feature, and the barrier feature the recognizing barrier feature corresponding with each barrier type in described barrier characteristic type database mated, if the match is successful, using the corresponding barrier type of the barrier feature recognizing as the place ahead barrier type, export, if it fails to match, output matching failure information,
Described wireless communication interface is arranged on the shell front end of described crusing robot, for receiving far-end, control the Long-distance Control information that platform sends, described Long-distance Control information comprises joint order, macros and switching controls order, and described wireless communication interface is also controlled platform for the place ahead image of the barrier warning message of described monitoring host computer transmission and forwarding is sent to far-end;
Described monitoring host computer is arranged in the shell front end of described crusing robot, be defaulted as automatic control mode, with described infrared ray sensor, described storer, described ccd video camera, described image recognition apparatus is connected respectively with described wireless communication interface, when the obstacle distance receiving is less than or equal to default obstacle distance threshold value, start described ccd video camera and described image recognition apparatus, after starting described ccd video camera and described image recognition apparatus, when receiving the place ahead barrier type, in described storer, search corresponding to described the place ahead barrier type barrier instruction, according to what find, corresponding across barrier instruction, control described a plurality of movable joints, when the information that receives that it fails to match, described barrier warning message is sent to described wireless communication interface and enters described distance control mode,
Wherein, in described distance control mode, described monitoring host computer reception forwards by described wireless communication interface, far-end is controlled the Long-distance Control information that platform sends, if described Long-distance Control information is joint order, described monitoring host computer is directly transmitted to joint order movable joint corresponding to described joint order, if described Long-distance Control information is macros, described monitoring host computer is resolved described macros, determine that the direction of motion of each movable joint and movement travel are to control each movable joint respectively, if described Long-distance Control information is switching controls order, described monitoring host computer is switched to described automatic control mode,
Wherein, described wireless communication interface also comprises TCP encapsulation unit and TCP resolution unit, described TCP encapsulation unit is controlled platform for described barrier warning message being encapsulated as to TCP bag to send to described far-end by cordless communication network, and described TCP resolution unit wraps to obtain described Long-distance Control information for resolving the TCP receiving from described far-end control platform.
3. inspection robot for high-voltage line control system as claimed in claim 2, is characterized in that,
Described control system also comprises:
Image encoder, is connected respectively with described wireless communication interface with described monitoring host computer, the place ahead image forwarding for receiving described monitoring host computer, and to described the place ahead image compression encoding, to generate compression coded image and to send to described wireless communication interface.
4. inspection robot for high-voltage line control system as claimed in claim 3, is characterized in that:
Described image encoder is the image encoder of MPEG-4 compression and coding standard.
5. inspection robot for high-voltage line control system as claimed in claim 2, is characterized in that:
Described a plurality of movable joint comprises forearm and the postbrachium of two arms of described crusing robot.
6. inspection robot for high-voltage line control system as claimed in claim 2, is characterized in that:
A plurality of movable joints also send to described monitoring host computer in real time by direction of motion separately and movement travel, so that described monitoring host computer is realized the parsing to described macros.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410506138.9A CN104199454A (en) | 2014-09-27 | 2014-09-27 | Control system of inspection robot for high voltage line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410506138.9A CN104199454A (en) | 2014-09-27 | 2014-09-27 | Control system of inspection robot for high voltage line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104199454A true CN104199454A (en) | 2014-12-10 |
Family
ID=52084755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410506138.9A Pending CN104199454A (en) | 2014-09-27 | 2014-09-27 | Control system of inspection robot for high voltage line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104199454A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786227A (en) * | 2015-04-28 | 2015-07-22 | 山东鲁能智能技术有限公司 | Drop type switch replacing control system and method based on high-voltage live working robot |
| CN105466395A (en) * | 2015-12-17 | 2016-04-06 | 韩明 | State detection system for iron tower nearby high-tension line |
| CN105607518A (en) * | 2016-01-27 | 2016-05-25 | 云南电网有限责任公司电力科学研究院 | Power transmission line robot control method, robot and terminal |
| CN107609528A (en) * | 2017-09-21 | 2018-01-19 | 阿尔图像有限公司 | Recognition methods, device and the terminal of facial image |
| CN108007464A (en) * | 2017-12-04 | 2018-05-08 | 国网山东省电力公司电力科学研究院 | Ultra-high-tension power transmission line inspection robot autonomous navigation method and system |
| CN108227691A (en) * | 2016-12-22 | 2018-06-29 | 深圳光启合众科技有限公司 | Control method, system and the device and robot of robot |
| CN109739239A (en) * | 2019-01-21 | 2019-05-10 | 天津迦自机器人科技有限公司 | A kind of planing method of the uninterrupted Meter recognition for crusing robot |
| CN111981977A (en) * | 2020-07-02 | 2020-11-24 | 广东电网有限责任公司 | Distribution network automatic line patrol system based on edge computing technology |
| CN112327843A (en) * | 2020-11-02 | 2021-02-05 | 武汉理工大学 | Insulator robot obstacle crossing control method, storage medium and system |
| CN113177614A (en) * | 2021-05-27 | 2021-07-27 | 广州白云电器设备股份有限公司 | Image recognition system and method for power supply switch cabinet of urban rail transit |
| CN113210353A (en) * | 2021-04-08 | 2021-08-06 | 山西水务集团建设投资有限公司 | Tunnel inner contour dust cleaning system |
| CN113671966A (en) * | 2021-08-24 | 2021-11-19 | 成都杰启科电科技有限公司 | Method for realizing remote obstacle avoidance of smart grid power inspection robot based on 5G and obstacle avoidance system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1727129A (en) * | 2004-07-28 | 2006-02-01 | 中国科学院自动化研究所 | Controller of robot for automatic polling high-voltage transmission line |
| CN101077578A (en) * | 2007-07-03 | 2007-11-28 | 北京控制工程研究所 | Mobile Robot local paths planning method on the basis of binary environmental information |
| CN101625573A (en) * | 2008-07-09 | 2010-01-13 | 中国科学院自动化研究所 | Digital signal processor based inspection robot monocular vision navigation system |
| US20130211588A1 (en) * | 2012-02-15 | 2013-08-15 | Intuitive Surgical Operations, Inc. | Switching control of an instrument to an input device upon the instrument entering a display area viewable by an operator of the input device |
-
2014
- 2014-09-27 CN CN201410506138.9A patent/CN104199454A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1727129A (en) * | 2004-07-28 | 2006-02-01 | 中国科学院自动化研究所 | Controller of robot for automatic polling high-voltage transmission line |
| CN101077578A (en) * | 2007-07-03 | 2007-11-28 | 北京控制工程研究所 | Mobile Robot local paths planning method on the basis of binary environmental information |
| CN101625573A (en) * | 2008-07-09 | 2010-01-13 | 中国科学院自动化研究所 | Digital signal processor based inspection robot monocular vision navigation system |
| US20130211588A1 (en) * | 2012-02-15 | 2013-08-15 | Intuitive Surgical Operations, Inc. | Switching control of an instrument to an input device upon the instrument entering a display area viewable by an operator of the input device |
Non-Patent Citations (4)
| Title |
|---|
| 张向珂: "采摘机械手障碍信息探测及避障技术研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 沈春生: "高压输电线路除冰机器人的障碍物识别方法研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 王亚平 等: "《数据库系统工程师教程 第2版》", 31 August 2013, 清华大学出版社 * |
| 赵凯岐 等: "《传感器技术及工程应用》", 31 January 2012, 中国电力出版社 * |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786227B (en) * | 2015-04-28 | 2016-10-05 | 山东鲁能智能技术有限公司 | Drop switch based on robot for high-voltage hot-line work changes control system and method |
| CN104786227A (en) * | 2015-04-28 | 2015-07-22 | 山东鲁能智能技术有限公司 | Drop type switch replacing control system and method based on high-voltage live working robot |
| CN105466395A (en) * | 2015-12-17 | 2016-04-06 | 韩明 | State detection system for iron tower nearby high-tension line |
| CN105547251A (en) * | 2015-12-17 | 2016-05-04 | 韩明 | State detection system for iron towers near high-voltage line |
| CN105607518A (en) * | 2016-01-27 | 2016-05-25 | 云南电网有限责任公司电力科学研究院 | Power transmission line robot control method, robot and terminal |
| CN108227691A (en) * | 2016-12-22 | 2018-06-29 | 深圳光启合众科技有限公司 | Control method, system and the device and robot of robot |
| CN107609528A (en) * | 2017-09-21 | 2018-01-19 | 阿尔图像有限公司 | Recognition methods, device and the terminal of facial image |
| CN108007464B (en) * | 2017-12-04 | 2021-03-16 | 国网智能科技股份有限公司 | Autonomous navigation method and system for line patrol robot of high-voltage transmission line |
| CN108007464A (en) * | 2017-12-04 | 2018-05-08 | 国网山东省电力公司电力科学研究院 | Ultra-high-tension power transmission line inspection robot autonomous navigation method and system |
| CN109739239A (en) * | 2019-01-21 | 2019-05-10 | 天津迦自机器人科技有限公司 | A kind of planing method of the uninterrupted Meter recognition for crusing robot |
| CN111981977A (en) * | 2020-07-02 | 2020-11-24 | 广东电网有限责任公司 | Distribution network automatic line patrol system based on edge computing technology |
| CN112327843A (en) * | 2020-11-02 | 2021-02-05 | 武汉理工大学 | Insulator robot obstacle crossing control method, storage medium and system |
| CN113210353A (en) * | 2021-04-08 | 2021-08-06 | 山西水务集团建设投资有限公司 | Tunnel inner contour dust cleaning system |
| CN113177614A (en) * | 2021-05-27 | 2021-07-27 | 广州白云电器设备股份有限公司 | Image recognition system and method for power supply switch cabinet of urban rail transit |
| CN113671966A (en) * | 2021-08-24 | 2021-11-19 | 成都杰启科电科技有限公司 | Method for realizing remote obstacle avoidance of smart grid power inspection robot based on 5G and obstacle avoidance system |
| CN113671966B (en) * | 2021-08-24 | 2022-08-02 | 成都杰启科电科技有限公司 | Method for realizing remote obstacle avoidance of smart grid power inspection robot based on 5G and obstacle avoidance system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104199454A (en) | Control system of inspection robot for high voltage line | |
| CN104267726A (en) | High-voltage line detection method | |
| CN104503450B (en) | Realize the service robot of intelligent obstacle detouring | |
| CN103179401A (en) | Processing method and device for multi-agent cooperative video capturing and image stitching | |
| CN107800791B (en) | Debugging method and device | |
| CN103259781A (en) | Data transmission system based on image recognition | |
| CN104468776B (en) | A kind of method and aggregation node for realizing sensor network data transmission | |
| CN110545376B (en) | Communication method and apparatus, electronic device, and storage medium | |
| WO2019214231A1 (en) | Faulty arc detection method, device and system | |
| CN104639435A (en) | Method and device for data stream forwarding in SDN (Software Defined Networking) | |
| CN107085857A (en) | Power cable localization method, device and system | |
| CN105172082A (en) | Method and system for remote monitoring | |
| CN108015786A (en) | A kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies | |
| KR100927950B1 (en) | Robot behavior control system using robot script and its robot | |
| US20220294971A1 (en) | Collaborative object detection | |
| CN105227914A (en) | Based on recognition methods, the Apparatus and system of the biological information of Cloud Server | |
| KR101735037B1 (en) | Robot Controlling Apparatus and method thereof | |
| CN209357197U (en) | A kind of substation's warning device and system | |
| CN210780850U (en) | Internet of things radio frequency control intelligent gateway | |
| Park et al. | A design of mobile robot based on Network Camera and sound source localization for intelligent surveillance system | |
| CN110120705B (en) | Double-confirmation method and system for working state of working part | |
| Kim et al. | An intelligent collaboration framework between edge camera and video analysis system | |
| KR101592731B1 (en) | Image sensing system | |
| CN113489794A (en) | Communication interaction method for intelligent identification master station and intelligent station end equipment of transformer substation | |
| CN108233530A (en) | For the distributed local Fault Isolation service restoration system and method for power distribution network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141210 |