CN105013734B - Washing control method for transformer substation washing robot based on ultrasonic distance measurement - Google Patents
Washing control method for transformer substation washing robot based on ultrasonic distance measurement Download PDFInfo
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- CN105013734B CN105013734B CN201410459384.3A CN201410459384A CN105013734B CN 105013734 B CN105013734 B CN 105013734B CN 201410459384 A CN201410459384 A CN 201410459384A CN 105013734 B CN105013734 B CN 105013734B
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CN201410459384.3A CN105013734B (en) | 2014-09-10 | 2014-09-10 | Washing control method for transformer substation washing robot based on ultrasonic distance measurement |
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CN201410459384.3A CN105013734B (en) | 2014-09-10 | 2014-09-10 | Washing control method for transformer substation washing robot based on ultrasonic distance measurement |
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CN105013734A CN105013734A (en) | 2015-11-04 |
CN105013734B true CN105013734B (en) | 2017-02-15 |
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Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107962589B (en) * | 2017-06-09 | 2020-07-28 | 国网山东省电力公司电力科学研究院 | Insulating protection system of electrified water washing robot of substation equipment based on multisensor fuses |
CN108176152B (en) * | 2018-01-25 | 2021-11-05 | 武汉纺织大学 | Single-row double-spraying cleaning device for high-temperature-resistant filter bag |
CN108159800B (en) * | 2018-01-25 | 2021-11-05 | 武汉纺织大学 | Double-row single-spraying cleaning device for high-temperature-resistant filter bag |
CN109499959A (en) * | 2018-10-22 | 2019-03-22 | 广东电网有限责任公司 | A kind of Electrified water washing system |
CN110794861A (en) * | 2019-11-14 | 2020-02-14 | 国网山东省电力公司电力科学研究院 | Autonomous string falling method and system for flying on-line and off-line insulator string detection robot |
Citations (8)
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EP0384925A1 (en) * | 1989-02-28 | 1990-09-05 | Siemens Aktiengesellschaft | Control method for a digital machine tool or a robot |
CN201941656U (en) * | 2010-12-21 | 2011-08-24 | 徐州海伦哲专用车辆股份有限公司 | Distance measurement device for electrified water washing vehicle |
CN102298391A (en) * | 2011-04-27 | 2011-12-28 | 哈尔滨工业大学 | Motion trail planning method for heavy-duty industrial robot in operating space |
CN103147577A (en) * | 2013-02-27 | 2013-06-12 | 中联重科股份有限公司 | Control method, equipment, system and construction machinery for multi-joint mechanical arm support |
CN103280062A (en) * | 2013-04-28 | 2013-09-04 | 广东电网公司佛山供电局 | Safe protection method and device for electrified water washing for power transmission line |
CN103317507A (en) * | 2013-06-07 | 2013-09-25 | 浙江工业大学 | Chinese teaching method of manipulator motion controller |
CN103770111A (en) * | 2012-10-24 | 2014-05-07 | 中国人民解放军第二炮兵工程大学 | Gait planning and synthetic method for humanoid robot |
CN103970139A (en) * | 2014-05-09 | 2014-08-06 | 上海交通大学 | Robot continuous point position motion planning method and motion controller thereof |
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2014
- 2014-09-10 CN CN201410459384.3A patent/CN105013734B/en active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0384925A1 (en) * | 1989-02-28 | 1990-09-05 | Siemens Aktiengesellschaft | Control method for a digital machine tool or a robot |
CN201941656U (en) * | 2010-12-21 | 2011-08-24 | 徐州海伦哲专用车辆股份有限公司 | Distance measurement device for electrified water washing vehicle |
CN102298391A (en) * | 2011-04-27 | 2011-12-28 | 哈尔滨工业大学 | Motion trail planning method for heavy-duty industrial robot in operating space |
CN103770111A (en) * | 2012-10-24 | 2014-05-07 | 中国人民解放军第二炮兵工程大学 | Gait planning and synthetic method for humanoid robot |
CN103147577A (en) * | 2013-02-27 | 2013-06-12 | 中联重科股份有限公司 | Control method, equipment, system and construction machinery for multi-joint mechanical arm support |
CN103280062A (en) * | 2013-04-28 | 2013-09-04 | 广东电网公司佛山供电局 | Safe protection method and device for electrified water washing for power transmission line |
CN103317507A (en) * | 2013-06-07 | 2013-09-25 | 浙江工业大学 | Chinese teaching method of manipulator motion controller |
CN103970139A (en) * | 2014-05-09 | 2014-08-06 | 上海交通大学 | Robot continuous point position motion planning method and motion controller thereof |
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Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |
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