CN107214690B - A kind of climbing level robot and its track method for correcting error - Google Patents
A kind of climbing level robot and its track method for correcting error Download PDFInfo
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- CN107214690B CN107214690B CN201710396987.7A CN201710396987A CN107214690B CN 107214690 B CN107214690 B CN 107214690B CN 201710396987 A CN201710396987 A CN 201710396987A CN 107214690 B CN107214690 B CN 107214690B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a kind of climbing level robot and its track method for correcting error, climbing level robot includes job platform and the longitudinal rail on the downside of job platform, job platform is equipped with video camera, longitudinal rail is equipped with upper and lower two pole units, and electric pushrod is equipped between two pole units, each pole unit includes left and right two clamping jaws, and clamping jaw is equipped with deviation correcting device；Track method for correcting error includes obtaining actual deviation angle, obtains corresponding control amount θ in conjunction with different working modes, obtains the corresponding amount of feeding S of control amount θ and error correct device according to preset mapping relations model.Climbing level robot climbing of the invention is flexible, applicable different bar diameters, can autonomous track correction, can autonomous around rod rotation climbing, can remote control, long operational time and can complete to transmission line operation task, and track method for correcting error has the advantages that climbing level robot course deviation can be prevented, ensures that stability-of-path is reliable, simple and easy, fast reliable.
Description
Technical field
Present invention relates generally to the climbing level robots and its controlling party in power system transmission line operation automation field
Method, and in particular to a kind of climbing level robot and its track method for correcting error.
Background technique
With the development that urban network reconstruction works, more and more transmission lines of electricity need to carry out manual inspection and operation.
Theoretically, transmission line of electricity by extraneous factor influenced it is smaller, safe operation reliability it is higher.It is defeated but in reality
Electric line has the attachment of the dirts such as soil, birds droppings after running for a period of time, other substances such as acid rain, which can also corrode transmission of electricity, leads
Line.These problems finally can all lead to the rising of transmission line malfunction rate, lead to taking place frequently for power outage.Domestic transmission line of electricity
Malfunction monitoring task mostly by being accomplished manually, staff by climbing roofbolt observe transmission line of electricity with the presence or absence of insulator contamination,
The failures such as temperature anomaly, dirt attachment, wire strand breakage.The working efficiency of this working method is low, the person peace of staff
Overall coefficient is also relatively low, can not be precisely accomplished the monitoring to transmission line of electricity, missing inspection erroneous detection is frequent occurrence.Therefore in order to guarantee
The safety of polling transmission line staff mentions the accuracy of transmission line malfunction diagnostic work, replaces work by robot
Personnel climb electric wire roofbolt and complete related on-stream monitoring task and become more and more important.
Summary of the invention
The technical problem to be solved in the present invention: in view of the above problems in the prior art, it is flexible, applicable to provide a kind of climbing
Different bar diameters, can autonomous track correction, can autonomous around rod rotation climbing, can remote control, long operational time and can complete
To the climbing level robot of transmission line operation task, and further providing one kind can prevent climbing level robot track inclined
It moves, ensure reliable, simple and easy, the quick track method for correcting error for being reliably applied to the climbing level robot of stability-of-path.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
On the one hand, the present invention provides a kind of climbing level robot, the longitudinal direction including job platform and on the downside of job platform
Guide rail, the job platform are equipped with video camera, and the longitudinal rail is equipped with upper and lower two pole units, and two poles
Electric pushrod is equipped between unit, each pole unit includes left and right two clamping jaws, and the clamping jaw is equipped with deviation correcting device,
The deviation correcting device includes correction motor and rectifying screw, the correction motor be fixedly arranged on pole unit and output end and
Rectifying screw is connected, and the clamping jaw sliding is arranged in the front end of pole unit, and screw thread connects between the rectifying screw and clamping jaw
It connects.
Preferably, the pole unit includes that bottom plate, idler wheel and two pole arms, the bottom plate are set in longitudinal rail
On, the bottom plate is equipped with arm driving motor and two linear guides, and the idler wheel is set to the front end of bottom plate, two pole arms
Middle part is hingeably secured on bottom plate by shaft, and described two pole arms one end is equipped with clamping jaw, the other end respectively and linear guide
In horizontal slider be connected, the horizontal slider of two linear guides passes through a connecting rod respectively and is connected with the same screw rod slide unit, institute
The front end for stating arm driving motor is connected with arm driving screw rod, and screw thread connects between the arm driving screw rod and screw rod slide unit
It connects.
Preferably, the clamping face of the clamping jaw is arcwall face.
On the other hand, the present invention also provides a kind of track method for correcting error of aforementioned climbing level robot, step includes:
1) it during climbing level robot is along electric pole pole-climbing, is acquired on electric pole by the video camera of climbing level robot
The insulation subgraph of side obtains the coordinate of the insulator A and insulator B on outermost two lines road on electric pole, calculates insulator A
The coordinate value of central point C between insulator B, according to the coordinate value of current central point C and preset climbing reference center
Point coordinate calculates the current actual deviation angle of climbing level robot；
2) operating mode for detecting climbing level robot jumps if the operating mode of climbing level robot is correction mode
Execute step 3)；If the operating mode of climbing level robot is around rod rotary mode, execution step 4) is jumped；
3) using actual deviation angle as control amount θ, execution step 5) is jumped；
4) it takes difference as control amount θ at actual deviation angle and preset around rod rotation offset angle, jumps execution step 5)；
5) the corresponding amount of feeding of control amount θ is obtained according to the mapping relations model between preset amount of feeding S and angle of deviation θ
S；
6) side is adjusted according to the correction of the angle of deviation θ climbing level robot determined, if correction adjustment side is left side, controlled
The deviation correcting device of clamping jaw on the left of specified pole unit, so that rectifying screw deviates amount of feeding S；If correction adjustment side is right side,
The deviation correcting device of clamping jaw on the right side of specified pole unit is then controlled, so that rectifying screw deviates amount of feeding S.
Preferably, the mapping relations model in step 5) between preset amount of feeding S and angle of deviation θ specifically refers to nerve net
Network model, and the neural network model is previously-completed the training of amount of feeding S with corresponding angle of deviation θ sample data.
Climbing level robot of the invention has an advantage that
1, climbing level robot of the invention by robot body (longitudinal rail and upper and lower two pole units are constituted),
Deviation correcting device, job platform three parts are constituted.The climbing level robot of the present embodiment can be climbed on the electric pole that bar diameter changes,
The achievable correction to robot climbing track controls deviation correcting device under control of the control system during climbing, entangles simultaneously
The around rod rotary motion of climbing level robot also may be implemented in deflection device.
2, the job platform of climbing level robot of the invention can install the transmission line operations such as relevant Work machine arm
End, the operation end that its job platform carries after robot climbing is to electric pole assignment position will continue to complete transmission of electricity
The job tasks such as on-line monitoring, the insulator cleaning of route.
3, climbing level robot of the invention can be applied to transmission line of electricity automated job field, can replace staff and climbs
It climbs transmission line of electricity electric pole and completes related monitoring results task, be effectively reduced the working strength of grid maintenance personnel, show
It lands and improves transmission line operation level, and ensure that the stability of transmission line safety operation, popularization with higher is answered
With value.
The track method for correcting error of climbing level robot of the invention has an advantage that the track of climbing level robot of the invention
Method for correcting error by obtaining out the current actual deviation angle of climbing level robot, be then based on different operating modes obtain it is different
Control amount θ obtains the corresponding amount of feeding S of control amount θ according to the mapping relations model between preset amount of feeding S and angle of deviation θ,
Side is adjusted according to the correction of the angle of deviation θ climbing level robot determined, if correction adjustment side is left side, controls specified pole list
The deviation correcting device of first left side clamping jaw, so that rectifying screw deviates amount of feeding S；If correction adjustment side is right side, control is specified
The deviation correcting device of clamping jaw on the right side of pole unit, so that rectifying screw deviates amount of feeding S, so as to realize that climbing level robot is being climbed
It climbs and the track correction in around rod rotary course, it is ensured that climbing level robot is fixed track in climbing and around rod rotary course, really
Protecting climbing level robot can replace staff's climbing electric transmission line electric pole and completes related monitoring results task, effectively subtract
Lack the working strength of grid maintenance personnel, improves transmission line operation level significantly, and ensure that transmission line safety
The stability of operation, application value with higher.
Detailed description of the invention
Fig. 1 is the climbing level robot schematic view of the front view of the embodiment of the present invention.
Fig. 2 is the pole schematic cross-sectional view of the pole unit of the embodiment of the present invention.
Fig. 3 is the operation principle schematic diagram of the pole unit of the embodiment of the present invention.
Fig. 4 is the workflow schematic diagram of the pole unit of the embodiment of the present invention.
Fig. 5 is the climbing reference line schematic diagram of the embodiment of the present invention.
Fig. 6 is the actual deviation angle θ schematic diagram of the embodiment of the present invention.
Marginal data: 1, job platform；11, longitudinal rail；12, video camera；2, pole unit；20, clamping jaw；21, bottom plate；
211, arm driving motor；212, linear guide；213, horizontal slider；214, connecting rod；215, screw rod slide unit；216, arm drives
Screw rod；22, idler wheel；23, pole arm；231, shaft；3, electric pushrod；4, deviation correcting device；41, correction motor；42, correction silk
Bar.
Specific embodiment
As shown in Figure 1, Figure 2 and Figure 3, the climbing level robot of the present embodiment includes job platform 1 and is set under job platform 1
The longitudinal rail 11 of side, job platform 1 are equipped with video camera 12, and longitudinal rail 11 is equipped with upper and lower two pole units 2, and
Electric pushrod 3 is equipped between two pole units 2, each pole unit 2 includes left and right two clamping jaws 20, is set on clamping jaw 20
There is deviation correcting device 4, deviation correcting device 4 includes correction motor 41 and rectifying screw 42, and correction motor 41 is fixedly arranged in pole unit 2
Upper and output end is connected with rectifying screw 42, and clamping jaw 20 slides the front end for being arranged in pole unit 2, and rectifying screw 42 and clamping jaw
It is threadedly coupled between 20.In the present embodiment, each pole unit 2 includes left and right two clamping jaws 20, and clamping jaw 20 is equipped with correction
Device 4, when climbing roofbolt process, deviation correcting device 4 can be controlled climbing level robot from both direction, more accurate to adjust
The climbing direction of whole climbing level robot.
Job platform 1 can install transmission line of electricity correlation operation end, such as video monitoring holder and insulator cleaning machine
Tool arm, these operation ends can start to work after climbing level robot reaches designated position, further enrich climbing level robot
Function.
As shown in Figure 1, Figure 2 and Figure 3, pole unit 2 include bottom plate 21, idler wheel 22 and two pole arms 23,21 sets of bottom plate
It is located on longitudinal rail 11, bottom plate 21 is equipped with arm driving motor 211 and two linear guides 212, and idler wheel 22 is set to bottom plate
21 front end, be hingeably secured on bottom plate 21 by shaft 231 in the middle part of two pole arms 23 (in X-type and bilateral symmetry, it can be around
Shaft 231 as fixed point rotates), two 23 one end of pole arm are equipped with clamping jaw 20, the other end respectively and in linear guide 212
Horizontal slider 213 be connected, the horizontal slider 213 of two linear guides 212 is sliding with the same screw rod by a connecting rod 214 respectively
Platform 215 is connected, and the front end of arm driving motor 211 is connected with arm driving screw rod 216, and arm drives screw rod 216 and screw rod sliding
It is threadedly coupled between platform 215, by above structure, can be realized the climbing of the electric pole to different bar diameters.In the present embodiment, folder
The clamping face of pawl 20 is arcwall face, suitable for the cylindrical structure of electric pole, is clamped reliable and stable.The movement of pole arm 23 uses
The structure that linear guide 212 and horizontal slider 213 are combined is controlled, and the linear motion of this structure is more steady, mechanical
Efficiency is higher, can reduce the failure rate of robot.
The climbing level robot of the present embodiment is suitable for the city transmission line of electricity electric pole of bar diameter variation, which can
To climb along electric pole and climb downwards upwards, it can also be rotated and be climbed with around rod in crawling process, when robot climbing to electricity
When line bar top, the operation end that operation at top platform carries can be completed to the relevant job task of transmission line of electricity.This reality
It is as follows to apply a course of work for pole unit 2: upwards when climbing, 211 turns of arm driving motor of pole unit 2 of upside first
It is dynamic, drive screw rod 216 to drive screw rod slide unit 215 that connecting rod 214 is pushed to move to electric pole direction by arm.Due to geometrical relationship
Variation, horizontal slider 213 in linear guide 212 to the left and right two sides move.At this time by connecting rod principle it is found that the pole of upside
Two pole arms 23 of unit 2 will open.When climbing level robot control system detects two poles of the pole unit 2 of upside
After arm 23 opens, electric pushrod 3 will stretch out upwards and the pole unit 2 of downside is driven to move upwards.When climbing level robot controls
System detection to electric pushrod 3 it is fully extended after, the arm driving motor 211 of the pole unit 2 of upside will rotate backward, until
Two pole arms 23 of the pole unit 2 of upside stop operating after holding electric pole tightly completely.When climbing level robot control system is examined
When two pole arms 23 of the pole unit 2 on the upside of measuring hold electric pole tightly completely, the arm of the pole unit 2 of downside drives electricity
Machine 211 will start turning and drive two pole arms 23 of the pole unit 2 of downside to unclamp electric pole.Work as robot control system
When detecting that two pole arms 23 of the pole unit 2 of downside unclamp electric pole, electric pushrod 3 starts to shrink and drives downside
Pole unit 2 moves upwards.After electric pushrod 3 is shunk completely, two pole arms 23 of the pole unit 2 of downside will be in downside
Electric pole is held tightly again under the drive of the arm driving motor 211 of pole unit 2.So far, primary climbing fortune is completed in robot
It is dynamic.Climbing level robot can complete climbing sports on utility poles by constantly repeating above-mentioned climbing sports.When the pole-climbing
When robot creeps on utility poles, it may appear that since the two pole arms 23 in left and right are in contact with electric pole surface the friction of generation
The unequal phenomenon of power size, this will lead to robot and deviates predetermined climbing track.By changing pole-climbing machine in the present embodiment
The size of 23 frictional force of people or so pole arm solves the above problems.The two pole arms 23 and electric pole of climbing level robot are distinguished
It is in contact in left and right side, when left and right sides frictional force is of different sizes, torque that frictional force generates climbing level robot
It is not identical.Therefore the deviation correcting device 4 of climbing level robot is devised in the present embodiment.Climbing level robot is by adjusting 23 liang of pole arm
The amount of feeding of rectifying screw 42 at side clamping jaw 20 controls offset direction and the deviation angle of climbing level robot.
As shown in figure 4, the course of work of the climbing level robot of the present embodiment is as follows:
The first step starts climbing level robot: the target electric pole of selection city transmission line of electricity is implemented this by operator
The climbing level robot of example is placed on by selected electric pole and starts climbing level robot.
Second step, upper and lower two pole units 2 hold electric pole: the arm driving motor of upper and lower two pole units 2 tightly
211 start turning, and two pole arms 23 of upper and lower two pole units 2 is driven to open respectively.When upper and lower two pole lists
After two pole arms 23 of member 2 are entirely around electric pole, the arm driving motor 211 of upper and lower two pole units 2 rotates again
And pole arm 23 is driven to hold electric pole tightly, preparation is ready, and climbing level robot starts to climb upwards.
Third step is climbed upwards using specified operating mode, and uses the present embodiment pole-climbing machine in upward climbing
The track method for correcting error of people is to ensure stability-of-path.As shown in figure 4, the step of track method for correcting error of climbing level robot, includes:
1) during climbing level robot is along electric pole pole-climbing, electric pole is acquired by the video camera 12 of climbing level robot
The insulation subgraph of upside obtains the coordinate of the insulator A and insulator B on outermost two lines road on electric pole, calculates insulation
The coordinate value of central point C between sub- A and insulator B, according in the coordinate value of current central point C and preset climbing benchmark
Heart point coordinate calculates the current actual deviation angle of climbing level robot；
2) operating mode for detecting climbing level robot jumps if the operating mode of climbing level robot is correction mode
Execute step 3)；If the operating mode of climbing level robot is around rod rotary mode, execution step 4) is jumped；
3) using actual deviation angle as control amount θ, execution step 5) is jumped；
4) it takes difference as control amount θ at actual deviation angle and preset around rod rotation offset angle, jumps execution step 5)；
5) the corresponding amount of feeding of control amount θ is obtained according to the mapping relations model between preset amount of feeding S and angle of deviation θ
S；
6) correction of the climbing level robot determined according to angle of deviation θ (positive negative characteristic) adjusts side, if correction adjustment side is
Left side then controls the deviation correcting device 4 of specified 2 left side clamping jaw 20 of pole unit, so that rectifying screw 42 deviates amount of feeding S；If
Correction adjustment side is right side, then controls the deviation correcting device 4 of specified 2 right side clamping jaw 20 of pole unit, so that rectifying screw 42 deviates
Amount of feeding S.Rectifying screw 42 deviates amount of feeding S, and the frictional force of corresponding correction adjustment side, such as the correction when right side can be adjusted
When motor 41 rotates clockwise, the clamping jaw 20 for driving right side is held in the rotation of rectifying screw 42 of right side clamping jaw 20 tightly to be leaned on towards roofbolt
Closely, 23 right side of pole arm will be less than 23 distance of the left side away from roofbolt of pole arm at a distance from the contact surface of roofbolt at this time, right accordingly
The normal pressure that the normal pressure that side pole arm 23 generates will be generated less than left side pole arm 23 causes left side pole 23 frictional force of arm big
In 23 frictional force of right side pole arm.When 23 or so frictional force of pole arm is of different sizes, left and right torque suffered by climbing level robot
Also no longer identical, therefore the rotation relative to wire column can occur, complete the correction control of itself.
In the present embodiment, the mapping relations model in step 5) between preset amount of feeding S and angle of deviation θ specifically refers to mind
Through network model, and neural network model is previously-completed the training of amount of feeding S with corresponding angle of deviation θ sample data.
In the present embodiment, the job platform 1 of climbing level robot is equipped with video camera 12(high-definition camera), the high-definition camera
Machine can acquire electric pole top insulation subgraph；The image on the upside of the acquisition electric pole of video camera 12 is first passed through in advance, selects electric pole
The insulator A and insulator B on upper outermost two lines road calculate the coordinate of insulator A and insulator B as intended reference point
The coordinate value of value and central point C are as climbing reference center's point, using Hough line detection method to the bar in acquisition image
Column carries out edge extracting, the climbing reference line of central point C is calculated by line fitting method, as shown in Figure 5；In pole-climbing
In the process, the image on the upside of electric pole is acquired by video camera 12, calculates insulator A's and insulator B for acquisition image
The coordinate value of coordinate value and central point C, according to the coordinate value of current central point C, the coordinate value meter of climbing reference center's point
It calculates self-position and climbs the actual deviation angle θ between reference line0, as shown in Figure 6.
4th step is arrived in pole-climbing climbing level robot on electric pole behind designated position, by the job platform 1 of climbing level robot
The apparatus for work of upper installation completes related operation (on-line monitoring, insulator cleaning etc.).
5th step, climbing level robot are climbed down along electric pole, are finally recycled by staff.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of climbing level robot, it is characterised in that: led including job platform (1) and the longitudinal direction being set on the downside of job platform (1)
Rail (11), the job platform (1) are equipped with video camera (12), and the longitudinal rail (11) is equipped with upper and lower two pole lists
First (2), and electric pushrod (3) are equipped between two pole units (2), each pole unit (2) includes left and right two clamping jaws
(20), the clamping jaw (20) is equipped with deviation correcting device (4), and the deviation correcting device (4) includes correction motor (41) and rectifying screw
(42), the correction motor (41) is fixedly arranged on pole unit (2) and output end is connected with rectifying screw (42), the folder
Pawl (20) slides the front end for being arranged in pole unit (2), and is threadedly coupled between the rectifying screw (42) and clamping jaw (20)；Institute
Stating pole unit (2) includes bottom plate (21), idler wheel (22) and two pole arms (23), and the bottom plate (21) is set in longitudinal rail
(11) on, the bottom plate (21) is equipped with arm driving motor (211) and two linear guides (212), and the idler wheel (22) sets
It is hingeably secured on bottom plate (21) in the middle part of the front end of bottom plate (21), two pole arms (23) by shaft (231), it is described two
Pole arm (23) one end is equipped with clamping jaw (20), the other end is connected with the horizontal slider (213) in linear guide (212) respectively, and two
The horizontal slider (213) of a linear guide (212) is connected by a connecting rod (214) with the same screw rod slide unit (25) respectively, institute
The front end for stating arm driving motor (211) is connected with arm driving screw rod (216), arm driving screw rod (216) and screw rod
Slide unit is threadedly coupled between (25).
2. climbing level robot according to claim 1, it is characterised in that: the clamping face of the clamping jaw (20) is arcwall face.
3. a kind of track method for correcting error of climbing level robot as claimed in claim 1 or 2, it is characterised in that step includes:
1) it during climbing level robot is along electric pole pole-climbing, is acquired on electric pole by the video camera (12) of climbing level robot
The insulation subgraph of side obtains the coordinate of the insulator A and insulator B on outermost two lines road on electric pole, calculates insulator A
The coordinate value of central point C between insulator B, according to the coordinate value of current central point C and preset climbing reference center
Point coordinate calculates the current actual deviation angle of climbing level robot；
2) operating mode for detecting climbing level robot jumps execution if the operating mode of climbing level robot is correction mode
Step 3)；If the operating mode of climbing level robot is around rod rotary mode, execution step 4) is jumped；
3) using actual deviation angle as control amount θ, execution step 5) is jumped；
4) it takes difference as control amount θ at actual deviation angle and preset around rod rotation offset angle, jumps execution step 5)；
5) the corresponding amount of feeding S of control amount θ is obtained according to the mapping relations model between preset amount of feeding S and angle of deviation θ；
6) side is adjusted according to the correction of the angle of deviation θ climbing level robot determined, if correction adjustment side is left side, control is specified
The deviation correcting device (4) of clamping jaw (20) on the left of pole unit (2), so that rectifying screw (42) deviates amount of feeding S；If correction adjustment
Side is right side, then controls the deviation correcting device (4) of clamping jaw (20) on the right side of specified pole unit (2), so that rectifying screw (42) deviates
Amount of feeding S.
4. the track method for correcting error of climbing level robot according to claim 3, which is characterized in that preset feeding in step 5)
Mapping relations model between amount S and angle of deviation θ specifically refers to neural network model, and the neural network model is previously-completed
The training of amount of feeding S and corresponding angle of deviation θ sample data.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108016523B (en) * | 2017-11-02 | 2020-02-07 | 国网浙江省电力公司嘉兴供电公司 | Multifunctional pole-climbing robot and control method thereof |
| CN108163079A (en) * | 2017-12-26 | 2018-06-15 | 武汉科技大学 | Double collet climbing level robot |
| CN109093629B (en) * | 2018-08-31 | 2020-10-23 | 国家电网有限公司 | Lightning arrester self-climbing device |
| CN109572842B (en) * | 2018-12-12 | 2020-12-04 | 杭州申昊科技股份有限公司 | Pole-climbing mechanism, pole-climbing intelligent inspection robot and pole-climbing method of transformer substation |
| CN109515545A (en) * | 2018-12-14 | 2019-03-26 | 南京全控航空科技有限公司 | Creeping motion type climbing level robot |
| CN114568995B (en) * | 2022-04-01 | 2023-03-24 | 武昌理工学院 | High-rise curtain wall automatic cleaning robot based on guide rod structure |
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