CN108858121A - Hot line robot and its control method - Google Patents
Hot line robot and its control method Download PDFInfo
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- CN108858121A CN108858121A CN201810841535.XA CN201810841535A CN108858121A CN 108858121 A CN108858121 A CN 108858121A CN 201810841535 A CN201810841535 A CN 201810841535A CN 108858121 A CN108858121 A CN 108858121A
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- livewire work
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- wrist
- hot line
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- 238000000034 method Methods 0.000 title claims abstract description 60
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 230000001133 acceleration Effects 0.000 claims abstract description 34
- 230000003028 elevating effect Effects 0.000 claims abstract description 14
- 210000000707 wrist Anatomy 0.000 claims description 67
- 210000002310 elbow joint Anatomy 0.000 claims description 23
- 210000000323 shoulder joint Anatomy 0.000 claims description 22
- 210000003857 wrist joint Anatomy 0.000 claims description 22
- 210000000245 forearm Anatomy 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000009413 insulation Methods 0.000 claims description 5
- 238000010977 unit operation Methods 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 description 23
- 238000009434 installation Methods 0.000 description 21
- 238000010586 diagram Methods 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000005684 electric field Effects 0.000 description 2
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000012211 strain insulator Substances 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
- B25J13/065—Control stands, e.g. consoles, switchboards comprising joy-sticks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The present invention relates to technical field of electric power, specifically provide a kind of hot line robot and its control method, it is intended to solve the problems, such as that the robot of existing livewire work can bring Personal Risk, ineffective to operator.For this purpose, hot line robot of the invention includes robot platform, the livewire work mechanism for carrying out livewire work, for robot platform to be transported to the elevating mechanism to the walking mechanism of operation field and the height for being used to adjust robot platform.The operation image information for the livewire work unit that control method of the invention is acquired according to information acquisition unit, angle, angular speed and the angular acceleration data of livewire work unit and default livewire work task plan the livewire work track of livewire work unit.The present invention controls hot line robot according to specific operating condition and carries out livewire work, avoids and brings Personal Risk to operator, improves operating efficiency.
Description
Technical field
The present invention relates to technical field of electric power, specifically provide a kind of hot line robot and its control method.
Background technique
Currently, China's 10kV power distribution network needs frequent livewire work operation.Current livewire work operation requires operator
It climbs 10kV electric pole or carries out operation, i.e. livewire work by aerial lift device with insulated arm.Artificial hot line job needs operator to exist
The manual operationss such as wiring, solution line, large labor intensity, spirit height are carried out under the extreme dangers environment such as high-altitude, high pressure, strong-electromagnetic field
Anxiety not only brings Personal Risk to livewire work personnel, but also the low efficiency that fulfils assignment.
Although the country has researched and developed multiple types hot line robot, existing hot line robot is in band
During electric operation, it is still desirable to machine of the operator in the insulation bucket of aerial lift device with insulated arm or on the outside of insulation bucket
Arm rises to the periphery of livewire work route, however it remains potential risks can bring Personal Risk to operator.Moreover, existing
Hot line robot be that livewire work, more traditional manual work cannot independently be completed by operator's field control
Mode more reduces working efficiency.
Therefore, this field needs a kind of new hot line robot and its control method to solve the above problems.
Summary of the invention
It, can be to operator in order to solve the robot of existing livewire work in order to solve the above problem in the prior art
Member brings Personal Risk, ineffective problem, and the present invention provides a kind of hot line robot, the livewire work machines
People includes：Robot platform；Livewire work mechanism, livewire work mechanism is arranged on robot platform, for carrying out electrification work
Industry；Walking mechanism, robot platform are arranged in walking mechanism, and walking mechanism shows for transporting robot platform to operation
?；Elevating mechanism, elevating mechanism is arranged in walking mechanism, for adjusting the height of robot platform.
In the optimal technical scheme of above-mentioned hot line robot, livewire work mechanism includes：Livewire work unit,
For carrying out livewire work；Information acquisition unit is used to acquire the operation image of livewire work unit；First control unit,
Its livewire work that livewire work unit is controlled based on the collection result of information acquisition unit and default livewire work task
Track.
In the optimal technical scheme of above-mentioned hot line robot, livewire work unit includes：At least two mechanical arms,
The two sides of robot platform are arranged at least two mechanical arms, for carrying out livewire work.
In the optimal technical scheme of above-mentioned hot line robot, mechanical arm is six degree of freedom structure, six degree of freedom knot
Structure includes large arm, forearm, shoulder joint, elbow joint and wrist joint component, and the first end of large arm passes through shoulder joint and robot platform
It connects in a rotating manner, to adjust the rotational angle of large arm；The first end of forearm by the second end of elbow joint and large arm with
The mode of rotation connects, to adjust the rotational angle of forearm；The second end of wrist joint component and forearm connects in a rotating manner,
To adjust the rotational angle of wrist joint component.
In the optimal technical scheme of above-mentioned hot line robot, wrist joint component includes that wrist pitching joint, wrist wave
The second end of joint and wrist rotary joint, wrist pitching joint and forearm connects in a rotating manner, to adjust wrist swinging joint
Pitch angle；Wrist swinging joint and wrist pitching joint connect in a rotating manner, to adjust the swing angle of wrist swinging joint；Wrist
Rotary joint and wrist swinging joint connect in a rotating manner, to adjust the rotational angle of wrist rotary joint.
In the optimal technical scheme of above-mentioned hot line robot, stating mechanical arm further includes：Orthogonal rotary encoder,
Angle, angular speed and angle for acquiring shoulder joint, elbow joint, wrist pitching joint, wrist swinging joint and wrist rotary joint accelerate
Degree evidence；Driving motor, the angle-data driving shoulder joint based on the acquisition of orthogonal rotary encoder, elbow joint, wrist pitching are closed
Section, wrist swinging joint and the movement of wrist rotary joint.
In the optimal technical scheme of above-mentioned hot line robot, information acquisition unit includes：Video camera, video camera are set
It sets between at least two mechanical arms, for acquiring the working scene image of at least two mechanical arms；Radar, radar is rotationally
It is arranged on video camera, for measuring and demarcating the position of manipulating object.
In the optimal technical scheme of above-mentioned hot line robot, first control unit includes：Computer, for handling
The location information of the manipulating object of the operation image information and radar acquisition of at least two mechanical arms of video camera acquisition；First
Industrial personal computer, operation pair of first industrial personal computer based on computer to operation image information and the radar acquisition of at least two mechanical arms
The processing result of the location information of elephant and default livewire work task plan the livewire work tracks of at least two mechanical arms.
In the optimal technical scheme of above-mentioned hot line robot, walking mechanism includes：Aerial lift device with insulated arm, insulation bucket arm
Vehicle is for transporting robot platform to operation field；Second control unit, the second control unit are arranged on aerial lift device with insulated arm,
Livewire work is carried out for controlling mechanical arm.
In the optimal technical scheme of above-mentioned hot line robot, the second control unit includes being arranged in aerial lift device with insulated arm
The control room at top and setting are controlling indoor at least two operation handle, the second industrial personal computer and display, operation handle
It is principal and subordinate's operative relationship with corresponding mechanical arm, controls corresponding mechanical arm by changing the posture of operation handle
Movement；Second industrial personal computer onboard data receives system and image processor, and data receiving system is for receiving information acquisition unit
The operation image information of the livewire work unit of acquisition, image processor adopt the received information acquisition unit of data receiving system
The operation image information of the livewire work unit of collection obtains real working scene after being handled, and shows reality by display
Working scene.
In the optimal technical scheme of above-mentioned hot line robot, aerial lift device with insulated arm includes car body and is arranged in car body
On generator and multiple supporting legs, generator is used to power to elevating mechanism and the second control unit；Multiple supporting legs are used for
Support car body.
In addition, the present invention also provides a kind of control method for hot line robot, hot line robot packet
Include livewire work unit and information acquisition unit；Control method includes the following steps：Obtain the electrification of information acquisition unit acquisition
The operation image information of operation unit；Obtain angle, angular speed and the angular acceleration data of livewire work unit；It is adopted according to information
Collect the operation image information of the livewire work unit of unit acquisition, angle, angular speed and the angular acceleration number of livewire work unit
Accordingly and default livewire work task plans the livewire work track of livewire work unit.
In the optimal technical scheme of above-mentioned control method, " according to the livewire work unit of information acquisition unit acquisition
Operation image information, angle, angular speed and the angular acceleration data of livewire work unit and default livewire work task are advised
Draw livewire work unit livewire work track " the step of specifically include：The livewire work list acquired according to information acquisition unit
The operation image information of member charges the manipulating object of operation unit to identify and track；According to the manipulating object of identification and tracking letter
Breath is to construct real working scene；According to the angle of real working scene and livewire work unit, angular speed and angular acceleration
Data determine the relative position of livewire work unit and manipulating object；It is advised depending on the relative position with default livewire work task
Draw the livewire work track of livewire work unit.
In the optimal technical scheme of above-mentioned control method, electrification robot further includes the second control unit；" according to identification
Construct real working scene with the manipulating object information of tracking " the step of specifically include：Livewire work is operated in remote control
In the case of robot manipulating task, the second control unit constructs real operation field according to the manipulating object information of identification and tracking
Scape, and show real working scene, in order to the operation process of operator monitoring band electric machine people.
In the optimal technical scheme of above-mentioned control method, livewire work unit includes at least two mechanical arms, the second control
Unit processed includes at least two operation handles；Control method further includes：It is right with it to control by the posture for changing operation handle
The mechanical arm answered is moved according to livewire work track so that mechanical arm completes livewire work.
In the optimal technical scheme of above-mentioned control method, " the livewire work unit of information acquisition unit acquisition is being obtained
Operation image information " the step of before, control method further includes：Establish action sequence library：By default livewire work task point
Solution is action sequence, and action sequence composition action sequence library is simultaneously stored in first control unit, and action sequence library is for planning
The livewire work track of livewire work unit；Establish manipulating object model library：It makes and makees involved in default livewire work task
The threedimensional model and Model of Target Recognition of industry object so as to hot line robot automatic identification manipulating object and construct three-dimensional void
Quasi- working scene.
In the optimal technical scheme of above-mentioned control method, " constructed according to the manipulating object information of identification and tracking existing
The step of real working scene " further includes：In the case of hot line robot AUTONOMOUS TASK, first control unit is according to identification
Real working scene is constructed with the manipulating object information of tracking.
In the optimal technical scheme of above-mentioned control method, " planned depending on the relative position with default livewire work task
The step of livewire work track of livewire work unit ", specifically includes：First control unit is charged with default depending on the relative position
Job task plans the livewire work track of livewire work unit.
In the optimal technical scheme of above-mentioned control method, control method further includes：Obtain the band with livewire work unit
The corresponding action sequence of electric operation track；According to the corresponding action sequence in livewire work track with livewire work unit come
Determine the rotational angle of livewire work unit；Drive livewire work unit rotational so that livewire work unit is complete according to rotational angle
At livewire work.
In the optimal technical scheme of above-mentioned control method, information acquisition unit includes video camera and radar；Information collection
The operation image information of livewire work unit of unit acquisition includes：The operation image of at least two mechanical arms of video camera acquisition
The location information of information and the manipulating object of radar acquisition.
In the optimal technical scheme of above-mentioned control method, angle, angular speed and the angular acceleration number of livewire work unit
According to for the angle of mechanical arm, angular speed and angular acceleration data.
It will be appreciated to those of skill in the art that in the preferred technical solution of the present invention, hot line robot
Mechanical arm is six degree of freedom structure, and six degree of freedom structure includes large arm, forearm, shoulder joint, elbow joint and wrist joint component, large arm
First end connected in a rotating manner by shoulder joint and robot platform, to adjust the rotational angle of large arm；The of forearm
One end is connected in a rotating manner by the second end of elbow joint and large arm, to adjust the rotational angle of forearm；Wrist joint component
It is connected in a rotating manner with the second end of forearm, to adjust the rotational angle of wrist joint component, freedom degree is evenly distributed, thus
It ensure that mechanical arm can be moved neatly, the obstacle that can be effectively shielded from operating environment and can to imitate manpower complete
At livewire work, operator only needs to be remotely controlled operation to electrification robot by controlling terminal on the ground, thus will
Operator is isolated with high voltage electric field, avoids and brings Personal Risk to operator, improves operating efficiency.
Further, operator needs to carry out the site environment where robotic arm clear and accurate observation and grasp,
It needs accurately to obtain the positional relationship between robotic arm and each power line, scene monitoring operation is carried out by information acquisition unit,
The working scene image that at least two mechanical arms are acquired by video camera, can more accurately obtain scene information；Utilize radar
Measure and demarcate the position of manipulating object, precision can achieve 0.1 millimeter, between robotic arm and manipulating object, mechanical arm it
Between, the relative position between manipulating object and operating environment provides precise measurement, and measurement result is accurately labeled in operation
On the display of personnel.Therefore, operator carries out monitoring operation, available naked eyes direct operation by information acquisition unit
When the high precision position and range information that can not all obtain, further improve the operation precision of livewire work, can prevent from touching
Generation is hit, operational security is improved.
Further, the control method for hot line robot of the invention acquired according to video camera at least two
The operation image information of a mechanical arm, the location information of manipulating object, the angle of mechanical arm, angular speed and the angle of radar acquisition add
The livewire work track of default at least two mechanical arm of livewire work mission planning of speed data and at least two mechanical arms,
So as to accurately cook up the livewire work track of at least two mechanical arms；And during executing electrification task,
Electrification task can be executed to control mechanical arm with manual operation, the operation that can also live alone with mechanical arm is to execute electrification task, greatly
Ground improves operating efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of hot line robot of the invention；
Fig. 2 is the structural schematic diagram of livewire work unit of the invention；
Fig. 3 is the structural schematic diagram of mechanical arm of the invention；
Fig. 4 is the structural schematic diagram of the second control unit of the invention；
Fig. 5 is the flow chart of control method of the invention；
Fig. 6 is a kind of flow chart of the control method of embodiment of the invention.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.
It should be noted that in the description of the present invention, the side of the instructions such as term "left", "right", " rear ", "top", "bottom"
To or the term of positional relationship be direction based on the figure or positional relationship, this is intended merely to facilitate description, rather than
Indication or suggestion described device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot manage
Solution is limitation of the present invention.In addition, term " first ", " second " are used for description purposes only, and it should not be understood as instruction or dark
Show relative importance.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
Based on the problems of the prior art mentioned in background technique, the present invention passes through livewire work mechanism, walking mechanism
With the mutual cooperation of elevating mechanism, livewire work mechanism is allowed independently to complete livewire work, operator only needs on ground
Operation is remotely controlled to electrification robot by controlling terminal on face, so that operator is isolated with high voltage electric field, is kept away
Exempt to bring Personal Risk to operator, has improved operating efficiency.
It is the structural schematic diagram of hot line robot of the invention referring to Fig. 1 to Fig. 6, Fig. 1；Fig. 2 is band of the invention
The structural schematic diagram of electric operation unit；Fig. 3 is the structural schematic diagram of mechanical arm of the invention；Fig. 4 is the second control of the invention
The structural schematic diagram of unit；Fig. 5 is the flow chart of control method of the invention；Fig. 6 is a kind of control of embodiment of the invention
The flow chart of method.As shown in Figure 1, hot line robot includes robot platform 1, livewire work mechanism 2, walking mechanism 3
With elevating mechanism 4, livewire work mechanism 2 is arranged on robot platform 1, for carrying out livewire work；Robot platform 1 is arranged
In walking mechanism 3, for transporting robot platform 1 to operation field；Elevating mechanism 4 is arranged in walking mechanism 3, for adjusting
The height of whole robot platform 1.
Preferably, the top of robot platform 1 is equipped with insulating layer, and the electrification for that will be arranged on robot platform 1 is made
Industry mechanism 2 and robot platform 1 insulate, and bring Personal Risk so as to avoid to operator.
In a kind of preferable embodiment, as shown in Fig. 2, livewire work mechanism 2 includes livewire work unit 21, information
Acquisition unit 22 and first control unit 23；The end of robot platform 1, livewire work unit is arranged in livewire work unit 21
21 for carrying out livewire work；The middle part of robot platform 1 is arranged in information acquisition unit 22, and information acquisition unit 22 is for adopting
Collect the operation image of livewire work unit 21；The middle part of robot platform 1, first control unit is arranged in first control unit 23
23 control the electrification of livewire work unit 21 based on the collection result of information acquisition unit 22 and default livewire work task
Operation track.Certainly, the actual installation position of livewire work unit 21, information acquisition unit 22 and first control unit 23 is unlimited
In the installation site of the example above, those skilled in the art can flexibly set livewire work unit in actual application
21, the actual installation position of information acquisition unit 22 and first control unit 23, as long as being adopted by livewire work unit 21, information
Collection unit 22 and first control unit 23 can be realized livewire work.
In order to improve the precision of livewire work, livewire work unit 21 includes two mechanical arms 211, two mechanical arms 211
It is separately positioned on the left and right sides of robot platform 1, mechanical arm 211 is for carrying out livewire work.Certainly, the reality of mechanical arm 211
Border installation site and quantity are not limited to the installation site and quantity of the example above, and those skilled in the art can be in actual application
In flexibly set actual installation position and the quantity of mechanical arm 211, as long as can be realized livewire work i.e. by mechanical arm 211
It can.
Preferably, as shown in figure 3, mechanical arm 211 is six degree of freedom structure, six degree of freedom structure includes large arm 2111, small
The first end of arm 2112, shoulder joint 2113, elbow joint 2114 and wrist joint component, large arm 2111 passes through shoulder joint 2113 and machine
People's platform 1 connects in a rotating manner, to adjust the rotational angle of large arm 2111；The first end of forearm 2112 passes through elbow joint
2114 and the second end of large arm 2111 connect in a rotating manner, to adjust the rotational angle of forearm 2112；Wrist joint component and
The second end of forearm 2112 connects in a rotating manner, and to adjust the rotational angle of wrist joint component, freedom degree is evenly distributed, from
And ensure that mechanical arm 211 can be moved neatly, it the obstacle that can be effectively shielded from operating environment and can imitate
Manpower completes livewire work.Certainly, the freedom degree of mechanical arm 211 is not limited to the above-mentioned six degree of freedom enumerated, or other
Freedom degree, for example, Three Degree Of Freedom, four-degree-of-freedom etc., as long as no matter take which kind of freedom degree mechanical arm 211 can be rotated with
Complete livewire work.In addition, large arm 2111, forearm 2112, shoulder joint 2113, elbow joint 2114 and wrist joint component company
Socket part position is also not necessarily limited to the above-mentioned connecting portion enumerated, and the first end of forearm 2112 can also be passed through elbow joint 2114 and large arm
2111 middle part connects in a rotating manner, the middle part of wrist joint component and forearm 2112 can also be connected in a rotating manner
It connects, this change is without departing from the principle and scope of the present invention.
In order to further increase the precision of livewire work, as shown in figure 3, wrist joint component include wrist pitching joint 2115,
Wrist swinging joint 2116 and wrist rotary joint 2117, wherein the second end of wrist pitching joint 2115 and forearm 2112 is to rotate
Mode connects, to adjust the pitch angle of wrist swinging joint 2116；Wrist swinging joint 2116 and wrist pitching joint 2115 are to rotate
Mode connect, to adjust the swing angle of wrist swinging joint 2116；Wrist rotary joint 2117 and wrist swinging joint 2116 are to turn
Dynamic mode connects, to adjust the rotational angle of wrist rotary joint 2117, so that freedom degree distribution is more uniform, to ensure that
Mechanical arm 211 can move more flexiblely, the obstacle that can be effectively shielded from operating environment and can imitate manpower
Complete livewire work.
Although not shown in the drawings, mechanical arm 211 further includes orthogonal rotary encoder and driving motor, orthogonal rotary encoder
For acquiring shoulder joint 2113, elbow joint 2114, wrist pitching joint 2115, wrist swinging joint 2116 and wrist rotary joint 2117
Angle, angular speed and angular acceleration data；The angle-data that driving motor can be acquired based on orthogonal rotary encoder drives shoulder
Joint 2113, elbow joint 2114, wrist pitching joint 2115, wrist swinging joint 2116 and wrist rotary joint 2117 move.
Further, orthogonal rotary encoder includes first encoder corresponding with shoulder joint 2113 and elbow joint
2114 corresponding second encoders, third encoder corresponding with wrist pitching joint 2115 and 2116 phase of wrist swinging joint
Corresponding 4th encoder and the 5th encoder corresponding with wrist rotary joint 2117, the first encoder is for acquiring shoulder joint
Angle, angular speed and the angular acceleration data of section 2113；Second encoder be used to acquire the angle of elbow joint 2114, angular speed and
Angular acceleration data；Third encoder is used to acquire angle, angular speed and the angular acceleration data in wrist pitching joint 2115；4th
Encoder is used to acquire angle, angular speed and the angular acceleration data of wrist swinging joint 2116；5th encoder is for acquiring wrist
Angle, angular speed and the angular acceleration data of rotary joint 2117.
Further, driving motor includes and the corresponding first motor of shoulder joint 2113, corresponding with elbow joint 2114
The second motor, third motor corresponding with wrist pitching joint 2115, the 4th motor corresponding with wrist swinging joint 2116
And the 5th motor corresponding with wrist rotary joint 2117, first motor is for driving shoulder joint 2113 to move；Second motor
For driving elbow joint 2114 to move；Third motor is for driving wrist pitching joint 2115 to move；4th motor is for driving wrist
Swinging joint 2116 moves；5th motor is for driving wrist rotary joint 2117 to move.
In order to improve the precision of information collection, as shown in Fig. 2, information acquisition unit 22 includes video camera 221 and radar
222, video camera 221 is arranged between at least two mechanical arms 211, for acquiring the working scene of at least two mechanical arms 211
Image；Radar 222 is rotatably arranged on video camera 221, comprehensive measurement and can demarcate the position of manipulating object.When
So, the actual installation position of video camera 221 and radar 222 is not limited to the installation site of the example above, and those skilled in the art can
To flexibly set the actual installation position of video camera 221 and radar 222 in actual application, as long as passing through video camera 221
It can be realized the operation image of accurately collection machinery arm 211 with radar 222.
Preferably, video camera 221 is three lens cameras, and three lens cameras can more accurately shoot 211 operation of mechanical arm
Scene image, to more accurately obtain scene information, operator carries out monitoring operation by information acquisition unit 22, can be with
The high precision position and range information that can not all obtain when obtaining naked eyes direct operation, further improve the operation of livewire work
Precision can prevent collision, improve operational security.Certainly, video camera 221 or binocular camera or monocular
No matter video camera takes which kind of video camera 221, as long as 211 working scene image of mechanical arm can be shot.
Preferably, radar 222 be two-dimensional laser radar, two-dimensional laser radar can 180 ° of level rotation three mesh that are mounted on take the photograph
On camera 221, the precision of two-dimensional laser radar can achieve 0.1 millimeter, and two-dimensional laser radar can be to robotic arm and operation pair
Relative position as between, between mechanical arm 211, between manipulating object and operating environment provides precise measurement, and measurement is tied
Fruit is accurately labeled on the display 323 of operator, so that all can not when the available naked eyes direct operation of operator
The high precision position and range information of acquisition, further improve the operation precision of livewire work, can prevent collision, mention
High operational security.Certainly, which kind of radar no matter radar 222 or one-dimensional laser radar, three-dimensional laser radar, take
222, as long as the position of manipulating object can be measured and be demarcated.
In order to improve the control precision of livewire work, as shown in Fig. 2, first control unit 23 includes computer 231 and the
One industrial personal computer 232, computer 231 are arranged between video camera 221 and mechanical arm 211, for handling the acquisition of video camera 221 extremely
The location information for the manipulating object that the operation image information and radar 222 of few two mechanical arms 211 acquire；First industrial personal computer
232 are arranged between computer 231 and the back side panel of robot platform 1, based on computer 231 at least two mechanical arms
The processing result of the location information of the manipulating object of 211 operation image information and radar 222 acquisition and default electrification are made
Industry task plans the livewire work tracks of at least two mechanical arms 211.Certainly, the reality of computer 231 and the first industrial personal computer 232
Border installation site is not limited to the installation site of the example above, and those skilled in the art can flexibly set in actual application
The actual installation position of computer 231 and the first industrial personal computer 232, as long as can be controlled by computer 231 and the first industrial personal computer 232
The livewire work track of livewire work unit processed.
Preferably, computer 231 is the computer for carrying the high-performance data processing board based on GPU, certainly, computer
231 may be other computers, no matter take which kind of computer 231, as long as being capable of handling at least the two of the acquisition of video camera 221
The location information of the manipulating object of operation image information and radar 222 acquisition of a mechanical arm 211.
Preferably, the second industrial personal computer built in machine arm operation trace planning system, robotic arm operation trace planning system energy
The position of enough manipulating objects acquired based on operation image information and radar 222 of the computer 231 at least two mechanical arms 211
The processing result and default livewire work task of confidence breath more accurately plan that the electrification of at least two mechanical arms 211 is made
Industry track improves the precision of livewire work.
In a kind of preferable embodiment, as shown in Figure 1, walking mechanism 3 includes aerial lift device with insulated arm 31 and the second control
Unit 32, aerial lift device with insulated arm 31 are used for the transport of robot platform 1 to operation field；The setting of second control unit 32 struggles against in insulation
On arm vehicle 31, livewire work is carried out for controlling mechanical arm 211.
Preferably, aerial lift device with insulated arm 31 includes car body 311, the crawler belt being arranged on car body 311 and is arranged in car body 311
On generator and four supporting legs 312, crawler belt be able to drive car body 311 walking；Generator is used for elevating mechanism 4 and second
Control unit 32 is powered；Four supporting legs 312 are used to support car body 311.Certainly, the actual installation position sum number of supporting leg 312
Amount is not limited to the installation site and quantity of the example above, and those skilled in the art can flexibly set branch in actual application
The actual installation position of support leg 312 and quantity, as long as car body 311 can be supported by supporting leg 312.
Preferably, supporting leg 312 can be Telescopic support leg, be also possible to non-telescoping support leg.
Preferably, as shown in figure 4, the second control unit 32 includes that the control room 321 at 311 top of car body is arranged in and sets
Set two operation handles 322, the second industrial personal computer and display 323 in control room 321, operation handle 322 and corresponding
Mechanical arm 211 be principal and subordinate's operative relationship, the posture by changing operation handle 322 controls corresponding mechanical arm 211
Movement；Second industrial personal computer onboard data receives system and image processor, and data receiving system is for receiving information acquisition unit
The operation image information of the livewire work unit 21 of 22 acquisitions, image processor is to the received information collection list of data receiving system
The operation image information of the livewire work unit 21 of 22 acquisition of member obtains real working scene after being handled, and passes through display
323 show real working scene.Certainly, the actual installation position sum number of operation handle 322, the second industrial personal computer and display 323
Amount is not limited to the installation site of the example above and the quantity of operation handle 322, and those skilled in the art can be in actual application
In flexibly set the actual installation position of operation handle 322, the second industrial personal computer and display 323 and the number of operation handle 322
Amount, as long as can control mechanical arm 211 by operation handle 322, the second industrial personal computer and display 323 carries out livewire work i.e.
It can.
In said structure, elevating mechanism 4 is telescopic arm, certain elevating mechanism 4 or lifting platform, scissors type elevating
Machine or other mechanisms.
In addition, the present invention also provides a kind of control method for above-mentioned hot line robot, as shown in figure 5, control
Method processed includes the following steps：
S1, the operation image information for obtaining the livewire work unit that information acquisition unit acquires；
S2, angle, angular speed and the angular acceleration data for obtaining livewire work unit；
The operation image information of S3, the livewire work unit acquired according to information acquisition unit, the angle of livewire work unit
Degree, angular speed and angular acceleration data and default livewire work task plan the livewire work track of livewire work unit.
Preferably, in above-mentioned steps S3, " believed according to the operation image of the livewire work unit of information acquisition unit acquisition
Breath, angle, angular speed and the angular acceleration data of livewire work unit and default livewire work task plan livewire work
The step of livewire work track of unit ", specifically includes：
S31, electrification is identified and tracked according to the operation image information of the livewire work unit of information acquisition unit acquisition
The manipulating object of operation unit；
S32, real working scene is constructed according to the manipulating object information of identification and tracking；
S33, it is determined according to the angle of real working scene and livewire work unit, angular speed and angular acceleration data
The relative position of livewire work unit and manipulating object；
S34, the livewire work track for planning livewire work unit with default livewire work task depending on the relative position.
The operation image information for the livewire work unit that above-mentioned control method is acquired according to information acquisition unit, electrification are made
Angle, angular speed and the angular acceleration data of industry unit and default livewire work task plan the electrification of livewire work unit
Operation track improves the operation of livewire work so as to accurately cook up the livewire work track of livewire work unit
Precision can more accurately carry out livewire work, improve the usage experience of user.
In a kind of possible embodiment party's examination, in the case of remote control operates hot line robot operation, upper
It states in step S32, the step of " constructing real working scene according to the manipulating object information of identification and tracking " specifically includes：
S321, the second control unit construct real working scene according to the manipulating object information of identification and tracking, and show
Show real working scene, in order to the operation process of operator monitoring band electric machine people.
Preferably, the second industrial personal computer of the second control unit constructs reality according to the manipulating object information of identification and tracking
Working scene, and real working scene is shown by display, in order to the operation process of operator monitoring band electric machine people.
Preferably, livewire work unit includes two mechanical arms, and two mechanical arms are separately positioned on a left side for robot platform
Right two sides, mechanical arm is for carrying out livewire work.
Preferably, the second control unit includes two operation handles, and operation handle and corresponding mechanical arm are principal and subordinate
Operative relationship.
Certainly, the actual installation position and quantity of mechanical arm and operation handle are not limited to the installation site sum number of the example above
Amount, those skilled in the art can be flexibly set in actual application mechanical arm and operation handle actual installation position and
Quantity, as long as can be realized livewire work by mechanical arm and operation handle.
Further, control method is further comprising the steps of：
S35, corresponding mechanical arm is controlled by changing the posture of operation handle according to the movement of livewire work track
So that mechanical arm completes livewire work.
In another possible embodiment party's examination, in the case of hot line robot AUTONOMOUS TASK, " obtained in step S1
Before the step of operation image information for the livewire work unit for taking information acquisition unit to acquire ", control method further includes：
S01, action sequence library is established：It is action sequence, the movement of action sequence composition by default livewire work Task-decomposing
Sequence library is simultaneously stored in first control unit, and action sequence library is used to plan the livewire work track of livewire work unit.
Preferably, action sequence forms action sequence library and is stored in the first industrial personal computer of first control unit.
S02, manipulating object model library is established：Make the threedimensional model of manipulating object involved in default livewire work task
And Model of Target Recognition, so as to hot line robot automatic identification manipulating object and construct three-dimensional working scene.
It preferably, can be according to the devices such as electric power tower bar, electric wire, strain insulator, isolation switch, arrester material object, system
Make threedimensional model and Model of Target Recognition, so as to hot line robot automatic identification manipulating object and constructs three-dimensional operation
Scene.
Preferably, in above-mentioned steps S32, " root constructs real operation according to the manipulating object information of identification and tracking
The step of scene ", specifically includes：
S322, first control unit construct real working scene according to the manipulating object information of identification and tracking.
Preferably, the first industrial personal computer of first control unit constructs reality according to the manipulating object information of identification and tracking
Working scene.
Preferably, in above-mentioned steps S34, " livewire work is planned with default livewire work task depending on the relative position
The step of livewire work track of unit ", specifically includes：
S341, first control unit plan the band of livewire work unit with default livewire work task depending on the relative position
Electric operation track.
Preferably, the first industrial personal computer of first control unit depending on the relative position with default livewire work mission planning at least
The livewire work track of two mechanical arms.
Preferably, control method further includes：
S36, acquisition action sequence corresponding with the livewire work track of livewire work unit；
S37, action sequence corresponding according to the livewire work track with livewire work unit determine livewire work list
The rotational angle of member；
S38, livewire work unit rotational is driven according to rotational angle so that livewire work unit completes livewire work.
In above process, it is preferable that information acquisition unit includes video camera and radar；The band of information acquisition unit acquisition
The operation image information of electric operation unit includes：The operation image information of at least two mechanical arms of video camera acquisition, Yi Jilei
Up to the location information of the manipulating object of acquisition.
Preferably, the angle of livewire work unit, angular speed and angular acceleration data are the angle of the mechanical arm, angle speed
Degree and angular acceleration data.
Further, the angle of mechanical arm, angular speed and angular acceleration data include the shoulder joint of mechanical arm, elbow joint,
Wrist pitching joint, wrist swinging joint and wrist rotary joint angle, angular speed and angular acceleration data.
Preferably, mechanical arm further includes driving motor, and driving motor drives mechanical arm to rotate according to rotational angle so that machine
Tool arm completes livewire work.
Further, driving motor is based on shoulder joint, elbow joint, wrist pitching joint, wrist swinging joint and wrist rotary joint
Angle, angular speed and angular acceleration data drive the shoulder joint, the elbow joint, wrist pitching joint, the wrist to shake
Put joint and wrist rotary joint movement.
That is, control method of the invention can be single according to the first industrial personal computer of first control unit and the second control
The combination for the different task that second industrial personal computer of member is completed, so that hot line robot both can control machinery with manual operation
Arm executes electrification task, and the operation that can also be lived alone with mechanical arm greatlys improve operating efficiency to execute electrification task.
It is a kind of flow chart of the control method of embodiment of the invention referring to Fig. 6, Fig. 6.
As shown in fig. 6, in a preferred embodiment, the control method for hot line robot of the invention
Process can be：
In the case of remote control operates hot line robot operation：
S1, the operation image information for obtaining the livewire work unit that information acquisition unit acquires；
S2, angle, angular speed and the angular acceleration data for obtaining livewire work unit；
S31, electrification is identified and tracked according to the operation image information of the livewire work unit of information acquisition unit acquisition
The manipulating object of operation unit；
S321, the second control unit construct real working scene according to the manipulating object information of identification and tracking, and show
Show real working scene, in order to the operation process of operator monitoring band electric machine people；
S33, it is determined according to the angle of real working scene and livewire work unit, angular speed and angular acceleration data
The relative position of livewire work unit and manipulating object；
S34, the livewire work track for planning livewire work unit with default livewire work task depending on the relative position；
S35, corresponding mechanical arm is controlled by changing the posture of operation handle according to the movement of livewire work track
To complete livewire work.
In another preferred embodiment, the process of the control method for hot line robot of the invention can
To be：
In the case of hot line robot AUTONOMOUS TASK：
S01, action sequence library is established：It is action sequence, the movement of action sequence composition by default livewire work Task-decomposing
Sequence library is simultaneously stored in first control unit, and action sequence library is used to plan the livewire work track of livewire work unit；
S02, manipulating object model library is established：Make the threedimensional model of manipulating object involved in default livewire work task
And Model of Target Recognition, so as to hot line robot automatic identification manipulating object and construct three-dimensional working scene；
S1, the operation image information for obtaining the livewire work unit that information acquisition unit acquires；
S2, angle, angular speed and the angular acceleration data for obtaining livewire work unit；
S31, electrification is identified and tracked according to the operation image information of the livewire work unit of information acquisition unit acquisition
The manipulating object of operation unit；
S322, first control unit construct real working scene according to the manipulating object information of identification and tracking；
S33, it is determined according to the angle of real working scene and livewire work unit, angular speed and angular acceleration data
The relative position of livewire work unit and manipulating object；
S341, first control unit plan the band of livewire work unit with default livewire work task depending on the relative position
Electric operation track；
S36, acquisition action sequence corresponding with the livewire work track of livewire work unit；
S37, action sequence corresponding according to the livewire work track with livewire work unit determine livewire work list
The rotational angle of member；
S38, livewire work unit rotational is driven according to rotational angle so that livewire work unit completes livewire work.
It should be noted that above-described embodiment is only to be used to illustrate this in a kind of preferable embodiment of the invention
The principle of inventive method, it is not intended that limit the scope of the invention, in practical applications, those skilled in the art can root
Above-mentioned function distribution is completed by different steps according to needs, i.e., is decomposed the step in the embodiment of the present invention or group again
It closes.For example, the step of above-described embodiment can be merged into a step, multiple sub-steps can also be further split into, with complete
At all or part of function described above.For the title of the step of involved in the embodiment of the present invention, it is used for the purpose of
Each step is distinguished, limitation of the present invention is not intended as.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (21)
1. a kind of hot line robot, which is characterized in that the hot line robot includes：
Robot platform；
Livewire work mechanism, the livewire work mechanism is arranged on the robot platform, for carrying out livewire work；
Walking mechanism, the robot platform are arranged in the walking mechanism, and the walking mechanism is used for the robot
Platform is transported to operation field；
Elevating mechanism, the elevating mechanism is arranged in the walking mechanism, for adjusting the height of the robot platform.
2. hot line robot according to claim 1, which is characterized in that the livewire work mechanism includes：
Livewire work unit is used to carry out livewire work；
Information acquisition unit is used to acquire the operation image of the livewire work unit；
First control unit, based on the collection result of the information acquisition unit and default livewire work task to control
State the livewire work track of livewire work unit.
3. hot line robot according to claim 2, which is characterized in that the livewire work unit includes：
At least two mechanical arms, the two sides of the robot platform are arranged at least two mechanical arm, for being charged
Operation.
4. hot line robot according to claim 3, which is characterized in that the mechanical arm is six degree of freedom structure,
The six degree of freedom structure includes large arm, forearm, shoulder joint, elbow joint and wrist joint component,
The first end of the large arm is connected in a rotating manner by the shoulder joint and the robot platform, described in adjustment
The rotational angle of large arm；
The first end of the forearm is connected in a rotating manner by the second end of the elbow joint and the large arm, to adjust
State the rotational angle of forearm；
The second end of the wrist joint component and the forearm connects in a rotating manner, to adjust turning for the wrist joint component
Dynamic angle.
5. hot line robot according to claim 4, which is characterized in that the wrist joint component includes that wrist pitching is closed
Section, wrist swinging joint and wrist rotary joint,
The second end of wrist pitching joint and the forearm connects in a rotating manner, to adjust bowing for the wrist swinging joint
Elevation angle degree；
The wrist swinging joint and wrist pitching joint connect in a rotating manner, to adjust the swing of the wrist swinging joint
Angle；
The wrist rotary joint and the wrist swinging joint connect in a rotating manner, to adjust the rotation of the wrist rotary joint
Angle.
6. hot line robot according to claim 5, which is characterized in that the mechanical arm further includes：
Orthogonal rotary encoder is used to acquire the shoulder joint, the elbow joint, wrist pitching joint, the wrist wave
Angle, angular speed and the angular acceleration data in joint and the wrist rotary joint；
Driving motor, the angle-data based on the orthogonal rotary encoder acquisition drive the shoulder joint, the elbow joint,
Wrist pitching joint, the wrist swinging joint and wrist rotary joint movement.
7. hot line robot according to claim 3, which is characterized in that the information acquisition unit includes：
Video camera, the video camera setting is between at least two mechanical arm, for acquiring at least two mechanical arm
Working scene image；
Radar, the radar are rotatably arranged on the video camera, for measuring and demarcating the position of manipulating object.
8. hot line robot according to claim 7, which is characterized in that the first control unit includes：
Computer, for handle at least two mechanical arm of video camera acquisition operation image information and the thunder
Up to the location information of the manipulating object of acquisition；
First industrial personal computer, first industrial personal computer is based on the computer to the operation image information of at least two mechanical arm
And the location information of the manipulating object of radar acquisition processing result and the default livewire work task plan
The livewire work track of at least two mechanical arm.
9. the hot line robot according to any one of claim 3 to 8, which is characterized in that the walking mechanism packet
It includes：
Aerial lift device with insulated arm, the aerial lift device with insulated arm is for transporting the robot platform to operation field；
Second control unit, second control unit are arranged on the aerial lift device with insulated arm, for control the mechanical arm into
Row livewire work.
10. according to hot line robot as claimed in claim 9, which is characterized in that second control unit includes that setting exists
The control room of the insulation bucket arm roof and setting are in indoor at least two operation handle of the control, the second industrial personal computer
And display,
The operation handle and corresponding mechanical arm are principal and subordinate's operative relationship, by change the posture of the operation handle come
Control corresponding manipulator motion；
The second industrial personal computer onboard data receives system and image processor, and the data receiving system is for receiving the letter
The operation image information of the livewire work unit of acquisition unit acquisition is ceased, described image processor is to the data receiver system
Unite received information acquisition unit acquisition the livewire work unit operation image information handled after showed
Real working scene, and the real working scene is shown by the display.
11. according to hot line robot as claimed in claim 9, which is characterized in that the aerial lift device with insulated arm include car body and
Generator on the car body and multiple supporting legs are set,
The generator is used to power to the elevating mechanism and second control unit；
The multiple supporting leg is used to support the car body.
12. a kind of control method for hot line robot, which is characterized in that the hot line robot includes electrification
Operation unit and information acquisition unit；
The control method includes the following steps：
Obtain the operation image information of the livewire work unit of the information acquisition unit acquisition；
Obtain angle, angular speed and the angular acceleration data of the livewire work unit；
According to the operation image information of the livewire work unit of information acquisition unit acquisition, the livewire work unit
Angle, angular speed and angular acceleration data and the default livewire work task plan the band of the livewire work unit
Electric operation track.
13. control method according to claim 12, which is characterized in that " the institute acquired according to the information acquisition unit
State the operation image information of livewire work unit, angle, angular speed and the angular acceleration data of the livewire work unit and
The default livewire work task plans the livewire work track of the livewire work unit " the step of specifically include：
Described in identifying and track according to the operation image information of the livewire work unit of information acquisition unit acquisition
The manipulating object of livewire work unit；
Real working scene is constructed according to the manipulating object information of identification and tracking；
It is determined according to angle, angular speed and the angular acceleration data of the real working scene and the livewire work unit
The relative position of the livewire work unit and the manipulating object；
The livewire work rail of the livewire work unit is planned with the default livewire work task depending on that relative position
Mark.
14. control method according to claim 13, which is characterized in that the electrification robot further includes the second control list
Member；
The step of " the real working scene is constructed according to the manipulating object information of identification and tracking ", specifically includes：
Remote control operate the hot line robot operation in the case of, second control unit according to identification and with
The manipulating object information of track constructs the real working scene, and shows the real working scene, in order to operate
The operation process of robot is charged described in personnel monitoring.
15. control method according to claim 14, which is characterized in that the livewire work unit includes at least two machines
Tool arm, second control unit include at least two operation handles；
The control method further includes：
The corresponding mechanical arm is controlled according to the livewire work track by changing the posture of the operation handle
It moves so that the mechanical arm completes livewire work.
16. control method according to claim 13, which is characterized in that " obtaining the information acquisition unit acquisition
Before the step of operation image information of the livewire work unit ", the control method further includes：
Establish action sequence library：It is action sequence by the default livewire work Task-decomposing, the action sequence composition movement
Sequence library is simultaneously stored in the first control unit, and the action sequence library is used to plan the electrification of the livewire work unit
Operation track；
Establish manipulating object model library：Make the threedimensional model and mesh of manipulating object involved in the default livewire work task
Identification model is marked, so as to manipulating object described in the hot line robot automatic identification and constructs three-dimensional working scene.
17. control method according to claim 16, " according to the manipulating object information of identification and tracking to construct
State real working scene " the step of further include：
In the case of the hot line robot AUTONOMOUS TASK, the first control unit is according to identification and tracking
Manipulating object information constructs the real working scene.
18. control method according to claim 17 " is come with the default livewire work task depending on that relative position
Plan the livewire work track of the livewire work unit " the step of specifically include：
The first control unit plans the livewire work with the default livewire work task depending on that relative position
The livewire work track of unit.
19. control method according to claim 18, the control method further include：
Obtain action sequence corresponding with the livewire work track of the livewire work unit；
The livewire work list is determined according to action sequence corresponding with the livewire work track of the livewire work unit
The rotational angle of member；
The livewire work unit rotational is driven according to the rotational angle so that the livewire work unit completes livewire work.
20. control method according to claim 15, which is characterized in that the information acquisition unit includes video camera and thunder
It reaches；The operation image information of the livewire work unit of information acquisition unit acquisition includes：
The operation image information of at least two mechanical arm of the video camera acquisition, and
The location information of the manipulating object of the radar acquisition.
21. control method according to claim 15, which is characterized in that the angle of the livewire work unit, angular speed
It is angle, angular speed and the angular acceleration data of the mechanical arm with angular acceleration data.
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| CN201810841535.XA CN108858121A (en) | 2018-07-27 | 2018-07-27 | Hot line robot and its control method |
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| CN111085996A (en) * | 2019-12-12 | 2020-05-01 | 北京国电富通科技发展有限责任公司 | Control method, device and system of live working robot |
| CN111376279A (en) * | 2020-05-08 | 2020-07-07 | 重庆工商大学 | Micro-operation mechanical arm for underwater biological printing |
| CN111645077A (en) * | 2020-06-19 | 2020-09-11 | 国电南瑞科技股份有限公司 | Ground monitoring system and monitoring method for distribution network line live working robot |
| CN112388630A (en) * | 2020-10-12 | 2021-02-23 | 北京国电富通科技发展有限责任公司 | Distribution network live working wire stripping robot based on binocular vision and working method thereof |
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| 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 |
| CN114536325A (en) * | 2022-01-12 | 2022-05-27 | 慈溪市输变电工程有限公司 | High-temperature and high-humidity environment operation control method for distribution network operation robot |
| CN114536325B (en) * | 2022-01-12 | 2023-08-18 | 慈溪市输变电工程有限公司 | High-temperature high-humidity environment operation control method for distribution network operation robot |
| CN115285900A (en) * | 2022-03-14 | 2022-11-04 | 国网江苏省电力有限公司镇江供电分公司 | Insulator live-line detection device |
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| CN117207202A (en) * | 2023-11-09 | 2023-12-12 | 国网山东省电力公司东营供电公司 | Anti-collision constraint control method, system, terminal and medium for live working robot |
| CN117207202B (en) * | 2023-11-09 | 2024-04-02 | 国网山东省电力公司东营供电公司 | Anti-collision constraint control method, system, terminal and medium for live working robot |
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