CN108858121A - Hot line robot and its control method - Google Patents

Hot line robot and its control method Download PDF

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Publication number
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
Authority
CN
China
Prior art keywords
livewire work
unit
control
joint
wrist
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810841535.XA
Other languages
Chinese (zh)
Inventor
尹春丽
李实�
刘波
王丹
滕松
韩刚
邱育东
张文生
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
Shenyang Institute of Automation of CAS
Xuzhou Power Supply Co of State Grid Jiangsu Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
Shenyang Institute of Automation of CAS
Xuzhou Power Supply Co of State Grid Jiangsu Electric Power Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by State Grid Corp of China SGCC, Shenyang Institute of Automation of CAS, Xuzhou Power Supply Co of State Grid Jiangsu Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201810841535.XA priority Critical patent/CN108858121A/en
Publication of CN108858121A publication Critical patent/CN108858121A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/005Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/06Control stands, e.g. consoles, switchboards
    • B25J13/065Control stands, e.g. consoles, switchboards comprising joy-sticks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme 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
    • B25J9/1697Vision 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

Hot line robot and its control method
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.
CN201810841535.XA 2018-07-27 2018-07-27 Hot line robot and its control method Pending CN108858121A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109846411A (en) * 2018-12-28 2019-06-07 尚一盛世(北京)科技有限公司 A kind of climbing support arm raises angle control system
CN109936081A (en) * 2019-04-09 2019-06-25 北京国电富通科技发展有限责任公司 Livewire work device
CN110026964A (en) * 2019-04-24 2019-07-19 北京轩宇智能科技有限公司 A kind of automobile chassis maintaining robot
CN110421546A (en) * 2019-06-21 2019-11-08 国网安徽省电力有限公司淮南供电公司 A kind of distribution network live line work robot with automatic quick change engaging tool system
CN110421559A (en) * 2019-06-21 2019-11-08 国网安徽省电力有限公司淮南供电公司 The teleoperation method and movement locus base construction method of distribution network live line work robot
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
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

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109846411A (en) * 2018-12-28 2019-06-07 尚一盛世(北京)科技有限公司 A kind of climbing support arm raises angle control system
CN109936081A (en) * 2019-04-09 2019-06-25 北京国电富通科技发展有限责任公司 Livewire work device
CN110026964A (en) * 2019-04-24 2019-07-19 北京轩宇智能科技有限公司 A kind of automobile chassis maintaining robot
CN110421546A (en) * 2019-06-21 2019-11-08 国网安徽省电力有限公司淮南供电公司 A kind of distribution network live line work robot with automatic quick change engaging tool system
CN110421559A (en) * 2019-06-21 2019-11-08 国网安徽省电力有限公司淮南供电公司 The teleoperation method and movement locus base construction method of distribution network live line work robot
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
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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