CN108858252A - A kind of robot for high-voltage hot-line work system and method for planning track - Google Patents
A kind of robot for high-voltage hot-line work system and method for planning track Download PDFInfo
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- CN108858252A CN108858252A CN201811058290.XA CN201811058290A CN108858252A CN 108858252 A CN108858252 A CN 108858252A CN 201811058290 A CN201811058290 A CN 201811058290A CN 108858252 A CN108858252 A CN 108858252A
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- 230000000007 visual effect Effects 0.000 claims abstract description 25
- 230000000694 effects Effects 0.000 claims description 20
- 238000011156 evaluation Methods 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 16
- 238000004146 energy storage Methods 0.000 claims description 11
- 230000002708 enhancing Effects 0.000 claims description 8
- 239000000203 mixture Substances 0.000 claims description 3
- 238000004805 robotic Methods 0.000 claims description 3
- 230000006399 behavior Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 238000009413 insulation Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000009826 distribution Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000000875 corresponding Effects 0.000 description 2
- 230000003028 elevating Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000001681 protective Effects 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 239000004593 Epoxy Substances 0.000 description 1
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- 229910052782 aluminium Inorganic materials 0.000 description 1
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- 125000003700 epoxy group Chemical group 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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 invention provides a kind of robot for high-voltage hot-line work system, including platform and the operation executing module being separately fixed on platform, energy module, visual identity module, control module and tool changing module, the control module is connect with operation executing module, energy module, visual identity module, tool changing module data respectively；Robot in the present invention, which only needs operator to carry out shirtsleeve operation, can be automatically performed livewire work work, guarantee that staff can be far from hazardous environment.
Description
Technical field
The invention belongs to robot device field, more particularly, to a kind of robot for high-voltage hot-line work system and side
Method.
Background technique
Livewire work is the important means of power equipment test, maintenance, transformation, and, to improve power supply reliability, reduction stops for it
Electric loss guarantees that power grid security is made that tremendous contribution.Livewire work is to the technical level and qualification of operator, weather
Condition, safety protective tools etc. require very strict.Due to worry security risk, lack suitable personal safe protection's apparatus and
Not enough etc., some areas limit the livewire work content of distribution line, cause distribution wire for livewire work technical training
Road power failure operation is frequent, and distribution reliability index cannot be completed, to bring very huge economic loss to electric power enterprise, gives people
The people's livelihood is living and production brings big inconvenience.
Aerial lift device with insulated arm medial potential working method is widely used in operation field at present, and operator is complete using hand-operated tools
At livewire work task, following defect there is：
1. large labor intensity, operating efficiency is low, and automatization level is low.
2. operator directly contacts high-voltage conducting wires, there are security risks.
3. the protection of artificial live-working safety, masking require very strict, it slightly will appear short circuit current without paying attention to, cause
Great safety accident causes human casualty accident.
Artificial livewire work has its difficult and limitation, therefore utilizes the robot with stronger safety and adaptability
Instead of manually carry out altitude hot-line operation be it is very necessary, meet research.
Summary of the invention
In view of this, the invention is directed to a kind of high-voltage hot-line work machine towards electrification in high voltage drainage work
People's system.
In order to achieve the above objectives, the technical solution of the invention is realized in：
A kind of robot for high-voltage hot-line work system executes mould including platform and the operation being separately fixed on platform
Block, energy module, visual identity module, control module and tool changing module, the control module are executed with operation respectively
Module, energy module, visual identity module, the connection of tool changing module data；Wherein, operation executing module include mechanical arm and
Execution tool, control module are connect with mechanical arm and execution tool drives respectively, and mechanical arm is fixedly connected with execution tool；It is described
Control module include processor, movement controller, driver and sensor, sensor, driver are connect with controller respectively,
Movement controller and processor connection；
The tool changing module includes modular tool frame, fast replacing device, spare execution tool and consumptive material, is changed the outfit fastly
It sets and consumptive material is connect with modular tool frame, spare execution tool is connect with fast replacing device, and tool changing module is for operating
The replacement and extension for executing tool and consumptive material in execution module.
The processor includes with the trajectory planning control unit based on enhancing learning algorithm, for realizing system of robot
The autonomous trajectory planning of system；Trajectory planning control unit is mainly updated by state aware module, evaluation signal generating module, dynamic
Module, action selection module composition, the state aware module and evaluate signal generating module with dynamic update module
Input terminal connection, the input terminal of action selection module are connect with state aware module and dynamic update module.
Further, the visual identity module includes binocular camera, visual sensor, alignment sensor and image procossing
Device, the binocular camera, visual sensor and image processor are sequentially connected, and alignment sensor and image processor data connect
It connects.
Further, the energy module includes detachable battery group and energy storage device, and being internally integrated for platform is described
Detachable battery group, for realizing system power supply；And design for disassembly is convenient for battery altering, and energy storage device is fixed on platform
On, for power sources such as storing compressed airs.
Further, the mechanical arm includes main mechanical arm and auxiliary mechanical arm.
Further, the sensor in the control module is angular transducer, and angular transducer is fixed on the robotic arm.
A kind of rail based on enhancing learning algorithm for applying robot for high-voltage hot-line work system as described in claim 1
Mark planing method, work step are as follows：
(1) manipulator motion is perceived to specified pose by state aware module, is determined and is predicted robot linkage shape
State；
(2) evaluation signal generating module is evaluated according to robot current state；
(3) the current state data and evaluate signal generating module that dynamic update module is obtained by state aware module
Evaluation result updates the learning experience of control unit；
(4) action selection module utilizes the study in the predicted state data and dynamic update module in state aware module
Experience goes out best implementation effect as input parameter, policy selection；
(5) finally, the best implementation effect that mechanical arm is obtained further according to action selection module completes next movement.
Further, step (5) further includes following steps, and control unit provides evaluation to the implementation effect of next movement, refers to
It leads movement controller movement in learning experience and chooses probability.
Further, it is evaluated described in step (2) according to robot current state, including is executed according to movement controller
The effect fed back after complete movement vector obtains assessed value rk。
Further, it determination described in step (1) and predicts robot linkage state, including is perceived by state aware module
Angular transducer deviant on robot linkageDetermine the state value of mechanical linkageAnd it predicts next
State value
Compared with the existing technology, a kind of robot for high-voltage hot-line work system described in the invention has following excellent
Gesture：
(1) robot in the present invention, which only needs operator to carry out shirtsleeve operation, can be automatically performed livewire work work
Make, guarantees that staff can be far from hazardous environment；
(2) degree of intelligence and high degree of automation in the present invention, low to environmental requirement, adaptable and staff is not necessarily to
Professional complicated training, it is easy to operate；
(3) tool changing system uses modularized design in the present invention, facilitates the replacement and extension of tool and consumables associated therewith；
(4) robot is powered using battery in the present invention, and the power of robot is independent of bucket arm vehicle, it is possible to is applicable in
In the specification of a variety of bucket arm vehicles.The battery of selection can charge, and energy resource system supports fast changing battery, to guarantee to hold for a long time
Continuous work requirements；
(5) operation execution system uses multiple degrees of freedom main mechanical arm (number of degrees of freedom, >=6) and insufficient DOF in the present invention
The mode of operation of auxiliary mechanical arm (6 freedom degrees of freedom degree <) cooperating.Wire stripping is responsible for by main mechanical arm, takes the complexity such as fire
Work.Cooperate the tool changing system of expansible new tool, the convenient extension for realizing new function；, auxiliary mechanical arm is responsible for grabbing
The auxiliary works such as line fixation.The weight that whole system can be maximally reduced in this way, reduces the load of elevating mechanism, mentions
High safety stability；
(6) robot system and ground use wireless communication mode, in conjunction with reliable insulation and electromagnetic protection strategy, improve
The safety and stability of system.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention wound
The illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.?
In attached drawing：
Fig. 1 is robot for high-voltage hot-line work system overall schematic.
Fig. 2 is tool changing module diagram.
Fig. 3 is energy module schematic diagram.
Fig. 4 is the visual identity flow chart based on deep learning.
Fig. 5 is the intelligent path planning schematic diagram based on enhancing study.
Description of symbols：
1- energy resource system；2- main mechanical arm；3- visual identifying system；4- auxiliary mechanical arm；5- control system；6- tool is more
Change system；7- modular tool frame；8- consumptive material；9- fast replacing device；10- executes tool two；11- executes tool three；12- platform；
13- detachable battery group；14- energy storage device.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, 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.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
A kind of robot for high-voltage hot-line work system executes mould including platform and the operation being separately fixed on platform
Block, energy module, visual identity module, control module and tool changing module, the control module are executed with operation respectively
Module, energy module, visual identity module, the connection of tool changing module data；Wherein, operation executing module include mechanical arm and
Execution tool, control module are connect with mechanical arm and execution tool drives respectively, and mechanical arm is fixedly connected with execution tool；It is described
Control module include processor, movement controller, driver and sensor, sensor, driver are connect with controller respectively,
Movement controller and processor connection；
The tool changing module includes modular tool frame, fast replacing device, spare execution tool and consumptive material, is changed the outfit fastly
It sets and consumptive material is connect with modular tool frame, spare execution tool is connect with fast replacing device, and tool changing module is for operating
The replacement and extension for executing tool and consumptive material in execution module.
The processor includes with the trajectory planning control unit based on enhancing learning algorithm, for realizing system of robot
The autonomous trajectory planning of system；Trajectory planning control unit is mainly updated by state aware module, evaluation signal generating module, dynamic
Module, action selection module composition, the state aware module and evaluate signal generating module with dynamic update module
Input terminal connection, the input terminal of action selection module are connect with state aware module and dynamic update module.
The visual identity module includes binocular camera, visual sensor, alignment sensor and image processor, described
Binocular camera, visual sensor and image processor be sequentially connected, alignment sensor and image processor data connection.
The energy module includes detachable battery group and energy storage device, and being internally integrated for platform is described detachable
Battery pack, for realizing system power supply；And design for disassembly is convenient for battery altering, and energy storage device is fixed on platform, is used for
The power sources such as storing compressed air.
The mechanical arm includes main mechanical arm and auxiliary mechanical arm.
Sensor in the control module is angular transducer, and angular transducer is fixed on the robotic arm.
A kind of method for planning track based on enhancing learning algorithm of robot for high-voltage hot-line work system, work step is such as
Under：
(1) manipulator motion is perceived to specified pose by state aware module, is determined and is predicted robot linkage shape
State；
(2) evaluation signal generating module is evaluated according to robot current state；
(3) the current state data and evaluate signal generating module that dynamic update module is obtained by state aware module
Evaluation result updates the learning experience of control unit；
(4) action selection module utilizes the study in the predicted state data and dynamic update module in state aware module
Experience goes out best implementation effect as input parameter, policy selection；
(5) finally, the best implementation effect that mechanical arm is obtained further according to action selection module completes next movement.
Step (5) further includes following steps, and control unit provides evaluation, guidance movement control to the implementation effect of next movement
Probability is chosen in the device processed movement in learning experience.
Step is evaluated described in (2) according to robot current state, including has executed one according to movement controller
The effect fed back after movement vector obtains assessed value rk。
Determination described in step (1) simultaneously predicts robot linkage state, including passes through state aware module sense mechanism arm link
On angular transducer deviantDetermine the state value of mechanical linkageAnd predict next state value
Concrete operating principle of the invention：As shown in Figure 1, being robot for high-voltage hot-line work system overall schematic.It should
System is mainly by energy module 1, main mechanical arm 2, visual identity module 3, auxiliary mechanical arm 4, control module 5 and tool changing mould
Block 6 forms.
As Fig. 2 be tool changing module, wherein modular tool frame 7 can on multiple fast replacing devices 9 be robot from
Power driven tools fast replacing device can load multiple types of tools, and can also load such as i.e. livewire work of consumptive material 8 of a variety of consumptive materials takes fiery block.
Each fast replacing device one execution tool of corresponding installation such as executes tool 2 10 (taking firer's tool) and executes the (stripping of tool 3 11
The Line tool).
It is illustrated in figure 3 energy module schematic diagram.Wherein, including platform 12, detachable battery group 13 and energy storage device 14,
The platform 12 has been internally integrated the detachable battery group 13, has used for carrying entire robot system, platform 12
In realization system power supply, and design for disassembly is convenient for battery altering；Energy storage device 14 is fixedly connected on the top side of platform, can store up
Deposit the power sources such as compressed air.
As shown in figure 4, be flow chart of the image processor based on deep learning, it is as follows：
(1) firstly, platform is mobile in place, the image that vision processing module utilizes deep learning algorithm to obtain binocular camera
It is handled, identifies cable and shaft tower, and obtain spatial position and the posture of cable using principle of triangulation；
(2) if needing human assistance to operate, at image since the factors such as complex background, strong light lead to recognition failures
Adjustment method completes identification；
(3) secondly, the information obtained to two alignment sensors is handled, spatial position and the posture of cable are obtained；
(4) then, the pose that the pose and alignment sensor visual processes software obtained obtains carries out coordinate unification, complete
Wire stripping point is calculated at data fusion, and according to processing result image；Finally, returning to processing result to operator, result is carried out
Confirmation, robot carry out operation according to the position of wire stripping point and posture.
As shown in figure 5, the intelligent path planning schematic diagram for processor based on enhancing study, as follows：
(1) firstly, manipulator motion is passed to specified pose by the angle in state aware module sense mechanism arm link
Sensor deviantDetermine the state value of mechanical linkageAnd predict next state value
(2) simultaneously, evaluation signal generating module is evaluated according to robot standing state, has executed one according to controller
The effect fed back after a movement vector obtains assessed value rk；
(3) again, dynamic update module obtains the state vector of mechanical arm by state aware moduleAnd combining assessment
Parameter value rkUpdate the learning experience Q of controllerk；
(4) then, next state value that action selection module is predicted using state aware moduleDynamically more
The learning experience Q of new modulekSeat inputs parameter, and the dynamic of best implementation effect can be obtained by being selected using movement selection strategy
Work value
(5) finally, the action value for the best implementation effect that mechanical arm is obtained further according to action selection moduleIt completes next
A movement；Meanwhile control unit provides fair correctly evaluation to the implementation effect of this movement again, to instruct movement controller to exist
The probability for choosing some to act in the study in future.
Operation executing module of the present invention is cooperated achievable high pressure by main mechanical arm 2 and auxiliary mechanical arm 4
Cable wire stripping takes the work such as fiery drainage, trimming, can also realize new function by extending new execution tool；Tool changing mould
Tool needed for block 6 can load different operation and consumptive material 8, cooperation robot replacement tool or crawl consumptive material 8 complete corresponding work
Make；Energy module 1 provides power source for whole system；Visual identity module 3 can automatic identification cable position and posture, be machine
Device people provides target data；Control module 5 is responsible for the control that tool was planned and executed automatically in robot motion track.
The reliable insulation of present invention configuration and electromagnetic protection strategy, ensure that operation safety is reliable.The system operatio is simple, from
Dynamicization is horizontal high, can the completion high-voltage hot-line work of precise and high efficiency safety work.
The operation execution system includes main mechanical arm 2, auxiliary mechanical arm 4 and various execution tools.Main mechanical arm 2 carries
Different tools realizes different functions, and auxiliary mechanical arm 4 realizes the work for grabbing line and stationary machines people platform 12.Execute work
Tool includes stripping tool, takes firer's tool, trimming tool and the tool for needing to extend in the future.
The tool changing system includes modular tool frame 7, fast replacing device 9.Modular tool frame 7 can carry out tool and
The replacement and extension of consumables associated therewith 8.In order to facilitate robot replacement tool and crawl consumptive material 8.These tools and consumptive material 8 and machine
The relative position of the basis coordinates of people is fixed.
The energy resource system combines together with mounting platform 12, including the energy storage on the battery and platform 12 inside platform 12
Device 14.Mounting platform 12 can be connect with elevating mechanism, be used to support and fix a whole set of robot system.Built-in battery uses
Draw and insert-type design, it is chargeable, it can also directly replace.Energy storage device 14 is used for storing compressed air, to need non-electrical power drive
Device provides power.
The visual identifying system includes hardware and software section.Hardware mainly include visual sensor, alignment sensor,
Multiple monitor cameras etc..Software determines position and the posture of cable based on deep learning algorithm by visual sensor, passes through
Data fusion is carried out with the processing result of alignment sensor, determines the operative goals of robot.
The control system includes hardware and software section.Hardware mainly includes processor, controller, driver and correlation
Electrical component, various environment sensing sensors.Software be based on enhancing learning algorithm by environment sensing sensor to robot into
The planning of row automatic orbit determines that robot reaches the motion profile of operative goals.
As hot line robot, the quality of insulating properties and Electro Magnetic Compatibility directly affects the performance of the robot,
Therefore the present invention is as follows using insulating protection strategy：
(1) predominating insulation is used as using all preferable epoxy plate of intensity, insulating properties and processability and insulating protection clothes；
(2) mechanical arm cover insulation protective garment prevents phase fault；
(3) insulation board transition is used between mechanical arm and execution tool, driving device output end uses insulation in execution tool
Transition, driving device periphery are protected using insulating boot, are executed tool and cable or electrical body contact portion and are used insulation transition；
(4) isolation processing, the machine that lifting device support platform 12 is gone up and down are taken between energy resource system platform 12 and lifting device
The insulation of structure ontology, communication modes between the upper and lower use wireless telecommunications.
The electromagnetic protection strategy is as follows：
(1) reach ideal effect by carrying out cabinet shielding to the equipment for generating strong magnetic disturbance.Magnetic screen cabinet is using high
Permeability magnetic material is made, and when there is electromagnetism generation, the magnetic flux for allowing its electromagnetic circuit to generate shunts on magnetic screen cabinet, magnetic screen case
Body is capable of providing the circuit of low magnetic resistance；
(2) shielded cable is used, shielded layer increases shield effectiveness using establishment shielding and aluminum foil shielded dual shield；It is logical
It interrogates cable and uses multiple twin double-shielded cable, meet electromagnetism interference effect；
(3) the good mature technology product of electrical component selection electromagnetism interference effect, fundamentally reinforces electromagnetism interference
Effect.
The foregoing is merely the preferred embodiments of the invention, are not intended to limit the invention creation, all at this
Within the spirit and principle of innovation and creation, any modification, equivalent replacement, improvement and so on should be included in the invention
Protection scope within.
Claims (9)
1. a kind of robot for high-voltage hot-line work system, it is characterised in that：Including platform and the behaviour being separately fixed on platform
Make execution module, energy module, visual identity module, control module and tool changing module, the control module respectively with
Operation executing module, energy module, visual identity module, the connection of tool changing module data；Wherein, operation executing module includes
Mechanical arm and execution tool, control module are connect with mechanical arm and execution tool drives respectively, and mechanical arm and execution tool are fixed
Connection；The control module includes processor, movement controller, driver and sensor, sensor, driver respectively with control
Device connection processed, movement controller and processor connection；
The tool changing module includes modular tool frame, fast replacing device, spare execution tool and consumptive material, fast replacing device and
Consumptive material is connect with modular tool frame, and spare execution tool is connect with fast replacing device, and tool changing module is executed for operating
The replacement and extension for executing tool and consumptive material in module.
The processor includes with the trajectory planning control unit based on enhancing learning algorithm, for realizing robot system
Autonomous trajectory planning；Trajectory planning control unit mainly updates mould by state aware module, evaluation signal generating module, dynamic
Block, action selection module composition, the state aware module and evaluation signal generating module are defeated with dynamic update module
Enter end connection, the input terminal of action selection module is connect with state aware module and dynamic update module.
2. a kind of robot for high-voltage hot-line work system according to claim 1, it is characterised in that：The visual identity
Module includes binocular camera, visual sensor, alignment sensor and image processor, the binocular camera, visual sensor
It is sequentially connected with image processor, alignment sensor and image processor data connection.
3. a kind of robot for high-voltage hot-line work system according to claim 1, it is characterised in that：The energy module
Including detachable battery group and energy storage device, platform has been internally integrated the detachable battery group, for realizing system confession
Electricity；And design for disassembly is convenient for battery altering, and energy storage device is fixed on platform, for power sources such as storing compressed airs.
4. a kind of robot for high-voltage hot-line work system according to claim 1, it is characterised in that：The mechanical arm packet
Include main mechanical arm and auxiliary mechanical arm.
5. a kind of robot for high-voltage hot-line work system according to claim 1, it is characterised in that：The control module
On sensor be angular transducer, angular transducer is fixed on the robotic arm.
6. a kind of method for planning track for applying robot for high-voltage hot-line work system as claimed in claim 1, which is characterized in that packet
Include following work step：
(1) manipulator motion is perceived to specified pose by state aware module, is determined and is predicted robot linkage state；
(2) evaluation signal generating module is evaluated according to robot current state；
(3) evaluation for the current state data and evaluation signal generating module that dynamic update module is obtained by state aware module
As a result, updating the learning experience of control unit；
(4) action selection module utilizes the learning experience in the predicted state data and dynamic update module in state aware module
As input parameter, policy selection goes out best implementation effect；
(5) finally, the best implementation effect that mechanical arm is obtained further according to action selection module completes next movement.
7. a kind of method for planning track of robot for high-voltage hot-line work system according to claim 6, it is characterised in that：
Step (5) further includes following steps, and control unit provides evaluation to the implementation effect of next movement, and movement controller is instructed to learn
The movement chooses probability in habit experience.
8. a kind of method for planning track of robot for high-voltage hot-line work system according to claim 6, it is characterised in that：
Step is evaluated described in (2) according to robot current state, including has executed a movement vector according to movement controller
The effect fed back afterwards obtains assessed value rk。
9. a kind of method for planning track of robot for high-voltage hot-line work system according to claim 6, it is characterised in that：
Determination described in step (1) simultaneously predicts robot linkage state, including by state aware module sense mechanism arm link
Angular transducer deviantDetermine the state value of mechanical linkageAnd predict next state value
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110744546A (en) * | 2019-11-01 | 2020-02-04 | 云南电网有限责任公司电力科学研究院 | Method and system for grabbing non-stationary lead by defect repairing robot |
| CN111070218A (en) * | 2019-12-12 | 2020-04-28 | 北京国电富通科技发展有限责任公司 | Positioning device and positioning system |
| CN112506185A (en) * | 2020-11-05 | 2021-03-16 | 浙江华云信息科技有限公司 | Control method and device for live-wire work 6-degree-of-freedom operating platform |
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| CN110744546A (en) * | 2019-11-01 | 2020-02-04 | 云南电网有限责任公司电力科学研究院 | Method and system for grabbing non-stationary lead by defect repairing robot |
| CN110744546B (en) * | 2019-11-01 | 2022-06-07 | 云南电网有限责任公司电力科学研究院 | Method and system for grabbing non-stationary lead by defect repairing robot |
| CN111070218A (en) * | 2019-12-12 | 2020-04-28 | 北京国电富通科技发展有限责任公司 | Positioning device and positioning system |
| CN112506185A (en) * | 2020-11-05 | 2021-03-16 | 浙江华云信息科技有限公司 | Control method and device for live-wire work 6-degree-of-freedom operating platform |
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