CN109599787A - Transmission line of electricity bolt tightening method and system and computer readable storage medium - Google Patents
Transmission line of electricity bolt tightening method and system and computer readable storage medium Download PDFInfo
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- CN109599787A CN109599787A CN201811391141.5A CN201811391141A CN109599787A CN 109599787 A CN109599787 A CN 109599787A CN 201811391141 A CN201811391141 A CN 201811391141A CN 109599787 A CN109599787 A CN 109599787A
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- bolt
- work robot
- transmission line
- electricity
- robot
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention proposes a kind of transmission line of electricity bolt tightening method and system and computer readable storage mediums, wherein this method comprises: obtaining bolt image by Work robot；According to the slope of the drainage thread in the bolt image, the relative positional relationship of the drainage thread Yu the Work robot is determined；According to the relative positional relationship of the drainage thread and the Work robot, the operation end movement path of the Work robot is determined；The Work robot is moved at the position to operation bolt by operation end movement path；It is described to operation bolt by the operation end fastening of the Work robot.According to the technical solution of the present invention, automatic fastening bolt operation rapidly and efficiently is realized, instead of artificial fastening bolt operation in the related technology, saves cost of labor and time cost, the degree of danger for reducing transmission line of electricity bolt fastening operation, improves operational security.
Description
[technical field]
The present invention relates to technical field of electric power more particularly to a kind of transmission line of electricity bolt tightening method and system and computers
Readable storage medium storing program for executing.
[background technique]
Overhead transmission line of electricity is chronically exposed in air, the influence of the meteorological conditions such as long-term wind-engaging, rain, ice and snow, pendency
Phenomena such as connection bolt of the ironwares such as wire clamp, strain clamp is loosened frequent occurrence, fallen off causes to contact electricity at bolt looseness
Resistance increases rapidly, and causes fever and burns accident, seriously affects the normal operation of transmission line of electricity.What is more, old overhead transmission line
Road transport row year limit for length, bolt looseness, falling off rises year by year trend so that bolt maintenance, terminal operation work it is increasingly frequent.With
Quick, the stable development of China's economy, higher and higher, electrification in high voltage upkeep operation is required to the uninterrupted power supply of power circuit
Also become more and more extensive.
The high-altitude hotline maintenance of transmission line of electricity be improve power grid power supply reliability important leverage, but be also one it is arduous and
Dangerous work.The development of these work must all be stepped on the online progress equipotential hot line job of tower by operating personnel and can be completed,
Large labor intensity, degree of danger are high.With the continuous development of power grid, new difficulty is brought to the safety of artificial livewire work
Topic, in addition the serious scarcity of hotline maintenance technology talent, greatlys restrict timely, the efficient progress of livewire work, affect
The reliability of power supply.
Therefore, the bolt service work to transmission line of electricity how is safely and efficiently completed, skill urgently to be resolved at present is become
Art problem.
[summary of the invention]
The embodiment of the invention provides a kind of transmission line of electricity bolt tightening method and system and computer readable storage medium,
Aim to solve the problem that the technical problem that bolt service work large labor intensity, degree of danger to transmission line of electricity are high in the related technology, energy
Enough application job robots replace manual work to carry out the bolt service work of transmission line of electricity.
In a first aspect, the embodiment of the invention provides a kind of transmission line of electricity bolt tightening methods, comprising: pass through work machine
The bolt image of people's acquisition distribution line；According to the slope of the drainage thread in the bolt image, the drainage thread and institute are determined
State the relative positional relationship of Work robot；According to the relative positional relationship of the drainage thread and the Work robot,
Determine the operation end movement path of the Work robot；The Work robot is passed through into operation end movement path
It moves at the position to operation bolt；It is described to operation bolt by the operation end fastening of the Work robot.
In the above embodiment of the present invention, optionally, the Work robot is transported by the operation end described
Dynamic path moved to before the step of at the position to operation bolt, further includes: obtains the bolt edge in the bolt image
Information；It is described to operation bolt by Hough transform fitting according to the bolt marginal information.
In the above embodiment of the present invention, optionally, further includes: be spaced at predetermined time intervals, detect the work machine
The remaining capacity of people.
In the above embodiment of the present invention, optionally, further includes: by FInite Element and predetermined electromagnetic field parser,
Determine the field distribution of the transmission line of electricity；According to the field distribution of the transmission line of electricity, equipotential charging and recharging model is established.
In the above embodiment of the present invention, optionally, the work machine is calculated by the equipotential charging and recharging model
The transient shock current that people is subject to；According to the transient shock current, corresponding electromagnetic protection is set for the Work robot
Strategy.
Second aspect, the embodiment of the invention provides a kind of transmission line of electricity bolt fastening systems, comprising: bolt image obtains
Unit, for obtaining the bolt image of distribution line by Work robot；Relative positional relationship determination unit, for according to institute
The slope for stating the drainage thread in bolt image determines the relative positional relationship of the drainage thread Yu the Work robot；Movement
Path determining unit determines the work for the relative positional relationship according to the drainage thread and the Work robot
The operation end movement path of industry robot；Robot motion's unit, for the Work robot to be passed through the operation end
End motion path moves at the position to operation bolt；Bolt fastening unit, for the operation by the Work robot
End fastening is described to operation bolt.
In the above embodiment of the present invention, optionally, further includes: bolt marginal information acquiring unit, in the machine
Device people moving cell by the Work robot move to it is described at the position of operation bolt the step of before, obtain the spiral shell
Bolt marginal information in bolt image；To operation bolt fitting unit, for passing through Hough according to the bolt marginal information
Transformation fitting is described to operation bolt.
In the above embodiment of the present invention, optionally, further includes: residual capacity measurement unit, at predetermined time intervals
Interval, detects the remaining capacity of the Work robot.
In the above embodiment of the present invention, optionally, further includes: field distribution determination unit, for passing through FInite Element
With predetermined electromagnetic field parser, the field distribution of the transmission line of electricity is determined；Equipotential charging and recharging model establishes unit, is used for
According to the field distribution of the transmission line of electricity, equipotential charging and recharging model is established.
In the above embodiment of the present invention, optionally, further includes: transient shock current computing unit, for by described
Equipotential charging and recharging model calculates the transient shock current that the Work robot is subject to；Electromagnetic protection unit, for according to institute
Transient shock current is stated, corresponding electromagnetic protection strategy is set for the Work robot.
The third aspect, the embodiment of the invention provides a kind of computer readable storage mediums, and it is executable to be stored with computer
Instruction, the computer executable instructions are for executing method flow described in any one of above-mentioned first aspect.
By above technical scheme, in the related technology in the related technology to the bolt service work labor of transmission line of electricity
The technical problem that fatigue resistance is big, degree of danger is high, can application job robot replace manual work to carry out transmission line of electricity
Bolt service work.Specifically, Work robot can be set up onto transmission line of electricity, passes through the filming apparatus of Work robot
It obtains to the bolt picture at operation bolt, then, due to readily identified to the drainage thread at operation bolt, and close to drainage plate
Partial drainage thread is similar to straight line, therefore can determine the drainage thread and the work by detecting and calculating the slope of drainage thread
The relative positional relationship of industry robot fits position of the drainage thread relative to robot body, and as operation end
Motion path, Work robot move on this operation end movement path to search for the bolt on drainage plate.Finally, it is searching for
After bolt on to drainage plate, operation can be carried out by the operation end of the Work robot, it will be described to operation bolt
It is fastened.
By above technical scheme, the Primary Location for treating operation bolt can be realized automatically, facilitates Work robot height
Effect is easily reached at operation bolt location, realize automatic fastening bolt operation rapidly and efficiently, instead of the relevant technologies
In artificial fastening bolt operation, save cost of labor and time cost, reduce the danger of transmission line of electricity bolt fastening operation
Dangerous degree, improves operational security.
[Detailed description of the invention]
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 shows the flow chart of the transmission line of electricity bolt tightening method of one embodiment of the present of invention；
Fig. 2 shows the flow charts of the transmission line of electricity bolt tightening method of another embodiment of the invention；
Fig. 3 shows the flow chart of the transmission line of electricity bolt tightening method of yet another embodiment of the present invention；
Fig. 4 shows the block diagram of the transmission line of electricity bolt fastening system of one embodiment of the present of invention.
[specific embodiment]
For a better understanding of the technical solution of the present invention, being retouched in detail to the embodiment of the present invention with reference to the accompanying drawing
It states.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.
Fig. 1 shows the flow chart of the transmission line of electricity bolt tightening method of one embodiment of the present of invention.
As shown in Figure 1, the process of the transmission line of electricity bolt tightening method of one embodiment of the present of invention includes:
Step 102, the bolt image of distribution line is obtained by Work robot.
Step 104, according to the slope of the drainage thread in the bolt image, the drainage thread and the work machine are determined
The relative positional relationship of people.
Step 106, according to the relative positional relationship of the drainage thread and the Work robot, the operation is determined
The operation end movement path of robot.
Step 108, the Work robot is moved to the position to operation bolt by operation end movement path
Set place.
Step 110, described to operation bolt by the operation end fastening of the Work robot.
Specifically, Work robot can be set up onto transmission line of electricity, is obtained by the filming apparatus of Work robot
To the bolt picture at operation bolt, then, due to readily identified to the drainage thread at operation bolt, and close to drainage plate part
Drainage thread be similar to straight line, therefore can determine the drainage thread and the working rig by detecting and calculating the slope of drainage thread
The relative positional relationship of device people fits position of the drainage thread relative to robot body, and as operation end movement
Path, Work robot move on this operation end movement path to search for the bolt on drainage plate.Finally, draw searching
After bolt in flowing plate, operation can be carried out by the operation end of the Work robot, described will be carried out to operation bolt
Fastening.
By above technical scheme, the Primary Location for treating operation bolt can be realized automatically, facilitates Work robot height
Effect is easily reached at operation bolt location, realize automatic fastening bolt operation rapidly and efficiently, instead of the relevant technologies
In artificial fastening bolt operation, save cost of labor and time cost, reduce the danger of transmission line of electricity bolt fastening operation
Dangerous degree, improves operational security.
Fig. 2 shows the flow charts of the transmission line of electricity bolt tightening method of another embodiment of the invention.
As shown in Fig. 2, the process of the transmission line of electricity bolt tightening method of another embodiment of the invention includes:
Step 202, the bolt image of distribution line is obtained by Work robot.
Step 204, according to the slope of the drainage thread in the bolt image, the drainage thread and the work machine are determined
The relative positional relationship of people.
Step 206, according to the relative positional relationship of the drainage thread and the Work robot, the operation is determined
The operation end movement path of robot.
Step 208, the bolt marginal information in the bolt image is obtained.Bolt marginal information refers to bolt edge
The location information of point, can be indicated in the form of coordinate.
Step 210, described to operation bolt by Hough transform fitting according to the bolt marginal information.
Hough transform is a kind of parameter estimation techniques using voting principle.Its principle is to utilize image space and Hough
Test problems in image space are transformed into parameter space by the point-line duality of parameter space.Herein, bolt edge is believed
After breath carries out Hough transform, the coordinate of the location information parameter space of the point at script bolt edge can be indicated.It connects
, these points are connected to form a plurality of straight line two-by-two, is grouped in the intersection point to straight line two-by-two, then, then obtains two
The intersection point of the perpendicular bisector of two straight lines, by the intersection point of straight line two-by-two and two-by-two in the intersection point of the perpendicular bisector of straight line each position carry out it is tired
Add, the exact position to operation bolt is fitted according to obtained accumulated value point.
This step has primarily determined behind the position of operation bolt that the position for treating operation bolt is carried out in aforementioned schemes
It is further accurate, help that Work robot is enable more accurately to obtain when carrying out bolt fastening operation to operation bolt
Position, improve the accuracy of Work robot automatic fastening bolt operation.
Step 212, the Work robot is moved to the position to operation bolt by operation end movement path
Set place.
Step 214, described to operation bolt by the operation end fastening of the Work robot.
By above technical scheme, the Primary Location for treating operation bolt can be realized automatically, facilitates Work robot height
Effect is easily reached at operation bolt location, realize automatic fastening bolt operation rapidly and efficiently, instead of the relevant technologies
In artificial fastening bolt operation, save cost of labor and time cost, reduce the danger of transmission line of electricity bolt fastening operation
Dangerous degree, improves operational security.
Fig. 3 shows the flow chart of the transmission line of electricity bolt tightening method of yet another embodiment of the present invention.
As shown in figure 3, the process of the transmission line of electricity bolt tightening method of yet another embodiment of the present invention includes:
Step 302, the bolt image of distribution line is obtained by Work robot.
Step 304, according to the slope of the drainage thread in the bolt image, the drainage thread and the work machine are determined
The relative positional relationship of people.
Step 306, according to the relative positional relationship of the drainage thread and the Work robot, the operation is determined
The operation end movement path of robot.
Step 308, the Work robot is moved to the position to operation bolt by operation end movement path
Set place.
Step 310, fastening it is described to operation bolt during, obtain the screw-down torque to operation bolt in real time
And windup-degree.
Step 312, the slope of curve changed according to the screw-down torque with the windup-degree determines described to operation spiral shell
The yield point of bolt.
It step 314, will be described to operation bolt fastening to the yield point by the operation end of the Work robot.
For the Torque Control of the operation end of Work robot, proposed adoption yield point method, by monitoring screw-down torque with
The screw element of bolt is screwed to yield point by the slope of windup-degree change curve.In rundown process, Work robot is at any time
Calculated torque-rotation curve slope, when slope is in a horizontal state, screw-down torque and pretightning force are in the elasticity tightened
Area, when slope is decreased obviously, illustrating material, oneself enters plastic zone.Torque curve from elastic region to plastic zone, screw-down torque with
The linear relationship of windup-degree changes, and slope also changes.When the variation of slope reaches preset range, it is considered as reaching
To yield point.In the course of work of the operation end of Work robot, the assembly torque of screw element, Er Qieneng can be not only tested
Corner is constantly tested while testing screw-down torque, to calculate the difference quotient of torque and corner, calculates difference quotient formula such as
Under:
DT is screw-down torque variable quantity in formula, and d θ is windup-degree variable quantity.
After the material of operation bolt reaches yield point, i.e., when screw-down torque is not further added by or it is slower to increase, and turn round
When gyration but increases very fast, Δ tends to specified value at this time, generally (1/2~1/3) Δmax, that is, control signal is issued, is terminated
Work is tightened, a working cycles are completed.Yield point method utilizes torque-corner incremental raio concept, and screw element is screwed to wait make
The yield point of industry bolt, i.e., it is believed that having been tightened to operation bolt.
By above technical scheme, operation bolt can be waited for by Work robot automatic tightening, improve automatic job has
Effect property and practicability.
In a kind of implementation of the invention, further includes: be spaced at predetermined time intervals, detect the Work robot
Remaining capacity.Work robot can be powered by way of including but is not limited to lithium battery, therefore, to guarantee work machine
People can effectively work, and can monitor its remaining power consumption in real time, and issue to be charged mention when its remaining capacity is lower than predetermined value
Show.
In a kind of implementation of the invention, further includes: by FInite Element and predetermined electromagnetic field parser, determine
The field distribution of the transmission line of electricity；According to the field distribution of the transmission line of electricity, equipotential charging and recharging model is established；Pass through institute
It states equipotential charging and recharging model and calculates the transient shock current that the Work robot is subject to；According to the transient shock current,
For the Work robot, corresponding electromagnetic protection strategy is set.
Ensure Work robot disengaging strong electrical field safely, the electromagnetic protection of Work robot is particularly critical, passes through transmission of electricity
The field distribution of route can establish equipotential charging and recharging model, and then calculate transient shock current, according to transient shock current
It can determine that Work robot needs the electromagnetic protection of how degree, so that effective protection Work robot passes in and out safely strong electrical field,
Improve operational security and success rate.
Fig. 4 shows the block diagram of the transmission line of electricity bolt fastening system of one embodiment of the present of invention.
As shown in figure 4, the transmission line of electricity bolt fastening system 400 of one embodiment of the present of invention includes: that bolt image obtains
Unit 402 is taken, for obtaining the bolt image of distribution line by Work robot；Relative positional relationship determination unit 404 is used
In the slope according to the drainage thread in the bolt image, determine that the relative position of the drainage thread and the Work robot is closed
System；Motion path determination unit 406, for the relative positional relationship according to the drainage thread and the Work robot,
Determine the operation end movement path of the Work robot；Robot motion's unit 408, for leading to the Work robot
Operation end movement path is crossed to move at the position to operation bolt；Bolt fastening unit 410, for passing through the work
The operation end fastening of industry robot is described to operation bolt.
The transmission line of electricity bolt fastening system 400 using scheme described in any one of embodiment shown in Fig. 1 to Fig. 3,
Therefore, there are above-mentioned all technical effects, details are not described herein.Transmission line of electricity bolt fastening system 400 also has following technology
Feature:
In the above embodiment of the present invention, optionally, further includes: bolt marginal information acquiring unit, in the machine
Device people moving cell 408 by the Work robot move to it is described at the position of operation bolt the step of before, obtain institute
State the bolt marginal information in bolt image；To operation bolt fitting unit, for passing through according to the bolt marginal information
Hough transform fitting is described to operation bolt.
In the above embodiment of the present invention, optionally, further includes: residual capacity measurement unit, at predetermined time intervals
Interval, detects the remaining capacity of the Work robot.
In the above embodiment of the present invention, optionally, further includes: field distribution determination unit, for passing through FInite Element
With predetermined electromagnetic field parser, the field distribution of the transmission line of electricity is determined；Equipotential charging and recharging model establishes unit, is used for
According to the field distribution of the transmission line of electricity, equipotential charging and recharging model is established；Transient shock current computing unit, for passing through
The equipotential charging and recharging model calculates the transient shock current that the Work robot is subject to；Electromagnetic protection unit is used for root
According to the transient shock current, corresponding electromagnetic protection strategy is set for the Work robot.
In addition, computer executable instructions are stored with the embodiment of the invention provides a kind of computer readable storage medium,
The computer executable instructions are used to execute above-mentioned Fig. 1 to the method flow described in any one of Fig. 3 embodiment.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, according to the technical solution of the present invention, can be automatically real
The Primary Location for now treating operation bolt facilitates Work robot and efficiently easily reaches to realize at operation bolt location
Automatic fastening bolt operation rapidly and efficiently, instead of artificial fastening bolt operation in the related technology, save manually at
Sheet and time cost, reduce the degree of danger of transmission line of electricity bolt fastening operation, improve operational security.
Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination " or " in response to detection ".Similarly, depend on context, phrase " if it is determined that " or " if detection
(condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when the detection (condition of statement
Or event) when " or " in response to detection (condition or event of statement) ".
In several embodiments provided by the present invention, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown
Or the mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that device (can be personal computer, server or network equipment etc.) or processor (Processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Claims (10)
1. a kind of transmission line of electricity bolt tightening method characterized by comprising
The bolt image of distribution line is obtained by Work robot；
According to the slope of the drainage thread in the bolt image, the relative position of the drainage thread Yu the Work robot is determined
Relationship；
According to the relative positional relationship of the drainage thread and the Work robot, the operation of the Work robot is determined
End movement path；
The Work robot is moved at the position to operation bolt by operation end movement path；
It is described to operation bolt by the operation end fastening of the Work robot.
2. transmission line of electricity bolt tightening method according to claim 1, which is characterized in that described by the work machine
Before the step of people is moved at the position to operation bolt by operation end movement path, further includes:
Obtain the bolt marginal information in the bolt image；
It is described to operation bolt by Hough transform fitting according to the bolt marginal information.
3. transmission line of electricity bolt tightening method according to claim 1 or 2, which is characterized in that further include:
It is spaced at predetermined time intervals, detects the remaining capacity of the Work robot.
4. transmission line of electricity bolt tightening method according to claim 1 or 2, which is characterized in that further include:
By FInite Element and predetermined electromagnetic field parser, the field distribution of the transmission line of electricity is determined；
According to the field distribution of the transmission line of electricity, equipotential charging and recharging model is established.
5. transmission line of electricity bolt tightening method according to claim 4, which is characterized in that further include:
The transient shock current that the Work robot is subject to is calculated by the equipotential charging and recharging model；
According to the transient shock current, corresponding electromagnetic protection strategy is set for the Work robot.
6. a kind of transmission line of electricity bolt fastening system characterized by comprising
Bolt image acquisition unit, for obtaining the bolt image of distribution line by Work robot；
Relative positional relationship determination unit determines the drainage thread for the slope according to the drainage thread in the bolt image
With the relative positional relationship of the Work robot；
Motion path determination unit, for the relative positional relationship according to the drainage thread and the Work robot, really
The operation end movement path of the fixed Work robot；
Robot motion's unit, for being moved to the Work robot by operation end movement path to operation spiral shell
At the position of bolt；
Bolt fastening unit, it is described to operation bolt for the operation end fastening by the Work robot.
7. transmission line of electricity bolt fastening system according to claim 6, which is characterized in that further include:
Bolt marginal information acquiring unit, for robot motion's unit by the Work robot move to it is described to
Before the step of at the position of operation bolt, the bolt marginal information in the bolt image is obtained；
To operation bolt fitting unit, for being fitted by Hough transform described to operation spiral shell according to the bolt marginal information
Bolt.
8. transmission line of electricity bolt fastening system according to claim 6 or 7, which is characterized in that further include:
Residual capacity measurement unit detects the remaining capacity of the Work robot for being spaced at predetermined time intervals.
9. transmission line of electricity bolt fastening system according to claim 6 or 7, which is characterized in that further include:
Field distribution determination unit, for determining the transmission line of electricity by FInite Element and predetermined electromagnetic field parser
Field distribution；
Field distribution determination unit establishes equipotential charging and recharging model for the field distribution according to the transmission line of electricity.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer executable instructions, the computer can
It executes instruction for executing the method flow as described in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811391141.5A CN109599787A (en) | 2018-11-21 | 2018-11-21 | Transmission line of electricity bolt tightening method and system and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811391141.5A CN109599787A (en) | 2018-11-21 | 2018-11-21 | Transmission line of electricity bolt tightening method and system and computer readable storage medium |
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| Publication Number | Publication Date |
|---|---|
| CN109599787A true CN109599787A (en) | 2019-04-09 |
Family
ID=65960275
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811391141.5A Pending CN109599787A (en) | 2018-11-21 | 2018-11-21 | Transmission line of electricity bolt tightening method and system and computer readable storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021174798A1 (en) * | 2020-03-06 | 2021-09-10 | 亿嘉和科技股份有限公司 | Working position determination method for live-current robot scenario |
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Application publication date: 20190409 |