CN110120074A - A kind of hot line robot cable localization method under complex environment - Google Patents
A kind of hot line robot cable localization method under complex environment Download PDFInfo
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- CN110120074A CN110120074A CN201910389987.3A CN201910389987A CN110120074A CN 110120074 A CN110120074 A CN 110120074A CN 201910389987 A CN201910389987 A CN 201910389987A CN 110120074 A CN110120074 A CN 110120074A
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B11/00—Filters or other obturators specially adapted for photographic purposes
- G03B11/04—Hoods or caps for eliminating unwanted light from lenses, viewfinders or focusing aids
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Abstract
The invention provides the hot line robot cable localization method under a kind of complex environment, if the spatial attitude information of target job point can not be obtained, discriminatory analysis environment complexity；If environment is complex environment, two laser terminal As, B are manually chosen on cable by laser emitter；The central point of two endpoints described in step (4) is target job point C, according to space vector described in the space coordinate of C point and A, B point, to obtain the spatial attitude information of target job point；The present invention installs optical filter on binocular camera, completes cable identification, if first recognition failures, judges light environment and texture complexity degree, when then manual auxiliary positioning, operator determine target position using passback image under non-complex environment；If utilizing under complex environment and forming speck on cable with the laser emitter of optical filter co-wavelength, the positioning of cable is completed by processing speck.
Description
Technical field
The invention belongs to field of image recognition, more particularly, to the hot line robot line under a kind of complex environment
Cable localization method.
Background technique
The operation mode of the hot line robot of mainstream is that robot is located at insulation bucket arm car at present, and operator exists
Ground obtains the information of platform and robot by sensor, tele-manipulator or robot autonomous fulfils assignment.
At present both at home and abroad, hot line robot field mainly uses following two operation mode: first is that operator is in
The mode operated in the insulation bucket of bucket arm vehicle.The disadvantage is that operator is still in hyperbaric environment, there are security risks；Two
It is that mechanical arm is located at insulation bucket arm car, operator carries out the mode of remote operating on ground.Presently, there are main problem be behaviour
Make personnel and remotely pass through the information of the equipment such as video camera passback to judge high altitude environment, or by virtual reality (VR) and
Augmented reality (AR) realizes the reconstruction of platform information, and such method is complicated for operation, and there are the risk of maloperation, operator needs
Has certain professional knowledge and higher qualification.
Current hot line robot is due to different, the Er Qieshou in the cable erection mode of different geographical, erection place
It being influenced to the factors such as the limitation of the visual field of sensor and setting angle, the information so as to cause feedback is imperfect or not intuitive, and by
To the influence of weather, high building, All other routes etc., so that greatly there may be cables to intersect, blocks for the image of visual sensor
Problem causes to operate extremely difficult.
Summary of the invention
In view of this, the invention is directed to the hot line robot cable positioning side under a kind of complex environment
Method obtains spatial position and the posture of cable, and comprehensive light environment and texture are multiple to carry out cable identification by binocular camera
Miscellaneous degree judgement, and carry out human assistance positioning using laser emitter, can high degree reduction complex environment to final line
The influence of cable positioning, the adaptability and stability of method for improving.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of hot line robot cable localization method under complex environment, comprising the following steps:
(1) job platform is moved near cable, the binocular camera of the Work robot on the platform acquires cable
Image；
(2) the binocular camera acquired image is utilized, the spatial attitude information of target job point is obtained, goes to step
(6)；
(3) if the spatial attitude information of target job point can not be obtained, judge environment complexity；
(4) if non-complex environment, then the operating area in image is manually chosen, to obtain the space of target job point
Posture information；
If complex environment, then two laser terminal As, B are chosen on cable by laser emitter；
(5) central point of two endpoints described in step (4) is target job point C, according to the space coordinate of C point, with
And space vector described in A, B point, to obtain the spatial attitude information of target job point；
(6) after operator confirms posture information, it will confirm that information is sent to robot control system, carry out electrification work
Industry.
Further, step (1) described job platform is moved to the lower section of cable, the baseline of the binocular camera of the robot
Direction and cable direction are perpendicular；The cable is covered with melanic epipedon, and the binocular camera is fixed on one end of robot, mirror
Optical filter is equipped with before head.
Further, the optical filter is feux rouges bandpass filter, and wavelength is 650nm or 625nm~665nm feux rouges is high thoroughly.
Further, the laser emitter is wavelength 650nm, adjustable focal length formula laser emitter.
Further, the method for step (2) the spatial attitude information for obtaining cable includes the following steps:
(21) image is acquired according to any side of binocular camera, generates grayscale image；
(22) according to step (21) grayscale image generated, edge graph is obtained, to obtain lineal layout in image；
(23) it removes the wrong straight line in lineal layout and is overlapped straight line, by correct rectilinear(-al) cable figure；
(24) pass through two measurement terminals a, b coordinates and binocular phase of step (23) obtained any range of cable figure
The Stereo matching of machine obtains depth image, obtains the three-dimensional coordinate of measurement terminals a, b；
(25) using the central point of step (24) described two-end-point as target job point, two-end-point is described as target job
The direction vector of point obtains the spatial attitude information of target job point.
Further, the step of step (24) described Stereo matching are as follows:
(241) the inside and outside parameter such as the focal length of binocular camera, baseline length is demarcated before positioning, obtains two phases
The outer parameter of the Intrinsic Matrix of machine, distort matrix and two cameras, i.e. spin matrix, translation matrix.
(242) distortion correction is carried out according to the inside and outside parameter of binocular camera, and carries out three-dimensional correction, complete two images
Row alignment.
(243) disparity map is obtained by matching algorithm to the two images of row alignment.
(244) according to disparity map and the inside and outside parameter of camera, the three-dimensional coordinate of arbitrary point is obtained.
Further, the method for discriminatory analysis environment complexity described in step (3) includes the following steps:
(31) Texture complication T and average gray m is calculated using the second-order matrix of the gray level histogram of image；
(32) if Texture complication T is less than given threshold, for non-complex background；It is multiple if it is greater than given threshold
Miscellaneous background；
(33) Luminance Distribution for obtaining acquisition image carries out binary conversion treatment according to step (31) average gray；
(34) gray value is greater than average gray value and the grey scale pixel value greater than 220 is set as 255, if being less than average gray value
Or the grey scale pixel value grey scale pixel value less than 220 is 0；
(35) number of pixels of gray value 255 is counted, if being less than setting value, for complex illumination, if more than setting value, then
For non-complex illumination；
(36) if acquisition environment includes complex illumination or complex background, for complex environment；Non-complex illumination and non-complex
Background is then non-complex environment.
Further, the calculation formula of Texture complication T described in step (31) is,
The calculation formula of average gray m is,
Wherein, ziIndicate gray scale, p (zi) be i-stage gray value zi number of pixels, that is, histogram, L is different grey-scale
Quantity；W is picture traverse, and h is picture altitude.
Further, the method packet of the spatial attitude information of operative goals point is obtained under non-complex environment described in step (4)
Include following steps:
(41) judging result then manually chooses the operating area in image, according to average gray value m if non-complex environment
Threshold value is set, binary conversion treatment is carried out；
(42) two-dimensional coordinate for obtaining cable minimum circumscribed rectangle and two endpoints, obtains three-dimensional coordinate by disparity map
(43) spatial position and the posture of operative goals point then are obtained according to step (24)~(25).
Further, step (5) is described, and A, B two o'clock are in cable without choosing on obvious defect and bending section.
Compared with the existing technology, a kind of hot line robot cable localization method described in the invention has following
Advantage:
(1) by the texture complexity degree and overexposure situation of the acquisition environment of cable image, it may thereby determine that band
The environment complexity of electricity work upkeep operation environment, factor, determines the different rings such as complex illumination, complex background on this basis
The cable locating scheme in border, to guarantee the reliability and accuracy of target job point identification on cable；
(2) present invention adds optical filter on the camera lens of the binocular camera of the Work robot, and with the use of sharp
Optical transmitting set auxiliary positioning can be used for the cable positioning and identification of outdoor complex environment, since binocular camera is in complex background
Lower imaging texture is chaotic, and matching characteristic is unobvious, causes Stereo matching more difficult, and laser facula be in the picture it is highlighted, then
It ensure that the accuracy rate of Stereo matching of the hot spot under complex background.
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 work flow diagram described in the invention embodiment；
Fig. 2 is implementation schematic layout pattern described in the invention embodiment.
Description of symbols:
1- cable；2- binocular camera；3- laser beam；4- laser emitter.
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 hot line robot cable positioning system of complex condition, comprising: binocular camera optical filter and swash
Optical transmitting set:
As shown in Figure 1, binocular camera 2 is fixed on one end of robot, to provide good background, the binocular camera 2
Acquire the visual field as far as possible vertically upward, background is sky；Optical filter is feux rouges bandpass filter, wavelength 650nm, 625nm-
665nm feux rouges is high thoroughly, other light cut-offs.Binocular camera 2 is located at aerial work platform, and is connected to the industry control of robot interior
Then image and result are transmitted to terrestrial operation platform by radio transmission apparatus by machine.Laser emitter 4 emits feux rouges, transmitting
Element is laser diode, and wavelength 650nm, power is big, and laser beam 3 is concentrated, and adjustable focal length, laser energy will not be to line
Cable crust damages, and is placed in the tripod on ground, is operated by ground handling operator.
As shown in Fig. 2, as follows for the positioning step of single (double) circuit erection mode:
(1) job platform bucket arm vehicle is mobile in place, job platform is moved to 1 lower position of cable, and robot carries double
Mesh camera 2 reaches 1 lower section of cable, keeps the direction of cable 1 and the base direction of binocular camera 2 vertical as far as possible, is acquired with upward view angle
1 image of cable；
(2) image procossing obtains 1 pose of cable.For single-circuit distribution line, there are three cables are (two circuit
Distribution line, there are six-cables), cable is black, due to increasing optical filter before the camera lens of binocular camera, reduces sky
And the brightness of sunlight；Using the left camera image of binocular camera 2, first extraction grayscale image, examined using Canny operator edge
It surveys, then using the straightway in Hough transform detection image, the parametric equation y=kx+b of every straight line is sought, according to slope
K filters out unreasonable candidate straight line, and retains approximately parallel straight line group.
Successively straight line is sorted from the left side of image to right side, removes coincidence straight line, calculates the distance of adjacent straight line, distance
Calculation method it is as follows:
Y indicates the height of entire image 1/2, seeks corresponding x using linear equation, that is, asks every straight line and short transverse
The intersection point of horizontal segmentation straight line.
Using the difference of adjacent two straight lines as the distance of two straight lines.Straight line is combined according to distance, two approximations
The parallel and rectilinear(-al) single line cable apart from satisfaction.
Then the coordinate for obtaining two endpoints on cable 1 in the middle part rectangular extent of vertical direction, according to binocular phase
The inside and outside parameter such as focal length, the baseline length of machine 2 carries out binocular calibration, and completes three-dimensional correction, then carries out Stereo matching acquisition
Disparity map seeks the three-dimensional coordinate of two points, uses central point as the space coordinate of target point, describes target point with two points
Direction vector, i.e. spatial attitude.
(3) if cable within the vision 1 is sought completing, artificial final confirmation terminates to identify if identification is correct
Step (7) directly are gone to, if identification mistake, goes to step (4).
(4) if identification mistake, judges whether environment is complex environment, such as cloudy weather, high building, direct sunlight.
Texture complication T is described first with the second-order matrix (variance) of the gray level histogram of image:
Wherein, ziIndicate gray scale, p (zi) it is corresponding histogram, wherein L is the quantity of different grey-scale.
M average gray:
W is picture traverse, and h is picture altitude.
If Texture complication T is less than certain threshold value, it is judged as non-complex background, is otherwise complex background.
Then the Luminance Distribution for obtaining camera image is arranged threshold value according to average gray and carries out binaryzation, and gray value is greater than
Average gray value and 255 are set as greater than 220 grey scale pixel value, if being less than average gray value or the grey scale pixel value less than 220
Grey scale pixel value is 0, and the number of pixels that statistics gray value is 255 judges whether there is overexposure situation according to number of pixels, if
It then proves that sun light direct beam affects the identification or ranging of cable, is at this time complex illumination, be otherwise non-complex illumination.
There are one of complex background or complex illumination situation, be accordingly to be regarded as complex background, is otherwise non-complex background, is at this time multiple
The failure of ranging caused by recognition failures caused by miscellaneous background or Stereo matching.
(5) if non-complex environment, then some rectangular area in image can manually be chosen as operating area, according to flat
Threshold value is arranged in equal gray value, carries out binaryzation, then seeks cable minimum circumscribed rectangle, obtain the two-dimensional coordinate of two endpoints, leads to
The disparity map for crossing Stereo matching acquisition calculates three-dimensional coordinate, then calculates spatial position and the posture of operative goals point.
The wherein acquisition step of disparity map are as follows:
The inside and outside parameters such as focal length, the baseline length of binocular camera 2 are demarcated before positioning, obtain two cameras
The outer parameter of Intrinsic Matrix, distortion matrix and two cameras, i.e. spin matrix, translation matrix.
Distortion correction is carried out according to the inside and outside parameter of binocular camera 2, and carries out three-dimensional correction, two images is made to complete row pair
It is quasi-.
Matching algorithm, acquisition disparity map are passed through to the two images of row alignment.
According to disparity map and the inside and outside parameter of camera 2, the three-dimensional coordinate of arbitrary point is obtained.
(6) if complex environment, then on cable 1 apart from about 0.5 meter of distance of shaft tower without obvious defect, curved range
Two point A, B projection laser points of interior selection determine operative goals point as two endpoints of line segment with this:
By adjusting the tripod of laser emitter 4, laser 3 is directed at cable, laser facula is enable to appear in binocular phase
In the public visual field of machine, since laser facula energy is strong, it is rendered as highlighting in the camera with optical filter, conspicuousness is good, and
Optical filter eliminates part interference light, and the annoyance level of background greatly declines, image procossing of being more convenient for, and clicks screen picture
On laser facula, seek the center of gravity of hot spot, obtain the corresponding three-dimensional coordinate of position of centre of gravity, then the mobile spot on the cable,
The three-dimensional coordinate of second point, two endpoints as line segment are obtained according to the method described above；It is put by the two and calculates operation mesh
The spatial position of punctuate and posture.
(7) it will confirm that signal is sent to robot control system after operator's confirmation is errorless, carry out livewire work.
Robot of the present invention is cable for completing work, the manipulating objects such as peeling, electrification disconnecting drainage thread, existing
There is technology mainly to utilize multi-angle of view camera looks into fee cable, or carries out the side of three-dimensional reconstruction using binocular camera or depth camera
Formula is difficult to restore complete three-dimensional space, and calculating process is multiple due to the installation site of sensor and the quantity limitation of sensor
It is miscellaneous, real-time it is difficult to ensure that；And the present invention installs optical filter on binocular camera, completes cable identification, if first recognition failures,
Light environment and texture complexity degree are judged, when then manual auxiliary positioning, operator utilize back under non-complex environment
Blit picture determines target position；If being utilized with the laser emitter of optical filter co-wavelength on cable under complex environment
Speck is formed, the positioning of cable is completed by processing speck.
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 (10)
1. the hot line robot cable localization method under a kind of complex environment, it is characterised in that: the following steps are included:
(1) job platform is moved near cable, the binocular camera of the Work robot on the platform acquires cable image；
(2) the binocular camera acquired image is utilized, the spatial attitude information of target job point is obtained, goes to step (6)；
(3) if the spatial attitude information of target job point can not be obtained, judge environment complexity；
(4) if non-complex environment, then the operating area in image is manually chosen, to obtain the spatial attitude of target job point
Information；
If complex environment, then two laser terminal As, B are chosen on cable by laser emitter；
(5) central point of two endpoints described in step (4) is target job point C, according to the space coordinate and A, B of C point
The described space vector of point, to obtain the spatial attitude information of target job point；
(6) after operator confirms posture information, it will confirm that information is sent to robot control system, carry out livewire work.
2. the hot line robot cable localization method under a kind of complex environment according to claim 1, feature exist
In: step (1) described job platform is moved to the lower section of cable, the base direction of the binocular camera of the robot and cable side
To perpendicular；The cable is covered with melanic epipedon, and the binocular camera is fixed on one end of robot, is equipped with and filters before camera lens
Piece.
3. the hot line robot cable localization method under a kind of complex environment according to claim 2, feature exist
In: the optical filter is feux rouges bandpass filter, and wavelength is 650nm or 625nm~665nm feux rouges is high thoroughly.
4. the hot line robot cable localization method under a kind of complex environment according to claim 1, feature exist
In: the laser emitter is wavelength 650nm, adjustable focal length formula laser emitter.
5. the hot line robot cable localization method under a kind of complex environment according to claim 2, feature exist
In: the method for step (2) the spatial attitude information for obtaining cable includes the following steps:
(21) image is acquired according to any side of binocular camera, extracts grayscale image；
(22) according to step (21) grayscale image generated, edge graph is obtained, to obtain lineal layout in image；
(23) it removes the wrong straight line in lineal layout and is overlapped straight line, by correct rectilinear(-al) cable figure；
(24) pass through two measurement terminals a, b coordinates of step (23) obtained any range of cable figure and binocular camera
Stereo matching obtains disparity map, obtains the three-dimensional coordinate of measurement terminals a, b；
(25) using the central point of step (24) described two-end-point as target job point, two-end-point is described as target job point
Direction vector obtains the spatial attitude information of target job point.
6. the hot line robot cable localization method under a kind of complex environment according to claim 2, feature exist
In: the calculating step of step (24) described Stereo matching are as follows:
(241) the inside and outside parameter such as the focal length of binocular camera, baseline length is demarcated before positioning, obtains two cameras
The outer parameter of Intrinsic Matrix, distortion matrix and two cameras, i.e. spin matrix, translation matrix.
(242) distortion correction is carried out according to the inside and outside parameter of binocular camera, and carries out three-dimensional correction, two images is made to complete row pair
It is quasi-.
(243) disparity map is obtained by matching algorithm to the two images of row alignment.
(244) according to disparity map and the inside and outside parameter of camera, the three-dimensional coordinate of arbitrary point is obtained.
7. the hot line robot cable localization method under a kind of complex environment according to claim 6, feature exist
In: the method for discriminatory analysis environment complexity described in step (3) includes the following steps:
(31) Texture complication T and average gray m is calculated using the second-order matrix of the gray level histogram of image；
(32) if Texture complication T is less than given threshold, for non-complex background；If it is greater than given threshold, for complexity back
Scape；
(33) Luminance Distribution for obtaining acquisition image carries out binary conversion treatment according to step (31) average gray；
(34) gray value is greater than average gray value and the grey scale pixel value greater than 220 is set as 255, if being less than average gray value or small
In 220 grey scale pixel value grey scale pixel value be 0；
(35) elemental area that statistics gray value is 255 is then complex illumination if more than the 1/5 of the whole area of pictural surface；If being less than,
For non-complex illumination；
(36) if acquisition environment includes complex illumination or complex background, for complex environment；Non-complex illumination and non-complex background
It is then non-complex environment.
8. the hot line robot cable localization method under a kind of complex environment according to claim 7, feature exist
It is in: the calculation formula of Texture complication T described in step (31),
The calculation formula of average gray m is,
Wherein, ziIndicate gray scale, p (zi) be i-stage gray value zi number of pixels, that is, histogram, L be different grey-scale number
Amount；W is picture traverse, and h is picture altitude.
9. the hot line robot cable localization method under a kind of complex environment according to claim 8, it is characterised in that:
The method that the spatial attitude information of operative goals point is obtained under non-complex environment described in step (4) includes the following steps:
(41) judging result is then manually chosen the operating area in image, is arranged according to average gray value m if non-complex environment
Threshold value carries out binary conversion treatment；
(42) two-dimensional coordinate for obtaining cable minimum circumscribed rectangle and two endpoints, obtains three-dimensional coordinate by disparity map
(43) spatial position and the posture of operative goals point then are obtained according to step (24)~(25).
10. the hot line robot cable localization method under a kind of complex environment according to claim 9, feature exist
In: A, B two o'clock described in step (5) in cable without being chosen on obvious defect and bending section.
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| CN110802608A (en) * | 2019-10-29 | 2020-02-18 | 许昌许继软件技术有限公司 | Live working robot and positioning method of high-voltage cable |
| 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 |
| CN112008730A (en) * | 2020-09-02 | 2020-12-01 | 亿嘉和科技股份有限公司 | Sun position identification and avoidance method based on solid-state area array laser radar |
| 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 |
| CN112614181A (en) * | 2020-12-01 | 2021-04-06 | 深圳乐动机器人有限公司 | Robot positioning method and device based on highlight target |
| CN113505679A (en) * | 2021-07-02 | 2021-10-15 | 浙江华是科技股份有限公司 | Monitoring method, device and system for transformer substation cable and computer storage medium |
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