CN113708290A - Live working robot drainage wire threading control method and device and robot terminal - Google Patents
Live working robot drainage wire threading control method and device and robot terminal Download PDFInfo
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- CN113708290A CN113708290A CN202110993144.1A CN202110993144A CN113708290A CN 113708290 A CN113708290 A CN 113708290A CN 202110993144 A CN202110993144 A CN 202110993144A CN 113708290 A CN113708290 A CN 113708290A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application discloses threading control method and device for a drainage wire of a live working robot and a robot terminal.
Description
Technical Field
The application relates to the technical field of robots, in particular to a live working robot drainage wire threading control method and device and a robot terminal.
Background
Distribution lines need power workers to carry out live-wire work in daily maintenance and repair. However, live working has a very high risk, and in severe cases, electric shock accidents are caused. Utilize the robot to replace the people and carry out live working, can promote live working's security, reduce electric power work operation personnel's electric shock probability, avoid the emergence of dangerous accident.
When the drainage wire is installed by using the robot, one mechanical arm is needed to clamp the drainage wire in the air firstly, and then the drainage wire is clamped to penetrate into a wire clamp tool on the other mechanical arm to complete the threading work of the drainage wire. However, in practical application, threading failure often occurs, so that the threading success rate of the existing live working robot for threading the drainage wire is low.
Disclosure of Invention
The application provides a threading control method and device for a drainage wire of a live working robot and a robot terminal, and aims to solve the technical problem that the existing live working robot is low in threading success rate when the existing live working robot is used for threading the drainage wire.
The application provides a live working robot drainage wire threading control method in a first aspect, and the live working robot comprises: a fastener arm that is used for gripper drainage line's hand claw arm and is used for fixed fastener instrument includes:
acquiring a first state image of the drainage wire, wherein the first state image is an image of the drainage wire in a clamped state and in a threading preparation position;
identifying the tail end pose information of the drainage wire according to the first state image;
adjusting the pose state of the wire clamping arm according to the tail end pose information and the relative position relation between the wire clamping arm and the tail end of the drainage wire, so that the wire clamping tool is aligned with the tail end of the drainage wire;
and controlling the wire clamp arm to execute threading action of the drainage wire according to the threading path.
Preferably, the process of obtaining the relative position relationship between the thread clamping arm and the tail end of the drainage thread specifically comprises:
and calculating by utilizing a homogeneous coordinate transformation algorithm according to the tail end position information and the wire clamp arm position information to determine the relative position relationship between the wire clamp arm and the tail end of the drainage wire, wherein the wire clamp arm position information is the position information of the wire clamp arm under a first arm base coordinate system, and the first arm base coordinate system is a coordinate system taking the arm base of the wire clamp arm as an original point.
Preferably, the method further comprises the following steps:
acquiring a second state image of the drainage wire, wherein the second state image is an image of the drainage wire in an unclamped state;
identifying a clamping point in the drainage wire and clamping point position information of the drainage wire according to the second state image;
and controlling the gripper arms to grip the drainage wire according to the gripping point position information and by combining the relative position relationship between the gripper arms and the gripping points.
Preferably, the obtaining process of the relative position relationship between the gripper arm and the gripping point specifically includes:
and calculating by utilizing a homogeneous coordinate transformation algorithm according to the clamping point position information and the position information of the gripper arm, and determining the relative position relation between the gripper arm and the drainage wire clamp point, wherein the position information of the gripper arm is the position information of the gripper arm under a second arm base coordinate system, and the second arm base coordinate system is a coordinate system taking the arm base of the gripper arm as an original point.
The application second aspect provides a live working robot drainage line threading controlling means, includes:
the first image acquisition unit is used for acquiring a first state image of the drainage wire, wherein the first state image is an image of the drainage wire in a clamped state and in a threading preparation position;
the first position and posture information identification unit is used for identifying the tail end position and posture information of the drainage wire according to the first state image;
the wire clamp pose adjusting unit is used for adjusting the pose state of the wire clamp arm according to the tail end pose information and the relative position relation between the wire clamp arm and the tail end of the drainage wire so that the wire clamp tool is aligned with the tail end of the drainage wire;
and the threading action control unit is used for controlling the wire clamp arm to execute threading action of the drainage wire according to the threading path.
Preferably, the method further comprises the following steps:
the second image acquisition unit is used for acquiring a second state image of the drainage wire, wherein the second state image is an image of the drainage wire in an unclamped state;
the second position and posture information identification unit is used for identifying a clamping point in the drainage wire and clamping point position and posture information of the drainage wire according to the second state image;
and the drainage wire clamping control unit is used for controlling the paw arm to clamp the drainage wire according to the clamping point position information and the relative position relation between the paw arm and the clamping point.
The third aspect of the present application provides a live working robot terminal, comprising: according to the second aspect of the application, the threading control device for the drainage wire of the hot-line work robot, the claw arm for clamping the drainage wire, the wire clamp arm for fixing the wire clamp tool and the image acquisition equipment for acquiring the first state image and the second state image are provided.
Preferably, the image capturing device specifically includes: the device comprises a first acquisition module and a second acquisition module;
the first camera module is used for acquiring the first state image;
the second camera module is used for acquiring the second state image.
Preferably, the first collecting module is arranged at the front end of the wire clamp arm.
Preferably, the second collection module is disposed at a front end of the gripper arm.
According to the technical scheme, the method has the following advantages:
according to the method and the device, the state image before threading is acquired, the terminal pose information of the drainage wire is identified from the state image, the terminal pose of the drainage wire is taken as a standard, the alignment of the wire clamp tool and the terminal of the drainage wire is adjusted by adjusting the pose of the wire clamp arm, the wire clamp arm provided with the wire clamp tool is enabled to actively complete threading, the situation that the pose of the drainage wire deviates due to the movement of the gripper arm is avoided, and the threading success rate is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic flow chart of an embodiment of a threading control method for a drainage wire of a live working robot provided by the application.
FIG. 2 is a schematic view of a complete process of threading a drainage wire by using a threading control method of a live working robot based on the application.
FIG. 3 is a schematic flow chart of a threading control method for a drainage wire of a live working robot according to a second embodiment of the present application.
FIG. 4 is a schematic structural diagram of one embodiment of a threading control device for a drainage wire of a live working robot provided by the application.
Detailed Description
In practical application, threading failure often occurs, and the applicant finds through research that the reason for the threading failure is that after the drainage wire is gripped by the clamping jaw, the shape of the drainage wire is changed under the influence of the clamping point of the claw and the clamping force, and then when the drainage wire is clamped by the claw arm to move, the posture of the drainage wire is also changed, and finally the threading failure of the drainage wire occurs.
In view of this, the embodiment of the application provides a threading control method and device for a drainage wire of a live working robot and a robot terminal, and is used for solving the technical problem that the existing live working robot has low threading success rate when threading the drainage wire.
In order to make the objects, features and advantages of the present invention more apparent and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The present application provides a first embodiment mainly relating to a live working robot terminal, comprising:
the threading control device for the drainage wire of the live working robot can be understood as a control module of the live working robot, and can control the parts of the live working robot according to the control method provided by the application, so that the step flow of the threading control method for the drainage wire of the live working robot provided by the application is realized;
the paw arm is provided with a paw tool and is a mechanical arm for clamping the drainage wire;
a wire clamp arm, i.e. a mechanical arm for fixing a wire clamp tool;
and the image acquisition equipment is used for acquiring the first state image and the second state image mentioned in the threading control method of the drainage wire of the live working robot.
Further, the image capturing device specifically includes: the device comprises a first acquisition module and a second acquisition module;
the first camera module is used for acquiring a first state image;
the second camera module is used for acquiring a second state image.
The first acquisition module is arranged at the front end of the on-line clamping arm.
The second acquisition module is arranged at the front end of the paw arm.
The homogeneous coordinate transformation of the left arm end camera under the left arm base coordinate represents:
the right arm end camera is represented by homogeneous coordinate transformation under the right arm base coordinate:
the path of the autonomous motion is stored in a preset motion track library, and the path target point information is stored in a database.
Referring to fig. 1, a threading control method for a drainage wire of an electric operating robot according to a second embodiment of the present application includes:
After the gripper arm takes the drainage wire clamp to the preset threading preparation position, the state image of the drainage wire at the moment is acquired, namely the image of the drainage wire when the drainage wire is positioned at the threading preparation position and in the gripper tool clamping state, and the image can be acquired through image acquisition equipment in the live-wire work robot.
And 102, identifying the tail end pose information of the drainage wire according to the first state image.
According to the acquired first state image, the pose information of the terminal point of the drainage wire is identified through an image pose identification algorithm, and it can be understood that this step and step 101 correspond to the drainage wire identification stage for the second time in fig. 2.
And 103, adjusting the pose state of the wire clamp arm according to the terminal pose information and the relative position relationship between the wire clamp arm and the terminal of the drainage wire, so that the wire clamp tool is aligned with the terminal of the drainage wire.
And step 104, controlling the clamping arms to perform threading action of the drainage wire according to the threading path.
In this embodiment, step 103 and step 104 correspond to the threading and threading stage in fig. 2, the pose state of the clamp arm is adjusted according to the terminal pose information of the drainage wire and in combination with the relative position relationship between the clamp arm and the terminal of the drainage wire, so as to adjust the relative position between the clamp tool and the terminal of the drainage wire, and align the clamp tool and the terminal of the drainage wire, and then according to the threading path, the clamp arm is controlled to perform threading of the drainage wire, i.e., the mechanical arm with the clamp tool is moved toward the drainage wire, so that the drainage wire smoothly enters the clamp tool, and the clamp is remotely operated to clamp the drainage wire, thereby completing the threading operation.
The above detailed description is that according to the threading control method for the drainage wire of the live working robot, the state image before threading is obtained, the pose information of the tail end of the drainage wire is identified from the state image, the pose of the tail end of the drainage wire is taken as a standard, the alignment of the wire clamp tool and the tail end of the drainage wire is adjusted by adjusting the pose of the wire clamp arm, the wire clamp arm with the wire clamp tool is enabled to actively complete threading, the situation that the pose of the drainage wire deviates due to the movement of the claw arm is avoided, the threading success rate is improved, and the technical problem that the existing live working robot has low threading success rate when threading the drainage wire is solved.
In the following, the present application provides a detailed description of a second embodiment of the threading control method for the drainage wire of the live working robot based on the above embodiments.
Referring to fig. 3, a threading control method for a drainage wire of a live working robot according to a third embodiment of the present application includes:
further, the obtaining process of the relative position relationship between the wire clamping arm and the tail end of the drainage wire mentioned in the previous embodiment specifically includes:
and calculating by utilizing a homogeneous coordinate transformation algorithm according to the terminal position and posture information and the clamp arm position and posture information to determine the relative position relationship between the clamp arm and the tail end of the drainage wire, wherein the clamp arm position and posture information is the position and posture information of the clamp arm under a first arm base coordinate system, and the first arm base coordinate system is a coordinate system taking the arm base of the clamp arm as an original point.
It should be noted that the clamp arm autonomously moves to the position for identifying the tail end of the drainage wire, and the position ensures that the terminal camera of the clamp arm can identify the tail end pose of the drainage wire, so as to identify the tail end pose of the drainage wire, and obtain the homogeneous coordinate transformation of the tail end point under the camera:
obtaining a homogeneous transformation matrix of the tail end point under the online clamping arm base coordinate as follows:
the relative position relationship between the thread clamping arm and the tail end of the drainage thread can be obtained.
The wire clamp arms automatically adjust the postures according to the tail end poses of the drainage wires to carry out threading operation along the paths in the path library,
further, step 101 may further include:
and 1001, acquiring a second state image of the drainage wire, wherein the second state image is an image of the drainage wire in an unclamped state.
And step 1002, identifying a clamping point in the drainage wire and clamping point position information of the drainage wire according to the second state image.
And 1003, controlling the gripper arms to grip the drainage wire according to the gripping point position information and by combining the relative position relation between the gripper arms and the gripping points.
Wherein, the relative position relationship between the gripper arm and the gripping point mentioned in the step 1003 specifically includes:
and calculating by utilizing a homogeneous coordinate transformation algorithm according to the clamping point position information and the paw arm position information, and determining the relative position relation between the paw arm and the drainage line clamping point, wherein the paw arm position information is the position information of the paw arm under a second arm base coordinate system, and the second arm base coordinate system is a coordinate system taking the arm base of the paw arm as an original point.
It should be noted that the process from step 1001 to step 1003 in this embodiment of gripping the drainage wire corresponds to the stage of identifying the drainage wire for the first time and the stage of grasping the drainage wire by the gripper arm in fig. 2.
The gripper arm automatically moves to the position where the drainage wire is identified, the drainage wire is ensured to be in the visual field range of the gripper arm binocular camera by the position of the mechanical arm, then the drainage wire is identified, and the identification result is sent to the control module;
through the control module, the position of clamping the drainage wire is determined, specifically, the position can be manually selected and determined, and can also be identified and determined by a machine, so that the homogeneous coordinate conversion of the selected clamping point under the camera is obtained:
this results in a homogeneous coordinate transformation representation of the grasping point at the base coordinates of the gripper arm:
the relative position relationship between the gripper arms and the gripping points can be obtained.
And adjusting the posture of the paw arm according to the pose of the clamping point, moving the paw arm to the clamping point, remotely operating the clamping jaw to clamp the drainage wire, and moving the paw arm to a preset threading preparation position along a path arranged in the movement path library after clamping the drainage wire so as to trigger the subsequent flow of the step 101 and the like.
In addition, the embodiment of the present application also provides an example of a complete threading process of a drainage wire corresponding to FIG. 2, so as to better understand the relationship between the threading control method of the present application and the overall threading process of a drainage wire as follows:
after the operation is started, the insulating bucket arm vehicle is adjusted to a corresponding operation position;
adjusting the positions of the two mechanical arms, and enabling the left wire clamping arm to independently move to a preparation position which is a point taught in advance and stored in a database;
the wire clamp arm automatically moves to a wire clamp, the wire clamp tool is operated in a remote mode to complete installation of the wire clamp, and after installation is completed, the wire clamp arm returns to a preparation position;
the paw arm automatically moves to the position of the drainage wire, the position of the mechanical arm ensures that the drainage wire is in the visual field range of the paw arm binocular camera, then the drainage wire is identified, and the identification result is sent to the control center;
through the interface operation of the control center, the position of clamping the drainage wire is manually selected, and the homogeneous coordinate conversion of the clamping point under the camera is obtained:
this results in a homogeneous coordinate transformation representation of the grasping point at the base coordinates of the gripper arm:
adjusting the posture of the paw arm according to the pose of the clamping point, moving the paw arm to the clamping point, and remotely operating the clamping jaw to clamp the drainage wire;
after the drainage wire is clamped, the paw arm moves to a preset position along a path arranged in the movement path library; one end of the drainage wire is fixed on the high-voltage wire frame, so that the movement of the paw arm for clamping the drainage wire is limited, and the movement range of the paw arm is not suitable to be too large;
the terminal position department of drainage wire is discerned in autonomous motion of fastener arm, and this position guarantees that terminal camera of fastener arm can discern the terminal position appearance of drainage wire, carries out the terminal position appearance of drainage wire and discerns, obtains terminal homogeneous coordinate transformation under the camera of some:
obtaining a homogeneous transformation matrix of the tail end point under the online clamping arm base coordinate as follows:
the recognition result is sent to the control center;
the wire clamp arm automatically adjusts the posture to carry out threading operation along the path in the path library according to the tail end pose of the identified drainage wire, so that the drainage wire smoothly enters a wire clamp tool, and the wire clamp is remotely operated to finish the threading operation.
In addition, referring to fig. 4, a fourth embodiment of the present application further provides a threading control device for a drainage wire of a live working robot, including:
a first image acquisition unit 201, configured to acquire a first state image of the drainage wire, where the first state image is an image of the drainage wire in a clamped state and in a threading preparation position;
the first position and posture information identification unit 202 is used for identifying the tail end position and posture information of the drainage wire according to the first state image;
the wire clamp pose adjusting unit 203 is used for adjusting the pose state of the wire clamp arm according to the tail end pose information and the relative position relationship between the wire clamp arm and the tail end of the drainage wire so that the wire clamp tool is aligned with the tail end of the drainage wire;
and the threading action control unit 204 is used for controlling the clamp arms to execute threading action of the drainage wire according to the threading path.
Preferably, the method further comprises the following steps:
a second image acquiring unit 2001 for acquiring a second state image of the drainage wire, the second state image being an image when the drainage wire is in an unclamped state;
a second position and posture information identifying unit 2002 for identifying a clamping point in the drainage thread and clamping point position and posture information of the drainage thread according to the second state image;
and the drainage wire clamping control unit 2003 is used for controlling the gripper arms to clamp the drainage wires according to the clamping point position information and in combination with the relative position relationship between the gripper arms and the clamping points.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the terminal, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed terminal, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A threading control method for a drainage wire of an electric operating robot comprises the following steps: a gripper arm for gripping a drainage wire and a wire clamp arm for securing a wire clamping tool, the method comprising:
acquiring a first state image of the drainage wire, wherein the first state image is an image of the drainage wire in a clamped state and in a threading preparation position;
identifying the tail end pose information of the drainage wire according to the first state image;
adjusting the pose state of the wire clamping arm according to the tail end pose information and the relative position relation between the wire clamping arm and the tail end of the drainage wire, so that the wire clamping tool is aligned with the tail end of the drainage wire;
and controlling the wire clamp arm to execute threading action of the drainage wire according to the threading path.
2. The threading control method for the drainage wire of the live working robot as claimed in claim 1, wherein the process of obtaining the relative position relationship between the wire clamping arm and the tail end of the drainage wire specifically comprises:
and calculating by utilizing a homogeneous coordinate transformation algorithm according to the tail end position information and the wire clamp arm position information to determine the relative position relationship between the wire clamp arm and the tail end of the drainage wire, wherein the wire clamp arm position information is the position information of the wire clamp arm under a first arm base coordinate system, and the first arm base coordinate system is a coordinate system taking the arm base of the wire clamp arm as an original point.
3. The live working robot drain wire threading control method according to claim 1, characterized by further comprising:
acquiring a second state image of the drainage wire, wherein the second state image is an image of the drainage wire in an unclamped state;
identifying a clamping point in the drainage wire and clamping point position information of the drainage wire according to the second state image;
and controlling the gripper arms to grip the drainage wire according to the gripping point position information and by combining the relative position relationship between the gripper arms and the gripping points.
4. The threading control method for the drainage wire of the live working robot as claimed in claim 3, wherein the obtaining process of the relative position relationship between the gripper arm and the gripping point specifically comprises:
and calculating by utilizing a homogeneous coordinate transformation algorithm according to the clamping point position information and the position information of the gripper arm, and determining the relative position relation between the gripper arm and the drainage wire clamp point, wherein the position information of the gripper arm is the position information of the gripper arm under a second arm base coordinate system, and the second arm base coordinate system is a coordinate system taking the arm base of the gripper arm as an original point.
5. The utility model provides a live working robot drainage line threading controlling means which characterized in that includes:
the first image acquisition unit is used for acquiring a first state image of the drainage wire, wherein the first state image is an image of the drainage wire in a clamped state and in a threading preparation position;
the first position and posture information identification unit is used for identifying the tail end position and posture information of the drainage wire according to the first state image;
the wire clamp pose adjusting unit is used for adjusting the pose state of the wire clamp arm according to the tail end pose information and the relative position relation between the wire clamp arm and the tail end of the drainage wire so that the wire clamp tool is aligned with the tail end of the drainage wire;
and the threading action control unit is used for controlling the wire clamp arm to execute threading action of the drainage wire according to the threading path.
6. The threading control device for the drainage wire of the live working robot according to claim 5, further comprising:
the second image acquisition unit is used for acquiring a second state image of the drainage wire, wherein the second state image is an image of the drainage wire in an unclamped state;
the second position and posture information identification unit is used for identifying a clamping point in the drainage wire and clamping point position and posture information of the drainage wire according to the second state image;
and the drainage wire clamping control unit is used for controlling the paw arm to clamp the drainage wire according to the clamping point position information and the relative position relation between the paw arm and the clamping point.
7. A live working robot terminal, comprising: the live working robot drain wire threading control device of claim 5 or 6, a gripper arm for gripping a drain wire, a clamp arm for securing a clamp tool, and an image capturing apparatus for capturing the first state image and the second state image.
8. The live working robot terminal according to claim 7, wherein the image capturing device comprises: the device comprises a first acquisition module and a second acquisition module;
the first camera module is used for acquiring the first state image;
the second camera module is used for acquiring the second state image.
9. The live working robot terminal according to claim 8, wherein the first pick up module is arranged at a front end of the gripper arm.
10. The live working robot terminal according to claim 8, wherein the second pick module is provided at a front end of the gripper arm.
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| CN202110993144.1A CN113708290B (en) | 2021-08-25 | 2021-08-25 | Live working robot drainage wire threading control method and device and robot terminal |
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| CN202110993144.1A CN113708290B (en) | 2021-08-25 | 2021-08-25 | Live working robot drainage wire threading control method and device and robot terminal |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115533896A (en) * | 2022-09-20 | 2022-12-30 | 南方电网电力科技股份有限公司 | Recursive robot double-arm collaborative operation path planning method |
| TWI804444B (en) * | 2022-09-09 | 2023-06-01 | 中國大陸商立訊精密工業（滁州）有限公司 | Wire threading device and method |
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