CN115008485A - Method, system, equipment and storage medium for remotely pasting nameplate - Google Patents
Method, system, equipment and storage medium for remotely pasting nameplate Download PDFInfo
- Publication number
- CN115008485A CN115008485A CN202210942339.8A CN202210942339A CN115008485A CN 115008485 A CN115008485 A CN 115008485A CN 202210942339 A CN202210942339 A CN 202210942339A CN 115008485 A CN115008485 A CN 115008485A
- Authority
- CN
- China
- Prior art keywords
- nameplate
- pasting
- target
- robot
- electric pole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
- B41J2/315—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material
- B41J2/32—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads
- B41J2/325—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads by selective transfer of ink from ink carrier, e.g. from ink ribbon or sheet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/4075—Tape printers; Label printers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/44—Typewriters or selective printing mechanisms having dual functions or combined with, or coupled to, apparatus performing other functions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method, a system, equipment and a storage medium for remotely pasting a nameplate, wherein the method comprises the steps of responding to received target electric pole position information and sending the target electric pole position information to an unmanned aerial vehicle; transporting the nameplate pasting robot to a target pole place corresponding to the target pole position information through the unmanned aerial vehicle; clamping the nameplate pasting robot on a target electric pole corresponding to the target electric pole location through a mechanical arm, and climbing to a preset height through a climbing wheel; when the sign tablet pastes the robot and receives the sign tablet information, print the sign tablet that sign tablet information corresponds of subassembly printing to will mark the tablet and paste on the target pole, solved among the prior art and generally scramble to the pole and install through the manual work carrying operation instrument and mark the tablet, nevertheless above-mentioned method has certain potential safety hazard when the operation of artifical climbing height. The invention can be operated by one person, thereby further liberating the manpower, lightening the burden of operators, improving the working efficiency and effectively preventing the risks of electric shock, high-altitude falling and the like.
Description
Technical Field
The invention relates to the technical field of remote pasting nameplates, in particular to a method, a system, equipment and a storage medium for remotely pasting nameplates.
Background
In the electric power maintenance work, often need hang on maintenance equipment and electrified equipment framework on every side and establish relevant tablet that marks, play suggestion and warning's effect to the field operation personnel. 10kV joins in marriage net overhead line and need regularly inspect and mark the tablet, and whether the tablet is marked to the inspection pole has the disappearance or is fuzzy, or when the circuit change needs to be updated and marks the condition of tablet, need paste again and mark the tablet. Avoid influencing the judgement of maintainer to the electrified position in scene.
In the prior art, usually, the operation tool is carried by a person to climb to the electric pole for installing the signboard, but the method has certain potential safety hazard during manual climbing operation.
Disclosure of Invention
The invention provides a method, a system, equipment and a storage medium for remotely pasting a nameplate, which solve the technical problems that in the prior art, usually, a worker carries an operation tool to climb to an electric pole to install the nameplate, but the method has certain potential safety hazards during manual climbing operation.
The invention provides a method for remotely pasting nameplates, which relates to an unmanned aerial vehicle and a nameplate pasting robot, wherein the nameplate pasting robot comprises a mechanical arm, a climbing wheel and a printing assembly, and the method comprises the following steps:
responding to the received target electric pole position information, and sending the target electric pole position information to the unmanned aerial vehicle;
transporting the nameplate pasting robot to a target pole location corresponding to the target pole position information through the unmanned aerial vehicle;
clamping the nameplate pasting robot on a target electric pole corresponding to the target electric pole location through the mechanical arm, and climbing to a preset height through the climbing wheel;
when the sign board pasting robot receives sign board information, the printing assembly prints the sign board corresponding to the sign board information and pastes the sign board on the target electric pole.
Optionally, before the step of sending the target pole position information to the unmanned aerial vehicle in response to the received target pole position information, the method further includes:
when a function debugging request is received, determining a nameplate pasting robot corresponding to the function debugging request;
and debugging a plurality of running data corresponding to the signboard pasting robot to preset values.
Optionally, be provided with the stranded hoist cable subassembly on the unmanned aerial vehicle, through unmanned aerial vehicle will mark the tablet and paste the robot transportation extremely the step at the target pole place that target pole positional information corresponds includes:
the nameplate pasting robot is hung through the stranded sling component;
transporting the nameplate pasting robot to a target electric pole place corresponding to the target electric pole position information;
through the stranded hoist cable subassembly will mark tablet and paste robot and transfer to target pole place and separation.
Optionally, mark the tablet and paste robot and still include the cloud platform camera lens, climb and take turns to and be provided with electronic distance meter, through the arm will mark the tablet and paste the robot centre gripping and be in on the target pole that the target pole place corresponds, and pass through climb wheel climbing to the step of predetermineeing the height, include:
acquiring a plurality of electric pole positions corresponding to the target electric pole position through the holder lens, and determining a target electric pole position corresponding to the target electric pole;
clamping the nameplate pasting robot on the target electric pole along the direction of the target electric pole through the mechanical arm;
through the climbing wheel carries it climbs to mark the tablet and paste robot target pole, and pass through electron distancer acquires ground in real time apart from the height, until ground apart from the height with predetermine the height and equal.
Optionally, print assembly is including marking tablet sticky tape storage cylinder, sticky tape from type paper separator, sticky tape, bottom carousel, first leading wheel, heat-transfer seal printing ware and pasting and pressing the gyro wheel, work as mark tablet and paste the robot and receive when marking tablet information, print assembly prints mark the tablet that tablet information corresponds to will mark the tablet and paste step on the target pole includes:
when the nameplate pasting robot receives nameplate information, the nameplate adhesive tape storage cylinder stretches out an adhesive tape through the first guide wheel and conveys the adhesive tape to the pasting pressing roller;
printing the nameplate information to the adhesive tape by the thermal transfer printer when the adhesive tape passes through the thermal transfer printer;
the bottom turntable drives the adhesive tape release paper separator to separate the adhesive layer and the smooth layer of the adhesive tape along a preset track, so that a nameplate carried by the adhesive layer is obtained;
through the bottom carousel drives paste and press the gyro wheel will mark the tablet and paste on the target pole.
Optionally, the printing assembly further comprises a second guide wheel, a release paper recycling bin, and the method further comprises:
through follow from type paper recycling bin mark a tablet sticky tape storage cylinder process the smooth layer of sticky tape is retrieved to the second leading wheel.
Optionally, work as when sign tablet pasting robot receives and marks tablet information, print assembly prints mark the tablet that tablet information corresponds to will mark the tablet and paste after the last step of target pole, still include:
acquiring a pasting image corresponding to the nameplate through the holder lens;
when a pasting end instruction fed back by the pasting image is received, the pasting image is descended to the ground through the climbing wheel, and the target electric pole is loosened through the mechanical arm;
and skipping to execute the step of responding to the received target electric pole position information and sending the target electric pole position information to the unmanned aerial vehicle.
The invention provides a remote nameplate pasting system, which relates to a processing module, an unmanned aerial vehicle and a nameplate pasting robot, wherein the nameplate pasting robot comprises a mechanical arm, a climbing wheel and a printing assembly, and the system comprises:
the response module is used for responding the received target electric pole position information and sending the target electric pole position information to the unmanned aerial vehicle;
the target pole location module is used for transporting the nameplate pasting robot to a target pole location corresponding to the target pole position information through the unmanned aerial vehicle;
the climbing module is used for clamping the nameplate pasting robot on a target electric pole corresponding to the target electric pole location through the mechanical arm and climbing to a preset height through the climbing wheel;
and the pasting module is used for printing the nameplate when the nameplate pasting robot receives the nameplate information, and the nameplate corresponding to the nameplate information is printed by the printing assembly and is pasted on the target electric pole.
A third aspect of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the computer program causes the processor to perform the steps of the method for remotely pasting nameplates according to any of the above-mentioned aspects.
A fourth aspect of the invention provides a computer readable storage medium having stored thereon a computer program which, when executed, implements a method of remotely pasting nameplates as defined in any one of the preceding claims.
According to the technical scheme, the invention has the following advantages:
according to the method, the received target electric pole position information is responded, and the target electric pole position information is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to position a specific position in real time, and a nameplate pasting robot is conveniently transported to a target electric pole place corresponding to the target electric pole position information; will mark the tablet through the arm and paste the robot centre gripping on the target pole that the tablet place corresponds to in order to use the climbing wheel to climb and predetermine the height, when mark tablet paste the robot and receive the tablet information that marks of operating personnel input, print the tablet that marks that tablet information corresponds through printing the subassembly, and will mark the tablet and paste on the target pole. The technical problem that in the prior art, the operation tools are carried by people to climb to the electric pole to install the signboard, but certain potential safety hazards exist in the manual climbing operation in the method is solved. The invention can be operated by only one person, thereby further freeing manpower, reducing the burden of operators, improving the working efficiency and effectively preventing personal risks such as electric shock, high-altitude falling and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a flowchart illustrating steps of a method for remotely pasting nameplates according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a sign pasting robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the internal structure of a printing assembly according to an embodiment of the present invention;
fig. 4 is a schematic view of an unmanned aerial vehicle and a nameplate pasting robot provided by an embodiment of the present invention;
fig. 5 is a flowchart illustrating steps of a method for remotely pasting nameplates according to a second embodiment of the present invention;
fig. 6 is a block diagram of a remote nameplate pasting system according to a third embodiment of the present invention.
Wherein the reference numerals have the following meanings:
1. a label tape storage cartridge; 2. a first guide wheel; 3. a thermal transfer printer; 4. sticking a pressing roller; 5. a nameplate; 6. an adhesive tape release paper separator; 7. a second guide wheel; 8. a fixed bracket; 9. a release paper recovery cylinder; 10. climbing wheels; 11. a mechanical arm; 12. a printing assembly; 13. a mechanical arm rotating shaft; 14. an unmanned aerial vehicle; 15. a target pole; 16. a sign pasting robot; 17. a bottom turntable.
Detailed Description
The embodiment of the invention provides a method, a system, equipment and a storage medium for remotely pasting a signboard, which are used for solving the technical problem that in the prior art, a signboard is usually installed by climbing to an electric pole through a manually-carried operation tool, but the method has certain potential safety hazard during manual climbing operation.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, 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 invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for remotely pasting a nameplate according to an embodiment of the present invention.
The invention provides a method for remotely pasting nameplates, which relates to an unmanned aerial vehicle (14) and a nameplate pasting robot (16), wherein the nameplate pasting robot (16) comprises a mechanical arm (11), a climbing wheel (10) and a printing assembly (12), and the method comprises the following steps:
It should be noted that the target pole position information refers to the relevant information of the longitude and latitude position where the pole needs to be pasted. Drone 14 refers to a multi-rotor drone, mainly for low-altitude, low-speed, mission types with vertical take-off and landing and hovering requirements.
In the embodiment of the present invention, according to the target pole position information received in response, the geographical position of the information is analyzed, and the geographical position is sent to the unmanned aerial vehicle 14, so as to ensure that the unmanned aerial vehicle 14 is positioned at a specific position.
And 102, transporting the sign pasting robot 16 to a target pole place corresponding to the target pole position information through the unmanned aerial vehicle 14.
It should be noted that, as shown in fig. 2-3, the sign pasting robot 16 refers to a robot driven by lithium battery power supply, the sign pasting robot 16 is provided with components such as a mechanical arm 11, a climbing wheel 10, and a printing component 12, and the sign pasting robot 16 can be controlled by an electronic remote control system.
In a specific embodiment, as shown in fig. 4, the unmanned aerial vehicle 14 lifts the sign pasting robot 16 to a target pole location corresponding to the target pole position information, and after the target pole location is reached, the unmanned aerial vehicle 14 descends to the ground, or the sign pasting robot 16 descends to the ground through a sling.
And 103, clamping the signboard pasting robot 16 on a target electric pole 15 corresponding to the target electric pole place through the mechanical arm 11, and climbing to a preset height through the climbing wheel 10.
The robot arm 11 refers to a mechatronic device with an anthropomorphic arm and hand function, and the robot arm 11 includes a robot arm spindle 13 and a robot arm body. The climbing wheel 10 refers to a mechanical wheel that climbs up or descends to the ground by means of motor drive, and specifically, the climbing wheel is a mecanum wheel.
In the embodiment of the present invention, the mechanical arm body is rotated by controlling the mechanical arm rotating shaft 13, so that the mechanical arm body clamps or releases the target electric pole 15, and the climbing wheel 10 with the nameplate pasting robot 16 climbs to a preset height, specifically, the preset height is set by an operator according to actual requirements, and is not limited herein.
It should be noted that the signboard information refers to the signboard information of the relevant content of the power grid; the printing unit 12 is an electronic device having a function of printing and pasting the signboard 5.
In the embodiment of the present invention, the operator inputs the related sign information and transmits the sign information to the sign pasting robot 16, and when the sign pasting robot 16 receives the sign information, the printing component 12 prints the sign 5, and then pastes the sign 5 on the target pole 15.
According to the invention, the received target pole position information is responded, and the target pole position information is sent to the unmanned aerial vehicle 14, so that the unmanned aerial vehicle 14 is ensured to position a specific position in real time, and the nameplate pasting robot 16 is conveniently transported to a target pole place corresponding to the target pole position information; will mark the centre gripping of tablet pasting robot 16 on the target pole 15 that the target pole place corresponds through arm 11 to in use climbing wheel 10 climbs to predetermineeing the height, when marking tablet pasting robot 16 and receiving the tablet information that marks of operating personnel input, print the tablet 5 that marks that tablet information corresponds through printing subassembly 12, and will mark the tablet 5 and paste on target pole 15. The technical problem that in the prior art, the operation tools are carried by people to climb to the electric pole to install the signboard, but certain potential safety hazards exist in the manual climbing operation in the method is solved. The invention can be operated by only one person, thereby further freeing manpower, reducing the burden of operators, improving the working efficiency and effectively preventing personal risks such as electric shock, high-altitude falling and the like.
Referring to fig. 5, fig. 5 is a flowchart illustrating a method for remotely pasting nameplates according to a second embodiment of the present invention.
The invention provides a method for remotely pasting nameplates, which relates to an unmanned aerial vehicle (14) and a nameplate pasting robot (16), wherein the nameplate pasting robot (16) comprises a mechanical arm (11), a climbing wheel (10) and a printing assembly (12), and the method comprises the following steps:
It should be noted that the function debugging request refers to a debugging request initiated by an operator to debug whether each function of the device is normal.
In a specific embodiment, when a function debugging request initiated by an operator is received, the nameplate pasting robot 16 corresponding to the function debugging request is determined.
In the embodiment of the present invention, an operator holds an operation screen to perform function debugging, debugs a plurality of operation data of the nameplate pasting robot 16 to preset values, for example, to debug to confirm that GPS signals are normal, confirm that an entire module of an electronic remote control system is normal in self-checking, confirm that an IMU and an electrical tuning function are normal in self-checking, confirm that image transmission uplink and downlink are normal in reception, confirm that a climbing wheel 10 and a pan-tilt lens rotate normally, confirm that a printing assembly 12 is normal in function, adjust a printing speed according to an actual situation, confirm that a robot battery driving function is normal, and determine whether a battery alarm percentage parameter is within a normal range, for example, the adjustable amplitude is 25% -90%.
In the embodiment of the present invention, the specific implementation process of step 203 is similar to that of step 101, and is not described herein again.
And step 204, transporting the sign pasting robot 16 to a target pole place corresponding to the target pole position information through the unmanned aerial vehicle 14.
Optionally, the drone 14 is provided with a stranded sling assembly, and the step 204 further includes the following steps S11-S13:
s11, tying and hanging the sign pasting robot 16 through a stranded sling component;
s12, transporting the signboard pasting robot 16 to a target pole location corresponding to the target pole position information;
s13, lowering the sign pasting robot 16 to the target pole location by twisting the sling assembly and separating.
Note that the stranded sling assembly refers to a transport mechanism that enables the unmanned aerial vehicle 14 and the sign pasting robot 16 to be connected to and separated from each other.
In the embodiment of the present invention, the unmanned aerial vehicle 14 lifts the nameplate pasting robot 16 to the target pole location through the stranded sling component, and when the target pole location is reached, the nameplate pasting robot 16 is lowered to the target pole location through the sling of the stranded sling component, and the sling of the stranded sling component is controlled to loosen the nameplate pasting robot 16.
Optionally, the sign pasting robot 16 further includes a pan-tilt lens, the climbing wheel 10 is provided with an electronic distance meter, and the step 205 further includes the following steps S21-S23:
s21, acquiring a plurality of electric pole positions corresponding to the target electric pole position through the pan-tilt lens, and determining the target electric pole position corresponding to the target electric pole 15;
s22, clamping the signboard pasting robot 16 on the target pole 15 along the target pole orientation by the mechanical arm 11;
s23, climbing the target electric pole 15 by the aid of the climbing wheel 10 with the signboard pasting robot 16, and acquiring ground distance height in real time by the aid of an electronic distance meter until the ground distance height is equal to a preset height.
It should be noted that the pan-tilt lens refers to a camera lens with a pan-tilt, the pan-tilt is a device for carrying a camera to rotate in two directions, i.e., horizontal and vertical directions, and the camera lens is mounted on the pan-tilt to enable the camera to take a picture from multiple angles. An electronic distance meter refers to an instrument that can carry a distance measurement signal with electromagnetic waves (light waves or microwaves) to measure the distance between points.
In the embodiment of the invention, an operator watches the surrounding environment of the target electric pole 15 through a pan-tilt lens, confirms the position of the target electric pole through the surrounding environment, controls the unmanned aerial vehicle 14 to lift and send the signboard pasting robot 16 to the position of the target electric pole through the electronic remote control system, and lowers the target electric pole to the ground, clamps the signboard pasting robot 16 on the target electric pole 15 along the position of the target electric pole by the mechanical arm 11, controls the climbing wheel 10 to climb upwards through the electronic remote control system, starts to feed back the climbing height in real time by the electronic distance meter when the climbing wheel 10 starts to climb upwards, and stops the climbing wheel 10 from climbing upwards when the climbing height is equal to the preset height, specifically, the preset height is set by the operator according to actual requirements, and is not limited herein.
Alternatively, the printing assembly 12 includes the label tape cartridge 1, the tape separator 6, the tape, the bottom turntable 17, the first guide wheel 2, the thermal transfer printer 3, and the paste pressing roller 4, and the step 206 further includes the following steps S31 to S34:
s31, when the nameplate pasting robot 16 receives the nameplate information, the nameplate adhesive tape storage cylinder 1 stretches out the adhesive tape through the first guide wheel 2 and conveys the adhesive tape to the pasting pressing roller 4;
s32, printing the nameplate information to the adhesive tape by the thermal transfer printer 3 when the adhesive tape passes through the thermal transfer printer 3;
s33, the adhesive tape release paper separator 6 is driven by the bottom turntable 17 to separate the adhesive layer and the smooth layer of the adhesive tape along a preset track, and the nameplate 5 carried by the adhesive layer is obtained;
and S34, the pasting pressing roller 4 is driven by the bottom turntable 17 to paste the nameplate 5 on the target electric pole 15.
It should be noted that, a dc motor, a rotating shaft and an adhesive tape are arranged in the label adhesive tape storage cylinder 1, as shown in fig. 3, a bottom rotary table 17 is provided with the label adhesive tape storage cylinder 1, an adhesive tape separator 6, a thermal transfer printer 3 and a pasting pressing roller 4, the bottom rotary table 17 is connected with the pasting pressing roller 4 through a central rotating shaft, the central rotating shaft is arranged on the edge of the bottom rotary table 17, so that the part of the pasting pressing roller 4 protrudes out of the bottom rotary table 17 for facilitating the subsequent pressing of the label 5, further, the printing component 12 is provided with a pasting pressing opening at the pasting label 5, the pasting pressing opening can be provided with a rolling door, specifically, a switch door can be arranged on the pasting pressing opening according to the actual situation, when the climbing wheel 10 climbs to the preset operation height, the operator controls the rolling door to open through an electronic remote control system, when paste and press roller 4 along with bottom carousel 17 rotate should to paste and press the opening, press the protruding printing assembly 12 of roller 4 part, be convenient for press and mark tablet 5, when pasting and mark tablet 5 and end, operating personnel controls through electron remote control system that the roller shutter door is closed.
In a specific embodiment, an operator inputs label information through an electronic remote control system, when the label pasting robot 16 receives the label information, a direct current motor in a label tape storage cylinder 1 is started, the direct current motor drives a rotating shaft, a tape is drawn out from an opening of the label tape storage cylinder 1 along with the rotation of the rotating shaft, the tape passes through a first guide wheel 2 and a thermal transfer printer 3 in sequence, the label information is printed on the tape through the thermal transfer printer 3, a bottom turntable 17 is started at the same time, specifically, as shown by an arrow in fig. 3, a predetermined track can move from left to right, the bottom turntable 17 drives the label tape storage cylinder 1, a release tape separator 6, the thermal transfer printer 3 and a pasting pressing roller 4 to rotate along the predetermined track, the release tape separator 6 separates a pasting layer and a smooth layer of the tape, obtain pasting the tablet 5 that marks that the layer carried, pasting the tablet 5 that marks that the layer carried and stretching to pasting and pressing down 4 departments of gyro wheel, pasting and pressing down gyro wheel 4 and pressing down the tablet 5 along with bottom carousel 17 rotates the time, and pasting and pressing down gyro wheel 4 and through the rotation of central axis of rotation, paste the pressure that presses down 4 rotations of gyro wheel and produce and can paste the tablet 5 on target pole 15.
Optionally, the printing assembly 12 further comprises a second guide wheel 7, a release paper recycling bin 9, and the method further comprises the following step S41:
and S41, recovering the smooth layer of the adhesive tape from the label adhesive tape storage cylinder 1 through the second guide wheel 7 by the release paper recovery cylinder 9.
It should be noted that the storage cylinder 1 for the label adhesive tape and the recovery cylinder 9 for the release paper are fixed by the fixing bracket 8, and the storage cylinder 1 for the label adhesive tape and the recovery cylinder 9 for the release paper are both arranged on the bottom turntable 17, and when the bottom turntable 17 rotates, the storage cylinder 1 for the label adhesive tape and the recovery cylinder 9 for the release paper also rotate accordingly.
In the embodiment of the present invention, a motor is disposed in the release paper recycling drum 9, and when the motor is started, the smooth layer of the adhesive tape passing through the second guide wheel 7 can be recycled into the release paper recycling drum 9.
Optionally, after the step 206, the following steps S51-S53 are further included:
s51, acquiring a pasting image corresponding to the nameplate 5 through a pan-tilt lens;
s52, when a pasting end instruction fed back by a pasting image is received, the electric pole is descended to the ground through the climbing wheel 10, and the target electric pole 15 is loosened through the mechanical arm 11;
and S53, jumping to execute a step of responding to the received target pole position information and sending the target pole position information to the unmanned aerial vehicle 14.
In the embodiment, after the signboard 5 is pasted on the target electric pole 15, the pasting effect is viewed through the pasting image corresponding to the signboard 5, which is viewed by the operator through the pan-tilt lens, when the pasting effect reaches the desired effect, the pasting end instruction is input, and when the signboard pasting robot 16 receives the pasting end instruction, the target electric pole 15 is lowered to the ground through the climbing wheel 10 and loosened through the mechanical arm 11. And repeatedly executing the steps of analyzing the geographical position of the information according to the target pole position information received in response, and sending the geographical position to the unmanned aerial vehicle 14 to ensure that the unmanned aerial vehicle 14 is positioned to the specific position until the work of pasting the nameplate 5 is finished.
According to the invention, the received target pole position information is responded, and the target pole position information is sent to the unmanned aerial vehicle 14, so that the unmanned aerial vehicle 14 is ensured to position a specific position in real time, and the nameplate pasting robot 16 is conveniently transported to a target pole place corresponding to the target pole position information; will mark the centre gripping of tablet pasting robot 16 on the target pole 15 that the target pole place corresponds through arm 11 to in use climbing wheel 10 climbs to predetermineeing the height, when marking tablet pasting robot 16 and receiving the tablet information that marks of operating personnel input, print the tablet 5 that marks that tablet information corresponds through printing subassembly 12, and will mark the tablet 5 and paste on target pole 15. The technical problem that in the prior art, the sign 5 is usually installed by climbing to the electric pole through a manually-carried operation tool, but certain potential safety hazards exist in manual climbing operation in the method is solved. The invention can be operated by only one person, thereby further freeing manpower, reducing the burden of operators, improving the working efficiency and effectively preventing personal risks such as electric shock, high-altitude falling and the like.
Referring to fig. 6, fig. 6 is a block diagram illustrating a remote nameplate pasting system according to a third embodiment of the present invention.
The embodiment of the invention provides a remote pasting nameplate system, which relates to a processing module, an unmanned aerial vehicle (14) and a nameplate pasting robot (16), wherein the nameplate pasting robot (16) comprises a mechanical arm (11), a climbing wheel (10) and a printing component (12), and the system comprises:
a response module 301, configured to respond to the received target pole position information and send the target pole position information to the unmanned aerial vehicle 14;
a target pole location module 302, configured to transport the sign pasting robot 16 to a target pole location corresponding to the target pole position information through the unmanned aerial vehicle 14;
the climbing module 303 is used for clamping the signboard pasting robot 16 on a target electric pole 15 corresponding to a target electric pole position through the mechanical arm 11 and climbing to a preset height through the climbing wheel 10;
and the pasting module 304 is configured to print the nameplate 5 corresponding to the nameplate information by the printing component 12 when the nameplate pasting robot 16 receives the nameplate information, and paste the nameplate 5 on the target pole 15.
Optionally, the system further comprises:
and the function debugging request submodule is used for determining the nameplate pasting robot 16 corresponding to the function debugging request when the function debugging request is received.
And the preset value submodule is used for debugging a plurality of running data corresponding to the sign pasting robot 16 to preset values.
Optionally, the target pole location module 302 includes:
the stranded sling sub-module is used for tying a label sticking robot 16 through a stranded sling component;
a target pole location sub-module, configured to transport the sign pasting robot 16 to a target pole location corresponding to the target pole location information;
and the separation submodule is used for lowering the nameplate pasting robot 16 to the target pole place through the stranded sling assembly and separating the nameplate pasting robot.
Optionally, climbing module 303 comprises:
the target electric pole position submodule is used for acquiring a plurality of electric pole positions corresponding to the target electric pole position through a holder lens and determining the target electric pole position corresponding to the target electric pole 15;
the clamping submodule is used for clamping the nameplate pasting robot 16 on the target electric pole 15 along the target electric pole direction through the mechanical arm 11;
and the electronic distance measuring submodule is used for carrying the signboard pasting robot 16 through the climbing wheel 10 to climb the target electric pole 15, and acquiring the ground distance height in real time through an electronic distance measuring instrument until the ground distance height is equal to the preset height.
Optionally, the pasting module 304 includes:
the conveying adhesive tape sub-module is used for stretching adhesive tapes out through the label adhesive tape storage cylinder 1 through the first guide wheel 2 and conveying the adhesive tapes to the pasting pressing roller 4 when the label pasting robot 16 receives label information;
the printing sub-module is used for printing the nameplate information to the adhesive tape through the thermal transfer printer 3 when the adhesive tape passes through the thermal transfer printer 3;
the nameplate submodule is used for driving the adhesive tape release paper separator 6 to separate the adhesive layer and the smooth layer of the adhesive tape along a preset track through the bottom turntable 17 so as to obtain a nameplate 5 carried by the adhesive layer;
and the pasting sub-module is used for driving the pasting pressing roller 4 to paste the nameplate 5 on the target electric pole 15 through the bottom turntable 17.
Optionally, the system further comprises:
and the recycling submodule is used for recycling the smooth layer of the adhesive tape from the label adhesive tape storage cylinder 1 through the second guide wheel 7 by the release paper recycling cylinder 9.
Optionally, the system further comprises:
the sticking image obtaining sub-module is used for obtaining a sticking image corresponding to the nameplate 5 through a pan-tilt lens;
the loosening submodule is used for descending to the ground through the climbing wheel 10 and loosening the target electric pole 15 through the mechanical arm 11 when a sticking finishing instruction fed back by the sticking image is received;
and the jump execution submodule is used for executing the step of responding to the received target electric pole position information and sending the target electric pole position information to the unmanned aerial vehicle 14.
According to the invention, the received target pole position information is responded, and the target pole position information is sent to the unmanned aerial vehicle 14, so that the unmanned aerial vehicle 14 is ensured to position a specific position in real time, and the nameplate pasting robot 16 is conveniently transported to a target pole place corresponding to the target pole position information; will mark the centre gripping of tablet pasting robot 16 on the target pole 15 that the target pole place corresponds through arm 11 to in use climbing wheel 10 climbs to predetermineeing the height, when marking tablet pasting robot 16 and receiving the tablet information that marks of operating personnel input, print the tablet 5 that marks that tablet information corresponds through printing subassembly 12, and will mark the tablet 5 and paste on target pole 15. The method solves the problem that in the prior art, the sign 5 is usually installed by climbing to the electric pole through a manual carrying tool, but certain potential safety hazards exist in manual climbing operation. The invention can be operated by only one person, thereby further freeing manpower, reducing the burden of operators, improving the working efficiency and effectively preventing personal risks such as electric shock, high-altitude falling and the like.
An embodiment of the present invention further provides an electronic device, where the electronic device includes: the computer system comprises a memory and a processor, wherein a computer program is stored in the memory; the computer program, when executed by the processor, causes the processor to perform a method of remotely pasting nameplates as in any of the embodiments described above.
Fifth, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the method for remotely pasting nameplates according to any of the embodiments of the present invention is implemented.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, devices and units 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 system, apparatus and method may be implemented in other ways. 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 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-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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 of the embodiments of the present invention.
Claims (10)
1. The utility model provides a long-range sign board method of pasting, its characterized in that relates to unmanned aerial vehicle and marks the sign and paste the robot, it pastes the robot and includes arm, climbing wheel and printing assembly to mark the sign, the method includes:
responding to the received target electric pole position information, and sending the target electric pole position information to the unmanned aerial vehicle;
transporting the nameplate pasting robot to a target pole location corresponding to the target pole position information through the unmanned aerial vehicle;
clamping the nameplate pasting robot on a target electric pole corresponding to the target electric pole location through the mechanical arm, and climbing to a preset height through the climbing wheel;
when the sign board pasting robot receives sign board information, the printing assembly prints the sign board corresponding to the sign board information and pastes the sign board on the target electric pole.
2. The method of claim 1, wherein before the step of sending the target pole location information to the drone in response to the received target pole location information, the method further comprises:
when a function debugging request is received, determining a nameplate pasting robot corresponding to the function debugging request;
and debugging a plurality of running data corresponding to the signboard pasting robot to preset values.
3. The method of claim 1, wherein a stranded sling assembly is disposed on the unmanned aerial vehicle, and the step of transporting the nameplate pasting robot to the target pole location corresponding to the target pole location information by the unmanned aerial vehicle comprises:
the nameplate pasting robot is hung through the stranded sling component;
transporting the nameplate pasting robot to a target electric pole place corresponding to the target electric pole position information;
through the stranded hoist cable subassembly will mark tablet and paste robot and transfer to target pole place and separation.
4. The method for remotely pasting nameplates according to claim 1, wherein the nameplate pasting robot further comprises a pan-tilt lens, an electronic distance meter is arranged on the climbing wheel, the nameplate pasting robot is clamped on a target electric pole corresponding to the target electric pole location through the mechanical arm, and the nameplate pasting robot climbs to a preset height through the climbing wheel, comprising the steps of:
acquiring a plurality of electric pole positions corresponding to the target electric pole position through the holder lens, and determining a target electric pole position corresponding to the target electric pole;
clamping the nameplate pasting robot on the target electric pole along the direction of the target electric pole through the mechanical arm;
through the climbing wheel carries it climbs to mark the sign and paste robot target pole, and pass through the electron distancer acquires ground in real time apart from the height, until ground apart from the height with predetermine highly equal.
5. The method of claim 1, wherein said printing assembly comprises a nameplate tape cartridge, tape release paper separator, tape, bottom turntable, first guide wheel, thermal transfer printer and paste press roller, when said nameplate pasting robot receives nameplate information, said printing assembly prints the nameplate corresponding to said nameplate information and pastes said nameplate on said target pole, comprising the steps of:
when the nameplate pasting robot receives nameplate information, the nameplate adhesive tape storage cylinder stretches out an adhesive tape through the first guide wheel and conveys the adhesive tape to the pasting pressing roller;
printing the nameplate information to the adhesive tape by the thermal transfer printer when the adhesive tape passes through the thermal transfer printer;
the bottom turntable drives the adhesive tape release paper separator to separate the adhesive layer and the smooth layer of the adhesive tape along a preset track, so that a nameplate carried by the adhesive layer is obtained;
through the bottom carousel drives paste and press the gyro wheel will mark the tablet and paste on the target pole.
6. The method of remotely affixing a sign according to claim 5, wherein said printing assembly further comprises a second guide wheel, a release paper recycling bin, said method further comprising:
through follow from type paper recycling bin mark a tablet sticky tape storage cylinder process the smooth layer of sticky tape is retrieved to the second leading wheel.
7. The method of claim 4, wherein after the step of printing the nameplate corresponding to the nameplate information and pasting the nameplate on the target pole by the printing component when the nameplate pasting robot receives the nameplate information, the method further comprises:
acquiring a pasting image corresponding to the nameplate through the holder lens;
when a pasting end instruction fed back by the pasting image is received, the pasting image is descended to the ground through the climbing wheel, and the target electric pole is loosened through the mechanical arm;
and skipping to execute the step of responding to the received target electric pole position information and sending the target electric pole position information to the unmanned aerial vehicle.
8. The utility model provides a long-range sign system of pasting, its characterized in that relates to processing module, unmanned aerial vehicle and marks the sign and paste the robot, it includes arm, climbing wheel and printing assembly to mark the sign and paste the robot, the system includes:
the response module is used for responding the received target electric pole position information and sending the target electric pole position information to the unmanned aerial vehicle;
the target pole location module is used for transporting the nameplate pasting robot to a target pole location corresponding to the target pole position information through the unmanned aerial vehicle;
the climbing module is used for clamping the nameplate pasting robot on a target electric pole corresponding to the target electric pole location through the mechanical arm and climbing to a preset height through the climbing wheel;
and the pasting module is used for printing the nameplate when the nameplate pasting robot receives the nameplate information, and the nameplate corresponding to the nameplate information is printed by the printing assembly and is pasted on the target electric pole.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program that, when executed by the processor, causes the processor to perform the steps of the method of remotely pasting nameplates according to any of claims 1-7.
10. A computer-readable storage medium having stored thereon a computer program, wherein the computer program when executed implements the method of remotely pasting nameplates of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210942339.8A CN115008485B (en) | 2022-08-08 | 2022-08-08 | Method, system, equipment and storage medium for remotely pasting nameplate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210942339.8A CN115008485B (en) | 2022-08-08 | 2022-08-08 | Method, system, equipment and storage medium for remotely pasting nameplate |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115008485A true CN115008485A (en) | 2022-09-06 |
| CN115008485B CN115008485B (en) | 2022-10-11 |
Family
ID=83065462
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210942339.8A Active CN115008485B (en) | 2022-08-08 | 2022-08-08 | Method, system, equipment and storage medium for remotely pasting nameplate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115008485B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108749945A (en) * | 2018-07-27 | 2018-11-06 | 贵州电网有限责任公司 | A kind of multi-functional electric pole climbing level robot |
| US20190134824A1 (en) * | 2017-09-21 | 2019-05-09 | Infrastructure Preservation Corporation | Robotic repair system for high mast light poles |
| CN111845985A (en) * | 2019-04-24 | 2020-10-30 | 苏州翼搏特智能科技有限公司 | Quick separation and docking mechanism between unmanned aerial vehicle and crawling robot |
| CN112623221A (en) * | 2021-02-05 | 2021-04-09 | 北京国铁科技有限公司 | Bridge intellectual detection system flying robot |
-
2022
- 2022-08-08 CN CN202210942339.8A patent/CN115008485B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190134824A1 (en) * | 2017-09-21 | 2019-05-09 | Infrastructure Preservation Corporation | Robotic repair system for high mast light poles |
| CN108749945A (en) * | 2018-07-27 | 2018-11-06 | 贵州电网有限责任公司 | A kind of multi-functional electric pole climbing level robot |
| CN111845985A (en) * | 2019-04-24 | 2020-10-30 | 苏州翼搏特智能科技有限公司 | Quick separation and docking mechanism between unmanned aerial vehicle and crawling robot |
| CN112623221A (en) * | 2021-02-05 | 2021-04-09 | 北京国铁科技有限公司 | Bridge intellectual detection system flying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115008485B (en) | 2022-10-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103612756B (en) | The multi-rotor aerocraft of electric power line inspection and based on its system | |
| CN110011223A (en) | Multiple no-manned plane cooperation method for inspecting and system suitable for region transmission line of electricity | |
| EP3104184B1 (en) | Method and apparatus for locating faults in overhead power transmission lines | |
| EP3680648B1 (en) | Port machinery inspection device and inspection method | |
| CN110466760B (en) | Auxiliary mechanical arm for electric power inspection unmanned aerial vehicle and control system thereof | |
| CN211406109U (en) | Portable video mobile monitoring system with AI recognition function | |
| CN113359826A (en) | Intelligent power inspection system and method for unmanned aerial vehicle | |
| CN105700544A (en) | UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station | |
| CN110829271B (en) | Transmission line defect inspection device and defect analysis method | |
| CN114604763B (en) | Electromagnetic positioning device and method for guiding lifting hook of intelligent tower crane | |
| CN112947511A (en) | Method for inspecting fan blade by unmanned aerial vehicle | |
| CN112162565A (en) | Uninterrupted autonomous tower inspection method based on multi-machine cooperative operation | |
| CN115008485B (en) | Method, system, equipment and storage medium for remotely pasting nameplate | |
| CN108922309A (en) | A kind of aircraft magnetic deviation calibrated analog training system | |
| CN111343287B (en) | Helicopter laser radar remote monitoring system and method for power transmission line inspection | |
| CN111352439B (en) | Unmanned aerial vehicle-assisted chimney detection equipment and detection method | |
| CN114604773B (en) | Safety warning auxiliary system and method for intelligent tower crane | |
| CN205281604U (en) | To electric power inspection personnel target in place terminal equipment and electric power inspection system of condition control | |
| CN114721432A (en) | Unmanned aerial vehicle intelligent inspection equipment based on big data and inspection image defect analysis method | |
| CN114986540B (en) | Nameplate pasting robot, control method and equipment | |
| CN106094866A (en) | A kind of unmanned plane power circuit polling device and using method thereof | |
| CN104591054B (en) | One seeks a mouthful AutoCappingmachine | |
| CN203289564U (en) | Power line patrol system | |
| JP2019169065A (en) | Inspection system | |
| CN113829363A (en) | Intelligent inspection robot and inspection method for 5G base station data center |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |