CN115229783A - Horizontal crawling test assembly and method for power transmission line iron tower climbing robot - Google Patents
Horizontal crawling test assembly and method for power transmission line iron tower climbing robot Download PDFInfo
- Publication number
- CN115229783A CN115229783A CN202210712369.XA CN202210712369A CN115229783A CN 115229783 A CN115229783 A CN 115229783A CN 202210712369 A CN202210712369 A CN 202210712369A CN 115229783 A CN115229783 A CN 115229783A
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- China
- Prior art keywords
- iron tower
- follow
- transmission line
- climbing robot
- angle steel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a horizontal crawling test assembly and method for a climbing robot of a power transmission line iron tower, and belongs to the technical field of test equipment. The test assembly includes: fixed supporting component, follow-up limit to the subassembly. Through the effective connection with horizontal crawling subassembly and climbing robot, adopt host computer cooperative control robot centre gripping unit to open and shut and drive the robot body with drive arrangement and remove, can open and shut to climbing robot arm and press from both sides tight reliability, the wheeled walking reliability of robot, key links such as barrier reliability are kept away in the foot nail discernment are tested and are verified, for the mechanical structure and the control program optimization of transmission line iron tower climbing robot provide the support, carry out the vertical climbing tower experiment for transmission line iron tower climbing robot simultaneously and provide the reliability guarantee.
Description
Technical Field
The invention relates to the technical field of test equipment, in particular to a horizontal crawling test assembly and method for a climbing robot of a power transmission line iron tower.
Background
Along with the security requirement of the country to the construction of electric power industry constantly improves to the call that the tower construction was organized to the replacement manpower of intelligent equipment is higher and higher, and transmission line iron tower climbing robot has also consequently become the research direction of a hot spot. The premise that the power transmission line iron tower climbing robot performs effective operation is that the climbing reliability must be ensured, the climbing robot needs to perform reciprocating reliable crawling under a built horizontal test environment firstly for a test prototype, the testing including opening and closing moment, the testing of obstacle avoidance by foot nails and the like are completed, and then the test tower can be used for performing vertical crawling experiments.
The power transmission line iron tower climbing robot belongs to special equipment, and is high in openness in design, and both the horizontal crawling test assembly and the test method need to be designed based on a specific power transmission line iron tower climbing robot sample machine.
Disclosure of Invention
The invention aims to provide a horizontal crawling test assembly and method for a power transmission line iron tower climbing robot, so that the use requirement of completing the reliability verification of horizontal crawling on a specific power transmission line iron tower climbing robot sample machine is met.
In order to realize the purpose of the invention, the technical scheme provided by the invention is as follows:
first aspect
The invention provides a horizontal crawling test component of a climbing robot for an iron tower of a power transmission line, which comprises a fixed support component, a follow-up support component and a follow-up direction limiting component, wherein the fixed support component is respectively arranged at two ends and the middle position of an angle steel of the horizontal testing iron tower, the follow-up support component is respectively arranged at the head part and the tail part of a machine body 2, and the follow-up direction limiting component is respectively arranged at the head part and the tail part of the machine body 2;
the fixed support assembly includes: the angle steel supporting assembly comprises a fixed supporting assembly main body, angle steel top irons and adjustable feet, wherein the angle steel top irons are connected with the fixed supporting assembly main body to support the angle steel of the experimental iron tower, and the four adjustable feet are arranged in an H shape and are connected with the fixed supporting assembly main body;
the follow-up support assembly comprises: the servo support assembly comprises a servo support assembly main body, lifting bolts and universal wheels, wherein the lifting bolts are connected with the servo support assembly and the machine body, and the universal wheels are connected with the servo support assembly main body;
a transmission line iron tower climbing robot's horizontal crawling test subassembly, its characterized in that: the follow-up direction limiting assembly comprises: follow-up limit to subassembly main part, regulating plate, gyro wheel, the regulating plate be connected with follow-up limit to subassembly main part, the gyro wheel is connected on regulating plate and follow-up limit to subassembly main part.
Second aspect of the invention
Correspondingly to the test assembly, the invention also provides a horizontal crawling test method of the power transmission line iron tower climbing robot, which comprises the following steps:
a, adjusting the position layout of a fixed support assembly according to the length of the experimental iron tower angle steel to ensure that the fixed support assembly can reliably support the experimental iron tower angle steel;
b, connecting the machine body with the follow-up support assembly through a lifting bolt, and adjusting the height of the experimental iron tower angle steel through adjustable feet to enable the guide wheel of the clamping unit to contact the experimental iron tower angle steel;
c, cooperatively controlling the opening and closing of the clamping unit and the driving device through an upper computer to drive the robot body to move, verifying the forward and backward traveling stability of the robot body, mainly verifying the reliable opening and closing torque of the clamping unit, ensuring that a mechanical arm of the clamping unit passes through the height of the foot nail by 10mm by the opening torque, ensuring that the mechanical arm of the clamping unit holds the angle iron tower under the action of 1500N thrust by using a clamping torque, and identifying the automatic obstacle avoidance condition of the clamping unit by the foot nail control through an ultrasonic sensor;
d, separating the machine body from the follow-up support assembly, connecting the machine body with the follow-up direction limiting assembly through a lifting bolt, and adjusting the position of the adjusting plate to enable the roller to be in contact with the experimental iron tower angle steel so as to ensure that the guide wheel of the clamping unit is reliably pressed on the experimental iron tower angle steel;
and E, cooperatively controlling the clamping unit and the driving device through the upper computer to drive the robot body to move, verifying the reliable opening and closing moment of the clamping unit, ensuring that the mechanical arm of the clamping unit passes over the height of the foot nail by 10mm when the moment is opened, ensuring that the mechanical arm of the clamping unit keeps holding the angle iron tower under the action of 1500N thrust to be in a static state when the clamping unit is clamped, verifying that the ultrasonic sensor identifies the condition that the foot nail controls the clamping unit to automatically avoid the obstacle, and mainly verifying the forward and backward traveling stability of the robot body.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a horizontal crawling assembly and an experimental method for a specific power transmission line iron tower climbing robot, belongs to the climbing reliability test working category before a vertical climbing experiment, can perform experimental verification on key links such as opening and closing clamping reliability of a mechanical arm of the climbing robot, wheel type walking reliability of the robot, identification and obstacle avoidance reliability of a foot nail and the like, obtains data information such as opening and closing clamping torque of the mechanical arm, wheel type walking stability trend of the robot, identification and obstacle avoidance success rate of the foot nail and the like through repeated experimental verification, provides support for optimization of a mechanical structure and a control program of the power transmission line iron tower climbing robot, and provides reliability guarantee for development of the vertical climbing experiment of the power transmission line iron tower climbing robot.
Drawings
Fig. 1 is a first schematic view of a structure of a horizontal crawling test assembly of a power transmission line iron tower climbing robot in the application;
FIG. 2 is a second schematic diagram of a structure of a horizontal crawling test assembly of a power transmission line iron tower climbing robot according to the present application;
fig. 3 is a schematic structural view of a fixing and supporting assembly in the horizontal crawling test assembly of the power transmission line iron tower climbing robot of the present application;
FIG. 4 is a schematic diagram of a follow-up support assembly in a horizontal crawling test assembly of a power transmission line iron tower climbing robot according to the present application;
FIG. 5 is a schematic diagram of a follow-up direction limiting component in a horizontal crawling test component of a power transmission line iron tower climbing robot according to the application;
in the figure: the device comprises a clamping unit 1, a machine body 2, a driving device 3, an ultrasonic sensor 4, iron tower angle steel 5, foot nails 6, a follow-up supporting component 7, a fixed supporting component 8, a follow-up direction limiting component 9, angle steel top iron 10, a fixed supporting component main body 11, adjustable feet 12, a first lifting bolt 13, a follow-up supporting component main body 14, a universal wheel 15, a follow-up direction limiting component main body 16, an adjusting plate 17, a roller 18 and a second lifting bolt 19.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should also be understood that when used in this specification the singular forms "a", "an" and/or "the" include "specify the presence of features, steps, operations, elements, or modules, components, and/or combinations thereof.
It will be understood that when an element is referred to herein as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example one
As shown in fig. 1 to 5, the horizontal crawling test assembly for the power transmission line iron tower climbing robot is provided in the present embodiment. Specifically, the device comprises an experimental iron tower angle steel 5 which is horizontally arranged, and a fixed supporting component 8, a follow-up supporting component 7 and a follow-up direction limiting component 9 which are arranged on the experimental iron tower angle steel 5, wherein the follow-up supporting component 7 and the follow-up direction limiting component 9 are selectively replaced and installed according to a test stage; the number of the fixed supporting components 8 is three, the fixed supporting components are respectively arranged at two ends and the middle position of the angle steel 5 of the horizontal test iron tower, the number of the follow-up supporting components 7 is two, the follow-up supporting components are respectively arranged at the head and the tail of the machine body 2, and the number of the follow-up direction limiting components 9 is two, and the follow-up direction limiting components are respectively arranged at the head and the tail of the machine body 2; the experimental iron tower angle steel 5 is evenly provided with a plurality of foot nails 6 at intervals in the length direction.
In a preferred embodiment, said fixed support assembly 8 comprises: fixed supporting component main part 11, angle steel top iron 10, adjustable lower margin 12, fixed supporting component main part 11 is including the I-shaped frame of horizontal setting and connect at the I-shaped frame middle part, the bracing piece of vertical setting, upper end of the support bar with angle steel top iron 10 is connected, angle steel top iron 10 withstands experiment iron tower angle steel 5, adjustable lower margin 12 is 4, and four adjustable lower margin 12 subsections are in four foot departments of I-shaped frame.
In a preferred embodiment, said follower support assembly 7 comprises: follow-up supporting component main part 14, first eyebolt 13, universal wheel 15, follow-up supporting component main part 14 includes the portal frame, a crossbeam is connected respectively to portal frame both sides lower extreme, and a universal wheel 15 is all connected to every crossbeam both ends lower part, portal frame upper end middle part is connected with first U type frame, first eyebolt 13 is connected respectively on first U type frame both ends upper portion, through first eyebolt 13 be connected follow-up supporting component 7 and fuselage 2.
In a preferred embodiment, said follow-up direction-limiting assembly 9 comprises: follow-up is restricted to subassembly main part 16, regulating plate 17, gyro wheel 18, second eyebolt 14, follow-up is restricted to subassembly main part 16 both ends lower extreme and is connected the regulating plate 17 that an slant set up respectively, and two regulating plates 18 form the splayed, every regulating plate 17 all connects a gyro wheel 18, through second eyebolt 14 will follow-up is restricted to subassembly main part 16 and is connected with fuselage 2.
It should be noted that the power transmission line iron tower climbing robot in this embodiment includes a body 2, a clamping unit 1 connected to the body 2, a driving device 3, and a plurality of ultrasonic sensors 4.
Example two
Correspondingly to the first embodiment, the first embodiment provides a horizontal crawling test method for a transmission line iron tower climbing robot based on the first embodiment, and the method comprises the following main steps of:
step A: the position layout of the fixed supporting component 8 is adjusted according to the length of the experimental angle steel for iron tower 5, and the heights of four adjustable feet 12 of each fixed supporting component 8 are adjusted, so that the heights of the four adjustable feet 12 are consistent, and the fixed supporting component 8 can reliably support the experimental angle steel for iron tower 5 to prevent the experimental angle steel for iron tower 5 from overturning transversely or longitudinally after contacting with the clamping unit 1;
and B: connecting the machine body 2 with the follow-up supporting component 7 through a first lifting bolt 13, adjusting the height of the experimental iron tower angle steel 5 through an adjustable ground pin 12 to enable a guide wheel of the clamping unit 1 to stably contact the experimental iron tower angle steel 5, and testing the effectiveness of the horizontal crawling test component by manually pushing and pulling the follow-up supporting component 7;
and C: the upper computer controls the clamping unit 1 to repeatedly open and close to test, so that the feedback torque of the driving device 3 when the mechanical arm of the clamping unit 1 passes over the foot nails 6 and exceeds 10mm and the feedback torque of the driving device 3 when the mechanical arm of the clamping unit 1 keeps holding the angle iron 5 in a static state under the action of 1500N thrust are obtained, and relevant data information is recorded;
step D: the upper computer cooperatively controls the clamping unit 1 and the driving device 3 to drive the robot body 2 to move, the ultrasonic sensor 4 is repeatedly tested to identify the obstacle foot nail 6 and feed back the clamping unit 1 to control the automatic obstacle avoidance condition and the forward and backward traveling stability, and relevant data information is recorded so as to optimize the mechanical structure and control program design of the climbing robot;
e: separating the machine body 2 from the follow-up supporting assembly 7, connecting the machine body 2 with the follow-up limiting assembly 9 through a second eyebolt 19, and adjusting the position of the adjusting plate 17 to enable the roller 18 to be in contact with the inner surface of the experimental angle iron tower 5 so as to ensure that the guide wheel of the clamping unit 1 is reliably crimped on the experimental angle iron tower 5;
f: drive robot fuselage 2 through host computer cooperative control clamping unit 1 and drive arrangement 3 and remove, the reliable moment that opens and shuts of repeated verification clamping unit 1, it needs to guarantee that clamping unit 1 arm crosses the high 10mm of foot nail to open the moment, clamping torque needs to guarantee that clamping unit 1 arm keeps embracing iron tower angle steel 5 under 1500N thrust effect and is in quiescent condition, repeated verification ultrasonic sensor 4 discerns the automatic obstacle-avoiding condition of clamping unit 1 of foot nail 6 control, the stability of marcing forward and backward of key repeated verification robot fuselage 2.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The horizontal crawling test component of the power transmission line iron tower climbing robot is characterized by comprising horizontally arranged experimental iron tower angle steel (5), and a fixed support component (8), a follow-up support component (7) and a follow-up direction limiting component (9) which are arranged on the experimental iron tower angle steel (5), wherein the follow-up support component (7) and the follow-up direction limiting component (9) are selected to be installed in a replacement mode according to a test stage; the number of the fixed supporting components (8) is three, the fixed supporting components are respectively arranged at two ends and the middle position of the angle steel (5) of the horizontal test iron tower, the number of the follow-up supporting components (7) is two, the follow-up supporting components are respectively arranged at the head and the tail of the machine body (2), and the number of the follow-up direction limiting components (9) is two, and the follow-up direction limiting components are respectively arranged at the head and the tail of the machine body (2); a plurality of foot nails (6) are uniformly arranged on the experimental iron tower angle steel (5) in the length direction at intervals.
2. The assembly for the horizontal crawling test of the power transmission line iron tower climbing robot according to claim 1, wherein the fixing and supporting assembly (8) comprises: fixed stay subassembly main part (11), angle steel top iron (10), adjustable lower margin (12), fixed stay subassembly main part (11) are including the I-shaped frame of horizontal setting and connect at the I-shaped frame middle part, the bracing piece of vertical setting, upper end of the support bar with angle steel top iron (10) are connected, angle steel top iron (10) are withstood experiment iron tower angle steel (5), adjustable lower margin (12) are four, and four adjustable lower margin (12) branches are in four foot departments of I-shaped frame.
3. The horizontal crawling test assembly for the power transmission line iron tower climbing robot as claimed in claim 1, wherein the follow-up support assembly (7) comprises: follow-up supporting component main part (14), first eyebolt (13), universal wheel (15), follow-up supporting component main part (14) include the portal frame, a crossbeam is connected respectively to portal frame both sides lower extreme, and a universal wheel (15) are all connected to every crossbeam both ends lower part, portal frame upper end middle part is connected with first U type frame, first eyebolt (13) are connected respectively on first U type frame both ends upper portion, through first eyebolt (13) with follow-up supporting component (7) be connected with fuselage (2) of transmission line iron tower climbing robot.
4. The assembly for the horizontal crawling test of the power transmission line iron tower climbing robot according to claim 1, wherein the follow-up direction limiting assembly (9) comprises: follow-up limit is to subassembly main part (16), regulating plate (17), gyro wheel (18), second eyebolt (14), follow-up limit is to subassembly main part (16) both ends lower extreme connect respectively regulating plate (17) that an slant set up, and two regulating plates (18) form the splayed, every gyro wheel (18) are all connected to regulating plate (17), through second eyebolt (14) are restricted to subassembly main part (16) and are connected with fuselage (2) of transmission line iron tower climbing robot with follow-up.
5. A horizontal crawling test method for a climbing robot of an electric transmission line iron tower is characterized in that the method is carried out based on the test assembly of any one of claims 1-4, and comprises the following main steps:
step A: the position layout of the fixed supporting components (8) is adjusted according to the length of the experimental iron tower angle steel (5), the heights of four adjustable feet (12) of each fixed supporting component (8) are adjusted, the heights of the four adjustable feet (12) are ensured to be consistent, and the fixed supporting components (8) can reliably support the experimental iron tower angle steel (5) so as to prevent the experimental iron tower angle steel (5) from overturning transversely or longitudinally after contacting with a clamping unit (1) of the power transmission line iron tower climbing robot;
and B: the machine body (2) is connected with the follow-up supporting component (7) through a first lifting bolt (13), the height of the experimental iron tower angle steel (5) is adjusted through an adjustable anchor (12), so that a guide wheel of the clamping unit (1) is in stable contact with the experimental iron tower angle steel (5), and the effectiveness of the horizontal crawling test component is tested by manually pushing and pulling the follow-up supporting component (7);
and C: the upper computer controls the clamping unit (1) to repeatedly open and close, so that the feedback torque of the driving device (3) of the power transmission line iron tower climbing robot when the mechanical arm of the clamping unit (1) crosses the foot nail (6) and exceeds 10mm in height and the feedback torque of the driving device (3) when the mechanical arm of the clamping unit (1) keeps holding the iron tower angle steel (5) in a static state under the action of 1500N thrust are obtained, and relevant data information is recorded;
step D: the clamping unit (1) and the driving device (3) are cooperatively controlled by the upper computer to drive the machine body (2) of the power transmission line iron tower climbing robot to move, the ultrasonic sensor (4) is repeatedly tested to identify the obstacle foot nails (6) and feed back the clamping unit (1) to control the automatic obstacle avoidance condition and the forward and backward traveling stability, and relevant data information is recorded so as to optimize the mechanical structure and control program design of the climbing robot;
step E: separating the machine body (2) from the follow-up supporting assembly (7), connecting the machine body (2) with the follow-up direction limiting assembly (9) through a second lifting bolt (19), and adjusting the position of the adjusting plate (17) to enable the roller (18) to be in contact with the inner surface of the experimental iron tower angle steel (5), so that the guide wheel of the clamping unit (1) is ensured to be reliably pressed on the experimental iron tower angle steel (5);
step F: the clamping unit (1) and the driving device (3) are cooperatively controlled through an upper computer to drive the machine body (2) of the power transmission line iron tower climbing robot to move, the clamping unit (1) is repeatedly verified to be reliably opened and closed, the opening moment needs to ensure that the mechanical arm of the clamping unit (1) crosses the height of the foot nail by 10mm, the clamping moment needs to ensure that the mechanical arm of the clamping unit (1) keeps holding iron tower angle steel (5) in a static state under the action of 1500N thrust, the ultrasonic sensor (4) is repeatedly verified to identify the situation that the foot nail (6) controls the clamping unit (1) to automatically avoid obstacles, and the stability of forward and backward travelling of the machine body (2) of the power transmission line iron tower climbing robot is repeatedly verified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210712369.XA CN115229783A (en) | 2022-06-22 | 2022-06-22 | Horizontal crawling test assembly and method for power transmission line iron tower climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210712369.XA CN115229783A (en) | 2022-06-22 | 2022-06-22 | Horizontal crawling test assembly and method for power transmission line iron tower climbing robot |
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| Publication Number | Publication Date |
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| CN115229783A true CN115229783A (en) | 2022-10-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210712369.XA Pending CN115229783A (en) | 2022-06-22 | 2022-06-22 | Horizontal crawling test assembly and method for power transmission line iron tower climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115635487A (en) * | 2022-12-26 | 2023-01-24 | 国网天津市电力公司建设分公司 | Tower-climbing robot obstacle avoidance control system and method based on multi-sensor fusion |
-
2022
- 2022-06-22 CN CN202210712369.XA patent/CN115229783A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115635487A (en) * | 2022-12-26 | 2023-01-24 | 国网天津市电力公司建设分公司 | Tower-climbing robot obstacle avoidance control system and method based on multi-sensor fusion |
| CN115635487B (en) * | 2022-12-26 | 2023-08-04 | 国网天津市电力公司建设分公司 | Tower climbing robot obstacle avoidance control system and method based on multi-sensor fusion |
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