CN116088499A - Unmanned aerial vehicle auxiliary system of live working robot system - Google Patents
Unmanned aerial vehicle auxiliary system of live working robot system Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention relates to the technical field of electric power, in particular to an unmanned aerial vehicle auxiliary system of a live working robot system, which comprises an unmanned aerial vehicle system and an active cooperative system, wherein the live working robot system is connected with the unmanned aerial vehicle system through the active cooperative system; the unmanned aerial vehicle system is used for providing auxiliary functions for the operation of the live working robot system, and the active cooperative system is used for cooperatively sharing and cooperatively controlling information between the unmanned aerial vehicle system and the live working robot system; the unmanned aerial vehicle system comprises an unmanned aerial vehicle and a control terminal, and the unmanned aerial vehicle is in wireless connection with the control terminal; unmanned aerial vehicle includes unmanned aerial vehicle body, execution module and information acquisition module, and execution module and information acquisition module carry on unmanned aerial vehicle body, unmanned aerial vehicle control terminal and live working robot system wireless connection. The invention can flexibly support the auxiliary decision of the live working robot in a panoramic view angle, and improve the working efficiency of the live working robot.
Description
Technical Field
The invention relates to the technical field of electric power, in particular to an unmanned aerial vehicle auxiliary system of a live working robot system.
Background
At present, live working robots are used for independently completing field operation, and the field panoramic condition is monitored only by means of one panoramic camera arranged on a working bucket, so that the field of view is relatively limited. The active obstacle avoidance function depends on a built-in obstacle avoidance program, and the safety is required to be improved. All live working robots currently only support daytime operation, limited by visible light. The safety measures for site operation are hard isolation measures such as shielding fence and the like. Meanwhile, unmanned plane technology is widely applied to various industries, auxiliary functions and application cases of unmanned plane technology are comprehensively explored, and the unmanned plane technology is rarely involved in the field of live working robots. Therefore, how to explore an unmanned aerial vehicle auxiliary system to make up for some defects of the live working robot at the present stage and improve the live working efficiency is very important.
The panoramic view angle of the live working robot is limited, a visual field blind area exists, and the working position under a complex environment cannot be accurately positioned, so that an auxiliary decision of the panoramic view angle supporting robot is needed to be more flexibly carried out, and the working efficiency of live working is improved. Meanwhile, the active mental retardation capability of the live working robot is mainly realized by adding a pre-modeling mode obstacle avoidance through an operation learning forward and reverse solution algorithm, a certain error rate exists, and the intrinsic safety of live working needs to be ensured by providing double insurance.
The current use scenario of the live working robot is limited by various factors, such as surrounding environment, time length, working content and the like, and some auxiliary functions are urgently needed to assist the live working robot in completing more live working.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides the unmanned aerial vehicle auxiliary system of the live working robot system, which can flexibly support the auxiliary decision of the live working robot in a panoramic view angle through the active cooperative system and the information acquisition module and the execution module of the unmanned aerial vehicle system, and improve the working efficiency of the live working robot.
The invention can be achieved by adopting the following technical scheme:
an unmanned aerial vehicle assistance system of a live working robotic system, the system comprising:
the live working robot system is connected with the unmanned aerial vehicle system through the active cooperative system; the unmanned aerial vehicle system is used for providing auxiliary functions for the operation of the live working robot system, and the active cooperative system is used for cooperatively sharing and cooperatively controlling information between the unmanned aerial vehicle system and the live working robot system;
the unmanned aerial vehicle system comprises an unmanned aerial vehicle and a control terminal, and the unmanned aerial vehicle is in wireless connection with the control terminal; unmanned aerial vehicle includes unmanned aerial vehicle body, execution module and information acquisition module, and execution module and information acquisition module carry on unmanned aerial vehicle body, unmanned aerial vehicle control terminal and live working robot system wireless connection.
In the preferred technical scheme, the execution module comprises a megaphone, an illuminating lamp and a laser emitter, and the information acquisition module comprises a camera, a laser sensor and an ultrasonic sensor.
In the preferred technical scheme, the active cooperative system comprises a work analysis and evaluation module, a cooperative control module, an active guiding module, an active monitoring module, an auxiliary lighting module and an early warning driving module;
the operation evaluation module is used for comparing and analyzing the whole operation process of the live working robot with a preset operation instruction book to obtain operation report evaluation;
the cooperative control module is used for controlling the live working robot by the cooperative unmanned aerial vehicle when working danger or poor construction quality exists; when the operation risk is relieved or the working quality is good, the unmanned aerial vehicle gives up the control of the live working robot; the control method is also used for acquiring unmanned aerial vehicle control rights by the cooperative live working robot when the vision of the live working robot is insufficient, so that the vision of the live working robot is increased;
the active guiding module is used for enabling the live working robot to accurately reach the preset working position through a coordinate positioning guiding method or a laser guiding method when the live working robot cannot accurately reach the preset working position;
the active monitoring module is used for receiving a special monitoring instruction sent by the live working machine when the construction quality of the live working robot needs to be identified or needs to be monitored after an emergency occurs, sending the special monitoring instruction to a control terminal of the unmanned aerial vehicle system, and controlling the unmanned aerial vehicle to reach a preset position for monitoring;
the auxiliary lighting module is used for sending an auxiliary lighting instruction to the unmanned aerial vehicle control terminal when the light of the working area of the live working robot is insufficient, and the unmanned aerial vehicle control terminal controls the unmanned aerial vehicle to fly to the upper air of the working position and turns on a lighting lamp of the unmanned aerial vehicle;
and the early warning driving module is used for judging the abnormal invasion condition when the working area of the live working robot is in the abnormal invasion condition, and executing early warning driving by the megaphone of the unmanned aerial vehicle executing module when the abnormal invasion condition is confirmed.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the unmanned aerial vehicle auxiliary system of the live working robot system can cooperate with information sharing and cooperative control between the unmanned aerial vehicle system and the live working robot system through the active cooperative system, can flexibly support auxiliary decision-making of the live working robot in a panoramic view angle through the information acquisition module and the execution module of the unmanned aerial vehicle system, and improves working efficiency of the live working robot.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of an unmanned aerial vehicle auxiliary system of a live working robot system in an embodiment of the present invention;
fig. 2 is a schematic structural view of a live working robot system in an embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be described in further detail below with reference to the accompanying drawings and examples, it being apparent that the described examples are some, but not all, examples of the present invention, and embodiments of the present invention are not limited thereto. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
the unmanned aerial vehicle auxiliary system of the live working robot system is all-weather, has an autonomous identification and active cooperative safety guarantee system based on the unmanned aerial vehicle system, can flexibly support auxiliary decisions of the live working robot in a panoramic view angle, and improves working efficiency of the live working robot.
As shown in fig. 1, the unmanned aerial vehicle auxiliary system of the live working robot system comprises an unmanned aerial vehicle system and an active cooperative system, wherein the live working robot system is connected with the unmanned aerial vehicle system through the active cooperative system; the unmanned aerial vehicle system is used for providing auxiliary functions for the operation of the live working robot system, and the active cooperative system is used for information sharing and cooperative control between the unmanned aerial vehicle system and the live working robot system.
The unmanned aerial vehicle system comprises an unmanned aerial vehicle and a control terminal, and the unmanned aerial vehicle is in wireless connection with the control terminal and is used for providing auxiliary functions for the operation of the live working robot system; the unmanned aerial vehicle control terminal is used for controlling unmanned aerial vehicle flight, information acquisition and executing operation instructions. The unmanned aerial vehicle includes unmanned aerial vehicle body, executive module and information acquisition module, and executive module and information acquisition module carry on the unmanned aerial vehicle body, unmanned aerial vehicle control terminal and live working robot system's robot controller wireless connection.
The execution module comprises a megaphone, an illuminating lamp and a laser emitter; the megaphone is used for maintaining the operation order of a working site, driving foreign abnormal invading organisms, guiding and supervising the operation of the site through remote conversation and the like; the illuminating lamp is used for providing illumination in working environments such as insufficient visible light, night and the like; when the laser transmitter is used for automatically positioning the abnormal signal, the live working robot is guided to reach the designated working position.
The information acquisition module comprises a camera, a laser sensor and an ultrasonic sensor; the camera is used for shooting or recording site environment, operation content and the like; the laser sensor is used for measuring the length of a wire, measuring a safety distance, measuring the moving speed of a robot and the like, and the ultrasonic sensor is used for measuring the safety distance, detecting equipment defects and the like.
The unmanned aerial vehicle system records the whole process information of the field operation of the electric operation robot through the acquisition equipment camera and the sensor, and transmits the whole process information to the active cooperative system in a data flow mode, the unmanned aerial vehicle can monitor the operation environment of the electric operation robot system, and the unmanned aerial vehicle monitors the operation part of the electric operation robot and the ground part of the operation area in real time.
As shown in fig. 2, the live working robot system comprises a load supporting vehicle, a mechanical arm, a robot controller and a robot module, wherein the robot module comprises an insulating bucket and a live working robot, the live working robot is arranged on the insulating bucket, the insulating bucket is arranged on the load supporting vehicle through the mechanical arm, the mechanical arm adjusts the aerial position of the live working robot, and the load supporting vehicle adjusts the horizontal position of the live working robot; the robot controller is respectively connected with the load supporting vehicle and the mechanical arm and is used for controlling the load supporting vehicle and the mechanical arm to control the live working robot to move to a specified working position; the robot controller also comprises a data information fusion processing function for fusing and rendering the information acquired by the robot module.
The live working robot comprises an environment information acquisition system and a manipulator, wherein the environment information acquisition system is arranged at the tail end of the manipulator, and a vision lifting platform is arranged if necessary. The sensor equipped with the environmental information acquisition system comprises a ToF or depth vision sensor, a robot joint angle sensor, a laser radar, an ultrasonic radar, a camera, a weather station and the like. The environment information acquisition system is used for acquiring information of the working environment, including three-dimensional entity information of the working environment, the self posture of the live working robot, visual information, environment weather information and the like. A cradle head camera is arranged at the high position of the rear end of the insulating bucket, has 3 rotational degrees of freedom and is used for acquiring global information of an operation environment, and an auxiliary means for monitoring live working processes in real time is provided to judge reliability and safety of the working processes such as wire disassembly and wire stripping and ensure success rate of operation tasks.
The active cooperative system comprises an operation analysis and evaluation module, a cooperative control module, an active guiding module, an active monitoring module, an auxiliary lighting module and an early warning driving module. The unmanned aerial vehicle system, the live working robot system's remote control signal, data such as collection information can be inserted into leading collaborative system, and initiative collaborative system also can be inserted in unmanned aerial vehicle system, live working robot system's the control link simultaneously to realize unmanned aerial vehicle system and live working robot system realization information sharing and cooperative control.
And the operation evaluation module is used for comparing and analyzing the whole operation process of the live working robot with a preset operation instruction book to obtain operation report evaluation.
In this embodiment, the live-wire task instruction book is first entered into the task evaluation module, where the live-wire task instruction book includes task instructions such as live-wire robot disconnection and wire, live-wire robot obstacle removal, and bypass operation of the robot with a sheet.
Firstly, an operation evaluation module extracts a key link image in an operation process according to field operation whole process information recorded by an unmanned aerial vehicle auxiliary system, the image comprises information such as length and safety distance collected by a sensor, then the key link image is compared with a preset operation instruction book, operation risks and construction quality problems existing in the operation process of the live working robot are analyzed and judged, and the live working robot is issued in a report mode. The operation risks in the operation process include: insufficient safety distance, high altitude falling, electric shock, insufficient safety measures, unsatisfactory safety equipment, and the like. The construction quality comprises: task completion, whether the screw is fastened, whether the lead overlap joint position is accurate, whether the tree barrier is thoroughly cleaned, whether the tool is correctly selected, whether the accessory is installed in place, and the like.
The cooperative control module is used for controlling the live working robot by the cooperative unmanned aerial vehicle when working danger or poor construction quality exists; when the operation risk is relieved or the working quality is good, the unmanned aerial vehicle gives up the control of the live working robot; and the control system is also used for acquiring unmanned aerial vehicle control rights by the cooperative electric operation robot when the vision of the electric operation robot is insufficient, so that the vision of the electric operation robot can be increased.
When the robot performs live working task control, the unmanned aerial vehicle monitors the working part of the live working robot and the ground part of the working area in real time, wherein the monitoring content comprises working risks and construction quality; the unmanned plane transmits the monitored content to the active cooperative system in real time in the form of a data stream.
The collaborative control module analyzes and judges images transmitted back by the unmanned aerial vehicle, when operation danger exists or construction quality is poor, the collaborative unmanned aerial vehicle auxiliary system obtains the highest control right, a remote control signal of the unmanned aerial vehicle auxiliary system is connected to a control link of the live working robot, a remote control instruction of the unmanned aerial vehicle is changed into a remote control instruction of a robot control end, and the unmanned aerial vehicle directly controls the live working robot. The operation danger comprises that external personnel enter an operation site, the safety distance of the mechanical arm from the electrified part is insufficient, the weather is relatively bad, and the like, and the condition of poor construction quality is that key links are omitted. When the working risk is relieved or the working quality is good, and the unmanned aerial vehicle gives up the control right of the live working robot after working task step correction, and returns to the robot controller.
The live working robot monitors the surrounding environment by utilizing information acquisition equipment of the live working robot, when the live working robot is insufficient in vision, the robot sends a request for acquiring the control right assistance of the unmanned aerial vehicle to the cooperative control module, after the active cooperative system receives the instruction, a remote control signal of the live working robot is connected to a control link of the unmanned aerial vehicle auxiliary system through the active cooperative module, the control of the robot on the unmanned aerial vehicle is realized, the robot controls the unmanned aerial vehicle to a position where the robot needs to supplement vision, meanwhile, the live working robot accesses the information shot by the unmanned aerial vehicle camera and the information acquired by the sensor into the robot controller, and the robot controller performs data fusion to supplement the vision missing by the live working robot; and after the task requiring vision supplement is completed, the live working robot gives up the control right of the unmanned aerial vehicle and returns to the unmanned aerial vehicle control terminal.
And the active guiding module is used for enabling the live working robot to accurately reach a preset working position through a coordinate positioning guiding method or a laser guiding method when the live working robot cannot accurately reach the working position.
Mainly when the environment is relatively complicated, such as the conditions of low visibility, many obstacles, etc., the robot cannot accurately reach the working position. The condition that the working position cannot be accurately reached includes: the robot module cannot reach the working position, the manipulator of the robot module cannot be positioned to the wiring position, the wire taking position and the like.
The live working robot can accurately reach the working position through the coordinate positioning and guiding method, and the method comprises the following steps:
controlling the unmanned aerial vehicle to fly to a preset working position of the live working robot through an unmanned aerial vehicle control terminal, and recording working position coordinates of the live working robot;
and sending the working position coordinates of the live working robot to a robot controller, and controlling the robot to reach a preset working position according to the working position coordinates.
Enabling the live working robot to accurately reach the working position through a laser guiding method, comprising the following steps:
the unmanned aerial vehicle is controlled to fly to a preset working position of the live working robot through the unmanned aerial vehicle control terminal, the position of a laser transmitter on the unmanned aerial vehicle is adjusted to face the live working robot, and the unmanned aerial vehicle is controlled to transmit laser at the working position;
and after receiving the guide instruction, the robot controller adjusts the direction of the laser receiver on the insulating bucket, so that the laser receiver is opposite to the laser emission direction, and the live working robot is controlled to move to a specified working position along the laser.
After the live working robot reaches a designated working position along the guiding route, the unmanned aerial vehicle turns off the laser emitter and simultaneously sends a guiding ending instruction.
And the active monitoring module is used for receiving a special monitoring instruction sent by the live working robot when the construction quality of the live working robot in the key step needs to be identified or an emergency occurs, sending the special monitoring instruction to a control terminal of the unmanned aerial vehicle system, and controlling the unmanned aerial vehicle to reach a preset position for monitoring.
The emergency situation identification content mainly comprises insufficient safety distance, high altitude falling objects, electric shock, insufficient safety measures, unsatisfactory safety equipment and the like. The construction quality of the key steps needs to be identified comprises the following steps: whether the screw is fastened, whether the lead lap joint position is accurate, whether the tree barrier cleaning is thorough, whether the tool is selected correctly, whether the accessory is installed in place, and the like.
The active monitoring module monitors the key positions in turn through the unmanned aerial vehicle system (the monitored objects are monitored once in 5 min). The key positions include: live part, operator, guardian, operation interval, manipulator, operation key link etc.. The unmanned aerial vehicle system records the whole field operation process through a camera, a sensor and the like of the acquisition equipment and transmits the whole field operation process to the active cooperative system in a data stream mode.
When the robot works to a key step or an emergency occurs, a special monitoring instruction is sent to the active monitoring module, the active monitoring module sends the special monitoring instruction to the control terminal of the unmanned aerial vehicle, the unmanned aerial vehicle control terminal controls the unmanned aerial vehicle to fly to the link set position for monitoring, and after the working link is finished, the robot sends a special monitoring end instruction to the active coordination platform. The emergency condition identification monitoring priority is higher than the construction quality identification.
The auxiliary lighting module is used for sending an auxiliary lighting instruction to the unmanned aerial vehicle control terminal when the light of the working area of the live working robot is insufficient, and the unmanned aerial vehicle control terminal controls the unmanned aerial vehicle to fly to the upper air of the working position and turns on a lighting lamp of the unmanned aerial vehicle;
specifically, when the robot senses insufficient light, an auxiliary lighting instruction is sent to an auxiliary lighting module, the auxiliary lighting module sends the auxiliary lighting instruction to an unmanned aerial vehicle control terminal, and the unmanned aerial vehicle control terminal controls the unmanned aerial vehicle to fly to the upper side of a working position for auxiliary lighting; the continuous illumination of the unmanned aerial vehicle at night for not less than 4 hours is ensured. After the work is finished, the robot sends an auxiliary illumination finishing instruction to the active cooperative platform.
And the early warning driving module is used for judging the abnormal invasion condition when the abnormal invasion condition exists in the working area of the live working robot, and executing early warning driving by the megaphone of the unmanned aerial vehicle executing module when the abnormal invasion condition is confirmed.
Specifically, when the unmanned aerial vehicle monitors abnormal invasion, an early warning driving instruction is sent to an early warning driving module, the early warning driving module carries out intelligent recognition on abnormal invasion conditions and research and judgment on safety early warning, when abnormal invasion is confirmed, the early warning driving module sends the early warning driving instruction to an unmanned aerial vehicle control terminal, and the unmanned aerial vehicle control terminal controls an unmanned aerial vehicle megaphone to carry out early warning driving and early warning on an operation area; after the abnormal invasion emergency is relieved, the unmanned aerial vehicle sends an early warning and driving ending instruction to the active cooperative platform.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (9)
1. The unmanned aerial vehicle auxiliary system of the live working robot system is characterized by comprising an unmanned aerial vehicle system and an active cooperative system, wherein the live working robot system is connected with the unmanned aerial vehicle system through the active cooperative system; the unmanned aerial vehicle system is used for providing auxiliary functions for the operation of the live working robot system, and the active cooperative system is used for cooperatively sharing and cooperatively controlling information between the unmanned aerial vehicle system and the live working robot system;
the unmanned aerial vehicle system comprises an unmanned aerial vehicle and a control terminal, and the unmanned aerial vehicle is in wireless connection with the control terminal; unmanned aerial vehicle includes unmanned aerial vehicle body, execution module and information acquisition module, and execution module and information acquisition module carry on unmanned aerial vehicle body, unmanned aerial vehicle control terminal and live working robot system wireless connection.
2. The unmanned aerial vehicle assistance system of claim 1, wherein the execution module comprises a megaphone, an illumination lamp, and a laser transmitter, and the information acquisition module comprises a camera, a laser sensor, and an ultrasonic sensor.
3. The unmanned aerial vehicle assistance system of claim 2, wherein the live working robot system comprises a load carrying cart, a robotic arm, a robot controller, and a robot module comprising an insulating bucket and a live working robot, the live working robot being disposed on the insulating bucket, the insulating bucket being mounted on the load carrying cart by the robotic arm;
the live working robot comprises an environment information acquisition system and a manipulator, wherein the environment information acquisition system is arranged at the tail end of the manipulator and is used for acquiring information of a working environment, and the acquired information of the working environment comprises three-dimensional entity information of the working environment, the posture of the live working robot, visual information and environmental weather information.
4. The unmanned aerial vehicle auxiliary system of claim 3, wherein the active cooperative system comprises an operation analysis and evaluation module, a cooperative control module, an active guiding module, an active monitoring module, an auxiliary lighting module and an early warning driving module;
the operation evaluation module is used for comparing and analyzing the whole operation process of the live working robot with a preset operation instruction book to obtain operation report evaluation;
the cooperative control module is used for controlling the live working robot by the cooperative unmanned aerial vehicle when working danger or poor construction quality exists; when the operation risk is relieved or the working quality is good, the unmanned aerial vehicle gives up the control of the live working robot; the control method is also used for acquiring unmanned aerial vehicle control rights by the cooperative live working robot when the vision of the live working robot is insufficient, so that the vision of the live working robot is increased;
the active guiding module is used for enabling the live working robot to accurately reach the preset working position through a coordinate positioning guiding method or a laser guiding method when the live working robot cannot accurately reach the preset working position;
the active monitoring module is used for receiving a special monitoring instruction sent by the live working robot when the construction quality of the live working robot needs to be identified or an emergency occurs, sending the special monitoring instruction to a control terminal of the unmanned aerial vehicle system, and controlling the unmanned aerial vehicle to reach a preset position for monitoring;
the auxiliary lighting module is used for sending an auxiliary lighting instruction to the unmanned aerial vehicle control terminal when the light of the working area of the live working robot is insufficient, and the unmanned aerial vehicle control terminal controls the unmanned aerial vehicle to fly to the upper air of the working position and turns on a lighting lamp of the unmanned aerial vehicle;
and the early warning driving module is used for judging the abnormal invasion condition when the working area of the live working robot is in the abnormal invasion condition, and executing early warning driving by the megaphone of the unmanned aerial vehicle executing module when the abnormal invasion condition is confirmed.
5. The unmanned aerial vehicle assistance system of claim 4, wherein the job evaluation module is configured to compare and analyze a whole process of a live working robot job with a preset job instruction, and comprises:
and extracting a key link image in the operation process according to the field operation whole process information of the live working robot recorded by the unmanned aerial vehicle system, comparing the key link image with a preset operation instruction book, and analyzing and judging the operation risk and the construction quality problem existing in the operation process of the live working robot.
6. The unmanned aerial vehicle assistance system of claim 4, wherein the cooperative control module is configured to control the live working robot when a working hazard or poor construction quality exists, comprising:
the collaborative control module analyzes and judges images transmitted back by the unmanned aerial vehicle, when operation danger or poor construction quality exists, a remote control signal of the unmanned aerial vehicle system is connected into a control link of the live working robot, the remote control instruction of the unmanned aerial vehicle is changed into a remote control instruction of a robot control end, and the unmanned aerial vehicle directly controls the live working robot.
7. The unmanned aerial vehicle assistance system of claim 4, wherein the cooperative control module is configured to acquire unmanned aerial vehicle control by the cooperative live working robot when the vision of the live working robot is insufficient, and increase the vision of the live working robot, comprising:
when the live working robot has insufficient vision, the live working robot sends a request for acquiring the control right assistance of the unmanned aerial vehicle to the cooperative control module, and the active cooperative module accesses a remote control signal of the live working robot to a control link of the unmanned aerial vehicle system; the live working robot controls the unmanned aerial vehicle, controls the unmanned aerial vehicle to reach the position where the vision needs to be supplemented, and the cooperative control module accesses shooting information of the unmanned aerial vehicle camera into the live working robot controller to perform vision data fusion and supplement the vision missing by the live working robot.
8. The unmanned aerial vehicle assistance system of claim 4, wherein the active guidance module is configured to accurately reach the predetermined working position by a coordinate positioning guidance method, comprising:
controlling the unmanned aerial vehicle to fly to a preset working position of the live working robot through an unmanned aerial vehicle control terminal, and recording working position coordinates of the live working robot;
and sending the working position coordinates of the live working robot to a robot controller, and controlling the robot to reach a preset working position according to the working position coordinates.
9. The unmanned aerial vehicle assistance system of claim 4, wherein the active guidance module is configured to accurately reach the predetermined working position by a laser guidance method, comprising:
the unmanned aerial vehicle is controlled to fly to a preset working position of the live working robot through the unmanned aerial vehicle control terminal, the position of a laser transmitter on the unmanned aerial vehicle is adjusted to face the live working robot, and the unmanned aerial vehicle is controlled to transmit laser at the working position;
the method comprises the steps that a guiding instruction is sent to a robot controller, and after the robot controller receives the guiding instruction, the direction of a laser receiver on an insulation bucket is adjusted, so that the laser receiver faces to the laser emitting direction, and the live working robot is controlled to move to a preset working position along laser;
after the live working robot reaches a preset working position, the unmanned aerial vehicle turns off the laser transmitter.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211590912.XA CN116088499A (en) | 2022-12-12 | 2022-12-12 | Unmanned aerial vehicle auxiliary system of live working robot system |
| PCT/CN2023/128083 WO2024125123A1 (en) | 2022-12-12 | 2023-10-31 | Unmanned aerial vehicle assisting system of live working robot system |
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| CN202211590912.XA CN116088499A (en) | 2022-12-12 | 2022-12-12 | Unmanned aerial vehicle auxiliary system of live working robot system |
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Cited By (1)
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| WO2024125123A1 (en) * | 2022-12-12 | 2024-06-20 | 广东电网有限责任公司广州供电局 | Unmanned aerial vehicle assisting system of live working robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9855658B2 (en) * | 2015-03-19 | 2018-01-02 | Rahul Babu | Drone assisted adaptive robot control |
| JP6944354B2 (en) * | 2017-11-22 | 2021-10-06 | 川崎重工業株式会社 | Robot system and how to make things using it |
| CN207950388U (en) * | 2017-12-07 | 2018-10-12 | 南京航空航天大学 | Precise fire extinguishing system based on unmanned plane and intelligent fire robot |
| CN109244935A (en) * | 2018-09-27 | 2019-01-18 | 广东电网有限责任公司 | A kind of high-altitude robot hotline maintenance system based on VR vision |
| CN110253581A (en) * | 2019-06-25 | 2019-09-20 | 华北水利水电大学 | A kind of auxiliary grip method of view-based access control model identification |
| CN114029965A (en) * | 2021-09-18 | 2022-02-11 | 中铁建设集团有限公司 | Active management system of side station robot for auxiliary management of construction site |
| CN116088499A (en) * | 2022-12-12 | 2023-05-09 | 广东电网有限责任公司广州供电局 | Unmanned aerial vehicle auxiliary system of live working robot system |
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| WO2024125123A1 (en) * | 2022-12-12 | 2024-06-20 | 广东电网有限责任公司广州供电局 | Unmanned aerial vehicle assisting system of live working robot system |
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