CN206510017U - A kind of hot line robot - Google Patents
A kind of hot line robot Download PDFInfo
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- CN206510017U CN206510017U CN201621348469.5U CN201621348469U CN206510017U CN 206510017 U CN206510017 U CN 206510017U CN 201621348469 U CN201621348469 U CN 201621348469U CN 206510017 U CN206510017 U CN 206510017U
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Abstract
The utility model proposes a kind of hot line robot, including aerial lift device with insulated arm, the robot platform on aerial lift device with insulated arm is mounted in, the mechanical arm on robot platform, data collecting system and data processing and control system；The data collecting system includes the video camera being arranged on robot platform, and video camera is used for collection machinery arm working scene image, and the working scene image is sent into data processing and control system；The data processing and control system generate 3D dummy activities scene according to the working scene image or cook up mechanical arm space path.The utility model both can with straighforward operation complete livewire work, can also independently complete livewire work, improve security while, can accurately, efficiently complete livewire work.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line maintenance robot.
Background technology
At present, China's high-voltage hot-line work mainly uses insulating glove working system, it is desirable to which operating personnel climb high voltage iron tower
Or carry out uninterrupted operation by aerial lift device with insulated arm, that is, require artificial livewire work.But artificial livewire work means operator
Member will be in high-altitude, high pressure, the hazardous environment of strong-electromagnetic field, and labor intensity is big, and human body attitude is whard to control, even if strictly
In accordance with safety operation specification and increase insulating protection measure, also can not complete incidence graph operating personnel stress and muscle power damage
Consumption, it is careless slightly to be easy for occurring human casualty accident, bring serious loss to family and society.
Although the country has researched and developed hot line robot, but still needs operating personnel's random device people's liter in insulation bucket
To circuit, the safety problem of operating personnel is not solved fundamentally.Also, the Work robot is completely by operator
Member's control, can not independently complete livewire work, more traditional insulating glove working system reduces operating efficiency on the contrary.
The content of the invention
It is an object of the invention to propose a kind of hot line robot, both livewire work can be completed with straighforward operation,
Livewire work can independently be completed；In straighforward operation, operating personnel's long distance work, away from livewire work scene, improves band
The security of electric operation；, can be accurately and efficiently complete in the case where operating personnel are away from livewire work scene during AUTONOMOUS TASK
Into livewire work.
In order to solve the above-mentioned technical problem, the present invention provides a kind of hot line robot, including aerial lift device with insulated arm, carries
Robot platform on aerial lift device with insulated arm, the mechanical arm on robot platform, in addition to data collecting system and
Data processing and control system；The data collecting system includes the video camera being arranged on robot platform, and video camera is used for
Collection machinery arm working scene image, and the working scene image is sent to data processing and control system；The data
Processing and control systems generate 3D dummy activities scene according to the working scene image or cook up mechanical arm space path.
Further, data processing and control system are obtained between mechanical arm and manipulating object according to the working scene image
Relative position relation, according to the relative position relation and the space path of livewire work content planning mechanical arm, according to institute
The action of space path control machinery arm is stated to complete livewire work.
Further, the data processing and control system include the first industrial computer, the second industrial computer, built in the second industrial computer
Every livewire work is previously stored with image processor and livewire work action sequence storehouse, the livewire work action sequence storehouse
Corresponding action sequence data；The working scene image of the camera acquisition is sent to the second industrial computer, image processor pair
Relative position relation between mechanical arm and manipulating object that working scene image is obtained after being handled, the second industrial computer is according to institute
State relative position relation and the action sequence corresponding to specific livewire work plans the space path of mechanical arm, and by the machine
The space path data of tool arm are sent to the first industrial computer；First industrial computer is according to the space path control machinery of the mechanical arm
Arm is acted.
Further, the mechanical arm includes first mechanical arm and second mechanical arm, and the video camera includes binocular camera,
Binocular camera is equipped with the first mechanical arm and second mechanical arm, the first mechanical arm and second mechanical arm are used
Power tool, which cooperates, completes livewire work.
Further, the mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes
Binocular camera, described first are equipped with binocular camera, the first mechanical arm, second mechanical arm and auxiliary mechanical arm
Mechanical arm, second mechanical arm and auxiliary mechanical arm, which coordinate, completes livewire work, wherein, auxiliary mechanical arm is used for clamping operation pair
As first mechanical arm and second mechanical arm carry out Job Operations using power tool.
Further, control room is provided with the aerial lift device with insulated arm, the data processing and control system include the first work
Control machine, the second industrial computer, display screen and main manipulator, the second industrial computer Built-in Image processor, display screen and main manipulator position
In in control room；Main manipulator is principal and subordinate's operative relationship with mechanical arm, is transported by the gesture stability mechanical arm for changing main manipulator
It is dynamic；The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is carried out to working scene image
The 3D dummy activity scenes obtained after processing, and send display to show.
Further, the mechanical arm includes first mechanical arm and second mechanical arm, and the video camera includes binocular camera
And depth camera, binocular camera is equipped with the first mechanical arm and second mechanical arm；The main manipulator includes
First main manipulator and the second main manipulator, the first main manipulator and the second main manipulator be respectively used to control first mechanical arm and
Second mechanical arm.
Further, the mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes
Binocular is equipped with binocular camera and depth camera, the first mechanical arm, second mechanical arm and auxiliary mechanical arm to take the photograph
As head, the main manipulator includes the first main manipulator, the second main manipulator, auxiliary main manipulator；First main manipulator, second
Main manipulator and auxiliary main manipulator are respectively used to control first mechanical arm, second mechanical arm and auxiliary mechanical arm.
Further, the video camera also includes full-view camera.
Further, the mechanical arm or main manipulator are mechanism in six degree of freedom, including pedestal, rotation direction of principal axis and pedestal
The vertical waist joint of plane, the shoulder joint being connected with waist joint, the large arm being connected with shoulder joint, the elbow joint being connected with large arm,
The forearm being connected with elbow joint, the wrist joint being connected with forearm, wrist joint is made up of three rotary joints, and respectively wrist pitching is closed
Section, wrist swinging joint and wrist rotary joint；Each joint is respectively provided with corresponding orthogonal rotary coding in the mechanism in six degree of freedom
Device and servo drive motor, orthogonal rotary encoder are used for the angle-data for gathering each joint, and servo drive motor is used to control
Make the motion in each joint；First industrial computer is according to the desired values of each joint angles of mechanical arm, by controlling servo drive motor control
System presses each joint motions of mechanical arm.
Compared with prior art, its remarkable advantage is the present invention：
(1) present invention carries out livewire work using robot, and operating personnel can pass through main manipulator Remote machine
People, robot control signal is transmitted by wireless or optical fiber, it is ensured that operating personnel isolates with high voltage electric field；
(2) when Remote is operated, operating personnel are according to 3D dummy activity scene monitoring operation process, with panoramic picture phase
Integrated than, 3D dummy activities scene and deep image information and binocular image information, between robotic arm and manipulating object, machinery
The judgement of relative position between arm, between manipulating object and operating environment is more accurate, and is not in visual dead angle.Therefore,
Operating personnel carry out monitoring operation by 3D dummy activities scene, and performance accuracy is higher, can prevent collision, improve work
Industry security.
(3) for needing pinpoint hot line job, isolation switch, fuse switch and arrester two ends are such as disconnected
Wire etc., data processing and control system obtain the relative position between mechanical arm and manipulating object according to the working scene image
Relation is put, according to the relative position relation and the space path of livewire work content planning mechanical arm, according to the space road
Footpath control machinery arm action improves automation and the homework precision of robot manipulating task, improved simultaneously to complete livewire work
Operational security.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention；
Fig. 2 is the block diagram of system of aerial lift device with insulated arm in the present invention；
Fig. 3 is the structural representation of robot platform in the present invention；
Fig. 4 is the structural representation of mechanical arm in the present invention.
In figure, 1 it is aerial lift device with insulated arm, 2 is control room, 3 is telescopic arm, 4 is robot platform, 46 is insulator, 43 is
First mechanical arm, 44 be second mechanical arm, 42 be auxiliary mechanical arm, 48 be the first industrial computer, 45 be binocular camera, 41 be complete
Scape camera, 410 be depth camera, 49 be battery, 47 be tool box special, 431 be pedestal, 432 be waist joint, 433
It is large arm for shoulder joint, 434,435 be elbow joint, 436 be forearm, 437 is wrist joint.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, this area
Those skilled in the art can imagine the numerous embodiments of hot line robot of the present invention.Therefore, implement in detail below
Mode and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as the whole of the present invention or are considered as
Limitation or restriction to technical solution of the present invention.
With reference to accompanying drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1, the end of telescopic arm 3 connection robot platform 4, robot platform 4 with
Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 is available for operating personnel to drive, so that robot platform 4 is transported into operation field.Insulation bucket arm
Supporting leg is housed, supporting leg can deploy on car 1, so that aerial lift device with insulated arm 1 and ground are consolidated into support.On aerial lift device with insulated arm 1
Equipped with generator, so as to be powered to control room 2 and telescopic arm 3.
Telescopic arm 3 is provided with the drive device along telescopic direction, and operating personnel can be by controlling drive device, so that by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made up of insulating materials, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or the replacement of other mechanisms.
As a kind of embodiment, the second industrial computer, display screen, the first main manipulator, the second master are provided with control room 2
Manipulator, auxiliary main manipulator and communication module etc..
As a kind of embodiment, robot platform 4 includes insulator 46, first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, it is the first industrial computer 48, binocular camera 45, full-view camera 41, depth camera 410, battery 49, special
Tool box 47, communication module.
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms is insulated with robot platform 4.
Battery 49 is the first industrial computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As first 41, binocular camera 45, depth camera 410, communication module are powered.
As a kind of embodiment, binocular camera 45 1 has three, is separately mounted to first mechanical arm 43, the second machine
On the wrist joint 437 of tool arm 44 and auxiliary mechanical arm 42, it is responsible for the view data of Collecting operation scene, and view data is sent
To the second industrial computer.Binocular camera 45 is made up of two parallel industrial cameras of optical axis, and the distance between parallel optical axis is fixed.
Depth camera 410 is arranged on side of the robot platform 4 just to working scene, is responsible for the scape of Collecting operation scene
Deep data, the second industrial computer is sent to by depth of field data.
Full-view camera 41 is arranged on the top of robot platform 4 by support, is responsible for the panorama sketch of Collecting operation scene
As data, view data is sent to the second industrial computer, and show that operating personnel can be supervised by panoramic picture over the display
Control working scene.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is provided with instrument quick change
Device.Mechanical arm obtains power tool into tool box special 47 according to the type of job task using instrument fast replacing device.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of are used for manually remotely in control room 2
The operation device of operating robotic arm, they constitute principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relation.Mechanical arm and main manipulator have identical structure, and simply main manipulator dimensions is smaller than mechanical arm, in order to grasp
Make human users.Mechanical arm and main manipulator possess six joints, and there are photoelectric encoder acquisition angles data in each joint, respectively
The angle-data in six joints is sent to the second industrial computer by the microcontroller of main manipulator by serial ports.
As one embodiment of the invention, the mechanical arm is mechanism in six degree of freedom, including pedestal 431 rotates direction of principal axis
The waist joint 432 vertical with base plane, the shoulder joint 433 being connected with waist joint 432, the large arm being connected with shoulder joint 433
434, the elbow joint 435 being connected with large arm 434, the forearm 436 being connected with elbow joint 435, the wrist joint being connected with forearm 436
437, wrist joint 437 is made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；It is described
The joint of each in mechanism in six degree of freedom is respectively provided with corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding
Device 31 is used for the angle-data for gathering each joint, and servo drive motor is used for the motion for controlling each joint；First industrial computer root
The movement angle in each joint is calculated according to the space path of the mechanical arm, control servo drive motor is according to the movement angle
Each joint motions of control machinery arm.
As a kind of embodiment, the data transfer between robot platform 4 and control room 2 by optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is used to realize light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, so as to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, the optical signal that fiber optical transceiver is used to realize in optical fiber with
The mutual conversion of electric signal in twisted-pair feeder, so as to realize the electrical isolation of robot platform 4 and control room 2 in communication.
As a kind of embodiment, the second industrial computer can complete following task：
Set up action sequence storehouse.It is in advance acting sequences by every livewire work Task-decomposing, composition action sequence storehouse is deposited
Storage is in the second industrial computer, for robotic arm path planning.
Set up manipulating object model library.The threedimensional model of manipulating object involved by pre-production items livewire work task
And Model of Target Recognition, for example, system in kind according to devices such as power tower bar, electric wire, strain insulator, isolation switch, arresters
Make threedimensional model and Model of Target Recognition, for hot line robot automatic identification manipulating object, build working scene three-dimensional
Virtual scene.
Set up mechanical arm and specific purpose tool model library.The threedimensional model and target of pre-production mechanical arm and specific purpose tool are known
Other model, for example, spanner etc., working scene three-dimensional virtual scene is built for hot line robot automatically, plans mechanical arm
Space path.
Obtain view data.Obtain the data message of panoramic picture, depth image and binocular image.
Operative goals is recognized and tracked according to view data.
Angle, angular speed and the angular acceleration data of main manipulator are obtained, angle, angular speed and the angle for obtaining mechanical arm add
Speed data.
Dependent image data is handled and calculated, mechanical arm position is obtained, the position of manipulating object is obtained, machine is obtained
Relative position between tool arm and manipulating object, and according to relative position and the space path of job task planning mechanical arm.
Manipulating object three-dimensional scenic is built according to view data, according to arm angle information and manipulating object three-dimensional scenic
The relative position of mechanical arm and manipulating object is obtained, and according to relative position and the space path of job task planning mechanical arm.
Dependent image data is handled and calculated, 3D dummy activity scenes is built, send display to show, operating personnel
According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activities scene is integrated and depth image letter
Breath and binocular image information, to the phase between robotic arm and manipulating object, between mechanical arm, between manipulating object and operating environment
Judgement to position is more accurate, and is not in visual dead angle.Therefore, operating personnel carry out operation by 3D dummy activities scene
Monitoring, performance accuracy is higher, can prevent collision, improve security.Meanwhile, 3D dummy activity scenes are shown in control
On display in room 2, away from mechanical arm operation field, the personal safety of people operating personnel is improved.
As a kind of embodiment, the first industrial computer can complete following task：
The angle information in each joint of main manipulator sent according to the second industrial computer, the motion in each joint of control machinery arm.
The space path data of the mechanical arm of the second industrial computer transmission are obtained, according to the action sequence of job task, are resolved
Go out the angle-data amount of exercise in each joint of mechanical arm, and each joint motions of control machinery arm.
In the present invention, first mechanical arm and second mechanical arm cooperate, can be with the sequence of operation of apish two hands
Complete livewire work.In view of flexibility, a strong auxiliary mechanical arm can be further added by, now, auxiliary mechanical arm is specially taken charge of
The actions of power greatly such as device clamping, first mechanical arm and second mechanical arm then carry out related service operation.
The combination of the different task completed according to the second industrial computer and the first industrial computer, hot line robot of the present invention was both
Long-range shake can be carried out by operating personnel to operate to complete livewire work, and autonomous livewire work can be carried out again.It is powered in progress
Before operation, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved near manipulating object.
It is virtual according to number of images and depth image structure 3D by the second industrial computer if selection manually remotely shakes operation
Working scene simultaneously send display to show, operating personnel is manual by main operation by 3D dummy activity scene monitoring operating process
The action of mechanical arm processed, to complete livewire work.In the process, operating personnel changes after main manipulator posture, main manipulator
In the photoelectric encoder in each joint gather each joint angles, the microcontroller of each main manipulator is by serial ports by the angle in each joint
Degrees of data is sent to the second industrial computer.Second industrial computer regard the angle-data in each joint of main manipulator as each joint angle of mechanical arm
The desired value of degree is sent to the first industrial computer, and the first industrial computer is respectively closed according to angle desired value by servomotor controller tool arm
The motion of section, has completed livewire work.
If selecting AUTONOMOUS TASK, calculated by the second industrial computer according to number of images and depth image and obtain manipulating object
Relative position relation between mechanical arm, then carries out mechanical arm space path according to the action sequence corresponding to job task
Planning, and space path is sent to the first industrial computer, the first industrial computer calculates the angle that each joint of mechanical arm needs to rotate
Data, by the motion in each joint of servomotor controller tool arm, have completed band as the desired value of each joint angles of mechanical arm
Electric operation.
Claims (10)
1. a kind of hot line robot, including aerial lift device with insulated arm, are mounted in the robot platform on aerial lift device with insulated arm, are arranged on
Mechanical arm on robot platform, it is characterised in that also including data collecting system and data processing and control system；
The data collecting system includes the video camera being arranged on robot platform, and video camera is used for collection machinery arm operation
Scape image, and the working scene image is sent to data processing and control system；
The data processing and control system generate 3D dummy activities scene according to the working scene image or cook up machine
Tool arm space path.
2. hot line robot as claimed in claim 1, it is characterised in that data processing and control system are according to the operation
Scene image obtains the relative position relation between mechanical arm and manipulating object, according to the relative position relation and livewire work
The space path of content planning mechanical arm, acts to complete livewire work according to the space path control machinery arm.
3. hot line robot as claimed in claim 2, it is characterised in that the data processing and control system include first
Industrial computer, the second industrial computer, the second industrial computer Built-in Image processor and livewire work action sequence storehouse,
The corresponding action sequence data of every livewire work are previously stored with the livewire work action sequence storehouse；
The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is carried out to working scene image
Relative position relation between the mechanical arm and manipulating object that are obtained after processing, the second industrial computer according to the relative position relation with
And the action sequence corresponding to specific livewire work plans the space path of mechanical arm, and by the space path number of the mechanical arm
According to being sent to the first industrial computer；
First industrial computer is acted according to the space path control machinery arm of the mechanical arm.
4. the hot line robot as described in claim 1,2 or 3, it is characterised in that the mechanical arm includes the first machinery
Arm and second mechanical arm, the video camera include being equipped with binocular camera, the first mechanical arm and second mechanical arm
Binocular camera, the first mechanical arm and second mechanical arm are cooperated using power tool and complete livewire work.
5. the hot line robot as described in claim 1,2 or 3, it is characterised in that the mechanical arm includes the first machinery
Arm, second mechanical arm and auxiliary mechanical arm, the video camera include binocular camera, the first mechanical arm, second mechanical arm
With binocular camera is equipped with auxiliary mechanical arm, the first mechanical arm, second mechanical arm and auxiliary mechanical arm have coordinated
Into livewire work, wherein, auxiliary mechanical arm is used for clamping operation object, and first mechanical arm and second mechanical arm use power tool
Carry out Job Operations.
6. hot line robot as claimed in claim 1, it is characterised in that be provided with control room on the aerial lift device with insulated arm,
The data processing and control system are included in the first industrial computer, the second industrial computer, display screen and main manipulator, the second industrial computer
Image processor is put, display screen and main manipulator are located in control room；Main manipulator is principal and subordinate's operative relationship with mechanical arm, is passed through
Change the gesture stability manipulator motion of main manipulator；The working scene image of the camera acquisition is sent to the second industry control
Machine, the 3D dummy activity scenes that image processor is obtained after handling working scene image, and send display to show.
7. hot line robot as claimed in claim 6, it is characterised in that the mechanical arm includes first mechanical arm and second
Mechanical arm, the video camera includes taking in binocular camera and depth camera, the first mechanical arm and second mechanical arm
It is loaded with binocular camera；The main manipulator includes the first main manipulator and the second main manipulator, the first main manipulator and second
Main manipulator is respectively used to control first mechanical arm and second mechanical arm.
8. hot line robot as claimed in claim 6, it is characterised in that the mechanical arm includes first mechanical arm, second
Mechanical arm and auxiliary mechanical arm, the video camera include binocular camera and depth camera, the first mechanical arm, the second machine
Binocular camera is equipped with tool arm and auxiliary mechanical arm, the main manipulator includes the first main manipulator, the second main operation
Hand, auxiliary main manipulator；First main manipulator, the second main manipulator and auxiliary main manipulator are respectively used to the machinery of control first
Arm, second mechanical arm and auxiliary mechanical arm.
9. the hot line robot as described in claim 1,2,3,6,7 or 8, it is characterised in that the video camera also includes
Full-view camera.
10. hot line robot as claimed in claim 9, it is characterised in that the mechanical arm or main manipulator be six from
By degree mechanism, including pedestal, the rotation direction of principal axis waist joint vertical with base plane, the shoulder joint being connected with waist joint, with shoulder
The large arm of joint connection, the elbow joint being connected with large arm, the forearm being connected with elbow joint, the wrist joint being connected with forearm, wrist is closed
Section is made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；
Each joint is respectively provided with corresponding orthogonal rotary encoder and servo drive motor, orthogonal rotation in the mechanism in six degree of freedom
Turn the angle-data that encoder is used to gather each joint, servo drive motor is used for the motion for controlling each joint；
First industrial computer is each by mechanical arm by controlling servo drive motor to control according to the desired values of each joint angles of mechanical arm
Joint motions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621348469.5U CN206510017U (en) | 2016-12-09 | 2016-12-09 | A kind of hot line robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621348469.5U CN206510017U (en) | 2016-12-09 | 2016-12-09 | A kind of hot line robot |
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| CN206510017U true CN206510017U (en) | 2017-09-22 |
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| CN201621348469.5U Active CN206510017U (en) | 2016-12-09 | 2016-12-09 | A kind of hot line robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737547A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot |
| CN108714885A (en) * | 2018-06-22 | 2018-10-30 | 徐州海伦哲专用车辆股份有限公司 | A kind of altitude hot-line operation robot and operational method |
| CN109648303A (en) * | 2017-10-10 | 2019-04-19 | 国家电网公司 | A kind of bus fitting screwed lock of hot line robot unloads equipment and its lock discharging method |
| CN109936081A (en) * | 2019-04-09 | 2019-06-25 | 北京国电富通科技发展有限责任公司 | Livewire work device |
| CN112947424A (en) * | 2021-02-01 | 2021-06-11 | 国网安徽省电力有限公司淮南供电公司 | Distribution network operation robot autonomous operation path planning method and distribution network operation system |
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2016
- 2016-12-09 CN CN201621348469.5U patent/CN206510017U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737547A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot |
| CN109648303A (en) * | 2017-10-10 | 2019-04-19 | 国家电网公司 | A kind of bus fitting screwed lock of hot line robot unloads equipment and its lock discharging method |
| CN108714885A (en) * | 2018-06-22 | 2018-10-30 | 徐州海伦哲专用车辆股份有限公司 | A kind of altitude hot-line operation robot and operational method |
| CN108714885B (en) * | 2018-06-22 | 2024-03-29 | 徐州海伦哲专用车辆股份有限公司 | High-altitude electrified operation robot and operation method |
| CN109936081A (en) * | 2019-04-09 | 2019-06-25 | 北京国电富通科技发展有限责任公司 | Livewire work device |
| CN112947424A (en) * | 2021-02-01 | 2021-06-11 | 国网安徽省电力有限公司淮南供电公司 | Distribution network operation robot autonomous operation path planning method and distribution network operation system |
| CN112947424B (en) * | 2021-02-01 | 2023-04-25 | 国网安徽省电力有限公司淮南供电公司 | Autonomous operation path planning method of distribution network operation robot and distribution network operation system |
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