Distribution network hot-line work robot and man-machine cooperation safety work method thereof

Abstract

The invention discloses a distribution network hot-line work robot and a man-machine cooperation safety work method thereof. The method comprises the following steps that 1), an environment model is built via the distribution network hot-line work robot by the means of the three-dimensional scanning reconstruction of an environment; 2) the distribution network hot-line work robot identifies a specific work target of each task through vision according to different work tasks and positions the work target; 3) the distribution network hot-line work robot carries out autonomous path planning according to different work specifications in combination with the basic motion trajectory library, so that corresponding work functions are completed; and when the distribution network hot-line work robot cannot complete or can only complete corresponding actions at low efficiency, manual intervention is used for assisting in completing, and after manual intervention is used for assisting in completing the corresponding actions, the operation is continued to be performed by the distribution network hot-line work robot. The man-machine cooperation safety operation method executed by the distribution network hot-line work robot greatly improves the operation applicability, safety and efficiency of the distribution network hot-line work robot.

Description

technical field [0001] The invention relates to the field of automation and robot technology, in particular to a distribution network live working robot and a human-machine collaborative safe operation method thereof. Background technique [0002] Compared with the maintenance under the condition of line power failure, live distribution network work is a high-risk, labor-intensive and technically complex work. There are many difficulties in the process of advancing the work. For this reason, in recent years, the electric power industry at home and abroad has vigorously carried out the research and development of live working robots for distribution networks. [0003] The distribution network live working robot carries the distribution network live working robot through the insulated arm truck to carry out the operation on the distribution network line. The current operation method is usually remote operation by ground personnel or autonomous operation by the robot. The rem...

AI Technical Summary

Problems solved by technology

The remote operation method can realize many operation functions, but the operation of the ground personnel is cumbersome and complicated, the technical requirements are high, and the labor intensity is high; the autonomous operation method can only complete the fire contact operation with relatively simple actions at present, and the requirements for the operation environment are harsh, so it is suitable for the operation scene very limited

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