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High-precision working method of electrified maintenance robot for high-altitude settlement environment

A live maintenance and robot technology, applied in the direction of overhead lines/cable equipment, instruments, manipulators, etc., can solve problems such as operation failure, visual positioning data settlement errors, platform settlement, etc., and achieve low cost, high precision, and large amount of data. Effect

Pending Publication Date: 2022-03-25
STATE GRID HUBEI ELECTRIC POWER RES INST +2
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Problems solved by technology

[0004] The purpose of the embodiments of the present application is to provide a high-precision operation method for a live maintenance robot oriented to high-altitude subsidence environments, to solve the problem of platform subsidence caused by the forward extension of the working robot arm after the high-altitude robot system completes target positioning, thereby providing visual positioning The data introduces settlement errors, resulting in the failure of the final job

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  • High-precision working method of electrified maintenance robot for high-altitude settlement environment
  • High-precision working method of electrified maintenance robot for high-altitude settlement environment
  • High-precision working method of electrified maintenance robot for high-altitude settlement environment

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Embodiment Construction

[0058] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

[0059] The term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed elements, or also elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

[0060]...

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Abstract

The invention relates to a high-precision operation method of a live-line maintenance robot for a high-altitude settlement environment, the robot comprises a mechanical arm, an RGB-D camera, a bolt replacement tool, a direct-current power supply and a bolt placement tool box, and the operation method comprises the following specific steps that the robot moves to an operation point; acquiring an RGB-D image of the hardware fitting; bolt identification and posture calculation; the bolt tool directly faces the hardware fitting; error adjustment based on manual monitoring; and maintaining the hardware fitting. The problem that after a high-altitude robot system completes target positioning, an operation mechanical arm stretches forwards to cause settlement of a platform, settlement errors are introduced for visual positioning data, and final operation fails is solved.

Description

technical field [0001] The present application relates to the field of live maintenance robots, in particular to a high-precision operation method of live maintenance robots for high-altitude subsidence environments. Background technique [0002] With the rapid development of our country's economy, people's demand for electric energy is increasing, and the scale of power grid has been growing rapidly. Substation is an important part of the power grid, and the relevant electrical equipment (such as busbar fittings and insulators) is outdoors for a long time, which is prone to rust, heat, and pollution. In order to reduce the number of power grid outages and ensure the normal production of society and people's normal life, it is necessary to carry out non-stop maintenance of such equipment. However, at present, the maintenance method of most equipment in substations is mainly manual maintenance, and at the same time, it needs to be operated in a power outage environment, whic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/13G06T7/50G06T7/70G06T7/90G06V20/10H02G1/02G06V10/74G06F17/16B25J11/00
CPCG06T7/13G06T7/50G06T7/70G06T7/90H02G1/02G06F17/16B25J11/00G06F18/22
Inventor 简旭李劲彬汪涛陈隽吴传奇任劼帅文雅钦陈文豪孙双学李胜祖张亮杨选超卢忠黎
Owner STATE GRID HUBEI ELECTRIC POWER RES INST
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