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Control device and method for autonomous positioning docking charging of high-voltage line inspection robot

A line-following robot and autonomous positioning technology, applied in circuit devices, battery circuit devices, overhead line/cable equipment, etc., can solve problems such as crushing damage to charging plugs and charging bases, delay in shooting dead-angle video and returning images, and low efficiency.

Inactive Publication Date: 2015-09-02
WUHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, because the PTZ camera has the shortcomings of shooting dead angles and delays in video return images, this method can easily cause the charging plug and charging stand to be squeezed and damaged, and this method often requires manual adjustments by ground observers. less efficient

Method used

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  • Control device and method for autonomous positioning docking charging of high-voltage line inspection robot
  • Control device and method for autonomous positioning docking charging of high-voltage line inspection robot
  • Control device and method for autonomous positioning docking charging of high-voltage line inspection robot

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Embodiment Construction

[0096] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the implementation examples described here are only used to illustrate and explain the present invention, and are not intended to limit this invention.

[0097] please see figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 , the technical solution adopted by the control device of the present invention is: a control device for autonomous positioning and docking charging of a high-voltage line patrol robot, including: a small side anti-vibration hammer 1 and a large side anti-vibration hammer 64, which are arranged on the ground wire 63, Symmetrically distributed on both sides of the C-shaped hanging board 51; the solar panel 49 is arranged on the ground wire cross arm of the high-voltage line tower 6...

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Abstract

The invention discloses a device and a method for controlling self-localization, butting and charging of a high-voltage line inspection robot. According to the device and the method, the specific position of the robot in a high-voltage power transmission line is located through a GPS-GIC (Global Position System-Geographic Information System) technology according to a self line structure of the high-voltage power transmission line and a self obstacle crossing function of the robot, and a moving speed of the robot in the high-voltage power transmission line is controlled by combining an ultrasonic wave sensor and a hall proximity sensor, so that the efficiency of an automatic butting process is improved; joints of the robot are controlled by using a speed mode, a moment mode and a position mode, so that the charging and butting process is accurately controlled; finally, the charging and butting process is accurately adjusted according to signal feedback of a strain gage of a charging plug and the hall proximity sensor, so that the tangential internal stress between the charging plug and a charging socket is reduced and the safe and reliable processing of the charging process is ensured.

Description

technical field [0001] The invention belongs to the field of electric power equipment, and relates to a control device for autonomous positioning and docking charging of a line patrol robot and a control method for autonomous positioning and charging of a line patrol robot, in particular to a high-voltage transmission line patrol robot charging autonomous positioning docking charging control device A control device and a control method for autonomous positioning and charging of a line patrol robot. Background technique [0002] The safe and stable operation of high-voltage transmission lines directly affects the reliability of the power system, and is related to whether people's production and life are carried out normally. Therefore, it is of great significance to ensure the safe and normal operation of transmission lines by early detection, inspection and repair of mechanical and electrical failures and safety hazards in transmission lines, and eliminating hidden dangers i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02J7/00H02G1/02
Inventor 吴功平杨智勇王伟白玉成周鹏占必红胡健王忠亮
Owner WUHAN UNIV
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