Bolt search and identification method for transmission line bolt tightening robot
A transmission line and identification method technology, applied in the direction of instrumentation, image data processing, calculation, etc., can solve the problem that the automatic search and identification of bolts on the transmission line cannot be completed, the staff's operation proficiency is high, and the automation of the field of live work is hindered, etc. Problems, achieve high recognition rate, improve work efficiency, and run smoothly
Active Publication Date: 2016-09-07
深圳昱拓智能有限公司
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[0003] Transmission line bolt fastening robot is a kind of live working robot, but because the existing bolt fastening robot generally reproduces the scene through video transmission, and then completes the bolt fastening work through manual operation, there are requirements for the proficiency of the staff high, very inefficient
This is due to the lack of high-efficiency, high-accuracy, and vision-based detection methods for transmission line bolts in the prior art. Most live-working robots cannot automatically search and identify bolts on transmission lines. Even if some live-working robots have video transmission functions, It is also impossible to automatically position the bolts through vision, and manual intervention must be added, which seriously hinders the development of automation in the field of live work
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[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0038] like figure 1 , figure 2 and Figure 9 As shown, the method of the present invention is mainly applied to a bolt fastening robot for power transmission lines, and the robot generally includes a robot body and a bolt fastening actuator. Wherein the robot body includes a box body, which is provided with a walking wheel 94 that can walk on the wire 96, and a locking clip 95 installed on one side of the walking wheel can lock the wire 96 to ensure that the robot moves smoothly on the line.
[0039] The actuator for bolt fastening operation includes a multi-degree-of-freedom robot arm and a bolt-fastening end effector. The multi-degree-of-freedom robot arm is composed of three joints, and the multi-joint combination works together to drive the bolt operation end effector to any position. like Figure 10 As shown, the bolt faste...
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The invention discloses a bolt search and identification method for a transmission line bolt tightening robot. The method comprises the steps of (S1) automatically searching the position of a bolt, and searching the bolt with the direction of a drainage line, and (S2) identifying the bolt. According to the method, the bolt can be efficiently searched, the precise identification degree is high, and thus the efficiency of transmission line bolt tightening work is improved.
Description
technical field [0001] The invention mainly relates to the field of automatic operation equipment for transmission lines in electric power systems, in particular to a bolt search and identification method suitable for a transmission line bolt fastening robot. Background technique [0002] With the development of my country's economy, it is becoming more and more important to ensure the safe and stable operation of the power system. How to strengthen the daily maintenance of the power grid, prevent problems before they happen, and timely repair when problems occur, build a power system security defense framework, and deal with various challenges , has become an urgent problem to be solved. To meet the needs of building a smart grid, automated operation equipment is gradually being used, among which live working robots emerge as the times require. [0003] Transmission line bolt fastening robot is a kind of live working robot, but because the existing bolt fastening robot gene...
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IPC IPC(8): G06T7/00
CPCG06T7/0004G06T2207/10004G06T2207/30164
Inventor 樊绍胜杨迪李若云甘彬
Owner 深圳昱拓智能有限公司