Hot-line work robot control system based on dual mechanical arms and auxiliary arm

Abstract

The invention provides a hot-line work robot control system based on dual mechanical arms and an auxiliary arm. The first mechanical arm, the second mechanical arm and the auxiliary mechanical arm each carry a binocular camera; the binocular cameras are used for acquiring operation scene images of the mechanical arms and sending the operation scene images to a data process and control system; the data process and control system plans a mechanical arm spatial path according to the operation scene images; according to a specific method, the tail end positions of the mechanical arms and an operation target position are converted into a same reference coordinate system, and the coordinate difference between the tail end positions of the mechanical arms and the operation target position under the same reference coordinate system is acquired; and according to the coordinate difference, the angle expected value of each joint of the mechanical arms is solved out through an inverse kinematic computing method. According to the hot-line work robot control system based on the dual mechanical arms and the auxiliary arm, based on a method in which binocular vision is combined with coordinate conversion, the mechanical arms are autonomously controlled to complete the hot-line work target of a distribution line, the labor intensity of operation personnel is relieved, and safety is improved.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a control system for a live working robot based on a double mechanical arm and an auxiliary arm. Background technique [0002] Live work is a special engineering technique for inspection, maintenance and component replacement of high-voltage electrical equipment without power failure. For a long time, our country generally adopts the operation method of manual live-line operation or master-slave operation. For the high-voltage overhead lines of 10KV and below, these operation methods require the operators to be in the environment of high altitude, high voltage and strong electromagnetic field for a long time, which is very prone to personal injury and death accidents. [0003] Although live working robots have been developed in China, operators still need to be raised to the vicinity of the line with the robot in the insulating bucket, which has not fundament...

AI Technical Summary

Problems solved by technology

For high-voltage overhead lines of 10KV and below, these operation methods require operators to be in the environment of high altitude, high voltage and strong electromagnetic field for a long time, which is very prone to personal injury and death accidents

[0003] Although live working robots have been developed in China, operators still need to be raised to the vicinity of the line with the robot in the insulating bucket, which does not fundamentally solve the safety problem of operators

Moreover, the operating robot is completely controlled by the operator and cannot independently complete the live work, which reduces the work efficiency compared with the traditional insulating glove operation method.

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