Master-slave force feedback control technology-based overhead ground wire replacement and repair method for hot-line robot

Abstract

The invention provides a master-slave force feedback control technology-based overhead ground wire replacement and repair method for a hot-line robot. Mechanical arms, main manipulators and industrialpersonal computers form a master-slave force feedback control system, wherein the industrial personal computers calculate torque data of various joints of the main manipulators according to end forcedata of the mechanical arms and control various joints of the main manipulators to output torque through control interfaces of the main manipulators, so that the main manipulators feed back the forceand an operator confirms the force of the mechanical arms according to the feedback force of the main manipulators; the operator changes end positions of the main manipulators; and the industrial personal computers calculate expected values of end velocity vectors of the mechanical arms according to angle data of various rotary joints of the main manipulators and control the mechanical arms to move to change the force of the mechanical arms through the control interfaces of the mechanical arms according to the expected values. According to the master-slave force feedback control technology-based overhead ground wire replacement and repair method for the hot-line robot, the operation telepresence is improved and whether various operations are accurate and in place or not can be more accurately judged.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a method for replacing and repairing an overhead ground wire of a live working robot based on force feedback master-slave control technology. Background technique [0002] During the operation of the overhead ground wire of the transmission line, due to various reasons such as the quality of the ground wire, lightning strikes, and external force damage, strand breakage often occurs. The ground wire after loose strands has brought extremely adverse effects on the safe operation of the line. First, the safe distance between the live wire and the live conductor cannot meet the design requirements for line operation; Causing the line to be shut down. [0003] At present, there are three main methods to deal with the broken strand overhead ground wire in China: (1) When the line is running with electricity, the operator uses a speeding car or a pulley to enter the...

AI Technical Summary

Problems solved by technology

However, when using the aforementioned live-working robot to carry out precise positioning live operations, such as disconnecting and disconnecting the isolation switch, drop-out fuse and wires at both ends of the arrester, etc., it is mainly through observing the working environment images (including real-time images and 3D modeling images) To judge whether the operation of the robot arm is in place, there is no perception of the contact force between the robot arm and the operating object and between the robot arm and the robot arm, and it is difficult to judge whether the operation accuracy meets the operation requirements

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