Multi-sensor combination control method and system of hotline repairing robot
A technology of multi-sensor fusion and live maintenance, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems such as occupation, complex operation, equipment collision, etc., and achieve the effect of ensuring safety, ensuring operation safety, and preventing system misjudgment
Pending Publication Date: 2018-10-19
STATE GRID INTELLIGENCE TECH CO LTD
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Problems solved by technology
[0002] When the live working robot is finished and the insulating arm is reset from the working state to the pre-working state, if the robot is reset by remote control, it will require complicated operations and consume a lot of time
During this process, the center of gravity of the robot is prone to maintain the working state. In a substation with many equipment, it is easy to collide with the equipment and cause danger.
In addition, it will occupy a large space and affect other operations
[0003] At the same time, when restoring, in the process of detection and execution, each sensor and actuator will be judged at the same time, which will affect the movement process and fluency of the entire robotic arm, and it is prone to malfunction of the robotic arm or damage to the power line or electrical equipment Case
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[0033] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0034] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
[0035] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinatio...
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The invention discloses a multi-sensor combination control method and system of a hotline repairing robot. The method is characterized in that the hotline repairing robot is sequentially recovered from top to bottom. According to the method, the data of each sensor are combined; the robot state is recorded, and the primary position is compared, and thus the state recovering is finished; and meanwhile, the safety protection of the robot in the recovering process can be achieved based on the distance data and the leaked current data of the mechanical arm and a transformer station device.
Description
technical field [0001] The invention relates to a multi-sensor fusion control method and system for a live maintenance robot. Background technique [0002] When the live working robot is finished and the insulating arm is reset from the working state to the pre-working state, if the robot is reset by remote control, it will require complicated operations and consume a lot of time. During this process, the center of gravity of the robot is likely to remain in the working state, and it is easy to collide with the equipment inside the substation with many equipment, resulting in danger. In addition, it will occupy a large space and affect other operations. [0003] At the same time, when restoring, in the process of detection and execution, each sensor and actuator will be judged at the same time, which will affect the movement process and fluency of the entire robotic arm, and it is prone to malfunction of the robotic arm or damage to the power line or electrical equipment C...
Claims
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CPCB25J9/1694
Inventor 李荣董罡许玮慕世友白万建高玉明傅孟潮李冬李勇石鑫李建祥赵金龙李健王振利陈强董旭张岩
Owner STATE GRID INTELLIGENCE TECH CO LTD