System and method for controlling flexible live working of double mechanical arms

Abstract

The invention belongs to the technical field of electric power and particularly provides a mechanical arm control system and a method for live working. The control system and the method aim to solve the problem that power lines cannot be contacted flexibly by a robot with live working and destruction can be generated to the power lines. The system for controlling flexible live working of double mechanical arms comprises an industrial personal computer and two mechanical arms. Detection units are arranged at the ends of the mechanical arms. The detection units are used for determining positional information of feature points of to-be-operated power lines of the power lines. The industrial personal computer is used for determining operation track of the mechanical arms according to the positional information and determining motion parameters of the mechanical arms in the moving process along the operation track according to the positional information. By means of the arrangement, flexible contact with the power lines of the mechanical arms is achieved; damage to the power lines by the rigid mechanical arms is avoided; operational safety of the system for controlling flexible live working of the double mechanical arms is increased greatly; and meanwhile, safety of electric power system is also protected.

Description

technical field [0001] The invention belongs to the field of electric power technology, and specifically provides a system and method for controlling flexible live-line work with dual mechanical arms. Background technique [0002] At present, there are still many operations in my country's power grid that require live work. When the current live working method requires no power outage, the operator climbs the live pole tower or works with the help of an insulated bucket truck. Manual electrification operation requires operators to carry out manual operations such as wiring and disconnecting in extremely dangerous environments such as high altitude, high voltage, and strong electromagnetic fields, which is labor-intensive and highly stressful. It not only brings personal danger to live workers, but also inefficiency in completing work. [0003] In order to solve the above problems, a live working robot has been researched and invented. The live working robot mainly adopts ...

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Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the phenomenon that the existing live working robot cannot touch the power line flexibly and may cause damage to the power line, on the one hand, the present invention provides a flexible live working robot for controlling dual robotic arms system, the system includes an industrial computer and two mechanical arms, the end of the mechanical arm is provided

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