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Aerial maintenance robot locating method and device based on near-earth global vision

A robot positioning and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low operation efficiency and low accuracy of autonomous operation.

Active Publication Date: 2019-01-04
GUANGDONG ELECTRIC POWER SCI RES INST ENERGY TECH CO LTD
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  • Application Information

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Problems solved by technology

[0004] This application provides a positioning method and device for an aerial maintenance robot based on near-earth global vision, which is used to solve the technical problems of low accuracy and low operating efficiency of the existing aerial work robot main body autonomous operation

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  • Aerial maintenance robot locating method and device based on near-earth global vision
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  • Aerial maintenance robot locating method and device based on near-earth global vision

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Embodiment Construction

[0042] The embodiment of the present application provides a positioning method and device for an aerial maintenance robot based on near-earth global vision, which is used to solve the technical problems of low accuracy and low operating efficiency of the main body of the existing aerial work robot.

[0043]In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0044] see figure 1 and image ...

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Abstract

The invention discloses an aerial maintenance robot locating method and device based on near-earth global vision. By means of a double-vision system, the global position coordinates of a robot body and fault points are acquired through a first camera shooting module, and the robot body is controlled to carry out primary locating according to the obtained global position coordinates; and the localposition coordinates of the fault points are acquired through a second camera shooting module arranged at the tail end of a mechanical arm of the robot body, and the robot body is controlled to carryout secondary precise locating. According to the aerial maintenance robot locating method and device based on near-earth global vision, the first camera shooting module serving as a global camera is arranged at the near-earth end, and the technical problems that after the global camera ascends to a high altitude along with an insulation body, the camera bears the action of vibration of the mechanical arm during work and high-altitude wind power, camera disturbance is caused, then the precision of primary locating of the global camera is reduced, and the precision of secondary locating of the robot body is influenced is avoided.

Description

technical field [0001] The present application relates to the field of automation control, in particular to a positioning method and device for a high-altitude maintenance robot based on near-earth global vision. Background technique [0002] With the development of society and the progress of science and technology, the activities of human society are inseparable from electricity all the time. Resolving power failures in time to ensure stable power supply has become the primary task of power operation and maintenance personnel. In recent years, with the continuous maturity of the robot main body technology, the power operation and maintenance department has gradually switched to the robot main body instead of humans for high-altitude live work, reducing the work intensity and risk of operators. [0003] The end of the mechanical arm of the main body of the existing aerial work robot is equipped with a binocular camera, so that the main body of the robot has a certain degre...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 王杨麦晓明曾群生
Owner GUANGDONG ELECTRIC POWER SCI RES INST ENERGY TECH CO LTD
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