Live working robot control system

Abstract

The invention provides a live working robot control system. The control system comprises an image information acquiring module, a path planning and selecting module, a real-time monitoring module anda mechanical arm control module; the image information acquiring module is used for acquiring working environment information and distance information among a working object, an obstacle and a mechanical arm; and transmitting the information to the path planning and selecting module; the real-time monitoring module is used for carrying out data resolving according to the information acquired by the image information acquiring module and completing scene reconstruction, and generating the virtual working scene; the path planning and selecting module is used for carrying out collision-free pathplanning according to the resolved data, and determining an optimal path; and the mechanical arm control module is used for controlling the mechanical arm to operate according to the optimal path. According to the system, two modes, namely, long-distance remote control operation and autonomous working can be selected, a real-time monitoring system is cooperatively arranged, so that the working efficiency is improved while the safety, the flexibility and the accuracy of the live working are improved.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a control system of a live working robot. Background technique [0002] With the continuous development of social economy, high-voltage transmission lines have become an important way to supply energy in human production and life. Electrical equipment on transmission lines needs frequent testing, inspection and maintenance during long-term operation. Live work is a method of repairing and testing high-voltage electrical equipment without power failure. It is an effective measure to maintain electrical equipment and ensure normal power supply. [0003] At present, the live working method of artificial insulating gloves is still the main working method. The staff need to climb the high-voltage iron tower, and there is a risk of falling from a high place; working in a complex environment with many obstacles and a small space, there is a great potential safety haz...

AI Technical Summary

Problems solved by technology

[0005] In the existing scheme, take the high-altitude studio mode represented by Japan as an example, the staff who operate the robotic arm still have the risk of falling in the high altitude, and the operation on the ground is not intuitive enough, and the response to complex environments and special situations not timely enough

Images