Live working robot control system

A technology of control system and live working, which is applied in the field of electric power, can solve problems such as not intuitive enough, falling, complex environment, and untimely response to special situations, etc., so as to achieve the effect of improving efficiency, increasing fault tolerance rate, and reducing work risk

Inactive Publication Date: 2019-03-08
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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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 fal

Method used

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  • Live working robot control system
  • Live working robot control system

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Embodiment 1

[0039] Such as figure 1As shown, the live working robot system includes an insulated bucket truck, a control room mounted on the insulating bucket truck, and a robot platform connected to the bucket truck through a telescopic arm. A generator is mounted on the insulated bucket truck to supply power to the control room and robot platform. The staff drives the insulated bucket arm truck to the live working object, adjusts the height of the robot platform by adjusting the driving device of the telescopic arm, and performs subsequent live working operations.

[0040] The live working robot includes an insulating arm truck 1 , a control room 2 , a telescopic arm 3 and a robot platform 4 . Among them, the control room 2 and the telescopic arm 3 are erected on the insulated bucket truck 1, and the end of the telescopic arm 3 is connected to the robot platform 4, and the fiber optic Ethernet communication or wireless network communication is used between the robot platform 4 and the ...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664B25J9/1697
Inventor 吕毅轩刘晨牛司宇
Owner NANJING UNIV OF SCI & TECH
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