Magnetic field positioning and path planning method at the working end of live working robot on distribution line
A technology for live work and power distribution lines. It is used in manipulators, program-controlled manipulators, and manufacturing tools. It can solve problems such as failure of positioning and ranging, poor recognition, and easily occluded objects.
Active Publication Date: 2021-09-10
NARI TECH CO LTD
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Problems solved by technology
[0005] 1) The environment of the live work site is relatively complex, there are many equipment and appliances, and the target is easily blocked and difficult to distinguish from the background environment, resulting in failure of positioning and ranging;
[0006] 2) Relying only on visual perception of environmental information, the amount of image information is too large, and existing algorithms are difficult to efficiently process and analyze images such as de-noising, de-interference, feature extraction, target recognition and distance measurement, resulting in autonomous operation of live working robots Difficulties;
[0007] 3) In the case of inconspicuous environmental color features, complex lighting interference, and large target scale changes, the visual method has a low recognition degree, which may easily cause positioning and ranging failures
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[0063] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.
[0064] For the device of the present invention, see figure 1 As shown, it includes a magnetic field vector measurement module 1, a control module 2 and a coaxial cable 3. The magnetic field vector measurement module 1 includes a three-axis magnetoresistive sensor 1.1 and an amplifier circuit 1.2, and the control module 2 includes a filter circuit 2.1, a data acquisition card 2.2, and an industrial computer 2.3.
[0065] The three-axis magnetoresistive sensor 1.1 is used to convert the magnetic field into a voltage signal output; the amplifier circuit 1.2 is used to proportionally amplify the differential voltage signal output by the sensor.
[0066] The filter circuit 2.1 is used to filter out...
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The invention discloses a magnetic field positioning method for the working end of a live working robot on a power distribution line, which includes the following process: S1, taking the line to be worked as a reference, and obtaining the magnetic induction intensity at the working end around the working line; S2, according to the working end of the working end The magnetic induction intensity is used to calculate the distance between the working end and the line to be worked; S3 is to identify the spatial posture of the working end according to the distance between the working end and the line to be worked. The invention also provides a path planning method for the working end of the live working robot on the power distribution line, which adjusts the attitude of the working end and plans the movement path according to the spatial position information and attitude information of the working end. The invention not only determines the distance between the working end and the belt working target, but also can identify the attitude of the working end in real time, and through the adjustment of the attitude of the working end, it can meet the flexibility requirements of different types of live work content for the end operation.
Description
technical field [0001] The invention belongs to the technical field of live-working robots on power transmission lines, and in particular relates to a magnetic field positioning method for the working end of a live-working robot on power distribution lines, and also relates to a path planning method for the working end of a live-working robot on power distribution lines. Background technique [0002] Live work refers to a method of repairing and testing high-voltage electrical equipment without power failure. Electrical equipment needs frequent testing, inspection and maintenance during long-term operation, and live working is an effective measure to avoid maintenance blackouts and ensure normal power supply. So far, the main methods of live work in our country are the manual live work of insulating rod method and insulating glove method, which cannot meet the increasing requirements of system reliability, and may easily cause personal injury and death accidents. The live w...
Claims
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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697
Inventor 徐弘升陆继翔杨志宏李昊周亚东
Owner NARI TECH CO LTD