Remote operation method of distribution network live working robot and construction method of motion track library for distribution network live working robot

Abstract

The invention discloses a remote operation method of a distribution network live working robot and a construction method of a motion track library for the distribution network live working robot. Theconstruction method of the motion track library comprises the following steps: 21, acquiring a standard action of an operator during live line work maintenance of a distribution network through a three-dimensional motion capture system; 22, calculating joint angles of a shoulder joint motor, an elbow joint motor and a wrist joint motor by analyzing and extracting motion tracks of mark points on arms of the operator; 23, using the double-arm robot to reproduce the motion of the arms of the operator, and acquiring motion tracks of mechanical arms through the three-dimensional motion capture system; 24, optimizing the motion tracks of the mechanical arms according to the completion effects of the tasks of the same type; 25, parameterizing the optimized motion tracks of the mechanical arms toform basic motion tracks; and 26, repeatedly executing the step 21 to the step 25, and establishing the basic motion track library of the distribution network live working robot. The remote operationmethod of the distribution network live working robot aims to solve the problems of low efficiency and multiple accidents caused by excessive fatigue of the operator in remote operation, and further achieve autonomous operation to a certain degree.

Description

technical field [0001] The invention relates to the field of electric robots, in particular to a method for constructing a basic motion track library for a live-working robot in a distribution network and a remote operation method for a live-work robot in a power distribution network based on the basic motion track library. Background technique [0002] The distribution network live work robot faces the scene of live work in the distribution network, which can replace manual work in some live work operations, reduce the labor intensity of the staff, and ensure the safety of personnel. [0003] At present, it is mainly through the remote operation of the staff to control the two robotic arms to carry specific tools to complete the live work. One is that the operator stands in the raised insulating bucket and controls the robotic arm through direct observation; the other is that the operator is on the ground and controls the robotic arm through the images returned by the camer...

AI Technical Summary

Problems solved by technology

For the former method, because the personnel are still close to the high-voltage electric field, the safety is not high

[0004] For the operator to perform remote operation on the ground, the robot arm is lifted into the work site with the high-altitude platform to carry out live work. At present, the main problem is that the on-site information provided to the operator is insufficient. The on-site information obtained through the camera is displayed on the monitoring screen. A large amount of three-dimensional information will be lost, and it is difficult for the operator to accurately know the positional relationship between all the cables on the operation site through the screen, which brings great challenges to the remote operation

[0005] In addition, the intelligence level of live working robots in the distribution network is still low, and each step is completed through remote operation, resulting in heavy control tasks and low operating efficiency

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