Executing method, device and live working system for live working
A technology of live work and execution method, which is applied in the field of live work system, device, and live work execution method, and can solve problems such as live work with high difficulty in operation, hard work accuracy, and high requirements for operators
Active Publication Date: 2020-12-22
国网瑞嘉(天津)智能机器人有限公司
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Problems solved by technology
At present, the live working robot performs live work, and the live working robot is usually placed in the insulating bucket of the insulated bucket arm truck, and the live working robot is controlled by manual control or master-slave control, and the live working robot is moved to the designated place to Make the live working robot perform live work at the designated location. However, this method requires an experienced live working robot operator to be located in the main control room of the insulated arm truck to perform positioning operations on the insulating arm truck and the live working robot. In the operation of changing working tools, manual adjustments are required to adjust the insulated bucket arm truck and live working robot to a reasonable position, which not only has high requirements for operators, but also is difficult to operate, and it is difficult to complete high-precision work. live work
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[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0026]At present, the existing live work execution methods have the following problems: (1) It is necessary to manually adjust the live work robot to a reasonable position to successfully complete the live work, which has high requirements for operators; (2) Due to visual occlusion and other problems, the need Repeatedly adjust the posture of the insulated bucket arm truck and the live working...
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The invention provides a method and device for performing live work and a live work system. The method comprises the steps that a first survey of a work area is conducted to obtain first work object information in the work area; the first work object information is sent to a bucket arm vehicle model group, so that the bucket arm vehicle model group determines a first target pose corresponding to an insulated bucket based on the first work object information, and controls the insulated bucket to reach the first target pose; after the insulated bucket reaches the first target pose, the work areais performed a second survey to obtain second work object information in the work area; and a second target pose corresponding to a work tool of a robot module is determined based on the second workobject information, and the work tool is controlled to reach the second target pose, so as to use the work tool to perform live work. The method can effectively improve the automation and intelligencelevel of the live work, reduces the operation difficulty of the live work, and can better complete the high-precision live work.
Description
technical field [0001] The invention relates to the technical field of automatic control, in particular to a method and device for performing live work and a live work system. Background technique [0002] At present, in the 10KV power distribution system, the intermediate potential operation method of the insulating arm truck is widely used, and the live work is completed by manual operation tools. Manual live work has its difficulties and limitations, so it is necessary to develop a safer and more adaptable robot to replace manual high-altitude live work, which also meets the requirements of the development of the times. At present, the live working robot performs live work, and the live working robot is usually placed in the insulating bucket of the insulated bucket arm truck, and the live working robot is controlled by manual control or master-slave control, and the live working robot is moved to the designated place to Make the live working robot perform live work at t...
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IPC IPC(8): B25J5/00B25J11/00B25J9/16B25J19/00
CPCB25J5/00B25J5/007B25J9/16B25J9/1679B25J11/00B25J19/00
Inventor 李惠宇王新建陈贤飞冯俐李帅冬旭任青亭吕鹏李威王朝松孟希军周文涛
Owner 国网瑞嘉(天津)智能机器人有限公司