Unlock instant, AI-driven research and patent intelligence for your innovation.

Laser point cloud power transmission line lead fitting method for distribution network hot-line work robot

A technology of live work and laser point cloud, which is applied in the direction of instruments, artificial life, random CAD, etc., can solve the problems of inapplicability and achieve the effect of improving the fitting accuracy

Active Publication Date: 2021-10-01
NANKAI UNIV
View PDF1 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since transmission line leads have more complex shapes than row lines, this method is not suitable for fitting the lead parametric equations

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Laser point cloud power transmission line lead fitting method for distribution network hot-line work robot
  • Laser point cloud power transmission line lead fitting method for distribution network hot-line work robot
  • Laser point cloud power transmission line lead fitting method for distribution network hot-line work robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0051] In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings.

[0052] refer to figure 1 As shown, it is the flow chart of the laser point cloud power line lead fitting method. The present invention proposes a laser point cloud power line lead fitting method for a distribution network live working robot, comprising the following steps,

[0053] S1. Acquire the 3D point cloud of the transmission line lead, and use the Euclidean distance filter for processing;

[0054] S2. For the filtered data, use the self-organizing layered particle swarm optimization algorithm to perform point cloud down-sampling;

[0055] S3, input the point cloud after downsampling, and B-spline curve fitting based on control point iteration;

[0056] S5. The control points are fused, and the final B-spline curve is output....

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention belongs to the field of power robots, and particularly relates to a laser point cloud power transmission line lead fitting method of a distribution network hot-line work robot. The method comprises the following steps: S1, acquiring a three-dimensional point cloud of a power transmission line lead, and processing the point cloud by using an Euclidean distance filter; s2, carrying out point cloud downsampling on the filtered data by adopting a self-organizing hierarchical particle swarm optimization algorithm; s3, inputting the point cloud after downsampling, and carrying out B spline curve fitting based on control point iteration optimization; and S5, carrying out control point fusion, and outputting a final B spline curve.

Description

technical field [0001] The invention belongs to the field of electric robots, and more specifically, relates to a laser point cloud power line lead fitting method for a distribution network live working robot. Background technique [0002] Distribution network live working robot is an intelligent equipment applied to the assembly and maintenance of distribution network live working lines. In recent years, with the development of live working technology, distribution network live working robots have received more and more attention. With the assistance of sensors such as lasers, the distribution network live working robot can realize distribution network environment perception under low light conditions, realize live work, and effectively improve operation safety. Motion planning of a robotic arm is one of many fundamental tasks during live working. In a complex operating environment, motion planning and operation control need to perceive the spatial position information of...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G06F30/18G06F30/25G06N3/00G06F111/08G06F113/04
CPCG06F30/18G06F30/25G06N3/006G06F2111/08G06F2113/04
Inventor 胡子琦苑晶公岩松俞诗卓张雪波
Owner NANKAI UNIV