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Wire grabbing method, device, electronic equipment and medium for live working robot in distribution network

A technology for live work and robots, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as jamming robot protection, position deviation, and inability to accurately locate wires, and improve grasping accuracy and grasping accuracy. Effect

Active Publication Date: 2021-11-23
国网瑞嘉(天津)智能机器人有限公司
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Problems solved by technology

[0004] In the research, the applicant found that because the visual perception technology is affected by light, calibration accuracy, and weak stiffness of the wire, the wire cannot be accurately positioned, and there will be a position deviation between the center of the tool holder and the wire. In this way, when the attitude deviation is relatively large, Easy to jam leading to robot protection
Therefore, simply relying on visual technology to identify and locate and guide the distribution network live working robot to grab the wires can no longer meet the demand

Method used

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  • Wire grabbing method, device, electronic equipment and medium for live working robot in distribution network
  • Wire grabbing method, device, electronic equipment and medium for live working robot in distribution network
  • Wire grabbing method, device, electronic equipment and medium for live working robot in distribution network

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Embodiment Construction

[0056] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of this application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without...

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Abstract

The present application provides a wire grabbing method, device, electronic equipment and medium for a live working robot in a distribution network. The direction is rotated multiple times; for each rotation around the positive direction of the vertical axis and the reverse direction of the vertical axis, the first rotation angle in the positive direction of the vertical axis and the second rotation angle in the opposite direction of the vertical axis are recorded; based on multiple first rotation angles Calculate the maximum deviation angle in the positive direction of the vertical axis, and calculate the maximum deviation angle in the reverse direction of the vertical axis based on multiple second rotation angles; average the maximum deviation angle in the positive direction of the vertical axis and the maximum deviation angle in the reverse direction of the vertical axis The value is determined as the center angle of the tool gripper hand to the wire; rotating the tool gripper hand from the initial position to the center angle determines the final position of the tool gripper hand; based on the final position of the tool gripper hand, controls the gripping of the wire by the tool gripper hand. The embodiment of the present application can improve the grasping accuracy of the tool gripper.

Description

technical field [0001] The present application relates to the technical field of wire grabbing of a live working robot in distribution network, in particular to a wire grabbing method, device electronic equipment and medium of a live working robot in distribution network. Background technique [0002] Distribution network live working robot is an intelligent equipment applied to the maintenance of distribution network live working lines. With the development of science and technology and economic level, the distribution network live working robot is gradually paid attention to by the power system as an intelligent equipment. In the current application, the live working robot in the distribution network needs to complete the wire grabbing operation autonomously. [0003] In the prior art, the visual perception technology is used to identify and locate the wires to be grasped, and guide the distribution network live working robot to grasp the wires according to the identifica...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602B25J9/1694
Inventor 李帅李惠宇吕鹏张小杰
Owner 国网瑞嘉(天津)智能机器人有限公司
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