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Hot-line work robot drainage wire threading control method and device and robot terminal

A technology of live operation and control method, applied in the field of robots, can solve the problem of low success rate of threading, and achieve the effect of improving the success rate of threading

Active Publication Date: 2021-11-26
GUANGZHOU POWER SUPPLY BUREAU GUANGDONG POWER GRID CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present application provides a method, device and robot terminal for controlling the threading of a liveline working robot, which are used to solve the technical problem of low threading success rate in the existing liveline working robot threading work.

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  • Hot-line work robot drainage wire threading control method and device and robot terminal
  • Hot-line work robot drainage wire threading control method and device and robot terminal
  • Hot-line work robot drainage wire threading control method and device and robot terminal

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Embodiment Construction

[0040] In practical applications, threading failures often occur. The applicant found through research that the reason for the threading failure is that after the jaws grasp the drainage line, the shape of the drainage line is affected by the gripping point and clamping force of the gripper. If there is a change, and when the claw arm clamps the drainage wire, it will also cause the posture of the drainage wire to change, which will eventually lead to the failure of the drainage wire threading.

[0041] In view of this, the embodiments of the present application provide a method, device, and robot terminal for controlling the threading of a liveline working robot's drain line, which are used to solve the technical problem of low threading success rate in the existing liveline working robot's threading work.

[0042] In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the ...

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Abstract

The invention discloses a hot-line work robot drainage wire threading control method and device and a robot terminal. The method comprises the steps: acquiring the state image before threading, recognizing the pose information of the tail end of a drainage wire from the state image, and taking the pose of the tail end of the drainage wire as a standard; adjusting the wire clamp tool to be aligned with the tail end of the drainage wire by adjusting the posture of the wire clamp arm, and enabling the wire clamp arm provided with the wire clamp tool to actively complete the threading action, so the situation that the posture of the drainage wire deviates due to movement of the gripper arm is avoided, and therefore the threading success rate is increased.

Description

technical field [0001] The present application relates to the technical field of robots, in particular to a method, device and robot terminal for controlling the threading of a drain wire of a live working robot. Background technique [0002] In the daily inspection and maintenance of distribution lines, electric workers are required to carry out live work. However, live work has extremely high risks, and in severe cases, it may cause electric shock accidents. Using robots instead of humans to carry out live work can improve the safety of live work, reduce the probability of electric shock for electric workers, and avoid dangerous accidents. [0003] When using a robot to install the drainage line, one mechanical arm is required to clamp the drainage line in the air first, and then hold the drainage line and pass it into the wire clamp tool on the other robotic arm to complete the threading work of the drainage line. However, in practical applications, threading failures o...

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Application Information

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IPC IPC(8): H02G1/02
CPCH02G1/02Y02P90/02
Inventor 李光茂占鹏杨森乔胜亚周鸿铃朱晨庞志开吉旺威郑服利杜钢陈勉之王剑韬蔡汉贤
Owner GUANGZHOU POWER SUPPLY BUREAU GUANGDONG POWER GRID CO LTD
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