Power robot on-line control method and device

Abstract

The application discloses a power robot online control method, which comprises the following steps: connecting a fixed component with the power robot; starting the unmanned aerial vehicle to take off, so as to drive the power robot to move; acquiring the position of the cable by a monitoring component; and controlling the unmanned aerial vehicle to fly by the remote control component according to the position of the cable, so as to install the power robot on the cable. The unmanned aerial vehicle flies to hoist the power robot to the cable, and the operation is simple, and the hoisting process does not need the participation of power maintenance personnel, thereby reducing the danger of installing the power robot on the high-altitude cable. The monitoring component acquires the position of the cable, thereby facilitating the control of the flight of the unmanned aerial vehicle, and accurately installing the power robot on the high-altitude cable.

Description

Technical Field

[0001] This invention belongs to the research field of robotics technology, and specifically relates to an online control method and device for an electric robot. Background Technology

[0002] Robots have become an important part of modern society. Various industries are constantly developing robots to improve efficiency, address hazards, and provide convenient services. A wide variety of industrial robots, service robots, and special-purpose robots have made people's lives and work more convenient. In power maintenance systems, the maintenance, upkeep, and repair of power transmission cables are extremely important to ensure the normal use of electricity. As a traditional method of maintenance, the dangers of manual live-line work are obvious. Therefore, mobile special-purpose robots that can replace operators are extremely important. However, currently, due to the high-voltage hazards of high-voltage transmission lines and the complexity of installation, both loading and unloading of robots are done manually, which is highly dangerous. Manual lifting of cables requires large lifting equipment, and in live environments, it requires the use of tools such as insulating rods, insulating mats, and equipotential suits. The operation is difficult, and working at height is unsafe, posing significant limitations and risks.

[0003] To address the above problems, the present invention provides a method and device for controlling the online operation of an electric robot. Summary of the Invention

[0004] To address the shortcomings of the prior art, this invention provides a method for controlling the installation of a power robot. The method includes: connecting a fixed component to the power robot; initiating the takeoff of a drone to move the power robot; acquiring the position of the cable using a monitoring component; and controlling the drone's flight based on the cable's position to install the power robot onto the cable. The drone's flight to hoist the power robot onto the cable is simple to operate, and the hoisting process requires no intervention from power maintenance personnel, reducing the danger of installing a power robot onto a high-altitude cable. The monitoring component's acquisition of the cable's position facilitates control of the drone's flight, ensuring accurate installation of the power robot onto the high-altitude cable.

[0005] The technical effects to be achieved by this invention are accomplished through the following solutions:

[0006] In a first aspect, the present invention provides a method for controlling the online deployment of a power robot. The method is applied to a power robot online deployment control device, the device comprising a drone, a power robot, and a remote control component. The drone is used to carry the power robot in flight to mount the power robot onto a cable. The drone includes a fixing component, and the power robot includes a monitoring component. Both the drone and the monitoring component are communicatively connected to the remote control component. The method includes:

[0007] Connect the fixed component to the electric robot;

[0008] The drone is initiated to take off, thereby driving the electric robot to move;

[0009] The monitoring component acquires the location of the cable;

[0010] Based on the location of the cable, the drone is controlled by the remote control component to fly in order to install the electric robot onto the cable.

[0011] Furthermore, the fixing component includes an electromagnetic lock and a control system, the electromagnetic lock being connected to the control system, and the connection of the fixing component to the electric robot includes:

[0012] Connect the electromagnetic lock to the electric robot;

[0013] The operating status of the electromagnetic lock is obtained and transmitted to the control system.

[0014] Further, the fixing component includes a micro switch connected to the control system, and the control system is communicatively connected to the remote control component; the method, after the step of controlling the drone to fly using the remote control component according to the position of the cable to install the electric robot onto the cable, includes:

[0015] Activate the micro switch;

[0016] The micro switch transmits an unlocking signal to the control system;

[0017] The control system controls the electromagnetic lock to unlock, thereby separating the drone from the electric robot.

[0018] Further, the fixing component includes a fixing plate, the electromagnetic locks are two in number and disposed at both ends of the fixing plate, the micro switch is disposed below the fixing plate and between the two electromagnetic locks, the electric robot has a lifting plate at its upper end, and when the electromagnetic locks are connected to the lifting plate, the micro switch is located above the lifting plate; activating the micro switch includes:

[0019] Control the drone to press down on the fixed plate until the micro switch contacts the hoisting plate to activate the micro switch.

[0020] Furthermore, the electric robot has a cavity and a guide channel, the guide channel communicating with the cavity, the cavity having a set of wheels, and the monitoring component including two first cameras and a second camera. The two first cameras are located at both ends of the electric robot and above the cavity, and the second camera is located in the guide channel; the monitoring component acquires the position of the cable by:

[0021] The drone, carrying the power robot, approaches the cable;

[0022] The second camera can capture the cable's relative first position in the guide channel; wherein, when the cable is located in the middle of the guide channel, the cable lies horizontally in the middle of the image captured by the second camera;

[0023] The first camera can acquire the relative second position of the cable and the cavity; wherein, when the cable is located in the middle of the cavity, the cable is horizontal in the middle of the image in both images acquired by the first camera.

[0024] Further, the cable position includes the cable being located in the middle of the guide channel and the cable being located in the middle of the cavity; the step of controlling the drone to fly using the remote control component according to the cable position to install the electric robot onto the cable includes:

[0025] When the cable is located in the middle of the guide channel, the electric robot is controlled to move horizontally and move towards the cable until the cable is located in the middle of the cavity.

[0026] When the cable is located in the middle of the cavity, the electric robot is controlled to move downwards until the walking wheel set is placed on the cable.

[0027] Secondly, the present invention provides a power robot online control device, the device comprising a drone, a power robot, and a remote control component, the drone being used to carry the power robot to mount the power robot onto a cable, the drone including a fixing component that can be connected to the power robot; the power robot including a monitoring component, both the drone and the monitoring component being communicatively connected to the remote control component, the monitoring component being used to obtain the position of the cable.

[0028] Furthermore, the fixing component includes an electromagnetic lock and a control system, the electromagnetic lock being connected to the control system, and the fixing component being connected to the electric robot.

[0029] Furthermore, the fixing component includes a micro switch, which is connected to the control system and a fixing plate. The control system is communicatively connected to the remote control component. The fixing component includes a fixing plate, and there are two electromagnetic locks, which are disposed at both ends of the fixing plate. The micro switch is disposed below the fixing plate and between the two electromagnetic locks. The electric robot has a hoisting plate at its upper end. When the electromagnetic locks are connected to the hoisting plate, the micro switch is located above the hoisting plate.

[0030] Furthermore, the electric robot is provided with a cavity and a guide channel, the guide channel being connected to the cavity, the cavity being provided with a set of walking wheels, and the monitoring component including two first cameras and a second camera. The two first cameras are located at both ends of the electric robot and above the cavity, and the second camera is located in the guide channel.

[0031] The present invention has the following advantages:

[0032] This invention provides a method for controlling the installation of a power robot on a power cable. The method is applied to a power robot installation control device, which includes a drone, a power robot, and a remote control component. The drone carries the power robot to install it onto a power cable. The drone includes a fixing component, and the power robot includes a monitoring component. Both the drone and the monitoring component are communicatively connected to the remote control component. The method includes: connecting the fixing component to the power robot; initiating the drone to take off and move the power robot; the monitoring component acquiring the position of the power cable; and, based on the position of the power cable, controlling the drone's flight using the remote control component to install the power robot onto the power cable. The drone's flight to hoist the power robot onto the power cable is simple to operate, and the hoisting process does not require the intervention of power maintenance personnel, reducing the danger of installing the power robot onto a high-altitude power cable. The monitoring component's acquisition of the power cable's position facilitates control of the drone's flight, ensuring accurate installation of the power robot onto the high-altitude power cable. Attached Figure Description

[0033] To more clearly illustrate the embodiments of this application or the existing technical solutions, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a front view of the electric robot described in one embodiment of the present invention;

[0035] Figure 2 This is a left view of the electric robot described in one embodiment of the present invention;

[0036] Figure 3 This is a simplified structural diagram of the electric robot according to one embodiment of the present invention;

[0037] Figure 4 This is a simplified structural diagram of the power robot online control device according to one embodiment of the present invention;

[0038] Figure 5 This is a flowchart of the power robot online control method according to one embodiment of the present invention;

[0039] Figure 6 This is a second camera image displayed by the remote control component in one embodiment of the present invention;

[0040] Figure 7 This is a second camera image displayed by the remote control component in one embodiment of the present invention.

[0041] Explanation of symbols in the attached drawings: 1. Unmanned aerial vehicle (UAV); 11. Fixing component; 111. Electromagnetic lock; 112. Control system; 113. Micro switch; 114. Fixing plate; 13. Support body; 14. First cover; 15. Second cover; 151. First inclined surface; 2. Electric robot; 21. Monitoring component; 211. First camera; 212. Second camera; 22. Lifting plate; 23. Cavity; 231. Mounting opening; 24. Guide channel; 241. First opening; 25. Walking wheel set; 3. Remote control component; 4. Cable. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] In related technologies, power maintenance typically uses power robots to repair cables. However, deploying these robots requires manual operation, meaning that installing the robot on cables at high altitudes necessitates manual operation by maintenance personnel. Since high-altitude cables carry high voltage, power outages can easily disrupt residential areas, so uninterrupted power supply is generally preferred. Installing power robots on high-altitude cables is dangerous, and the high-altitude operation is difficult, presenting significant limitations and risks. To address these problems, this invention provides a power robot deployment control method. This method applies to a power robot deployment control device, which includes a drone, a power robot, and a remote control component. The drone carries the power robot to install it onto the cable. The drone includes a fixed component, and the power robot includes a monitoring component. Both the drone and the monitoring component are communicatively connected to the remote control component. The method includes: connecting the fixed component to the power robot; initiating the drone's takeoff to move the power robot; the monitoring component acquiring the cable's position; and using the remote control component to control the drone's flight based on the cable's position to install the power robot onto the cable. The drone flies to lift the power robot onto the cable. The operation is simple, and the lifting process requires no intervention from power maintenance personnel, reducing the danger of installing the power robot onto high-altitude cables. The monitoring component acquires the cable's position, facilitating the control of the drone's flight to accurately install the power robot onto the high-altitude cable.

[0044] The various non-limiting embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0045] As attached Figure 1-2The diagram shows the structure of the electric robot 2 in this embodiment. The electric robot 2 includes a support body 13, a first cover 14, and a second cover 15. The first cover 14 is disposed on the upper end of the support body 13. The second cover 15 is positioned opposite to the support body 13 and spaced apart from the support body 13 to form a cavity 23 for accommodating the walking wheel assembly 25. The cavity 23 has an installation opening 231 facing downwards. The walking wheel assembly 25 is placed on the cable 4 and can move on the cable 4 so that the electric robot 2 can maintain or repair the cable 4, such as applying adhesive to the cable 4 to prevent it from being exposed. The second cover 15 is provided with a first inclined surface 151, which forms a guide channel 24 between the first inclined surface 151 and the support body 13. The guide channel 24 is connected to the cavity 23, and the opening of the guide channel 24 is horizontal. The electric robot 2 is mounted onto the cable 4, which needs to enter the cavity 23 from the guide channel 24 so that the walking wheel set 25 can be placed on the cable 4.

[0046] In this embodiment, as shown in the appendix Figure 3 As shown, the power robot 2 online control device includes a drone 1, a power robot 2, and a remote control component 3. The drone 1 is used to carry the power robot 2 to fly and install the power robot 2 onto the cable 4. The drone 1 includes a fixing component 11, and the power robot 2 includes a monitoring component 21. Both the drone 1 and the monitoring component 21 are communicatively connected to the remote control component 3.

[0047] As attached Figure 4 This illustration shows the online control method for the electric robot 2 described in this embodiment. The online control method for the electric robot 2 is applied to the online control device for the electric robot 2, and the method includes:

[0048] S101: Connect the fixing component 11 to the electric robot 2;

[0049] S102: Initiate the takeoff of the drone 1 to drive the electric robot 2 to move;

[0050] S103: The monitoring component 21 acquires the position of the cable 4;

[0051] S104: Based on the position of the cable 4, the remote control component 3 controls the drone 1 to fly so as to install the electric robot 2 onto the cable 4.

[0052] The fixing component 11 is connected to the power robot 2. The drone 1 hoists the power robot 2 to a high altitude and installs it onto the overhead cable 4. Power maintenance personnel can then operate the remote control component 3 to install the power robot 2 onto the overhead cable 4. The operation is simple and safe, reducing the danger of installing the power robot 2 onto the overhead cable 4. The monitoring component 21 can obtain the position of the cable 4, allowing power maintenance personnel to operate the remote control component 3 based on the position of the cable 4, thereby controlling the flight trajectory of the drone 1 to accurately install the power robot 2 onto the overhead cable 4.

[0053] In this embodiment, the fixing component 11 includes an electromagnetic lock 111 and a control system 112. The electromagnetic lock 111 is connected to the control system 112. Connecting the fixing component 11 to the electric robot 2 includes:

[0054] S1011: Connect the electromagnetic lock 111 to the electric robot 2;

[0055] S1012: Obtain the working status of the electromagnetic lock 111 and transmit the working status of the electromagnetic lock 111 to the control system 112.

[0056] Electromagnetic lock 111 utilizes the principle of electromagnetism. When current flows through it, the electromagnet coil of electromagnetic lock 111 generates a magnetic field, causing the latch of electromagnetic lock 111 to spring back, separating electromagnetic lock 111 from the electric robot 2. When the electromagnet coil is de-energized, the latch extends, and electromagnetic lock 111 connects to electric robot 2. In one example, electromagnetic lock 111 has an iron plate with a latch. When electromagnetic lock 111 is de-energized, the latch extends into the latch to engage electric robot 2, thus achieving the purpose of connecting electromagnetic lock 111 to electric robot 2. In another example, electric robot 2 has a lifting plate 22 with holes, allowing the latch of electromagnetic lock 111 to extend into the latch and into the holes when it is de-energized, achieving the purpose of connecting to electric robot 2.

[0057] The electromagnetic lock 111 has two operating states: energized and de-energized. Obtaining the operating state of the electromagnetic lock 111 allows monitoring of its connection to the electric robot 2, facilitating the control system 112 to control the electromagnetic lock 111 based on its operating state. In one example, the electromagnetic lock 111 sends a signal to the control system 112 when it is either energized or de-energized.

[0058] In this embodiment, the fixing component 11 includes a micro switch 113, which is connected to the control system 112, and the control system 112 is communicatively connected to the remote control component 3; after the step of controlling the drone 1 to fly according to the position of the cable 4 using the remote control component 3 to install the electric robot 2 onto the cable 4, the method includes:

[0059] S105: Activate the micro switch 113;

[0060] S106: The micro switch 113 transmits an unlocking signal to the control system 112;

[0061] S107: The control system 112 controls the electromagnetic lock 111 to unlock, so as to separate the drone 1 from the electric robot 2.

[0062] After the drone 1 installs the electric robot 2 onto the cable 4 high in the air, the drone 1 needs to detach from the electric robot 2 to fly back to the ground. A microswitch 113 acts as a switch to unlock the electromagnetic lock 111. When the microswitch 113 is activated, it transmits an unlocking signal to the control system 112. Based on the unlocking information, the control system 112 controls the electromagnetic lock 111 to unlock, separating the drone 1 from the electric robot 2. The drone 1 can then fly back to the ground, while the electric robot 2 remains mounted on the cable 4 high in the air. When the electromagnetic lock 111 fails to unlock, it sends a failure signal to the control system 112. The control system 112 then sends the failure signal to the remote control unit 3. The power maintenance personnel will use the remote control unit 3 to send an unlock signal to the control system 112. After receiving the unlock signal, the remote control unit 3 will control the electromagnetic lock 111 to unlock. If the electromagnetic lock 111 fails to unlock again, the failure signal will be sent to the control system 112 again. The control system 112 will then send the failure signal to the remote control unit 3, and the power maintenance personnel will decide whether to continue unlocking or bring the power robot 2 back to the ground.

[0063] Further, the fixing component 11 includes a fixing plate 114, two electromagnetic locks 111 are provided at both ends of the fixing plate 114, a micro switch 113 is provided below the fixing plate 114 and between the two electromagnetic locks 111, and a lifting plate 22 is provided at the upper end of the electric robot 2. When the electromagnetic locks 111 are connected to the lifting plate 22, the micro switch 113 is located above the lifting plate 22; activating the micro switch 113 includes:

[0064] S1051: Control the UAV 1 to press down the fixed plate 114 until the micro switch 113 contacts the hoisting plate 22 to activate the micro switch 113.

[0065] When the electromagnetic lock 111 is connected to the electric robot 2, the contacts of the micro switch 113 face the lifting plate 22. When the electric robot 2 is installed on the cable 4, the drone 1 presses down on the fixing plate 114, while the position of the lifting plate 22 remains unchanged. The distance between the fixing plate 114 and the lifting plate 22 gradually decreases until the contacts of the micro switch 113 touch the lifting plate 22. The micro switch 113 is then triggered, transmitting an unlocking signal to the control system 112. The control system 112 then energizes the electromagnetic lock 111, causing the latch of the electromagnetic lock 111 to retract, unlocking the electromagnetic lock 111 and separating the drone 1 from the electric robot 2.

[0066] In this embodiment, the electric robot 2 has a cavity 23 and a guide channel 24, the guide channel 24 communicating with the cavity 23. The cavity 23 is equipped with a set of walking wheels 25. The monitoring component 21 includes two first cameras 211 and a second camera 212. The two first cameras 211 are located at both ends of the electric robot 2 and above the cavity 23, and the second camera 212 is located in the guide channel 24. The monitoring component 21 acquires the position of the cable 4 by:

[0067] S1031: The drone 1, carrying the electric robot 2, approaches the cable 4;

[0068] S1032: The second camera 212 can acquire the relative first position of the cable 4 and the guide channel 24; wherein, when the cable 4 is located in the middle of the opening of the guide channel 24, in the image acquired by the second camera 212, the cable 4 is horizontal in the middle of the image;

[0069] S1033: The first camera 211 can acquire the relative second position of the cable 4 and the cavity 23; wherein, when the cable 4 is located in the middle of the opening of the cavity 23, in the images acquired by the two first cameras 211, the cable 4 is horizontal in the middle of the image.

[0070] Power maintenance personnel operate remote control component 3, which can be a remote control tablet, to control the flight of drone 1. When the power maintenance personnel control drone 1 carrying power robot 2 to approach cable 4, due to the distance between the power maintenance personnel and the high-altitude cable 4, the relative position of cable 4 and power robot 2 cannot be clearly seen with the naked eye, making it difficult to accurately install power robot 2 onto cable 4. First camera 211 and second camera 212 can collect the relative positional relationship between power robot 2 and cable 4, transmitting the collected video or images to remote control component 3, which has a display screen on which the video or images are displayed. Power maintenance personnel determine the relative position of cable 4 and power robot 2 based on the image information collected by first camera 211 and second camera 212, and then control drone 1 to accurately install power robot 2 onto cable 4. Specifically, cable 4 first enters guide channel 24, and then enters cavity 23. Before entering the guide channel 24, the power robot 2 needs to locate the cable 4. The second camera 212 determines whether the cable 4 is accurately positioned. When the opening of the guide channel 24 aligns with the cable 4, the opening of the guide channel 24 is the first opening 241. Specifically, the cable 4 is located in the middle of the first opening 241. The image captured by the second camera 212 is shown in the attached image. Figure 6 As shown, the cable 4 lies horizontally in the middle of the image. When the cable 4 is aligned with the first opening 241, the drone 1, carrying the electric robot 2, is manipulated to approach the cable 4. After entering the guide channel 24, the cable 4 needs to enter the cavity 23. The cavity 23 is equipped with a set of wheels 25, which needs to be placed on the cable 4. The wheels 25 are located within the cavity 23. When the cable 4 is aligned with the opening of the cavity 23 (which is the mounting opening 231), the electric robot 2 is moved downwards. The wheels 25 are placed on the cable 4, and under the weight of the electric robot 2, the wheels 25 press against the cable 4, allowing it to move on the cable 4. When the cable 4 enters the guide channel 24, the first camera 211 acquires an image of the cable 4, determines the relative second position of the cable 4 and the cavity 23, and controls the flight of the drone 1 based on the relative second position to adjust the position of the electric robot 2 until it is within the image captured by the two first cameras 211, as shown in the attached figure. Figure 7As shown, the cables 4 are all horizontally located in the center of the image, aligned with the center of the mounting opening 231 of the cavity 23. At this point, the drone 1 can be controlled to move the electric robot 2 downwards to accurately place the walking wheel assembly 25 onto the cables 4. The electric robot 2 has first cameras 211 at both ends, ensuring that the cables 4 are aligned with the walking wheel assembly 25 inside the cavity 23. The cavity 23 has a certain length, with at least two walking wheel assemblies 25 placed along its length. The electric robot 2 has first cameras 211 at both ends. The electric robot 2 is only moved downwards when the cables 4 are horizontally located in the center of the image captured by both first cameras 211, ensuring that the cables 4 are aligned with the walking wheel assembly 25 inside the cavity 23.

[0071] Further, the position of the cable 4 includes the cable 4 being located at the middle position of the opening of the guide channel 24 and the cable 4 being located at the middle position of the opening of the cavity 23; the step of controlling the drone 1 to fly using the remote control component 3 according to the position of the cable 4, so as to install the electric robot 2 onto the cable 4, includes:

[0072] S1041: When the cable 4 is located in the middle of the opening of the guide channel 24, control the electric robot 2 to move horizontally and move towards the cable 4 until the cable 4 is located in the middle of the cavity 23.

[0073] S1042: When the cable 4 is located in the middle of the opening of the cavity 23, control the electric robot 2 to move downward until the walking wheel set 25 is placed on the cable 4.

[0074] The opening of the guide channel 24 is horizontal. When the cable 4 enters the guide channel 24, the electric robot 2 needs to move horizontally. The guide channel 24 is connected to the cavity 23. When the electric robot 2 moves horizontally, the cable 4 moves horizontally in the guide channel 24. At this time, the cable 4 can move in the guide channel 24 to align with the cavity 23. The opening of the cavity 23 faces downward. When the cable 4 is aligned with the cavity 23, the electric robot 2 moves downward and can place the walking wheel set 25 on the cable 4 to complete the loading of the electric robot 2.

[0075] This invention provides an online control device for an electric robot 2. In this embodiment, as shown in the attached diagram... Figure 3As shown, the device includes a drone 1, an electric robot 2, and a remote control component 3. The drone 1 carries the electric robot 2 to mount it onto a cable 4. The drone 1 includes a fixing component 11, which is connected to the electric robot 2. The electric robot 2 includes a monitoring component 21. Both the drone 1 and the monitoring component 21 are communicatively connected to the remote control component 3. The monitoring component 21 is used to obtain the position of the cable 4. The drone 1 can mount the electric robot 2 onto the cable 4 high in the air without the need for power maintenance personnel. Power maintenance personnel only need to operate the remote control component to mount the electric robot 2 onto the cable 4. The online control device for the electric robot 2 is simple to operate, which can reduce the danger of the electric robot 2 being online.

[0076] Furthermore, the fixing component 11 includes an electromagnetic lock 111 and a control system 112. The electromagnetic lock 111 is connected to the control system 112, thereby connecting the fixing component 11 to the electric robot 2. The electromagnetic lock 111 can be controlled to unlock and lock by being energized and de-energized, without the need for manual operation by electrical personnel. The electromagnetic lock 111 can be energized by the remote control system 112 to unlock, thus separating the drone 1 from the electric robot 2.

[0077] In this embodiment, the fixing component 11 includes a micro switch 113, which is connected to the control system 112 and a fixing plate 114. The control system 112 is communicatively connected to the remote control component 3. The fixing component 11 includes a fixing plate 114, and two electromagnetic locks 111 are provided at both ends of the fixing plate 114. The micro switch 113 is located below the fixing plate 114 and between the two electromagnetic locks 111. The electric robot 2 has a lifting plate 22 at its upper end. When the electromagnetic locks 111 are connected to the lifting plate 22, the micro switch 113 is located above the lifting plate 22. The two electromagnetic locks 111 can connect the electric robot 2 to the fixing plate 114, and when the drone 1 drives the electric robot 2 to fly, the electric robot 2 will not shake or rotate around the fixing plate 114. When the micro switch 113 approaches the lifting plate 22 via the fixed plate 114, the micro switch 113 contacts the lifting plate 22 to activate itself. The micro switch 113 then sends an unlocking signal to the control system 112, which in turn controls the electromagnetic lock 111 to unlock. The entire process can be controlled via the remote control component 3, which is simple to operate and requires no manual intervention from electrical maintenance personnel, thus reducing the risk of the power robot 2 being deployed online.

[0078] In this embodiment, the power robot 2 is provided with a cavity 23 and a guide channel 24, the guide channel 24 communicating with the cavity 23. The cavity 23 is provided with a set of walking wheels 25. The monitoring component 21 includes two first cameras 211 and a second camera 212. The two first cameras 211 are located at both ends of the power robot 2 and above the cavity 23, and the second camera 212 is located in the guide channel 24. The first cameras 211 and the second cameras 212 facilitate power maintenance personnel to understand the relative position of the power robot 2 and the cable 4, so as to control the drone 1 to accurately install the power robot 2 onto the cable 4, thereby improving the success rate of the power robot 2 going online. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention and not to limit them. Although the embodiments of the present invention have been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the embodiments of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A power robot on-line control method, characterized by, The method is applied to the power robot online control device, the device includes a drone, a power robot and a remote control part, the drone is used to fly with the power robot to install the power robot on the cable, the drone includes a fixed component, the fixed component includes an electromagnetic lock, a control system, a micro switch and a fixed plate, the electromagnetic lock is connected with the control system; the micro switch is connected with the control system, the control system is connected with the remote control part; the number of electromagnetic locks is 2, and the electromagnetic locks are arranged at both ends of the fixed plate, the micro switch is arranged below the fixed plate and between the two electromagnetic locks, the power robot is provided with a lifting plate at the upper end, when the electromagnetic lock is connected with the lifting plate, the micro switch is located above the lifting plate; the power robot includes a monitoring component, the drone and the monitoring component are connected with the remote control part; the method comprises: connect the electromagnetic lock with the power robot; obtain the working state of the electromagnetic lock, and transmit the working state of the electromagnetic lock to the control system; start the drone to take off to drive the power robot to move; the monitoring component obtains the position of the cable; according to the position of the cable, the remote control part is used to control the flight of the drone to install the power robot on the cable; control the drone to press down the fixed plate until the micro switch contacts the lifting plate to start the micro switch; the micro switch transmits an unlocking signal to the control system; the control system controls the electromagnetic lock to be unlocked to separate the drone from the power robot.

2. The power robot on-line control method according to claim 1, wherein The power robot is provided with a cavity and a guide channel, the guide channel is communicated with the cavity, the cavity is provided with a walking wheel set, the monitoring component includes two first cameras and a second camera, the two first cameras are arranged at both ends of the power robot and above the cavity, and the second camera is located in the guide channel; the monitoring component obtains the position of the cable, comprising: the drone with the power robot approaches the cable; the second camera can obtain the relative first position of the cable and the guide channel; wherein, when the cable is located at the middle position of the opening of the guide channel, the cable is horizontal in the image in the image obtained by the second camera; the first camera can obtain the relative second position of the cable and the cavity; wherein, when the cable is located at the middle position of the opening of the cavity, the cable is horizontal in the image in the images obtained by the two first cameras.

3. The power robot on-line control method according to claim 2, wherein The cable position includes that the cable is located at the middle position of the opening of the guide channel and the cable is located at the middle position of the opening of the cavity; according to the position of the cable, the remote control part is used to control the flight of the drone to install the power robot on the cable, comprising: When the cable is located at the middle position of the opening of the guide channel, the electric power robot is controlled to move horizontally and move towards the cable until the cable is located at the middle position of the cavity; When the cable is located at the middle position of the opening of the guide channel, the electric power robot is controlled to move horizontally and move towards the cable until the cable is located at the middle position of the cavity; 4. An electric power robot on-line control device characterized by comprising: The device comprises a drone, an electric power robot and a remote control part, the drone is used to fly with the electric power robot to install the electric power robot on a cable, the drone comprises a fixing assembly; the fixing assembly comprises an electromagnetic lock, a control system, a micro switch and a fixing plate, the electromagnetic lock is connected with the control system; the micro switch is connected with the control system, the control system is connected with the remote control part in communication; the number of the electromagnetic lock is 2, and the electromagnetic lock is arranged at both ends of the fixing plate, the micro switch is arranged below the fixing plate and between the two electromagnetic locks, the electric power robot is provided with a lifting plate at the upper end, when the electromagnetic lock is connected with the lifting plate, the micro switch is located above the lifting plate; the electric power robot comprises a monitoring assembly, the drone and the monitoring assembly are connected with the remote control part in communication; the electromagnetic lock is used to be connected with the electric power robot; the control system is used to obtain the working state of the electromagnetic lock and start the drone to take off to drive the electric power robot to move; the monitoring assembly is used to obtain the position of the cable; the remote control part is used to control the drone to fly according to the position of the cable to install the electric power robot on the cable; the control system is also used to control the drone to press the fixing plate downward until the micro switch contacts the lifting plate to start the micro switch; the micro switch is used to transmit an unlocking signal to the control system; the control system is also used to control the electromagnetic lock to be unlocked to separate the drone from the electric power robot.

5. An electric power robot on-line control device according to claim 4, wherein The electric power robot is provided with a cavity and a guide channel, the guide channel is communicated with the cavity, the cavity is provided with a walking wheel set, the monitoring assembly comprises two first cameras and a second camera, two first cameras are arranged at both ends of the electric power robot and above the cavity, and the second camera is located in the guide channel.

Images