A collaborative control method and system for a substation lead wire disconnection robot and a related robot
By combining multi-view vision perception and the IBVS control model, the control mode is dynamically selected to achieve autonomous and remote collaborative control of the substation lead wire disconnection and connection robot. This solves the problems of low precision and weak anti-interference ability in the existing technology, improves the operation accuracy and stability, and adapts to the complex working conditions of substations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- GUANGDONG POWER GRID CORP ZHAOQING POWER SUPPLY BUREAU
- Filing Date
- 2026-05-29
- Publication Date
- 2026-07-17
AI Technical Summary
Existing substation lead wire splicing and disconnecting robots suffer from low operational accuracy, weak anti-interference capabilities, and the inability to coordinate the two control modes in pure remote operation mode or pure vision servo mode, making it difficult to meet the actual engineering needs of 220kV substation lead wire splicing and disconnecting.
The IBVS control model is input with multi-view visual perception data to generate visual servo autonomous control commands. It also detects operational deviations and abnormal conditions in real time, dynamically selects control modes, and combines manual remote operation intervention to achieve coordinated control of autonomous and remote operation through command scheduling and fusion processing.
It improves the accuracy, stability and anti-interference ability of the dismantling and splicing of the diversion line, meets the actual engineering needs of the dismantling and splicing of the diversion line in the 220kV substation, and realizes the robot's efficient and safe operation under complex working conditions.
Smart Images
Figure CN122401419A_ABST