CN112894850B - Control system and control method of pole-climbing robot - Google Patents
Control system and control method of pole-climbing robot Download PDFInfo
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- CN112894850B CN112894850B CN202110108517.2A CN202110108517A CN112894850B CN 112894850 B CN112894850 B CN 112894850B CN 202110108517 A CN202110108517 A CN 202110108517A CN 112894850 B CN112894850 B CN 112894850B
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- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000010276 construction Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 144
- 230000009471 action Effects 0.000 claims description 77
- 210000000323 shoulder joint Anatomy 0.000 claims description 48
- 230000008569 process Effects 0.000 claims description 42
- 230000001960 triggered effect Effects 0.000 claims description 27
- 230000009194 climbing Effects 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 12
- 230000004927 fusion Effects 0.000 claims description 12
- 238000007621 cluster analysis Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000002493 climbing effect Effects 0.000 claims description 3
- 230000009193 crawling Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000001174 ascending effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000008447 perception Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pole-climbing robot control system and a control method thereof. According to the invention, the electric power overhaul operation is replaced by controlling the pole-climbing robot, so that the full-automatic pole-climbing overhaul operation can be realized, or under a more complex working condition, the manual remote control operation can greatly reduce the labor intensity of workers and the construction danger coefficient.
Description
Technical Field
The invention relates to the technical field of robot control systems, in particular to a pole-climbing robot control system and a control method thereof.
Background
The robot system is an integral body formed by the robot, the working objects and the environment, wherein the robot system comprises a mechanical system, a driving system, a control system and a perception system, the robot is an automatic machine, and the robot has intelligent capabilities similar to people or living things, such as perception capability, planning capability, action capability and coordination capability, and is an automatic machine with high flexibility.
With the continuous development of modern society, the number of urban power transmission lines is gradually increased, in theory, the power transmission lines are less influenced by external environment factors, and the safe operation reliability is higher, but in practice, the wires on the power transmission lines and insulators inevitably have the influence of external factors in a long-term external open environment, for example, dirt such as dust and bird droppings are attached after a period of operation, and the problems can finally cause the rise of the failure rate of the power transmission lines, so that the power failure accident frequently occurs, and therefore, the power transmission lines need to be overhauled.
Firstly, the inspection and maintenance of the domestic transmission line are mostly completed manually, and as the outdoor operation is performed, the maintainer needs to bear the trouble of blowing, drying and rain while climbing, the working condition is hard, and the working strength is high;
secondly, when electric power overhauls, often need live working, the manual work has great potential safety hazard with electrified equipment short distance contact, because the improper operation or not obey the safety regulation or because of unexpected circumstances takes place, very easily takes place great incident.
Disclosure of Invention
In order to solve the above-mentioned problems in the prior art, a control system of a pole-climbing robot and a control method thereof are provided.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the control system of the pole-climbing robot comprises the pole-climbing robot, wherein the pole-climbing robot is connected with wireless remote control equipment;
the pole-climbing robot comprises a pole-climbing robot body, a weight-holding arm and a working tool;
the pole-climbing robot body comprises a left side actuating mechanism, a right side actuating mechanism and a trunk actuating mechanism;
the robot controller is arranged on the trunk action mechanism, and the binocular camera and the laser radar sensor are respectively arranged at the upper end part and the lower end part of the pole-climbing robot body;
the robot controller is used for receiving the operation environment data and sending the operation environment data to the binocular camera and the laser radar sensor on the robot controller;
the left side action mechanism comprises a left arm upper push rod mechanism, a left arm lower driving wheel lifting mechanism and a left trunk shoulder joint mechanism;
the left arm upper push rod mechanism is provided with a left arm upper push rod loose rod in-place sensor and a left arm upper push rod holding rod in-place sensor;
the left arm lower push rod mechanism is provided with a left arm lower push rod loose rod in-place sensor and a left arm lower push rod holding rod in-place sensor;
the left trunk shoulder joint mechanism is provided with a left trunk shoulder joint outward-rotation in-place sensor and a left trunk joint mechanism inward-rotation in-place sensor;
the right side action mechanism comprises a right arm upper push rod mechanism, a right arm lower driving wheel lifting mechanism and a right trunk shoulder joint mechanism;
the right arm upper push rod mechanism is provided with a right arm upper push rod loose rod in-place sensor and a right arm upper push rod holding rod in-place sensor;
the right arm lower push rod mechanism is provided with a right arm lower push rod loose rod in-place sensor and a right arm lower push rod holding rod in-place sensor;
the right trunk shoulder joint mechanism is provided with a right trunk shoulder joint outward-rotation in-place sensor and a right trunk joint mechanism inward-rotation in-place sensor;
the weight-holding arm comprises a weight-holding arm rotating shaft, a weight-holding upper and lower shaft and a weight-holding arm tool shaft, wherein the weight-holding upper and lower shaft is arranged on the weight-holding arm rotating shaft, the weight-holding arm tool shaft is arranged on the weight-holding upper and lower shaft, and the working tool is arranged on the weight-holding arm tool shaft;
the weight-bearing arm rotating shaft is provided with a weight-bearing arm rotating shaft original point sensor, the weight-bearing upper and lower shafts are provided with weight-bearing upper and lower shaft original point sensors, and the weight-bearing arm tool shaft is provided with a weight-bearing arm tool shaft original point sensor;
the trunk actuating mechanism is provided with a trunk lifting in-place sensor and a trunk descending sensor;
the robot controller is connected with the wireless remote control equipment and used for realizing the connection between the pole-climbing robot and the robot controller.
As a further description of the above technical solution:
the robot controller comprises a controller, a controller output module, a controller input module, a controller communication interface and a controller wireless communication interface;
the controller output module is correspondingly connected with the left arm upper push rod mechanism, the left arm lower driving wheel lifting mechanism, the left trunk shoulder joint mechanism, the right arm upper push rod mechanism, the right arm lower driving wheel lifting mechanism, the right trunk shoulder joint mechanism, the trunk action mechanism, the weight holding arm and the working tool;
the controller input modules are respectively and correspondingly connected with a left arm upper push rod loose lever in-place sensor, a left arm upper push rod holding lever in-place sensor, a left arm lower push rod loose lever in-place sensor, a left arm lower push rod holding lever in-place sensor, a left trunk shoulder joint out-of-position sensor, a left trunk joint inner rotation in-place sensor, a right arm upper push rod loose lever in-place sensor, a right arm upper push rod holding lever in-place sensor, a right arm lower push rod loose lever in-place sensor, a right arm lower push rod holding lever in-place sensor, a right trunk shoulder joint out-of-position sensor, a right trunk inner rotation in-place sensor, a trunk ascending in-place sensor, a trunk descending-in-place sensor, a weight holding arm rotating shaft origin sensor, a weight holding upper and lower shaft origin sensor and a weight holding arm tool axis origin sensor;
the controller communication interface is connected with the binocular camera and the laser radar sensor;
the wireless communication interface of the controller is connected with the wireless remote control equipment.
As a further description of the above technical solution:
the robot controller comprises an automatic mode and a manual mode, the automatic mode comprises a pole climbing process, the manual mode comprises a pole climbing process and a working process, and the working process and the manual mode after the automatic mode is finished are controlled by the wireless remote control device.
As a further description of the above technical solution:
a control method of a pole-climbing robot control system comprises an automatic mode and a manual mode, wherein the pole-climbing process of the automatic mode comprises the following specific steps:
sz1, a robot controller sends out a rod loosening and holding action starting instruction of a rod climbing robot, the left arm and the right arm need to act alternately according to an action flow, and when the robot controller sends out an instruction to be the left arm starting instruction, the action flow of the left arm is started;
sz2, the upper push rod mechanism of the left arm and the lower push rod mechanism of the left arm act simultaneously, and when signals of the in-place sensor of the upper push rod of the left arm and the in-place sensor of the lower push rod of the right arm are triggered, the action of loosening the rod is completed;
sz3, the left arm upper push rod mechanism and the left arm lower push rod mechanism are both loose in place, the left arm lower driving wheel lifting mechanism performs retracting action, after the left arm lower driving wheel lifting mechanism is retracted, the left trunk shoulder joint mechanism outwards-rotating action is started, and after the left trunk shoulder joint mechanism outwards-rotating in-place sensor signal is triggered, the left trunk shoulder joint mechanism outwards-rotating action is completed;
sz4, after the outward rotation of the left trunk shoulder joint mechanism is completed, the trunk action mechanism decides whether to ascend or descend according to the instruction;
when the robot controller requires to ascend, when the trunk ascends in-place sensor signal is triggered, the trunk actuating mechanism is indicated to ascend;
when the robot controller requires descending, when the trunk descends to the proper position and the sensor signal is triggered, the trunk action mechanism is indicated to complete the descending action;
sz5, step Sz2 to step Sz4 are left arm loosening processes, and after left arm loosening is completed, a left arm holding process is performed;
sz6, the internal rotation action of the left trunk joint mechanism is started, when the internal rotation in-place sensor signal of the left trunk shoulder joint is triggered, the internal rotation of the left trunk joint mechanism is in place, and the action is completed;
sz7, after the left arm lower driving wheel lifting mechanism is lowered in place, the left arm upper push rod mechanism and the left arm lower push rod mechanism act simultaneously, and when signals of the left arm upper push rod holding rod in-place sensor and the left arm lower push rod holding rod in-place sensor are triggered, the holding rod action is completed;
sz8, when the robot controller sends a command to start the right arm, the action process of the right arm is identical to the action process of the left arm.
As a further description of the above technical solution:
in step Sz4, after the outward rotation of the left trunk and shoulder joint mechanism is completed, when the trunk actuating mechanism decides whether to ascend or descend, the obstacle detection is performed in advance, and when the obstacle is encountered, the obstacle avoidance mode is performed, and the specific flow steps of the obstacle avoidance mode are as follows:
sb1, presetting a safe distance of a pole climbing robot pole climbing in a robot controller;
sb2, after the laser radar sensor detects an obstacle, the laser radar sensor sends data to the robot controller, and the robot controller calculates the distance between the obstacle and the pole-climbing robot through calculation;
sb3, if the distance is greater than the safety distance, the pole climbing robot continues to execute pole climbing action, and if the distance is less than the safety distance, the robot controller re-plans a reasonable path to avoid the obstacle.
As a further description of the above technical solution:
in the automatic mode, the pole-climbing robot always needs to rely on the binocular camera and the laser radar sensor to perform sensing construction on surrounding working environments, so that the pole-climbing robot can recognize cables in the environments and obstacles in the pole-climbing process, and the specific environment sensing process is as follows:
sg1, collecting laser radar data of a working environment by a laser radar sensor, extracting data of a sensing interval after median filtering treatment, and carrying out cluster analysis on the data of the sensing interval;
sg2, further performing eigenvalue analysis after cluster analysis, comparing the existing database, determining correct data, converting the correct data into a coordinate system of a binocular camera, and facilitating subsequent data fusion;
sg3, acquiring data of a working environment by a binocular camera sensor, acquiring RGB data of an image, and then carrying out graying treatment;
sg 4. the data information after the graying treatment and the information data obtained by the laser radar sensor are fused under the same coordinate system, a sensing interval after the data fusion is extracted, the characteristic value of the working environment is inquired in the existing database, and the data characteristic value identification is carried out on the sensing interval after the data fusion;
sg5, calculating information of the target object according to the characteristic value of the target data in the identified fusion data, and finally giving coordinate data of the target object to the robot controller to help guide the pole-climbing robot to complete the appointed function.
As a further description of the above technical solution:
a control method of a pole-climbing robot control system comprises the following specific steps of:
the action process of the Sh1 and the pole-climbing robot is consistent with an automatic mode, and the difference is that:
each action executed by the pole-climbing robot is controlled by the wireless remote control equipment, and the pole-climbing robot is controlled by the wireless remote control equipment to avoid obstacles when encountering obstacles in the crawling process, so that the pole-climbing robot completes the pole-climbing process;
when the Sh2 and the rotation shaft of the weight-holding arm need to return to the original point, the rotation shaft of the weight-holding arm is remotely controlled by the wireless remote control equipment to move towards the original point direction, and when the rotation original point sensor signal of the weight-holding arm is triggered, the rotation shaft of the weight-holding arm is stopped, and the zeroing action is completed;
when the Sh3, the upper and lower axes of the weight-bearing arm need to return to the original point, the upper and lower axes of the weight-bearing arm are remotely controlled by the wireless remote control equipment to move towards the original point direction, and when the original point sensor signals of the upper and lower axes of the weight-bearing arm are triggered, the upper and lower axes of the weight-bearing arm are stopped, and the zeroing action is completed;
when the Sh4 and the weight-holding arm tool shaft need to return to the original point, the wireless remote control equipment is used for remotely controlling the weight-holding arm tool shaft to move towards the original point direction, and when the original point sensor signal of the weight-holding arm tool shaft is triggered, the weight-holding arm tool shaft is stopped, and the zeroing action is completed.
As a further description of the above technical solution:
the operation after the end of the automatic mode corresponds to steps Sh2 to Sh4 in the manual mode.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
the electric power overhauling operation is replaced by controlling the pole-climbing robot, so that the full-automatic pole-climbing overhauling operation can be realized, or under more complex working conditions, the labor intensity of workers can be greatly reduced, and the construction danger coefficient can be reduced by manual remote control operation.
Drawings
Fig. 1 shows a connection schematic diagram of a control system of a pole-climbing robot control system and a control method thereof according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a rod loosening action flow of a rod climbing robot according to the rod climbing robot control system and the control method thereof according to the embodiment of the invention;
fig. 3 is a schematic diagram of a grip of a climbing robot according to an embodiment of the present invention;
fig. 4 is a schematic view of an obstacle avoidance flow in an automatic mode of a pole-climbing robot according to an embodiment of the present invention;
fig. 5 shows a schematic flow diagram of an environment sensing function when a pole-climbing robot moves in a pole-climbing robot control system and a control method thereof according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1-5, the present invention provides a technical solution: a pole-climbing robot control system comprises a pole-climbing robot, wherein a wireless remote control device is connected to the pole-climbing robot;
the pole-climbing robot comprises a pole-climbing robot body, a weight-holding arm and a working tool;
the pole-climbing robot body comprises a left side action mechanism, a right side action mechanism and a trunk action mechanism;
the robot controller is arranged on the trunk action mechanism, and the binocular camera and the laser radar sensor are respectively arranged at the upper end part and the lower end part of the pole-climbing robot body;
the robot controller is used for receiving the operation environment data and sending the operation environment data to the binocular camera and the laser radar sensor on the robot controller;
the left side action mechanism comprises a left arm upper push rod mechanism, a left arm lower driving wheel lifting mechanism and a left trunk shoulder joint mechanism;
the left arm upper push rod mechanism is provided with a left arm upper push rod loose rod in-place sensor and a left arm upper push rod holding rod in-place sensor;
the left arm lower push rod mechanism is provided with a left arm lower push rod loose rod in-place sensor and a left arm lower push rod holding rod in-place sensor;
the left trunk shoulder joint mechanism is provided with a left trunk shoulder joint outward-rotation in-place sensor and a left trunk joint mechanism inward-rotation in-place sensor;
the right side action mechanism comprises a right arm upper push rod mechanism, a right arm lower driving wheel lifting mechanism and a right trunk shoulder joint mechanism;
the right arm upper push rod mechanism is provided with a right arm upper push rod loose rod in-place sensor and a right arm upper push rod holding rod in-place sensor;
the right arm lower push rod mechanism is provided with a right arm lower push rod loose rod in-place sensor and a right arm lower push rod holding rod in-place sensor;
the right trunk shoulder joint mechanism is provided with a right trunk shoulder joint outward-rotation in-place sensor and a right trunk joint mechanism inward-rotation in-place sensor;
the weight-bearing arm comprises a weight-bearing arm rotating shaft, a weight-bearing upper and lower shaft and a weight-bearing arm tool shaft, wherein the weight-bearing upper and lower shaft is arranged on the weight-bearing arm rotating shaft, the weight-bearing arm tool shaft is arranged on the weight-bearing upper and lower shaft, and the working tool is arranged on the weight-bearing arm tool shaft;
the weight-bearing arm rotating shaft is provided with a weight-bearing arm rotating shaft original point sensor, the weight-bearing upper and lower shafts are provided with weight-bearing upper and lower shaft original point sensors, and the weight-bearing arm tool shaft is provided with a weight-bearing arm tool shaft original point sensor;
the trunk actuating mechanism is provided with a trunk lifting in-place sensor and a trunk descending sensor;
the robot controller is connected with the wireless remote control equipment and used for realizing the connection between the pole-climbing robot and the robot controller.
Referring to fig. 1, the robot controller includes a controller, a controller output module, a controller input module, a controller communication interface, and a controller wireless communication interface;
the controller output module is correspondingly connected with the left arm upper push rod mechanism, the left arm lower driving wheel lifting mechanism, the left trunk shoulder joint mechanism, the right arm upper push rod mechanism, the right arm lower driving wheel lifting mechanism, the right trunk shoulder joint mechanism, the trunk action mechanism, the weight holding arm and the working tool;
the controller input modules are respectively and correspondingly connected with a left arm upper push rod loose lever in-place sensor, a left arm upper push rod holding lever in-place sensor, a left arm lower push rod loose lever in-place sensor, a left arm lower push rod holding lever in-place sensor, a left trunk shoulder joint out-of-position sensor, a left trunk joint inner rotation in-place sensor, a right arm upper push rod loose lever in-place sensor, a right arm upper push rod holding lever in-place sensor, a right arm lower push rod loose lever in-place sensor, a right arm lower push rod holding lever in-place sensor, a right trunk shoulder joint out-of-position sensor, a right trunk down-of-position sensor, a weight holding arm rotating shaft original point sensor, a weight holding upper and lower shaft original point sensor and a weight holding arm tool shaft original point sensor;
the controller communication interface is connected with the binocular camera and the laser radar sensor;
the controller wireless communication interface is connected with the wireless remote control device.
Referring to fig. 2 and 3, the robot controller includes an automatic mode including a pole climbing process and a manual mode including a pole climbing process and a working process, and the working process after the automatic mode is finished and the manual mode are controlled by the wireless remote control device.
Referring to fig. 2 and 3, a control method of a pole-climbing robot control system includes an automatic mode and a manual mode, wherein a pole-climbing process in the automatic mode specifically includes the following steps:
sz1, a robot controller sends out a rod loosening and holding action starting instruction of a rod climbing robot, the left arm and the right arm need to act alternately according to an action flow, and when the robot controller sends out an instruction to be the left arm starting instruction, the action flow of the left arm is started;
sz2, the upper push rod mechanism of the left arm and the lower push rod mechanism of the left arm act simultaneously, and when signals of the in-place sensor of the upper push rod of the left arm and the in-place sensor of the lower push rod of the right arm are triggered, the action of loosening the rod is completed;
sz3, the left arm upper push rod mechanism and the left arm lower push rod mechanism are both loose in place, the left arm lower driving wheel lifting mechanism performs retracting action, after the left arm lower driving wheel lifting mechanism is retracted, the left trunk shoulder joint mechanism outwards-rotating action is started, and after the left trunk shoulder joint mechanism outwards-rotating in-place sensor signal is triggered, the left trunk shoulder joint mechanism outwards-rotating action is completed;
sz4, after the outward rotation of the left trunk shoulder joint mechanism is completed, the trunk action mechanism decides whether to ascend or descend according to the instruction;
when the robot controller requires to ascend, when the trunk ascends in-place sensor signal is triggered, the trunk actuating mechanism is indicated to ascend;
when the robot controller requires descending, when the trunk descends to the proper position and the sensor signal is triggered, the trunk action mechanism is indicated to complete the descending action;
sz5, step Sz2 to step Sz4 are left arm loosening processes, and after left arm loosening is completed, a left arm holding process is performed;
sz6, the internal rotation action of the left trunk joint mechanism is started, when the internal rotation in-place sensor signal of the left trunk shoulder joint is triggered, the internal rotation of the left trunk joint mechanism is in place, and the action is completed;
sz7, after the left arm lower driving wheel lifting mechanism is lowered in place, the left arm upper push rod mechanism and the left arm lower push rod mechanism act simultaneously, and when signals of the left arm upper push rod holding rod in-place sensor and the left arm lower push rod holding rod in-place sensor are triggered, the holding rod action is completed;
sz8, when the robot controller sends a command to start the right arm, the action process of the right arm is identical to the action process of the left arm.
Referring to fig. 4, in step Sz4, after the outward rotation of the left trunk shoulder joint mechanism is completed, the trunk actuating mechanism determines whether to ascend or descend, and when encountering an obstacle, the obstacle avoidance mode is performed, and the specific flow steps of the obstacle avoidance mode are as follows:
sb1, presetting a safe distance of a pole climbing robot pole climbing in a robot controller;
sb2, after the laser radar sensor detects an obstacle, the laser radar sensor sends data to the robot controller, and the robot controller calculates the distance between the obstacle and the pole-climbing robot through calculation;
sb3, if the distance is greater than the safety distance, the pole climbing robot continues to execute pole climbing action, and if the distance is less than the safety distance, the robot controller re-plans a reasonable path to avoid the obstacle.
Referring to fig. 5, in the automatic mode, the pole-climbing robot always needs to rely on the binocular camera and the lidar sensor to perform sensing construction on surrounding working environments, so that the pole-climbing robot can identify cables in the environments and obstacles in the pole-climbing process, and the specific environment sensing process is as follows:
sg1, collecting laser radar data of a working environment by a laser radar sensor, extracting data of a sensing interval after median filtering treatment, and carrying out cluster analysis on the data of the sensing interval;
wherein, cluster analysis is: analyzing which are irrelevant things in the working environment and which are important things in the working environment;
sg2, further performing eigenvalue analysis after cluster analysis, comparing the existing database, determining correct data, converting the correct data into a coordinate system of a binocular camera, and facilitating subsequent data fusion;
sg3, the binocular camera sensor acquires image data of a working environment, RGB data of the image are acquired, and then graying treatment is carried out;
sg 4. the data information after the graying treatment and the information data obtained by the laser radar sensor are fused under the same coordinate system, a sensing interval after the data fusion is extracted, the characteristic value of the working environment is inquired in the existing database, and the data characteristic value identification is carried out on the sensing interval after the data fusion;
sg5, calculating information of the target object according to the characteristic value of the target data in the identified fusion data, and finally giving coordinate data of the target object to the robot controller to help guide the pole-climbing robot to complete the appointed function.
Referring to fig. 1-3, a control method of a pole-climbing robot control system is characterized by comprising the following specific steps of:
the action process of the Sh1 and the pole-climbing robot is consistent with an automatic mode, and the difference is that:
each action executed by the pole-climbing robot is controlled by the wireless remote control equipment, and the pole-climbing robot is controlled by the wireless remote control equipment to avoid obstacles when encountering obstacles in the crawling process, so that the pole-climbing robot completes the pole-climbing process;
when the Sh2 and the rotation shaft of the weight-holding arm need to return to the original point, the rotation shaft of the weight-holding arm is remotely controlled by the wireless remote control equipment to move towards the original point direction, and when the rotation original point sensor signal of the weight-holding arm is triggered, the rotation shaft of the weight-holding arm is stopped, and the zeroing action is completed;
when the Sh3, the upper and lower axes of the weight-bearing arm need to return to the original point, the upper and lower axes of the weight-bearing arm are remotely controlled by the wireless remote control equipment to move towards the original point direction, and when the original point sensor signals of the upper and lower axes of the weight-bearing arm are triggered, the upper and lower axes of the weight-bearing arm are stopped, and the zeroing action is completed;
when the Sh4 and the weight-holding arm tool shaft need to return to the original point, the wireless remote control equipment is used for remotely controlling the weight-holding arm tool shaft to move towards the original point direction, and when the original point sensor signal of the weight-holding arm tool shaft is triggered, the weight-holding arm tool shaft is stopped, and the zeroing action is completed.
The operation after the end of the automatic mode corresponds to the steps Sh2 to Sh4 in the manual mode.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. The utility model provides a pole-climbing robot control system, includes pole-climbing robot, be connected with wireless remote control equipment on the pole-climbing robot, its characterized in that:
the pole-climbing robot comprises a pole-climbing robot body, a weight-holding arm and a working tool;
the pole-climbing robot body comprises a left side actuating mechanism, a right side actuating mechanism and a trunk actuating mechanism;
the robot controller is arranged on the trunk action mechanism, and the binocular camera and the laser radar sensor are respectively arranged at the upper end part and the lower end part of the pole-climbing robot body;
the robot controller is used for receiving the operation environment data and sending the operation environment data to the binocular camera and the laser radar sensor on the robot controller;
the left side action mechanism comprises a left arm upper push rod mechanism, a left arm lower driving wheel lifting mechanism and a left trunk shoulder joint mechanism;
the left arm upper push rod mechanism is provided with a left arm upper push rod loose rod in-place sensor and a left arm upper push rod holding rod in-place sensor;
the left arm lower push rod mechanism is provided with a left arm lower push rod loose rod in-place sensor and a left arm lower push rod holding rod in-place sensor;
the left trunk shoulder joint mechanism is provided with a left trunk shoulder joint outward-rotation in-place sensor and a left trunk joint mechanism inward-rotation in-place sensor;
the right side action mechanism comprises a right arm upper push rod mechanism, a right arm lower driving wheel lifting mechanism and a right trunk shoulder joint mechanism;
the right arm upper push rod mechanism is provided with a right arm upper push rod loose rod in-place sensor and a right arm upper push rod holding rod in-place sensor;
the right arm lower push rod mechanism is provided with a right arm lower push rod loose rod in-place sensor and a right arm lower push rod holding rod in-place sensor;
the right trunk shoulder joint mechanism is provided with a right trunk shoulder joint outward-rotation in-place sensor and a right trunk joint mechanism inward-rotation in-place sensor;
the weight-holding arm comprises a weight-holding arm rotating shaft, a weight-holding upper and lower shaft and a weight-holding arm tool shaft, wherein the weight-holding upper and lower shaft is arranged on the weight-holding arm rotating shaft, the weight-holding arm tool shaft is arranged on the weight-holding upper and lower shaft, and the working tool is arranged on the weight-holding arm tool shaft;
the weight-bearing arm rotating shaft is provided with a weight-bearing arm rotating shaft original point sensor, the weight-bearing upper and lower shafts are provided with weight-bearing upper and lower shaft original point sensors, and the weight-bearing arm tool shaft is provided with a weight-bearing arm tool shaft original point sensor;
the trunk actuating mechanism is provided with a trunk lifting in-place sensor and a trunk descending sensor;
the robot controller is connected with the wireless remote control equipment and used for realizing the connection between the pole-climbing robot and the robot controller.
2. The pole-climbing robot control system of claim 1, wherein the robot controller comprises a controller, a controller output module, a controller input module, a controller communication interface, a controller wireless communication interface;
the controller output module is correspondingly connected with the left arm upper push rod mechanism, the left arm lower driving wheel lifting mechanism, the left trunk shoulder joint mechanism, the right arm upper push rod mechanism, the right arm lower driving wheel lifting mechanism, the right trunk shoulder joint mechanism, the trunk action mechanism, the weight holding arm and the working tool;
the controller input modules are respectively and correspondingly connected with a left arm upper push rod loose lever in-place sensor, a left arm upper push rod holding lever in-place sensor, a left arm lower push rod loose lever in-place sensor, a left arm lower push rod holding lever in-place sensor, a left trunk shoulder joint out-of-position sensor, a left trunk joint inner rotation in-place sensor, a right arm upper push rod loose lever in-place sensor, a right arm upper push rod holding lever in-place sensor, a right arm lower push rod loose lever in-place sensor, a right arm lower push rod holding lever in-place sensor, a right trunk shoulder joint out-of-position sensor, a right trunk inner rotation in-place sensor, a trunk ascending in-place sensor, a trunk descending-in-place sensor, a weight holding arm rotating shaft origin sensor, a weight holding upper and lower shaft origin sensor and a weight holding arm tool axis origin sensor;
the controller communication interface is connected with the binocular camera and the laser radar sensor;
the wireless communication interface of the controller is connected with the wireless remote control equipment.
3. The pole-climbing robot control system according to claim 2, wherein the robot controller includes an automatic mode including a pole-climbing process and a manual mode including a pole-climbing process and a work process, and the work process after the end of the automatic mode and the manual mode are controlled by the wireless remote control device.
4. A control method of a pole-climbing robot control system according to any one of claims 1-3, characterized by comprising an automatic mode and a manual mode, wherein the pole-climbing procedure of the automatic mode comprises the following specific steps:
sz1, a robot controller sends out a rod loosening and holding action starting instruction of a rod climbing robot, the left arm and the right arm need to act alternately according to an action flow, and when the robot controller sends out an instruction to be the left arm starting instruction, the action flow of the left arm is started;
sz2, the upper push rod mechanism of the left arm and the lower push rod mechanism of the left arm act simultaneously, and when signals of the in-place sensor of the upper push rod of the left arm and the in-place sensor of the lower push rod of the right arm are triggered, the action of loosening the rod is completed;
sz3, the left arm upper push rod mechanism and the left arm lower push rod mechanism are both loose in place, the left arm lower driving wheel lifting mechanism performs retracting action, after the left arm lower driving wheel lifting mechanism is retracted, the left trunk shoulder joint mechanism outwards-rotating action is started, and after the left trunk shoulder joint mechanism outwards-rotating in-place sensor signal is triggered, the left trunk shoulder joint mechanism outwards-rotating action is completed;
sz4, after the outward rotation of the left trunk shoulder joint mechanism is completed, the trunk action mechanism decides whether to ascend or descend according to the instruction;
when the robot controller requires to ascend, when the trunk ascends in-place sensor signal is triggered, the trunk actuating mechanism is indicated to ascend;
when the robot controller requires descending, when the trunk descends to the proper position and the sensor signal is triggered, the trunk action mechanism is indicated to complete the descending action;
sz5, step Sz2 to step Sz4 are left arm loosening processes, and after left arm loosening is completed, a left arm holding process is performed;
sz6, the internal rotation action of the left trunk joint mechanism is started, when the internal rotation in-place sensor signal of the left trunk shoulder joint is triggered, the internal rotation of the left trunk joint mechanism is in place, and the action is completed;
sz7, after the left arm lower driving wheel lifting mechanism is lowered in place, the left arm upper push rod mechanism and the left arm lower push rod mechanism act simultaneously, and when signals of the left arm upper push rod holding rod in-place sensor and the left arm lower push rod holding rod in-place sensor are triggered, the holding rod action is completed;
sz8, when the robot controller sends a command to start the right arm, the action process of the right arm is identical to the action process of the left arm.
5. The control method of a pole-climbing robot control system according to claim 4, wherein in step Sz4, after the outward rotation of the left trunk shoulder joint mechanism is completed, the trunk actuating mechanism decides whether to ascend or descend, and when encountering an obstacle, an obstacle avoidance mode is performed, and the specific flow steps of the obstacle avoidance mode are as follows:
sb1, presetting a safe distance of a pole climbing robot pole climbing in a robot controller;
sb2, after the laser radar sensor detects an obstacle, the laser radar sensor sends data to the robot controller, and the robot controller calculates the distance between the obstacle and the pole-climbing robot through calculation;
sb3, if the distance is greater than the safety distance, the pole climbing robot continues to execute pole climbing action, and if the distance is less than the safety distance, the robot controller re-plans a reasonable path to avoid the obstacle.
6. The control method of a pole-climbing robot control system according to claim 5, wherein in the automatic mode, the pole-climbing robot always needs to rely on a binocular camera and a laser radar sensor to perform sensing construction on surrounding working environments, so that the pole-climbing robot can recognize cables in the environments and obstacles in the pole-climbing process, and the specific environment sensing process is as follows:
sg1, collecting laser radar data of a working environment by a laser radar sensor, extracting sensing interval data after median filtering treatment, and carrying out cluster analysis on the sensing interval data;
sg2, further performing eigenvalue analysis after cluster analysis, comparing the existing database, determining correct data, converting the correct data into a coordinate system of a binocular camera, and facilitating subsequent data fusion;
sg3, the binocular camera sensor acquires image data of a working environment, RGB data of the image are acquired, and then graying treatment is carried out;
sg 4. the data information after the graying treatment and the information data obtained by the laser radar sensor are fused under the same coordinate system, a sensing interval after the data fusion is extracted, the characteristic value of the working environment is inquired in the existing database, and the data characteristic value identification is carried out on the sensing interval after the data fusion;
sg5, calculating information of the target object according to the characteristic value of the target data in the identified fusion data, and finally giving coordinate data of the target object to the robot controller to help guide the pole-climbing robot to complete the appointed function.
7. The control method of a pole-climbing robot control system according to claim 4, wherein the manual mode comprises the following specific steps:
the action process of the Sh1 and the pole-climbing robot is consistent with an automatic mode, and the difference is that:
each action executed by the pole-climbing robot is controlled by the wireless remote control equipment, and the pole-climbing robot is controlled by the wireless remote control equipment to avoid obstacles when encountering obstacles in the crawling process, so that the pole-climbing robot completes the pole-climbing process;
when the Sh2 and the rotation shaft of the weight-holding arm need to return to the original point, the rotation shaft of the weight-holding arm is remotely controlled by the wireless remote control equipment to move towards the original point direction, and when the rotation original point sensor signal of the weight-holding arm is triggered, the rotation shaft of the weight-holding arm is stopped, and the zeroing action is completed;
when the Sh3, the upper and lower axes of the weight-bearing arm need to return to the original point, the upper and lower axes of the weight-bearing arm are remotely controlled by the wireless remote control equipment to move towards the original point direction, and when the original point sensor signals of the upper and lower axes of the weight-bearing arm are triggered, the upper and lower axes of the weight-bearing arm are stopped, and the zeroing action is completed;
when the Sh4 and the weight-holding arm tool shaft need to return to the original point, the wireless remote control equipment is used for remotely controlling the weight-holding arm tool shaft to move towards the original point direction, and when the original point sensor signal of the weight-holding arm tool shaft is triggered, the weight-holding arm tool shaft is stopped, and the zeroing action is completed.
8. The control method of a pole-climbing robot control system according to claim 7, wherein the operation process after the end of the automatic mode coincides with steps Sh2 to Sh4 in the manual mode.
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