The invention discloses a method and a device for improving accurate operation of a distribution network live working robot. The method comprises the following steps of scanning an operation environment to obtain initial operation environment point cloud data, calculating the initial pose of the insulation bucket in the scanning operation environment, adjusting the pose of the insulation bucket to enable the distribution network live working robot to reach the optimal working space, and calculating the target pose of the insulation bucket at the moment, calculating an error matrix between the initial pose and the target pose of the insulating bucket, and correcting the initial working environment point cloud data according to the error matrix, so that the distribution network live working robot works based on the corrected working environment point cloud data. According to the method, only one-time laser point cloud data acquisition is needed for the working environment, and real-time correction is carried out on the point cloud data of the working environment, so that the working precision is improved, the scanning and acquisition times of the working environment by the laser radar are reduced, and the live working time of the distribution network is greatly shortened.
本发明公开了一种提高配网带电作业机器人的精准作业方法及装置,方法包括以下过程:扫描作业环境得到初始的作业环境点云数据;计算扫描作业环境时绝缘斗的初始位姿;调整绝缘斗位姿使得配网带电作业机器人达到最佳作业空间,计算此时绝缘斗的目标位姿;计算绝缘斗的初始位姿和目标位姿之间的误差矩阵;根据误差矩阵修正初始的作业环境点云数据,以使配网带电作业机器人基于修正后的作业环境点云数据作业。本发明只需对作业环境进行一次激光点云数据采集,对作业环境点云数据进行实时修正,提高了作业精准度,减少激光雷达对作业环境扫描采集次数,大大缩短配网带电作业时间。
Method and device for improving accurate operation of distribution network live working robot
一种提高配网带电作业机器人的精准作业方法及装置
2021-11-19
Patent
Electronic Resource
Chinese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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