CN112838516B - Overhead conductor robot live working device and method - Google Patents

Abstract

The invention relates to an overhead conductor robot live working method and a device, wherein the method comprises the following steps: the overhead conductor robot positions the overhead conductor by using the vision sensor arranged on the overhead conductor robot to acquire the position of the overhead conductor; the overhead conductor robot adopts a rapid expansion random tree RRT to plan the path of an operation device on the overhead conductor robot according to the position of the overhead conductor; the overhead conductor robot advances towards the overhead conductor according to the route planning to utilize the inertial measurement unit compensation operation device's that sets up on it motion skew, control operation device and accomplish the operation, wherein, operation device includes: the device comprises a transverse moving mechanism, a longitudinal moving mechanism, a lifting mechanism, a rotary joint, a telescopic mechanism and a tail end mechanism. The invention improves the inspection efficiency of the overhead conductor robot, improves the safety of the overhead conductor robot during operation and has good applicability.

Description

A kind of overhead wire robot live working device and method

technical field

The present application relates to the technical field of electrical equipment, and in particular, to an overhead wire robot live working device and method.

Background technique

Power lines are an important part of the power system and undertake the task of transmitting and distributing electrical energy. Power lines and tower accessories have been exposed to the field for a long time, and are damaged by continuous mechanical tension, electrical flashover, and material aging. If they are not repaired and replaced in time, the original small damage and defects may expand, eventually leading to serious accidents. Therefore, regular inspections of transmission lines must be carried out to ensure the safety of power supply.

At present, the maintenance work of overhead transmission lines is mainly done manually. The traditional operation method requires staff to wear many protective and maintenance equipment, climb the tower and then inspect the high-voltage line to complete the maintenance. This method is labor-intensive, low-efficiency, and due to high-voltage Many transmission lines are erected in sparsely populated areas, and the working environment is relatively harsh. In recent years, various research institutions have begun to develop line inspection robots for live inspection of overhead transmission lines. This robot can complete autonomous inspection and fault diagnosis on transmission lines. However, the existing line inspection robots have single functions and cannot Complete troubleshooting tasks well.

The overhead wire robot needs to work on high-voltage overhead wires. Therefore, it is the main problem to be solved by the present invention to provide a live working method and device with good applicability, which can be effectively applied to the autonomous obstacle avoidance and detection work of the outdoor overhead wire robot. .

SUMMARY OF THE INVENTION

The present application provides a live working device and method for an overhead wire robot, which can be effectively applied to autonomous obstacle avoidance and detection work of an outdoor overhead wire robot.

The technical scheme adopted in this application is as follows:

The present invention provides a live working method for an overhead wire robot, and the working method includes the following steps:

S01: The overhead wire robot uses the vision sensor set on it to locate the overhead wire to obtain the position of the overhead wire;

S02: According to the position of the overhead wire, the overhead wire robot uses the rapidly expanding random tree RRT to plan the path of the working device on the overhead wire robot;

S03: The overhead wire robot advances towards the overhead wire according to the path planning, and uses the inertial measurement unit set on it to compensate the motion offset of the operation device, and controls the operation device to complete the operation, wherein the operation device includes: a lateral movement mechanism, a longitudinal movement mechanism, Lifting mechanism, rotary joint, telescopic mechanism and end mechanism.

Further, the overhead wire robot uses the vision sensor set on the overhead wire to locate the overhead wire, and obtains the position of the overhead wire, including:

Install two RGB cameras on the overhead wire robot, and locate the relative position of the overhead wire and the overhead wire robot through the binocular ranging principle of the two RGB cameras;

Assuming that o ₁ and o ₂ are the optical centers of the left and right cameras respectively, suppose there is a point P in the space, and u ₁ and u ₂ are the image points of the P point on the left and right RGB camera photoreceptors to the boundary of one side of the photoreceptor respectively. distance, then according to the principle of triangulation, we can get:

In the formula, f is the focal length of the camera, T is the center distance between the two cameras, and z _c is the vertical distance from point P to the camera

The distance z _c can be obtained after deriving from equation (1):

Further, the overhead wire robot adopts the rapid expansion random tree RRT to carry out path planning to the working device on the overhead wire robot according to the position of the overhead wire, including:

S021: Obtain the current coordinates of the input robot as a root node, and send the root node to the control system of the overhead wire robot;

S022: The control system of the overhead wire robot generates random points inside the free space in the working space of the working device;

S023: Repeatedly iteratively traverses all child nodes of the random tree formed by the random points and searches for the nearest child nodes;

S024: Calculate the distance between all child nodes and the current random node, and define the node with the shortest distance as x _near ;

S025: Generate a new node with a certain step size in the direction of x _near and the generated random point;

S026: Judging the distance between the new node and the target node, if the distance is less than the given distance requirement, it means that the corresponding planned path is searched, otherwise the new node is used instead of the root node to cycle through S022-S026 until a path that meets the conditions is found.

Further, the overhead wire robot advances toward the overhead wire according to the path planning, and uses the inertial measurement unit set on it to compensate the motion offset of the working device, and controls the working device to complete the operation, including:

The overhead wire robot moves towards the overhead wire according to the path planning, and uses the inertial measurement unit set on it to collect the offset of the robot;

The robot can send signals to the lateral movement mechanism, the longitudinal movement mechanism and the lifting mechanism of the working device, and the movement of the lateral movement mechanism, the longitudinal movement mechanism and the lifting mechanism compensates the offset parallel to the wire.

Further, a live working device for an overhead wire robot is applied to a live working method for an overhead wire robot, and the working device includes:

A lateral movement mechanism, the lateral movement mechanism includes a lateral movement motor, a lateral movement slider and a lateral movement screw rod, the lateral movement screw rod is arranged on the lateral movement motor, and the lateral movement slider is set so as to be movable left and right on the traverse screw;

Longitudinal movement mechanism, the longitudinal movement mechanism includes a longitudinal movement motor, a longitudinal movement slider and a longitudinal movement screw, the longitudinal movement motor is arranged on the transverse movement slider, and the longitudinal movement screw rod is arranged on the longitudinal movement On the moving motor, the vertical moving slider is arranged on the vertical moving screw so that it can move back and forth;

a lifting mechanism, the lifting mechanism is arranged on the longitudinal slider;

a rotating joint, the rotating joint is arranged at one end of the lifting mechanism away from the longitudinal sliding block;

A telescopic mechanism, the telescopic mechanism includes a telescopic motor, a telescopic screw rod and a telescopic slider, the telescopic screw rod is connected to the telescopic motor, and the telescopic slider is movably arranged on the telescopic screw rod, so the telescopic slider is connected with the rotary joint;

The end mechanism, which is an actuator, is used to perform specific tasks, and the end mechanism is detachable.

Further, the lateral movement mechanism further includes a lateral movement guide rail, the lateral movement motor is arranged in the lateral movement guide rail, the lateral movement screw rod is arranged on the lateral movement motor, and the lateral movement screw rod is arranged along the lateral movement guide rail. Set the length direction of the moving guide rail;

The longitudinal movement mechanism further includes a longitudinal movement guide rail, the longitudinal movement motor is arranged in the longitudinal movement guide rail, the longitudinal movement screw rod is arranged on the longitudinal movement motor, and the longitudinal movement screw rod is arranged along the longitudinal movement guide rail. It is arranged in the longitudinal direction, and the longitudinal movement guide rail is fixed on the longitudinal movement slider.

Further, the lifting mechanism includes a lifting motor, a lifting screw, a lifting slider, a sliding sleeve, and a guide column,

The lifting screw is arranged on the lifting motor, the lifting sliding block is vertically movable on the lifting screw, the sliding sleeve is arranged on the lifting sliding block, and the guide column is movable. The movable part is arranged in the sliding sleeve, and the bottom of the guide column is arranged on the longitudinal guide rail;

The rotating joint is arranged above the lifting motor.

Further, the rotating joint includes a mounting frame and a swinging joint motor,

The mounting frame is L-shaped and includes a horizontal plate and a vertical plate, the lifting motor is arranged below the horizontal plate, the swing joint motor is arranged above the horizontal plate, and the vertical plate has a through hole, The shaft of the swing joint motor is arranged through the through hole;

The shaft of the swing joint motor is connected with the telescopic sliding block of the telescopic mechanism to drive the telescopic mechanism to rotate.

Further, the telescopic mechanism further includes a telescopic guide rail, the telescopic motor is disposed in the telescopic guide rail, the telescopic screw rod is disposed on the telescopic motor, and the telescopic screw rod is disposed along the length direction of the longitudinal movement guide rail;

The telescopic sliding block is provided with a rotating joint shaft hole, and the shaft of the swing joint motor is arranged on the telescopic sliding block through the rotating joint shaft hole.

Further, the end mechanism is detachably arranged at one end of the telescopic guide rail away from the swing joint motor;

The end mechanism may be a jaw and a sleeve.

The beneficial effects of adopting the technical solution of the present application are as follows:

An operation method and device suitable for the overhead wire environment of the present invention, firstly, the overhead wire robot uses a vision sensor to locate the overhead wire; in order to avoid the collision between the working device and the high-voltage wire, a Rapidly-Exploring Random Tree (RRT) is used. Carry out path planning; in order to improve the operation accuracy, the inertial measurement unit IMU (Inertial Measurement Unit) is used to compensate the motion offset, and the operation device is controlled to complete the operation.

The invention improves the inspection efficiency of the overhead wire robot; improves the safety of the overhead wire robot during operation; and has good applicability.

Description of drawings

In order to illustrate the technical solutions of the present application more clearly, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, without creative work, the Additional drawings can be obtained from these drawings.

1 is a schematic structural diagram of an overhead wire robot live working device according to an embodiment of the present invention;

Fig. 2 is the schematic diagram of the lateral movement mechanism and the longitudinal movement mechanism in Fig. 1;

Fig. 3 is the schematic diagram of the lifting mechanism and the rotating joint in Fig. 1;

Fig. 4 is the schematic diagram of the telescopic mechanism in Fig. 1;

5 is a schematic diagram of binocular positioning of an overhead wire robot live working method according to an embodiment of the present invention;

6 is a schematic diagram of an overhead wire robot live working device working on a robot platform;

Illustration description:

Among them, 1-traverse movement mechanism; 11-traverse motor; 12-traverse slider; 13-traverse screw; 14-traverse guide rail;

2-longitudinal movement mechanism; 21-longitudinal movement motor; 22-longitudinal movement guide rail;

3-Lifting mechanism; 31-Lifting motor; 32-Sliding sleeve; 35-Guiding column;

4-Rotary joint; 41-Mounting frame; 42-Swing joint motor; 43-Through hole;

5- telescopic mechanism; 51- telescopic motor; 52- telescopic screw rod; 53- telescopic slider; 54- telescopic guide rail; 55- rotating joint shaft hole;

6-End mechanism; 61-Gripper.

Detailed ways

Embodiments will be described in detail below, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following examples are not intended to represent all implementations consistent with this application. are merely exemplary of systems and methods consistent with some aspects of the present application as recited in the claims.

The present invention designs a working device and method suitable for the overhead wire robot in view of the special environment and work tasks in which the overhead wire robot is working on the high-voltage wire.

Among them, as shown in Figure 1, an overhead wire robot live working device of the present invention includes a lateral movement mechanism, a longitudinal movement mechanism, a lifting mechanism, a rotating joint, a telescopic mechanism and an end mechanism, specifically:

As shown in FIG. 2, the lateral movement mechanism includes a lateral movement motor, a lateral movement slider, a lateral movement screw and a lateral movement guide rail, the lateral movement motor is arranged in the lateral movement guide rail, and the The traverse screw rod is arranged on the traverse motor and the traverse screw rod is arranged along the length direction of the traverse guide rail, and the traverse slider is movably arranged on the traverse screw rod;

Longitudinal movement mechanism, the longitudinal movement mechanism includes a longitudinal movement motor, a longitudinal movement slider, a longitudinal movement screw rod and a longitudinal movement guide rail, the longitudinal movement motor is arranged on the transverse movement slider, and the longitudinal movement motor is arranged on the In the longitudinal movement guide rail, the longitudinal movement screw rod is arranged on the longitudinal movement motor and the longitudinal movement screw rod is arranged along the length direction of the longitudinal movement guide rail, and the longitudinal movement sliding block can be moved back and forth. on the longitudinal movement screw rod, the longitudinal movement guide rail is fixed on the longitudinal movement slider;

As shown in Figure 3, the lifting mechanism includes a lifting motor, a lifting screw, a lifting slider, a sliding sleeve, and a guide column. The lifting screw is arranged on the lifting motor, and the lifting slider can be vertically The movable is arranged on the lifting screw, the sliding sleeve is arranged on the lifting slider, the guide column is movably arranged in the sliding sleeve, and the bottom of the guide column is arranged in the longitudinal direction. on the rail;

A rotating joint, the rotating joint includes a mounting frame and a swinging joint motor, the mounting frame is L-shaped and includes a horizontal plate and a vertical plate, the lifting motor is arranged below the horizontal plate, and the swinging joint motor is arranged on the Above the horizontal plate, the vertical plate has a through hole, and the shaft of the swing joint motor is arranged through the through hole;

As shown in FIG. 4, the telescopic mechanism includes a telescopic motor, a telescopic screw rod, a telescopic slider and a telescopic guide rail, the telescopic motor is arranged in the telescopic guide rail, and the telescopic screw rod is arranged in the telescopic The motor and the telescopic screw rod are arranged along the length direction of the longitudinal guide rail, the telescopic slider is movably arranged on the telescopic screw rod, the telescopic slider has a shaft hole for a rotating joint, and the swing joint The shaft of the motor is arranged on the telescopic slider through the shaft hole of the rotating joint;

The end mechanism, which is an actuator, is used to perform specific tasks, and the end mechanism is detachable.

The above-mentioned lateral movement mechanism can move the lateral movement slider left and right through the rotation of the lateral movement motor, thereby driving the longitudinal movement mechanism connected to the lateral movement slider to move left and right; the longitudinal movement motor of the longitudinal movement mechanism rotates, and the vertical movement The moving slider moves back and forth, thereby driving the lifting mechanism to move forward and backward; the lifting motor of the lifting mechanism rotates, and the lifting slider moves up and down, thereby driving the sliding sleeve to move up and down on the guide column; the swing joint motor on the top of the lifting mechanism rotates, which can drive the telescopic mechanism Rotation; provide translational movement along the horizontal and vertical directions of the overhead wire and translational movement along the horizontal direction of the overhead wire for the entire operation device, these two translational movements can ensure that the operation device is suitable for single-split conductors, horizontal two-split conductors, and vertical two-split conductors Or a variety of job tasks for four-split conductors.

At the same time, the above-mentioned telescopic mechanism, the rotation of the telescopic motor, the telescopic slider moves in the direction of the screw rod, thereby driving the entire telescopic mechanism to move in the direction of the screw rod.

Among them, the swinging joint motor is arranged on the top of the lifting mechanism, and the shaft of the swinging joint motor is arranged on the telescopic sliding block of the telescopic mechanism through the shaft hole of the rotating joint, which is used for the rotational movement of the entire telescopic mechanism relative to the lifting mechanism, and the rotational movement can be relatively large. The position and posture of the end mechanism relative to the overhead wire are adjusted in a wide range, which ensures the operation task requirements of the entire operation device in the environment of single-split wire, vertical two-split wire, horizontal two-split wire and four-split wire environment; The sliding block is used to provide the translational motion of the telescopic mechanism relative to the lifting mechanism. The translational motion and the rotational motion can ensure that the working device can switch positions arbitrarily between different split wires and complete various tasks.

Specifically, there will be a strong magnetic field distribution around the overhead high-voltage wire. When the rotating joint working arm is close to the high-voltage wire, an induced current will inevitably be generated due to the movement of the cutting magnetic field line. This working device adds a telescopic arm ( Telescopic mechanism), the robot approaches the high-voltage wire through the telescopic arm to reduce the generation of induced current.

In one embodiment, the end mechanism is detachably arranged at one end of the telescopic guide rail away from the swing joint motor; the end mechanism refers to the actuator installed when the working device performs a specific task, and the gripper is shown in FIG. 1 and FIG. 4 , It can be replaced. If it is to be used for screwing the anti-vibration hammer bolt, it can be replaced with a sleeve; of course, the present invention is not limited to the end mechanism being a gripper or a sleeve, but can also be other actuators, which will not be repeated here.

In one embodiment, when the above-mentioned live working device for an overhead wire robot is applied to a live working method for an overhead wire robot, the present embodiment provides a live working method for an overhead wire robot, comprising the following steps:

S01: The overhead wire robot uses the vision sensor set on it to locate the overhead wire to obtain the position of the overhead wire;

The specific steps are:

S011: Install two RGB cameras on the overhead wire robot, and locate the relative position of the overhead wire and the overhead wire robot through the binocular ranging principle of the two RGB cameras; the binocular ranging principle of the two RGB cameras is to simulate human eye parallax By analyzing the imaging differences of two images of the same target at different angles, and using the principle of triangulation, the three-dimensional information of the target in the physical world is determined.

S012: As shown in Figure 5, suppose that o ₁ and o ₂ are the optical centers of the left and right cameras, respectively, and a point P is set in the space, and u ₁ and u ₂ are the images of point P on the left and right RGB camera photoreceptors, respectively. The distance from the point to the boundary of one side of the photoreceptor can be obtained according to the principle of triangulation:

In the formula, f is the focal length of the camera, T is the center distance between the two cameras, and z _c is the vertical distance from point P to the camera

The distance z _c can be obtained after deriving from equation (1):

S02: According to the position of the overhead wire, the overhead wire robot uses the rapidly expanding random tree RRT to plan the path of the working device on the overhead wire robot;

When the robot is working, the working device is easy to collide with the wire, so a path planning algorithm needs to be used to avoid the collision between the working arm and the wire. This method adopts the RRT (Rapidly-Exploring RandomTree) algorithm.

The fast search random tree algorithm can be used to solve the high-dimensional space path planning problem with complex constraints. As a path search method, its main advantages are strong scalability, probabilistic completeness, and easy implementation. Its main disadvantage is that it is calculated under complex maps. The amount is large and the convergence rate is slow. For the environment where the overhead wire robot is located, the main obstacle is the wire, and the working space of the robot is relatively simple, so the fast search random tree algorithm can better meet the needs of the overhead wire robot work task.

The fast search random tree is an algorithm for path search through random sampling in an incremental manner. In the space, the random collection method is used to collect the waypoints continuously, and then the child nodes are expanded with a fixed step size, thereby generating an expanded tree until the child nodes reach the work target task point.

The specific steps are:

S021: Obtain the current coordinates of the input robot as a root node, and send the root node to the control system of the overhead wire robot;

Specifically, the lateral movement motor of the lateral movement mechanism, the longitudinal movement motor of the longitudinal movement mechanism, the lifting motor of the lifting mechanism, the swing joint motor of the rotary joint, and the telescopic motor of the telescopic mechanism are all connected with matching encoders. The encoder can obtain the activity or rotation angle of each motor to obtain the current position of each mechanism of the working device, and obtain the current posture of the working device from the position of each mechanism. The current posture needs to be sent to the control system of the overhead wire robot as the root node.

S022: The control system of the overhead wire robot generates random points inside the free space in the working space of the working device;

In this step, the workspace refers to a set of spatial points that can be reached by the movement of the end mechanism of the working device, and these random points are generated by the control system of the robot.

S023: Repeatedly iteratively traverses all child nodes of the random tree formed by the random points and searches for the nearest child nodes;

S024: Calculate the distance between all child nodes and the current random node, and define the node with the shortest distance as x _near ;

S025: Generate a new node with a certain step size in the direction of x _near and the generated random point;

S026: Judging the distance between the new node and the target node (the point to be reached by the end mechanism of the operating device), if the distance is less than the given distance requirement, it means that the corresponding planned path has been searched, otherwise the new node is used instead of the root node to continue the current cycle ( S022～S026), until a path that meets the conditions is found.

S03: As shown in Figure 6, the overhead wire robot, that is, the robot platform, moves toward the overhead wire according to the path planning, and uses the inertial measurement unit set on it to compensate the motion offset of the working device, and controls the working device to complete the operation. The device includes: a lateral movement mechanism, a longitudinal movement mechanism, a lifting mechanism, a rotary joint, a telescopic mechanism and an end mechanism.

Since the overhead wire robot will inevitably be affected by the environment during the line inspection process, the overhead wire robot will have a rocking motion. In addition, due to the end mechanism of the working device, it needs to complete a variety of different tasks, such as clamping the wire, detecting the wire, pushing the wire Anti-vibration hammers, etc., the terminal of the device may be equipped with an end mechanism with a large mass, and the center of gravity of the robot will be offset when the working device is working. At this time, if the path planning is performed in real time for many times, the calculation amount and planning time will be greatly increased, and the real-time purpose cannot be achieved. At the same time, the main path planning method can only avoid obstacles in the static environment. Therefore, in this method, an inertial measurement unit (IMU) is installed on the robot platform to collect motion offset, compensate the motion offset of the end of the working device, and control the working device to complete the operation, thereby improving the working efficiency of the overhead line robot.

Among them, the rocking motion of the overhead line robot is mainly translational motion around and along the wire.

The specific steps are:

The overhead wire robot moves towards the overhead wire according to the path planning, and uses the inertial measurement unit set on it to collect the offset of the robot;

The robot can send signals to the lateral movement mechanism, the longitudinal movement mechanism and the lifting mechanism of the working device, and the movement of the lateral movement mechanism, the longitudinal movement mechanism and the lifting mechanism compensates the offset parallel to the wire.

This application designs an operation method and device suitable for the overhead wire environment. First, the overhead wire robot uses a vision sensor to locate the overhead wire; in order to avoid the collision between the working device and the high-voltage wire, a Rapidly-Exploring Random Tree (RRT) is used. ) to carry out path planning; in order to improve the operation accuracy, the inertial measurement unit IMU (Inertial Measurement Unit) is used to compensate the motion offset, and the operation device is controlled to complete the operation.

The beneficial effects of this embodiment:

(1) The present invention improves the inspection efficiency of the overhead wire robot;

(2) The present invention improves the safety of the overhead wire robot during operation;

(3) The present invention has good applicability.

Similar parts between the embodiments provided in the present application may be referred to each other. The specific embodiments provided above are just a few examples under the general concept of the present application, and do not constitute a limitation on the protection scope of the present application. For those skilled in the art, any other implementations expanded according to the solution of the present application without creative work fall within the protection scope of the present application.

Claims (9)

1. an overhead wire robot live working method, is characterized in that, described working method comprises the following steps: S01: The overhead wire robot uses the vision sensor set on it to locate the overhead wire to obtain the position of the overhead wire; S02: According to the position of the overhead wire, the overhead wire robot uses the rapidly expanding random tree RRT to plan the path of the working device on the overhead wire robot, which specifically includes the following steps: S021: Obtain the current coordinates of the input robot as a root node, and send the root node to the control system of the overhead wire robot; S022: The control system of the overhead wire robot generates random points inside the free space in the working space of the working device; S023: Repeatedly iteratively traverses all child nodes of the random tree formed by the random points and searches for the nearest child nodes; S024: Calculate the distance between all child nodes and the current random node, and define the node with the shortest distance as

; S025: In

Generate a new node with a certain step size in the direction of the generated random point; S026: Judging the distance between the new node and the target node, if the distance is less than the given distance requirement, it means that the corresponding planned path has been searched, otherwise the new node is used instead of the root node to cycle through S022 to S026 until a path that meets the conditions is found; S03: The overhead wire robot advances towards the overhead wire according to the path planning, and uses the inertial measurement unit set on it to compensate the motion offset of the operation device, and controls the operation device to complete the operation, wherein the operation device includes: a lateral movement mechanism, a longitudinal movement mechanism, Lifting mechanism, rotary joint, telescopic mechanism and end mechanism. 2. The overhead wire robot live working method according to claim 1, wherein the overhead wire robot utilizes the vision sensor provided on it to locate the overhead wire to obtain the position of the overhead wire, comprising: Install two RGB cameras on the overhead wire robot, and locate the relative position of the overhead wire and the overhead wire robot through the binocular ranging principle of the two RGB cameras; Assumption

,

are the optical centers of the left and right cameras respectively, suppose there is a point P in the space,

,

are the distance from the imaging point of point P on the left and right RGB camera photoreceptors to the boundary of one side of the photoreceptor, then according to the principle of triangulation, it can be obtained:

(1) In the formula,

is the focal length of the camera,

is the center distance between the two cameras,

is the vertical distance from point P to the camera After deriving from (1), the distance can be obtained

:

(2). 3. The live working method of an overhead wire robot according to claim 1, wherein the overhead wire robot advances toward the overhead wire according to the path planning, and uses the inertial measurement unit provided on it to compensate the motion offset of the operation device to control the operation. The device completes the job, including: The overhead wire robot moves towards the overhead wire according to the path planning, and uses the inertial measurement unit set on it to collect the offset of the robot; The robot can send signals to the lateral movement mechanism, the longitudinal movement mechanism and the lifting mechanism of the working device, and the movement of the lateral movement mechanism, the longitudinal movement mechanism and the lifting mechanism compensates the offset parallel to the wire. 4. An overhead wire robot live working device, the device being applied to the method of claims 1-3, wherein the working device comprises: A lateral movement mechanism, the lateral movement mechanism includes a traverse motor, a traverse slider and a traverse screw, the traverse screw is arranged on the traverse motor, and the traverse slider can be moved left and right. on the traverse screw; Longitudinal movement mechanism, the longitudinal movement mechanism includes a longitudinal movement motor, a longitudinal movement slider and a longitudinal movement screw, the longitudinal movement motor is arranged on the transverse movement slider, and the longitudinal movement screw rod is arranged on the longitudinal movement On the moving motor, the vertical moving slider is arranged on the vertical moving screw so that it can move back and forth; a lifting mechanism, the lifting mechanism is arranged on the longitudinal sliding block; a rotating joint, the rotating joint is arranged at one end of the lifting mechanism away from the longitudinal sliding block; A telescopic mechanism, the telescopic mechanism includes a telescopic motor, a telescopic screw rod and a telescopic slider, the telescopic screw rod is connected to the telescopic motor, and the telescopic slider is movably arranged on the telescopic screw rod, so the telescopic slider is connected with the rotary joint; The end mechanism, which is an actuator, is used to perform specific tasks, and the end mechanism is detachable. 5. The overhead wire robot live working device according to claim 4, characterized in that, The lateral movement mechanism further includes a lateral movement guide rail, the lateral movement motor is arranged in the lateral movement guide rail, the lateral movement screw rod is arranged on the lateral movement motor, and the lateral movement screw rod is arranged along the direction of the lateral movement guide rail. length direction setting; The longitudinal movement mechanism further includes a longitudinal movement guide rail, the longitudinal movement motor is arranged in the longitudinal movement guide rail, the longitudinal movement screw rod is arranged on the longitudinal movement motor, and the longitudinal movement screw rod is arranged along the longitudinal movement guide rail. The longitudinal movement guide rail is fixed on the longitudinal movement slider. 6. The overhead wire robot live working device according to claim 4 or 5, wherein the lifting mechanism comprises a lifting motor, a lifting screw, a lifting slider, a sliding sleeve, and a guide column, The lifting screw is arranged on the lifting motor, the lifting sliding block is vertically movable on the lifting screw, the sliding sleeve is arranged on the lifting sliding block, and the guide column is movable. The movable one is arranged in the sliding sleeve, and the bottom of the guide column is arranged on the longitudinal guide rail; The rotating joint is arranged above the lifting motor. 7 . The live working device of an overhead wire robot according to claim 6 , wherein the rotating joint comprises a mounting frame and a swing joint motor, 8 . The mounting frame is L-shaped and includes a horizontal plate and a vertical plate, the lifting motor is arranged below the horizontal plate, the swing joint motor is arranged above the horizontal plate, and the vertical plate has a through hole, The shaft of the swing joint motor is arranged through the through hole; The shaft of the swing joint motor is connected with the telescopic sliding block of the telescopic mechanism to drive the telescopic mechanism to rotate. 8 . The live working device of an overhead wire robot according to claim 7 , wherein the telescopic mechanism further comprises a telescopic guide rail, the telescopic motor is arranged in the telescopic guide rail, and the telescopic screw rod is arranged on the telescopic guide rail. 9 . on the motor and the telescopic screw rod is arranged along the length direction of the longitudinal guide rail; The telescopic sliding block is provided with a rotating joint shaft hole, and the shaft of the swing joint motor is arranged on the telescopic sliding block through the rotating joint shaft hole. 9 . The live working device for an overhead wire robot according to claim 8 , wherein the end mechanism is detachably arranged at one end of the telescopic guide rail away from the swing joint motor; 9 . The end mechanism is a clamping jaw and a sleeve.

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