CN106737548A - A kind of hot line robot operation monitoring system - Google Patents
A kind of hot line robot operation monitoring system Download PDFInfo
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- CN106737548A CN106737548A CN201611129713.3A CN201611129713A CN106737548A CN 106737548 A CN106737548 A CN 106737548A CN 201611129713 A CN201611129713 A CN 201611129713A CN 106737548 A CN106737548 A CN 106737548A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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Abstract
The present invention proposes a kind of hot line robot operation monitoring system, and monitored object is first mechanical arm, second mechanical arm, auxiliary mechanical arm, battery and working scene；Monitoring device in the monitoring system is Temperature Humidity Sensor, pressure sensor, current collector, voltage collector, data collecting card, full-view camera, binocular camera, depth camera；The data that Temperature Humidity Sensor, pressure sensor, current collector and voltage collector are gathered are compared with corresponding safe range value, if the data of current collection are in corresponding safe range, then think that powered robot manipulating task is normal, if the data of current collection send corresponding warning information not in corresponding safe range.By the present invention, operating personnel can ensure the safety of operating personnel by monitoring system remote monitoring machine people's livewire work.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of monitoring operation system of hot line maintenance robot
System.
Background technology
At present, China's high-voltage hot-line work is mainly manual work.Even if having there is the robot for replacing manual work,
Its security can not be protected, it is still desirable to manually its operation is monitored.Because transmission power line robot is typically adopted
With work high above the ground, operating personnel cannot timely and effectively have found the event occurred during robot manipulating task by visual observation on the ground
Barrier.China's hot line robot is started late, currently without the monitoring scheme for hot line maintenance robot, electricity
The safety of net, robot and operating personnel can not be protected.To avoid or reducing the security incident of robot manipulating task initiation, need
To be directed to the special monitoring system of hot line maintenance Robot Design.
The content of the invention
Present invention solves the technical problem that be, operating personnel can by monitoring system remote monitoring machine people's livewire work,
The safety of operating personnel is ensured.
In order to solve the above-mentioned technical problem, the present invention provides a kind of hot line robot operation monitoring system, including band
Electric Work robot and monitoring system；The hot line robot includes aerial lift device with insulated arm, is mounted on aerial lift device with insulated arm
Robot platform, the mechanical arm on robot platform, data collecting system and data processing and control system；It is described
Mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes binocular camera, depth camera
Head and full-view camera, binocular camera is equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm；It is described
First mechanical arm, second mechanical arm and auxiliary mechanical arm are multiple-degree-of-freedom mechanism, and each joint has in multiple-degree-of-freedom mechanism
There are corresponding orthogonal rotary encoder and servo drive motor, orthogonal rotary encoder is used to gather the angle number in each joint
According to servo drive motor is used to control the motion in each joint；The data collecting system includes being arranged on robot platform
Video camera, video camera be used for collection machinery arm working scene image, and by the working scene image be sent to data processing and
Control system；The data processing and control system generate 3D dummy activities scene or planning according to the working scene image
Go out mechanical arm space path, including the first industrial computer, the second industrial computer；The monitored object of the monitoring system is：First machinery
Arm, second mechanical arm, auxiliary mechanical arm, battery and working scene；Monitoring device in the monitoring system is：Humiture
Sensor, pressure sensor, current collector, voltage collector, data collecting card, full-view camera, binocular camera, depth
Camera；Temperature Humidity Sensor is placed on robot platform, for Collecting operation ambient temperature and humidity；Pressure sensor is arranged on each
Mechanical arm tail end, for collection machinery arm and the contact force of environment；Voltage collector is electric with the servo-drive in each joint of mechanical arm
Machine is connected, the size of the electric current for gathering servo drive motor；Data collecting card is used for every gathered data and is converted to data
The form that PIAPACS is recognized；The image that full-view camera, binocular camera and depth camera shoot is passed to
Display shows；Human-computer interaction device in the monitoring system is：Second industrial computer, display.
Further, first industrial computer is by Temperature Humidity Sensor, pressure sensor, current collector and voltage collector
The data of collection are compared with corresponding safe range value, if the data of current collection are in corresponding safe range,
Think that powered robot manipulating task is normal, if the data of current collection are not in corresponding safe range, to the second industrial computer
Send corresponding warning information；Corresponding warning information is shown that over the display, operating personnel are according to display by the second industrial computer
The warning information that device shows, mechanical arm action command is made by the second industrial computer, and the second industrial computer sends to the first industrial computer
Mechanical arm action command, the first industrial computer is acted according to mechanical arm action command control machinery arm.
Further, first industrial computer is by Temperature Humidity Sensor, pressure sensor, current collector and voltage collector
The data of collection are compared with corresponding safe range value, if the data of current collection are in corresponding safe range,
Think that powered robot manipulating task is normal, if the data of current collection are not in corresponding safe range, to the second industrial computer
Send corresponding warning information；Second industrial computer shows over the display corresponding warning information, meanwhile, the first industrial computer root
Acted according to warning information Type Control mechanical arm.
Further, view data is sent to the second industrial computer by full-view camera, binocular camera, depth camera, the
Two industrial computers show over the display view data, the picture control robot manipulating task mistake that operating personnel show according to display
Journey, when found the abnormal situation, operating personnel make mechanical arm action command by the second industrial computer, and the second industrial computer is to first
Industrial computer sends mechanical arm action command, and the first industrial computer is acted according to mechanical arm action command control machinery arm.
Further, the second industrial computer Built-in Image processor and livewire work action sequence storehouse, the livewire work action
The corresponding action sequence data of every livewire work are previously stored with sequence library；The working scene image of the camera acquisition
The second industrial computer is sent to, between mechanical arm that image processor is obtained after processing working scene image and manipulating object
Relative position relation, relative position relation described in the second industrial computer and the planning machine of the action sequence corresponding to specific livewire work
The space path of tool arm, and give the first industrial computer by the space path data is activation of the mechanical arm；First industrial computer is according to institute
State the space path control machinery arm action of mechanical arm.
Further, control room, first industrial computer, the second industrial computer and display screen are provided with the aerial lift device with insulated arm
It is arranged in control room, main manipulator is additionally provided with control room, main manipulator is principal and subordinate's operative relationship with mechanical arm, by changing
Become the gesture stability manipulator motion of main manipulator；The working scene image of the camera acquisition is sent to the second industrial computer,
The 3D dummy activity scenes that image processor is obtained after processing working scene image, and send display to show.
Further, the mechanical arm or main manipulator are mechanism in six degree of freedom, including pedestal, rotate direction of principal axis and pedestal
The vertical waist joint of plane, the shoulder joint being connected with waist joint, the large arm being connected with shoulder joint, the elbow joint being connected with large arm,
The forearm being connected with elbow joint, the wrist joint being connected with forearm, wrist joint is made up of three rotary joints, and respectively wrist pitching is closed
Section, wrist swinging joint and wrist rotary joint；Each joint is respectively provided with corresponding orthogonal rotary coding in the mechanism in six degree of freedom
Device and servo drive motor, orthogonal rotary encoder are used to gather the angle-data in each joint, and servo drive motor is used to control
Make the motion in each joint；First industrial computer according to the desired value of each joint angles of mechanical arm, by controlling servo drive motor control
System presses each joint motions of mechanical arm.
Compared with prior art, its remarkable advantage is the present invention, the monitoring operation system of hot line robot of the present invention
The system monitoring data such as Collecting operation live video image data, robot its data simultaneously, can be from multiple angle monitoring machines
People's operation；When robot manipulating task breaks down, operation monitoring system can find failure and according to failure according to monitoring data
Corresponding emergency measure is taken, operating personnel can also in advance have found that it is likely that the failure of appearance according to video and robot data.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention；
Fig. 2 is the block diagram of system of aerial lift device with insulated arm in the present invention；
Fig. 3 is the structural representation of robot platform in the present invention；
Fig. 4 is the structural representation of mechanical arm in the present invention；
Fig. 5 is hot line robot operation monitoring system composition schematic diagram.
In figure, 1 is aerial lift device with insulated arm, 2 is control room, 3 is telescopic arm, 4 is robot platform, and 46 is insulator, 43 are
First mechanical arm, 44 be second mechanical arm, 42 be auxiliary mechanical arm, 48 be the first industrial computer, 45 be binocular camera, 41 be complete
Scape camera, 410 be depth camera, 49 be battery, 47 be tool box special, 431 be pedestal, 432 be waist joint, 433
For shoulder joint, 434 be large arm, 435 be elbow joint, 436 be forearm, 437 be wrist joint.
Specific embodiment
It is readily appreciated that, according to technical scheme, in the case where connotation of the invention is not changed, this area
Those skilled in the art can imagine the numerous embodiments of hot line robot operation monitoring system of the present invention.Therefore,
Detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as of the invention
Whole is considered as limitation or restriction to technical solution of the present invention.
With reference to accompanying drawing, the hot line robot that monitoring system is applied includes aerial lift device with insulated arm 1, control room 2, telescopic arm
3rd, robot platform 4.Wherein, control room 2 and telescopic arm 3 are set up on aerial lift device with insulated arm 1, the end of telescopic arm 3 connection robot puts down
Platform 4, is communicated or wireless communication between robot platform 4 and control room 2 using fiber optic Ethernet.
Aerial lift device with insulated arm 1 is available for operating personnel to drive, so as to robot platform 4 is transported into operation field.Insulation bucket arm
Supporting leg is housed, supporting leg can launch on car 1, so as to aerial lift device with insulated arm 1 and ground are consolidated into support.On aerial lift device with insulated arm 1
Equipped with generator, so as to be powered to control room 2 and telescopic arm 3.
Telescopic arm 3 is provided with along the drive device of telescopic direction, and operating personnel can be by controlling drive device, so as to by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made up of insulating materials, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have and be replaced by scissor-type lifting mechanism or other mechanisms.
The second industrial computer, display screen, the first main manipulator, the second main manipulator, auxiliary main operation are provided with control room 2
Hand and communication module etc..
Robot platform 4 includes insulator 46, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, the first work
Control machine 48, binocular camera 45, full-view camera 41, depth camera 410, battery 49, tool box special 47, communication mould
Block.
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms is insulated with robot platform 4.
Battery 49 is the first industrial computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As first 41, binocular camera 45, depth camera 410, communication module are powered.
Used as a kind of implementation method, binocular camera 45 1 has three, is separately mounted to first mechanical arm 43, the second machine
On the wrist joint 437 of tool arm 44 and auxiliary mechanical arm 42, it is responsible for the view data of Collecting operation scene, and view data is sent
To the second industrial computer.Binocular camera 45 is made up of two parallel industrial cameras of optical axis, and the distance between parallel optical axis are fixed.
Depth camera 410 is arranged on robot platform 4 just to the side of working scene, is responsible for the scape of Collecting operation scene
Deep data, the second industrial computer is sent to by depth of field data.
Full-view camera 41 is arranged on the top of robot platform 4 by support, is responsible for the panorama sketch of Collecting operation scene
As data, view data is sent to the second industrial computer, and show that operating personnel can be supervised by panoramic picture over the display
Control working scene.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is provided with instrument quick change
Device.Mechanical arm obtains power tool according in the type of job task to tool box special 47 using instrument fast replacing device.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range in control room 2
The operation device of operating robotic arm, they constitute principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relation.Mechanical arm and main manipulator have identical structure, and simply main manipulator dimensions is smaller than mechanical arm, in order to grasp
Make human users.Mechanical arm and main manipulator possess six joints, and there are photoelectric encoder acquisition angles data in each joint, respectively
The angle-data in six joints is sent to the second industrial computer by the microcontroller of main manipulator by serial ports.
Used as a kind of implementation method, the mechanical arm is mechanism in six degree of freedom, including pedestal 431, rotates direction of principal axis and base
The vertical waist joint 432 of seat plane, the shoulder joint 433 being connected with waist joint 432, the large arm 434 being connected with shoulder joint 433, with
The elbow joint 435 of the connection of large arm 434, the forearm 436 being connected with elbow joint 435, the wrist joint 437 being connected with forearm 436, wrist is closed
Section 437 is made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；The six degree of freedom
Each joint is respectively provided with corresponding orthogonal rotary encoder 31 and servo drive motor in mechanism, and orthogonal rotary encoder 31 is used for
The angle-data in each joint is gathered, servo drive motor is used to control the motion in each joint；First industrial computer is according to the machine
The space path of tool arm calculates the movement angle in each joint, and control servo drive motor is according to the movement angle control machinery
Each joint motions of arm.
Used as a kind of implementation method, the data transfer between robot platform 4 and control room 2 passes through optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is used to realize light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, so as to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, the optical signal that fiber optical transceiver is used to realize in optical fiber with
The mutual conversion of the electric signal in twisted-pair feeder, so as to realize the electrical isolation of robot platform 4 and control room 2 in communication.
Used as a kind of implementation method, the second industrial computer can complete following task：
Set up action sequence storehouse.It is in advance acting sequences by every livewire work Task-decomposing, composition action sequence storehouse is deposited
Storage is planned in the second industrial computer for robotic arm path.
Set up manipulating object model library.The threedimensional model of the manipulating object involved by pre-production items livewire work task
And Model of Target Recognition, for example, system in kind according to devices such as power tower bar, electric wire, strain insulator, isolation switch, arresters
Make threedimensional model and Model of Target Recognition, for hot line robot automatic identification manipulating object, build working scene three-dimensional
Virtual scene.
Set up mechanical arm and specific purpose tool model library.The threedimensional model and target of pre-production mechanical arm and specific purpose tool are known
Other model, for example, spanner etc., working scene three-dimensional virtual scene is built for hot line robot automatically, plans mechanical arm
Space path.
Obtain view data.Obtain the data message of panoramic picture, depth image and binocular image.
Recognized according to view data and tracking operative goals.
Angle, angular speed and the angular acceleration data of main manipulator are obtained, angle, angular speed and the angle for obtaining mechanical arm add
Speed data.
Dependent image data is processed and is calculated, obtained mechanical arm position, obtained the position of manipulating object, obtained machine
Relative position between tool arm and manipulating object, and the space path of mechanical arm is planned according to relative position and job task.
Manipulating object three-dimensional scenic is built according to view data, according to arm angle information and manipulating object three-dimensional scenic
The relative position of mechanical arm and manipulating object is obtained, and the space path of mechanical arm is planned according to relative position and job task.
Dependent image data is processed and is calculated, built 3D dummy activity scenes, send display to show, operating personnel
According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activities scene is comprehensive and depth image is believed
Breath and binocular image information, to the phase between robotic arm and manipulating object, between mechanical arm, between manipulating object and operating environment
Judgement to position is more accurate, and is not in visual dead angle.Therefore, operating personnel carry out operation by 3D dummy activities scene
Monitoring, performance accuracy is higher, can prevent collision from occurring, and improves security.Meanwhile, 3D dummy activity scenes are displayed in control
On display in room 2, away from mechanical arm operation field, the personal safety of people operating personnel is improve.
Used as a kind of implementation method, the first industrial computer can complete following task：
The angle information in each joint of main manipulator sent according to the second industrial computer, the motion in each joint of control machinery arm.
The space path data of the mechanical arm of the second industrial computer transmission are obtained, according to the action sequence of job task, is resolved
Go out the angle-data amount of exercise in each joint of mechanical arm, and each joint motions of control machinery arm.
In the present invention, first mechanical arm and second mechanical arm cooperate, can be with the sequence of operation of apish two hands
Complete livewire work.In view of flexibility, a strong auxiliary mechanical arm can be further added by, now, auxiliary mechanical arm is specially taken charge of
The big actions of power such as device clamping, first mechanical arm and second mechanical arm then carry out related service operation.
The combination of the different task completed according to the second industrial computer and the first industrial computer, hot line robot of the present invention was both
Can remotely shake operation to complete livewire work by operating personnel, autonomous livewire work can be carried out again.Carry out it is powered
Before operation, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved near manipulating object.
It is virtual according to number of images and depth image structure 3D by the second industrial computer if selection manually remotely shakes operation
Working scene simultaneously send display to show, operating personnel is manual by main operation by 3D dummy activity scene monitoring operating process
The action of mechanical arm processed, to complete livewire work.In the process, after operating personnel changes main manipulator attitude, main manipulator
In the photoelectric encoder in each joint gather each joint angles, the microcontroller of each main manipulator is by serial ports by the angle in each joint
Degrees of data is sent to the second industrial computer.Second industrial computer is using the angle-data in each joint of main manipulator as each joint angle of mechanical arm
The desired value of degree is sent to the first industrial computer, and the first industrial computer is respectively closed according to angle desired value by servomotor controller tool arm
The motion of section, has completed livewire work.
If selection AUTONOMOUS TASK, calculated according to number of images and depth image by the second industrial computer and obtain manipulating object
Relative position relation and mechanical arm between, then carries out mechanical arm space path according to the action sequence corresponding to job task
Planning, and space path is sent to the first industrial computer, the first industrial computer calculates the angle that each joint of mechanical arm needs to rotate
Data, by the motion in each joint of servomotor controller tool arm, have completed band as the desired value of each joint angles of mechanical arm
Electric operation.
In the present invention, monitored object includes：First mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42 and storage
Battery；
In the present invention, monitoring data obtains equipment and includes：Temperature Humidity Sensor, pressure sensor, current collector, electricity
Pressure collector, full-view camera 41, binocular camera 45, depth camera 410, data collecting card；
In the present invention, monitoring data collecting device includes：First industrial computer；
Human-computer interaction device includes：Second industrial computer, display.
Temperature Humidity Sensor is arranged on robot platform 4, for the temperature and humidity of Collecting operation environment.
Pressure sensor is arranged on the end of wrist joint 437 of first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
End, for collection machinery arm and the contact force of environment.
Current collector drives with the servo in each joint of first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Dynamic motor is connected, the size of the electric current for gathering motor.
Voltage collector is connected with the both positive and negative polarity of battery, the size of the voltage for gathering battery.
Data collecting card is arranged on the first industrial computer 48, is adopted for obtaining Temperature Humidity Sensor, pressure sensor, electric current
Storage and the gathered data of voltage collector collection, and convert the data into the data form that computer is easily processed.
First industrial computer compares the data of each sensor with the data of its safe range, if currently collecting certain
The data of one sensor are not processed then in safe range, if currently collecting the data of a certain sensor in safe range
Outward, then the false command of corresponding data is sent to the second industrial computer.
Specific failure modes and measure：
Environment temperature is too low：First industrial computer 48 obtains the temperature data of Temperature Humidity Sensor collection, by the temperature data
Value be compared with the size of the value of the safe range of temperature data of the storage in the first industrial computer 48, if the temperature data
Value less than safe range value, then occur the too low failure of environment temperature.First industrial computer 48 is by the too low failure of environment temperature
Instruction is sent to the second industrial computer, and the second industrial computer shows on a display screen the too low fault message of environment temperature.Operator
Member's full platform of input is stopped instruction, and the instruction is sent to the first industrial computer 48 by the second industrial computer, the first industrial computer 48 according to
Secondary control first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, full-view camera 41, binocular camera 45, depth are taken the photograph
As first 410 closings.
Environment temperature is too high：First industrial computer 48 obtains the temperature data of Temperature Humidity Sensor collection, by the temperature data
Value be compared with the size of the value of the safe range of temperature data of the storage in the first industrial computer 48, if the temperature data
Value more than safe range value, then occur the too high failure of environment temperature.First industrial computer 48 is by the too high failure of environment temperature
Instruction is sent to the second industrial computer, and the second industrial computer shows on a display screen the too high fault message of environment temperature.Operator
Member's full platform of input is stopped instruction, and the instruction is sent to the first industrial computer 48 by the second industrial computer, the first industrial computer 48 according to
Secondary control first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, full-view camera 41, binocular camera 45, depth are taken the photograph
As first 410 closings.
Ambient humidity is too high：First industrial computer 48 obtains the humidity data of Temperature Humidity Sensor collection, by the humidity data
Value be compared with the size of the value of the safe range of humidity data of the storage in the first industrial computer 48, if the humidity data
Value more than safe range value, then occur the too high failure of ambient humidity.First industrial computer 48 is by the too high failure of ambient humidity
Instruction is sent to the second industrial computer, and the second industrial computer shows on a display screen the too high fault message of ambient humidity.Operator
Member's full platform of input is stopped instruction, and the instruction is sent to the first industrial computer 48 by the second industrial computer, the first industrial computer 48 according to
Secondary control first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, full-view camera 41, binocular camera 45, depth are taken the photograph
As first 410 closings.
Robot contact pressure is excessive：First industrial computer 48 obtains the pressure data of pressure sensor collection, by the pressure
The size of the value of the safe range of pressure data of the value of data with storage in the first industrial computer 48 is compared, if the pressure
Then there is robot contact pressure and cross major break down in the value of data more than the value of safe range.First industrial computer 48 connects mechanical arm
The excessive faulting instruction of touch pressure is sent to the second industrial computer, and the second industrial computer is by the excessive fault message of robot contact pressure
Display is on a display screen.Operating personnel's input mechanical arm is stopped instruction, if the second industrial computer is in utonomous working pattern, the
Two industrial computers will move out utonomous working pattern and the mechanical arm instruction that is stopped be sent into the first industrial computer 48, the first industrial computer
48 control first mechanical arms 43, second mechanical arm 44, auxiliary mechanical arm 42 are stopped.
Mechanical arm load excessive：First industrial computer 48 obtains the current data of current collector collection, by the current data
Value be compared with the size of the value of the safe range of current data of the storage in the first industrial computer 48, if the current data
Value more than safe range value, then occur mechanical arm load excessive failure.First industrial computer 48 is by mechanical arm load excessive
Faulting instruction is sent to the second industrial computer, and the second industrial computer shows on a display screen the fault message of mechanical arm load excessive.
Operating personnel's input mechanical arm is stopped instruction, if the second industrial computer is in utonomous working pattern, the second industrial computer will move out
The mechanical arm instruction that is stopped simultaneously is sent to the first industrial computer 48 by utonomous working pattern, the machinery of the control of the first industrial computer 48 first
Arm 43, second mechanical arm 44, auxiliary mechanical arm 42 are stopped.
Storage battery under-voltage：First industrial computer 48 obtains the voltage data of voltage collector collection, by the value of the voltage data
Size with the value of the safe range of voltage data of the storage in the first industrial computer 48 is compared, if the value of the voltage data
Less than the value of safe range, then there is storage battery under-voltage failure.First industrial computer 48 sends the faulting instruction of storage battery under-voltage
To the second industrial computer, the second industrial computer shows on a display screen the fault message of storage battery under-voltage.Operating personnel's input is complete flat
Platform is stopped instruction, and the instruction is sent to the first industrial computer 48 by the second industrial computer, and the first industrial computer 48 controls first successively
Mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, full-view camera 41, binocular camera 45, depth camera 410 are closed
Close.Operating personnel charge for battery.The course of work of the monitoring system is divided into automatic detection monitoring and artificial remote monitoring two
Individual part.
Automatic detection monitoring is followed the steps below：
Step 1, data collecting card collection Temperature Humidity Sensor, pressure sensor, current collector, voltage collector measurement
The data for obtaining；
Step 2, according to humidity sensor, pressure sensor, current collector, the respective nominal data of voltage collector
Table, the data conversion that the first industrial computer 48 collects step 1 into be easy to the mankind recognize data；
Step 3, the data that the first industrial computer 48 obtains step 2 are contrasted with safe range tables of data, if step 2 is obtained
Data exceed safety date sheet scope, the first industrial computer 48 will exceed safety date sheet scope data false command send
To the second industrial computer；
Step 4, the second industrial computer receives false command, and false command is shown on a display screen；
Step 5, operating personnel decide whether input emergent stopping instruction according to false command.
Artificial remote monitoring is followed the steps below：
View data is sent to the second industry control by step 1, full-view camera 41, binocular camera 45, depth camera 410
Machine；
Step 2, the second industrial computer shows on a display screen the view data in step 1.
Step 3, operating personnel have found the event being wherein likely to occur according to the picture control robot manipulating task process of display
Barrier, decides whether input emergent stopping instruction.
Claims (7)
1. a kind of hot line robot operation monitoring system, it is characterised in that including hot line robot and monitoring system；
The hot line robot includes aerial lift device with insulated arm, the robot platform on aerial lift device with insulated arm is mounted in, installed in machine
Mechanical arm on device people's platform, data collecting system and data processing and control system；
The mechanical arm include first mechanical arm, second mechanical arm and auxiliary mechanical arm, the video camera include binocular camera,
Depth camera and full-view camera, are equipped with binocular and take the photograph on the first mechanical arm, second mechanical arm and auxiliary mechanical arm
As head；The first mechanical arm, second mechanical arm and auxiliary mechanical arm are multiple-degree-of-freedom mechanism, in multiple-degree-of-freedom mechanism each
Joint is respectively provided with corresponding orthogonal rotary encoder and servo drive motor, and orthogonal rotary encoder is used to gather each joint
Angle-data, servo drive motor is used to control the motion in each joint；
The data collecting system includes the video camera being arranged on robot platform, and video camera is used for collection machinery arm operation
Scape image, and the working scene image is sent to data processing and control system；The data processing and control system root
3D dummy activities scene is generated according to the working scene image or cook up mechanical arm space path, including the first industrial computer,
Second industrial computer；
The monitored object of the monitoring system is：First mechanical arm, second mechanical arm, auxiliary mechanical arm, battery and operation
Scene；
Monitoring device in the monitoring system is：Temperature Humidity Sensor, pressure sensor, current collector, voltage collector,
Data collecting card, full-view camera, binocular camera, depth camera；Temperature Humidity Sensor is placed on robot platform, is used for
Collecting operation ambient temperature and humidity；Pressure sensor is arranged on each mechanical arm tail end, for collection machinery arm and the contact force of environment；
Voltage collector is connected with the servo drive motor in each joint of mechanical arm, the size of the electric current for gathering servo drive motor；
Data collecting card is used for every gathered data and is converted to the form that data processing and control system are recognized；It is full-view camera, double
The image that mesh camera and depth camera shoot passes to display and shows；
Human-computer interaction device in the monitoring system is：Second industrial computer, display.
2. hot line robot operation monitoring system as claimed in claim 1, it is characterised in that first industrial computer is by temperature
The data of humidity sensor, pressure sensor, current collector and voltage collector collection are carried out with corresponding safe range value
Compare, if the data of current collection are in corresponding safe range, then it is assumed that powered robot manipulating task is normal, if currently adopted
The data of collection then send corresponding warning information not in corresponding safe range to the second industrial computer；Second industrial computer is by phase
The warning information answered shows that over the display the warning information that operating personnel show according to display is done by the second industrial computer
Go out mechanical arm action command, the second industrial computer sends mechanical arm action command to the first industrial computer, and the first industrial computer is according to machinery
Arm action command control machinery arm is acted.
3. hot line robot operation monitoring system as claimed in claim 1, it is characterised in that first industrial computer is by temperature
The data of humidity sensor, pressure sensor, current collector and voltage collector collection are carried out with corresponding safe range value
Compare, if the data of current collection are in corresponding safe range, then it is assumed that powered robot manipulating task is normal, if currently adopted
The data of collection then send corresponding warning information not in corresponding safe range to the second industrial computer；Second industrial computer is by phase
The warning information answered shows over the display, meanwhile, the first industrial computer is acted according to warning information Type Control mechanical arm.
4. hot line robot operation monitoring system as claimed in claim 1, it is characterised in that full-view camera, binocular are taken the photograph
As view data is sent to the second industrial computer by head, depth camera, the second industrial computer shows over the display view data,
The picture control robot manipulating task process that operating personnel show according to display, when found the abnormal situation, operating personnel pass through
Second industrial computer makes mechanical arm action command, and the second industrial computer sends mechanical arm action command, the first work to the first industrial computer
Control machine is acted according to mechanical arm action command control machinery arm.
5. the electric Work robot operation monitoring system as described in Claims 1-4, it is characterised in that the built-in figure of the second industrial computer
As processor and livewire work action sequence storehouse,
The corresponding action sequence data of every livewire work are previously stored with the livewire work action sequence storehouse；
The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is carried out to working scene image
Relative position relation between the mechanical arm and manipulating object that are obtained after treatment, relative position relation and tool described in the second industrial computer
Action sequence corresponding to body livewire work plans the space path of mechanical arm, and the space path data of the mechanical arm are sent out
Give the first industrial computer；
First industrial computer is acted according to the space path control machinery arm of the mechanical arm.
6. the electric Work robot operation monitoring system as described in Claims 1-4, it is characterised in that on the aerial lift device with insulated arm
Control room is provided with, first industrial computer, the second industrial computer and display screen are arranged in control room, are additionally provided with control room
Main manipulator, main manipulator is principal and subordinate's operative relationship with mechanical arm, by the gesture stability manipulator motion for changing main manipulator；
The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is processed working scene image
The 3D dummy activity scenes for obtaining afterwards, and send display to show.
7. the electric Work robot operation monitoring system as described in claim 5 or 6, it is characterised in that the mechanical arm or
Main manipulator is mechanism in six degree of freedom, including pedestal, the rotation direction of principal axis waist joint vertical with base plane, is connected with waist joint
Shoulder joint, the large arm being connected with shoulder joint, the elbow joint being connected with large arm, the forearm being connected with elbow joint is connected with forearm
Wrist joint, wrist joint is made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；
Each joint is respectively provided with corresponding orthogonal rotary encoder and servo drive motor, orthogonal rotation in the mechanism in six degree of freedom
Turn encoder is used to control the motion in each joint for gathering the angle-data in each joint, servo drive motor；
First industrial computer is each by mechanical arm by controlling servo drive motor to control according to the desired value of each joint angles of mechanical arm
Joint motions.
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| US11247885B2 (en) | 2020-03-06 | 2022-02-15 | Oshkosh Corporation | Lift device with deployable operator station |
| US11873200B2 (en) | 2020-03-06 | 2024-01-16 | Oshkosh Corporation | Lift device with split battery pack |
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| CN111645077A (en) * | 2020-06-19 | 2020-09-11 | 国电南瑞科技股份有限公司 | Ground monitoring system and monitoring method for distribution network line live working robot |
| CN112008721A (en) * | 2020-08-19 | 2020-12-01 | 亿嘉和科技股份有限公司 | Overhead live working hanging wire detection method |
| CN112008721B (en) * | 2020-08-19 | 2021-11-19 | 亿嘉和科技股份有限公司 | Overhead live working hanging wire detection method |
| WO2022036770A1 (en) * | 2020-08-19 | 2022-02-24 | 亿嘉和科技股份有限公司 | High-altitude live-line work hanging-wire detection method |
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