CN111546342B - Transformer substation patrols and examines operation robot control system - Google Patents
Transformer substation patrols and examines operation robot control system Download PDFInfo
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- CN111546342B CN111546342B CN202010396870.0A CN202010396870A CN111546342B CN 111546342 B CN111546342 B CN 111546342B CN 202010396870 A CN202010396870 A CN 202010396870A CN 111546342 B CN111546342 B CN 111546342B
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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
- 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
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention discloses a transformer substation inspection operation robot control system, which comprises an action module, a control module and a control module, wherein the action module is used for controlling the action module; the three-dimensional scene construction module is used for constructing a three-dimensional scene of the operation area in real time; the action state sensing module is used for detecting the action state of the action module in real time; and the control module is used for controlling the action module to carry out operation in the three-dimensional scene according to the action state and the operation requirement. According to the invention, the action state sensing module can detect the action state of the action module in real time, the control module can control the action module to operate in the three-dimensional scene of the operation area constructed by the three-dimensional scene construction module according to the action state and the related operation requirement, and under the support of the real-time three-dimensional scene and the real-time action state, the control module can control the action module to accurately operate in the three-dimensional scene, so that the error is small, the operation can be smoothly and safely performed, and the safety and the working efficiency are improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a transformer substation inspection operation robot control system.
Background
The transformer substation has the characteristics of high voltage level, intensive equipment in the substation, large equipment volume and weight and the like, and in recent years, a transformer substation inspection robot is gradually generated to replace manual work for inspection, maintenance and other work of transformer equipment, so that the transformer substation inspection robot has the advantages of high safety and the like. The transformer substation inspection operation process is complex, related operation of transformer equipment is to be completed smoothly and safely, the transformer substation inspection operation robot must be capable of accurately and safely acting, the current robot control mainly adopts a manual remote control operation mode, and no mature transformer substation inspection operation robot control system in the prior art can perform autonomous accurate control operation.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a transformer substation inspection operation robot control system which is high in operation accuracy and improves safety and working efficiency.
In order to solve the technical problem, the invention provides a transformer substation inspection operation robot control system, which comprises:
an action module;
the three-dimensional scene construction module is used for constructing a three-dimensional scene of the operation area in real time;
the action state sensing module is used for detecting the action state of the action module in real time;
and the control module is used for controlling the action module to carry out operation in the three-dimensional scene according to the action state and the operation requirement.
Preferably, the substation inspection operation robot control system further includes:
the inclination angle sensor is used for detecting the inclination angle of the transformer substation inspection operation robot control system relative to the ground;
and the control module is also used for controlling the action module according to the inclination angle so as to ensure the balance of the transformer substation inspection operation robot control system.
Preferably, the substation inspection operation robot control system further includes:
the distance sensing module is used for detecting the distance from the transformer substation inspection operation robot control system to surrounding objects;
and the control module is also used for controlling the action module to act according to the distance so as to prevent the transformer substation inspection operation robot control system from colliding with surrounding objects.
Preferably, the action module comprises:
the mechanical arm mechanism is used for executing operation under the control of the control module;
the base is used for acting under the control of the control module so as to drive the mechanical arm mechanism to change the position;
the distance sensing module comprises:
the first ultrasonic sensor is used for detecting the distance between the base and surrounding objects so that the control module can control the base to act;
and the second ultrasonic sensor is used for detecting the distance between the mechanical arm mechanism and surrounding objects so as to facilitate the control module to control the mechanical arm mechanism to act.
Preferably, the substation inspection operation robot control system further includes:
the current detection module is used for detecting the ground current of the transformer substation inspection operation robot control system;
the control module is further configured to control the action module to be separated from the power transformation device when the ground current is greater than a preset threshold value.
Preferably, the current detection module is a current transformer.
Preferably, the three-dimensional scene construction module includes:
the laser scanner is used for acquiring first scene data of the operation area in real time;
the binocular camera is used for acquiring second scene data of the operation area in real time;
a scene construction processor for constructing a three-dimensional scene of the work area from the first scene data and the second scene data.
Preferably, the control module employs a robot operating system ROS.
Preferably, the action module comprises a first preset number of mechanical arms and a first preset number of mechanical arm joints;
the motion state sensing modules comprise a first preset number of joint sensing modules and are used for detecting the motion states of the corresponding mechanical arm joints in real time;
the control module comprises:
the optical fiber network converters with a second preset number are used for electrically isolating the action states detected by the corresponding joint sensing modules and transmitting the action states to the main processor;
and the main processor controls the joint of each mechanical arm to act according to the action state and the operation requirement so as to drive the corresponding mechanical arm to operate in the three-dimensional scene.
Preferably, the first preset number of said mechanical arm joints comprises:
a telescopic joint, a pitch joint and a rotation joint;
a first preset number of said joint sensing modules comprises:
the laser range finder is used for detecting the stroke of the telescopic joint in real time;
the pitch angle displacement sensor is used for detecting the pitch angle of the pitch joint in real time;
and the rotation angular displacement sensor is used for detecting the rotation angle of the rotary joint in real time.
The invention provides a transformer substation inspection operation robot control system which comprises an action module, a control module and a control module, wherein the action module is used for controlling the action module; the three-dimensional scene construction module is used for constructing a three-dimensional scene of the operation area in real time; the action state sensing module is used for detecting the action state of the action module in real time; and the control module is used for controlling the action module to carry out operation in the three-dimensional scene according to the action state and the operation requirement.
Therefore, in the invention, the action state sensing module can detect the action state of the action module in real time, the control module can control the action module to operate in the three-dimensional scene of the operation area constructed by the three-dimensional scene construction module according to the action state and the related operation requirement, and under the support of the real-time three-dimensional scene and the real-time action state, the control module can control the action module to accurately operate in the three-dimensional scene, so that the error is small, the operation can be smoothly and safely performed, and the safety and the working efficiency are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a substation inspection operation robot control system provided by the invention;
fig. 2 is a schematic structural diagram of another substation inspection operation robot control system provided by the invention.
Detailed Description
The core of the invention is to provide the transformer substation inspection operation robot control system which is high in operation accuracy and improves safety and work efficiency.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a substation inspection operation robot control system provided by the present invention, including:
an action module 1;
the three-dimensional scene construction module 2 is used for constructing a three-dimensional scene of a working area in real time;
the action state sensing module 3 is used for detecting the action state of the action module 1 in real time;
and the control module 4 is used for controlling the action module 1 to carry out operation in the three-dimensional scene according to the action state and the operation requirement.
In the embodiment of the present invention, the motion state sensing module 3 may detect the motion state of the motion module 1 in real time, the three-dimensional scene constructing module 2 may construct a three-dimensional scene of an operation area in real time, and the control module 4 may control the motion module 1 to move in the three-dimensional scene according to the motion state and operation requirements when performing operation, and the real-time detection of the motion state provides a feedback control for the control module 4, which is beneficial to improving the accuracy of control, and the construction and real-time update of the three-dimensional scene are also beneficial to the control module 4 to control the motion module 1 to perform accurate and in-place control, so as to improve the safety and work efficiency of the operation of the substation inspection robot control system.
Specifically, the action module 1 can be a terminal for performing work and can be regarded as a hand of a worker, the control module 4 can be regarded as a brain of the worker, the three-dimensional scene construction module 2 can be regarded as eyes of the worker, and the action state sensing module 3 can also be regarded as glasses of the worker.
The specific scenario that the control module 4 controls the action module 1 to work in the three-dimensional scenario according to the action state and the work requirement may be: the control module 4 firstly learns that the current action state of the action module 1 is completely contracted through the action state sensing module 3, and judges that the distance between the manipulator and the power transformation equipment in the operation area is one meter in a three-dimensional scene, at the moment, the control module 4 can control the action module 1 to start to expand and approach the power transformation equipment, in the process, the three-dimensional scene is continuously updated, the position relation between the manipulator and the manipulator 11 and the power transformation equipment is continuously changed, the control module 4 can accurately control according to the real-time action states of the manipulator and the manipulator 11 in the process, and finally the manipulator and the manipulator 11 are controlled to reach the appointed position and corresponding actions are executed so as to complete the operation, and the control accuracy is high.
Of course, besides the above listed actual working scenarios, there may be many other working scenarios, and the embodiment of the present invention is not limited herein.
Specifically, the control module 4 in the embodiment of the present invention may perform operation control according to a program stored in the control module 4, where the program includes the operation requirements, and of course, in addition, the maintenance robot for the transformer substation may further include an external control module 4, such as a remote controller, a human-computer interaction module, or an upper computer, and a worker may actively control the maintenance robot for the transformer substation through the external control module 4, so that the operation accuracy can be further improved on the premise of safety, the work efficiency is improved, remote control can be further implemented, and convenience is improved.
In addition, the substation inspection operation robot control system in the embodiment of the present invention may be of various types, for example, an open substation inspection operation robot control system, and the like, and the embodiment of the present invention is not limited herein.
In addition, the substation inspection operation robot control system in the embodiment of the present invention may complete various operation contents, for example, live cleaning, dry ice cleaning, or foreign matter removal, and the embodiment of the present invention is not limited herein.
The invention provides a transformer substation inspection operation robot control system which comprises an action module, a control module and a control module, wherein the action module is used for controlling the action module; the three-dimensional scene construction module is used for constructing a three-dimensional scene of the operation area in real time; the action state sensing module is used for detecting the action state of the action module in real time; and the control module is used for controlling the action module to carry out operation in the three-dimensional scene according to the action state and the operation requirement.
Therefore, in the invention, the action state sensing module can detect the action state of the action module in real time, the control module can control the action module to operate in the three-dimensional scene of the operation area constructed by the three-dimensional scene construction module according to the action state and the related operation requirement, and under the support of the real-time three-dimensional scene and the real-time action state, the control module can control the action module to accurately operate in the three-dimensional scene, so that the error is small, the operation can be smoothly and safely performed, and the safety and the working efficiency are improved.
On the basis of the above-described embodiment:
as a preferred embodiment, the substation inspection operation robot control system further includes:
the inclination angle sensor 5 is used for detecting the inclination angle of the transformer substation inspection operation robot control system relative to the ground;
the control module 4 is further configured to control the action module 1 according to the inclination angle to ensure balance of the substation inspection operation robot control system.
In the embodiment of the invention, the inclination angle sensor 5 can detect the inclination angle of the substation inspection operation robot control system relative to the ground, and the controller can control the action module 1 according to the inclination angle so as to ensure the balance of the substation inspection operation robot control system, ensure that the substation inspection operation robot control system cannot turn over, improve the safety, prevent the robot from being damaged, reduce the cost and improve the working efficiency.
The type of the action module 1 can be various, for example, when the inclination angle is greater than a preset threshold value, the action module 1 is controlled to stop acting and inform a worker of the situation, or when the inclination angle is greater than the preset threshold value, the action module 1 is controlled to act according to the inclination angle so as to reduce the inclination angle, and the transformer substation inspection operation robot control system is kept balanced.
The tilt sensor module may be of many types, and the embodiment of the present invention is not limited herein.
Wherein, inclination sensing module can install in the transformer substation and patrol and examine a plurality of positions of work robot control system, can set up according to actual conditions, also can set up a plurality of inclination sensing module of course and in order expecting to obtain more accurate data, has further improved the transformer substation and has patrolled and examined work robot control system's security.
As a preferred embodiment, the substation inspection operation robot control system further includes:
the distance sensing module 6 is used for detecting the distance from the transformer substation inspection operation robot control system to surrounding objects;
the control module 4 is further used for controlling the action of the action module 1 according to the distance so as to prevent the transformer substation inspection operation robot control system from colliding with surrounding objects.
Specifically, considering that the substation inspection robot control system may collide with surrounding objects in the actual operation process, in the embodiment of the invention, the distance sensing module 6 can detect the distance from the substation inspection robot control system to the surrounding objects in real time, and under the condition, the control module 4 can act according to the distance control action module 1, so that the substation inspection robot control system is prevented from colliding with the surrounding objects and causing accidents, property loss or personnel injury is prevented, and the safety of the substation inspection robot control system is further improved.
Specifically, a specific application example in the embodiment of the present invention may be that the control module 4 stops the action module 1 when the distance decreases to the preset threshold, or controls the action module 1 to move in another direction with a longer distance, and the like, and the embodiment of the present invention is not limited herein.
Wherein, can set up a plurality of distance sensing module 6 and patrol and examine operation robot control system in order to detect the transformer substation and patrol and examine the distance of operation robot control system and object around on a plurality of directions, further improve the transformer substation and patrol and examine operation robot control system's security.
The distance sensing module 6 may be of various types, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the action module 1 comprises:
a robot arm mechanism for performing work under the control of the control module 4;
the base is used for acting under the control of the control module 4 so as to drive the mechanical arm mechanism to change the position;
the distance sensing module 6 includes:
the first ultrasonic sensor is used for detecting the distance between the base and a surrounding object so that the control module 4 can control the base to act;
and the second ultrasonic sensor is used for detecting the distance between the mechanical arm mechanism and a surrounding object so that the control module 4 can control the mechanical arm mechanism to act.
Specifically, action module 1 can include mechanical arm mechanism and base, and the base has played the effect that drives mechanical arm mechanism and carry out the position change, for example drives mechanical arm mechanism and carries out position transform or carry out ascending change etc. of direction through rotatory mechanical arm mechanism of driving on the ground, and mechanical arm mechanism then can carry out the form transform through actions such as flexible or every single move to carry out the operation, the flexibility is higher, and degree of automation is higher.
Wherein, first ultrasonic sensor can detect the distance of base apart from object around, and second ultrasonic sensor can detect the distance of arm mechanism apart from object around, and control module 4 is after receiving the distance information of first ultrasonic sensor and second ultrasonic sensor transmission, alright in order to control the action of action module 1 corresponding part to prevent to bump, produce economy or human harm, further improved the security.
The ultrasonic sensor has the advantages of simple structure, high precision, low price and the like.
Of course, the distance sensing module 6 may be of other types besides the ultrasonic sensor, and the embodiment of the present invention is not limited herein.
Of course, more ultrasonic sensors may be arranged to achieve collision avoidance in each direction and each position, and the embodiments of the present invention are not limited herein.
In addition, in addition to the specific types of the action modules 1 listed in the embodiment of the present invention, the action modules 1 may be of other types, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the substation inspection operation robot control system further includes:
the current detection module 7 is used for detecting the ground current of the transformer substation inspection operation robot control system;
the control module 4 is further configured to control the action module 1 to be separated from the power transformation device when the current to ground is greater than a preset threshold.
In the embodiment of the invention, the current detection module 7 can detect the ground current of the transformer substation inspection robot control system, and can control the action module 1 to be separated from the transformer equipment when the ground current reaches a preset threshold value.
When the control module 4 controls the action module 1 to be separated from the power transformation equipment, a worker can be informed, after the worker finds a dangerous case, the worker can rapidly check the transformer substation inspection operation robot control system, accidental damage is prevented, or the control module 4 cannot successfully control separation of the control module and the transformer equipment, and the safety is further improved.
The preset threshold may be set autonomously according to an actual situation, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the current detection module 7 is a current transformer.
Specifically, the current transformer has the advantages of simple structure, accurate measurement, low price and the like.
Of course, the current detection module 7 may be of another type besides the current transformer, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the three-dimensional scene building module 2 includes:
the laser scanner 21 is used for acquiring first scene data of the operation area in real time;
a binocular camera 22 for acquiring second scene data of the working area in real time;
and a scene construction processor 23 for constructing a three-dimensional scene of the work area based on the first scene data and the second scene data.
Specifically, the laser scanner 21 can obtain a three-dimensional scanning image of the operation area, the binocular camera 22 can obtain real image data of the operation area, and the scene construction processor 23 can obtain a real and reliable three-dimensional scene according to the two data, wherein the three-dimensional scanning image has no blind area and can scan the internal situation of the power transformation equipment in the operation area, the reality of the image obtained by the real image data is high, the reality of the constructed three-dimensional scene is improved, the three-dimensional scene obtained by the laser scanner 21 and the binocular camera 22 through the scene construction processor 23 is real and reliable, and the working reliability and safety of the substation inspection robot control system are further improved.
The scene construction processor 23 may firstly construct a three-dimensional scene according to the first scene data and the second scene data, and the control module 4 does not need to construct the three-dimensional scene, so that the workload of the control module 4 is reduced, the control module 4 can have a larger space to process the action state data and the control data, and the control accuracy is improved.
Of course, the three-dimensional scene building module 2 may be of various types other than the specific form in the embodiment of the present invention, for example, a single laser scanner 21 or a single binocular camera 22, and the embodiment of the present invention is not limited herein.
Of course, the scene building processor 23 is not necessary, and the control module 4 may also process the first scene data and the second scene data to obtain a three-dimensional scene, which is not limited herein in the embodiment of the present invention.
As a preferred embodiment, the control module 4 employs an ROS (Robot Operating System).
Specifically, the ROS can adopt a modular and distributed node-type design method, and can include a plurality of functional modules, such as a motion planning module, a laser processing module, a motion control module 4, a data fusion module, a vision processing module, a safety protection module, a laser data acquisition module, a bus data module, a vision data acquisition module, and the like, each module is independently an individual node, there is no direct data interaction between the modules, but the data interaction between the modules is realized through a control and communication framework module based on the ROS technology, by adopting the design concept, based on the ROS platform, the project complexity can be effectively reduced, each module can be developed individually, and the project development progress can be ensured.
The transformer substation inspection operation robot control system in the embodiment of the invention may include three layers, specifically, a planning layer, a control layer and a hardware layer, the planning layer is an ROS inside the control module 4, the control layer is a control system including the three-dimensional scene construction module 2, the action state sensing module 3 and the main processor 42, and the hardware layer is the action module 1, and performs operation under the control of the control layer.
The control cycle period of the main processor 42 may be of various types, for example, 10 microseconds, which can effectively ensure real-time control.
Of course, the control module 4 may also use other operating systems for control besides the ROS, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the action module 1 includes a first preset number of robot arms 11, a first preset number of robot joints 12;
the motion state sensing module 3 includes a first preset number of joint sensing modules 31 for detecting the motion state of the corresponding mechanical arm joint 12 in real time;
the control module 4 comprises:
a second preset number of optical fiber network converters 41, configured to electrically isolate the motion state detected by the corresponding joint sensing module 31 and transmit the motion state to the main processor 42;
and the main processor 42 controls the operation of each robot joint 12 according to the operation state and the operation requirement, so as to drive the corresponding robot 11 to perform the operation in the three-dimensional scene.
Specifically, the first preset data may be set autonomously, for example, 2 or 3, and the embodiment of the present invention is not limited herein.
Specifically, each mechanical arm 11 corresponds to one mechanical arm joint 12, and the control module 4 can drive the mechanical arm 11 to move by controlling the mechanical arm joint 12 to move, so that the operation movement is finally realized.
Specifically, the motion state sensing module 3 includes joint sensing modules 31 of first preset data, which correspond to the robot joints 12 one to one, and after data are collected by each joint sensing module 31, the motion state can be transmitted to the main processor 42 through the corresponding optical network converter, and then the main processor 42 can control the motion of the robot joints 12 according to the motion state, because the optical network converter 41 has an electrical isolation function, and usually, the robot arms 11 are mutually insulated, and the motion state detected by each corresponding joint sensing module 31 is transmitted to the main processor 42 through the optical network converter 41, electrical connection between the robot arms 11 cannot be generated, routing inspection of a transformer substation is not generated between robot control systems, and the safety of the large-current routing inspection robot control system of the transformer substation is further improved.
The second preset data of the optical fiber network converters 41 may be in various situations, which need to be specifically set according to the connection relationship between each optical fiber network converter 41 and the main processor 42, for example, if the optical fiber network converter 41 and the main processor 42 are in a serial relationship, the second preset number is the first preset data minus one, because the data of one group of the joint sensing modules 31 may be directly connected to the main processor 42, and if the optical fiber network converter 41 and the main processor 42 are in a parallel relationship, the second preset number may be equal to the first preset number, which is not limited herein.
Of course, other electrical isolation devices may be used for data transmission besides the optical fiber network converter 41, and the embodiment of the present invention is not limited herein.
Specifically, the data transmission in the embodiment of the present invention may be of various types, for example, an RJ45 bus may be adopted, and the embodiment of the present invention is not limited herein.
Of course, besides the distributed control system architecture provided in the embodiment of the present invention, other types of system architectures may also be designed, and the embodiment of the present invention is not limited herein.
In addition, the data transmission related in the embodiment of the present invention can be implemented by combining with EtherCAT (Control Automation Technology, ethernet Control Automation Technology), so as to improve the data transmission efficiency and stability.
As a preferred embodiment, the first preset number of mechanical arm joints 12 includes:
a telescopic joint, a pitch joint and a rotation joint;
the first preset number of joint sensing modules 31 includes:
the laser range finder 311 is used for detecting the stroke of the telescopic joint in real time;
a pitch angular displacement sensor 312 for detecting a pitch angle of a pitch joint in real time;
and the rotary angular displacement sensor 313 is used for detecting the rotating angle of the rotary joint in real time.
For better explaining the embodiment of the invention, please refer to fig. 2, and fig. 2 is a schematic structural diagram of another substation inspection operation robot control system provided by the invention.
Among them, the AD (Analog-to-Digital) conversion module 8 may implement conversion of sensing data of an Analog quantity into a Digital signal for processing by the main processor 42, and the DA (Digital-to-Analog) conversion module 9 may implement conversion of the Digital signal of the main processor 42 into an Analog signal for the action module 1 to act according thereto.
The laser range finder 311, the pitch angle displacement sensor 312 and the rotation angle displacement sensor 313 may jointly form the operation state sensing module 3, and the first ultrasonic sensor 61 and the second ultrasonic sensor 62 may jointly form the distance sensing module 6.
Specifically, in the embodiment of the present invention, the mechanical arm joint 12 includes a telescopic joint, a pitching joint, and a rotating joint, and can assist the mechanical arm 11 to implement movements such as stretching, pitching, and rotating, so that the mechanical arm 11 can move to the maximum extent, and the flexibility of the movement is improved, so that the substation inspection operation robot control system can complete operations with higher difficulty.
The telescopic joints, the pitching joints and the rotating joints may be connected to the main processor 42 through cylinders, oil pipes and control valves, respectively, to implement actions, or may be implemented through control mechanisms such as motors or motors, for example, and the embodiments of the present invention are not limited herein.
The telescopic joint, the pitch joint, and the rotation joint may be provided with a laser range finder 311, a pitch angle displacement sensor 312, and a rotation angle displacement sensor 313 to detect the operation state.
Of course, the mechanical arm joint 12 may be of other types besides the type of the mechanical arm joint 12 mentioned in the embodiment of the present invention, and the embodiment of the present invention is not limited herein.
The mechanical arm 11 and the mechanical arm joint 12 can comprise a large arm pitching joint, a large arm rotating joint, a middle arm pitching joint, a middle arm telescopic joint, a small flying arm pitching joint and the like, and a large arm pitching oil cylinder in the large arm pitching joint is connected with a large arm pitching control valve through a hydraulic oil pipe; a large arm rotating motor in the large arm rotating joint is connected with a large arm rotating control valve through a hydraulic oil pipe; a middle arm rotary swing oil cylinder in the middle arm pitching joint is connected with a middle arm pitching control valve through a hydraulic oil pipe; a middle arm telescopic oil cylinder in the middle arm telescopic joint is connected with a middle arm telescopic control valve through a hydraulic oil pipe; the small fly arm swing oil cylinder in the small fly arm pitch joint is connected with the small fly arm pitch control valve through a hydraulic oil pipe; the joint control valves can be combined together to form a control valve group of the substation inspection operation robot control system, and the control valve group can be installed at a plurality of positions, such as the tail end of a middle arm telescopic joint, and can receive electric control signals, so that the motion control of each joint of the robot is realized.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a transformer substation patrols and examines operation robot control system which characterized in that includes:
an action module;
the three-dimensional scene construction module is used for constructing a three-dimensional scene of the operation area in real time;
the action state sensing module is used for detecting the action state of the action module in real time;
the control module is used for controlling the action module to carry out operation in the three-dimensional scene according to the action state and the operation requirement;
the action module comprises a first preset number of mechanical arms and a first preset number of mechanical arm joints;
the motion state sensing modules comprise a first preset number of joint sensing modules and are used for detecting motion states of the corresponding mechanical arm joints in real time;
the optical fiber network converters with a second preset number are used for electrically isolating the action states detected by the corresponding joint sensing modules and transmitting the action states to the main processor;
and the main processor controls the joints of the mechanical arms to act according to the action state and the operation requirement so as to drive the corresponding mechanical arms to operate in the three-dimensional scene.
2. The substation inspection work robot control system according to claim 1, further comprising:
the inclination angle sensor is used for detecting the inclination angle of the transformer substation inspection operation robot relative to the ground;
and the control module is also used for controlling the action module according to the inclination angle so as to ensure the balance of the transformer substation inspection operation robot control system.
3. The substation inspection work robot control system according to claim 2, further comprising:
the distance sensing module is used for detecting the distance between the substation inspection operation robot control system and surrounding objects;
and the control module is also used for controlling the action module to act according to the distance so as to prevent the transformer substation inspection operation robot control system from colliding with surrounding objects.
4. The substation inspection work robot control system according to claim 3, wherein the action module includes:
the mechanical arm mechanism is used for executing operation under the control of the control module;
the base is used for acting under the control of the control module so as to drive the mechanical arm mechanism to change the position;
the distance sensing module comprises:
the first ultrasonic sensor is used for detecting the distance between the base and surrounding objects so that the control module can control the base to act;
and the second ultrasonic sensor is used for detecting the distance between the mechanical arm mechanism and surrounding objects so that the control module can control the mechanical arm mechanism to act.
5. The substation inspection work robot control system according to claim 3, further comprising:
the current detection module is used for detecting the ground current of the transformer substation inspection operation robot control system;
the control module is further configured to control the action module to be separated from the power transformation device when the ground current is greater than a preset threshold value.
6. The substation inspection work robot control system according to claim 5, wherein the current detection module is a current transformer.
7. The substation inspection work robot control system according to claim 1, wherein the three-dimensional scene construction module comprises:
the laser scanner is used for acquiring first scene data of the operation area in real time;
the binocular camera is used for acquiring second scene data of the working area in real time;
a scene construction processor for constructing a three-dimensional scene of the work area from the first scene data and the second scene data.
8. A substation inspection work robot control system according to claim 1, characterized in that the control module employs a robot operating system ROS.
9. The substation inspection work robot control system according to claim 1, wherein a first preset number of the robotic arm joints comprises:
a telescopic joint, a pitch joint and a rotation joint;
a first preset number of said joint sensing modules comprises:
the laser range finder is used for detecting the stroke of the telescopic joint in real time;
the pitch angle displacement sensor is used for detecting the pitch angle of the pitch joint in real time;
and the rotation angle displacement sensor is used for detecting the rotation angle of the rotary joint in real time.
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| CN102848389B (en) * | 2012-08-22 | 2015-06-17 | 浙江大学 | Realization method for mechanical arm calibrating and tracking system based on visual motion capture |
| CN103085084B (en) * | 2013-01-29 | 2015-03-04 | 山东电力集团公司电力科学研究院 | Visual system and working method for high-voltage hot-line operating robot |
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