CN106737862B - Data communication system of live working robot - Google Patents
Data communication system of live working robot Download PDFInfo
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- CN106737862B CN106737862B CN201611128971.XA CN201611128971A CN106737862B CN 106737862 B CN106737862 B CN 106737862B CN 201611128971 A CN201611128971 A CN 201611128971A CN 106737862 B CN106737862 B CN 106737862B
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The invention provides a data communication system of a live working robot. The system comprises a live working robot, a multi-path image transmission subsystem, an instruction/data optical fiber transmission subsystem and an instruction/data wireless redundancy subsystem; the multi-path image transmission subsystem comprises a binocular camera, a depth camera, a panoramic camera, a master control cabinet optical switch, a slave control cabinet optical switch and a first industrial personal computer; the instruction/data optical fiber transmission subsystem comprises a first industrial personal computer, a master control cabinet optical switch, a slave control cabinet optical switch and a second industrial personal computer; the instruction/data wireless redundant subsystem comprises a first industrial personal computer, a panoramic camera, a slave control cabinet wireless network bridge, a master control cabinet wireless network bridge and a second industrial personal computer. The invention provides a set of communication system for the live working robot, and improves the automation degree and the real-time control performance of the live working robot.
Description
Technical Field
The invention belongs to the technical field of electric power, and particularly relates to a data communication system of a live working robot.
Background
At present, the high-voltage live working in China mainly uses manual working. Even if robots replacing manual work have appeared, the safety thereof cannot be guaranteed, and the work thereof still needs to be monitored manually. Because the power transmission line robot generally adopts high-altitude operation, an operator cannot timely and effectively find faults occurring in the operation process of the robot through visual inspection on the ground. In order to avoid or reduce safety accidents caused by robot operation, a special monitoring system for a robot for live working of a power transmission line needs to be designed.
The starting of the live working robot in China is late, at present, no monitoring scheme aiming at the live working robot of the power transmission line still exists, and the safety of a power grid, the robot and an operator cannot be guaranteed.
Disclosure of Invention
The technical problem solved by the invention is to provide a set of communication system for the live working robot and improve the automation degree and the real-time control performance of the live working robot.
In order to solve the technical problem, the invention provides a data communication system of a live working robot, which comprises the live working robot, a multi-path image transmission subsystem, an instruction/data optical fiber transmission subsystem and an instruction/data wireless redundancy subsystem;
the multi-path image transmission subsystem comprises a binocular camera, a depth camera, a panoramic camera, a master control cabinet optical switch, a slave control cabinet optical switch and a first industrial personal computer; the binocular camera, the depth camera and the panoramic camera are all connected with a twisted-pair Ethernet port of the slave cabinet optical switch through network cables, and shot images are transmitted through the Ethernet port; the slave control cabinet optical switch adopts a gigabit industrial Ethernet switch, and each camera and the first industrial personal computer independently use a VLAN interface of the slave control cabinet optical switch; the slave control cabinet optical switch is connected with the master control cabinet optical switch through three optical ports and used for sending data from the slave control cabinet optical switch to the master control cabinet optical switch; the master control cabinet optical switch is connected with the slave control cabinet optical switch through the other three optical ports and used for sending data to the slave control cabinet optical switch by the master control cabinet optical switch; the main control cabinet optical switch is connected with a third industrial personal computer through three twisted-pair Ethernet ports;
the instruction/data optical fiber transmission subsystem comprises a first industrial personal computer, a master control cabinet optical switch, a slave control cabinet optical switch and a second industrial personal computer; the first industrial personal computer transmits the collected mechanical arm joint angle information to the slave control cabinet optical switch through the network port; the slave control cabinet optical switch is connected with an optical port of the master control cabinet optical switch through an optical port, and the master control cabinet optical switch is connected with a second industrial personal computer through a twisted-pair Ethernet port; the second industrial personal computer transmits the mechanical arm space path data to the first industrial personal computer through the master control cabinet optical switch and the slave control cabinet optical switch;
the instruction/data wireless redundant subsystem comprises a first industrial personal computer, a panoramic camera, a slave control cabinet wireless network bridge, a master control cabinet wireless network bridge and a second industrial personal computer; the slave control cabinet wireless network bridge sends image data of the panoramic camera and the mechanical arm joint angle information acquired by the first industrial personal computer to the master control cabinet wireless network bridge; the wireless network bridge of the master control cabinet sends the received data to a second industrial personal computer; similarly, the second industrial computer sends a control command to the first industrial computer through the link.
Further, the live working robot comprises an insulating bucket arm vehicle, a robot platform carried on the insulating bucket arm vehicle, a mechanical arm installed on the robot platform, a data acquisition system and a data processing and control system; the data acquisition system comprises a binocular camera, a depth camera and a panoramic camera which are arranged on the robot platform and used for acquiring operation scene images of the mechanical arm; the data processing and control system generates a 3D virtual operation scene or plans a mechanical arm space path according to the operation scene image; the data processing and control system comprises a first industrial personal computer, a second industrial personal computer and a third industrial personal computer, wherein an image processor and a live working action sequence library are arranged in the second industrial personal computer, and action sequence data corresponding to each live working item are stored in the live working action sequence library in advance; the third industrial personal computer plans a space path of the mechanical arm according to the relative position relationship and an action sequence corresponding to specific live-line work, and sends space path data of the mechanical arm to the first industrial personal computer; and the first industrial personal computer controls the motion of the mechanical arm according to the space path of the mechanical arm.
Further, the mechanical arm comprises a first mechanical arm and a second mechanical arm, binocular cameras are mounted on the first mechanical arm and the second mechanical arm, and the first mechanical arm and the second mechanical arm are matched with each other through operation tools to complete live-line work.
Further, the mechanical arm comprises a first mechanical arm, a second mechanical arm and an auxiliary mechanical arm, binocular cameras are mounted on the first mechanical arm, the second mechanical arm and the auxiliary mechanical arm, the first mechanical arm, the second mechanical arm and the auxiliary mechanical arm are matched to complete live-line work, the auxiliary mechanical arm is used for clamping a work object, and the first mechanical arm and the second mechanical arm use a work tool to perform work operation.
Furthermore, a control room is arranged on the insulating bucket arm vehicle, the data processing and control system further comprises a display screen and a main manipulator, an image processor is arranged in a second industrial personal computer, and the display screen and the main manipulator are located in the control room; the main operating hand and the mechanical arm are in a master-slave operation relationship, and the movement of the mechanical arm is controlled by changing the posture of the main operating hand; and the image processor processes the operation scene image to obtain a 3D virtual operation scene, and the 3D virtual operation scene is sent to the display for display.
Further, the mechanical arm comprises a first mechanical arm and a second mechanical arm, and binocular cameras are mounted on the first mechanical arm and the second mechanical arm; the main manipulator comprises a first main manipulator and a second main manipulator, and the first main manipulator and the second main manipulator are respectively used for controlling the first mechanical arm and the second mechanical arm.
Further, the mechanical arm comprises a first mechanical arm, a second mechanical arm and an auxiliary mechanical arm, binocular cameras are mounted on the first mechanical arm, the second mechanical arm and the auxiliary mechanical arm, and the main manipulator comprises a first main manipulator, a second main manipulator and an auxiliary main manipulator; the first main manipulator, the second main manipulator and the auxiliary main manipulator are respectively used for controlling the first mechanical arm, the second mechanical arm and the auxiliary mechanical arm.
Furthermore, the mechanical arm or the main manipulator is a six-degree-of-freedom mechanism and comprises a base, a waist joint, a shoulder joint, an upper arm, an elbow joint, a lower arm and a wrist joint, wherein the rotation axis direction of the waist joint is vertical to the plane of the base; each joint in the six-degree-of-freedom mechanism is provided with a corresponding orthogonal rotary encoder and a corresponding servo driving motor, the orthogonal rotary encoder is used for collecting angle data of each joint, and the servo driving motor is used for controlling the motion of each joint; and the first industrial personal computer controls the movement of each joint of the mechanical arm by controlling the servo driving motor according to the expected value of each joint angle of the mechanical arm.
Compared with the prior art, the communication system has the remarkable advantages that the communication system can ensure that multiple paths of high-resolution monitoring images and real-time control signals are transmitted simultaneously, and has stronger data throughput capacity; the image data and the control signal adopt different transmission paths, so that the time delay of the real-time control of the live working robot is reduced; the communication system is provided with wireless channel hardware redundancy, so that the live working robot still has certain controllability in the case of failure.
Drawings
Fig. 1 is a schematic overall structure diagram of an embodiment of an electric working robot according to the present invention;
FIG. 2 is a block diagram of the system components of the present invention;
FIG. 3 is a schematic structural diagram of a robot platform according to the present invention;
FIG. 4 is a schematic view of the construction of the robotic arm of the present invention;
FIG. 5 is a schematic block diagram of a communication system of the present invention;
fig. 6 is a topology diagram of a communication system according to the present invention.
Detailed Description
It is easily understood that according to the technical solution of the present invention, those skilled in the art can imagine various embodiments of the data communication system of the electric working robot of the present invention without changing the essential spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
With reference to the attached drawings, the hot-line work robot comprises an insulating bucket arm vehicle 1, a control room 2, a telescopic arm 3 and a robot platform 4. Wherein, control room 2 and flexible arm 3 erect on the insulating bucket boom car 1, and 3 end connection robot platform 4 of flexible arm adopt optic fibre ethernet communication or wireless network communication between robot platform 4 and the control room 2.
The insulated arm car 1 can be driven by an operator to transport the robot platform 4 to a work site. The supporting legs are arranged on the insulating bucket arm vehicle 1 and can be unfolded, so that the insulating bucket arm vehicle 1 and the ground are stably supported. The insulating bucket arm vehicle 1 is provided with a generator so as to supply power to the control room 2 and the telescopic arm 3.
The telescopic arm 3 is provided with a driving device along the telescopic direction, and an operator can lift the robot platform 4 to the working height by controlling the driving device. The telescopic arm 3 is made of an insulating material and is used for insulating the robot platform 4 from the control room 2. In the present invention, the telescopic arm 3 may be replaced by a scissor lift mechanism or other mechanism.
As an embodiment, the control room 2 is provided with a second industrial personal computer, a third industrial personal computer, a display screen, a first main manipulator, a second main manipulator, an auxiliary main manipulator, a communication module, and the like.
As an embodiment, the robot platform 4 includes an insulator 46, a first robot arm 43, a second robot arm 44, an auxiliary robot arm 42, a first industrial personal computer 48, a binocular camera 45, a panoramic camera 41, a depth camera 410, a storage battery 49, a dedicated tool box 47, and a communication module.
The insulator 46 of the robot platform 4 is used to support the first robot arm 43, the second robot arm 44, and the auxiliary robot arm 42, and to insulate the housings of these three robot arms from the robot platform 4.
The storage battery 49 supplies power to the first industrial personal computer 48, the first mechanical arm 43, the second mechanical arm 44, the auxiliary mechanical arm 42, the panoramic camera 41, the binocular camera 45, the depth camera 410 and the communication module.
In one embodiment, the total number of the binocular cameras 45 is three, and the binocular cameras are respectively mounted on the wrist joints 437 of the first robot arm 43, the second robot arm 44 and the auxiliary robot arm 42 and are responsible for acquiring image data of a work scene and sending the image data to the second industrial personal computer. The binocular camera 45 is composed of two industrial cameras with parallel optical axes, and the distance between the parallel optical axes is fixed.
The depth camera 410 is installed on the side of the robot platform 4 facing the operation scene, and is responsible for collecting depth-of-field data of the operation scene and sending the depth-of-field data to the second industrial personal computer.
The panoramic camera 41 is mounted above the robot platform 4 through a support and is responsible for collecting panoramic image data of an operation scene, sending the image data to the second industrial personal computer and displaying the image data on the display, and an operator can monitor the operation scene through the panoramic image.
The special tool box 47 is a place where a work tool such as a gripper and a wrench is placed. The tail end of the mechanical arm is provided with a tool quick-change device. The robot arm picks up the work tool in the special tool magazine 47 using a tool quick change device depending on the type of work task.
The first main hand, the second main hand, and the subsidiary main hand in the control room 2 are operation devices for manually remotely operating the robot arms, and they are in a master-slave operation relationship with the first robot arm 43, the second robot arm 44, and the subsidiary robot arm 42. The mechanical arm and the main manipulator have the same structure, and the size of the main manipulator is smaller than that of the mechanical arm, so that an operator can operate the mechanical arm conveniently. The mechanical arm and the main manipulator are provided with six joints, each joint is provided with a photoelectric encoder for collecting angle data, and the microcontroller of each main manipulator sends the angle data of the six joints to the second industrial personal computer through a serial port.
As an embodiment of the present invention, the robot arm is a six-degree-of-freedom mechanism, and includes a base 431, a waist joint 432 whose rotation axis direction is perpendicular to a base plane, a shoulder joint 433 connected to the waist joint 432, a large arm 434 connected to the shoulder joint 433, an elbow joint 435 connected to the large arm 434, a small arm 436 connected to the elbow joint 435, and a wrist joint 437 connected to the small arm 436, wherein the wrist joint 437 is composed of three rotational joints, that is, a wrist pitch joint, a wrist roll joint, and a wrist rotational joint; each joint in the six-degree-of-freedom mechanism is provided with a corresponding orthogonal rotary encoder 31 and a corresponding servo drive motor, the orthogonal rotary encoder 31 is used for collecting angle data of each joint, and the servo drive motor is used for controlling the motion of each joint; and the first industrial personal computer calculates the motion angle of each joint according to the space path of the mechanical arm and controls the servo driving motor to control the motion of each joint of the mechanical arm according to the motion angle.
The main manipulator 22 is isomorphic with a first robot arm 43 and a second robot arm 44. The main manipulator 22 consists of a link 30 which is scaled down by the mechanical arm, an orthogonal rotary encoder 31, a control button 32 and a microcontroller 33. A quadrature rotary encoder 31 is coupled to each joint of the main manipulator 22, detects each joint angle, and transmits an analog signal representing the joint angle to the microcontroller 33. A control button 32 is connected to an input port of the microcontroller 33 for sending control instructions to the microcontroller 33. The microcontroller collects the analog signal of the orthogonal rotary encoder 31, digitalizes the analog signal and sends the digital signal to the main control cabinet, and collects the control signal sent by the control button 32 and sends the control signal to the main control cabinet.
As an embodiment, the second industrial computer may accomplish the following tasks:
and establishing an action sequence library. And decomposing each live working task into action sequences in advance to form an action sequence library, and storing the action sequence library in a second industrial personal computer for planning the path of the mechanical arm.
And establishing a work object model library. The method comprises the steps of previously manufacturing a three-dimensional model and a target recognition model of a working object related to each live working task, for example, manufacturing the three-dimensional model and the target recognition model according to device real objects such as a power tower pole, an electric wire, a strain insulator, an isolation switch, a lightning arrester and the like, and using the three-dimensional model and the target recognition model to automatically recognize the working object by a live working robot to construct a three-dimensional virtual scene of a working scene.
And establishing a mechanical arm and a special tool model library. A three-dimensional model and a target recognition model of a mechanical arm and a special tool are manufactured in advance, such as a wrench and the like, and the method is used for automatically constructing a three-dimensional virtual scene of a working scene by an electrified working robot and planning a mechanical arm space path.
Image data is acquired. And acquiring data information of the panoramic image, the depth image and the binocular image.
A job target is identified and tracked from the image data.
The method comprises the steps of obtaining angle, angular velocity and angular acceleration data of a main manipulator, and obtaining angle, angular velocity and angular acceleration data of a mechanical arm.
Processing and calculating related image data, acquiring the position of a mechanical arm, acquiring the position of a working object, and acquiring the relative position between the mechanical arm and the working object;
constructing a three-dimensional scene of a working object according to the image data, and acquiring the relative position of the mechanical arm and the working object according to the mechanical arm angle information and the three-dimensional scene of the working object;
and processing and calculating the related image data, constructing a 3D virtual operation scene, sending the 3D virtual operation scene to a display for displaying, and monitoring the operation process by an operator according to the 3D virtual operation scene. Compared with a panoramic image, the 3D virtual operation scene synthesis, the depth image information and the binocular image information can judge the relative positions between the robot arm and the operation object, between the mechanical arms and between the operation object and the operation environment more accurately, and visual dead angles can not exist. Therefore, the operator monitors the operation through the 3D virtual operation scene, the operation precision is higher, the collision can be prevented, and the safety is improved. Meanwhile, the 3D virtual operation scene is displayed on a display in the control room 2 and is far away from the mechanical arm operation field, and the personal safety of the personnel is improved.
As an embodiment, the third industrial computer may accomplish the following tasks: and planning the space path of the mechanical arm according to the relative position and the operation task.
As an embodiment, the first industrial personal computer may accomplish the following tasks:
and controlling the motion of each joint of the mechanical arm according to the angle information of each joint of the main manipulator, which is sent by the second industrial personal computer.
And acquiring space path data of the mechanical arm sent by the second industrial personal computer, calculating the angle data movement amount of each joint of the mechanical arm according to the action sequence of the operation task, and controlling the movement of each joint of the mechanical arm.
In the invention, the first mechanical arm and the second mechanical arm are matched with each other, so that the live-wire work can be finished by simulating the work sequence of two hands of a person. In consideration of flexibility, a strong auxiliary mechanical arm can be added, at the moment, the auxiliary mechanical arm is specialized in large-force actions such as clamping of devices, and the first mechanical arm and the second mechanical arm perform related business operations.
According to the combination of different tasks completed by the second industrial personal computer, the second industrial personal computer and the first industrial personal computer, the live working robot can be remotely operated by an operator to complete live working and can also perform autonomous live working. Before performing live-wire work, the worker moves the robot platform 4 to the vicinity of the work object by observing the panoramic image.
If manual remote shaking operation is selected, a second industrial personal computer constructs a 3D virtual operation scene according to the number images and the depth images and sends the 3D virtual operation scene to a display for display, and an operator monitors the operation process through the 3D virtual operation scene and controls the action of the mechanical arm through a main operating hand so as to complete live working. In the process, after the operating personnel change the posture of the main operating hand, the photoelectric encoders of all joints in the main operating hand acquire the angles of all joints, and the microcontroller of each main operating hand sends the angle data of all joints to the second industrial personal computer through the serial port. And the second industrial personal computer sends the angle data of each joint of the main manipulator as the expected value of each joint angle of the mechanical arm to the first industrial personal computer, and the first industrial personal computer controls the motion of each joint of the mechanical arm through the servo motor according to the expected value of the angle, so that the live working is finished.
If the autonomous operation is selected, a second industrial personal computer calculates and acquires a relative position relation between an operation object and the mechanical arm according to the number images and the depth images, a third industrial personal computer plans a spatial path of the mechanical arm according to the relative position relation and an action sequence corresponding to an operation task and sends the spatial path to a first industrial personal computer, the first industrial personal computer calculates angle data of each joint of the mechanical arm needing to rotate as an expected value of each joint angle of the mechanical arm, the servo motor controls the motion of each joint of the mechanical arm, and the live working is completed.
As an embodiment, the data transmission between the robot platform 4 and the control room 2 is wired through optical fiber or transmitted using a wireless network. The communication module on the robot platform 4 is an optical fiber transceiver for realizing the interconversion between the optical signal in the optical fiber and the electrical signal in the twisted pair, thereby realizing the electrical isolation between the robot platform 4 and the control room 2 in communication. The communication module in the control room 2 is an optical fiber transceiver for realizing the interconversion between the optical signal in the optical fiber and the electrical signal in the twisted pair, thereby realizing the electrical isolation of the robot platform 4 from the control room 2 in communication.
The specific structure of the data communication system is as follows:
the insulating bucket arm vehicle 1 is provided with a master control cabinet 20, and the robot platform 4 is provided with a slave control cabinet 40. Wherein, the output of the main operator is connected with the input of the main control cabinet 20, and the output of the main control cabinet 20 is connected with the input of the display 21. The master control cabinet 20 includes a second industrial computer 26, a third industrial computer 23, a master control cabinet optical switch 27, and a master control cabinet wireless bridge 28.
The second industrial personal computer 26 receives and processes images transmitted by the plurality of cameras through optical fibers, and sends processing results to the third industrial personal computer 23. In the teleoperation mode, the second industrial computer 26 reads the control signal from the master manipulator 22 and transmits it to the first industrial computer in the slave control cabinet 40 via the wireless network bridge 28. In the autonomous operation, the third industrial computer 23 receives information obtained by image processing of the second industrial computer 23, completes cartesian space path planning and joint space motion planning by combining an action sequence to be executed, and transmits control information to the slave control cabinet 40.
The slave control cabinet 40 includes a first industrial personal computer 52, a regulated power supply 53, a servo motor driver 55, a motion controller 54, a slave control cabinet optical switch 50, and a slave control cabinet wireless network bridge 51. The stabilized voltage power supply 53 supplies power to the first industrial personal computer 52, the servo motor driver 55, the motion controller 54, the optical switch 50, and the wireless bridge 51, respectively. The servomotor driver 55 receives the control signal from the motion controller 54, and converts the control signal into a drive signal to rotate the servomotor of the robot arm. The motion controller 54 is connected to the first industrial computer 52, receives the joint position control signal from the first industrial computer 52, converts the joint position control signal into a motor control signal, and sends the motor control signal to the servo motor driver 55.
The live working robot communication system is composed of a multi-path image transmission subsystem, an instruction \ data optical fiber transmission subsystem and an instruction \ data wireless redundancy subsystem.
The multi-path image transmission subsystem comprises 5 cameras in total, a master control cabinet optical switch 27, a slave control cabinet optical switch 50 and a third industrial personal computer 23, wherein the two groups of binocular cameras 45 and the panoramic camera 41 on the double mechanical arms. The two groups of binocular cameras 45 and the panoramic camera 41 adopt Ethernet ports to transmit shot images, and 5 network cables led out from the 5 cameras are connected to 5 twisted-pair Ethernet ports of the slave cabinet optical switch 50. The slave cabinet optical switch 50 is a gigabit industrial ethernet switch, and the transmission bandwidth of a single port of the slave cabinet optical switch is 1 Gbps. Because the cameras are machine vision cameras, the data transmission quantity is large, and all image data cannot be transmitted by only one transmission channel, the multi-channel image transmission subsystem divides a plurality of VLANs and adopts a plurality of transmission channels to transmit the image data. The ports connected by the two cameras of each group of binocular cameras 45 are divided into the same VLAN, which is VLAN2 and VLAN 3. The panoramic camera port is divided into VLANs 4. The slave cabinet optical switch 50 is connected to the master cabinet optical switch 27 through 3 optical ports, which are divided into VLAN2, VLAN3, and VLAN4, respectively. Similarly, the master cabinet optical switch 27 is connected to the slave cabinet optical switch 50 through 3 optical ports, which are divided into VLAN2, VLAN3, and VLAN4, respectively. The main control cabinet optical switch 27 is connected to the third industrial control computer 23 through 3 twisted pair ethernet ports, and the three ports are respectively divided into VLAN2, VLAN3 and VLAN 4. The third industrial computer 23 extends a plurality of ethernet cards, and data sent by different VLANs can be collected by different network cards and sent to different processes of the third industrial computer 23 for processing.
The instruction/data optical fiber transmission subsystem comprises a first industrial personal computer 52, a master control cabinet optical switch 27, a slave control cabinet optical switch 50 and a second industrial personal computer 26. The first industrial personal computer 52 transmits the collected pose information and real-time control parameters of the two mechanical arms to the slave control cabinet optical switch 50 through the network interface. The slave cabinet optical switch 50 is connected to the optical port of the master cabinet optical switch 27 through an optical port, and the master cabinet optical switch 27 (for conversion between images, electrical signals, and optical signals) is connected to the second industrial personal computer 26 through a twisted-pair ethernet port. Likewise, the second industrial computer 26 transmits the control command to the first industrial computer 52 through the link, that is, the second industrial computer 26 and the second industrial computer 52 transmit data through the transmission path. The ports on the link are partitioned into VLAN5 to achieve isolation of control signals from image data, thereby ensuring real-time control signal transmission.
The instruction/data wireless redundancy subsystem is hard redundancy of the instruction/data optical fiber transmission subsystem, and when the Ethernet communication fails, the subsystem is adopted to control the two mechanical arm systems to stop emergently. The instruction/data wireless redundant subsystem comprises a second industrial personal computer 52, a panoramic camera 41, a slave control cabinet wireless bridge 51, a master control cabinet wireless bridge 28 and a second industrial personal computer 26. When the Ethernet subsystem fails, the image data of the panoramic camera 41 and the real-time control information of the first industrial personal computer 52 are sent to the master control cabinet wireless bridge 28 through the slave control cabinet wireless bridge 51. The master cabinet wireless bridge 28 sends the received data to the second industrial computer 26. Similarly, the second industrial computer sends a control command to the first industrial computer through the link, that is, the second industrial computer 26 and the first industrial computer 52 transmit data through the transmission path.
Claims (8)
1. A data communication system of a live working robot is characterized by comprising the live working robot, a multi-path image transmission subsystem, an instruction/data optical fiber transmission subsystem and an instruction/data wireless redundancy subsystem;
the multi-path image transmission subsystem comprises a binocular camera, a depth camera, a panoramic camera, a master control cabinet optical switch, a slave control cabinet optical switch and a first industrial personal computer; the binocular camera, the depth camera and the panoramic camera are all connected with a twisted-pair Ethernet port of the slave cabinet optical switch through network cables, and shot images are transmitted through the Ethernet port; the slave control cabinet optical switch adopts a gigabit industrial Ethernet switch, and each camera and the first industrial personal computer independently use a VLAN interface of the slave control cabinet optical switch; the slave control cabinet optical switch is connected with the master control cabinet optical switch through three optical ports and used for sending data from the slave control cabinet optical switch to the master control cabinet optical switch; the master control cabinet optical switch is connected with the slave control cabinet optical switch through the other three optical ports and used for sending data to the slave control cabinet optical switch by the master control cabinet optical switch; the main control cabinet optical switch is connected with a third industrial personal computer through three twisted-pair Ethernet ports;
the instruction/data optical fiber transmission subsystem comprises a second industrial personal computer, a master control cabinet optical switch, a slave control cabinet optical switch and a first industrial personal computer; the first industrial personal computer transmits the collected mechanical arm joint angle information to the slave control cabinet optical switch through the network port; the slave control cabinet optical switch is connected with an optical port of the master control cabinet optical switch through an optical port, and the master control cabinet optical switch is connected with a second industrial personal computer through a twisted-pair Ethernet port; the second industrial personal computer transmits the mechanical arm space path data to the first industrial personal computer through the master control cabinet optical switch and the slave control cabinet optical switch;
the instruction/data wireless redundant subsystem comprises a first industrial personal computer, a panoramic camera, a slave control cabinet wireless network bridge, a master control cabinet wireless network bridge and a second industrial personal computer; the slave control cabinet wireless network bridge sends image data of the panoramic camera and the mechanical arm joint angle information acquired by the first industrial personal computer to the master control cabinet wireless network bridge; the wireless network bridge of the master control cabinet sends the received data to a second industrial personal computer; similarly, the second industrial personal computer sends a control instruction to the first industrial personal computer through the master control cabinet wireless network bridge and the slave control cabinet wireless network bridge.
2. The data communication system of the electric working robot according to claim 1, wherein the electric working robot comprises an insulating arm car, a robot platform carried on the insulating arm car, a mechanical arm mounted on the robot platform, a data acquisition system and a data processing and control system; the data acquisition system comprises a binocular camera, a depth camera and a panoramic camera which are arranged on the robot platform and used for acquiring operation scene images of the mechanical arm; the data processing and control system generates a 3D virtual operation scene or plans a mechanical arm space path according to the operation scene image;
the data processing and control system comprises a first industrial personal computer, a second industrial personal computer and a third industrial personal computer, wherein an image processor and a live working action sequence library are arranged in the second industrial personal computer, and action sequence data corresponding to each live working item are stored in the live working action sequence library in advance; the third industrial personal computer plans a space path of the mechanical arm according to the relative position relationship and an action sequence corresponding to specific live-line work, and sends space path data of the mechanical arm to the first industrial personal computer through a main control cabinet optical switch; and the first industrial personal computer controls the motion of the mechanical arm according to the space path of the mechanical arm.
3. The live-working robot data communication system according to claim 2, wherein the robot arm includes a first robot arm and a second robot arm, each of the first robot arm and the second robot arm has a binocular camera mounted thereon, and the first robot arm and the second robot arm cooperate with each other using a working tool to perform live-working.
4. The live-working robot data communication system according to claim 2, wherein the robot arm includes a first robot arm, a second robot arm, and an auxiliary robot arm, each of the first robot arm, the second robot arm, and the auxiliary robot arm having a binocular camera mounted thereon, the first robot arm, the second robot arm, and the auxiliary robot arm cooperating to perform the live-working, wherein the auxiliary robot arm is configured to grip the working object, and the first robot arm and the second robot arm perform the working operation using the working tool.
5. The charged working robot data communication system of claim 2, wherein the insulated arm car is provided with a control room, the data processing and control system further comprises a display screen and a main manipulator, the second industrial personal computer is internally provided with an image processor, and the display screen and the main manipulator are positioned in the control room; the main operating hand and the mechanical arm are in a master-slave operation relationship, and the movement of the mechanical arm is controlled by changing the posture of the main operating hand; and the image processor processes the operation scene image to obtain a 3D virtual operation scene, and the 3D virtual operation scene is sent to the display for display.
6. The live working robot data communication system according to claim 5, wherein the robot arm includes a first robot arm and a second robot arm, and both the first robot arm and the second robot arm have binocular cameras mounted thereon; the main manipulator comprises a first main manipulator and a second main manipulator, and the first main manipulator and the second main manipulator are respectively used for controlling the first mechanical arm and the second mechanical arm.
7. The live-working robot data communication system according to claim 5, wherein the robot arm includes a first robot arm, a second robot arm, and an auxiliary robot arm, each of the first robot arm, the second robot arm, and the auxiliary robot arm has a binocular camera mounted thereon, and the main manipulator includes a first main manipulator, a second main manipulator, and an auxiliary main manipulator; the first main manipulator, the second main manipulator and the auxiliary main manipulator are respectively used for controlling the first mechanical arm, the second mechanical arm and the auxiliary mechanical arm.
8. The charged working robot data communication system according to any one of claims 1 to 7, wherein the robot arm or the master manipulator is a six-degree-of-freedom mechanism comprising a base, a waist joint whose rotation axis direction is perpendicular to the base plane, a shoulder joint connected to the waist joint, a big arm connected to the shoulder joint, an elbow joint connected to the big arm, a small arm connected to the elbow joint, and a wrist joint connected to the small arm, the wrist joint is composed of three rotary joints, namely a wrist pitch joint, a wrist roll joint, and a wrist rotary joint;
each joint in the six-degree-of-freedom mechanism is provided with a corresponding orthogonal rotary encoder and a corresponding servo driving motor, the orthogonal rotary encoder is used for collecting angle data of each joint, and the servo driving motor is used for controlling the motion of each joint;
and the first industrial personal computer controls the movement of each joint of the mechanical arm by controlling the servo driving motor according to the expected value of each joint angle of the mechanical arm.
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| CN110113582A (en) * | 2019-06-18 | 2019-08-09 | 国网上海市电力公司 | A kind of motor ladder platform monitoring system |
| CN110421586A (en) * | 2019-06-25 | 2019-11-08 | 国网安徽省电力有限公司淮南供电公司 | The control of distribution network live line work robot tool library and management system and method |
| CN110430391B (en) * | 2019-06-25 | 2021-07-23 | 杭州诚億科技有限公司 | Image analysis data acquisition unit with high transmission speed |
| CN112436431B (en) * | 2020-11-30 | 2022-03-25 | 国网湖北省电力有限公司检修公司 | Robot control system and method for live-line replacement of extra-high voltage line insulator |
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| CN202556399U (en) * | 2012-04-01 | 2012-11-28 | 山东电力研究院 | High-voltage live-working robot device |
| CN103481285B (en) * | 2013-09-16 | 2016-03-09 | 国家电网公司 | Based on robot for high-voltage hot-line work control system and the method for virtual reality technology |
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