CN206623081U - 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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- CN206623081U CN206623081U CN201621355728.7U CN201621355728U CN206623081U CN 206623081 U CN206623081 U CN 206623081U CN 201621355728 U CN201621355728 U CN 201621355728U CN 206623081 U CN206623081 U CN 206623081U
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Abstract
The utility model proposes a kind of hot line robot operation monitoring system, 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；By the data of Temperature Humidity Sensor, pressure sensor, current collector and voltage collector collection compared with corresponding safe range value, if the data currently gathered are in corresponding safe range, then think that powered robot manipulating task is normal, if the data currently gathered 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 instead of 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 can not 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
Net, robot and the safety of 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 for the angle number for gathering each joint
According to servo drive motor is used for the motion for controlling each joint；The data collecting system includes being arranged on robot platform
Video camera, video camera are 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, the contact force for collection machinery arm and environment；Voltage collector and the servo-drive electricity in each joint of mechanical arm
Machine is connected, the size of the electric current for gathering servo drive motor；Data collecting card is converted to data for every gathered data
The form that processing and control systems are identified；The image of full-view camera, binocular camera and depth camera shooting passes to
Display is shown；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 compared with corresponding safe range value, if the data currently gathered in corresponding safe range,
Think that powered robot manipulating task is normal, if the data currently gathered 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 is shown, mechanical arm action command is made by the second industrial computer, the second industrial computer is sent to the first industrial computer
Mechanical arm action command, the first industrial computer act 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 compared with corresponding safe range value, if the data currently gathered in corresponding safe range,
Think that powered robot manipulating task is normal, if the data currently gathered not in corresponding safe range, to the second industrial computer
Send corresponding warning information；Second industrial computer shows corresponding warning information over the display, 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 view data over the display, 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 acts 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
Action sequence data corresponding to 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 and manipulating object that image processor obtains after handling working scene image
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 the space path data of the mechanical arm are sent to the first industrial computer；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 and mechanical arm are principal and subordinate's operative relationship, 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 obtains after handling 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 are 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 for the angle-data for gathering each joint, and servo drive motor is used to control
Make the motion in each joint；First industrial computer is according to the desired values 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 monitoring data such as system while Collecting operation live video image data, robot its data, can be from multiple angle monitoring machines
People's operation；When robot manipulating task breaks down, operation monitoring system can find failure according to monitoring data and according to failure
Corresponding emergency measure is taken, operating personnel can also have found that it is likely that the failure of appearance in advance 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 it is aerial lift device with insulated arm, 2 is control room, 3 is telescopic arm, 4 is robot platform, 46 is insulator, 43 is
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
It is large arm for shoulder joint, 434,435 be elbow joint, 436 be forearm, 437 is wrist joint.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, 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 the present invention's
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 is put down
Platform 4, is communicated using fiber optic Ethernet or wireless communication between robot platform 4 and control room 2.
Aerial lift device with insulated arm 1 is available for operating personnel to drive, so as to which robot platform 4 is transported into operation field.Insulation bucket arm
Supporting leg is housed, supporting leg can deploy, so as to which aerial lift device with insulated arm 1 and ground are consolidated into support on car 1.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 the drive device along 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 by scissor-type lifting mechanism or the replacement of 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 and robot platform 4 are insulated.
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 power supply.
As a kind of embodiment, binocular camera 45 1 shares 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 is fixed.
Depth camera 410 is arranged on the side of the face working scene of robot platform 4, is responsible for the scape of Collecting operation scene
Deep data, depth of field data is sent to the second industrial computer.
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 into tool box special 47 according to the type of job task using instrument fast replacing device.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of are used for manually remotely in control room 2
The operation device of operating robotic arm, they form 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.
As a kind of embodiment, 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 that large arm 434 connects, the forearm 436 being connected with elbow joint 435, the wrist joint 437 being connected with forearm 436, wrist close
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 for the motion for controlling 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.
As a kind of embodiment, data transfer between robot platform 4 and control room 2 by 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 electric signal in twisted-pair feeder, so as to realize the electrical isolation of robot platform 4 and control room 2 in communication.
As a kind of embodiment, the second industrial computer can complete following task：
Establish action sequence storehouse.It is in advance acting sequences by every livewire work Task-decomposing, composition action sequence storehouse, deposits
Storage is planned in the second industrial computer for robotic arm path.
Establish manipulating object model library.The threedimensional model of 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 electric 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, structure working scene is three-dimensional
Virtual scene.
Establish 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, plan mechanical arm
Space path.
Obtain view data.Obtain the data message of panoramic picture, depth image and binocular image.
Operative goals is identified and tracked according to view data.
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 handled and calculated, obtains mechanical arm position, obtains the position of manipulating object, obtains machine
Relative position between tool arm and manipulating object, and according to relative position and the space path of job task planning mechanical arm.
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 handled and calculated, 3D dummy activity scenes is built, send display to show, operating personnel
According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activities scene synthesis and depth image letter
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, improve security.Meanwhile 3D dummy activity scenes are shown in control
On display in room 2, away from mechanical arm operation field, the personal safety of people operating personnel is improved.
As a kind of embodiment, 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, are 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 action of power, first mechanical arm and the second mechanical arms such as device clamping then carry out related service operation.
The combination for the different task completed according to the second industrial computer and the first industrial computer, hot line robot of the present invention was both
Long-range shake can be carried out by operating personnel to operate to complete livewire work, can carry out autonomous livewire work again.It is powered in progress
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 posture, 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 selecting AUTONOMOUS TASK, calculated by the second industrial computer according to number of images and depth image and obtain manipulating object
Relative position relation between mechanical arm, then carry 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
Desired value of the data as each joint angles of mechanical arm, by the motion in each joint of servomotor controller tool arm, band is completed
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 included：Temperature Humidity Sensor, pressure sensor, current collector, electricity
Press 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, the temperature and humidity for 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, the contact force for collection machinery arm and environment.
Current collector and the servo in each joint of first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 are driven
Dynamic motor is connected, the size of the electric current for gathering motor.
The both positive and negative polarity of voltage collector and battery connects, 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 format 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 handled then in safe range, if currently collecting the data of a certain sensor in safe range
Outside, 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 compared with the size for the value of the safe range of temperature data being stored in the first industrial computer 48, if the temperature data
Value be 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 the too low fault message of environment temperature on a display screen.Operator
Member inputs full platform and 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 compared with the size for the value of the safe range of temperature data being stored in the first industrial computer 48, if the temperature data
Value be 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 the too high fault message of environment temperature on a display screen.Operator
Member inputs full platform and 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 compared with the size for the value of the safe range of humidity data being stored in the first industrial computer 48, if the humidity data
Value be 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 the too high fault message of ambient humidity on a display screen.Operator
Member inputs full platform and 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 value of data is compared with the size for the value of the safe range of pressure data being stored in the first industrial computer 48, if the pressure
The value of data is more than the value of safe range, then robot contact pressure occurs and crosses major break down.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 input mechanical arm and are 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 compared with the size for the value of the safe range of current data being stored in the first industrial computer 48, if the current data
Value be 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 the fault message of mechanical arm load excessive on a display screen.
Operating personnel input mechanical arm and are 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 first industrial computer 48 control 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
Compared with the size for the value of the safe range of voltage data being stored in the first industrial computer 48, if the value of the voltage data
Less than the value of safe range, then storage battery under-voltage failure occurs.First industrial computer 48 sends the faulting instruction of storage battery under-voltage
To the second industrial computer, the second industrial computer shows the fault message of storage battery under-voltage on a display screen.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 follows the steps below：
Step 1, data collecting card collection Temperature Humidity Sensor, pressure sensor, current collector, voltage collector measurement
Obtained data；
Step 2, according to humidity sensor, pressure sensor, current collector, the respective nominal data of voltage collector
Table, the first industrial computer 48 by the data conversion that step 1 collects into be easy to the mankind identify data；
Step 3, the data that the first industrial computer 48 obtains step 2 contrast with safe range tables of data, if step 2 obtains
Data exceed safety date sheet scope, the first industrial computer 48 will be sent beyond the false command of the data of safety date sheet scope
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 to input emergent stopping instruction according to false command.
Artificial remote monitoring follows the steps below：
Step 1, view data is sent to the second industry control by full-view camera 41, binocular camera 45, depth camera 410
Machine；
Step 2, the second industrial computer shows the view data in step 1 on a display screen.
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, decide whether to input emergent stopping instruction.
Claims (8)
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 being mounted on aerial lift device with insulated arm, installed in machine
Mechanical arm on device people's platform, data collecting system and data processing and control system；
The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and video camera includes binocular camera, depth
Camera and full-view camera, binocular camera is equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm；
The first mechanical arm, second mechanical arm and auxiliary mechanical arm are multiple-degree-of-freedom mechanism, each joint in multiple-degree-of-freedom mechanism
Corresponding orthogonal rotary encoder and servo drive motor are respectively provided with, orthogonal rotary encoder is used for the angle for gathering each joint
Data, servo drive motor are used for the motion for controlling 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 field
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 cooks 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, the contact force for collection machinery arm and 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 the form that every gathered data is converted to data processing and control system is identified；It is full-view camera, double
Mesh camera and the image of depth camera shooting pass to display and shown；
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
Humidity sensor, pressure sensor, current collector and the data of voltage collector collection are carried out with corresponding safe range value
Compare, if the data currently gathered 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 is shown 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 acts.
3. hot line robot operation monitoring system as claimed in claim 1, it is characterised in that first industrial computer is by temperature
Humidity sensor, pressure sensor, current collector and the data of voltage collector collection are carried out with corresponding safe range value
Compare, if the data currently gathered 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 acts 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 view data over the display,
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 acts according to mechanical arm action command control machinery arm.
5. the electric Work robot operation monitoring system as described in claim 1,2,3 or 4, it is characterised in that in the second industrial computer
Image processor and livewire work action sequence storehouse are put,
Action sequence data corresponding to 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 processing, relative position relation and tool described in the second industrial computer
The space path of action sequence planning mechanical arm corresponding to body livewire work, and the space path data of the mechanical arm are sent out
Give the first industrial computer；
First industrial computer acts according to the space path control machinery arm of the mechanical arm.
6. the electric Work robot operation monitoring system as described in claim 1,2,3 or 4, it is characterised in that the insulation bucket arm
Control room is provided with car, first industrial computer, the second industrial computer and display screen are arranged in control room, also set in control room
Main manipulator is equipped with, main manipulator and mechanical arm are principal and subordinate's operative relationship, by the gesture stability mechanical arm for changing main manipulator
Motion；The working scene image of the camera acquisition is sent to the second industrial computer, and image processor enters to working scene image
The 3D dummy activity scenes obtained after row processing, and send display to show.
7. electric Work robot operation monitoring system as claimed in claim 5, it is characterised in that the mechanical arm or main operation
Hand is mechanism in six degree of freedom, including pedestal, the rotation direction of principal axis waist joint vertical with base plane, the shoulder joint being connected with waist joint
Section, 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 being connected with forearm close
Section, wrist joint are 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 the angle-data that encoder is used to gather each joint, servo drive motor is used for the motion for controlling each joint；
First industrial computer is each by mechanical arm by controlling servo drive motor to control according to the desired values of each joint angles of mechanical arm
Joint motions.
8. electric Work robot operation monitoring system as claimed in claim 6, it is characterised in that the mechanical arm or main operation
Hand is mechanism in six degree of freedom, including pedestal, the rotation direction of principal axis waist joint vertical with base plane, the shoulder joint being connected with waist joint
Section, 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 being connected with forearm close
Section, wrist joint are 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 the angle-data that encoder is used to gather each joint, servo drive motor is used for the motion for controlling each joint；
First industrial computer is each by mechanical arm by controlling servo drive motor to control according to the desired values of each joint angles of mechanical arm
Joint motions.
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| CN201621355728.7U CN206623081U (en) | 2016-12-09 | 2016-12-09 | A kind of hot line robot operation monitoring system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737548A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot operation monitoring system |
| CN110554650A (en) * | 2019-09-18 | 2019-12-10 | 创泽智能机器人股份有限公司 | Remote online monitoring robot system |
| CN111452029A (en) * | 2020-04-14 | 2020-07-28 | 山东乐普韦尔自动化技术有限公司 | Live working robot control system and live working robot |
-
2016
- 2016-12-09 CN CN201621355728.7U patent/CN206623081U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737548A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot operation monitoring system |
| CN110554650A (en) * | 2019-09-18 | 2019-12-10 | 创泽智能机器人股份有限公司 | Remote online monitoring robot system |
| CN111452029A (en) * | 2020-04-14 | 2020-07-28 | 山东乐普韦尔自动化技术有限公司 | Live working robot control system and live working robot |
| CN111452029B (en) * | 2020-04-14 | 2023-12-29 | 山东乐普韦尔自动化技术有限公司 | Live working robot control system and live working robot |
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