CN103762522A - Line searching device and self line searching control method of high-voltage circuit patrol robot - Google Patents
Line searching device and self line searching control method of high-voltage circuit patrol robot Download PDFInfo
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- CN103762522A CN103762522A CN201410061215.4A CN201410061215A CN103762522A CN 103762522 A CN103762522 A CN 103762522A CN 201410061215 A CN201410061215 A CN 201410061215A CN 103762522 A CN103762522 A CN 103762522A
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Abstract
The invention discloses a line searching device and a self line searching control method of a high-voltage circuit patrol robot. The line searching device comprises an odd-even arm telescopic mechanism, an odd-even arm clamping mechanism, an odd-even laser sensor, an odd-even arm walking wheel, an odd-even arm hand-eye camera, a wire, an odd-even arm pressing mechanism, an odd-even arm rotation mechanism, a patrol robot control cabinet, an image processing controller, a mechanical motion controller and an odd-even arm. The visual line searching device can collect video images of the wire and the pressing mechanism and calculate the intercept and the inclination angle value in the image formed by the wire and the center line in the pressing mechanism. A mechanical motion processing device controls the odd-even arm rotation mechanism to rotate, so that the intercept value and the inclination angle value are close to zero. Whether line searching of an off-line arm is accurate or not is judged according to changes of a returned value of the laser sensor. The visual line searching device and the visual line searching control method can be used by the off-line arm to rapidly pinpoint the wire and safety of the patrol robot in the line falling process can be ensured.
Description
Technical field
The invention belongs to field of electrical equipment, relate to looking for line apparatus and independently looking for line traffic control method of a kind of crusing robot, the trick vision that relates in particular to a kind of inspection robot for high-voltage transmission lines is looked for line apparatus and is independently looked for line traffic control method.
Background technology
The leap obstacle detouring humanoid robot travelling along power transmission line is an important branch of crusing robot, at transmission of electricity operation enterprise, has also launched application.Along with crossing over going deep into of obstacle detouring type crusing robot research, improving robot autonomous serviceability, enhancing robot safety in operation, reduction manual operation complexity etc. is the key content of crossing over the research of obstacle detouring type crusing robot.Crossing obstacle automatically is the key content of crossing over obstacle detouring humanoid robot motion control research, is also the important step that robot autonomous serviceability embodies.Wheel-armed Robot ground wire travels, gold utensil on circuit (stockbridge damper, suspension clamp, earth connection, lightning conducter etc.) becomes the obstacle that stops that it travels, robot will be by adjusting both arms position and attitude (pose), make one of them mechanical arm depart from ground wire across obstacle, and then make off-line mechanical arm (off-line arm) again look for line, complete leap obstacle detouring.The line traffic control of looking for of off-line arm is a key technology in crossing obstacle automatically research.
Research mainly contains based on proximity transducer, electromagnetic sensor method both at home and abroad at present.Wherein the robot arm based on electromagnetic sensor and phase line pose decision method do not have generality, are merely able to apply on wire, and when interruption maintenance are, electromagnetic sensor is not brought into play the effect of navigation yet.And all adopt noncontacting proximity sensor to obtain the relative pose relation of power transmission line and arm based on proximity transducer and electromagnetic sensor, according to adjustment machine robot movement mechanism, complete and look for line, these methods are all utilized local message, reliability and stability are vulnerable to the interference of external environment, can produce truth and false information, lack intuitive.
Summary of the invention
The present invention solves the problem that prior art exists, and a kind of line apparatus of looking for of inspection robot for high-voltage line trick vision is provided, and has proposed independently to look for line traffic control method by the crusing robot of trick vision.
The technical scheme that device of the present invention adopts is: a kind of inspection robot for high-voltage line look for line apparatus, be arranged on inspection robot for high-voltage line, it is characterized in that, comprise: strange arm telescoping mechanism, strange arm clamp system, strange arm laser sensor, strange arm road wheel, strange arm trick camera, wire, strange arm hold-down mechanism, strange revolution of arm mechanism, crusing robot control cabinet, image process controller, mechanical movement controller, idol revolution of arm mechanism, even arm telescoping mechanism, even arm hold-down mechanism, even arm clamp system, even arm road wheel, strange arm, even arm, even arm trick camera and even arm laser sensor,
Described strange arm and even arm antisymmetry are arranged on crusing robot both sides;
Described strange arm trick camera and strange arm laser sensor respectively left and right independently are arranged on the top of described strange arm, and described even arm trick camera and even arm laser sensor be the top of the even arm of left and right described in being independently arranged on respectively; Described strange arm road wheel and even arm road wheel are independently arranged on respectively described strange arm and the top of even arm;
Described strange arm road wheel and even arm road wheel are erected on described wire rotationally, described strange arm hold-down mechanism and even arm hold-down mechanism respectively Independent are placed in described strange arm and an interior side of even arm, the lower end that be arranged in wire and the upper end corresponding with described strange arm road wheel and even arm road wheel;
Described strange arm clamp system and even arm clamp system are independently arranged on respectively described strange arm and the top of even arm, are positioned at described wire upper end;
The described strange revolution of arm He Ou of mechanism revolution of arm mechanism is independently arranged on respectively described strange arm and the bottom of even arm; Described strange arm telescoping mechanism and even arm telescoping mechanism are independently arranged on respectively in the arm of described strange arm and even arm;
It is inner that described image process controller, mechanical movement controller are all arranged at crusing robot control cabinet;
Described strange arm telescoping mechanism, strange arm clamp system, strange arm laser sensor, strange arm trick camera, strange arm hold-down mechanism, strange revolution of arm mechanism, image process controller, mechanical movement controller, even revolution of arm mechanism, even arm telescoping mechanism, even arm hold-down mechanism, even arm clamp system, even arm trick camera and even arm laser sensor provide power by crusing robot.
As preferably, the median plane of described strange arm trick camera and strange arm laser sensor and described strange arm road wheel is positioned at same plane, and the median plane of described even arm trick camera and even arm laser sensor and described even arm road wheel is positioned at same plane.
As preferably, the median plane of the median plane of described strange arm road wheel and described strange arm hold-down mechanism is positioned at same plane, and the median plane of the median plane of described even arm road wheel and described even arm hold-down mechanism is positioned at same plane.
The technical scheme that method of the present invention adopts is: a kind of inspection robot for high-voltage line independently look for line traffic control method, first suppose that the even arm of crusing robot is for grabbing line arm, strange arm is off-line arm, it is characterized in that, comprises the following steps:
Step 1: when crusing robot starts to look for line, mechanical movement controller sends vision and looks for line traffic control instruction to image process controller, and image process controller is controlled strange arm trick camera Real-time Collection vision signal;
Does step 2: image process controller receives vision and looks for after line traffic control instruction, control strange arm trick camera Real-time Collection video signal, and judgement: wire is in the strange arm trick camera visual field?
If so, carry out following step 3;
If not, mechanical movement controller is controlled even revolution of arm mechanism and is rotated, and the strange arm trick of control camera Real-time Collection video signal and decision operation in described step 2 are carried out in revolution;
Step 3: the intercept k of the center line that calculates wire and strange arm hold-down mechanism according to the video image collecting in described video image
dwith inclination angle value q
d, and record the now return value a of strange arm laser sensor
1;
Step 4: judgement: intercept k
dwith inclination angle value q
dvalue be tending towards 0?
If so, carry out following step 5;
If not, carry out following step 7;
Step 5: image process controller is by the intercept k calculating
dwith inclination angle value q
dconvert motion control instruction to, feed back to mechanical movement controller, mechanical movement controller is according to the motion control instruction that receives, controls even revolution of arm mechanism and carries out rotational motion, makes strange arm turn certain angle to the lateral deviation away from wire;
Step 6: the return value a that records strange arm laser sensor
2, detect the return value a of strange arm laser sensor
2with a
1relatively, change?
If so, carry out following step 7;
If not, carry out following step 8;
Step 7: mechanical movement controller is controlled even revolution of arm mechanism and returned by original route, and following step 9 is carried out in redirect;
Step 8: image process controller is by the intercept k calculating
dwith inclination angle value q
dconvert motion control instruction to, feed back to mechanical movement controller, mechanical movement controller is according to the motion control instruction receiving, controlling the even revolution of arm He Qi of mechanism revolution of arm mechanism rotates, image process controller calculates the video image of strange arm trick camera Real-time Collection simultaneously, and calculates the intercept k of wire and strange arm hold-down mechanism
dwith inclination angle value q
d, until intercept k
dwith inclination angle value q
dvalue be tending towards 0;
Step 9: the return value a that records strange arm laser sensor
3, continuation detects the return value a of strange arm laser sensor
3with a
2relatively, change?
If so, carry out following step 11;
If not, carry out following step 10;
Step 10: mechanical movement controller is controlled even revolution of arm mechanism and carried out rotational motion, makes strange arm turn certain angle to the lateral deviation away from wire;
Step 11: look for line success, image process controller sends the control command of stop motion with mechanical movement controller, mechanical movement controller receives after stop motion control command, stop the motion of the even revolution of arm He Qi of mechanism revolution of arm mechanism, and the record return value of strange arm laser sensor now, it is under reach that the controller of mechanical movement is simultaneously controlled strange arm telescoping mechanism execution, and strange arm road wheel is fallen above wire, and strange arm is looked for line success.
As preferably, when described strange arm is off-line arm for grabbing line arm, even arm, even arm is independently looked for line traffic control method and described, and strange arm independently looks for line traffic control method the same.
As preferably, if the wire described in step 2 is not in the strange arm trick camera visual field, mechanical movement controller is controlled even revolution of arm mechanism and is rotated, its specific implementation process is: when starting to look for line, if wire is not in the visual field of strange arm trick camera time, image process controller sends wire not in strange arm trick camera visual field instruction to mechanical movement controller, mechanical movement controller receives after this instruction, controlling even revolution of arm mechanism rotates, strange arm guiding line side is turned an angle, until wire appears in the visual field of strange arm trick camera, image control system sends the instruction of wire in the visual field of trick camera to mechanical movement controller, mechanical movement controller stops even revolution of arm mechanism and rotates, what can start strange arm looks for linear flow journey.
Compared with prior art, tool of the present invention has the following advantages:
1. can look for line apparatus to find accurately line accurately by trick vision, and confirm to look for line whether accurate by the return value of laser sensor, guarantee the safety of robot;
2. trick vision looks for line method adaptation line capacity strong, for wire and ground wire leap barrier-surpassing robot, all can look for line by the method;
3. trick vision looks for line method efficiency high, intelligent strong, without manual intervention.
Accompanying drawing explanation
Fig. 1: look for line apparatus schematic diagram for the embodiment of the present invention.
Fig. 2: look for line apparatus detailed schematic for the embodiment of the present invention.
Fig. 3: for the strange arm vision of the embodiment of the present invention is looked for line flow chart.
Fig. 4: be wire and the location diagram of strange arm hold-down mechanism center line in become image of the embodiment of the present invention.
Embodiment
For the ease of those of ordinary skills, understand and implement the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail.
Ask for an interview Fig. 1, Fig. 2, the technical scheme that device of the present invention adopts is: a kind of inspection robot for high-voltage line look for line apparatus, be arranged on inspection robot for high-voltage line, comprise: strange arm telescoping mechanism 1, strange arm clamp system 2, strange arm laser sensor 3, strange arm road wheel 4, strange arm trick camera 5, wire 6, strange arm hold-down mechanism 7, strange revolution of arm mechanism 8, crusing robot control cabinet 9, image process controller 10, mechanical movement controller 11, idol revolution of arm mechanism 12, even arm telescoping mechanism 13, even arm hold-down mechanism 14, even arm clamp system 15, even arm road wheel 16, strange arm 17, even arm 18, even arm trick camera 19 and even arm laser sensor 20, strange arm 17 is arranged on crusing robot both sides with even arm 18 antisymmetry, strange arm trick camera 5 and strange arm laser sensor 3 respectively left and right independently are arranged on the top of strange arm 17, and even arm trick camera 19 and even arm laser sensor 20 are independently arranged on the top of even arm 18 about respectively, strange arm road wheel 4 and even arm road wheel 16 are independently arranged on respectively the top of strange arm 17 and even arm 18, strange arm road wheel 4 and even arm road wheel 16 are erected on wire 6 rotationally, strange arm hold-down mechanism 7 and even arm hold-down mechanism 14 respectively Independent are placed in the interior side of strange arm 17 and even arm 18, the lower end that be arranged in wire 6 and the upper end corresponding with strange arm road wheel 4 and even arm road wheel 16, strange arm clamp system 2 and even arm clamp system 15 are independently arranged on respectively the top of strange arm 17 and even arm 18, are positioned at wire 6 upper ends, very 8 He Ou revolution of arm mechanisms 12 of revolution of arm mechanism are independently arranged on respectively the bottom of strange arm 17 and even arm 18, strange arm telescoping mechanism 1 and even arm telescoping mechanism 13 are independently arranged on respectively in the arm of strange arm 17 and even arm 18, image process controller 10, mechanical movement controller 11 are all arranged at crusing robot control cabinet 9 inside, strange arm trick camera 5 and strange arm laser sensor 3 are positioned at same plane with the median plane of strange arm road wheel 4, and even arm trick camera 19 and even arm laser sensor 20 are positioned at same plane with the median plane of even arm road wheel 16, the median plane of strange arm road wheel 4 is positioned at same plane with the median plane of strange arm hold-down mechanism 7, and the median plane of the median plane of even arm road wheel 16 and even arm hold-down mechanism 14 is positioned at same plane, strange arm telescoping mechanism 1, strange arm clamp system 2, strange arm laser sensor 3, strange arm trick camera 5, strange arm hold-down mechanism 7, strange revolution of arm mechanism 8, image process controller 10, mechanical movement controller 11, even revolution of arm mechanism 12, even arm telescoping mechanism 13, even arm hold-down mechanism 14, even arm clamp system 15, even arm trick camera 19 and even arm laser sensor 20 provide power by crusing robot.
Vertically down, when strange arm 17 is during in off-line state, strange arm trick camera 5 can observe the position of wire 6 and strange arm hold-down mechanism 7 for the strange arm trick camera 5 of the present embodiment and strange arm laser sensor 3 acting surfaces.Strange arm laser sensor 3 can detect the distance of the place ahead barrier, and distance is different, and return value is also different.When wire 6 is not on the contact roller median plane of strange arm hold-down mechanism 7, strange arm laser sensor 3 dead aheads are contact rollers; When wire 6 is on the contact roller median plane of strange arm hold-down mechanism 7, strange arm laser sensor 3 dead aheads are wires 6; Can obtain and differently judge that vision looks for line whether accurate according to return value.
The strange revolution of arm mechanism 8 of the present embodiment makes strange arm 17 rotate around strange arm central shaft, and even revolution of arm mechanism 12 makes even arm 18 rotate around even arm central shaft.At crusing robot, look in line process, when strange arm 17 is in off-line arm, even arm 18 is when grabbing line arm, and 12Shi robot of even revolution of arm mechanism body rotates around even arm 18, makes in the visual field of wire 6 in strange arm trick camera 5.Very revolution of arm mechanism 8 makes strange arm 17 rotate around strange arm central shaft, makes the median plane of wire 6 and strange arm hold-down mechanism 7 at same plane.
Ask for an interview Fig. 3, the technical scheme that method of the present invention adopts is: a kind of line apparatus of looking for of inspection robot for high-voltage line that utilizes is independently looked for the method for line traffic control, first supposes that the even arm 18 of crusing robot is for grabbing line arm, and strange arm 17 is off-line arm, it is characterized in that, comprise the following steps:
Step 1: when crusing robot starts to look for line, mechanical movement controller 11 sends vision and looks for line traffic control instruction to image process controller 10, and image process controller 10 is controlled strange arm trick camera 5 Real-time Collection vision signals;
Does step 2: image process controller 10 receives vision and looks for after line traffic control instruction, control strange arm trick camera 5 Real-time Collection video signals, and judgement: wire 6 is in strange arm trick camera 5 visuals field?
If so, carry out following step 3;
If not, the even revolution of arm of mechanical movement controller 11 control mechanism 12 rotates, and the strange arm trick of control camera 5 Real-time Collection video signal and the decision operation in revolution execution step 2, wherein the even revolution of arm of mechanical movement controller 11 control mechanism 12 rotates, its specific implementation process is: when starting to look for line, if wire 6 is not in the visual field of strange arm trick camera 5 time, image process controller 10 sends wire not in strange arm trick camera 5 visual field instructions to mechanical movement controller 11, mechanical movement controller 11 receives after this instruction, controlling even revolution of arm mechanism 12 rotates, strange arm 17 guiding line 6 sides are turned an angle, until wire 6 appears in the visual field of strange arm trick camera 5, image control system 10 sends the instruction of wire in the visual field of trick camera 5 to mechanical movement controller 11, mechanical movement controller 11 stops even revolution of arm mechanism 12 and rotates, what can start strange arm 17 looks for linear flow journey,
Step 3: the intercept k of the center line that calculates wire 6 and strange arm hold-down mechanism 7 according to the video image collecting in video image
dwith inclination angle value q
d, and record the now return value a of strange arm laser sensor 3
1;
Step 4: judgement: intercept k
dwith inclination angle value q
dvalue be tending towards 0?
If so, carry out following step 5;
If not, carry out following step 7;
Step 5: image process controller 10 is by the intercept k calculating
dwith inclination angle value q
dconvert motion control instruction to, feed back to mechanical movement controller 11, mechanical movement controller 11 is according to the motion control instruction receiving, and controls even revolution of arm mechanism 12 and carries out rotational motions, makes strange arm 17 turn certain angle to the lateral deviation away from wire 6;
Step 6: the return value a that records strange arm laser sensor 3
2, detect the return value a of strange arm laser sensor 3
2with a
1relatively, change?
If so, carry out following step 7;
If not, carry out following step 8;
Step 7: the even revolution of arm of mechanical movement controller 11 control mechanism 12 returns by original route, and following step 9 is carried out in redirect; Step 8: image process controller 10 is by the intercept k calculating
dwith inclination angle value q
dconvert motion control instruction to, feed back to mechanical movement controller 11, mechanical movement controller 11 is according to the motion control instruction receiving, controlling the even revolution of arm 12He Qi of mechanism revolution of arm mechanism 8 rotates, image process controller 10 calculates the video image of strange arm trick camera 5 Real-time Collections simultaneously, and calculates the intercept k of wire 6 and strange arm hold-down mechanism 7
dwith inclination angle value q
d, until intercept k
dwith inclination angle value q
dvalue be tending towards 0;
Step 9: the return value a that records strange arm laser sensor 3
3, continuation detects the return value a of strange arm laser sensor 3
3with a
2relatively, change?
If so, carry out following step 11;
If not, carry out following step 10;
Step 10: the even revolution of arm of mechanical movement controller 11 control mechanism 12 carries out rotational motions, makes strange arm 17 turn certain angle to the lateral deviation away from wire 6;
Step 11: look for line success, image process controller 10 sends the control command of stop motion with mechanical movement controller 11, mechanical movement controller 11 receives after stop motion control command, stop the motion of the even revolution of arm 12He Qi of mechanism revolution of arm mechanism 8, and the record return value of strange arm laser sensor 3 now, it is under reach that the controller of mechanical movement simultaneously 11 is controlled strange arm telescoping mechanism 1 execution, and strange arm road wheel 4 is fallen above wire 6, and strange arm 17 is looked for line success.
In the present embodiment, when strange arm 17 is when grabbing line arm, even arm 18 for off-line arm, even arm 18 independently look for line traffic control method with, strange arm 17 independently looks for line traffic control method the same.
The strange arm 17 of take below looks for line as example, and specific works flow process of the present invention is described further:
Step 1: first detect and look for line apparatus each several part whether normal, specifically comprise: whether strange arm trick camera 5 returns to video image, whether detection laser transducer 3 has return value, check that can mechanical motion process device 11 control even revolution of arm mechanism 12, strange revolution of arm mechanism 8, even arm hold-down mechanism 14, strange arm hold-down mechanism 7, even arm clamp system 15, strange arm clamp system 2, even arm telescoping mechanism 13 and strange arm telescoping mechanism 1 proper motion, whether detect wire 6 strains, after all component workings are normal, carry out next step.
Step 2: the even arm 18 of crusing robot is for grabbing line arm, and strange arm 17 is off-line arm, for guaranteeing the safety of crusing robot, even arm road wheel 16 falls within on wire 6, make even arm hold-down mechanism 14 compress wire 6, even arm clamp system 15 clamping wires 6, even arm telescoping mechanism 13 is shortening state; Strange arm hold-down mechanism 7 is at the lower limit place of strange arm 17, and strange arm telescoping mechanism 1 goes out at the upper limit of strange arm 17, and strange arm clamp system 2 is opening maximum spacing place.
Step 3: after above-mentioned work completes, mechanical movement controller 11 sends looks for line to image processor 10, and image processor 10 makes strange arm trick camera 5 Real-time Collection video images.
Step 4: image processor 10 detects the video image that strange arm trick camera 5 gathers, check that wire 6 is whether in video image, if wire 6 is not in video image, the even revolution of arm of mechanical movement processor 11 control mechanism 12 rotates, and wire 6 is adjusted in the visual field of strange arm trick camera 5.
Step 5: if wire 6 in video image, the intercept k of the contact roller center line that image processor 10 calculates wire 6 and strange arm hold-down mechanism 7 in imaging picture
dwith inclination angle q
d, and record the now return value a of strange arm laser sensor 3
1.
Step 6: detect intercept k
dwith inclination angle q
dvalue whether level off to 0, if two values all level off to 0, mechanical movement processor 9 is controlled even revolution of arm mechanism 12 and is turned an angle, and records the return value a of strange arm laser sensor 3
2if, a
2-a
1≠ 0, Ze Ou revolution of arm mechanism returns by original route; If a
2-a
1=0, prove that incipient position is not also the best line of fall position of strange arm 17, mechanical movement processor 11 will be controlled the even revolution of arm 12He Qi of mechanism revolution of arm mechanism 8 and rotate, and make intercept k
dwith inclination angle q
dlevel off to 0.Again record the return value a of strange arm laser sensor 3
3if, a
3-a
2≠ 0, strange arm 17 is looked for line success, and strange arm 17 can be carried out line of fall action; If a
3-a
2=0, the even revolution of arm of mechanical movement processor 9 control mechanism 12 turns an angle, and 8 He Ou revolution of arm mechanisms 12 of the strange revolution of arm of mechanical movement processor 11 control mechanism are rotated, and makes intercept k
dwith inclination angle q
dlevel off to 0, whether the value that again detects strange arm laser sensor 3 changes, if change, looks for line accurate, can carry out the operation of the line of fall, if change, does not continue to retransmit aforesaid operations.
Step 7: if detect intercept k
dwith inclination angle q
dvalue level off to 0 when different, mechanical movement controller 11 is controlled the even revolution of arm 12He Qi of mechanism revolution of arm mechanism 8 and is rotated, the intercept k that image processor 10 is calculated
dwith inclination angle q
dvalue level off to 0, whether the value that detects strange arm laser sensor 3 changes, if change, strange arm 17 looks for line accurate, strange arm can be carried out line of fall operation; If do not change, strange arm 17 looks for line inaccurate, and the even revolution of arm of machinery fortune merit processor 11 control mechanism 12 turns an angle, and the even revolution of arm 12He Qi of the mechanism revolution of arm of mechanical movement processor 11 control mechanism 8 rotates, and makes intercept k
dwith inclination angle q
dvalue level off to 0, whether the return value that again detects strange arm laser sensor 3 changes, if change, strange arm 17 looks for line accurate, if do not change, strange arm 17 looks for line inaccurate, repeats aforesaid operations, until intercept k
dwith inclination angle q
dvalue level off to 0, and the return value of strange arm laser sensor 3 changes, strange arm 17 looks for line accurate, strange arm 17 can be carried out line of fall operation.
Step 8: when crusing robot receives while stopping looking for the order of line in arbitrary step, crusing robot brakes immediately and suspends all Detection & Controling strategies, waits for that ground base station sends other control commands.
Ask for an interview Fig. 4, for the vision of strange arm 17 is looked for the schematic diagram of line, (a) in figure, defined the pose property coordinate system { xoy} of wire 6 with strange arm hold-down mechanism 7, origin of coordinates O is positioned at the line of strange arm hold-down mechanism 7 center lines at the mid point of the imaging region of strange arm trick camera 5, x direction of principal axis is the line direction of strange arm hold-down mechanism 7 center lines, z direction of principal axis is outside perpendicular to imaging plane, and according to right-hand rule, y direction of principal axis makes progress along imaging plane.Wire after heavy line representative image is processed.Wherein, the distance of initial point O and the central point of wire 6 in imaging region is called intercept, and unit is pixel, and regulation is worked as k
dduring >0, wire 6, in the outside of wheel clamping 7, is worked as k
dduring <0, wire 6 is in the inner side of wheel clamping 7; Wire 6 is called inclination angle with the deflection angle of x axle in imaging region, and unit is degree, and the span at inclination angle is-π < θ
d< π, in looking for line process, works as q
dduring >0, strange arm 17 rotates counterclockwise, and works as q
dduring <0, very arm 17 clockwise rotates.
The process of the adjustment intercept of the present embodiment is called centering and regulates, and the motion of You Ou revolution of arm mechanism 12 completes centering and regulates, and the direction of motion is by k
dpositive and negatively determine, adjust intercept k
dlevel off to 0; The process of adjusting inclination angle is called parallel adjusting, and the motion of You Qi revolution of arm mechanism 8 regulates, and the direction of motion is by k
dpositive and negatively determine, adjust inclination angle [theta]
dlevel off to 0.By centering, regulate and parallel adjusting, wire 6 is overlapped in image coordinate system with strange arm hold-down mechanism 7 center line lines.
Although more used strange arm telescoping mechanism 1, strange arm clamp system 2, strange arm laser sensor 3, strange arm road wheel 4, strange arm trick camera 5, wire 6, strange arm hold-down mechanism 7, strange revolution of arm mechanism 8, crusing robot control cabinet 9, image processor 10, mechanical movement processor 11, even revolution of arm mechanism 12, even arm telescoping mechanism 13, even arm hold-down mechanism 14, even arm clamp system 15, even arm road wheel 16, strange arm 17, even arm 18, even arm trick camera 19 and even arm laser sensor 20 herein, do not got rid of the possibility of using other terms.Use these terms to be only used to describe more easily essence of the present invention, they are construed to any additional restriction is all contrary with spirit of the present invention.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can do various modifications or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (6)
1. an inspection robot for high-voltage line looks for line apparatus, be arranged on inspection robot for high-voltage line, it is characterized in that, comprise: strange arm telescoping mechanism (1), strange arm clamp system (2), strange arm laser sensor (3), strange arm road wheel (4), strange arm trick camera (5), wire (6), strange arm hold-down mechanism (7), strange revolution of arm mechanism (8), crusing robot control cabinet (9), image process controller (10), mechanical movement controller (11), even revolution of arm mechanism (12), even arm telescoping mechanism (13), even arm hold-down mechanism (14), even arm clamp system (15), even arm road wheel (16), strange arm (17), even arm (18), even arm trick camera (19) and even arm laser sensor (20),
Described strange arm (17) is arranged on crusing robot both sides with even arm (18) antisymmetry;
Described strange arm trick camera (5) and strange arm laser sensor (3) respectively left and right independently are arranged on the top of described strange arm (17), the top of the even arm (18) described in described even arm trick camera (19) and even arm laser sensor (20) are independently arranged on about respectively; Described strange arm road wheel (4) and even arm road wheel (16) are independently arranged on respectively described strange arm (17) and the top of even arm (18);
Described strange arm road wheel (4) and even arm road wheel (16) are erected on described wire (6) rotationally, described strange arm hold-down mechanism (7) and even arm hold-down mechanism (14) respectively Independent are placed in described strange arm (17) and an interior side of even arm (18), the lower end and the upper end that are arranged in wire (6) corresponding with described strange arm road wheel (4) and even arm road wheel (16);
Described strange arm clamp system (2) and even arm clamp system (15) are independently arranged on respectively described strange arm (17) and the top of even arm (18), are positioned at described wire (6) upper end;
Described He Ou revolution of arm mechanism of strange revolution of arm mechanism (8) (12) is independently arranged on respectively described strange arm (17) and the bottom of even arm (18); Described strange arm telescoping mechanism (1) and even arm telescoping mechanism (13) are independently arranged on respectively in the arm of described strange arm (17) and even arm (18);
Described image process controller (10), mechanical movement controller (11) are all arranged at crusing robot control cabinet (9) inside, described strange arm telescoping mechanism (1), strange arm clamp system (2), strange arm laser sensor (3), strange arm trick camera (5), strange arm hold-down mechanism (7), strange revolution of arm mechanism (8), image process controller (10), mechanical movement controller (11), even revolution of arm mechanism (12), even arm telescoping mechanism (13), even arm hold-down mechanism (14), even arm clamp system (15), even arm trick camera (19) and even arm laser sensor (20) provide power by crusing robot.
2. inspection robot for high-voltage line according to claim 1 looks for line apparatus, it is characterized in that: described strange arm trick camera (5) and strange arm laser sensor (3) are positioned at same plane with the median plane of described strange arm road wheel (4), the median plane of described even arm trick camera (19) and even arm laser sensor (20) and described even arm road wheel (16) is positioned at same plane.
3. inspection robot for high-voltage line according to claim 1 looks for line apparatus, it is characterized in that: the median plane of the median plane of described strange arm road wheel (4) and described strange arm hold-down mechanism (7) is positioned at same plane, the median plane of the median plane of described even arm road wheel (16) and described even arm hold-down mechanism (14) is positioned at same plane.
4. utilize the line apparatus of looking for of the inspection robot for high-voltage line described in claim 1 independently to look for a method for line traffic control, first suppose that the even arm (18) of crusing robot is for grabbing line arm, strange arm (17) is off-line arm, it is characterized in that, comprises the following steps:
Step 1: when crusing robot starts to look for line, mechanical movement controller (11) sends vision and looks for line traffic control instruction to image process controller (10), and image process controller (10) is controlled strange arm trick camera (5) Real-time Collection vision signal;
Does step 2: image process controller (10) receives vision and looks for after line traffic control instruction, control strange arm trick camera (5) Real-time Collection video signal, and judgement: wire (6) is in strange arm trick camera (5) visual field?
If so, carry out following step 3;
If not, mechanical movement controller (11) is controlled even revolution of arm mechanism (12) rotation, and the strange arm trick of control camera (5) Real-time Collection video signal and decision operation in described step 2 are carried out in revolution;
Step 3: the intercept k of the center line that calculates wire (6) and strange arm hold-down mechanism (7) according to the video image collecting in described video image
dwith inclination angle value q
d, and record the now return value a of laser sensor
1;
Step 4: judgement: intercept k
dwith inclination angle value q
dvalue be tending towards 0?
If so, carry out following step 5;
If not, carry out following step 7;
Step 5: image process controller (10) is by the intercept k calculating
dwith inclination angle value q
dconvert motion control instruction to, feed back to mechanical movement controller (11), mechanical movement controller (11), according to the motion control instruction receiving, is controlled even revolution of arm mechanism (12) and is carried out rotational motion, makes strange arm (17) turn certain angle to the lateral deviation away from wire (6);
Step 6: the return value a that records strange arm laser sensor (3)
2, detect the return value a of strange arm laser sensor (3)
2with a
1relatively, change?
If so, carry out following step 7;
If not, carry out following step 8;
Step 7: mechanical movement controller (11) is controlled even revolution of arm mechanism (12) and returned by original route, and following step 9 is carried out in redirect;
Step 8: image process controller (10) is by the intercept k calculating
dwith inclination angle value q
dconvert motion control instruction to, feed back to mechanical movement controller (11), mechanical movement controller (11) is according to the motion control instruction receiving, controlling He Qi revolution of arm mechanism of even revolution of arm mechanism (12) (8) rotates, image process controller (10) calculates the video image of strange arm trick camera (5) Real-time Collection simultaneously, and calculates the intercept k of wire (6) and strange arm hold-down mechanism (7)
dwith inclination angle value q
d, until intercept k
dwith inclination angle value q
dvalue be tending towards 0;
Step 9: the return value a that records strange arm laser sensor (3)
3, continuation detects the return value a of strange arm laser sensor (3)
3with a
2relatively, change?
If so, carry out following step 11;
If not, carry out following step 10;
Step 10: mechanical movement controller (11) is controlled even revolution of arm mechanism (12) and carried out rotational motion, makes strange arm (17) turn certain angle to the lateral deviation away from wire (6);
Step 11: look for line success, image process controller (10) sends the control command of stop motion with mechanical movement controller (11), mechanical movement controller (11) receives after stop motion control command, stop the motion of He Qi revolution of arm mechanism of even revolution of arm mechanism (12) (8), and the record return value of strange arm laser sensor (3) now, while mechanical movement controller (11) is controlled strange arm telescoping mechanism (1) and is carried out under reach, make strange arm road wheel (4) fall wire (6) above, strange arm (17) is looked for line success.
5. inspection robot for high-voltage line according to claim 4 independently looks for line traffic control method, it is characterized in that: when described strange arm (17) is when grabbing line arm, even arm (18) for off-line arm, even arm (18) independently looks for line traffic control method independently to look for line traffic control method the same with described strange arm (17).
6. inspection robot for high-voltage line according to claim 4 independently looks for line traffic control method, it is characterized in that: if the wire described in step 2 (6) is not in strange arm trick camera (5) visual field, mechanical movement controller (11) is controlled even revolution of arm mechanism (12) rotation, its specific implementation process is: when starting to look for line, if wire (6) is not in the visual field of strange arm trick camera (5) time, image process controller (10) sends wire not in strange arm trick camera (5) visual field instruction to mechanical movement controller (11), mechanical movement controller (11) receives after this instruction, controlling even revolution of arm mechanism (12) rotates, strange arm (17) guiding line (6) side is turned an angle, until wire (6) appears in the visual field of strange arm trick camera (5), image control system (10) sends the instruction of wire in the visual field of trick camera (5) to mechanical movement controller (11), mechanical movement controller (11) stops even revolution of arm mechanism (12) and rotates, what can start strange arm (17) looks for linear flow journey.
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