CN104942816B - Automatic changing control system and automatic changing control method on basis of laser technologies for line dropping switches - Google Patents
Automatic changing control system and automatic changing control method on basis of laser technologies for line dropping switches Download PDFInfo
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- CN104942816B CN104942816B CN201510208603.5A CN201510208603A CN104942816B CN 104942816 B CN104942816 B CN 104942816B CN 201510208603 A CN201510208603 A CN 201510208603A CN 104942816 B CN104942816 B CN 104942816B
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Abstract
The invention discloses an automatic changing control system and an automatic changing control method on the basis of laser technologies for line dropping switches. The automatic changing control system comprises a robot control unit, a mechanical arm control unit, a laser positioning module, a target tracking module and a data processing center. The robot control unit is connected with the data processing center and the mechanical arm control unit, the data processing center is connected with the laser positioning module and the target tracking module, the laser positioning module is connected with the target tracking module, and mechanical arms of robots can complete dropping switch changing operation under the control of the mechanical arm control unit. The automatic changing control system and the automatic changing control method have the advantages that the dropping switches in high-voltage power transmission lines can be changed by the mechanical arms under automatic precise control of the automatic changing control system and the automatic changing control method, bolts with identification information are tracked and positioned by the aid of the target tracking module, can be accurately identified by the mechanical arms under the control of the automatic changing control system and the automatic changing control method and then can be screwed in or out, and accordingly the dropping switches can be automatically changed.
Description
Technical field
The present invention relates to field of machine vision, more particularly, to a kind of automatically changed based on the circuit drop switch of laser technology
Control system and method.
Background technology
Traditional electric equipment maintenance needs artificial close contact equipment, so not only threatens the person peace of workmen
Entirely, and inefficiency.With the development of the correlation techniques such as artificial intelligence, machine vision, already opening in various high-risk environment
Begin to be substituted by robot, the plant maintenance of ultra-high-tension power transmission line can also be completed using robot.
Drop switch is requisite device in ultra-high-tension power transmission line, when the electric current in circuit is excessive, in drop switch
Fuse will generate heat because electric current is excessive fusing, to reach the purpose of protection circuit.Generally, need people after drop switch fusing
Work is changed and is safeguarded, so not only inefficiency, and workmen has potential safety hazard in construction on electrification in high voltage circuit.People
The technology such as work intelligence, machine vision can make robot have people's sector of breakdown intelligence, and robot can be made to replace workmen in danger
In the environment of danger efficiently, quickly complete construction task.But, for the intelligent machine changing drop switch in ultra-high-tension power transmission line
The correlational study of device people's control system remains in blank.
The external diameter of drop switch bolt end head due to being usually used differs minimum with the internal diameter of bolt hole, even if therefore spiral shell
Bolt is differed with the position of bolt hole during 1mm nor successfully fixes drop switch.Therefore, using machine vision, artificial intelligence etc.
When technology changes drop switch, need accurately the bolt hole on drop switch to be alignd with the bolt hole on fixed support, and
Bolt is accurately extend in bolt fixing hole and just can smoothly complete the task of changing drop switch.
In addition, needing basis during using the fixing drop switch whole operation of the technology such as machine vision, artificial intelligence
The image that video camera obtains calculates position and its relative tilt direction when front bolt, so that adjustment mechanical arm crawl in time
The pose of bolt and position.Gray feature that bolt is shown in video camera and around environment in other high-tension electricity facilities
Very much like, and the bolt that presented of video camera would be possible to lose the distinctive texture letter that its own screw thread is embodied
Breath, this adds increased the difficulty of track and localization bolt.
Analyze through above, intelligent power equipment robot control system is asked below presence when controlling replacing drop switch
Topic:
(1) bolt of mechanical arm gripping shown gray scale and other electric power of surrounding in the image that video camera captures set
Standby, support etc. is very much like, and this makes control system should not realize target following.
(2) bolt is relatively small in the image that video camera obtains, it will lose the texture information of itself screw thread formation, increases
Add the difficulty of control system track and localization bolt.
(3) external diameter of bolt and bolt hole internal diameter are very close to, and are difficult accurately to control bolt to extend in bolt aperture.
Content of the invention
The purpose of the present invention is exactly to solve the above problems, there is provided a kind of fallen based on the high-tension line of binocular vision
Switch automatically changes control system and control method, and this control system is capable of precise control mechanical arm, and automatically to change high pressure defeated
Drop switch in electric line, it is to avoid workmen directly constructs the danger bringing on electrification in high voltage circuit.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of control system is automatically changed based on the circuit drop switch of laser technology, comprising:
Robot control unit: data for receiving data processing center simultaneously sends to mechanical arm control unit and controls life
Order；
Mechanical arm control unit: the mechanical arm for controlling robot passes through to screw or screw out band tagged bolt replacing
Drop switch；
Laser positioning module: for obtaining the three-dimensional point cloud information of mechanical arm front end and three-dimensional point cloud information being sent to number
According to processing center；
Target tracking module: for calculating the shift position of current interest target in real time using the cloud data obtaining；
Data processing centre: the three-dimensional point cloud information for collecting to laser positioning module is processed, according to three-dimensional
The position of the drop switch of the position of point cloud information trace mechanical arm movement and needs replacing；
Described robot control unit is connected with data processing centre and mechanical arm control unit respectively, described data processing
Center is connected respectively with laser positioning module, target tracking module, and described laser positioning module is connected with target tracking module, institute
Stating mechanical arm control unit controls robot arm to complete replacing and fall operation.
The described texture information adding screw thread with tagged bolt two ends.
The texture information of described screw thread be described with tagged bolt two ends between add thickness and interval different
Striped, or other have the texture of colouring information.
A kind of high-tension line drop switch changes the control method of control system automatically, dismantles controlling party including drop switch
Method and drop switch installation control method；
Described drop switch dismounting control method is: laser positioning module obtains three-dimensional point cloud information；Determine mechanical arm, set
Standby crawl position and the three-dimensional coordinate of Bolt dismantling position, and calculate left and right mechanical arm and move to equipment crawl point, bolt
The motion-vector of detachment point, moves according to motion-vector control machinery arm, demounting bolt；
Described drop switch installation control method is: determines the crawl position of equipment to be installed, the top of bolt and tail end
Three-dimensional coordinate, respectively pass through coordinate subtraction calculations clamping equipment and gripping bolt mechanical arm motion-vector, control machinery
Arm puts into bolt in bolt aperture, installs equipment.
Described drop switch dismounting control method particularly as follows:
Step one: laser positioning module obtains three-dimensional point cloud information；
Step 2: calculate the three-dimensional coordinate of step mechanical arm, equipment crawl position and Bolt dismantling position respectively, by sitting
Mark subtraction calculations go out left and right mechanical arm and move to equipment crawl point, the motion-vector of Bolt dismantling point；
Step 3: bolt is departed from by bolt hole, detaching equipment according to motion-vector control machinery arm.
Described drop switch installation control method particularly as follows:
Step one: determine the three of the crawl position of equipment to be installed, the top of bolt and tail end by laser positioning module
Dimension coordinate；
Step 2: calculate the motion-vector of clamping equipment mechanical arm, control machinery arm moves；
In moving process, the three-dimensional coordinate of real-time tracking equipment current location, regenerate guiding machinery after motion-vector
The next step move mode of arm, until move the device into specified location；
Step 3: grip the motion-vector of bolt mechanical arm by coordinate subtraction calculations, control machinery arm moves；
In moving process, the three-dimensional coordinate of real-time tracking threaded screw fasteners two ends current location, according to the three-dimensional at bolt two ends
Coordinate calculates the current pose of bolt and current motion-vector；According to the continuous adjustment bolt pose of result of calculation control machinery arm
And move mode, until bolt is moved to specified location；
Step 4: control machinery arm puts into bolt in bolt aperture, installs equipment.
The method that in described step 3, the three-dimensional coordinate according to bolt two ends calculates the current pose of bolt is:
(x is respectively by the three-dimensional coordinate that laser positioning module determines bolt end positions1,y1,z1)、(x2,y2,z2),
Calculate the pose of bolt according to three-dimensional coordinate and bolt length.
The method of the described pose calculating bolt according to three-dimensional coordinate and bolt length is:
Wherein (x1,y1,z1) for bolt end head three-dimensional coordinate, (x2,y2,z2) for bolt tail end three-dimensional coordinate；L is spiral shell
Bolt length, α, beta, gamma is respectively the drift angle that bolt is with respect to three coordinate axess positive directions of x, y, z.
Beneficial effects of the present invention:
1st, control system and the control method of the present invention are utilized, it is possible to achieve accurately control machinery arm replacing high pressure is defeated automatically
Drop switch in electric line, carries the bolt position of identification information using target tracking module track and localization, and then control machine
Tool arm accurately identifies bolt position and by precession or screws out the automatic replacing that drop switch realized by bolt.
2nd, tapered by arranging bolt end head, it is easy to for bolt end head to be deep into bolt hole, even if the positioning of bolt
There is several millimeters of difference, remain to by control system, bolt be deep in bolt fixing hole, reduce and bolt is deep into
The difficulty of bolt hole.
3rd, the texture being shown by the screw thread that bolt very likely lost by the bolt accessed by laser positioning module
Information, therefore adds texture information in the middle of color mark.Thus, the captured bolt of video camera will embody obvious face
Color information and texture information, are conducive to positioning and the tracking of bolt.
Brief description
Fig. 1 is present system structural representation；
Fig. 2 is mechanical arm structural representation of the present invention；
Fig. 3 is the machining sketch chart of bolt end head of the present invention；
Fig. 4 is bolt two ends of the present invention labelling schematic diagram；
Fig. 5 is bolt texture markings schematic diagram of the present invention；
Wherein, 1. robot control unit, 2. mechanical arm control unit, 3. data processing centre, 4. laser positioning module,
5. target tracking module, 7. drop switch, 8. mechanical arm, 9. carry the bolt of identification information.
Specific embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1-2, control system is automatically changed based on the circuit drop switch of laser technology, it is characterized in that, comprising:
Robot control unit 1: data for receiving data processing center sending to mechanical arm control unit controls
Order；
Mechanical arm control unit 2: the mechanical arm 8 for controlling robot passes through to screw or screws out the spiral shell with identification information
Bolt 9 changes drop switch 7；
Laser positioning module 4: for obtaining the three-dimensional point cloud information of mechanical arm 8 front end and described information being sent to data
Processing center；
Target tracking module 5: calculate current interest in real time using the three-dimensional point cloud information that laser positioning module collects
The movement of target.In the present invention, the tracking of mobile target adopts colouring information integration technology, to horizontal projective histogram and hang down
Deliver directly the histogrammic matching primitives of shadow to realize.
Data processing centre 3: the main three-dimensional point cloud information processing acquisition, go out machine using three-dimensional point cloud information data tracking
The position of tool arm movement and the position of needs dismounting and the drop switch 7 installed, can be utilized a high-performance computer as number
According to processing center.
Described data processing centre 3 is connected respectively with mechanical arm control unit 2, laser positioning module 4, target tracking module 5
Connect, laser positioning module 4 is connected with target tracking module 5.
The data of robot control unit 1 receiving data processing center 3, sends control signal to mechanical arm control unit 2,
Mechanical arm control unit 2 control machinery arm 8 is moved, three-dimensional point is gathered by mechanical arm 8 front end laser positioning module 4
Cloud information is simultaneously sent to data processing centre 3, and it is emerging to current sense to pass through target tracking module 5 using these three-dimensional point cloud informations
Interesting target is tracked.
Bolt 9 with identification information: as shown in Fig. 3 to Fig. 5, for convenience to mechanical arm 8 gripping with identification information
Bolt 9 be tracked and be easy to the bolt 9 with identification information is deep in bolt aperture, in the present invention will with mark
The profile of the bolt 9 of information improves.The top of bolt is processed tapered, add the texture letter of screw thread between labelling color
Breath.Texture information can be the stripe information not waited by the thickness of color mark, or other are by the texture of color mark
Grid texture of information, such as red-label etc..
The control method of control system is automatically changed based on the circuit drop switch of laser technology, including drop switch dismounting
Part and drop switch mounting portion；
Drop switch dismounting control method is:
Step one: laser positioning module 4 obtains three-dimensional point cloud information.
Step 2: determine mechanical arm 8, equipment crawl position, bolt 9 removed position with identification information in binocular vision
Position in image.
Step 3: determine mechanical arm 8, equipment crawl position, the bolt 9 with identification information using laser positioning module 4
The three-dimensional coordinate of removed position, goes out left and right mechanical arm by coordinate subtraction calculations simultaneously and moves to equipment crawl point, Bolt dismantling
The motion-vector of point.
Step 4: according to the movement of motion-vector control machinery arm 8, the bolt 9 with identification information for the dismounting.
Drop switch installation control method is:
Step one: determine the crawl position of equipment to be installed, carry the top of bolt 9 of identification information and the three-dimensional of tail end
Coordinate；
Step 2: calculate the motion-vector of clamping equipment mechanical arm 8, control machinery arm 8 is mobile.In moving process, real
When the current three-dimensional coordinate of tracking equipment, regenerate the next step move mode guiding mechanical arm after motion-vector, until will
Equipment moves to specified location.
Step 3: calculate the motion-vector of gripping bolt mechanical arm 8, control machinery arm 8 is mobile.In moving process, real
When follow the tracks of with identification information bolt 9 two ends three-dimensional coordinate calculate with identification information bolt 9 pose, by coordinate
The current motion-vector of subtraction calculations.According to bolt 9 pose with identification information for latest computed output control mechanical arm 8 adjustment
And move mode, until the bolt 9 with identification information is moved to specified location.
Step 4: control machinery arm 8 puts into the bolt 9 with identification information in bolt aperture, installs equipment.
Pose with regard to bolt calculates, and implementation method is as follows:
The actual three-dimensional coordinate in bolt two ends is determined by laser positioning module.Bolt can be calculated using equation below
Pose:
Wherein (x1,y1,z1) represent the three-dimensional coordinate of bolt end head, (x2,y2,z2) represent the three-dimensional coordinate of bolt tail end.l
Represent the bolt length obtained according to top and the tail end of bolt, α, beta, gamma represents bolt respectively with respect to three coordinates of x, y, z
The drift angle of axle positive direction.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (5)
1. a kind of control method automatically being changed control system based on the circuit drop switch of laser technology, be is characterized in that,
Described control system is automatically changed based on the circuit drop switch of laser technology, comprising:
Robot control unit: data for receiving data processing center to mechanical arm control unit transmitting control commands；
Mechanical arm control unit: the mechanical arm for controlling robot passes through to screw or screw out the tagged bolt of band and change to fall
Switch；
Laser positioning module: for obtaining the three-dimensional point cloud information of mechanical arm front end and three-dimensional point cloud information being sent at data
Reason center；
Target tracking module: for calculating the shift position of current interest target in real time using the cloud data obtaining；
Data processing centre: the three-dimensional point cloud information for collecting to laser positioning module is processed, according to three-dimensional point cloud
The position of the drop switch of the position of information trace mechanical arm movement and needs replacing；
Described robot control unit is connected with data processing centre and mechanical arm control unit respectively, described data processing centre
It is connected respectively with laser positioning module, target tracking module, described laser positioning module is connected with target tracking module, described machine
Tool arm control unit controls robot arm to complete replacing and falls operation；
The described control method automatically changing control system based on the circuit drop switch of laser technology, including drop switch dismounting
Control method and drop switch installation control method；
Described drop switch dismounting control method is: laser positioning module obtains three-dimensional point cloud information；Determine that mechanical arm, equipment are grabbed
Fetch bit put and Bolt dismantling position three-dimensional coordinate, and calculate left and right mechanical arm move to equipment crawl point, Bolt dismantling
The motion-vector of point, moves according to motion-vector control machinery arm, demounting bolt；
Described drop switch installation control method is: determines the three of the crawl position of equipment to be installed, the top of bolt and tail end
Dimension coordinate, passes through the motion-vector of the mechanical arm of coordinate subtraction calculations clamping equipment and gripping bolt respectively, and control machinery arm will
Bolt is put in bolt aperture, installs equipment.
2. the control method automatically changing control system based on the circuit drop switch of laser technology as claimed in claim 1,
It is characterized in that, described drop switch dismounting control method particularly as follows:
Step one: laser positioning module obtains three-dimensional point cloud information；
Step 2: calculate the three-dimensional coordinate of step mechanical arm, equipment crawl position and Bolt dismantling position respectively, by coordinate phase
Subtract calculate left and right mechanical arm move to equipment crawl point, the motion-vector of Bolt dismantling point；
Step 3: bolt is departed from by bolt hole, detaching equipment according to motion-vector control machinery arm.
3. the control method automatically changing control system based on the circuit drop switch of laser technology as claimed in claim 1,
It is characterized in that, described drop switch installation control method particularly as follows:
Step one: determine the three-dimensional seat of the crawl position of equipment to be installed, the top of bolt and tail end by laser positioning module
Mark；
Step 2: calculate the motion-vector of clamping equipment mechanical arm, control machinery arm moves；
In moving process, the three-dimensional coordinate of real-time tracking equipment current location, guide mechanical arm after regenerating motion-vector
Next step move mode, until move the device into specified location；
Step 3: grip the motion-vector of bolt mechanical arm by coordinate subtraction calculations, control machinery arm moves；
In moving process, the three-dimensional coordinate of real-time tracking threaded screw fasteners two ends current location, according to the three-dimensional coordinate at bolt two ends
Calculate the current pose of bolt and current motion-vector；According to the continuous adjustment bolt pose of result of calculation control machinery arm and shifting
Flowing mode, until bolt is moved to specified location；
Step 4: control machinery arm puts into bolt in bolt aperture, installs equipment.
4. the control method automatically changing control system based on the circuit drop switch of laser technology as claimed in claim 3,
It is characterized in that, the method that in described step 3, the three-dimensional coordinate according to bolt two ends calculates the current pose of bolt is:
(x is respectively by the three-dimensional coordinate that laser positioning module determines bolt end positions1,y1,z1)、(x2,y2,z2), according to
Three-dimensional coordinate and the pose of bolt length calculating bolt.
5. the control method automatically changing control system based on the circuit drop switch of laser technology as claimed in claim 4,
It is characterized in that, the method for the described pose calculating bolt according to three-dimensional coordinate and bolt length is:
Wherein (x1,y1,z1) for bolt end head three-dimensional coordinate, (x2,y2,z2) for bolt tail end three-dimensional coordinate；L is that bolt is long
Degree, α, beta, gamma is respectively the drift angle that bolt is with respect to three coordinate axess positive directions of x, y, z.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1518648A2 (en) * | 2003-09-29 | 2005-03-30 | Fanuc Ltd | Robot system capable of reproducing a situation of alarm |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN103271784A (en) * | 2013-06-06 | 2013-09-04 | 山东科技大学 | Man-machine interactive manipulator control system and method based on binocular vision |
| CN204546542U (en) * | 2015-04-28 | 2015-08-12 | 国家电网公司 | Circuit drop switch based on laser technology changes control system automatically |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012086285A (en) * | 2010-10-15 | 2012-05-10 | Seiko Epson Corp | Tracking robot device, tracking robot control method, tracking robot control program, homography matrix acquisition device, homography matrix acquisition method, and homography matrix acquisition program |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1518648A2 (en) * | 2003-09-29 | 2005-03-30 | Fanuc Ltd | Robot system capable of reproducing a situation of alarm |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN103271784A (en) * | 2013-06-06 | 2013-09-04 | 山东科技大学 | Man-machine interactive manipulator control system and method based on binocular vision |
| CN204546542U (en) * | 2015-04-28 | 2015-08-12 | 国家电网公司 | Circuit drop switch based on laser technology changes control system automatically |
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Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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Effective date of registration: 20201029 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |