CN106426229A - Virtual reality monitoring control system for line patrol robot and control method - Google Patents
Virtual reality monitoring control system for line patrol robot and control method Download PDFInfo
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- CN106426229A CN106426229A CN201610911979.7A CN201610911979A CN106426229A CN 106426229 A CN106426229 A CN 106426229A CN 201610911979 A CN201610911979 A CN 201610911979A CN 106426229 A CN106426229 A CN 106426229A
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- arm
- control panel
- sensor
- hinged
- virtual reality
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses a virtual reality monitoring control system for a line patrol robot and a control method, and belongs to the field of electric power patrol. The virtual reality monitoring control system for the line patrol robot comprises an analog mechanical arm, a working mechanical arm, a camera for acquiring video signals, a first control panel, a second control panel, a first wireless module, a second wireless module and a pair of video glasses, wherein the working mechanical arm is used for operating in scene; a data output end of the camera is connected with the first wireless module or the first control panel; the first control panel is connected with the first wireless module and the working mechanical arm; the analog mechanical arm is used for remotely controlling the working mechanical arm; an output end of the analog mechanical arm is connected with the second control panel; and the second control panel is connected with the second wireless module and the video glasses. The virtual reality monitoring control system for the line patrol robot can simulate binocular vision of humans, is direct in control process, and guarantees accurate and efficient line patrol operation.
Description
Technical field
The present invention relates to Electric Power Patrol field, particularly relate to a kind of virtual reality Monitoring and Controlling system for inspection robot
System and control method.
Background technology
In recent years, in Electric Power Patrol field, inspection robot gets growing concern for and applies.Inspection robot is remote
Hang from the ground on the line, complete to make an inspection tour, the work such as monitor, overhaul, substantially increase efficiency and the security of Electric Power Patrol,
Provide guarantee for normal operation of power system.
When inspection robot works on the line, need surface personnel to send instruction to it and be controlled.Existing
Inspection robot controls mainly to be realized by two ways：
(1) long-distance remote control controls：Surface personnel passes through handle, rocking bar or computer controls inspection robot, gives
Inspection robot sends action command.This control mode principle is simple, easily realizes, shortcoming is that control process is not directly perceived,
Because ultra-high-tension power transmission line working environment is complicated and changeable, robot can not be made to be precisely accomplished using remote pilot merely some dynamic
Make.
(2) programming Control：According to the specification of circuit, the instruction in advance robot being needed execution stores inspection robot
On, so, when working on the line, inspection robot will be ordered according to the region execution reaching is specific.This line walking machine
People enables autonomous control to a certain extent, but because line specificities are complicated and changeable, and robot vision does not have development
To the degree being capable of identify that whole obstacles or fault, therefore this control generally requires the intervention of people.
Content of the invention
The present invention provides a kind of virtual reality monitor control system for inspection robot and control method, can simulate people
Binocular vision, control process directly perceived it is ensured that walking operation accurately, efficiently carry out.
For solving above-mentioned technical problem, the present invention provides technical scheme as follows：
On the one hand, the present invention provides a kind of virtual reality monitor control system for inspection robot, including analog machine
Tool arm, work arm, for gather the video camera of vision signal, the first control panel, the second control panel, the first wireless module,
Second wireless module and video eyeglasses, wherein：
Described work arm is used for executing operation at the scene, and the data output end of described video camera connects described first no
The data output end of wire module or described video camera connects described first control panel, and described first control panel connects described first
Wireless module and described work arm；
Described analog mechanical arm is used for work arm described in remotely control, and the output end of described analog mechanical arm connects institute
State the second control panel, described second control panel connects described second wireless module and described video eyeglasses.
Further, described analog mechanical arm makes by a certain percentage according to described work arm, described analog mechanical
Arm includes hinged the first side link being arranged on a base, and the end of described first side link is hinged with the first upper arm, described
The end of the first upper arm is hinged with the first forearm, and the end of described first forearm is hinged with the first manipulator, described base, first
Side link, the hinged place of the first upper arm, the first forearm and the first manipulator are provided with the sensor of the measurement anglec of rotation；
Described work arm includes the second side link in the hinged frame being arranged on described inspection robot, and described
The end of two side links is hinged with the second upper arm, and the end of described second upper arm is hinged with the second forearm, described second forearm
End is hinged with the second manipulator, described frame, the second side link, the second upper arm, the second forearm and the second manipulator hinged
Place is provided with driving means；
The control circuit of described analog mechanical arm includes described second control panel, and the input of described second control panel connects
Described sensor, the converted plate of output end of described second control panel is connected with the first communication module；
The control circuit of described work arm includes described first control panel, and the input of described first control panel connects
There is the second communication module being communicated with described first communication module, the output end of described first control panel is respectively through driving plate
Connect described driving means.
Further, described video camera includes front video camera and rear video camera, and the camera of described video camera is by visible ray
Camera and infrared camera composition, transmit to described video eyeglasses after the signal of described second wireless module reception video camera
On display, described front video camera sends to two secondary different video eyeglasses with the image information that rear video camera obtains or sends
To same pair video eyeglasses, described video camera is arranged on head, and the quantity of described video camera is more than two.
Further, the output end of described second control panel is also associated with the display for staff's viewing, and described the
Two control panels are also associated with handle, and the direction of described visible image capturing head and infrared camera is passed through to click on the direction arrow of display
Head or adjustment handle are controlled.
Further, described first manipulator includes a pair first fingers, and described first finger includes first being hinged
Section and second section, are also equipped between described first segment and second section measuring the sensor of angle；
Described second manipulator includes a pair being hinged second finger, and the hinged place of described second finger is also equipped with driving
Dynamic device, described second finger is connected with each other using engagement partial gear, or is driven using independent.
Further, each hinged place of described analog mechanical arm all using damping joint, described damping joint include arrange
Cover plate in adjacent two-arm hinged place, screw rod and described sensor, wherein：
Described adjacent two-arm includes the first arm and the second arm, and the hinged place of described adjacent two-arm is provided with position limiting structure, institute
State the cover plate cap that cover plate includes hollow and the circular boss being arranged on described cover plate cap, described boss passes through described first arm
Hinge hole and described second arm upper surface, between described cover plate and the first arm, between described second arm and the first arm
It is provided with annular friction plate, described screw rod is hollow screw, described hollow screw passes through the hinge of described cover plate and the first arm
Connect hole, connect to the hinge hole of described second arm, described cover plate and the first arm are hinged on described second arm；
Described sensor includes base portion and the rotary shaft being located on described base portion, and described rotary shaft is from the hinge of described second arm
Connect hole to penetrate, stretch out from described hollow screw, described sensor upper end is furnished with sensor axle sleeve, the rotary shaft of described sensor
It is fixed on described sensor axis to put, described sensor axle sleeve is fixed on described first arm, and the base portion of described sensor is fixed
On described second arm.
Further, described sensor is potentiometer or rotary encoder, and described position limiting structure is positioned at described second arm
With the positive stop lug boss at the contact surface edge of the first arm, described first arm with respect to described second arm be located at angle range in any
Angle；
The end surface of the circular boss of described cover plate is provided with some the first equidistant cylindrical protrusion, described second arm
Upper surface be provided with described first cylindrical protrusion be adapted the first draw-in groove；The base portion of described sensor and described second arm
It is provided with the second cylindrical protrusion on the surface of contact, described second arm is provided with the being adapted with described second cylindrical protrusion
Two draw-in groove.
Further, the converted plate of output end of described second control panel and the first communication module, the second communication module with
First control panel is all connected by serial ports.
On the other hand, the present invention also provides a kind of above-mentioned virtual reality monitor control system for inspection robot
Control method, including：
Step 1：The job status of line walking line conditions and described work arm monitored by described video camera, by collect
To described first wireless module, the second wireless module on ground receives vision signal via described the to vision signal real-time Transmission
Two control panels are delivered to video eyeglasses；
Step 2：Staff passes through the signal of video eyeglasses in step 1, with hand operation simulation machinery arm, described analog machine
Second control panel of tool arm gathers the numerical value of described sensor, and described first communication module is by the number of the described sensor collecting
Value is sent to the second communication module of described work arm in real time；
Step 3：After the second communication module receiving data signal in described work arm, by described first control panel
Parse the data receiving, then send the described driving means to different parts for the corresponding pulse, described driving means rotate
Corresponding angle.
Wherein, in described step 2, described first communication module sends described biography using the data mode of numbering+sensor
The numerical value of sensor.
The invention has the advantages that：
The virtual reality monitor control system for inspection robot mechanical arm of the present invention and control method, patrol during work
The field video signal collecting is transmitted to ground by the first wireless module by the video camera in line robot via control panel
The second wireless module, the second wireless module on ground by camera acquisition to information transmit to video eye via control panel
On mirror, the binocular vision of simulation people, make control process more directly perceived.According to the picture of inspection robot real-time Transmission, ground work
Make personnel can accurately to complete the work such as maintenance, cleaning, protect by the mechanical arm on analog mechanical arm remote control inspection robot
Card walking operation is accurately, efficiently carry out.
Brief description
Fig. 1 is the fundamental diagram of the virtual reality monitor control system for inspection robot of the present invention；
Fig. 2 be the present invention the virtual reality monitor control system for inspection robot proactive as hair send video believe
Number schematic diagram；
Fig. 3 is the video reception schematic diagram of the virtual reality monitor control system for inspection robot of the present invention；
Fig. 4 is the structural representation of the analog mechanical arm of the present invention；
Fig. 5 is the structural representation of the inspection robot of the present invention；
Fig. 6 is the engagement connection diagram of the manipulator of work arm of the present invention；
Fig. 7 is the overall structure diagram in the damping joint for analog mechanical arm of the present invention；
Fig. 8 is the overall structure of the explosion figure in the damping joint for analog mechanical arm of the present invention；
Fig. 9 is the connection blast of the cover plate, the first arm and the second arm in the damping joint for analog mechanical arm of the present invention
Figure；
Figure 10 is the control circuit schematic diagram of the analog mechanical arm of the present invention；
Figure 11 is the control circuit schematic diagram of the work arm of the present invention.
Specific embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of virtual reality monitor control system for inspection robot, as Fig. 1-11 institute
Show, including analog mechanical arm 1, work arm 2, video camera 3, first control panel the 4, second control for gathering vision signal
Plate 5, the first wireless module 6, the second wireless module 7 and video eyeglasses 8, wherein：
Work arm 2 is used for execute operation at the scene, data output end connection first wireless module 6 of video camera 3 or
The data output end of person's video camera 3 connects the first control panel 4, and the first control panel 4 connects the first wireless module 6 and work arm
2, live view is first transferred to control panel and do recognition processing by video camera, is then transferred to wireless sending module again, this flow process
Being mainly used in inspection robot needs to do the situation of autonomous classification, and such as robot may need the insulation on autonomous classification circuit
The line facilities such as son, suspension clamp simultaneously make marks；
Analog mechanical arm 1 is used for remote control operation mechanical arm 2, and the output end of analog mechanical arm 1 connects the second control panel
5, the second control panel 5 connects the second wireless module 7 and video eyeglasses 8.
The virtual reality monitor control system for inspection robot mechanical arm of the present invention, on inspection robot during work
Video camera the field video signal collecting is transmitted by the first wireless module via control panel second wireless to ground
Module, the second wireless module on ground by camera acquisition to information transmit to video eyeglasses via control panel, simulation
The binocular vision of people, makes control process more directly perceived.According to the picture of inspection robot real-time Transmission, surface personnel is permissible
By the mechanical arm on analog mechanical arm remote control inspection robot, accurately complete the work such as maintenance, cleaning it is ensured that walking operation
Accurately, efficiently carry out.
Further, analog mechanical arm 1 makes by a certain percentage according to work arm 2, and analog mechanical arm 1 includes hinged
It is arranged on the first side link 10 on a base 9, the end of the first side link 10 is hinged with the first upper arm 11, the first upper arm 11
End is hinged with the first forearm 12, and the end of the first forearm 12 is hinged with the first manipulator 13, base 9, the first side link 10,
The hinged place of one upper arm 11, the first forearm 12 and the first manipulator 13 is provided with the sensor 14 of the measurement anglec of rotation；
Work arm 2 includes the second side link 16 in the hinged frame 15 being arranged on inspection robot, the second frame linking
The end of bar 16 is hinged with the second upper arm 17, and the end of the second upper arm 17 is hinged with the second forearm 18, the end of the second forearm 18
It is hinged with the second manipulator 19, frame 15, the second side link 16, the second upper arm 17, the second forearm 18 and the second manipulator 19
Hinged place is provided with driving means；
The control circuit of analog mechanical arm 1 includes the second control panel 5, and the input of the second control panel 5 connects described sensing
Device 20, the converted plate of output end 21 of the second control panel 5 is connected with the first communication module 22；
The control circuit of work arm 2 includes the first control panel 4, and the input of the first control panel 4 is connected with and first
The second communication module 23 that communication module 22 is communicated, the output end of the first control panel 4 connects described respectively through driving plate 24
Driving means 25.During work, operating personnel, with manual operating analog mechanical arm, by gathering the value of sensor on analog mechanical arm, passes
Transport to the control panel of work arm, control panel, according to the variable quantity of sensor values, controls corresponding drive mechanism to rotate corresponding
Angle, so, the action of analog mechanical arm has just been mapped in the work arm of inspection robot it is achieved that wireless simulation
Control.
Preferably, video camera 3 includes front video camera and rear video camera, the camera of video camera 3 by visible image capturing head and
Infrared camera forms, and transmits to the display of video eyeglasses 8 after the signal of the second wireless module 7 reception video camera 3, proactive
Camera sends to two secondary different video eyeglasses 8 with the image information that rear video camera obtains or sends to same pair video eyeglasses
On 8, video camera 3 is arranged on head 26, and the quantity of video camera 3 is more than two.Front camera and rear camera monitor respectively
Two parts field range in front and back, current camera and the image information that rear video camera obtains send to two secondary different video eyeglasses
When upper, the visual field of inspection robot to be converted, only need to change glasses, such two staff can wear a pair respectively and regard
The front and rear part of inspection robot monitored respectively by frequency glasses；The image information of current camera and the acquisition of rear video camera sends to together
When on one secondary video eyeglasses, the switching push button of video can arrange on the controller, on video eyeglasses or in separate handle, so
It is changeable monitoring picture that staff does not need to change glasses.
Preferably, the output end of the second control panel 5 be also associated with for staff viewing display 27 it is seen that light shooting
The direction of head and infrared camera passes through to click on the direction arrow of display 27 or adjustment handle 28 is controlled, and this method is more
Intuitively.
Further, the first manipulator 13 includes a pair first fingers 29, and the first finger 29 includes the first segment being hinged
And second section, it is also equipped between first segment and second section measuring the sensor of angle, this structure facilitates operated by personnel
The opening and closing of a pair first fingers；
Second manipulator 19 includes the second finger 30 that is hinged a pair, and the hinged place of second finger 30 is also equipped with driving
Device, second finger 30 is connected with each other using engagement partial gear, or is driven using independent, using engagement partial gear
It is connected with each other and only needs to a second finger installation drive mechanism wherein, another second finger can negative side due to meshing relation
To opening or close.
Further, each hinged place of analog mechanical arm 1, all using damping joint, damps joint and includes being arranged on adjacent two
The cover plate 31 of arm hinged place, screw rod 32 and sensor 14, wherein：
Adjacent two-arm includes the first arm 33 and the second arm 34, and the hinged place of adjacent two-arm is provided with position limiting structure, cover plate 31
Cover plate cap 35 including hollow and the circular boss 36 being arranged on cover plate cap 35, boss 36 passes through the hinge hole of the first arm 33
With the upper surface of the second arm 34, between cover plate 31 and the first arm 33, between the second arm 34 and the first arm 33, it is provided with circle
Annular friction piece 37, screw rod 32 is hollow screw, and hollow screw passes through the hinge hole of cover plate 31 and the first arm 33, connects to second
The hinge hole of arm 34, cover plate 31 and the first arm 33 are hinged on the second arm 34；
Sensor 14 includes base portion 38 and the rotary shaft 39 being located on base portion 38, and rotary shaft 39 is from the hinge hole of the second arm 34
Penetrate, stretch out from hollow screw, sensor 14 upper end is furnished with sensor axle sleeve 40, the rotary shaft 39 of sensor 14 is fixed on biography
On sensor axle sleeve 40, sensor axle sleeve 40 is fixed on the first arm 33, and the base portion 38 of sensor 14 is fixed on the second arm 34.This
Planting structure can make the first arm freely rotatable in angle range with respect to the second arm, can apply pretension to analog mechanical arm again
Power, makes mechanical arm keep particular pose.
As a modification of the present invention, sensor 14 is potentiometer or rotary encoder, and the angle range of potentiometer is 0
～300 °, position limiting structure is the positive stop lug boss 41 at the contact surface edge positioned at the second arm 34 and the first arm 33, and the first arm 33 is relatively
In the second arm 34 angle range be limited to arbitrarily angled between 0～300 °.Positive stop lug boss defines angle range, prevents from surpassing
The angle range going out sensor damages in itself to sensor, and the maloperation being also prevented from staff leads to work arm to be made not
Predictable action；
The end surface of the circular boss 36 of cover plate 31 is provided with some the first equidistant cylindrical protrusion 42, the second arm 34
Upper surface be provided with and the first draw-in groove 43 that the first cylindrical protrusion 42 is adapted；The base portion 38 of sensor 14 is connect with the second arm 34
Second cylindrical protrusion 44 is provided with tactile surface, the second arm 34 is provided with the second card being adapted with the second cylindrical protrusion 44
Groove (not shown).So cover plate will not produce relative slip with the second arm, and the main body of sensor also will not relative turn with the second arm
Dynamic.
In the present invention, the output end converted plate 21 of the second control panel 5 and the first communication module 22, the second communication module 23
All it is connected by serial ports with the first control panel 4, the data of sensor can be sent and received in real time.
On the other hand, the present invention also provides a kind of above-mentioned virtual reality monitor control system for inspection robot
Control method, including：
Step 1：The job status of line walking line conditions and work arm 2 monitored by video camera 3, and the video collecting is believed
, to the first wireless module 6, it is defeated via the second control panel 5 that the second wireless module 7 on ground receives vision signal for number real-time Transmission
Deliver to video eyeglasses 8；
Step 2：Staff passes through the signal of video eyeglasses 8 in step 1, with hand operation simulation machinery arm 1, as Figure 10 institute
Show, second control panel 5 of analog mechanical arm 1 gathers the numerical value of sensor 20, the first communication module 22 is by the sensor collecting
20 numerical value is sent to the second communication module 23 of work arm 2 in real time；
Step 3：As shown in figure 11, after the second communication module 23 receiving data signal in work arm 2, by first
The data that control panel 4 parsing receives, then sends the driving means 25 to different parts for the corresponding pulse, 25 turns of driving means
Move corresponding angle.
The control method of the virtual reality monitor control system for inspection robot mechanical arm of the present invention, patrols during work
The field video signal collecting is transmitted to ground by the first wireless module by the video camera in line robot via control panel
The second wireless module, the second wireless module on ground by camera acquisition to information transmit to video eye via control panel
On mirror, the binocular vision of simulation people, make control process more directly perceived.According to the picture of inspection robot real-time Transmission, ground work
Make personnel can accurately to complete the work such as maintenance, cleaning, protect by the mechanical arm on analog mechanical arm remote control inspection robot
Card walking operation is accurately, efficiently carry out.
Preferably, in step 2, the second control panel 5 continuously obtains the currency of No. five sensors, in being taken using bubbling algorithm
Between be worth numerical value as current sensor.The fluctuating error of the sensor values collecting so can be reduced.
Further, in step 2, the first communication module 22 sends sensor 20 using the data mode of numbering+sensor
Numerical value.This mode can effectively send the numerical value of multigroup sensor that the second control panel obtains.
The above is the preferred embodiment of the present invention it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of virtual reality monitor control system for inspection robot is it is characterised in that include analog mechanical arm, work
Mechanical arm, for gathering the video camera of vision signal, the first control panel, the second control panel, the first wireless module, the second wireless mould
Block and video eyeglasses, wherein：
Described work arm is used for executing operation at the scene, and the data output end of described video camera connects the described first wireless mould
The data output end of block or described video camera connects described first control panel, and it is wireless that described first control panel connects described first
Module and described work arm；
Described analog mechanical arm is used for work arm described in remotely control, and the output end of described analog mechanical arm connects described the
Two control panels, described second control panel connects described second wireless module and described video eyeglasses.
2. the virtual reality monitor control system for inspection robot according to claim 1 is it is characterised in that described
Analog mechanical arm makes by a certain percentage according to described work arm, and described analog mechanical arm includes hinged being arranged on a base
On the first side link, the end of described first side link is hinged with the first upper arm, and the end of described first upper arm is hinged with
One forearm, the end of described first forearm is hinged with the first manipulator, described base, the first side link, the first upper arm, first little
The hinged place of arm and the first manipulator is provided with the sensor of the measurement anglec of rotation；
Described work arm includes the second side link in the hinged frame being arranged on described inspection robot, and described second even
The end of hack lever is hinged with the second upper arm, and the end of described second upper arm is hinged with the second forearm, the end of described second forearm
Be hinged with the second manipulator, described frame, the second side link, the second upper arm, the second forearm and the second manipulator hinged place equal
It is provided with driving means；
The control circuit of described analog mechanical arm includes described second control panel, and the input connection of described second control panel is described
Sensor, the converted plate of output end of described second control panel is connected with the first communication module；
The control circuit of described work arm includes described first control panel, the input of described first control panel be connected with
The second communication module that described first communication module is communicated, the output end of described first control panel connects through driving plate respectively
Described driving means.
3. the virtual reality monitor control system for inspection robot according to claim 2 is it is characterised in that described
Video camera includes front video camera and rear video camera, and the camera of described video camera is by visible image capturing head and infrared camera group
Become, transmit to the display of described video eyeglasses after the signal of described second wireless module reception video camera, described proactive picture
Machine sends to two secondary different video eyeglasses with the image information that rear video camera obtains or sends to same pair video eyeglasses,
Described video camera is arranged on head, and the quantity of described video camera is more than two.
4. the virtual reality monitor control system for inspection robot according to claim 3 is it is characterised in that described
The output end of the second control panel is also associated with the display for staff's viewing, and described second control panel is also associated with handle,
The direction of described visible image capturing head and infrared camera is controlled by the direction arrow or adjustment handle clicking on display.
5. the virtual reality monitor control system for inspection robot according to claim 4 is it is characterised in that described
First manipulator includes a pair first fingers, and described first finger includes first segment and the second section being hinged, described first segment
It is also equipped with measuring the sensor of angle and second section between；
Described second manipulator includes a pair being hinged second finger, and the hinged place of described second finger is also equipped with driving dress
Put, described second finger is connected with each other using engagement partial gear, or driven using independent.
6. the virtual reality monitor control system for inspection robot according to claim 5 is it is characterised in that described
All using damping joint, described damping joint includes being arranged on the lid of adjacent two-arm hinged place for each hinged place of analog mechanical arm
Plate, screw rod and described sensor, wherein：
Described adjacent two-arm includes the first arm and the second arm, and the hinged place of described adjacent two-arm is provided with position limiting structure, described lid
The cover plate cap that plate includes hollow and the circular boss being arranged on described cover plate cap, described boss passes through the hinge of described first arm
Connect the upper surface in hole and described second arm, between described cover plate and the first arm, be all provided between described second arm and the first arm
It is equipped with annular friction plate, described screw rod is hollow screw, described hollow screw passes through the hinge hole of described cover plate and the first arm,
Connect to the hinge hole of described second arm, described cover plate and the first arm are hinged on described second arm；
Described sensor includes base portion and the rotary shaft being located on described base portion, and described rotary shaft is from the hinge hole of described second arm
Penetrate, stretch out from described hollow screw, described sensor upper end is furnished with sensor axle sleeve, the rotary shaft of described sensor is fixed
On described sensor axis set, described sensor axle sleeve is fixed on described first arm, and the base portion of described sensor is fixed on institute
State on the second arm.
7. the virtual reality monitor control system for inspection robot according to claim 6 is it is characterised in that described
Sensor is potentiometer or rotary encoder, and described position limiting structure is the contact surface edge positioned at described second arm and the first arm
Positive stop lug boss, described first arm is arbitrarily angled with respect to what described second arm was located in angle range；
The end surface of the circular boss of described cover plate is provided with some the first equidistant cylindrical protrusion, described second arm upper
Surface is provided with the first draw-in groove being adapted with described first cylindrical protrusion；The base portion of described sensor and described second arm contact
Surface on be provided with the second cylindrical protrusion, described second arm is provided with described second cylindrical protrusion be adapted second card
Groove.
8. the virtual reality monitor control system for inspection robot according to claim 7 is it is characterised in that described
The converted plate of output end of the second control panel and the first communication module, the second communication module and the first control panel are all by serial ports even
Connect.
9. in claim 1-8 arbitrary described virtual reality monitor control system for inspection robot control method,
It is characterized in that, including：
Step 1：The job status of line walking line conditions and described work arm monitored by video camera in described work arm,
By the vision signal collecting real-time Transmission to described first wireless module, the second wireless module on ground receives vision signal
It is delivered to video eyeglasses via described second control panel；
Step 2：Staff passes through the signal of video eyeglasses in step 1, with hand operation simulation machinery arm, described analog mechanical arm
The second control panel gather the numerical value of described sensor, described first communication module is real by the numerical value of the described sensor collecting
When be sent to the second communication module of described work arm；
Step 3：After the second communication module receiving data signal in described work arm, by described first control panel parsing
The data receiving, then sends the described driving means to different parts for the corresponding pulse, and described driving means rotate corresponding
Angle.
10. the control method of the virtual reality monitor control system for inspection robot according to claim 9, it is special
Levy and be, in described step 2, described first communication module sends described sensor using the data mode of numbering+sensor
Numerical value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610911979.7A CN106426229B (en) | 2016-10-20 | 2016-10-20 | Virtual reality monitor control system and control method for inspection robot |
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| CN106933096A (en) * | 2017-03-14 | 2017-07-07 | 广州幻境科技有限公司 | It is a kind of to follow robot device and method certainly for what third party provided spatial orientation information |
| CN106959763A (en) * | 2017-05-05 | 2017-07-18 | 重庆梦神科技有限公司 | Virtual reality experience equipment and control system |
| CN107257104A (en) * | 2017-06-22 | 2017-10-17 | 国网河南省电力公司驻马店供电公司 | Transmission line of electricity conductor joint heating electrical treatment device |
| CN108011320A (en) * | 2017-11-22 | 2018-05-08 | 国家海洋局第二海洋研究所 | Ocean scientific investigation implement pulley |
| CN108312173A (en) * | 2018-03-16 | 2018-07-24 | 济南舜风科技有限公司 | Damping joint, analog control system and control method for analog mechanical arm |
| CN109873363A (en) * | 2019-04-18 | 2019-06-11 | 国家电网有限公司 | Extra high voltage direct current transmission line method for inspecting |
| CN111369854A (en) * | 2020-03-20 | 2020-07-03 | 广西生态工程职业技术学院 | Vr virtual reality laboratory operating system and method |
| CN111531521A (en) * | 2020-05-19 | 2020-08-14 | 深圳供电局有限公司 | A virtual reality inspection robot for transformer substation |
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| CN111369854A (en) * | 2020-03-20 | 2020-07-03 | 广西生态工程职业技术学院 | Vr virtual reality laboratory operating system and method |
| CN111531521A (en) * | 2020-05-19 | 2020-08-14 | 深圳供电局有限公司 | A virtual reality inspection robot for transformer substation |
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