CN106695785B - A kind of hot line robot fuse switch detection method - Google Patents

A kind of hot line robot fuse switch detection method Download PDF

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Publication number
CN106695785B
CN106695785B CN201611128486.2A CN201611128486A CN106695785B CN 106695785 B CN106695785 B CN 106695785B CN 201611128486 A CN201611128486 A CN 201611128486A CN 106695785 B CN106695785 B CN 106695785B
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mechanical arm
joint
data
arm
personal computer
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CN106695785A (en
Inventor
郭健
林立斌
郭毓
汤冯炜
黄颖
韩昊一
吴禹均
苏鹏飞
吴巍
李光彦
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/04Viewing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1689Teleoperation

Abstract

The present invention proposes a kind of hot line robot fuse switch detection method.The mechanical arm of robot carries Partial discharge detector, infrared camera and high-definition camera and carries out mobile and Data Detection around fuse switch to be detected in response to controlling data;Data processing and control system handle Partial Discharge Data, infrared thermal imagery diagram data and high-definition image data, the index of correlation numerical value of acquisition is compared with regime values in database, to judge to survey the working condition of fuse switch, to form examining report.In the present invention, the mechanical arm of hot line robot carries out live detection to fuse switch by way of shaking operation or AUTONOMOUS TASK, operating personnel's danger brought by operation near the live high voltage route is avoided, job step is simplified, improves detection accuracy.

Description

A kind of hot line robot fuse switch detection method
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot fuse switch detection side Method.
Background technique
In 10kv route, fuse switch is a kind of essential device, is that distribution line branch line and distribution become A kind of most common short switch of depressor.When the electric current in route is excessive, fuse can be because of electric current mistake in fuse switch It generates heat greatly and fuses, due to fuse failure, the contact up and down of cartridge fuse loses the fastening force of fuse, the fuse under its Gravitative Loads Pipe falls automatically, disconnects route, cuts off faulty line and equipment.
With the development of power distribution network, the usage amount of fuse switch is huge.In general, fuse switch needs regularly Manual maintenance, traditional way are to have a power failure to do interruption maintenance, heavy workload, if power failure area to fuse switch in spring inspection It is larger, it will cause the loss that can not be estimated, seriously affect the economic benefit and social benefit of power supply enterprise.Present vast research people Member is also in the method for actively research fuse switch on-line monitoring, but the mode of this method on-line monitoring needs in monitoring place On-line monitoring equipment is placed, route is transformed, original route can not be suitable for.
Summary of the invention
Present invention solves the technical problem that being, in case of constant power, the mechanical arm of hot line robot is by shaking The mode of operation or AUTONOMOUS TASK carries out live detection to fuse switch, avoids operating personnel in live high voltage route Danger brought by neighbouring operation simplifies job step relative to artificial live detection operation, and a variety of special due to carrying Industry detection device, testing result are more accurate relative to artificial detection.
In order to solve the above technical problem, the present invention provides a kind of hot line robot fuse switch replacement sides Method, hot line robot have the mechanical arm that is arranged on robot platform, including first mechanical arm, second mechanical arm and Auxiliary mechanical arm, first mechanical arm, second mechanical arm and auxiliary mechanical arm complete following work in response to control data:
The end of first mechanical arm, second mechanical arm and auxiliary mechanical arm is installed Partial discharge detector respectively, infrared is taken the photograph As head and high-definition camera;
First mechanical arm, second mechanical arm and auxiliary mechanical arm carry Partial discharge detector, infrared camera and height Clear camera carries out mobile and Data Detection around fuse switch to be detected;Partial discharge detector, infrared camera It will test data with high-definition camera to go out to be defeated by data processing and control system by communication system;Data processing and control system To Partial discharge detector, infrared camera and high-definition camera acquisition Partial Discharge Data, infrared thermal imagery diagram data and High-definition image data are handled, and the index of correlation numerical value of acquisition are compared with regime values in database, to judge to survey The working condition of fuse switch, to form examining report.
Further, before operation, clamping device is installed in first mechanical arm and second mechanical arm end, is clamped with clamping device Insulation masking material carries out insulation masking to the electrical body of label;After operation, first mechanical arm and second mechanical arm end Clamping device is installed in portion, and the insulation masking material being covered on electrical body is removed with clamping device.
Further, the data processing and control system are obtaining Partial discharge detector, infrared camera and high definition After the detection data of camera, according to index of correlation numerical value in database regime values compare as a result, first tentatively being divided Analysis;For test point corresponding to abnormal index numerical value, first mechanical arm, second mechanical arm and auxiliary mechanical arm carry part Discharge detector, infrared camera and high-definition camera are detected again;Data processing and control system are according to shelf depreciation The index of correlation numerical value that detector, infrared camera and high-definition camera obtain again judges the work for surveying fuse switch Make state.
Further, the control data are the angle desired value of each joint of mechanical arm movement, and the angle desired value is by charging Work robot data processing and control system are according to each joint angles variation number of the main manipulator for being set to insulation bucket arm car It is obtained according to resolving;Main manipulator includes the first main manipulator, the second main manipulator and auxiliary main manipulator;First main manipulator, Second main manipulator and auxiliary main manipulator are corresponding with first mechanical arm, second mechanical arm and auxiliary mechanical arm respectively, constitute master From operative relationship.
Further, control room is provided on the aerial lift device with insulated arm, the data processing and control system include the first work Control machine, the second industrial personal computer, display screen and main manipulator, the second industrial personal computer Built-in Image processor, display screen and main manipulator position In in control room;The working scene image of the video camera acquisition is sent to the second industrial personal computer, and image processor is to working scene The 3D dummy activity scene that image obtains after being handled, and display is sent to show.
Further, the control data are the angle desired value of each joint of mechanical arm movement;Hot line robot data Processing and control systems use Descartes according to the relative position and job task action sequence of each mechanical arm and manipulating object Space path planing method cooks up the space path of each mechanical arm, then calculates each joint of mechanical arm according to space path and transports Dynamic angle desired value.
Further, the hot line robot, including aerial lift device with insulated arm, the robot being mounted on aerial lift device with insulated arm are flat Platform, the mechanical arm being mounted on robot platform;
The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes that binocular is taken the photograph It is mechanical equipped with binocular camera, described first on the first mechanical arm, second mechanical arm and auxiliary mechanical arm as head Livewire work is completed in arm, second mechanical arm and auxiliary mechanical arm cooperation, wherein and auxiliary mechanical arm is used for clamping operation object, the One mechanical arm and second mechanical arm use power tool progress Job Operations;
The data processing and control system include the first industrial personal computer, the second industrial personal computer, at the second industrial personal computer Built-in Image Device and livewire work action sequence library are managed,
The corresponding action sequence data of every livewire work are previously stored in livewire work action sequence library;
The working scene image of the video camera acquisition is sent to the second industrial personal computer, and image processor is to working scene image The relative positional relationship between mechanical arm and manipulating object obtained after being handled, the second industrial personal computer close depending on that relative position The space path of action sequence planning mechanical arm corresponding to system and specific livewire work, and by the space road of the mechanical arm Diameter data are sent to the first industrial personal computer;
First industrial personal computer calculates the control data according to the space path of the mechanical arm.
Further, the mechanical arm or main manipulator are mechanism in six degree of freedom, including pedestal, rotary axis direction and pedestal The vertical waist joint of plane, the shoulder joint being connect with waist joint, the large arm being connect with shoulder joint, the elbow joint being connect with large arm, The forearm connecting with elbow joint, the wrist joint connecting with forearm, wrist joint are made of three rotary joints, and respectively wrist pitching is closed Section, wrist swinging joint and wrist rotary joint;
Each joint all has corresponding orthogonal rotary encoder and servo drive motor in the mechanism in six degree of freedom, just Rotary encoder is handed over to be used to acquire the angle-data in each joint, servo drive motor is used to control the movement in each joint;
First industrial personal computer presses machinery by control servo drive motor control according to the desired value of each joint angles of mechanical arm Each joint motions of arm.
Compared with prior art, the present invention its remarkable advantage is:
(1) the method for the present invention can not power off, not on-load in the case where by the mechanical arm of hot line robot Live detection is carried out to fuse switch, the negative effect of power failure bring is avoided, power off time is greatly reduced, improve and supply Electric reliability alleviates electricity consumption and complains contradiction;
(2) present invention replaces people to carry out live detection operation using hot line robot, has compared to distant place observation There is function more abundant;
(3) present invention is using hot line robot compared to needing short distance insulating glove operation fuse switch Detection method can from consider electric arc lead to the problem of when to human body burn and Danger Electric shock risk, falling from high altitude;
(4) present invention is controlled using hot line robot by operator's rocking bar, and operating personnel's labor intensity is wanted It asks small, reduces that operation intensity is big the case where human error occurs, the safety in operation process is substantially increased, from certain journey The generation of accident can be reduced on degree.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention;
Fig. 2 is the system composition block diagram of aerial lift device with insulated arm in the present invention;
Fig. 3 is the structural schematic diagram of robot platform in the present invention;
Fig. 4 is the structural schematic diagram of mechanical arm in the present invention.
Fig. 5 is the method for the present invention flow chart.
Fig. 6 is the operating environment schematic diagram of hot line robot live detection fuse switch in the present invention.
Wherein, 100 it is shaft tower, 101 be upper lead, 102 be lower lead, 103 be cross-arm, 104 is fuse switch;1 It is control room for aerial lift device with insulated arm, 2,3 be telescopic arm, 4 is robot platform;46 it is insulator, 43 be first mechanical arm, 44 is Second mechanical arm, 42 be auxiliary mechanical arm, 48 be the first industrial personal computer, 45 be binocular camera, 41 be full-view camera, 410 be Depth camera, 49 be battery, 47 be mechanical arm tool box special, 105 be high-definition camera 106 be infrared camera 107 For Partial discharge detector;431 it is pedestal, 432 be waist joint, 433 be shoulder joint, 434 be large arm, 435 is elbow joint, 436 It is wrist joint for forearm, 437.
Specific embodiment
It is readily appreciated that, technical solution according to the present invention, in the case where not changing connotation of the invention, this field Those skilled in the art can imagine a variety of embodiment party of hot line robot fuse switch detection method of the present invention Formula.Therefore, following specific embodiments and attached drawing are only the exemplary illustrations to technical solution of the present invention, and are not to be construed as Whole of the invention is considered as limitation or restriction to technical solution of the present invention.
In conjunction with attached drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1,3 end of telescopic arm connects robot platform 4, robot platform 4 with Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 is for operator's driving, so that robot platform 4 is transported operation field.Insulation bucket arm Supporting leg is housed, supporting leg can be unfolded, thus by the firm support of aerial lift device with insulated arm 1 and ground on vehicle 1.On aerial lift device with insulated arm 1 Equipped with generator, to power to control room 2 and telescopic arm 3.
Telescopic arm 3 is equipped with the driving device along telescopic direction, and operator can be by controlling driving device, thus by machine Device people platform 4 is elevated to operation height.The telescopic arm 3 is made of insulating material, for realizing robot platform 4 and control room 2 Insulation.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or the replacement of other mechanisms.
As an implementation, the second industrial personal computer, display screen, the first main manipulator, the second master are provided in control room 2 Manipulator, auxiliary main manipulator and communication module etc..
As an implementation, robot platform 4 include insulator 46, it is first mechanical arm 43, second mechanical arm 44, auxiliary Help mechanical arm 42, the first industrial personal computer 48, binocular camera 45, full-view camera 41, depth camera 410, battery 49, dedicated Tool box 47, communication module.
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, The shell of these three mechanical arms and robot platform 4 are insulated.
Battery 49 is the first industrial personal computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph As head 41, binocular camera 45, depth camera 410, communication module power supply.
As an implementation, there are three binocular camera 45 has altogether, first mechanical arm 43, the second machine are separately mounted to On the wrist joint 437 of tool arm 44 and auxiliary mechanical arm 42, it is responsible for the image data of Collecting operation scene, and image data is sent To the second industrial personal computer.Binocular camera 45 is made of two parallel industrial cameras of optical axis, and the distance between parallel optical axis is fixed.
Depth camera 410 is mounted on the side of 4 face working scene of robot platform, is responsible for the scape of Collecting operation scene Depth of field data is sent to the second industrial personal computer by deep data.
Full-view camera 41 is mounted on the top of robot platform 4 by bracket, is responsible for the panorama sketch of Collecting operation scene As data, image data is sent to the second industrial personal computer, and show that operating personnel can supervise by panoramic picture over the display Control working scene.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is equipped with tool quick change Device.Mechanical arm obtains power tool using tool fast replacing device into tool box special 47 according to the type of job task.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range in control room 2 The operating device of operating robotic arm, they and first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 constitute principal and subordinate behaviour Make relationship.Mechanical arm and main manipulator structure having the same, only main manipulator dimensions is smaller than mechanical arm, in order to grasp Make personnel's operation.Mechanical arm and main manipulator are gathered around there are six joint, and there are photoelectric encoder acquisition angles data in each joint, respectively The angle-data in six joints is sent to the second industrial personal computer by serial ports by the microcontroller of main manipulator.
As one embodiment of the invention, the mechanical arm is mechanism in six degree of freedom, including pedestal 431, rotary axis direction The waist joint 432 vertical with base plane, the shoulder joint 433 being connect with waist joint 432, the large arm being connect with shoulder joint 433 434, the elbow joint 435 being connect with large arm 434, the forearm 436 being connect with elbow joint 435, the wrist joint being connect with forearm 436 437, wrist joint 437 is made of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint;It is described Each joint all has corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding in mechanism in six degree of freedom Device 31 is used to acquire the angle-data in each joint, and servo drive motor is used to control the movement in each joint;First industrial personal computer root The movement angle in each joint is calculated according to the space path of the mechanical arm, controls servo drive motor according to the movement angle Control each joint motions of mechanical arm.
As an implementation, the data between robot platform 4 and control room 2 are transmitted through optical fiber wire transmission, Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is for realizing light The mutual conversion of the electric signal in optical signal and twisted pair in fibre, to realize robot platform 4 and control room 2 in communication Electrical isolation.Communication module in control room 2 is fiber optical transceiver, fiber optical transceiver for realizing in optical fiber optical signal with The mutual conversion of electric signal in twisted pair, to realize the electrical isolation of robot platform 4 and control room 2 in communication.
As an implementation, the second industrial personal computer can complete following task:
Establish action sequence library.It is in advance acting sequences by every livewire work Task-decomposing, forms action sequence library, deposit Storage is planned in the second industrial personal computer for robotic arm path.
Establish manipulating object model library.The threedimensional model of manipulating object involved in pre-production items livewire work task And Model of Target Recognition, for example, according to the devices such as electric power tower bar, electric wire, strain insulator, isolation switch, arrester material object, system Make threedimensional model and Model of Target Recognition, be used for hot line robot automatic identification manipulating object, building working scene is three-dimensional Virtual scene.
Establish mechanical arm and specific purpose tool model library.The threedimensional model and target of pre-production mechanical arm and specific purpose tool are known Other model plans mechanical arm for example, spanner etc., working scene three-dimensional virtual scene is constructed for hot line robot automatically Space path.
Obtain image data.Obtain the data information of panoramic picture, depth image and binocular image.
Operative goals are identified and tracked according to image data.
Angle, angular speed and the angular acceleration data of main manipulator are obtained, angle, angular speed and the angle for obtaining mechanical arm add Speed data.
Dependent image data is handled and is calculated, mechanical arm position is obtained, obtains the position of manipulating object, obtains machine Relative position between tool arm and manipulating object, and the space path with job task planning mechanical arm depending on the relative position.
Manipulating object three-dimensional scenic is constructed according to image data, according to arm angle information and manipulating object three-dimensional scenic The relative position of mechanical arm and manipulating object is obtained, and the space path with job task planning mechanical arm depending on the relative position.
Dependent image data is handled and is calculated, 3D dummy activity scene is constructed, send display to show, operator According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activity scene is comprehensive and depth image is believed Breath and binocular image information, to the phase between robotic arm and manipulating object, between mechanical arm, between manipulating object and operating environment It is more accurate to the judgement of position, and there is no visual dead angles.Therefore, operator carries out operation by 3D dummy activity scene Monitoring, operation precision is higher, can prevent collision, improve safety.Meanwhile 3D dummy activity scene is shown in control On display in room 2, far from mechanical arm operation field, the personal safety of people operating personnel is improved.
As an implementation, the first industrial personal computer can complete following task:
According to the angle information in each joint of main manipulator that the second industrial personal computer is sent, the movement in each joint of mechanical arm is controlled.
The space path data for obtaining the mechanical arm of the second industrial personal computer transmission are resolved according to the action sequence of job task The angle-data amount of exercise in each joint of mechanical arm out, and control each joint motions of mechanical arm.
In the present invention, first mechanical arm and second mechanical arm cooperate, can be with the sequence of operation of apish two hands Complete livewire work.In view of flexibility, it can be further added by a strong auxiliary mechanical arm, at this point, auxiliary mechanical arm is specially taken charge of The big movement of powers, first mechanical arm and the second mechanical arms such as device clamping then carry out related service operation.
According to the combination for the different task that the second industrial personal computer and the first industrial personal computer are completed, hot line robot of the present invention was both Operation can be carried out remotely shaking by operating personnel to complete livewire work, and autonomous livewire work can be carried out.It is being charged Before operation, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved near manipulating object.
It is virtual according to number of images and depth image building 3D by the second industrial personal computer if selection manually remotely shakes operation Working scene simultaneously send display to show, operating personnel passes through main operation manual control by 3D dummy activity scene monitoring operating process The movement of mechanical arm processed, to complete livewire work.In the process, after operating personnel changes main manipulator posture, main manipulator In the photoelectric encoder in each joint acquire each joint angles, the microcontroller of each main manipulator is by serial ports by the angle in each joint Degree evidence is sent to the second industrial personal computer.Second industrial personal computer is using the angle-data in each joint of main manipulator as each joint angle of mechanical arm The desired value of degree is sent to the first industrial personal computer, and the first industrial personal computer is respectively closed according to angle desired value by servomotor controller tool arm The movement of section, is completed livewire work.
If selecting AUTONOMOUS TASK, is calculated by the second industrial personal computer according to number of images and depth image and obtain manipulating object Then relative positional relationship between mechanical arm carries out mechanical arm space path according to action sequence corresponding to job task Planning, and space path is sent to the first industrial personal computer, the first industrial personal computer calculates the angle that each joint of mechanical arm needs to rotate Band is completed by the movement in each joint of servomotor controller tool arm in desired value of the data as each joint angles of mechanical arm Electric operation.
The process that fuse switch is detected using above-mentioned hot line robot are as follows:
One, the preparation stage
The operation that operating personnel carries out hot line robot detection fuse switch 104 prepares, inspection meteorological condition, Verification shaft tower number, arrangement scene carry out inspection test to insulation apparatus.1 driver of aerial lift device with insulated arm drives into aerial lift device with insulated arm 1 100 neighbouring position of shaft tower simultaneously arranges scene.Operator shows the image of outdoor scene, operation operation according to display in control room 2 Rocking bar controls telescopic arm 3, and robot platform 4 is moved into job position.Operator is according on mechanical arm in control room 4 The electrical body in job area in insulating safety distances is marked in the real scene image that binocular camera 45 returns.
Two, detection-phase is detected
First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 complete following work in response to control data:
Clamping device is installed in first mechanical arm 43 and 44 end of second mechanical arm, clamps insulation masking material with clamping device Insulation masking is carried out to the electrical body of label.Insulate masking material such as insulating sheath, epoxy glass fabric etc..First mechanical arm 43 with Second mechanical arm 44 stops clamping insulation masking material, mobile mechanical arm end to 47 top of mechanical arm tool box special.First Mechanical arm 43, second mechanical arm 44 and 42 end of auxiliary mechanical arm change the outfit Partial discharge detector 107, infrared camera respectively 106 and high-definition camera 105.Partial discharge detector 107 predominantly detects whether fuse switch has electricity under operating conditions Spark and poor contact;Infrared camera 106 shoot Infrared Thermogram mainly check fuse switch at work whether there is or not Heat condition;The high-definition image that high-definition camera 105 is shot mainly checks whether each casting of fuse switch has crackle, sand Phenomena such as eye, corrosion, whether spring has corrosion phenomena, and whether cartridge fuse has buckling phenomenon, the angle between axis and ground Whether meet the requirements.Infrared Thermogram and high-definition image can send display to show with data processing and control system.
First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 carry Partial discharge detector 107, infrared take the photograph As first 106 and high-definition camera 105 it is mobile and detect around fuse switch 104 to be detected;Partial discharge detector 107, infrared camera 106 and high-definition camera 105 will test data and return to the second industrial personal computer by optical fiber telecommunications system.The Partial Discharge Data that two industrial personal computers acquire Partial discharge detector 107, infrared camera 106 and high-definition camera 105, Infrared thermal imagery diagram data and high-definition image data carry out preliminary treatment, by normal number in the index of correlation numerical value of acquisition and database Value compares, to judge to survey the working condition of fuse switch 104, to form Preliminary detection report.
Second industrial personal computer reports according to Preliminary detection, analyzes corresponding to the achievement data other than normal operation range It surveys 104 monitoring point of fuse switch and these monitoring points is detected again, is i.e. first mechanical arm 43, second mechanical arm 44 Partial discharge detector 107, infrared camera 106 and high-definition camera 105 are carried in abnormal running with auxiliary mechanical arm 42 Mobile detection again around the test point of data, the second industrial personal computer combines the detection point data measured again, in its database Normal range (NR) compares, and forms final examining report.
After detection, first mechanical arm 43 and second mechanical arm 44 change the outfit clamping device, and clamping is covered on electrical body Insulation masking material, clearly insulate masking material.

Claims (5)

1. a kind of hot line robot fuse switch detection method, which is characterized in that hot line robot, which has, to be set Set the mechanical arm on robot platform, including first mechanical arm, second mechanical arm and auxiliary mechanical arm, first mechanical arm, Second mechanical arm and auxiliary mechanical arm are in response to the following work of control data completion:
The end of first mechanical arm, second mechanical arm and auxiliary mechanical arm is installed by Partial discharge detector, infrared camera respectively And high-definition camera;
First mechanical arm, second mechanical arm and auxiliary mechanical arm carry Partial discharge detector, infrared camera and high definition and take the photograph As head carries out mobile and Data Detection around fuse switch to be detected;Partial discharge detector, infrared camera and height Clear camera will test data and go out to be defeated by data processing and control system by communication system;Data processing is played a game with control system Partial Discharge Data, infrared thermal imagery diagram data and the high definition of portion's discharge detector, infrared camera and high-definition camera acquisition Image data is handled, and the index of correlation numerical value of acquisition is compared with regime values in database, is surveyed and is fallen with judgement The working condition of formula fuse, to form examining report;
The data processing and control system are in the detection for obtaining Partial discharge detector, infrared camera and high-definition camera After data, according in index of correlation numerical value and database regime values comparison as a result, first carrying out preliminary analysis;For referring to extremely Mark test point corresponding to numerical value, first mechanical arm, second mechanical arm and auxiliary mechanical arm carry Partial discharge detector, red Outer camera and high-definition camera are detected again;Data processing and control system according to Partial discharge detector, infrared take the photograph As the index of correlation numerical value that head and high-definition camera obtain again, the working condition for surveying fuse switch is judged;
The control data are the angle desired value of each joint of mechanical arm movement, and the angle desired value is by hot line robot number It is resolved and is obtained according to each joint angles delta data of the main manipulator for being set to insulation bucket arm car according to processing and control systems;It is main Manipulator includes the first main manipulator, the second main manipulator and auxiliary main manipulator;First main manipulator, the second main manipulator and It assists main manipulator corresponding with first mechanical arm, second mechanical arm and auxiliary mechanical arm respectively, constitutes master-slave operation relationship;
Control room is provided on the aerial lift device with insulated arm, the data processing and control system include the first industrial personal computer, the second work Control machine, display screen and main manipulator, the second industrial personal computer Built-in Image processor, display screen and main manipulator are located in control room; The working scene image of video camera acquisition is sent to the second industrial personal computer, and image processor obtains after handling working scene image 3D dummy activity scene, and display is sent to show.
2. fuse switch detection method as described in claim 1, which is characterized in that before operation, first mechanical arm and Clamping device is installed in two mechanical arm ends, clamps insulation masking material with clamping device and carries out insulation screening to the electrical body of label It covers;After operation, clamping device is installed in first mechanical arm and second mechanical arm end, is covered on band with clamping device removing Insulation masking material on electric body.
3. fuse switch detection method as described in claim 1, which is characterized in that the control data are each mechanical arm pass Save the angle desired value of movement;Hot line robot data processing and control system are according to the phase of each mechanical arm and manipulating object To position and job task action sequence, the space road of each mechanical arm is cooked up using cartesian space paths planning method Then diameter calculates the angle desired value of each joint of mechanical arm movement according to space path.
4. fuse switch detection method as described in claim 1, which is characterized in that the hot line robot, including Aerial lift device with insulated arm, the robot platform being mounted on aerial lift device with insulated arm, the mechanical arm being mounted on robot platform;
The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes binocular camera, Equipped with binocular camera, the first mechanical arm, second on the first mechanical arm, second mechanical arm and auxiliary mechanical arm Livewire work is completed in mechanical arm and auxiliary mechanical arm cooperation, wherein auxiliary mechanical arm is used for clamping operation object, first mechanical arm Job Operations are carried out using power tool with second mechanical arm;
The data processing and control system include the first industrial personal computer, the second industrial personal computer, the second industrial personal computer Built-in Image processor With livewire work action sequence library,
The corresponding action sequence data of every livewire work are previously stored in livewire work action sequence library;
The working scene image of the video camera acquisition is sent to the second industrial personal computer, and image processor carries out working scene image The relative positional relationship between mechanical arm and manipulating object obtained after processing, the second industrial personal computer depending on that relative position relationship with And the space path of the planning mechanical arm of action sequence corresponding to specific livewire work, and by the space path number of the mechanical arm According to being sent to the first industrial personal computer;
First industrial personal computer calculates the control data according to the space path of the mechanical arm.
5. any one fuse switch detection method as described in Claims 1-4, which is characterized in that the mechanical arm or Main manipulator is mechanism in six degree of freedom, including pedestal, and the rotary axis direction waist joint vertical with base plane is connect with waist joint Shoulder joint, the large arm connecting with shoulder joint, the elbow joint connecting with large arm, the forearm connecting with elbow joint connect with forearm Wrist joint, wrist joint is made of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint;Institute It states each joint in mechanism in six degree of freedom and all has corresponding orthogonal rotary encoder and servo drive motor, orthogonal rotary coding Device is used to acquire the angle-data in each joint, and servo drive motor is used to control the movement in each joint;First industrial personal computer according to The desired value of each joint angles of mechanical arm presses each joint motions of mechanical arm by control servo drive motor control.
CN201611128486.2A 2016-12-09 2016-12-09 A kind of hot line robot fuse switch detection method Active CN106695785B (en)

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