CN106737756A - A kind of robot system based on high-tension distributing line electrical verification and ground wire operation - Google Patents
A kind of robot system based on high-tension distributing line electrical verification and ground wire operation Download PDFInfo
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- CN106737756A CN106737756A CN201710075952.3A CN201710075952A CN106737756A CN 106737756 A CN106737756 A CN 106737756A CN 201710075952 A CN201710075952 A CN 201710075952A CN 106737756 A CN106737756 A CN 106737756A
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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
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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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
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/145—Indicating the presence of current or voltage
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The application belongs to high-tension distributing line electrical verification and ground wire field, specifically related to a kind of robot system based on high-tension distributing line electrical verification and ground wire operation, including robot body, robot body includes the travel mechanism, the Three Degree Of Freedom mechanically actuated arm that are connected, also include the control casing being installed on robot body, control the inside of casing that control unit, the first power module and the first communication module are installed；First power module is connected with control unit, and control unit is connected with the drive module, and drive module is connected with travel mechanism, Three Degree Of Freedom mechanically actuated arm respectively；Control unit is connected with hand-held control terminal, ground control terminal respectively by the first communication module.On-site personnel is substituted using robot and completes electrical verification and ground wire operation, on-site personnel is freed from dangerous, heavy work about electric power, overcome that automaticity present in manual work is low, labour intensity is big, it is dangerous high the shortcomings of.
Description
Technical field
The application belongs to high-tension distributing line electrical verification and ground wire field, and in particular to one kind is tested based on high-tension distributing line
Electricity and the robot system of ground wire operation.
Background technology
In power generation, power failure, electrical verification, hanging earthing conductor are the three big technical measures for ensureing power circuit work safety.
Can electrical verification be essential step before hanging earthing conductor, is the confirmation formality to the scene that has a power failure, be to judge enter hanging earthing conductor
Foundation, can effectively eliminate the threat for stopping wrong electricity or the human error to have a power failure and not have a power failure to personal safety, realize line
The self-protection of road staff and the person and property safety of other electricity consumptions personnel.Ground wire is protect maintainer one
Road safety curtain, is the lifeline of electrical employee, can prevent injury of the incoming call to human body suddenly.But in real work, due to
Ground wire easily makes one to produce decline in alertness to ignore its importance using frequent and simple to operate, incorrect making often occurs
With situation, the safeguard protection for reducing or even losing sometimes ground wire is caused to act on.
At present, electrical verification, installing ground wire are completed by operating personnel during high-tension distributing line power construction, are mainly deposited
In problems with：
1) potential safety hazard is big：Do not born with operating personnel not in time because the complexity of distribution network causes personal information to be linked up
Duty, clipped step causes the generation of unexpected security incident；It is in field operation to there is distribution T and connect that (main line is powered, and T connects more
Outlet has a power failure), the complex situations such as scissors crossing, cause accidental shock or maloperation；Operating personnel needs aloft both hands to utilize work
The balance of itself is controlled while tool operation, the danger with work high above the ground；Unexpected power transmission, induced electricity may be met with during operation
The emergency cases such as lotus, thunder and lightning produce electric shock accidents；
2) labour intensity is big：Several meters of even more than ten rice need to be directly operated during electrical verification and end is connected to the insulating bar of electroscope,
Needing operating personnel to pedal tower or climb electric pole when hanging ground wire carries out work high above the ground, and the labour intensity of operating personnel is big；
3) operation quality problem：Insulating bar long may have an impact to the precision for operating；Work is there may be during hanging earthing conductor
The careful order of connection is not chaotic for industry personnel, mounts insecure, or even the phenomenon such as maloperation, influences operation effectiveness；
4) operating efficiency is low：Operating personnel can cause psychological pressure big, body under high-risk, high intensity work situation
Fatigue, and then influence operating efficiency.
To sum up, operating personnel exist that automaticity is low, labour intensity big in electrical verification and installing ground wire operation and
Dangerous high the shortcomings of, it is unfavorable for the safe operation of whole network system.
The content of the invention
The purpose of the application is automatic present in electrical verification and installing ground wire operation in order to solve existing operating personnel
Change the big and dangerous problem high of low degree, labour intensity.
Therefore, the invention provides a kind of robot system based on high-tension distributing line electrical verification and ground wire operation, bag
Robot body, hand-held control terminal, ground control terminal are included,
The robot body includes the travel mechanism, the Three Degree Of Freedom mechanically actuated arm that are connected, the robot body
Also include the control casing being installed on the robot body, the inside of the control casing is provided with control unit, first
Power module and the first communication module；
First power module is connected with control unit, and described control unit is connected with drive module, the driving mould
Block is connected with the travel mechanism, the Three Degree Of Freedom mechanically actuated arm respectively；
Described control unit is connected with the hand-held control terminal, ground control terminal respectively by the first communication module.
Further, the travel mechanism includes upper gripper jaw, lower clamping jaw, telescoping mechanism；The telescoping mechanism includes fixing
The first telescoping mechanism, second telescoping mechanism of the control cabinet exterior are installed on, the upper gripper jaw is fixedly installed in described the
The end of one telescoping mechanism, the lower clamping jaw is fixedly installed in the end of second telescoping mechanism；First telescoping mechanism,
Second telescoping mechanism is connected with the drive module.
Further, the Three Degree Of Freedom mechanically actuated arm includes the Three Degree Of Freedom locating platform, the tool interface that are connected,
The Three Degree Of Freedom locating platform realizes the positioning of robot body end, and the tool interface then is used to realize to power tool
Replacing and connection.
Further, the Three Degree Of Freedom locating platform includes the rotary joint, telescopic joint and the structural member that are connected, can
To realize robot deflection in the horizontal plane, pitching and stretching motion, so as to realize the positioning of robot end.Additionally,
Rotary joint and telescopic joint can realize linkage, so as to realize the direct control on cartesian space to mechanically actuated arm.
Further, the hand-held control terminal includes that embedded system plate and the embedded system plate are connected respectively
Button, indicator lamp, second source module, serial communication module, the serial communication module be also associated with wireless communication module,
Touch-screen.
Further, the hand-held control terminal also includes the multiple interfaces being arranged on the embedded system plate, institute
Stating interface includes SCI interfaces, jtag interface and AD interfaces.
Further, the robot body also includes industrial camera, image emitter.
Further, the ground control terminal includes terminal control computer, video image processing apparatus, the video
Image processing equipment includes image-receptive end, image pick-up card, and described image receiving terminal receives the figure that described control unit sends
As signal and be converted to vision signal and the vision signal is transmitted to described image capture card.
Further, first power module is also associated with electric quantity of power supply detection module, and the electric quantity of power supply detects mould
Block is current sensor, the electricity service condition for detecting the first power module.
Further, first communication module includes serial communication module, CAN communication module, the serial communication mould
Block is used to connect wireless communication module, realizes the wireless telecommunications of robot body and hand-held control terminal or ground control terminal,
The CAN communication module gives over to standby.
The technical scheme that the application is provided includes following beneficial effect：Be incorporated into for robot technology by the robot system
In high-tension distributing line electrical verification and hanging earthing conductor operation, realized to robot sheet by ground control terminal and hand-held control terminal
The control of body, including robot rotation in the horizontal plane, motion up or down, and realized by ground control terminal
Monitoring to robot real-time status in operation process.On-site personnel is substituted using robot and completes high-tension distributing line
Middle electrical verification and ground wire operation, can be such that on-site personnel is freed from dangerous, heavy work about electric power, while carry again
The high quality and efficiency of operation, overcomes that automaticity present in manual work is low, labour intensity is big, dangerous high
Shortcoming, can also preferably coordinate the related operation of high-tension distributing line, be conducive to safeguarding the safe operation of whole network system.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the application, letter will be made to the accompanying drawing to be used needed for embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
Other accompanying drawings can also be obtained according to these accompanying drawings.
A kind of system of robot based on high-tension distributing line electrical verification and ground wire operation that Fig. 1 is provided for the embodiment of the present application
The overall structure diagram of system；
The structural representation of the robot body that Fig. 2 is provided for the embodiment of the present application；
The inside connection block diagram of the robot system that Fig. 3 is provided for the embodiment of the present application；
The inside connection block diagram of the hand-held control terminal that Fig. 4 is provided for the embodiment of the present application；
The connection block diagram of the ground control terminal that Fig. 5 is provided for the embodiment of the present application；
The block diagram of the ADC interrupt processing algorithms that Fig. 6 is provided for the embodiment of the present application；
Fig. 7 divides gained block diagram for the robot system that the embodiment of the present application is provided according to functional requirement.
Description of reference numerals：1st, robot body；2nd, hand-held control terminal；3rd, ground control terminal；4th, the first communication mould
Block；5th, electric quantity of power supply detection module；10th, travel mechanism；11st, Three Degree Of Freedom mechanically actuated arm；12nd, control unit；13rd, the first electricity
Source module；14th, drive module；20th, button；21st, indicator lamp；22nd, embedded system plate；23rd, second source module；24th, serial ports
Communication module；25th, wireless communication module；26th, touch-screen；30th, terminal control computer；31st, video image processing apparatus；100、
Upper gripper jaw；101st, lower clamping jaw；102nd, telescoping mechanism；110th, Three Degree Of Freedom locating platform；111st, tool interface.
Specific embodiment
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the implementation for meeting the application
Example, and it is used to explain the principle of the application together with specification.
In order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without having to pay creative labor, can also obtain other accompanying drawings according to these accompanying drawings.
Embodiment 1：
It is shown in Figure 1, for a kind of machine based on high-tension distributing line electrical verification and ground wire operation that the application is provided
The overall structure diagram of people's system, the robot system includes robot body 1, the control of hand-held control terminal 2, ground eventually
End 3,
Referring to shown in Fig. 2 and Fig. 3, the robot body 1 includes travel mechanism 10, the Three Degree Of Freedom machinery behaviour being connected
Make arm 11, the robot body 1 also includes the control casing being installed on the robot body 1, the control casing
Inside is provided with control unit 12, the first power module 13 and the first communication module 4；
First power module 13 is connected with control unit 12, and described control unit 12 is connected with drive module 14, institute
Drive module 14 is stated to be connected with the travel mechanism 10, the Three Degree Of Freedom mechanically actuated arm 11 respectively；
Described control unit 12 by the first communication module 4 respectively with the hand-held control terminal 2, ground control terminal 3
Connection.
Further, shown in Figure 2, the travel mechanism 10 includes upper gripper jaw 100, lower clamping jaw 101, telescoping mechanism
102, the telescoping mechanism 102 includes being fixedly installed in the first telescoping mechanism, second telescoping mechanism of the control cabinet exterior,
The upper gripper jaw 100 is fixedly installed in the end of first telescoping mechanism, and the lower clamping jaw 101 is fixedly installed in described second
The end of telescoping mechanism；First telescoping mechanism, the second telescoping mechanism are connected with the drive module 14.In motion process
In, a clamping jaw in upper gripper jaw 100 or lower clamping jaw 101 steps up electric pole, and another clamping jaw unclamps；In job state,
Upper gripper jaw 100 steps up electric pole with lower clamping jaw 101, for the operation of Three Degree Of Freedom mechanically actuated arm 11 provides firm basis.
Further, the Three Degree Of Freedom mechanically actuated arm 11 includes the Three Degree Of Freedom locating platform 110, instrument being connected
Interface 111, the Three Degree Of Freedom locating platform 110 includes two rotary joints, a telescopic joint and associated structural component, can be with
Robot deflection in the horizontal plane, pitching and stretching motion are realized, so as to realize the positioning of robot end.It is described two
Rotary joint, a telescopic joint can realize linkage, so as to realize the direct control on cartesian space to mechanical arm.Institute
Replacing and connection that end-of-arm tooling interface 111 can be realized to power tool are stated, the Three Degree Of Freedom mechanically actuated arm 11 is respectively closed
Section is mechatronics integration unit, comprising functions such as complete machine driving, control, sensing, communications.
Further, shown in Figure 4, the hand-held control terminal 2 includes embedded system plate 22 and described embedded
Button 20, indicator lamp 21, second source module 23, serial communication module 24 that system board 22 is connected respectively, the serial communication
Module 24 is also associated with wireless communication module 25, touch-screen 26.
Further, the hand-held control terminal 2 also includes the multiple interfaces being arranged on the embedded system plate 22,
The interface includes SCI interfaces, jtag interface and AD interfaces.
Further, the robot body 1 also includes industrial camera, image emitter.
Further, shown in Figure 5, the ground control terminal 3 is included at terminal control computer 30, video image
Reason equipment 31, the video image processing apparatus 31 include image-receptive end, image pick-up card, and described image receiving terminal receives institute
State picture signal that control unit 12 sends and be converted to vision signal and the vision signal is transmitted to described image collection
Card.
Further, first power module 13 is also associated with electric quantity of power supply detection module 5, the electric quantity of power supply detection
Module 5 is current sensor.
Further, first communication module 4 includes serial communication module, CAN communication module.
Embodiment 2：
On the basis of embodiment 1, the robot system uses the embedded control system based on DSP+CPLD, including
Control unit 12, the first power module 13 and the first communication module 4,
Described control unit 12 drives special chip TMS320F2812, its embedded aboundresources, data processing from motor
Speed is fast, and suitable robot system is used.The motor of the robot system is driven and peripheral input and output are controlled etc., is used
The PLD EPM1270 of ALTERA companies makees coprocessor, for producing part pwm pulse and to carry out QEP orthogonal
Coded pulse Counts etc., the CPLD chips and the voltage matches of TMS320F2812 chips, configure integrated chip internally
And capacity is larger.
First power module 13 is powered using the lithium ion battery of 24V, and rechargeable battery output voltage is in 23V and 28V
Between.In order to prevent power supply wrong, system is caused to damage, rectifier circuit is accessed in power input.In the DSP+CPLD
In system, Width funtion input power conversion chip LM2575-05 is selected, be input into 7V-40V, export 5V, powered to 5V devices.Choosing
Select TPS75733 chips and TPS76801Q chips carries out being converted to TMS320F2812 chips and EPM1270 respectively to 5V voltages
3.3V input/output voltages and the core voltage of 1.8 (or 1.9) V that PLD needs.Selection LM2575-12 cores
Piece is changed to the output voltage of rechargeable battery, obtains power supply of the 12V burning voltages as electromagnet in drive module 14.
SCIA, SCIB and the communication of the tunnel of CAN module three that first communication module 4 is carried including chip TMS 320 F 2812
Circuit.The SCIA serial communication modules are used for connecting the wireless communication module 25 in hand-held control terminal 2, and the SCIB is serial
Communication module is used for connecting the wireless communication module in ground control terminal 3, so as to realize robot body 1 with hand-held control eventually
The end 2, wireless telecommunications of ground control terminal 3, is the instruction of the reception ground control terminal 3 of robot body 1, and to control instruction
Give a response and in time return robot itself movement state information.The chip TMS 320 F 2812 has embedded CAN2.0B associations
The CAN communication module of view, exterior design CAN communication circuit, the high speed optoelectronic by TLP113 is isolated, and protects hardware circuit,
CAN communication module gives over to standby.
Further, the drive module 14 includes many motors, it is ensured that robot body 1 has multiple free
Degree.In the embedded controller based on DSP+CPLD, using the comparison module of task manager EVA and the EVB module of DSP
PWM is exported and CPLD chip programming impulse generators obtain multi-channel PWM output, is sent to DC motor driver, is realized to moving
The motion control of motivation structure 10.Wherein, motor driver uses DC motor Driver chip LMD18200T, its continuous work electricity
It is 3A to flow, and peak point current is 6A, and operating voltage is up to 55V, is powered using+24V in system, and robot itself can be met completely
Power demand.
In the robot system, from DC servo motor.In the DC motor drive system, by motor
The output sample rate current of driver is changed into voltage signal using resistance to earth, and the value of resistance to earth makes online at voltage signal
Property best scope in, the ADC inside DSP is then sent to by partial pressure and after the modulate circuit such as amplifying, changed by A/D
After produce current feedback signal, the torque to motor is controlled, at the same play a part of protect drive system.Used in system
Incremental optical-electricity encoder detects the velocity variations of motor, and encoder pulse signal is accessed into CPLD, is run in CPLD orthogonal
The counting procedure of coded pulse QEP, by DSP by the count results in external data bus read cycle, so as to obtain motor
Feedback speed signal, while being easily carried out the position control to robot body 1.Because Velocity Time constant is larger,
Designing every 100 or 200 PWM cycles carries out PID (PID) regulation to speed.Processed more than, so that it may
To complete inside DSP to carry out each motor the double-closed-loop control of electric current and speed.
Primary current sampling and electric current PID regulations, therefore current sample cycle and PWM weeks are carried out in each PWM cycle
Phase is identical, so as to realize the real-time control to drive module 14.Each PWM cycle interrupt identification starts the ADC moulds inside DSP
Block, carries out A/D conversions, applies for that ADC interrupts after EOC
In the robot system, in order to realize the action such as pose adjustment and robot manipulating task of robot, device
Necessary switching device.In the embedded control system based on DSP+CPLD, 20 way switch amount input circuits are devised, per road
Input all have passed through the Phototube Coupling of TLP521, protect hardware system to cause to damage from the impact of high voltage signal.Meanwhile,
A DC-DC power module B0505S-1W is added before and after isolation, has produced and be input into completely isolated 5V power supplys, realized real
Electrical isolation.
Finally, in order to ensure the reliability of robot system work, the multiple analog sensors of device in robot.
The multichannel buffer serial peripheral McBSP modules carried using DSP, have extended out the fast 16 Bits Serials communication modulus low in energy consumption of speed
Switching device LTC1609, analog-to-digital conversion is carried out to robot simulation's information.Using 16 tunnels analogy selecting switch device CD4067
16 tunnels input to LTC1609 is selected.CD4067 is driven using power supply buffer chip CD7407.In order to ensure
The embedded control system of DSP+CPLD has a sufficient memory space, and need not programming journey every time during debugging
Sequence, the outside extended address bus and the external memory storage of data bus expansion 256K carried using DSP, the memory is selected
SRAM-CY7C1020CV33 chips.
Embodiment 3：
On the basis of embodiment 1, the hand-held control terminal 2 includes embedded system plate 22 and the embedded system
Button 20, indicator lamp 21, second source module 23, serial communication module 24 that system plate 22 is connected respectively, the serial communication mould
Block 24 is also associated with wireless communication module 25, touch-screen 26.
Further, the hand-held control terminal 2 also includes the multiple interfaces being arranged on the embedded system plate 22,
The interface includes SCI interfaces, jtag interface and AD interfaces.
Further, the control terminal 2 is the remote control of remote control robot, and it has portability, easy to operate
Property, it is mainly used in realizing the operations such as the advance of robot, retrogressing, stopping and status monitoring, and Three Degree Of Freedom to mechanical arm
Accurate motion control.
Alternatively, embedded system plate 22 extends multichannel input/output with TMS320F2812 as kernel control chip
Interface, SCI interfaces, jtag interface and AD interfaces.Embedded system plate 22 is powered using the battery of 3.7V, integrated voltage-stabilized core on plate
Piece, 12V, 5V, 3.3V and 1.9V voltage by 3.7V photovoltaic conversions for needed for, by AD interface monitor battery input voltage values.
Remote control is designed as being worked under wireless communication mode, and wireless data transmission module and robot body 1 are connected by serial ports
Communicated.Touch-screen 26 is used as Man Machine Interface, the input for completing control command, including control robot body 1
Operation and the motion control of Three Degree Of Freedom mechanically actuated arm 11 such as advance, retrogressing, stopping, steering and to robot body 1
Current state shown in real time.Wireless communication module 25 is the wireless data transmission module of independent development, at low-power consumption
Reason device and radio frequency chip composition, with small volume, low in energy consumption, sensitivity is high the features such as, can be used for robot remote control, data
The fields such as automation collection, wireless sensor network.Touch-screen 26 uses 7.0 inches of touch-screen, resolution ratio 800*480, work
Make voltage 12V, be capable of achieving the input of the control instruction to the motion of robot body 1, the status information of robot itself, alarm signal
The display of breath etc..
Alternatively, the control terminal 2 be portable controller, its power supply from Tianjin Li Shen companies polymer lithium from
Sub- battery SP5758102SE, by photovoltaic conversion is 12V, 5V, 3.3V and 1.9V with voltage conversion chip, respectively to embedded system
The power supplies such as system plate 22, touch-screen 26.The battery is charged and is charged using external interface.
Embodiment 4：
On the basis of embodiment 1, the ground control terminal 3 includes terminal control computer 30, Computer Vision
Equipment 31, the video image processing apparatus 31 include image-receptive end, image pick-up card, are capable of achieving to the long-range distant of robot
Control and feedback etc. of robotary information, and image information display that robot is collected and preservation.
The terminal control computer 30, to reinforce a machine sheet, is the core of ground control terminal 3, and all of robot move
It is all to be sent by ground control terminal 3 by operating personnel to instruct, video information and various status informations in robot
All shown by the display of industrial computer.
The data radio station of ground control terminal 3 and the data radio station of the control unit 12 of robot body 1 be it is the same, mainly
Effect is also to send and receive data message.The data radio station of ground control terminal 3 and the data radio station of robot controller it
Between be point-to-point data transfer mode.
The serial ports of the data radio station of ground control terminal 3 is connected with the serial ports of industrial computer, and industrial computer passes through serial ports by machine
Device people's control instruction is transmitted to data radio station, then is passed by the number that data radio station is sent to the control unit 12 of distant place robot body 1
Radio station；Equally, the status information of robot is sent by the data radio station of the control unit 12 of robot body 1, is connect through data radio station
Industrial computer is transmitted to by serial ports after receipts.
Video image processing apparatus 31 include image-receptive end and image pick-up card, and image-receptive end is by robot controller
The picture signal for being sent is received and converted into vision signal, while vision signal is transmitted into image pick-up card again.Image is adopted
Truck decodes vision signal, then is displayed in screen by reinforcing the display of a machine sheet.Robot is captured by per task
Content can real-time recording get off.
Additionally, shown in Figure 7, robot system can be divided into driving layer, data access layer, calculation according to functional requirement
Method layer, five levels of application layer and client layer：
The bottom of system has very big correlation for the driving layer of software, and hardware, mainly responsible robot wireless serial
The collection of signal, the reading of local history file, the collection of wireless video signal.The data for simultaneously also passing over client layer
Robot is sent to by serial ports with instruction, the positional information in each joint of robot is saved in local file.
Data access layer is join algorithm layer and the medium for driving layer.It is responsible for providing response interface, to driving layer collection
The signal for coming timely is responded and processed.Initial data is provided to the signal resolution and all kinds of analytic operations of algorithm layer.
Algorithm layer is decoded to initial data, parses the current position in each joint of robot, and extrapolate robot
Current pose, state.And according to the real needs of application layer, call corresponding algorithm, calculate robot perform obstacle detouring,
Required order parameter, robot is sent to eventually through data access layer during path planning.
Application layer is the task management layer of system software architecture, be responsible for by whole system framework organize and coordinate into organically it is whole
Body, including：Path clustering, advance control, vision operation, crossing obstacle automatically, archival of information.The layer uses multi-thread design thinking,
The operational efficiency of systems soft ware is improved by the concurrent cooperation of AM/BAM.
Client layer provides the man-machine interface of systems soft ware, with two parts of man-machine interface and data-interface, wherein man-machine
Interface portion includes：Status display interface, order parameter interface and video window interface；Data-interface part includes：State connects
Receive interface, instruction transmission interface and image interface.
Status display interface is mainly used in showing the running state information of crusing robot, Task Progress information and event in real time
Barrier warning message, the state of robot is understood and grasped so as to user, and appropriate intervening measure is taken if necessary；Order parameter circle
Face provides corresponding instruction input and parameter adjustment window, allows users to carry out dolly path planning or performs obstacle detouring and row
The action such as enter；Video window interface is used for the real-time pictures of the camera shooting for showing currently used, is easy to user to robot
Running status and line condition be monitored and adjust.
The gui program that man machine operation interface is write with VC++6.0, is write with the method for multithreading.The operations such as serial ports read-write
In operating in worker thread.Operating system is Windows98/2000/XP, facilitates surface personnel to operate, mainly by with
Lower module is constituted：1. interface display control module；2. operational order processing module；3. image acquisition and processing module；4. parameter sets
Put module；5. serial communication module；6. test module.
The specific course of work of the robot system is as follows：1st, after hand-held control terminal 2 sends movement instruction, robot sheet
The control unit 12 of body 1 after the movement instruction is received, creep on utility poles by control travel mechanism 10：It is specifically creeped
Flow is as follows：First, upper gripper jaw 100 clamps electric pole, and lower clamping jaw 101 unclamps；Lower clamping jaw 101 with telescopic joint of creeping motion
Motion upwards；After lower clamping jaw 101 moves to ad-hoc location, lower clamping jaw 101 clamps electric pole, and subsequent upper gripper jaw 100 unclamps；On
Clamping jaw 100 is moved upwards with the motion of telescopic joint, is moved to ad-hoc location and is stopped, upper gripper jaw 100, the clamping of lower clamping jaw 101
State is exchanged；It is sequentially completed a motion cycle.2nd, robot electrical verification process is as follows：Upper gripper jaw 100 in travel mechanism 10, under
Clamping jaw 101 is clamped on utility poles；Robot is automatic under the auxiliary of power tool bag to install electrical verification power tool；Completion is tested
Electrical equipment is grounded the connection of clamp and return current rail, and checks whether that contact is good, then touches electroscope SR；Hand-held control
Terminal 2 sends upward movement instruction to robot body 1, after the control unit 12 of robot body 1 carries out inverse kinematics resolving,
Motion control is coordinated to each joint, the upward motion of the end of robot body 1 is realized；In end-of-arm tooling clutch mechanism
Between branch close to after three middle bus-bars of circuit, by simple joint move finely tune, intense adjustment robot end instrument with
The relative pose of bus-bar, make electroscopy equipment reliably with busbar contact, and correlated response or police are sent according to electrical verification result
Report；The position of the end of adjustment Three Degree Of Freedom mechanically actuated arm 11, completes the detection of another quarter-phase circuit.3rd, robot hanging earthing conductor stream
Journey is as follows：Upper gripper jaw 100, lower clamping jaw 101 in travel mechanism 10 are clamped on utility poles；Install alternate in robot end
Electric discharge instrument；Hand-held control terminal 2 sends upward movement instruction to robot body 1, and the control unit 12 of robot body 1 is entered
After row inverse kinematics is resolved, motion control is coordinated to each joint, realize the upward motion of the end of robot body 1, it is alternate
Electric discharge instrument is contacted with three-phase wire, carries out alternate electric discharge；Robot end's tool changing, installs ground connection power tool；Manually
The connection of ground connection lock and return current rail is completed, and checks whether that contact is good；Hand-held control terminal 2 is to robot body
1 sends upward movement instruction, after the control unit of robot body 1 carries out inverse kinematics resolving, fortune is coordinated to each joint
Dynamic control, realizes the upward motion of the end of robot body 1；End-of-arm tooling clutch mechanism medial fascicle close to three circuits
Middle bus-bar after, moved by simple joint and finely tuned, the relative pose of intense adjustment robot end instrument and bus-bar makes
Grounding apparatus reliably with busbar contact, the type according to wire connecting clip carries out respective pinch operation respectively；It is respectively completed it
The ground connection of his quarter-phase circuit and compression operation, fulfil assignment.
The above is only the specific embodiment of the application, is made skilled artisans appreciate that or realizing this Shen
Please.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can in other embodiments be realized in the case where spirit herein or scope is not departed from.Therefore, the application
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
It should be appreciated that the application is not limited to the structure for being described above and being shown in the drawings, and can
To carry out various modifications and changes without departing from the scope.Scope of the present application is only limited by appended claim.
Claims (10)
1. a kind of robot system based on high-tension distributing line electrical verification and ground wire operation, it is characterised in that including robot
Body (1), hand-held control terminal (2), ground control terminal (3),
The robot body (1) includes the travel mechanism (10), the Three Degree Of Freedom mechanically actuated arm (11), the machine that are connected
Human body (1) also includes the control casing being installed on the robot body (1), and the inside of the control casing is provided with control
Unit (12) processed, the first power module (13) and the first communication module (4)；
First power module (13) is connected with control unit (12), and described control unit (12) is with drive module (14) even
Connect, the drive module (14) is connected with the travel mechanism (10), the Three Degree Of Freedom mechanically actuated arm (11) respectively；
Described control unit (12) by the first communication module (4) respectively with the hand-held control terminal (2), ground control terminal
(3) connect.
2. robot system according to claim 1, it is characterised in that the travel mechanism (10) is including upper gripper jaw
(100), lower clamping jaw (101), telescoping mechanism (102),
The telescoping mechanism (102) including be fixedly installed in it is described control cabinet exterior the first telescoping mechanism, the second telescopic machine
Structure, the upper gripper jaw (100) is fixedly installed in the end of first telescoping mechanism, and the lower clamping jaw (101) is fixedly installed in
The end of second telescoping mechanism；
First telescoping mechanism, the second telescoping mechanism are connected with the drive module (14).
3. robot system according to claim 1, it is characterised in that the Three Degree Of Freedom mechanically actuated arm (11) includes
Three Degree Of Freedom locating platform (110), the tool interface (111) being connected.
4. robot system according to claim 3, it is characterised in that the Three Degree Of Freedom locating platform (110) includes
Rotary joint, telescopic joint and the structural member being connected.
5. robot system according to claim 1, it is characterised in that the hand-held control terminal (2) is including embedded
Button (20), indicator lamp (21), second source module that system board (22) and the embedded system plate (22) are connected respectively
(23), serial communication module (24), the serial communication module (24) is also associated with wireless communication module (25), touch-screen
(26)。
6. robot system according to claim 5, it is characterised in that the hand-held control terminal (2) also includes setting
Multiple interfaces on the embedded system plate (22), the interface includes SCI interfaces, jtag interface and AD interfaces.
7. robot system according to claim 1, it is characterised in that the robot body (1) also includes industrial phase
Machine, image emitter.
8. robot system according to claim 1, it is characterised in that the ground control terminal (3) includes terminal control
Computer (30) processed, video image processing apparatus (31), the video image processing apparatus (31) include image-receptive end and figure
As capture card, described image receiving terminal receives the picture signal that described control unit (12) sends and is converted to vision signal and general
The vision signal is transmitted to described image capture card.
9. robot system according to claim 1, it is characterised in that first power module (13) is also associated with electricity
Source electric power detection module (5), the electric quantity of power supply detection module (5) is current sensor.
10. robot system according to claim 1, it is characterised in that first communication module (4) is including serial logical
News module, CAN communication module.
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| CN201710075952.3A CN106737756A (en) | 2017-02-13 | 2017-02-13 | A kind of robot system based on high-tension distributing line electrical verification and ground wire operation |
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| CN201710075952.3A CN106737756A (en) | 2017-02-13 | 2017-02-13 | A kind of robot system based on high-tension distributing line electrical verification and ground wire operation |
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| CN107378955A (en) * | 2017-09-07 | 2017-11-24 | 云南电网有限责任公司普洱供电局 | A kind of distribution robot for overhauling motion arm AUTONOMOUS TASK method based on multi-sensor information fusion |
| CN108942963A (en) * | 2018-08-10 | 2018-12-07 | 扬州大学 | A kind of robot clamping ground loop |
| CN109093629A (en) * | 2018-08-31 | 2018-12-28 | 国家电网有限公司 | Arrester is from climbing device |
| CN109116059A (en) * | 2018-08-31 | 2019-01-01 | 国家电网有限公司 | Arrester termination |
| CN109149314A (en) * | 2018-08-31 | 2019-01-04 | 国家电网有限公司 | Arrester electric wire connecting junction |
| CN109656153A (en) * | 2017-10-12 | 2019-04-19 | 中国科学院沈阳自动化研究所 | A kind of cement shaft tower electrical verification and ground line robot control system |
| CN109986966A (en) * | 2017-12-28 | 2019-07-09 | 长沙市比亚迪汽车有限公司 | The monitoring system of electric car and its high-tension distribution box, monitoring method |
| CN111716351A (en) * | 2020-05-08 | 2020-09-29 | 南方电网科学研究院有限责任公司 | Control system of wire construction robot |
| CN112172952A (en) * | 2020-09-03 | 2021-01-05 | 胜祺科技(上海)有限公司 | Testing and hanging integrated modular crawler-type pole-climbing robot and operation method |
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| CN115488877A (en) * | 2022-07-05 | 2022-12-20 | 港珠澳大桥管理局 | Automatic inspection equipment and inspection method thereof |
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| CN107378955A (en) * | 2017-09-07 | 2017-11-24 | 云南电网有限责任公司普洱供电局 | A kind of distribution robot for overhauling motion arm AUTONOMOUS TASK method based on multi-sensor information fusion |
| CN109656153A (en) * | 2017-10-12 | 2019-04-19 | 中国科学院沈阳自动化研究所 | A kind of cement shaft tower electrical verification and ground line robot control system |
| CN109986966A (en) * | 2017-12-28 | 2019-07-09 | 长沙市比亚迪汽车有限公司 | The monitoring system of electric car and its high-tension distribution box, monitoring method |
| CN109986966B (en) * | 2017-12-28 | 2021-02-23 | 长沙市比亚迪汽车有限公司 | Electric automobile and monitoring system and monitoring method of high-voltage distribution box of electric automobile |
| CN108942963B (en) * | 2018-08-10 | 2021-04-23 | 扬州大学 | Robot of centre gripping ground ring |
| CN108942963A (en) * | 2018-08-10 | 2018-12-07 | 扬州大学 | A kind of robot clamping ground loop |
| CN109093629A (en) * | 2018-08-31 | 2018-12-28 | 国家电网有限公司 | Arrester is from climbing device |
| CN109116059A (en) * | 2018-08-31 | 2019-01-01 | 国家电网有限公司 | Arrester termination |
| CN109149314A (en) * | 2018-08-31 | 2019-01-04 | 国家电网有限公司 | Arrester electric wire connecting junction |
| CN111716351A (en) * | 2020-05-08 | 2020-09-29 | 南方电网科学研究院有限责任公司 | Control system of wire construction robot |
| CN112172952A (en) * | 2020-09-03 | 2021-01-05 | 胜祺科技(上海)有限公司 | Testing and hanging integrated modular crawler-type pole-climbing robot and operation method |
| CN112172952B (en) * | 2020-09-03 | 2022-09-30 | 胜祺科技(上海)有限公司 | Testing and hanging integrated modular crawler-type pole-climbing robot and operation method |
| WO2022121992A1 (en) * | 2020-12-10 | 2022-06-16 | 国网福建省电力有限公司 | Robot for live-line installation of grounding hanging ring based on assist of unmanned aerial vehicle in wire feeding |
| CN113510721A (en) * | 2021-06-22 | 2021-10-19 | 长沙理工大学 | Pole-climbing operation robot with grounding wire hooking function |
| CN115488877A (en) * | 2022-07-05 | 2022-12-20 | 港珠澳大桥管理局 | Automatic inspection equipment and inspection method thereof |
| CN115488877B (en) * | 2022-07-05 | 2024-04-02 | 港珠澳大桥管理局 | Automatic inspection equipment and inspection method thereof |
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