CN108808547A - A kind of method for fast reconstruction of charged for replacement arrester operation field - Google Patents
A kind of method for fast reconstruction of charged for replacement arrester operation field Download PDFInfo
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- CN108808547A CN108808547A CN201810557365.2A CN201810557365A CN108808547A CN 108808547 A CN108808547 A CN 108808547A CN 201810557365 A CN201810557365 A CN 201810557365A CN 108808547 A CN108808547 A CN 108808547A
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- arrester
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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
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Abstract
The present invention proposes a kind of method for fast reconstruction of charged for replacement arrester operation field, initially sets up charged for replacement arrester standard operation on-site parameters database；With the origin system of shaft tower, cross-arm, fuse switch, arrester, the standard three-dimensional model data of each component is established；Build charged for replacement arrester standard operation scene；The vision measurement coordinate system for establishing each component in charged for replacement arrester working scene obtains origin system relative to its homogeneous transform matrix；Using the binocular camera for being attached to mechanical arm tail end, arrester drainage thread threedimensional model is reconstructed, measures each component attained pose in charged for replacement arrester operation field, corrects, improve the charged for replacement arrester standard operation model of place established；The charged for replacement arrester operation field of this method structure matches with real scene, and related Job Operations are carried out convenient for robot.
Description
Technical field
The invention belongs to field of computer technology, and in particular to a kind of charged for replacement arrester operation field is reconfigured quickly
Method.
Background technology
Currently, China's charged for replacement arrester job task is mainly based on manual work, that there are risks is high, efficiency is low and
The problems such as training cost is high uses remote tele-operation operation and robot autonomous operating type can be with by live reconfiguration technique
Evade deficiency existing for artificial charged for replacement arrester operation very well, this is also the research heat of current robot livewire work field
One of point.How to provide for remote tele-operation person and robot autonomous Operation control platform and reliably replace arrester operation in real time
Live three-dimensional environment data are one of the difficult points for being badly in need of solving.
Currently, three-dimensional scene reconstructing method is mainly believed using binocular camera or laser sensor collection site point cloud depth degree
Breath restores live three-dimensional environment information by processing such as the filtering of cloud information, segmentation, classification and identifications.Electrification
It replaces more arrester operation field component number, component profile complexity and presence mutually to block, according to cloud information
Be reconstructed, then sensor need to around scene rotation to take multi-angle point cloud data, then to collected multi-angle point cloud into
Row splicing and effective information extraction.The method can obtain the three-dimensional point cloud scene substantially identical with actual field, but method algorithm
Complexity is high, and calculation amount is huge, and real-time is weak；In order to which component minutia is presented, need to put cloud sensor has degree of precision, if
It is standby of high cost.
Virtual reality technology with the abundant virtual scene of content construction and can realize human-computer interaction.For such as interior, workshop,
The scenes such as building utilize scene walkthrough technology after establishing threedimensional model according to determining geological information, can realize simulation very well
Animation and emulation.Virtual scene is once establish, and only with load corresponding model when use, speed is fast, efficient.But it is charging
In operation field, due to the problems such as there are the deviations of the bending of conducting wire, parts installation site, the fixed virtual reality of structure
Often there is certain gap in scene, with actual field for replacing the connection spiral shell of dismounting arrester and cross-arm in arrester operation
For the processes such as bolt, arrester and the assembly of cross-arm hole axle, this error likely results in operation failure.It is existing with reality due to lacking
The data interaction of field, virtual reality scenario cannot be used directly as reliable reconstruct scene.
Robot security's AUTONOMOUS TASK and the remote tele-operation operation for realizing charged for replacement arrester task, it is existing to reconstructing
The precision and real-time of field propose higher requirement.It is existing for the charged for replacement arrester operation with unstructured nature
, how to take into account the reliability of reconstruct scene and reconstructed velocity is need to be broken through the problem of.
Invention content
The purpose of the present invention is to provide a kind of quick weights of hot line robot system conversion arrester operation field
Structure method, to meet remote operating operation and AUTONOMOUS TASK two of the current hot line robot system in replacing arrester field
To quick, the reliable demand of live restructuring procedure under kind mode.
Realize that the technical solution of the object of the invention is：
A kind of method for fast reconstruction of charged for replacement arrester operation field, includes the following steps：
Step 1 establishes charged for replacement arrester standard operation on-site parameters database；
Data should include at least the dependency number of 5 class components in charged for replacement arrester standard operation on-site parameters database
According to 5 class components are respectively：Cross-arm, shaft tower, drainage thread, fuse switch, arrester；It is specified unique for each component
Global index number；Shaft tower, cross-arm, drop type fusing in specified charged for replacement arrester standard operation on-site parameters database
The origin system of device, arrester；Establish the homogeneous of standard relative installation data between the origin system of two components
Transformation matrix；
Step 2, structure charged for replacement arrester standard three-dimensional model database：With shaft tower, cross-arm, fuse switch,
The origin system of arrester establishes the standard three-dimensional model data of cross-arm, shaft tower, fuse switch and arrester, will
It will be in the storage to charged for replacement arrester standard three-dimensional model database of modeling result data；
Step 3 builds charged for replacement arrester standard operation scene：Will the live component of reconstruct be divided into reliable component,
Movable component and retinue's component three classes establish reliable component set, movable component set and the first device of retinue respectively
Part set；
Using in charged for replacement arrester standard operation on-site parameters database standard relative installation parameter and build
The standard three-dimensional model of vertical cross-arm, shaft tower, fuse switch, arrester, builds charged for replacement arrester standard operation field
Scape；
Step 4, the vision measurement coordinate system for establishing cross-arm, arrester in charged for replacement arrester working scene, obtain original
Homogeneous transform matrix of the point coordinates system relative to it：First using cross-arm, arrester as component to be measured, component to be measured is specified
To measuring coordinate system；Relative pose relationship of the origin system relative to measuring coordinate system is recorded with homogeneous transform matrix；
Step 5 utilizes the binocular camera for being attached to mechanical arm tail end, reconstruct arrester drainage thread threedimensional model, survey
Each cross-arm, arrester attained pose in charged for replacement arrester operation field are measured, the charged for replacement for correcting, improving foundation is lightning-arrest
Device standard operation model of place obtains the reconstruct scene coincideing with actual field：It include the arrester drainage based on binocular vision
The amendment of the reconstruct of line threedimensional model and cross-arm, arrester actual installation pose and standard installation position and attitude error.
Compared with prior art, the present invention its remarkable advantage：
(1) present invention proposes to establish charged for replacement arrester standard operation on-site parameters database and charged for replacement arrester
Standard three-dimensional model database, convenient for charged for replacement arrester contextual data is classified, stored and read.
(2) charged for replacement arrester operation field restructuring procedure will be divided into charged for replacement arrester standard operation by the present invention
The building of scene, the arrester drainage thread reconstruct based on binocular vision and the cross-arm based on binocular vision, arrester pose amendment
Three parts, simplify restructuring procedure, computational efficiency greatly improved.
(3) present invention proposes to pre-establish the standard three-dimensional pattern number of each component of charged for replacement arrester operation field
According to can save acquisition and processing procedure of the Real-time Reconstruction process to environment Plays component three-dimensional modeling data, reduce pair
The dependence of sensor can reduce cost, accelerate reconstructed velocity.
(4) present invention is proposed according to each component standard three-dimensional mould in charged for replacement arrester standard three-dimensional model database
Standard relative installation number in type data and charged for replacement arrester standard operation on-site parameters database between each component
According to fast construction of the realization to charged for replacement arrester standard operation scene.This step is participated in without sensor, and required data are only
It need to can be rapidly completed to retrieval in the database established；Standard operation scene is built according to livewire work industry mark
Standard carries out the rough description, it can be achieved that charged for replacement arrester operation field.
(5) it is directed to the restructuring procedure of charged for replacement arrester operation field electric wire, the present invention proposes to survey using binocular camera
The position coordinates for measuring the discrete point in operation field on arrester drainage thread center line, are obtained in a manner of polynomial interopolation in approximation
Heart line tracking, and then algorithm is drawn high with cross-section, the threedimensional model of electric wire is calculated, it can be achieved that the fast of electric wire threedimensional model
Fast Accurate Reconstruction.
(6) present invention is directed to charged for replacement arrester operation field component, devises origin system and measuring coordinate
System establishes scheme, measures pose (position and posture) information that component is specified in operation field in real time convenient for binocular camera,
To correct the position and attitude error for corresponding to component in standard operation scene, component pose and true operation in reconstruct scene ensure that
Scene matches.
Present invention is further described in detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the flow chart of the method for fast reconstruction of the replacement arrester working scene of the present invention.
Fig. 2 is the image capturing system schematic diagram based on tool arm.
Fig. 3 is database structure block diagram of the present invention.
Fig. 4 is to replace arrester standard three-dimensional illustraton of model in arrester embodiment.
Fig. 5 is to replace fuse switch standard three-dimensional illustraton of model in arrester embodiment.
Fig. 6 is to replace cross-arm standard three-dimensional illustraton of model in arrester embodiment.
Fig. 7 is to replace shaft tower standard three-dimensional illustraton of model in arrester embodiment.
Fig. 8 is the standard operation scene three-dimensional scene replaced in arrester embodiment.
Fig. 9 (a-b) is respectively discrete point acquisition and serialization schematic diagram on wire center line.
Figure 10 is the electric wire threedimensional model schematic diagram of reconstruct.
Figure 11 is to replace operation field reconstruction result figure in arrester embodiment.
Specific implementation mode
In order to illustrate technical scheme of the present invention and technical purpose, below in conjunction with the accompanying drawings and specific embodiment is the present invention
It is further to introduce.
In conjunction with Fig. 2, the image capturing system of method of the invention based on tool arm, including sixdegree-of-freedom simulation, Yi Jitong
Cross the binocular camera that holder is fixed on mechanical arm tail end；Pass through holder, it is ensured that position is fixed and camera between binocular camera
It is moved with mechanical arm tail end；By the movement of control machinery arm, the three-dimensional position and posture of binocular camera are adjusted, is realized
Adjustment to the binocular camera visual field.
In conjunction with Fig. 1, the present invention proposes a kind of method for fast reconstruction of charged for replacement arrester operation field, including following step
Suddenly：
Step 1 establishes charged for replacement arrester standard operation on-site parameters database.Specifically comprise the following steps：
Step 1.1 establishes charged for replacement arrester standard operation on-site parameters database, stores 5 classes member in operation field
The numbering of device, corresponding standard external dimensions data and corresponding standard relative installation data：
Data should include at least the dependency number of 5 class components in charged for replacement arrester standard operation on-site parameters database
According to.5 class components are respectively：Cross-arm, shaft tower, drainage thread, fuse switch, arrester；The related data of 5 class components
Data include：Above-mentioned each component standard external dimensions data；It replaces and is marked between cross-arm and shaft tower in arrester operation field
Between quasi- relative installation data, cross-arm and arrester standard relative installation data, cross-arm and fuse switch it
Between relative installation data between standard relative installation data, cross-arm and cross-arm.Specific data source is with national grid
Transmission line construction construction criteria of matching with each place power grid is foundation.
Unique global index's number i (i is natural number) is specified for each component, such as input 1 is pair in database
First component is answered, i is inputted, that is, corresponds to i-th of component.
Shaft tower, cross-arm, drop type are molten in step 1.2, specified charged for replacement arrester standard operation on-site parameters database
The origin system of disconnected device, arrester：
In charged for replacement arrester standard operation scene component include shaft tower, cross-arm, fuse switch, arrester with
And arrester drainage thread it is each several, each component number is denoted as i.According to right-handed coordinate system principle, numbered for global index
Origin w is established for the component of iobj(i), as establishing between its standard three-dimensional model and description and other components
The reference frame of standard relative installation.
Step 1.3 establishes global number respectively i, j in charged for replacement arrester standard operation on-site parameters database
The origin system w of two componentsobj(i)、wobj(j) homogeneous transform matrix of standard relative installation data, is denoted as betweenWherein,For a 3x3 spin matrix, description component i origins system wobj(i) relative to component j
Origin system wobj(j) 3 d pose data；For a 3x1 position coordinates vector, component i is relative to component j for description
Three-dimensional location data.
Step 2, the standard three-dimensional model data for establishing cross-arm, shaft tower, fuse switch and arrester, structure electrification
Arrester standard three-dimensional model database is replaced, in conjunction with step 1 system overall data library structure such as Fig. 3：
According to information in charged for replacement arrester standard operation on-site parameters database in step 1, need to establish cross-arm, bar
The standard three-dimensional model data of tower, fuse switch and arrester.It is reference with the origin system that step 1.2 is specified,
The standard three-dimensional model for establishing each component, by modeling result data storage to charged for replacement arrester standard three-dimensional pattern number
According in library.
Step 3 carries out Classification Management to component, builds charged for replacement arrester standard operation scene：
Joined using the standard relative installation in charged for replacement arrester standard operation on-site parameters database in step 1
The component standard three-dimensional model established in number and step 2 builds the standard operation scene of charged for replacement arrester job task
Three-dimensional scenic, complete charged for replacement arrester standard operation scene in restructuring procedure and build.
3.1, component in charged for replacement arrester operation field is divided into reliable devices, active device and retinue's device three
Class：
The live component of reconstruct is divided into reliable component, movable component and retinue's component three classes, establishing respectively can
It is used to each component in scene being divided into above-mentioned three by component set, movable component set and retinue's component set
Class reconstructs the reliability that device pose coincide with actual field in scene with mark, is convenient for the unstructured error of dynamic corrections.
Wherein, reliable component refers to that the pose data of this component are carried out by the measurement result of binocular camera
It has adjusted, it is consistent with actual field data；Movable component is referring to this component or will carry out binocular camera measurement, with
Correct the position and attitude error with actual field；The pose data that retinue's component refers to this component will be without Binocular vision photogrammetry
It corrects.
3.2, read in cross-arm, shaft tower, fuse switch, arrester standard three-dimensional model and standard is opposite between them
Installation position data builds charged for replacement arrester standard operation scene：
Can be retrieved in charged for replacement arrester standard operation on-site parameters database operation field component include cross-arm,
Shaft tower, fuse switch, 4 class of arrester are each multiple, and the standard between the number i and component of each component is opposite to pacify
Holding positionThe mark for the component that global index's number is i can be retrieved in charged for replacement arrester standard three-dimensional model database
Quasi-three-dimensional model data.
Read in the standard three-dimensional model data and basis of componentIt determines the relative pose relationship between component, completes band
The standard operation scene of charged renewal arrester operation is built.All devices are in retinue's component set in scene at this time,
Reliable component set and movable component set are sky.
Step 4, the vision measurement coordinate system w for establishing cross-arm in charged for replacement arrester working scene, arresterr_obj(i),
Obtain homogeneous transform matrix
Include that cross-arm, arrester are each to the component that pose data precision requires in charged for replacement arrester working scene
It is multiple, using them as component to be measured.The specified measuring coordinate system w for being attached to component to be measuredr_obj(i) (i is the complete of part
Office's number), which is fixed on component.wr_obj(i) and in step 2 w establishedobj(i) by artificial specified, two seats
Relative pose relationship between mark system fixes and it is known that uses homogeneous transform matrixTo record origin system wobj(i) opposite
In vision measurement coordinate system wr_obj(i) position orientation relation.
Step 5 utilizes the binocular camera for being attached to mechanical arm tail end, reconstruct arrester drainage thread threedimensional model, survey
Each cross-arm, arrester attained pose in charged for replacement arrester operation field are measured, corrects, improve the electrification established in step 3
Arrester standard operation model of place is replaced, the reconstruct scene coincideing with actual field is obtained：
The charged for replacement arrester standard operation scene established in step 3 first, lacks lightning-arrest compared with actual scene
Device drains line element；Secondly, installation error caused by the factors such as artificial present in actual installation process, cause actual field with
Charged for replacement arrester standard operation scene and there is larger gap, therefore needs that standard operation scene is improved and corrected.Tool
Body process include the arrester drainage thread threedimensional model based on binocular vision reconstruct and cross-arm, arrester actual installation pose with
Standard installs two processes of amendment of position and attitude error.It mainly includes the following steps that：
5.1, transformation matrix of the acquisition binocular camera coordinate system to mechanical arm base coordinate systemIt obtains under camera coordinates system
The measuring coordinate system w of partr_obj(i) transformation equation under mechanical arm base coordinate system is arrivedWherein
For component i measuring coordinates system wr_obj(i) module and carriage transformation matrix of relative mechanical arm pedestal,For component i measuring coordinates
It is wr_obj(i) module and carriage transformation matrix of relative mechanical arm ending coordinates system.It is as follows：
5.1.1, according to DH parametric methods, establish mechanical arm tail end coordinate system to mechanical base coordinate system homogeneous transform matrix
It is denoted as
5.1.2, pass through the homogeneous transform matrix of hand and eye calibrating algorithm acquisition camera coordinates system to mechanical arm tail end coordinate system
It is denoted as
5.1.3, obtain through the above steps camera coordinates system to mechanical arm base coordinate system homogeneous transform matrix
5.1.4 the parts measurement coordinate system w measured under camera coordinates system, is obtainedr_obj(i) it arrives under mechanical arm base coordinate system
Transformation equation be
5.2, it is directed to each arrester drainage thread, is measured in charged for replacement arrester operation field and is kept away using binocular camera
The center line tracking of thunder device drainage thread reconstructs arrester drainage thread threedimensional model.It mainly includes the following steps that：
5.2.1 the charged for replacement arrester standard operation on-site parameters database for, transferring step 1 foundation, determines current band
The cross section outer diameter of arrester drainage thread in charged renewal arrester operation field；
The drainage thread cross section geometric dimension of same specification is identical and is circle, as long as measure the center line of drainage thread
Track can be obtained the threedimensional model of the drainage thread of bending by cross-section curvilinear stretch algorithm；
5.2.2 binocular camera, is demarcated, binocular ranging is realized by Stereo Matching Algorithm.By calibration, pattern distortion is eliminated
And obtain the inside and outside parameter matrix of camera；By Stereo Matching Algorithm, the matching relationship of left and right mesh pixel is established, realizes and surveys
Away from；
5.2.3, control machinery arm moves, and the position and posture for adjusting camera make the arrester of needs measurement drain line profile
It is maintained in the binocular camera visual field；
5.2.4 the profile of image center line, is extracted using arrester drainage thread feature (color)；
5.2.5 three-dimensional location coordinates of the discrete point on the center line of arrester drainage thread with respect to camera coordinates, are obtained：
Arrester drainage thread contour edge is segmented, the outer peripheral normal vector direction of every section of profile, normal vector are found out
Midpoint with two intersection point lines of contour edge line is i.e. on the center line of drainage thread；Left and right is found by binocular ranging algorithm
The matched pixel point put on corresponding center line in mesh, obtains the three-dimensional of the single discrete point on the center line of arrester drainage thread
Coordinate is denoted as：
M indicates which point, xm、ym、zmM-th point of x, y, z coordinate, P are identified respectivelyr(m) m-th point of expression is opposite
In the position coordinates of camera coordinates.
5.2.6 the conversion accounting equation of the camera coordinates system obtained in step 5.1 to mechanical arm base coordinate system, is utilizedIt will be transformed into machine with discrete point position coordinates on the arrester drainage thread center line under camera coordinates system
Under device arm basis coordinates system, it is as a result denoted as Pb(m), wherein m meanings are identical with step 5.2.5, the center line of arrester drainage thread
Discrete point seeks schematic diagram such as Fig. 9 (a)；
5.2.7, using point on the discrete center line obtained in polynomial interopolation method fit procedure 5.2.6, connected
Continuous arrester drainage thread center line tracking.Center line continuous path schematic diagram such as Fig. 9 (b) of arrester drainage thread；
5.2.8, using the arrester drainage thread cross section outer diameter data obtained in step 5.2.1, pass through cross-section curve
The three-dimensional modeling data that arrester drainage thread in actual field is calculated in algorithm is stretched, completes to drain actual field arrester
The three-dimensionalreconstruction of line works, and reliable part set, the reconstruct of arrester drainage thread is added in the reconstruction model of arrester drainage thread
Threedimensional model schematic diagram such as Figure 10.
5.3, it using binocular camera metrical information, corrects each cross-arm in charged for replacement arrester standard operation scene, keep away
Thunder device pose data, complete the reconstruct of scene, specifically include following steps：
5.3.1 arrester, cross-arm are rejected from retinue's component set, are added in movable component set；Retinue's member
Device set includes multiple shaft towers, fuse switch；Reliable component set includes multiple arrester drainage threads：
It wherein accompanies component overall situation number in component set to be indicated with letter k, component in movable component set
Overall situation number indicates that component overall situation number is indicated with letter f in reliable component set with letter n, it is worth noting that k,
N, the meaning of f is identical as the global number i meanings defined in step 1, is used herein as different alphabetical purposes and is specified bright first device
Set residing for part.
5.3.2 it, for each arrester and cross-arm in movable component set, is measured tie according to binocular camera successively
Fruit corrects its attained pose in charged for replacement arrester standard operation scene, and reliable component set is added：
It is c_obj to mark the movable component currently measured, and overall situation number is n.According to binocular camera measurement result amendment
Movable component c_obj threedimensional model origins system wobj(n) module and carriage transformation matrix relative to mechanical arm base coordinate system
According to binocular camera measurement result, parts measurement coordinate system w can be obtainedr_obj(n) transformation matrix of camera coordinates system is arrivedThe camera coordinates system obtained according to step 5.1 is to mechanical arm pedestal transformation matrix of coordinatesThe part established with step 4
Measuring coordinate system is to the transformation matrix between threedimensional model origin systemIt can shift onto out：
With the position of the component relative mechanical arm pedestal of above-mentioned result of calculation update number nAccording toIt is specified
Position orientation relation, adjustment reconstruct scene in component n pose；After the completion of adjustment, c_obj is picked from movable component set
It removes, is added in reliable component set, at this point, indicating that the global of the component is numbered with letter f, there is f=n.
5.3.3, for each shaft tower and fuse switch in retinue's component set, defined in step 1
'sMatrix updates it with the new pose parameter of reliable each component of component setWhen to refer to, relative mechanical arm base
The new position auto―control of seat coordinate system.Defined in step 1Matrix updates it with reliable each component of component set
New pose parameterWhen to refer to, the new position auto―control of relative mechanical arm base coordinate system：
The current retinue's component number of label is k, then it is with the new pose parameter of component f in reliable component set
With reference to when, the new position auto―control of relative mechanical arm base coordinate system is
5.3.4, for each shaft tower and fuse switch in retinue's component set, reliable component collection is found
There is the component of relative installation relationship with the global component for being k of numbering in retinue's component set in conjunction, it is assumed that they
Marked as f1~fH, total H, the position auto―control obtained in weighted averaging step 5.3.3The retinue zero optimized
The final position auto―control of part k is
Specifically calculating process is：For reliable component set, global in all component set with retinue compile is found out
Number have the component of relative installation relationship for the component of k, it is assumed that they marked as f1~fH, total H.Then, Sui Congyuan
K components are relative to the final position auto―control of mechanical arm base coordinate system in device：
It completes to calculate, obtains reconstructing scene with the charged for replacement arrester that real scene coincide.
Step 6, when need again utilize binocular camera measurement data correct related device pose when, by reliable component collection
Corresponding component is rejected in gathering from place and is added in movable component set in conjunction or in retinue's component set, it is arranged
For movable component, step 5.3.2 to step 5.3.4 is repeated, completion is corrected again.
Embodiment
The present embodiment has chosen certain power grid 10KV with arrester, fuse switch, shaft tower and cross-arm in transmission line of electricity
As modeling example.The scene for replacing arrester operation with electric transmission line hot-line using certain power grid 10KV is reconstructed as specific embodiment
It is described in detail.
Step 1 establishes charged for replacement arrester standard operation on-site parameters database：
1.1, charged for replacement arrester standard operation on-site parameters database is established, each electrical member in operation field is stored
The numbering of device, corresponding standard external dimensions data and corresponding standard relative installation data：
Such as it is reconstructed for the scene of the present embodiment power grid 10KV distribution line charged for replacement arrester job tasks, tool
The component that body includes is：1, shaft tower, cross-arm 2, fuse switch 3, arrester 3, drainage thread 3 specify them
Global number be followed successively by 1-12, component and corresponding global number are as shown in table 1.It further includes each component to store data
Standard external dimensions data and the standard relative installation data between them.It should be noted that component herein
Type adjusted accordingly according to actual conditions difference with number, rather than be only limitted to above-mentioned scene.
Component and corresponding global number in 1 the present embodiment of table
1.2, the origin system of component i in charged for replacement arrester standard operation on-site parameters database, note are specified
For wobj(i)：
The present embodiment power grid 10KV is replaced with electric transmission line hot-line in the scene reconstruct of arrester job task, is taken shelter from the thunder
Device, fuse switch, cross-arm and the respective origin system w of shaft towerobj(i) position and direction selection such as Fig. 4 to Fig. 7
In.On the circle centre position in arrester origin system's location determination hole on the upper surface of arrester pedestal in Fig. 4, the hole and cross-arm
Hole matches, and z-axis is oriented parallel to axially bored line direction, and x, y-axis direction are respectively parallel to two vertical edges of arrester pedestal；Fig. 5
The circle centre position in middle fuse switch origin system's location determination hole on the lower face of fuse switch pedestal, the hole with
Hole matches on cross-arm, and z-axis is oriented parallel to axially bored line direction, and x, y-axis direction are respectively parallel to drop type fusing and connect with cross-arm
Two vertical edges of the boss connect；The circle centre position in cross-arm origin system's location determination hole on cross-arm lower face in Fig. 6, the hole with
Shaft tower matches, and z-axis is oriented parallel to axially bored line direction, and x, y-axis direction are respectively parallel to two vertical edges of cross-arm；Bar in Fig. 7
For tower origin system's location determination in the circle centre position of shaft tower bottom surface, z-axis is oriented parallel to shaft tower axis direction, and shaft tower is one right
Component, x, the guarantee of y-axis set direction is claimed to meet right-handed coordinate system principle.
1.3, the two-spot that global number in charged for replacement arrester standard operation on-site parameters database is respectively i, j is established
The origin system w of deviceobj(i)、wobj(j) homogeneous transform matrix of standard relative installation data, is denoted as between
The present embodiment power grid 10KV is replaced with transmission line of electricity in the scene reconstruct of arrester job task, the unit of data
It is defaulted as millimeter (mm), kilogram (kg), newton (N), second (s), cross-arm 1 is homogeneous with the standard relative installation data of shaft tower
Transformation matrix is denoted asIt can be obtained according to data in step 1.1 standard operation on-site parameters database：There there is no acquiescence between two components
Relative rotation, 1 origin system w of cross-armobj(2) relative to shaft tower origin system wobj(1), x, y, z direction offset distance
Respectively 0mm, 0mm, 12000mm, then：
Similarly, cross-arm 2 and the homogeneous transform matrix of cross-arm 1 areAccording to step 1.1 standard operation on-site parameters database
Middle data give tacit consent to no relative rotation, 2 origin system w of cross-arm between two componentsobj(3) relative to 1 origin system of cross-arm
wobj(2), x, y, z direction offset distance is respectively 0mm, 0mm, 1500mm, then：
Similarly, fuse switch 1 and the homogeneous transform matrix of cross-arm 2 are denoted asAccording to step 1.1 standard operation scene
Data in parameter database give tacit consent to no relative rotation, 1 origin system w of fuse switch between two componentsobj(4) opposite
In 2 origin system w of cross-armobj(3), x, y, z direction offset distance respectively -160mm, 980mm, 65mm, then：
Similarly, arrester 1 obtains homogeneous transform matrix with cross-arm 1 and is denoted asAccording to step 1.1 standard operation on-site parameters number
According to data in library, can obtain：
The homogeneous transform matrix of specified value relative installation establishes mode and above process phase between remaining each component
Together, it repeats no more.
Step 2, structure charged for replacement arrester standard three-dimensional model database：
The present embodiment power grid 10KV is replaced with electric transmission line hot-line in the scene reconstruct of arrester job task, is used
The standard three-dimensional model that SolidWorks softwares establish each component deposits model to ensure the compatibility of model data
Storage is .stl file formats.Department pattern result such as Fig. 4 to Fig. 7.Wherein, Fig. 4 be arrester standard three-dimensional model data can
Depending on changing result；Fig. 5 is the visualization result of fuse switch standard three-dimensional model data；Fig. 6 is cross-arm standard three-dimensional model
The visualization result of data；Fig. 7 is the visualization result of shaft tower standard three-dimensional model data.By modeling result data storage to band
In charged renewal arrester standard three-dimensional model database.
Step 3 builds charged for replacement arrester standard operation scene：
The present embodiment power grid 10KV is replaced with electric transmission line hot-line in the scene reconstruct of arrester job task, utilizes step
It is built in standard relative installation parameter and step 2 in rapid 1 in charged for replacement arrester standard operation on-site parameters database
Vertical component standard three-dimensional model builds the three-dimensional scenic at the standard operation scene of charged for replacement arrester job task, complete
It is built at charged for replacement arrester standard operation scene in restructuring procedure.Specifically comprise the following steps：
3.1, component in charged for replacement arrester operation field is divided into reliable devices, active device and retinue's device three
Class：
The present embodiment power grid 10KV is replaced with transmission line of electricity in the scene reconstruct of arrester job task, by reconstruct scene
Component is divided into reliable component, movable component and retinue's component three classes, establishes reliable component set, movable component
Set and retinue's component set.
3.2, charged for replacement arrester standard operation scene is built：
The present embodiment power grid 10KV builds mark in the scene reconstruct with electric transmission line hot-line replacement arrester job task
When quasi- working scene, required element device three-dimensional mould is extracted from the standard three-dimensional model database for the component established in step 2
Type data, specific component include 1 shaft tower, 2 cross-arms, 3 fuse switches, 3 arresters, global index's difference
It is in table 1 1~9, all of which is included into retinue's component set, reliable component set and movable component set is equal at this time
For sky.
According to the charged for replacement arrester standard operation on-site parameters database Plays relative installation data of foundationWith the standard three-dimensional model data for corresponding to component in charged for replacement arrester standard three-dimensional model database, read in 1 in table 1
The standard three-dimensional model data of~No. 9 components, and according toDetermine the relative pose relationship between component, you can complete to replace
Arrester standard operation scene is built.It is that Tower Model sets its w as first component to read in component 1 firstobj
(1) it is the origin of entire scene, x, y, z coordinate is all set to 0, thereby determines that pose of the component 1 in reconstructing scene；Then it reads
Enter component 2 i.e. cross-arm 1, by what is established in step 1.3Determine pose of the component 2 in reconstructing scene, remaining component
It does same operation and building for standard operation scene can be completed.
The present embodiment power grid 10KV is replaced with transmission line of electricity in the scene reconstruct of arrester job task, standard operation field
Scape builds that the results are shown in Figure 8, and wherein the number of component is corresponding with being numbered in table 1.
Step 4, the vision measurement coordinate system w for establishing component to be measured in charged for replacement arrester working scener_obj(i),
Obtain homogeneous transform matrix
The present embodiment power grid 10KV is replaced with transmission line of electricity in the scene reconstruct of arrester job task, and charged for replacement is kept away
Include that cross-arm, arrester are each multiple to the component that pose data precision requires in thunder device working scene, using them as waiting for
Survey component.The specified measuring coordinate system w for being attached to component to be measuredr_obj(i) (i is the global number of part), the coordinate system
It is fixed on component.Include to the component that precision requires in the present embodiment：2 cross-arms, 3 arresters.wr_obj(i) and
The threedimensional model origin system w established in step 2obj(i) by artificial specified, the relative pose relationship between Two coordinate system
It fixes and it is known that uses homogeneous transform matrixTo record coordinate system wobj(i) relative to coordinate system wr_obj(i) relative pose
Relationship.Such as：It is cross-arm 1 to component 2,Indicate wobj(2) relative to wr_obj(2) do not have
Attitudes vibration, the offset distance in x, y, z direction are respectively 120mm, -1040mm and -65mm.
Each component wr_obj(i) arrester w in selection such as Fig. 4-7, Fig. 4r_obj(i) direction and origin system wobj
(i) identical, origin position is located at circle centre position of the arrester screw rod on step surface；Fuse switch w in Fig. 5r_obj(i) z-axis
Direction is along fuse insulating mast axis direction, and for x-axis direction along fuse support direction, it is exhausted that origin position is located at fuse switch
The circle centre position in edge styletable face；Cross-arm w in Fig. 6r_obj(i) direction and origin system wobj(i) identical, origin position is located at cross-arm
At the inflection point of end face；Shaft tower w in Fig. 7r_obj(i) direction and origin system wobj(i) identical, origin position is located at shaft tower top
The circle centre position in portion.
Step 5, using the binocular camera for being attached to mechanical arm tail end, measure in charged for replacement arrester operation field
Each cross-arm, arrester attained pose are corrected, improve the charged for replacement arrester standard operation model of place established in step 3,
Obtain the reconstruct scene coincideing with actual field：
5.1, transformation matrix of the acquisition binocular camera coordinate system to mechanical arm base coordinate systemIt obtains under camera coordinates system
The measuring coordinate system w of partr_obj(i) transformation equation under mechanical arm base coordinate system is arrivedWherein
For component i measuring coordinates system wr_obj(i) module and carriage transformation matrix of relative mechanical arm pedestal,For component i measuring coordinates
It is wr_obj(i) module and carriage transformation matrix of relative mechanical arm ending coordinates system.It is as follows：
5.1.1, according to DH parametric methods, establish mechanical arm tail end coordinate system to mechanical base coordinate system homogeneous transform matrix
It is denoted as
5.1.2, pass through the homogeneous transform matrix of hand and eye calibrating algorithm acquisition camera coordinates system to mechanical arm tail end coordinate system
It is denoted as
5.1.3, obtain through the above steps camera coordinates system to mechanical arm base coordinate system homogeneous transform matrix
5.1.4 the parts measurement coordinate system w measured under camera coordinates system, is obtainedr_obj(i) it arrives under mechanical arm base coordinate system
Transformation equation be
5.2, it is directed to each arrester drainage thread, its in charged for replacement arrester operation field is measured using binocular camera
Center line tracking reconstructs arrester drainage thread threedimensional model.It mainly includes the following steps that：
5.2.1 the charged for replacement arrester standard operation on-site parameters database for, transferring step 1 foundation, determines current band
The cross section outer diameter of arrester drainage thread in charged renewal arrester operation field.Such as three arrester drainage threads in the present embodiment
Cross section outer diameter is 16mm；
5.2.2 binocular camera, is demarcated, design Stereo Matching Algorithm realizes binocular ranging；
5.2.3, control machinery arm moves, and the position and posture for adjusting camera make the drainage line profile of needs measurement be maintained at
In the binocular camera visual field；
5.2.4 the profile of image center line, is extracted using arrester drainage thread feature (color)；
5.2.5 three-dimensional location coordinates of the discrete point on the center line of arrester drainage thread with respect to camera coordinates, are obtained；
It 5.2.6, will using the conversion accounting equation of the camera coordinates system obtained in step 5.1 to mechanical arm base coordinate system
It is transformed under robotic arm basis coordinates system, is calculated with discrete point position coordinates on the arrester drainage thread center line under camera coordinates system
Result schematic diagram such as Fig. 9 (a)；
5.2.7, using point on the discrete center line obtained in polynomial interopolation method fit procedure 5.2.6, connected
Continuous arrester drainage thread center line tracking, schematic diagram of calculation result such as Fig. 9 (b)；
5.2.8, using the arrester drainage thread cross section outer diameter data obtained in step 5.2.1, pass through cross-section curve
The three-dimensional modeling data that arrester drainage thread in actual field is calculated in algorithm is stretched, completes to drain actual field arrester
The three-dimensionalreconstruction of line works, and reliable part set, the reconstruct of arrester drainage thread is added in the reconstruction model of arrester drainage thread
Threedimensional model schematic diagram such as Figure 10.
5.3, it using binocular camera metrical information, corrects each cross-arm in charged for replacement arrester standard operation scene, keep away
Thunder device pose data, complete the reconstruct of scene, specifically include following steps：
5.3.1 arrester, cross-arm are rejected from retinue's component set, are added in movable component set；Retinue's member
Device set includes that shaft tower, fuse switch are each multiple；Reliable component set includes that arrester drainage thread is each multiple：
The present embodiment power grid 10KV is replaced with transmission line of electricity in the scene reconstruct of arrester job task, lightning-arrest by 3
Device, 2 cross-arms are rejected from retinue's component set, are added in movable component set.At this point, in retinue's component set
Component is shaft tower and 3 fuse switches, their global number is indicated with letter k；First device in movable component set
Part overall situation number is indicated with letter n；Component is 3 drainage threads in reliable component set, their global number letter f
It indicates.
5.3.2 each arrester and cross-arm being directed in movable component set measure according to binocular camera tie successively
Fruit corrects its attained pose in charged for replacement arrester standard operation scene, and reliable component set is added：
Assuming that the component currently measured is cross-arm 2, it is c_obj to mark it, and overall situation number is n=3, passes through binocular camera
Measurement result corrects 2 threedimensional model origin system w of c_obj cross-armsobj(3) become relative to the pose of mechanical arm base coordinate system
Change matrix
According to binocular camera measurement result, 2 measuring coordinate system w of c_obj cross-arms can be obtainedr_obj(3) change of camera coordinates system is arrived
Change matrixThe camera coordinates system obtained according to step 5.1 is to mechanical arm pedestal transformation matrix of coordinatesIt is established with step 4
Parts measurement coordinate system is to the transformation matrix between threedimensional model origin systemIt can derive：
With the position of 2 relative mechanical arm pedestal of above-mentioned result of calculation update c_obj cross-armsAccording toSpecified
Position orientation relation, adjustment reconstruct the pose of c_obj cross-arms 2 in scene；By c_obj cross-arms 2 from movable component collection after the completion of adjustment
It closes and rejects, be added in reliable component set.
5.3.3 each shaft tower and fuse switch being directed in retinue's component set, defined in step 1Matrix updates it with the new pose parameter of reliable each component of component setWhen to refer to, relative mechanical arm pedestal
The new position auto―control of coordinate system：
Fuse switch 1 in component set is accompanied as being directed in the present embodiment, then k=4；Fuse switch 1 with
2 new pose of cross-arm in reliable component setFor reference when new pose be：
5.3.4, for each shaft tower and fuse switch in retinue's component set, weighted averaging step
5.3.3 the position auto―control obtained inThe final position auto―control of the retinue's part k optimized is
The present embodiment power grid 10KV is replaced with transmission line of electricity in the scene reconstruct of arrester job task, such as retinue
Fuse switch 1 in component set, then k=4.There is opposite installation position with fuse switch 1 in reliable component set
The component for setting relationship is 1 (f of cross-arm1=2), 2 (f of cross-arm2=3) it is molten then to accompany drop type in component for, totally two components
Disconnected device 1 (k=4) is relative to the final position auto―control of mechanical arm base coordinate system：
It concentrates other components to carry out same operation retinue's component, repeats no more.
It completes to calculate, obtains reconstructing scene with the charged for replacement arrester that real scene coincide, as shown in figure 11.
Step 6, when need again utilize binocular camera measurement data correct related device pose when, by reliable component collection
Corresponding component is rejected in gathering from place and is added in movable component set in conjunction or in retinue's component set, it is arranged
For movable component, step 5.3.2 to step 5.3.4 is repeated, completion is corrected again.
Claims (7)
1. a kind of method for fast reconstruction of charged for replacement arrester operation field, which is characterized in that include the following steps：
Step 1 establishes charged for replacement arrester standard operation on-site parameters database；
In charged for replacement arrester standard operation on-site parameters database data should include at least 5 class components related data, 5
Class component is respectively：Cross-arm, shaft tower, drainage thread, fuse switch, arrester；Specified charged for replacement arrester standard is made
The origin system of shaft tower, cross-arm, fuse switch, arrester in industry on-site parameters database；Establish the original of two components
The homogeneous transform matrix of standard relative installation data between point coordinates system；
Step 2, structure charged for replacement arrester standard three-dimensional model database：With shaft tower, cross-arm, fuse switch, take shelter from the thunder
The origin system of device is reference, establishes the standard three-dimensional model data of cross-arm, shaft tower, fuse switch and arrester,
It will be in the storage to charged for replacement arrester standard three-dimensional model database of modeling result data；
Step 3 builds charged for replacement arrester standard operation scene：The live component of arrester reconstruct will be replaced and be divided into reliable member
Device, movable component and retinue's component three classes establish reliable component set, movable component set and retinue respectively
Component set；
Utilize the standard relative installation between the component in charged for replacement arrester standard operation on-site parameters database
The standard three-dimensional model of parameter and the cross-arm of foundation, shaft tower, fuse switch, arrester builds charged for replacement arrester mark
Quasi- working scene；
Step 4, the vision measurement coordinate system for establishing cross-arm, arrester in charged for replacement arrester working scene obtain origin seat
Mark system is relative to its homogeneous transform matrix：First using cross-arm, arrester as component to be measured, the survey of component to be measured is specified
Measure coordinate system；Position orientation relation of the origin system relative to measuring coordinate system is recorded with homogeneous transform matrix；
Step 5 utilizes the binocular camera for being attached to mechanical arm tail end, reconstruct arrester drainage thread threedimensional model, measurement band
Each cross-arm, arrester attained pose in charged renewal arrester operation field are corrected, improve the charged for replacement arrester mark established
Quasi- working scene model obtains the reconstruct scene coincideing with actual field.
2. a kind of method for fast reconstruction of charged for replacement arrester operation field according to claim 1, which is characterized in that
Step 1 establishes charged for replacement arrester standard operation on-site parameters database, specifically includes following steps：
Step 1.1 establishes charged for replacement arrester standard operation on-site parameters database, specified unique complete for each component
Office index number i；
Shaft tower in step 1.2, specified charged for replacement arrester standard operation on-site parameters database, cross-arm, fuse switch,
The origin system of arrester；The origin of i-th each component is wobj(i)；
Step 1.3 establishes the two-spot that global number in charged for replacement arrester standard operation on-site parameters database is respectively i, j
The origin system w of deviceobj(i)、wobj(j) homogeneous transform matrix of standard relative installation data, is denoted as between
Wherein,For a 3x3 spin matrix, description component i origins system wobj(i) relative to component j origins
It is wobj(j) 3 d pose data；For a 3x1 position coordinates vector, three-dimensional positions of the description component i relative to component j
Set data.
3. a kind of method for fast reconstruction of charged for replacement arrester operation field according to claim 2, which is characterized in that
Working scene is reconstructed in step 5, specifically includes following steps：
5.1, transformation matrix of the acquisition binocular camera coordinate system to mechanical arm base coordinate systemObtain part under camera coordinates system
Measuring coordinate system wr_obj(i) transformation equation under mechanical arm base coordinate system is arrived
WhereinFor component i measuring coordinates system wr_obj(i) module and carriage transformation matrix of relative mechanical arm pedestal,For first device
Part i measuring coordinates system wr_obj(i) module and carriage transformation matrix of relative mechanical arm ending coordinates system；
5.2, it is directed to each arrester drainage thread, arrester in charged for replacement arrester operation field is measured using binocular camera
The center line tracking of drainage thread reconstructs arrester drainage thread threedimensional model；
5.3, using binocular camera metrical information, each cross-arm, arrester in charged for replacement arrester standard operation scene are corrected
Pose data complete the reconstruct of scene.
4. a kind of method for fast reconstruction of charged for replacement arrester operation field according to claim 3, which is characterized in that
Step 5.1 obtains transformation matrix, specifically includes following steps：
5.1.1, according to DH parametric methods, the homogeneous transform matrix for establishing mechanical arm tail end coordinate system to mechanical base coordinate system is denoted as
5.1.2 the homogeneous transform matrix that camera coordinates system to mechanical arm tail end coordinate system, are obtained by hand and eye calibrating algorithm is denoted as
5.1.3, obtain through the above steps camera coordinates system to mechanical arm base coordinate system homogeneous transform matrix
5.1.4 the parts measurement coordinate system w measured under camera coordinates system, is obtainedr_obj(i) change under mechanical arm base coordinate system is arrived
Changing equation is
5. a kind of method for fast reconstruction of charged for replacement arrester operation field according to claim 3, which is characterized in that
Step 5.2 reconstructs arrester drainage thread threedimensional model, specifically includes following steps：
5.2.1 charged for replacement arrester standard operation on-site parameters database, is transferred, determines current charged for replacement arrester operation
The cross section outer diameter of arrester drainage thread in scene；
5.2.2 binocular camera, is demarcated, ranging is realized by Stereo Matching Algorithm；
5.2.3, control machinery arm moves, and the position and posture for adjusting camera make the arrester of needs measurement drain line profile holding
In the binocular camera visual field；
5.2.4 the profile of electric wire in arrester drainage thread feature-extraction images, is utilized；
5.2.5 three-dimensional location coordinates of the discrete point on the center line of arrester drainage thread with respect to camera coordinates, are obtained：
The matched pixel point put on corresponding center line in the mesh of left and right is found, is obtained single on the center line of arrester drainage thread
The three-dimensional coordinate of discrete point, is denoted as：
M indicates which point, xm、ym、zmM-th point of x, y, z coordinate, P are identified respectivelyr(m) indicate at m-th point relative to camera
The position coordinates of coordinate；
Step 5.2.6, equation is utilizedBy on the arrester drainage thread center line under camera coordinates system from
Scatterplot position coordinates are transformed under robotic arm basis coordinates system, are as a result denoted as Pb(m)；
5.2.7 it, is fitted point on discrete center line using polynomial interopolation method, obtains continuous arrester drainage thread center line
Track；
5.2.8, using the arrester drainage thread cross section outer diameter data obtained in step 5.2.1, pass through cross-section curvilinear stretch
The three-dimensional modeling data of arrester drainage thread in actual field is calculated in algorithm, completes to actual field arrester drainage thread
Three-dimensionalreconstruction.
6. a kind of method for fast reconstruction of charged for replacement arrester operation field according to claim 3, which is characterized in that
Step 5.3 corrects each cross-arm, arrester pose data in charged for replacement arrester standard operation scene, specifically includes following step
Suddenly：
5.3.1 arrester, cross-arm are rejected from retinue's component set, are added in movable component set；
5.3.2, for each arrester and cross-arm in movable component set, successively according to binocular camera measurement result,
Its attained pose in charged for replacement arrester standard operation scene is corrected, and reliable component set is added；
It is c_obj to mark the movable component currently measured, and overall situation number is n；According to binocular camera measurement result amendment activity
Component c_obj threedimensional model origins system wobj(n) module and carriage transformation matrix relative to mechanical arm base coordinate system
Can call number n component relative mechanical arm pedestal position
5.3.3, for each shaft tower and fuse switch in retinue's component set, defined in step 1Square
Battle array, updates it with the new pose parameter of reliable each component of component setWhen to refer to, relative mechanical arm pedestal coordinate
The new position auto―control of system
5.3.4, for each shaft tower and fuse switch in retinue's component set, in weighted averaging step 5.3.3
Obtained position auto―controlThe final position auto―control of the retinue's part k optimized is
For reliable component set, finding out the component that global number is k in all component set with retinue has opposite peace
The component of holding position relationship, if they marked as f1~fH, total H；K components are relative to mechanical arm in retinue's component
The final position auto―control of base coordinate system is：
It completes to calculate, obtains the reconstruct scene coincideing with real scene.
7. a kind of method for fast reconstruction of charged for replacement arrester operation field according to claim 6, which is characterized in that
Further include that step 6 corrects related device pose, by corresponding component in reliable component set or in retinue's component set from
It rejects and is added in movable component set in the set of place, it is movable component that it, which is arranged, repeats step 5.3.2 to step
5.3.4, it completes to correct again.
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