CN108808547B - Rapid reconstruction method for live replacement of lightning arrester operation site - Google Patents
Rapid reconstruction method for live replacement of lightning arrester operation site Download PDFInfo
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- CN108808547B CN108808547B CN201810557365.2A CN201810557365A CN108808547B CN 108808547 B CN108808547 B CN 108808547B CN 201810557365 A CN201810557365 A CN 201810557365A CN 108808547 B CN108808547 B CN 108808547B
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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
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Abstract
The invention provides a rapid reconstruction method for an operation site for replacing an arrester in a live line manner, which comprises the steps of firstly establishing a standard operation site parameter database for replacing the arrester in the live line manner; establishing standard three-dimensional model data of each component by using an origin coordinate system of a tower, a cross arm, a drop-out fuse and a lightning arrester; building a standard operation scene for replacing the lightning arrester in a live state; establishing a visual measurement coordinate system of each component in an operation scene of replacing the arrester in an electrified way to obtain a homogeneous transformation matrix of an original point coordinate system relative to the original point coordinate system; reconstructing a three-dimensional model of the drainage wire of the arrester by using a binocular camera attached to the tail end of the mechanical arm, measuring the actual pose of each component in the live replacement arrester operation field, and correcting and perfecting the established standard live replacement arrester operation scene model; the working site for replacing the arrester in an electrified way constructed by the method is matched with the real site, so that the robot can conveniently carry out related operation.
Description
Technical Field
The invention belongs to the field of reconstruction of three-dimensional technical scenes of computers, and particularly relates to a rapid reconstruction method for an operation site for replacing a lightning arrester in a live mode.
Background
At present, the task of live-line arrester replacement in China mainly comprises manual operation, and has the problems of high risk, low efficiency, high training cost and the like. How to provide real-time reliable three-dimensional environment data of a lightning arrester replacing operation field for a remote teleoperator and a robot autonomous operation control platform is one of the difficulties which need to be solved urgently.
At present, a three-dimensional field reconstruction method mainly utilizes a binocular camera or a laser sensor to acquire field point cloud depth information, and restores field three-dimensional environment information through processing such as filtering, segmentation, classification and identification of the point cloud information. The lightning arrester live replacement operation site components and parts are more in quantity, the components and parts profile is complicated and have mutual sheltering from, if adopt a cloud information to carry out the reconsitution, then the sensor need wind the scene rotation in order to take multi-angle point cloud data, splice and effective information extraction to the multi-angle point cloud that gathers afterwards. The method can obtain the three-dimensional point cloud scene basically matched with the actual field, but the algorithm of the method is high in complexity, huge in calculated amount and weak in real-time performance; in order to present the detailed characteristics of components, the point cloud sensor is required to have higher precision and high equipment cost.
The virtual reality technology can construct a virtual scene with rich content and realize man-machine interaction. Aiming at scenes such as indoor scenes, workshops and buildings, a three-dimensional model is built according to the determined geometric information, and then a scene roaming technology is utilized, so that animation simulation and simulation can be well realized. Once the virtual scene is established, only the corresponding model is loaded when the virtual scene is used, so that the speed is high and the efficiency is high. However, in a live working site, due to the problems of bending of a wire, deviation of installation positions of parts and the like, a certain difference often exists between a constructed fixed virtual reality scene and an actual site, and operation failure is likely to be caused by the error in the processes of removing a connecting bolt between the lightning arrester and a cross arm, assembling the lightning arrester and a cross arm hole shaft and the like in the lightning arrester replacement operation. Due to the lack of data interaction with the actual scene, the virtual reality scene cannot be used directly as a reliable reconstructed scene.
The robot for realizing the task of live replacement of the lightning arrester has high requirements on the precision and the real-time performance of a reconstruction field in order to realize safe autonomous operation and remote teleoperation operation of the robot. The problem that how to consider the reliability and the reconstruction speed of a reconstruction scene in terms of the operation field of replacing the lightning arrester in an electrified way with the unstructured characteristic is to be solved.
Disclosure of Invention
The invention aims to provide a method for quickly reconstructing a working site for replacing an arrester of a live working robot system, so as to meet the requirements of the existing live working robot system on rapidness and reliability of the field reconstruction process in two modes of teleoperation operation and autonomous operation in the field of replacing the arrester.
The technical solution for realizing the purpose of the invention is as follows:
a rapid reconstruction method for an operation site for replacing a lightning arrester in a live state comprises the following steps:
step 1, establishing a standard operation site parameter database for replacing the arrester in an electrified way;
the data in the standard operation site parameter database for the live replacement of the arrester at least comprises relevant data of 5 types of components, and the 5 types of components are respectively: cross arm, pole tower, drainage wire, drop-out fuse, arrester; assigning a unique global index number for each component; appointing an origin coordinate system of a tower, a cross arm, a drop-out fuse and the arrester in a standard operation site parameter database for replacing the arrester in an electrified way; establishing a homogeneous transformation matrix of standard relative installation position data between origin point coordinate systems of the two components;
step 2, establishing a standard three-dimensional model database of the lightning arrester to be replaced in an electrified way: establishing standard three-dimensional model data of the cross arm, the tower, the drop-out fuse and the arrester according to an origin coordinate system of the tower, the cross arm, the drop-out fuse and the arrester, and storing the modeling result data into a standard three-dimensional model database of the live replacement arrester;
step 3, building a standard operation scene for replacing the lightning arrester in an electrified way: dividing the reconstructed field components into three types of reliable components, movable components and follower components, and respectively establishing a reliable component set, a movable component set and a follower component set;
building a standard operation scene for replacing the arrester in an electrified way by utilizing standard relative installation position parameters in a standard operation site parameter database for replacing the arrester in an electrified way and the built standard three-dimensional models of the cross arm, the tower, the drop-out fuse and the arrester;
step 4, establishing a visual measurement coordinate system of the cross arm and the arrester in an operation scene of replacing the arrester in an electrified way, and obtaining a homogeneous transformation matrix of an origin coordinate system relative to the origin coordinate system: firstly, taking a cross arm and a lightning arrester as components to be measured, and designating a measurement coordinate system of a component pair to be measured; recording the relative pose relationship of the origin coordinate system relative to the measurement coordinate system by using a homogeneous transformation matrix;
and 5, reconstructing a three-dimensional model of the drainage wire of the arrester by using a binocular camera attached to the tail end of the mechanical arm, measuring the actual poses of each cross arm and the arrester in the live-line arrester replacing operation field, correcting and perfecting the established standard live-line arrester replacing operation scene model, and obtaining a reconstructed scene matched with the actual field: the method comprises the steps of reconstructing a three-dimensional model of the lightning arrester drainage wire based on binocular vision and correcting errors of cross arms and actual installation pose and standard installation pose of the lightning arrester.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the invention provides a method for establishing a standard operation field parameter database and a standard three-dimensional model database of an electrified replacement arrester, which are convenient for classifying, storing and reading scene data of the electrified replacement arrester.
(2) According to the method, the reconstruction process of the live-line arrester replacement operation site is divided into three parts, namely the construction of a live-line arrester replacement standard operation scene, the binocular vision-based arrester drainage wire reconstruction and the binocular vision-based cross arm and arrester pose correction, so that the reconstruction process is simplified, and the calculation efficiency is greatly improved.
(3) The invention provides the method for pre-establishing the standard three-dimensional model data of each component in the live replacement arrester operation field, which can save the acquisition and processing process of the three-dimensional model data of the standard components in the environment in the real-time reconstruction process, reduce the dependence on the sensor, reduce the cost and accelerate the reconstruction speed.
(4) The method and the device realize the rapid construction of the standard operation scene of the live replacement arrester according to the standard three-dimensional model data of each component in the live replacement arrester standard three-dimensional model database and the standard relative mounting position data between each component in the live replacement arrester standard operation site parameter database. The step does not need a sensor to participate, and the required data only needs to be searched in the established database and can be quickly finished; the standard operation scene is built according to the standard of the live working industry, and the rough description of the live replacement arrester operation field can be realized.
(5) Aiming at the reconstruction process of the electric wire in the live replacement working site of the arrester, the invention provides a method for measuring the position coordinates of discrete points on the central line of the drainage wire of the arrester in the working site by using a binocular camera, obtaining the approximate central line track in a polynomial interpolation mode, further calculating by using an equal section pull-up algorithm to obtain a three-dimensional model of the electric wire, and realizing the rapid and accurate reconstruction of the three-dimensional model of the electric wire.
(6) Aiming at the live replacement of the components of the arrester operation field, the invention designs the establishment scheme of the original point coordinate system and the measurement coordinate system, so that the binocular camera can conveniently measure the pose (position and attitude) information of the specified components in the operation field in real time, the pose errors of the corresponding components in the standard operation scene are corrected, and the pose of the components in the reconstructed scene is ensured to be matched with the real operation field.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a flowchart of a rapid reconfiguration method of an arrester replacement operation scene according to the present invention.
Fig. 2 is a schematic diagram of an image acquisition system based on a mechanical arm.
FIG. 3 is a block diagram of a database structure according to the present invention.
Fig. 4 is a standard three-dimensional model diagram of the lightning arrester in the embodiment of replacing the lightning arrester.
Fig. 5 is a standard three-dimensional model diagram of a drop-out fuse in an embodiment of replacing a lightning arrester.
Fig. 6 is a standard three-dimensional model diagram of a cross arm in an embodiment of replacing the lightning arrester.
Fig. 7 is a three-dimensional model diagram of a tower standard in an embodiment of replacing a lightning arrester.
Fig. 8 is a three-dimensional scene diagram of a standard operation field in an embodiment of replacing the lightning arrester.
Fig. 9(a-b) are schematic diagrams of discrete point acquisition and serialization, respectively, on a wire centerline.
Fig. 10 is a schematic diagram of a reconstructed three-dimensional model of a wire.
Fig. 11 is a diagram showing reconstruction results of a working site in an embodiment of replacing a lightning arrester.
Detailed Description
For the purpose of illustrating the technical solutions and technical objects of the present invention, the present invention will be further described with reference to the accompanying drawings and specific embodiments.
With reference to fig. 2, the method of the present invention is based on an image acquisition system of a mechanical arm, comprising a mechanical arm with six degrees of freedom and a binocular camera fixed at the end of the mechanical arm through a bracket; through the support, the positions of the binocular cameras can be fixed, and the cameras move together with the tail end of the mechanical arm; the three-dimensional position and the posture of the binocular camera are adjusted by controlling the movement of the mechanical arm, so that the visual field of the binocular camera is adjusted.
With reference to fig. 1, the invention provides a method for rapidly reconstructing an operation site for replacing a lightning arrester in a live state, which comprises the following steps:
step 1, establishing a standard operation site parameter database for replacing the arrester in an electrified way. The method specifically comprises the following steps:
step 1.1, establishing a standard operation site parameter database for live replacement of the arrester, and storing the serial numbers of 5 types of components in an operation site, corresponding standard outline dimension data and corresponding standard relative installation position data:
the data in the database of the parameters of the standard operation site for replacing the arrester with electricity at least comprises the relevant data of 5 types of components. The 5 types of components are respectively: cross arm, pole tower, drainage wire, drop-out fuse, arrester; the data of the related data of the 5 types of components comprise: standard outline dimension data of each component; and standard relative mounting position data between the cross arm and the tower, standard relative mounting position data between the cross arm and the arrester, standard relative mounting position data between the cross arm and the drop-out fuse and relative mounting position data between the cross arm and the cross arm in the lightning arrester replacing operation site. The specific data source is based on the construction and construction standards of the distribution and transmission lines of the national power grid and the power grids of all the places.
Each component is assigned with a unique global index number i (i is a natural number), for example, 1 is input into a database, namely the component corresponds to the first component, and i is input, namely the component corresponds to the ith component.
Step 1.2, appointing an original point coordinate system of a tower, a cross arm, a drop-out fuse and an arrester in a standard operation site parameter database for replacing the arrester in an electrified way:
the components and parts in the standard operation site for live replacement of the arrester comprise a plurality of towers, cross arms, drop-out fuses, arresters and arrester drainage wires, and the serial number of each component and part is marked as i. Establishing an origin coordinate w for the component with the global index number i according to the right-hand coordinate system principleobj(i) And the standard three-dimensional model is established and used as a reference coordinate system for describing the standard relative installation position between the standard three-dimensional model and other components.
Step 1.3, establishing an original point coordinate system w of two elements with global numbers i and j in a standard operation site parameter database for live replacement of the lightning arresterobj(i)、wobj(j) The homogeneous transformation matrix of the standard relative installation position data is recorded asWherein the content of the first and second substances,describing the origin coordinate system w of the component i for a 3x3 rotation matrixobj(i) Relative to the origin coordinate system w of the component jobj(j) Three-dimensional attitude data;a 3x1 position coordinate vector describes the three-dimensional position data of component i relative to component j.
Step 2, establishing standard three-dimensional model data of the cross arm, the pole tower, the drop-out fuse and the lightning arrester, establishing a standard three-dimensional model database of the live-line replacement lightning arrester, and combining the whole database structure of the system in the step 1 as shown in a figure 3:
and (3) according to the information in the standard operation site parameter database of the live replacement arrester in the step (1), establishing standard three-dimensional model data of the cross arm, the pole tower, the drop-out fuse and the arrester. And (3) establishing a standard three-dimensional model of each component by taking the origin coordinate system specified in the step 1.2 as a reference, and storing the modeling result data into a standard three-dimensional model database of the lightning arrester to be replaced in an electrified way.
Step 3, carrying out classification management on the components, and building a standard operation scene for replacing the lightning arrester in an electrified way:
and (3) building a three-dimensional scene of a standard operation field of the operation task of the live replacement arrester by using the standard relative installation position parameters in the live replacement arrester standard operation field parameter database in the step (1) and the standard three-dimensional model of the component built in the step (2), and completing building of the standard operation scene of the live replacement arrester in the reconstruction process.
3.1, components and parts in the live replacement arrester operation scene are divided into three types of reliable devices, movable devices and follower devices:
and dividing the reconstructed field components into three types of reliable components, movable components and follower components, and respectively establishing a reliable component set, a movable component set and a follower component set for dividing each component in the scene into the three types so as to mark the reliability of coincidence of the position and posture of the component in the reconstructed scene with the actual field and facilitate dynamic correction of unstructured errors.
The reliable component means that the pose data of the component is adjusted through the measurement result of the binocular camera and is consistent with actual field data; the movable component means that the component is or is about to carry out binocular camera measurement so as to correct the pose error with the actual site; the slave component means that the pose data of the component is not corrected by binocular vision measurement.
3.2, reading in standard three-dimensional models of the cross arm, the pole tower, the drop-out fuse and the arrester and standard relative mounting position data among the models, and building a standard operation scene for replacing the arrester in an electrified way:
can be used in the field parameter database of the standard operation of live replacement of the lightning arresterSearching a plurality of components including cross arms, towers, drop-out fuses and lightning arresters 4 on the operation site, the serial numbers i of the components and the standard relative installation positions among the componentsAnd standard three-dimensional model data of the component with the global index number i can be retrieved from the standard three-dimensional model database of the lightning arrester during live replacement.
Reading in standard three-dimensional model data of components and parts according to the dataAnd determining the relative pose relationship among the components, and completing the construction of a standard operation scene of the operation of replacing the arrester in a live state. At the moment, all devices in the scene are in the follower component set, and the reliable component set and the movable component set are empty.
Step 4, establishing a visual measurement coordinate system w of the cross arm and the arrester in the working scene of live replacement of the arresterr_obj(i) To obtain a homogeneous transformation matrix
The components with requirements on the accuracy of the position data in the working scene of live replacement of the lightning arrester comprise a plurality of cross arms and the lightning arrester, and the cross arms and the lightning arrester are used as components to be tested. Specifying a measurement coordinate system w attached to a component to be testedr_obj(i) (i is the global part number) and the coordinate system is fixed to the component. w is ar_obj(i) And w established in step 2obj(i) All are artificially assigned, the relative pose relationship between two coordinate systems is fixed and known, and a homogeneous transformation matrix is usedTo record the origin coordinate system wobj(i) Relative to a vision measurement coordinate system wr_obj(i) The pose relationship of (1).
And 5, reconstructing a three-dimensional model of the drainage wire of the arrester by using a binocular camera attached to the tail end of the mechanical arm, measuring the actual poses of each cross arm and the arrester in the live-line arrester replacing operation field, correcting and perfecting the standard live-line arrester replacing operation scene model established in the step 3, and obtaining a reconstructed scene matched with the actual field:
compared with the actual scene, the standard operation scene for replacing the lightning arrester in an electrified way established in the step 3 is lack of lightning arrester drainage line elements; secondly, the installation error caused by human factors and other factors existing in the actual installation process causes that the standard operation scene of the lightning arrester is changed in an actual field and an electrified state has a larger difference, so that the standard operation scene needs to be perfected and corrected. The specific process comprises two processes of reconstruction of a binocular vision-based three-dimensional model of the lightning arrester drainage wire and correction of errors of cross arms and actual installation pose and standard installation pose of the lightning arrester. The method mainly comprises the following steps:
5.1, obtaining a transformation matrix from a binocular camera coordinate system to a mechanical arm base coordinate systemObtaining a measurement coordinate system w of the part under the camera coordinate systemr_obj(i) Transformation equation to mechanical arm base coordinate systemWhereinMeasuring a coordinate system w for a component ir_obj(i) Relative to the pose transformation matrix of the mechanical arm base,measuring a coordinate system w for a component ir_obj(i) And (5) a pose transformation matrix relative to the tail end coordinate system of the mechanical arm. The method comprises the following specific steps:
5.1.1, according to a DH parameter method, establishing a homogeneous transformation matrix from a mechanical arm tail end coordinate system to a mechanical base coordinate system and recording the homogeneous transformation matrix as
5.1.2, obtaining a homogeneous transformation matrix from a camera coordinate system to a mechanical arm tail end coordinate system through a hand-eye calibration algorithm and recording the homogeneous transformation matrix as
5.1.3, obtaining a homogeneous transformation matrix from the camera coordinate system to the mechanical arm base coordinate system through the steps
5.1.4, obtaining a part measurement coordinate system w measured under the camera coordinate systemr_obj(i) The transformation equation to the mechanical arm base coordinate system is
5.2, aiming at each arrester drainage wire, measuring the center line track of the arrester drainage wire in the live-line replacement working site by using a binocular camera, and reconstructing a three-dimensional model of the arrester drainage wire. The method mainly comprises the following steps:
5.2.1, calling the standard operation site parameter database of the live replacement arrester established in the step 1, and determining the outer diameter of the cross section of the drainage wire of the arrester in the current live replacement arrester operation site;
the cross sections of the drainage wires with the same specification are the same in geometric dimension and are circular, and a three-dimensional model of the bent drainage wire can be obtained by a constant-section curve stretching algorithm as long as the track of the central line of the drainage wire is measured;
and 5.2.2, calibrating the binocular camera, and realizing binocular ranging through a stereo matching algorithm. Eliminating image distortion and obtaining an internal and external parameter matrix of the camera through calibration; establishing a matching relation of left and right pixel points through a stereo matching algorithm to realize ranging;
5.2.3, controlling the motion of the mechanical arm, and adjusting the position and the posture of the camera to keep the profile of the lightning arrester current-guiding line needing to be measured in the visual field of the binocular camera;
5.2.4, extracting the outline of the central line of the image by utilizing the characteristics (colors) of the lightning arrester drainage wire;
5.2.5, acquiring three-dimensional position coordinates of discrete points on the central line of the lightning arrester drainage wire relative to camera coordinates:
segmenting the contour edge of the lightning arrester current-guiding line, and finding out the normal vector direction of the outer edge of each section of contour, wherein the midpoint of a connecting line of two intersection points of the normal vector and the contour edge line is positioned on the central line of the current-guiding line; finding the matching pixel points of the points on the center line corresponding to the left and right eyes through a binocular matching algorithm to obtain the three-dimensional coordinates of a single discrete point on the center line of the lightning arrester drainage wire, and recording the three-dimensional coordinates as:
m denotes the number of points, xm、ym、zmX, y, z coordinates, P, respectively identifying the m-th pointr(m) represents the position coordinates of the m-th point with respect to the camera coordinates.
5.2.6, calculating an equation by using the conversion from the camera coordinate system to the mechanical arm base coordinate system obtained in the step 5.1Converting the coordinates of the discrete point positions on the central line of the lightning arrester drainage wire in a camera coordinate system into a robot arm base coordinate system, and recording the result as Pb(m), wherein m is the same as that in step 5.2.5, the schematic diagram of the discrete points of the central line of the lightning arrester lead wire is shown in fig. 9 (a);
5.2.7, fitting the discrete center line upper points obtained in the step 5.2.6 by utilizing a polynomial interpolation method to obtain a continuous lightning arrester drainage wire center line track. The schematic diagram of the continuous track of the central line of the lightning arrester lead wire is shown in fig. 9 (b);
and 5.2.8, calculating to obtain three-dimensional model data of the lightning arrester drainage wire in an actual field by using the external diameter data of the cross section of the lightning arrester drainage wire obtained in the step 5.2.1 through an equal-section curve stretching algorithm, completing three-dimensional reconstruction of the actual field lightning arrester drainage wire, adding the reconstructed model of the lightning arrester drainage wire into a reliable part set, wherein the schematic diagram of the reconstructed three-dimensional model of the lightning arrester drainage wire is shown in fig. 10.
5.3, correcting the position and posture data of each cross arm and the arrester in the standard operation scene of the live replacement of the arrester by using the binocular camera measurement information to finish the reconstruction of the scene, and specifically comprising the following steps:
5.3.1, removing the lightning arrester and the cross arm from the follower component set, and adding the lightning arrester and the cross arm into the movable component set; the follower component set comprises a plurality of towers and drop-out fuses; reliable components and parts are in the set including a plurality of arrester drainage wires:
the global numbers of the components in the dependent component sets are represented by a letter k, the global numbers of the components in the movable component sets are represented by a letter n, the global numbers of the components in the reliable component sets are represented by a letter f, and it is worth explaining that the meanings of k, n and f are the same as the meanings of the global numbers i defined in the step 1, and different letters are used here to designate the sets where the specific components are located.
5.3.2, aiming at each arrester and cross arm in the movable component set, correcting the actual pose in the standard operation scene of replacing the arrester with electricity according to the measurement result of the binocular camera in sequence, and adding a reliable component set:
and marking the currently measured active component as c _ obj and the global number as n. Correcting the origin coordinate system W of the three-dimensional model of the movable component c _ obi according to the measurement result of the binocular cameraobj(n) pose transformation matrix relative to manipulator base coordinate system
According to the measurement result of the binocular camera, a part measurement coordinate system w can be obtainedr_obj(n) transformation matrix to camera coordinate systemTransforming the coordinate system of the camera to the coordinate of the base of the mechanical arm according to the coordinate transformation matrix obtained in the step 5.1And step 4, establishing a part measurement coordinate system to the three-dimensional modelTransformation matrix between origin coordinate systemsCan be pushed out:
updating the position of the component with the number n relative to the mechanical arm base by using the calculation resultAccording toThe assigned pose relation is used for adjusting and reconstructing the pose of the element n in the scene; and after the adjustment is finished, c _ obj is removed from the active component set and added into the reliable component set, at the moment, the overall number of the component is represented by a letter f, and f is equal to n.
5.3.3, aiming at each tower and drop-out fuse in the follower component set, according to the definition in the step 1Matrix updating its new pose parameters for reliable component setFor reference, a new pose matrix relative to the robot arm base coordinate system. According to what is defined in step 1Matrix updating its new pose parameters for reliable component setFor reference, a new pose matrix with respect to the robot arm base coordinate system:
marking the number of the current following component as k, and then using the new component f in the reliable component setWith the pose parameter as a reference, a new pose matrix with respect to the robot arm base coordinate system is
5.3.4, aiming at each tower and drop-out fuse in the follower component set, finding out components in the reliable component set which have relative installation position relation with components with the global number k in the follower component set, and assuming that the components are marked as f1～fHH in total, the pose matrix obtained in the weighted averaging step 5.3.3Obtaining the optimized final pose matrix of the follower part k as
The specific calculation process is as follows: aiming at the reliable component set, finding out all components which have relative installation position relation with components with global number k in the follower component set, and assuming that the components are marked as f1～fHAnd H in total. Then, the final pose matrix of the k components in the follower components relative to the robot arm base coordinate system is:
and completing calculation to obtain a reconstruction scene of the charged replacement arrester, which is consistent with the real site.
And 6, when the pose of the relevant device needs to be corrected by using the binocular camera measurement data again, removing the corresponding device from the set in the reliable device set or the accompanying device set and adding the corresponding device into the movable device set, setting the corresponding device as a movable device, and repeating the steps 5.3.2 to 5.3.4 to finish correction again.
Examples
In the embodiment, a lightning arrester, a drop-out fuse, a pole tower and a cross arm in a certain power grid 10KV power distribution line are selected as modeling examples. The detailed explanation will be given by taking the site reconstruction of the operation of replacing the arrester with electricity in a certain power grid 10KV distribution line as a specific embodiment.
Step 1, establishing a standard operation field parameter database for replacing the arrester in an electrified way:
1.1, establishing a standard operation site parameter database for live replacement of the arrester, and storing the number of each electrical component in an operation site, corresponding standard outline dimension data and corresponding standard relative installation position data:
for example, for field reconfiguration of an operation task of replacing the lightning arrester in a live state on a certain power grid 10KV distribution line in this embodiment, the specifically included components and parts are: 1 pole tower, 2 cross arms, 3 drop-out fuses, 3 lightning arresters and 3 drainage wires, wherein the overall numbers of the poles tower, the cross arms and the drop-out fuses are designated as 1-12 in sequence, and the components and the corresponding overall numbers are shown in table 1. The stored data also includes standard external dimension data of the respective components and standard relative mounting position data therebetween. It should be noted that the types and numbers of the components herein are adjusted according to different actual situations, and are not limited to the above scenarios.
Table 1 components and corresponding global numbers in this embodiment
1.2, appointing an original point coordinate system of a component i in a standard operation field parameter database for replacing the arrester in an electrified way, and recording the original point coordinate system as wobj(i)：
In the field reconstruction of the task of replacing the arrester in the 10KV distribution transmission line of a certain power grid in the embodiment, the respective origin coordinate systems w of the arrester, the drop-out fuse, the cross arm and the towerobj(i) As in fig. 4-7. In figure 4, the position of the lightning arrester origin coordinate system is determined at the circle center of the hole on the upper end surface of the lightning arrester base, and the hole on the cross arm are positioned at the circle centerMatching, wherein the direction of a z axis is parallel to the axial direction of the hole, and the directions of an x axis and a y axis are respectively parallel to two vertical edges of the lightning arrester base; in fig. 5, the position of the origin coordinate system of the drop-out fuse is determined at the center of a hole on the lower end surface of the base of the drop-out fuse, the hole is matched with the upper hole of the cross arm, the z-axis direction is parallel to the axial direction of the hole, and the x-axis direction and the y-axis direction are respectively parallel to two vertical edges of a boss for connecting the drop-out fuse and the cross arm; in fig. 6, the position of the origin coordinate system of the cross arm is determined at the center of a hole on the lower end surface of the cross arm, the hole is matched with a tower, the z-axis direction is parallel to the axial direction of the hole, and the x-axis direction and the y-axis direction are respectively parallel to two vertical edges of the cross arm; in fig. 7, the position of the origin coordinate system of the tower is determined at the center of a circle on the bottom surface of the tower, the z-axis direction is parallel to the axis direction of the tower, the tower is a symmetrical component, and the x-axis direction and the y-axis direction are selected to ensure that the right-hand coordinate system principle is satisfied.
1.3, establishing an original point coordinate system w of two elements with global numbers i and j in a standard operation field parameter database for replacing the arrester in an electrified wayobj(i)、wobj(j) The homogeneous transformation matrix of the standard relative installation position data is recorded as
In the field reconstruction of the task of replacing the lightning arrester of a certain power grid 10KV distribution transmission line in this embodiment, the unit default of the data is millimeter (mm), kilogram (kg), newton (N), and second(s), and the homogeneous transformation matrix of the standard relative installation position data of the cross arm 1 and the tower is recorded asThe data in the standard operation field parameter database can be obtained according to the step 1.1: the default between two components is no relative rotation, and the cross arm 1 origin point coordinate system wobj(2) Relative to the tower origin coordinate system wobj(1) And the offset distances in the x, y and z directions are respectively 0mm, 0mm and 12000mm, then:
similarly, the homogeneous transformation matrix of cross arm 2 and cross arm 1 isAccording to the data in the standard operation site parameter database in the step 1.1, relative rotation between two components is not caused by default, and the cross arm 2 origin point coordinate system wobj(3) Relative to the cross arm 1 origin coordinate system wobj(2) And the offset distances in the x, y and z directions are respectively 0mm, 0mm and 1500mm, then:
in the same way, the homogeneous transformation matrix of the drop-out fuse 1 and the cross arm 2 is recorded asAccording to the data in the standard operation field parameter database of the step 1.1, the two components are defaulted to have no relative rotation, and the drop-out fuse 1 has an origin point coordinate system wobj(4) Relative to the cross arm 2 origin coordinate system wobj(3) And the offset distances in the x direction, the y direction and the z direction are-160 mm, 980mm and 65mm respectively, then:
in the same way, the homogeneous transformation matrix of the lightning arrester 1 and the cross arm 1 is recorded asAccording to the data in the standard operation field parameter database in the step 1.1, the following can be obtained:
the establishment mode of the homogeneous transformation matrix of the appointed standard relative installation positions among other components is the same as the process, and the description is omitted.
Step 2, establishing a standard three-dimensional model database of the lightning arrester to be replaced in an electrified way:
in the field reconstruction of the task of replacing the arrester in the 10KV power distribution line of a certain power grid in an electrified way, the standard three-dimensional model of each component is established by adopting SolidWorks software, and in order to ensure the compatibility of model data, the model is stored in a stl file format. Partial model results are shown in fig. 4-7. Wherein, fig. 4 is a visualization result of standard three-dimensional model data of the lightning arrester; FIG. 5 is a visualization result of drop-out fuse standard three-dimensional model data; FIG. 6 is a visualization result of cross arm standard three-dimensional model data; fig. 7 is a visualization result of tower standard three-dimensional model data. And storing the modeling result data into a standard three-dimensional model database of the lightning arrester to be replaced in an electrified way.
Step 3, building a standard operation scene for replacing the lightning arrester in an electrified way:
in the field reconstruction of the task of replacing the arrester with electricity in the power grid 10KV distribution transmission line of the embodiment, the three-dimensional scene of the standard operation field of the task of replacing the arrester with electricity is built by using the standard relative mounting position parameter in the database of the standard operation field parameter of replacing the arrester with electricity in the step 1 and the standard three-dimensional model of the component built in the step 2, and the building of the standard operation scene of replacing the arrester with electricity in the reconstruction process is completed. The method specifically comprises the following steps:
3.1, components and parts in the live replacement arrester operation scene are divided into three types of reliable devices, movable devices and follower devices:
in the field reconstruction of the task of replacing the lightning arrester of a certain power grid 10KV power distribution line, the reconstruction field components are divided into three types, namely reliable components, movable components and follower components, and a reliable component set, a movable component set and a follower component set are established.
3.2, building a standard operation scene of replacing the lightning arrester with electricity:
in this embodiment, when a standard operation scene is constructed in the site reconstruction of the task of replacing the lightning arrester with electricity in a certain power grid 10KV distribution transmission line, three-dimensional model data of a required component device is extracted from the standard three-dimensional model database of the component device established in step 2, the specific component device includes 1 tower, 2 cross arms, 3 drop-out fuses and 3 lightning arresters, global index numbers are 1-9 in table 1 respectively, all the components are classified into a follower component set, and at this time, the reliable component set and the movable component set are both empty.
According to the established standard relative installation position data in the standard operation site parameter database for replacing the lightning arrester in the live lineAnd replacing the standard three-dimensional model data of the corresponding component in the standard three-dimensional model database of the lightning arrester in an electrified way, reading the standard three-dimensional model data of No. 1 to No. 9 components in the table 1, and performing replacement according to the standard three-dimensional model dataAnd (4) determining the relative pose relation between the components, and completing the construction of the standard operation scene for replacing the lightning arrester. Firstly, a component 1, namely a tower model is read in as a first component, and w of the first component is setobj(1) Setting x, y and z coordinates as 0 for the original point of the whole scene, and determining the pose of the component 1 in the reconstructed scene; subsequently, the component 2, i.e. the cross arm 1, is read in, as established in step 1.3And (4) determining the pose of the component 2 in the reconstructed scene, and completing the construction of the standard operation scene by performing the same operation on the other components.
In the field reconstruction of the task of replacing the lightning arrester of a certain power grid 10KV distribution transmission line in this embodiment, the construction result of the standard operation scene is shown in fig. 8, where the numbers of the components correspond to the numbers in table 1.
Step 4, establishing a visual measurement coordinate system w of the component to be measured in the working scene of live replacement of the arresterr_obj(i) To obtain a homogeneous transformation matrix
In the field reconstruction of the task of replacing the lightning arrester in the 10KV power distribution line of a certain power grid in the embodiment, the components with requirements on the accuracy of the attitude data in the scene of the lightning arrester replacement operation in an electrified way are replacedThe device comprises a plurality of cross arms and lightning arresters which are used as components to be tested. Specifying a measurement coordinate system w attached to a component to be testedr_obj(i) (i is the global part number) and the coordinate system is fixed to the component. The components and parts that have the requirement to the precision in this embodiment include: 2 cross arms and 3 lightning arresters. w is ar_obj(i) And the three-dimensional model origin coordinate system w established in the step 2obj(i) All are artificially assigned, the relative pose relationship between two coordinate systems is fixed and known, and a homogeneous transformation matrix is usedTo record a coordinate system wobj(i) Relative to a coordinate system wr_obj(i) The relative pose relationship of (1). Such as: to component 2, i.e. cross arm 1, whichDenotes wobj(2) Relative to wr_obj(2) The offset distances in the x, y and z directions are 120mm, -1040mm and-65 mm, respectively, without attitude change.
Each component wr_obj(i) As shown in fig. 4-7, lightning arrester w in fig. 4r_obj(i) Direction and origin coordinate system wobj(i) The original point position is positioned at the circle center of the lightning arrester screw rod on the step surface; drop-out fuse w in FIG. 5r_obj(i) The z-axis direction is along the axis direction of the fuse insulating column, the x-axis direction is along the direction of the fuse support, and the origin position is located at the circle center of the end face of the drop-out fuse insulating column; cross arm w in FIG. 6r_obj(i) Direction and origin coordinate system wobj(i) The same, the original point position is positioned at the bending point of the end surface of the cross arm; pole tower w in fig. 7r_obj(i) Direction and origin coordinate system wobj(i) And similarly, the origin position is positioned at the center of the top of the tower.
Step 5, measuring the actual poses of each cross arm and the arrester in the live-line arrester replacing operation site by using a binocular camera attached to the tail end of the mechanical arm, correcting and perfecting the standard live-line arrester replacing operation scene model established in the step 3, and obtaining a reconstructed scene matched with the actual site:
5.1, obtaining a transformation matrix from a binocular camera coordinate system to a mechanical arm base coordinate systemObtaining a measurement coordinate system w of the part under the camera coordinate systemr_obj(i) Transformation equation to mechanical arm base coordinate systemWhereinMeasuring a coordinate system w for a component ir_obj(i) Relative to the pose transformation matrix of the mechanical arm base,measuring a coordinate system w for a component ir_obj(i) And (5) a pose transformation matrix relative to the tail end coordinate system of the mechanical arm. The method comprises the following specific steps:
5.1.1, according to a DH parameter method, establishing a homogeneous transformation matrix from a mechanical arm tail end coordinate system to a mechanical base coordinate system and recording the homogeneous transformation matrix as
5.1.2, obtaining a homogeneous transformation matrix from a camera coordinate system to a mechanical arm tail end coordinate system through a hand-eye calibration algorithm and recording the homogeneous transformation matrix as
5.1.3, obtaining a homogeneous transformation matrix from the camera coordinate system to the mechanical arm base coordinate system through the steps
5.1.4 obtaining a part measurement coordinate system W measured under the camera coordinate systemr_obj(i) The transformation equation to the mechanical arm base coordinate system is
5.2, measuring the center line track of each lightning arrester in the live-line replacement working site by using a binocular camera, and reconstructing a three-dimensional model of the lightning arrester drainage line. The method mainly comprises the following steps:
and 5.2.1, calling the standard operation site parameter database for the live replacement of the lightning arrester, which is established in the step 1, and determining the outer diameter of the cross section of the drainage wire of the lightning arrester in the current live replacement operation site of the lightning arrester. The cross section outer diameters of the three lightning arrester drainage wires are all 16mm in the embodiment;
5.2.2, calibrating the binocular camera, and designing a stereo matching algorithm to realize binocular ranging;
5.2.3, controlling the motion of the mechanical arm, and adjusting the position and the posture of the camera to keep the profile of the drainage wire to be measured in the visual field of the binocular camera;
5.2.4, extracting the outline of the central line of the image by utilizing the characteristics (colors) of the lightning arrester drainage wire;
5.2.5, acquiring three-dimensional position coordinates of discrete points on the central line of the lightning arrester drainage wire relative to camera coordinates;
5.2.6, converting the coordinates of the discrete point positions on the central line of the lightning arrester drainage wire in the camera coordinate system into the coordinate system of the mechanical arm base by using the conversion calculation equation from the camera coordinate system to the coordinate system of the mechanical arm base obtained in the step 5.1, wherein a calculation result schematic diagram is shown in fig. 9 (a);
5.2.7, fitting the discrete center line upper points obtained in the step 5.2.6 by utilizing a polynomial interpolation method to obtain a continuous arrester drainage wire center line track, wherein a schematic diagram of a calculation result is shown in fig. 9 (b);
and 5.2.8, calculating to obtain three-dimensional model data of the lightning arrester drainage wire in an actual field by using the external diameter data of the cross section of the lightning arrester drainage wire obtained in the step 5.2.1 through an equal-section curve stretching algorithm, completing three-dimensional reconstruction of the actual field lightning arrester drainage wire, adding the reconstructed model of the lightning arrester drainage wire into a reliable part set, wherein the schematic diagram of the reconstructed three-dimensional model of the lightning arrester drainage wire is shown in fig. 10.
5.3, correcting the position and posture data of each cross arm and the arrester in the standard operation scene of the live replacement of the arrester by using the binocular camera measurement information to finish the reconstruction of the scene, and specifically comprising the following steps:
5.3.1, removing the lightning arrester and the cross arm from the follower component set, and adding the lightning arrester and the cross arm into the movable component set; the follow-up component set comprises a plurality of towers and a plurality of drop-out fuses; reliable components and parts are in the set including the arrester drainage wire respectively a plurality ofly:
in the field reconstruction of the task of replacing the lightning arresters of a certain power grid 10KV power distribution line, 3 lightning arresters and 2 cross arms are removed from the follower component set and added into the movable component set. At the moment, the components in the follow-up component set are towers and 3 drop-out fuses, and the global numbers of the components are represented by a letter k; the global number of the components in the movable component set is represented by a letter n; the components in the reliable component set are 3 drainage wires, and the global numbers of the components are represented by a letter f.
5.3.2 for each arrester and cross arm in the movable components and parts set, according to binocular camera measuring result in proper order, revise its actual position appearance in changing arrester standard operation scene with electricity to join reliable components and parts set:
assuming that the currently measured component is the cross arm 2, which is labeled as c _ obi, and the global number n is 3, correcting the coordinate system w of the origin of the three-dimensional model of the cross arm 2 by the measurement result of the binocular camera, wherein the coordinate system w is c _ obiobj(3) Pose transformation matrix relative to mechanical arm base coordinate system
According to the measurement result of the binocular camera, a c _ obj cross arm 2 measurement coordinate system w can be obtainedr_obj(3) Transformation matrix to camera coordinate systemTransforming the coordinate system of the camera to the coordinate of the base of the mechanical arm according to the coordinate transformation matrix obtained in the step 5.1And step 4, establishing a part measurement coordinate system to the origin of the three-dimensional modelTransformation matrix between coordinate systemsIt can be deduced that:
updating the position of c _ obj cross arm 2 relative to the robot arm base by using the calculation resultAccording toThe assigned pose relation is used for adjusting the pose of the c _ obj cross arm 2 in the reconstructed scene; and after the adjustment is finished, removing the c _ obj cross arm 2 from the movable component set and adding the c _ obj cross arm into the reliable component set.
5.3.3 for each tower and drop-out fuse in the follower component set, according to the definition in step 1Matrix updating its new pose parameters for reliable component setFor reference, a new pose matrix with respect to the robot arm base coordinate system:
if the drop-out fuse 1 in the slave component set is pointed to in this embodiment, k is 4; new pose of cross arm 2 in reliable component set of drop-out fuse 1The new pose for reference is:
5.3.4 weighting each tower and drop-out fuse in the follower component setAveraging the pose matrix obtained in step 5.3.3Obtaining the optimized final pose matrix of the follower part k as
In the field reconfiguration of the task of replacing the lightning arrester in a 10KV distribution transmission line of a certain power grid in this embodiment, if the drop-out fuse 1 in the follower component set is used, k is 4. The component in the reliable component set which has a relative installation position relation with the drop-out fuse 1 is a cross arm 1 (f)12), cross arm 2 (f)23), and the final position matrix of the drop-out fuse 1(k 4) in the slave component relative to the robot arm base coordinate system is:
the same operation is carried out on other components in the slave component set, and the description is omitted.
And completing calculation to obtain a reconstruction scene of the charged replacement arrester, which is consistent with the real site, as shown in fig. 11.
And 6, when the pose of the relevant device needs to be corrected by using the binocular camera measurement data again, removing the corresponding device from the set in the reliable device set or the accompanying device set and adding the corresponding device into the movable device set, setting the corresponding device as a movable device, and repeating the steps 5.3.2 to 5.3.4 to finish correction again.
Claims (7)
1. A rapid reconstruction method for an operation site for replacing a lightning arrester in a live state is characterized by comprising the following steps:
step 1, establishing a standard operation site parameter database for replacing the arrester in an electrified way;
the data in the standard operation site parameter database for the live replacement of the arrester at least comprises relevant data of 5 types of components, and the 5 types of components are respectively: cross arm, pole tower, drainage wire, drop-out fuse, arrester; appointing an origin coordinate system of a tower, a cross arm, a drop-out fuse and the arrester in a standard operation site parameter database for replacing the arrester in an electrified way; establishing a homogeneous transformation matrix of standard relative installation position data between origin point coordinate systems of the two components;
step 2, establishing a standard three-dimensional model database of the lightning arrester to be replaced in an electrified way: establishing standard three-dimensional model data of the cross arm, the tower, the drop-out fuse and the arrester by taking an original point coordinate system of the tower, the cross arm, the drop-out fuse and the arrester as a reference, and storing the modeling result data into a standard three-dimensional model database of the live replacement arrester;
step 3, building a standard operation scene for replacing the lightning arrester in an electrified way: dividing replacement lightning arrester reconstruction field components into three types of reliable components, movable components and follower components, and respectively establishing a reliable component set, a movable component set and a follower component set;
building a standard operation scene for replacing the arrester in an electrified way by utilizing standard relative installation position parameters among components in a standard operation site parameter database for replacing the arrester in an electrified way and the built standard three-dimensional models of the cross arm, the tower, the drop-out fuse and the arrester;
step 4, establishing a visual measurement coordinate system of the cross arm and the arrester in an operation scene of replacing the arrester in an electrified way, and obtaining a homogeneous transformation matrix of an origin coordinate system relative to the origin coordinate system: firstly, taking a cross arm and a lightning arrester as components to be measured, and designating a measurement coordinate system of the components to be measured; recording the pose relation of the origin coordinate system relative to the measurement coordinate system by using a homogeneous transformation matrix;
and 5, reconstructing a three-dimensional model of the drainage wire of the arrester by using a binocular camera attached to the tail end of the mechanical arm, measuring the actual poses of each cross arm and the arrester in the live-line arrester replacing operation field, correcting and perfecting the established standard live-line arrester replacing operation scene model, and obtaining a reconstructed scene matched with the actual field.
2. The method for rapidly reconstructing the live replacement arrester operation site according to claim 1, wherein the step 1 of establishing the live replacement arrester standard operation site parameter database specifically comprises the following steps:
step 1.1, establishing a standard operation field parameter database for replacing the arrester in an electrified way, and assigning a unique global index mark i for each component;
step 1.2, assigning an origin coordinate system of a tower, a cross arm, a drop-out fuse and a lightning arrester in a standard operation site parameter database for replacing the lightning arrester in an electrified way; the origin coordinates of the ith components are wobj(i)；
Step 1.3, establishing an original point coordinate system w of two elements with global numbers i and j in a standard operation site parameter database for live replacement of the lightning arresterobj(i)、wobj(j) The homogeneous transformation matrix of the standard relative installation position data is recorded as
Wherein the content of the first and second substances,describing the origin coordinate system w of the component i for a 3x3 rotation matrixobj(i) Relative to the origin coordinate system w of the component jobj(j) Three-dimensional attitude data;a 3x1 position coordinate vector describes the three-dimensional position data of component i relative to component j.
3. The method for rapidly reconstructing the live replacement arrester operation site according to claim 2, wherein reconstructing the operation scene in step 5 specifically comprises the following steps:
5.1, obtaining a transformation matrix from a binocular camera coordinate system to a mechanical arm base coordinate systemTo obtain a phaseMeasurement coordinate system w of parts under machine coordinate systemr_obj(i) Transformation equation to mechanical arm base coordinate system
WhereinMeasuring a coordinate system w for a component ir_obj(i) Relative to the pose transformation matrix of the mechanical arm base,measuring a coordinate system w for a component ir_obj(i) A pose transformation matrix relative to the mechanical arm terminal coordinate system;
5.2, for each lightning arrester drainage wire, measuring the center line track of the lightning arrester drainage wire in the live replacement working site by using a binocular camera, and reconstructing a three-dimensional model of the lightning arrester drainage wire;
and 5.3, correcting the position and posture data of each cross arm and the arrester in the standard operation scene of the live replacement of the arrester by using the binocular camera measurement information to complete the reconstruction of the scene.
4. The method for rapidly reconstructing the live replacement arrester operation field according to claim 3, wherein the step 5.1 is to obtain a transformation matrix, and specifically comprises the following steps:
5.1.1, according to a DH parameter method, establishing a homogeneous transformation matrix from a mechanical arm tail end coordinate system to a mechanical base coordinate system and recording the homogeneous transformation matrix as
5.1.2, obtaining a homogeneous transformation matrix from a camera coordinate system to a mechanical arm tail end coordinate system through a hand-eye calibration algorithm and recording the homogeneous transformation matrix as
5.1.3 by the above stepsObtaining a homogeneous transformation matrix from a camera coordinate system to a mechanical arm base coordinate system
5.1.4, obtaining a part measurement coordinate system w measured under the camera coordinate systemr_obj(i) The transformation equation to the mechanical arm base coordinate system is
5. The method for rapidly reconstructing the live replacement arrester operation site according to claim 3, wherein the step 5.2 of reconstructing the three-dimensional model of the arrester drain wire specifically comprises the following steps:
5.2.1, a standard operation site parameter database for live replacement of the arrester is called, and the outer diameter of the cross section of the current arrester drainage wire in the current live replacement of the arrester is determined;
5.2.2, calibrating the binocular camera, and realizing distance measurement through a stereo matching algorithm;
5.2.3, controlling the motion of the mechanical arm, and adjusting the position and the posture of the camera to keep the profile of the lightning arrester current-guiding line needing to be measured in the visual field of the binocular camera;
5.2.4, extracting the outline of the electric wire in the image by utilizing the characteristics of the lightning arrester drainage wire;
5.2.5, acquiring three-dimensional position coordinates of discrete points on the central line of the lightning arrester drainage wire relative to camera coordinates:
finding the matching pixel points of the corresponding points on the central line in the left and right eyes to obtain the three-dimensional coordinates of a single discrete point on the central line of the lightning arrester drainage wire, and recording as:
m denotes the number of points, xm、ym、zmX, y, z coordinates, P, respectively identifying the m-th pointr(m) represents the m-th point relative toPosition coordinates of camera coordinates;
step 5.2.6, use equationConverting the coordinates of the discrete point positions on the central line of the lightning arrester drainage wire in the camera coordinate system into the machine arm base coordinate system, and recording the result as Pb(m)；
5.2.7, fitting discrete center line upper points by utilizing a polynomial interpolation method to obtain a continuous arrester drainage wire center line track;
and 5.2.8, calculating to obtain three-dimensional model data of the lightning arrester drainage wire in the actual field by using the external diameter data of the cross section of the lightning arrester drainage wire obtained in the step 5.2.1 through an equal-section curve stretching algorithm, and completing the three-dimensional reconstruction of the actual field lightning arrester drainage wire.
6. The method for rapidly reconstructing the live replacement arrester operation site according to claim 3, wherein the step 5.3 of correcting the pose data of each cross arm and the arrester in the standard operation scene of live replacement arrester specifically comprises the following steps:
5.3.1, removing the lightning arrester and the cross arm from the follower component set, and adding the lightning arrester and the cross arm into the movable component set;
5.3.2, aiming at each lightning arrester and cross arm in the movable component set, sequentially correcting the actual pose of each lightning arrester and cross arm in a standard operation scene of replacing the lightning arrester with electricity according to the measurement result of the binocular camera, and adding a reliable component set;
marking the currently measured movable component as c _ obj and the global number as n; correcting the origin coordinate system w of the three-dimensional model of the movable component c _ obj according to the measurement result of the binocular cameraobj(n) pose transformation matrix relative to manipulator base coordinate systemPosition of component capable of obtaining number n relative to mechanical arm base
5.3.3, aiming at each tower and drop-out fuse in the follower component set, according to the definition in the step 1Matrix updating its new pose parameters for reliable component setFor reference, a new pose matrix relative to the robot arm base coordinate system
5.3.4, aiming at each tower and drop-out fuse in the follower component set, carrying out weighted averaging on the pose matrix obtained in the step 5.3.3Obtaining the optimized final pose matrix of the follower part k as
Aiming at the reliable component assembly, finding out all components which have relative installation position relation with components with global number k in the follower component assembly, and setting the labels of the components as f1～fHH in total; the final pose matrix of the k components in the follower components relative to the mechanical arm base coordinate system is as follows:
and finishing calculation to obtain a reconstructed scene matched with the real scene.
7. The method for rapidly reconstructing the live replacement arrester operation field according to claim 6, further comprising a step 6 of correcting the pose of the relevant components, removing the corresponding components from the reliable component set or the accompanying component set from the set and adding the components into the movable component set, setting the components as movable components, and repeating the steps 5.3.2 to 5.3.4 to complete re-correction.
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