CN108988197A - A kind of method for fast reconstruction at hot line robot system livewire work scene - Google Patents
A kind of method for fast reconstruction at hot line robot system livewire work scene Download PDFInfo
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- CN108988197A CN108988197A CN201810557290.8A CN201810557290A CN108988197A CN 108988197 A CN108988197 A CN 108988197A CN 201810557290 A CN201810557290 A CN 201810557290A CN 108988197 A CN108988197 A CN 108988197A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention proposes a kind of method for fast reconstruction at hot line robot system livewire work scene, comprising the following steps: establishes all kinds of standard operation on-site parameters databases with transmission line of electricity, constructs the index structure of system database；Building standard three-dimensional model database: using origin system as reference frame, establishing the standard three-dimensional model of each component, by the storage of modeling result data into standard three-dimensional model database；Build the standard operation scene of livewire work task；The vision measurement coordinate system for establishing each component in livewire work scene obtains homogeneous transform matrix of the origin system relative to vision measurement coordinate system；Using the binocular camera for being attached to mechanical arm tail end, unstructured error in livewire work scene is measured, the standard operation model of place established is improved in amendment, obtains the reconstruct scene coincideing with actual field；The livewire work scene of this method building matches with real scene, carries out related Job Operations convenient for robot.
Description
Technical field
The invention belongs to operation field reconfiguration technique fields, and in particular to a kind of hot line robot system livewire work
The method for fast reconstruction at scene.
Background technique
Live reconfiguration technique plays important in terms of realizing robot security's autonomous control and immersion remote operating control
Role.Currently, livewire work task in China's, mainly based on manual work, high, low efficiency that there are risks and training cost are high
The problems such as, by live reconfiguration technique, people can be evaded using remote tele-operation operation and robot autonomous operation mode very well
Deficiency existing for work livewire work, this is also one of the research hotspot of current robot livewire work field.It how to be long-range distant
It is to be badly in need of solution that operator and robot autonomous Operation control platform, which provide reliable livewire work scene three-dimensional environment data in real time,
One of difficult point certainly.
Currently, three-dimensional scene reconstructing method mainly utilizes binocular camera or laser sensor collection site point cloud depth degree to believe
Breath passes through the processing such as filtering, segmentation, classification and identification to point cloud information and then restores scene three-dimensional environment information.Electrification
Replacement arrester operation field component number is more, component profile is complicated and presence is mutually blocked, according to point cloud information
Be reconstructed, then sensor need to take multi-angle point cloud data around scene rotation, then to collected multi-angle point cloud into
Row splicing and effective information extract.The method is available with the substantially identical three-dimensional point cloud scene of 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,
Equipment cost is high.
Virtual reality technology with content construction virtual scene abundant and can realize human-computer interaction.For such as interior, workshop,
The scenes such as building are established after threedimensional model using scene walkthrough technology 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, high-efficient.But in band
In electric operation field, due to the problems such as there are the deviations of the bending of conducting wire, components installation site, the fixation of building it is virtual
Often there is certain gap in reality scene and actual field, for the connection spiral shell of dismounting arrester and cross-arm in livewire work
For the processes such as the hole axle assembly of bolt, drainage thread and wire clamp, this error likely results in operation failure.Due to lacking and in fact
The data interaction at border scene, virtual reality scenario cannot be used directly as reliable reconstruct scene.
The robot security's AUTONOMOUS TASK and remote tele-operation operation for realizing livewire work task, to the essence at reconstruct scene
Degree and real-time propose higher requirement.For the livewire work scene with unstructured nature, reconstruct field how is taken into account
The reliability and reconstructed velocity of scape are one and need the problem of being broken through.
Summary of the invention
The purpose of the present invention is to provide a kind of method for fast reconstruction at hot line robot system livewire work scene,
To meet current hot line robot system under with the remote operating operation and AUTONOMOUS TASK two ways in electrical domain to existing
Quick, the reliable demand of field restructuring procedure.
The technical solution for realizing the aim of the invention is as follows:
A kind of method for fast reconstruction at hot line robot system livewire work scene, comprising the following steps:
Step 1 establishes all kinds of standard operation on-site parameters databases with transmission line of electricity, constructs the index of system database
Structure:
According to the type of livewire work scene electric components, corresponding standard external dimensions data and corresponding standard
These three types of data are stored in standard operation on-site parameters database by relative mounting location data, specified only for each component
One global index's label；Specified origin system of the component i on the component when establishing standard three-dimensional model；It establishes
The homogeneous transform matrix of standard relative mounting location data between the origin system of two components；Construct system database
Index structure；
Step 2, building standard three-dimensional model database: using origin system as reference frame, each component is established
Standard three-dimensional model, by modeling result data storage into standard three-dimensional model database；
Step 3, the standard operation scene for building livewire work task: will reconstruct live component be divided into reliable component,
Movable component and retinue's component three classes establish reliable component set, movable component set respectively and accompany first device
Part set；
According to the difference of livewire work task, corresponding scene information is retrieved in standard operation on-site parameters database,
After determining the relative pose in scene between each component origin system, using overall situation number in standard three-dimensional model data
The standard three-dimensional model data of corresponding component is retrieved in library and is read in, and building for standard operation scene is completed；
Step 4, the vision measurement coordinate system for establishing each component in livewire work scene, obtain origin system relative to
Its homogeneous transform matrix: determining the component required in livewire work scene to pose data precision first, establishes attachment
In the measurement coordinate system of each component；Origin system is recorded with homogeneous transform matrix relative to vision measurement coordinate system
Relative pose relationship；
Step 5, using the binocular camera for being attached to mechanical arm tail end, measure unstructured mistake in livewire work scene
The standard operation model of place established is improved in difference, amendment, obtains the reconstruct scene coincideing with actual field: including based on binocular
Error is repaired between each device actual installation pose and standard installation pose in the reconstruct and scene of the electric wire threedimensional model of vision
Just.
Compared with prior art, the present invention its remarkable advantage:
(1) present invention refers to the construction reference of national grid and local power network, and standard operation on-site parameters number is established in proposition
According to library and standard three-dimensional model database, convenient for all kinds of valid data in livewire work scene are classified, stored and are read.
(2) livewire work site environment is divided into standard operation scene and unstructured error two parts by the present invention, weight
Structure process be divided into standard operation scene build and the unstructured mistake based on binocular vision corrects poor two stages, simplify
Computational efficiency greatly improved in restructuring procedure.
(3) present invention establishes the standard three-dimensional model database of each component in livewire work scene, for realizing to all kinds of
The storage and reading of component standard three-dimensional model.By pre-establishing the standard three-dimensional model of standard component, reality can be saved
When acquisition and treatment process of the restructuring procedure to environment Plays component three-dimensional modeling data, reduce to sensor according to
Rely, cost can be reduced, accelerates reconstructed velocity.
(4) standard operation scene parts are directed to, the present invention proposes each component mark in establishing criteria three-dimensional modeling data storehouse
Standard relative mounting location data in quasi-three-dimensional model data and standard operation on-site parameters database between each component, it is real
Now to the fast construction of standard operation scene；This step is participated in without sensor, and required data need to only arrive established database
Middle retrieval can be rapidly completed；Building for standard operation scene is carried out according to livewire work professional standard, it is ensured that standard
Working scene and actual field layout are consistent.
(5) it is directed to the restructuring procedure of electric wire, the present invention proposes the center using electric wire in binocular camera measurement operation field
The position coordinates of discrete point on line are obtained approximate center line tracking in a manner of polynomial interopolation, and then draw high calculation with cross-section
The threedimensional model of electric wire is calculated in method, realizes the quick Accurate Reconstruction to electric wire threedimensional model.
(6) it is directed to unstructured error component, the present invention proposes to specify using in binocular camera real-time measurement operation field
This actual measurement posture information is used to correct corresponding element device in standard operation scene by pose (position and posture) information of component
The position and posture of part ensure that component pose matches with true operation field in reconstruct scene.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the flow chart of the method for fast reconstruction of livewire work scene of the invention.
Fig. 2 is the image capturing system schematic diagram based on tool arm.
Fig. 3 is present system database structure block diagram.
Fig. 4 (a-b) is respectively the arrester standard three-dimensional illustraton of model of two kinds of models in the present embodiment.
Fig. 5 is fuse switch standard three-dimensional illustraton of model in the present embodiment.
Fig. 6 is cross-arm standard three-dimensional illustraton of model in the present embodiment.
Fig. 7 is shaft tower standard three-dimensional illustraton of model in the present embodiment.
Fig. 8 is stay-supported insulator standard three-dimensional illustraton of model in the present embodiment
Fig. 9 is database structure block diagram in the present embodiment.
Figure 10 is the present embodiment Plays operation field three-dimensional scene.
Figure 11 (a-b) is respectively discrete point acquisition and serialization schematic diagram on wire center line.
Figure 12 is the electric wire threedimensional model schematic diagram of reconstruct.
Figure 13 is operation field reconstruction result figure in the present embodiment.
Specific embodiment
In order to illustrate technical solution of the present invention and technical purpose, with reference to the accompanying drawing and specific embodiment is the present invention
It is further to introduce.
In conjunction with Fig. 2, the image capturing system of the invention based on tool arm, including sixdegree-of-freedom simulation and pass through branch
Frame is fixed on the binocular camera of mechanical arm tail end；Pass through bracket, it is ensured that position is fixed between binocular camera and camera is random
Tool arm end moves together；By controlling the movement of mechanical arm, the three-dimensional position and posture of binocular camera, realization pair are adjusted
The adjustment in the binocular camera visual field.
In conjunction with Fig. 1, the present invention proposes a kind of method for fast reconstruction at hot line robot system livewire work scene, packet
Include following steps:
Step 1 establishes all kinds of standard operation on-site parameters databases with transmission line of electricity, constructs the index of system database
Structure:
Livewire work task mainly includes several types at present: replacement arrester, connect lapping drainage wire, replacement isolation switch with
And replacement fuse switch, the scene of each job task is only a part for matching transmission line of electricity, from efficiency and use
Property set out, for operations specific task, it is only necessary to which intercepting corresponding local site is reconstructed, and can effectively reduce reconstruct scene
Scale improves the efficiency of restructuring procedure.
Step 1.1 establishes standard operation on-site parameters database:
Using national grid and each place power grid with transmission line construction construction criteria as foundation, investigation and analysis and record paper
The type of electric operation field electric components, corresponding standard external dimensions data and corresponding standard relative mounting location
These three types of data are stored in standard operation on-site parameters database by data, specify unique global index for each component
Label i (i is natural number), such as i.e. corresponding first component of input 1 in database, input i, that is, correspond to i-th yuan of device
Part.Specific component includes: cross-arm, shaft tower, arrester, fuse switch, bracing wire in standard operation on-site parameters database
Formula insulator, drainage thread etc..The related data of component includes: each component standard external dimensions data and standard are made
Standard relative mounting location data in industry scene between each component.
Step 1.2, specified origin system of the component i on the component when establishing standard three-dimensional model, are denoted as
wobj(i)
For specific component i, coordinate wobj(i) origin suggestion selection has assembly relation with other components
Three-dimensional feature at, convenient for the relative position between two components of description in standard relative mounting location data；Coordinate system wobj(i)
Direction established according to right-handed coordinate system principle, the specified of coordinate system direction should be convenient between description component i and other components
Relative attitude in standard relative mounting location data.
Step 1.3 establishes the origin system w that specified global number is respectively two components of i, jobj(i)、wobj(i) it
Between standard relative mounting location data homogeneous transform matrix, be denoted asWherein,For a 3x3 spin moment
Battle array describes component i origin system wobj(i) relative to component j origin system wobj(i) 3 d pose data；For
One 3x1 position coordinates vector describes three-dimensional location data of the component i relative to component j.
The index structure of step 1.4 building system database:
The index structure of the system database of foundation is as shown in Figure 3: tree-like tissue, top layer are pressed in the Classification Management of contextual data
" national grid " is entrance, and next layer is relatively independent each place power grid, then next layer is specific working scene；Specific number
It is stored among standard operation on-site parameters database and standard three-dimensional model database according to point, the two databases are deposited respectively
The standard three-dimensional model data of each component obtained in the Various types of data and step 2 of above-mentioned investigation process record is stored up, to be made for
The search call of industry scene layer.
Step 2, building standard three-dimensional model database:
According to the data in step 1 standard operation on-site parameters database, the standard of each component in transmission line of electricity is established
Threedimensional model is stored in standard three-dimensional model database.
Standard operation on-site parameters database is that each component specifies unique global index's label i, the mark of component i
The origin system of quasi-three-dimensional model is wobj(i), it is specified by step 1.2；Using this origin system as reference frame, build
The standard three-dimensional model for founding each component, by the storage of modeling result data into standard three-dimensional model database, according to step
Information in 1 Plays operation field parameter database needs to establish first device such as cross-arm, shaft tower, fuse switch, arrester
The standard three-dimensional model data of part.
Step 3, the standard operation scene for building livewire work task:
Using being built in the standard relative mounting location parameter and step 2 in step 1 Plays operation field parameter database
Vertical component standard three-dimensional model, builds the standard operation scene three-dimensional scenic of specific livewire work task, and completion reconstructed
Standard operation scene in journey is built.
3.1, component in the operation field of specific livewire work task is divided into reliable devices, active device and retinue
Device three classes:
Live component will be reconstructed and be divided into reliable component, movable component and retinue's component three classes, establishing respectively can
It is used to component each in scene being divided into above-mentioned three by component set, movable component set and retinue's component set
Class is convenient for the unstructured error of dynamic corrections to identify the reliability that device pose and actual field are coincide in reconstruct scene.
Wherein, it reconstructs reliable component in scene and refers to that the pose data of this component have passed through the survey of binocular camera
Amount result is adjusted, consistent with actual field data；Movable component is referring to this component or will carry out binocular
Camera measurement, to correct the position and attitude error with actual field；Retinue's component refers to that the pose data of this component will be without
Binocular vision photogrammetry amendment.
3.2, standard operation scene is established:
According to the difference of livewire work task, corresponding scene information is retrieved in standard operation on-site parameters database,
Including component type, quantity, global index number i and the standard relative mounting location data in sceneAccording toReally
After determining the relative pose in scene between each component origin system, using overall situation number i in standard three-dimensional model database
In retrieve the standard three-dimensional model data of corresponding component and read in, building for standard operation scene is completed, at this time in scene
All devices are in retinue's component set, and reliable component set and movable component set are sky.
According to the standard operation on-site parameters database Plays relative mounting location data of foundationWith standard three-dimensional mould
The standard three-dimensional model data that component is corresponded in type database reads in the standard three-dimensional model data and basis of component
It determines the relative pose relationship between component, building for the standard operation scene of specific livewire work task can be completed.
Step 4, the vision measurement coordinate system w for establishing each component in livewire work scener_obj(i), homogeneous transformation is obtained
Matrix
The component required in livewire work scene to pose data precision is determined first, and foundation is attached to each component
Measurement coordinate system wr_obj(i) (the global number that i is part).Due to wr_obj(i) and in step 2 threedimensional model established is former
Point coordinate system wobj(i) it is specified by artificial, the relative pose relationship between Two coordinate system fixes and it is known that with homogeneous transformation square
Battle arrayTo record origin system wobj(i) relative to vision measurement coordinate wr_obj(i) relative pose relationship.
Step 5, using the binocular camera for being attached to mechanical arm tail end, measure unstructured mistake in livewire work scene
Difference is corrected, improves the standard operation model of place established in step 3, and the reconstruct scene coincideing with actual field is obtained:
Since the standard operation scene established in step 3 is compared with actual scene, firstly, lacking electric wire element；Secondly,
Installation error caused by the factors such as artificial present in actual installation process, the standard operation scene and reality for causing reconstruct to obtain
There is larger gap at border scene, therefore needs that standard operation scene is improved and corrected, and detailed process includes being based on binocular vision
Electric wire threedimensional model reconstruct and scene in each device actual installation pose and standard installation pose between error amendment two
Step.It mainly comprises the 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 measurement coordinate system w of partr_obj(i) to the transformation equation under mechanical arm base coordinate systemWhereinCoordinate system w is measured for component ir_obj(i) module and carriage transformation matrix of relative mechanical arm pedestal,For component i survey
Measure coordinate system wr_obj(i) module and carriage transformation matrix of relative mechanical arm ending coordinates system.Specific step is as follows:
5.1.1, according to DH parametric method, 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 electric wire, using the center line tracking of electric wire in binocular camera measurement livewire work scene, is built
The threedimensional model of vertical electric wire relative mechanical arm base coordinate system.It mainly comprises the steps that
5.2.1, the standard operation on-site parameters database for transferring step 1 foundation determines electricity in current livewire work scene
The cross section geometric parameter data of line, required cross section geometric parameter are the outer diameter of electric wire.The wire cross-section of same specification
Geometric dimension is identical and is circle, as long as measuring the track of the center line of electric wire using this feature, passes through cross-section curve
Stretching algorithm can be obtained the threedimensional model of curved electric wire；
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, manipulator motion is controlled, the position and posture for adjusting camera make that the electric wire profile measured is needed to be maintained at double
In mesh camera fields of view；
5.2.4, the profile of image middle line is extracted using electric wire feature (color)；
5.2.5, three-dimensional location coordinates of the discrete point on the center line of electric wire with respect to camera coordinates are obtained；
Electric wire contour edge is segmented, the outer peripheral normal vector direction of every section of profile, normal vector and profile side are found out
On the center line at the midpoint of two intersection point lines of edge line, that is, online；It is found by binocular ranging algorithm corresponding in the mesh of left and right
The pixel put on center line obtains the three-dimensional coordinate of the single discrete point on the center line of electric wire, 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 camera coordinates system obtained in step 5.1 to mechanical arm base coordinate system is utilizedRobotic arm base will be transformed into discrete point position coordinates on the wire center line under camera coordinates system
Under coordinate system, it is as a result denoted as Pb(m), wherein m meaning is identical with step 5.2.5, and the center line discrete point of electric wire is sought illustrating
Figure such as Figure 11 (a)；
5.2.7, using point on center line discrete obtained in polynomial interopolation method fit procedure 5.2.6, connected
Continuous wire center line tracking.Center line continuous path schematic diagram such as Figure 11 (b) of electric wire；
5.2.8, using the diameter data obtained in step 5.2.1, determine the size of circular cross section, pass through cross-section song
Line stretches the three-dimensional modeling data that actual field middle line is calculated in algorithm, completes the reconstruct work to actual field electric wire, will
Reliable part set, reconstruct threedimensional model schematic diagram such as Figure 11 of electric wire is added in the reconstruction model of electric wire.
5.3, using binocular camera metrical information, active device installation pose and actual field in standard operation scene are corrected
Error, specifically includes the following steps:
5.3.1, it will need to carry out the modified components of pose to reject from retinue's component set, be added to movable component
In set:
Wherein accompany component overall situation number in component set is 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, the meaning of n, f are identical as overall situation number i meaning defined in step 1, are used herein as different alphabetical purposes and are to specify bright member
Set locating for device.
5.3.2, repaired for each of movable component set component successively according to binocular camera measurement result
Just its attained pose in standard operation scene, and reliable component set is added:
Marking the movable component currently measured is c_obj, and overall situation number is n.It is corrected according to binocular camera measurement result
Movable component c_obj threedimensional model origin 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
Coordinate system is measured to the transformation matrix between threedimensional model origin systemIt can derive:
The position of the component relative mechanical arm pedestal of number n is updated with above-mentioned calculated resultAccording 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 of retinue's component set component, according to defined in step 1Matrix updates
It is with the new pose parameter of reliable each component of component setFor reference when, relative mechanical arm base coordinate system it is new
Position auto―control
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 pose of relative mechanical arm base coordinate systemMatrix are as follows:
5.3.4, it is directed to each of retinue's component set component, position obtained in weighted averaging step 5.3.3
Appearance matrixThe final position auto―control of the retinue's part k optimized is
Specific calculating process are as follows: be directed to reliable component set, find out global in all and retinue's component set compile
Number have the component of relative mounting location relationship for the component of k, it is assumed that they marked as f1~fH, total H.Then, it accompanies
Final position auto―control of the k component relative to mechanical arm base coordinate system in component are as follows:
It completes to calculate, obtains the reconstruct scene coincideing with real scene.
Step 6, when need again using binocular camera measurement data amendment related device pose when, by reliable component collection
Corresponding component is rejected from the set of place and is added in movable component set in conjunction or in retinue's component set, is arranged
It is movable component, repeats step 5.3.2 to step 5.3.4, and completion is corrected again.
Embodiment:
Livewire work task specifically includes that replacement arrester, connects lapping drainage wire, replacement isolation switch and replace and fall at present
Fall formula fuse etc..The present embodiment has chosen certain power grid 10KV with arrester, fuse switch, shaft tower, drawing in transmission line of electricity
Wire type insulator and cross-arm are as modeling example, with certain power grid 10KV with transmission line of electricity replacement fuse switch operation
Scene reconstruct is described in detail as specific embodiment.
Step 1 establishes all kinds of standard operation on-site parameters databases with transmission line of electricity, constructs the index of system database
Structure.Livewire work task specifically includes that replacement fuse switch, replaces arrester, connects lapping drainage wire and replacement at present
The scene of isolation switch, each job task is only a part for matching transmission line of electricity, from efficiency and usability, needle
To operations specific task, it is only necessary to intercept corresponding local site and be reconstructed, the scale of reconstruct scene can be effectively reduced, improve
The efficiency of restructuring procedure.Specifically comprise the following steps:
1.1, standard operation on-site parameters database is established:
Such as reconstructed for the scene of the present embodiment power grid 10KV distribution line replacement fuse switch job task,
The component specifically included are as follows: 1, shaft tower, cross-arm 3, fuse switch 3, arrester 4, stay-supported insulator 3
A, anchor ear 1, drainage thread 6, power transmission line 3 specify their global number to be followed successively by 1-24, component with it is corresponding entirely
Office's number is as shown in table 1.It is carried out accordingly it should be noted that the type and number of component are different according to the actual situation herein
Adjustment, rather than it is only limitted to above-mentioned scene.
Component is numbered with the corresponding overall situation in 1 the present embodiment of table
1.2, the origin system for being fixed on component for specifying component i to need when establishing standard three-dimensional model, note
For wobj(i):
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, take shelter from the thunder
Device, fuse switch, cross-arm, shaft tower and the respective origin system w of stay-supported insulatorobj(i) position and direction
Selection such as Fig. 4 to Fig. 8.1 arrester origin system position of model, which is determined, in Fig. 4 (a) has matching relationship with hole on cross-arm
Hole in the center point of upper surface, z-axis is oriented parallel to axially bored line direction, and x, y-axis direction are respectively parallel to arrester pedestal
Both sides, 2 arrester origin system position of model determines that z-axis direction is parallel in arrester main body end face the center point in Fig. 4 (b)
In arrester axis direction, x, y-axis are selected according to right-handed coordinate system criterion, no particular requirement；Drop type fuses in Fig. 5
Device origin system position determines the center point in the hole on the lower end surface of fuse switch pedestal, the hole and hole phase on cross-arm
Cooperation, z-axis are oriented parallel to axially bored line direction, and x, y-axis direction are respectively parallel to the boss that drop type fusing is connect with cross-arm
Two vertical edges；Cross-arm origin system position determines the center point in the hole on cross-arm lower end surface in Fig. 6, and the hole and shaft tower match
It closes, 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；Shaft tower origin is sat in Fig. 7
Mark system position determines that the center point in shaft tower bottom surface, z-axis are oriented parallel to shaft tower axis direction, and shaft tower is a symmetry element device
Part, x, the guarantee of y-axis direction selection meet right-handed coordinate system principle；Stay-supported insulator origin system position is true in Fig. 8
It is scheduled on the center of end rectangular slot, x-axis direction is parallel to insulator axis direction, and y, z-axis direction are respectively parallel to the two of slot
Side.
1.3, the origin system w that global number is respectively two components of i, j is establishedobj(i)、wobj(j) standard between
Relative mounting location data homogeneous transform matrix, is denoted as
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, data
Unit be defaulted as millimeter (mm), kilogram (kg), newton (N), second (s).The standard relative mounting location number of cross-arm 2 and shaft tower
According to homogeneous transform matrix be denoted asIt can be obtained according to data in step 1.1 standard operation on-site parameters database: two components
Between default no relative rotation, 2 origin system w of cross-armobj(3) relative to shaft tower origin system wobj(1), x, y, z side
It is respectively 0mm, 0mm, 13500mm to offset distance, then:
Similarly, cross-arm 1 and the homogeneous transform matrix of cross-arm 2 areAccording to step 1.1 standard operation on-site parameters database
Middle data default no relative rotation, cross-arm origin system w between two componentsobj(2) relative to 2 origin system of cross-arm
wobj(3), x, y, z direction offset distance is respectively 0mm, 0mm, -1500mm, then:
Similarly, cross-arm 3 and the homogeneous transform matrix of cross-arm 2 are denoted asAccording to step 1.1 standard operation on-site parameters number
According to data in library, no relative rotation, 3 origin system w of cross-arm are defaulted between two componentsobj(4) it is sat relative to 2 origin of cross-arm
Mark system wobj(3), x, y, z direction offset distance is respectively 0mm, 0mm, 1450mm, 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 default no relative rotation, 1 origin system w of fuse switch between two componentsobj(5) phase
For 2 origin system w of cross-armobj(3), x, y, z direction offset distance respectively -160mm, 980mm, 65mm, then:
Similarly, arrester 1 and the homogeneous transform matrix of cross-arm 1 are denoted asAccording to step 1.1 standard operation on-site parameters
Data in database, obtain:
Similarly, stay-supported insulation 1 and the homogeneous transform matrix of cross-arm 3 are denoted asAccording to step 1.1 standard operation scene
Data in parameter database, obtain:
The homogeneous transform matrix of specified value relative mounting location establishes mode and above process phase between remaining each component
Together, it obtains correspondingIt repeats no more.
The index structure of 1.4 building system databases:
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, establish
System database index structure it is as shown in Figure 9.Tree-like tissue, top layer " national grid " are pressed in the Classification Management of contextual data
For entrance；Next layer is relatively independent each place power grid, is certain power grid 10kv route in the present embodiment；Next layer is tool again
Body operation field is replacement fuse switch in the present embodiment；Specific data are respectively stored in standard operation on-site parameters number
Among library and standard three-dimensional model database, the two databases store the Various types of data of above-mentioned investigation process record respectively
With the standard three-dimensional model data of each component obtained in step 2, for the search call of working scene layer.
Step 2, building standard three-dimensional model database:
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, use
The standard three-dimensional model that SolidWorks software establishes each component deposits model to guarantee the compatibility of model data
Storage is .stl file format.Department pattern result such as Fig. 4 to Fig. 7.Wherein, Fig. 4 (a) is 1 arrester standard three-dimensional model of model
The visualization result of data；Fig. 4 (b) is the visualization result of 2 arrester standard three-dimensional model data of model；Fig. 5 is drop type
The visualization result of Fuse standard three-dimensional modeling data；Fig. 6 is the visualization result of cross-arm standard three-dimensional model data；Fig. 7
For the visualization result of shaft tower standard three-dimensional model data；Fig. 8 is the visualization of stay-supported insulator standard three-dimensional model data
As a result.
Step 3, the standard operation scene for building replacement fuse switch job task:
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, according to
The requirement of fuse switch job task is replaced, the standard in the standard operation on-site parameters database obtained in step 1 is utilized
The component standard three-dimensional model established in relative mounting location parameter and step 2 is built standard corresponding with job task and is made
Industry scene three-dimensional scenic completes building for the standard operation scene in restructuring procedure.Specifically comprise the following steps:
3.1, live component will be reconstructed and be divided into reliable component, movable component and retinue's component three classes:
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, it will weigh
Structure scene component is divided into reliable component, movable component and retinue's component three classes, establishes reliable component set, work
Dynamic component set and retinue's component set.
3.2, standard operation scene is established:
The present embodiment power grid 10KV is constructed in the scene reconstruct with transmission line of electricity replacement fuse switch job task
When standard operation scene, component needed for extracting from the standard three-dimensional model database for the component established in step 2 is three-dimensional
Model data, specific component are exhausted including 1 shaft tower, 3 cross-arms, 3 fuse switches, 4 arresters, 3 stay-supporteds
Edge, 1 anchor ear, global index number are respectively that all of which is included into retinue's component set, at this time may be used 1~15 in table 1
It is sky by component set and movable component set.
According to the standard operation on-site parameters database Plays relative mounting location data of foundationWith standard three-dimensional mould
The standard three-dimensional model data of component is corresponded in type database, reads in the standard three-dimensional model of 1~No. 15 component in table 1
Data, and according toIt determines the relative pose relationship between component, replacement fuse switch standard operation scene can be completed
Build.Component 1 i.e. Tower Model is read in first as first component sets its wobjIt (1) is the original of entire scene
Point, x, y, z coordinate are all set to 0, thereby determine that pose of the component 1 in reconstruct scene；Then reading in component 3 is cross-arm
2, by what is established in step 1.3It can determine pose of the component 3 in reconstruct scene；Reading in component 2 is cross-arm 1, by step
It is established in rapid 1.3It can determine pose of the component 2 in reconstruct scene；Reading in component 4 is cross-arm 3, by step 1.3
Middle foundationIt can determine pose of the component 4 in reconstruct scene；Reading in component 12 is stay-supported insulator 1, by step
It is established in 1.3It can determine pose of the component 12 in reconstruct scene；Remaining component does same operation and can be completed
Standard operation scene is built.
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, standard
Working scene builds that the results are shown in Figure 10, wherein numbers in the number of component and table 1 corresponding.
Step 4, the vision measurement coordinate system w for establishing each component in replacement fuse switch working scener_obj(i),
Obtain homogeneous transform matrix
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, first
It determines the component required in scene to pose data precision, establishes the measurement coordinate system w for being attached to componentr_obj(i)(i
For the overall situation number of part), it include: 3 cross-arms, 3 drop types fusing to the component that precision requires in the present embodiment
Device.wr_obj(i) and in step 2 the threedimensional model origin system w establishedobj(i) it is specified by artificial, between Two coordinate system
Relative pose relationship 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) phase
For wr_obj(2) there is no attitudes vibration, the offset distance in x, y, z direction is respectively 120mm, -1040mm and -65mm；To member
Device 5 is fuse switch 1,Indicate wobj(5) relative to
wr_obj(5) first rotate -90 degree around y-axis, then rotates around x axis 180 degree, x, y, z direction offset distance respectively -180mm, -
115mm and 0mm.
Some components wr_obj(i) 1 arrester w of model in selection result such as Fig. 4-8, Fig. 4 (a)r_obj(i) direction with
Origin system wobj(i) identical, origin position is located at the center point of the arrester screw rod on step surface；Model 2 in Fig. 4 (b)
Arrester wr_obj(i) direction and origin system wobj(i) identical, origin position is located at arrester end face center；Fall in Fig. 5
Fall formula fuse wr_obj(i) z-axis direction is along fuse insulating mast axis direction, and x-axis direction is along fuse support direction, origin
Position is located at the center point of fuse switch insulated column end face；Cross-arm w in Fig. 6r_obj(i) direction and origin system wobj
(i) identical, origin position is located at the inflection point of cross-arm end face；Shaft tower w in Fig. 7r_obj(i) direction and origin system wobj
(i) identical, origin position is located at the center point of head of mast；Stay-supported insulator w in Fig. 8r_obj(i) direction and origin
It is wobj(i) identical, origin position is located at the center point of first collets end face.
Step 5 utilizes the binocular camera for being attached to mechanical arm tail end, measurement replacement fuse switch job task
The standard operation for the replacement fuse switch job task established in step 3 is corrected, improved to unstructured error in scene
Model of place obtains the reconstruct scene coincideing with actual field:
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, including
Following steps:
5.1, transformation matrix of the acquisition binocular camera coordinate system to mechanical arm base coordinate systemIt obtains under camera coordinates system
The measurement coordinate system w of partr_obj(i) to the transformation equation under mechanical arm base coordinate systemWherein
Coordinate system w is measured for component ir_obj(i) module and carriage transformation matrix of relative mechanical arm pedestal,It measures and sits for component i
Mark system wr_obj(i) module and carriage transformation matrix of relative mechanical arm ending coordinates system.Specific step is as follows:
5.1.1, according to DH parametric method, 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
5.2,6 drainage threads and 3 in the present embodiment replacement fuse switch operation field are measured using binocular camera
The center line tracking of power transmission line establishes the threedimensional model of electric wire relative mechanical arm base coordinate system.It mainly comprises the steps that
5.2.1, the standard operation on-site parameters database for transferring step 1 foundation, determines the cross of current work scene middle line
Cross section geometric supplemental characteristic, in the present embodiment, the diameter of 6 drainage threads is 16mm, and the diameter of 3 power transmission lines is 21mm；
5.2.2, binocular camera is demarcated, design Stereo Matching Algorithm realizes binocular ranging；
5.2.3, manipulator motion is controlled, the position and posture for adjusting camera make that the electric wire profile measured is needed to be maintained at double
In mesh camera fields of view；
5.2.4, the profile of image middle line is extracted using electric wire feature (color)；
5.2.5, three-dimensional location coordinates of the discrete point on the center line of electric wire with respect to camera coordinates are obtained；
It 5.2.6, will using the conversion accounting equation of camera coordinates system obtained in step 5.1 to mechanical arm base coordinate system
It is transformed under robotic arm basis coordinates system with discrete point position coordinates on the wire center line under camera coordinates system, calculated result is shown
It is intended to such as Figure 11 (a)；
5.2.7, using point on center line discrete obtained in polynomial interopolation method fit procedure 5.2.6, connected
Continuous wire center line tracking, schematic diagram of calculation result such as Figure 11 (b)；
5.2.8, using the diameter data obtained in step 5.2.1, determine the size of circular cross section, pass through cross-section song
Line stretches the three-dimensional modeling data that actual field middle line is calculated in algorithm, completes the reconstruct work to actual field electric wire, will
Reliable part set, reconstruction result schematic diagram such as Figure 12 is added in the reconstruction model of electric wire.
5.3, using binocular camera metrical information, active device installation pose and actual field in standard operation scene are corrected
Error, specifically includes the following steps:
5.3.1, it will need to carry out the modified component of pose to reject from retinue's component set, be added to movable component
In set:
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, by 3
A fuse switch, 3 cross-arms are rejected from retinue's component set, are added in movable component set.At this point, with
Component is 1 shaft tower, 4 arresters, 3 stay-supported insulators and 1 anchor ear, they complete from component set
Office's number is indicated with letter k；Component overall situation number is indicated with letter n in movable component set；In reliable component set
Component is 6 drainage threads and 3 power transmission lines, their global number is indicated with letter f.It is worth noting that the meaning of k, n, f
Justice is identical as overall situation number i meaning defined in step 1, is used herein as different alphabetical purposes and is to indicate locating for component
Set.
5.3.2 for each of movable component set fuse switch and cross-arm, successively according to binocular camera
Measurement result corrects its attained pose in charged for replacement fuse switch standard operation scene, and reliable first device is added
Part set:
Assuming that the activity component is fuse switch 1 at this time, it is marked as c_obj, and overall situation number is n=5, is passed through
Binocular camera measurement result corrects 1 threedimensional model origin system w of c_obj fuse switchobj(5) relative to mechanical arm
The module and carriage transformation matrix of base coordinate system
According to binocular camera measurement result, c_obj fuse switch 1 can be obtained and measure coordinate system wr_obj(5) it is sat to camera
Mark the transformation matrix of systemThe camera coordinates system obtained according to step 5.1 is to mechanical arm pedestal transformation matrix of coordinatesAnd step
The rapid 4 parts measurement coordinate systems established are to the transformation matrix between threedimensional model origin systemIt can derive:
The position of 1 relative mechanical arm pedestal of c_obj fuse switch is updated with above-mentioned calculated resultAccording toSpecified position orientation relation, adjustment reconstruct the pose of c_obj fuse switch 1 in scene；By c_obj after the completion of adjustment
Fuse switch 1 is rejected from movable component set, is added in reliable component set.
5.3.3 for each of retinue's component set shaft tower, arrester and stay-supported insulator etc., according to step
Defined in rapid 1Matrix updates the new pose parameter of component in retinue's component setWhen to refer to, opposite machine
The new position auto―control of tool arm base coordinate system:
In the present embodiment, for arrester 1 in retinue's component set, then k=8；Then fuse switch 1 is with cross-arm
1 new pose(note: the global label of cross-arm 1 is 2, it is assumed that cross-arm 1 has been completed to repair based on the pose that binocular camera measures
New pose when just) to refer to are as follows:
5.3.4, for each of retinue's component set shaft tower, arrester and stay-supported insulator etc., weighting
Position auto―control obtained in averaging step 5.3.3The final position auto―control of the retinue's part k optimized is
In scene reconstruct of the present embodiment power grid 10KV with transmission line of electricity replacement fuse switch job task, such as needle
To arrester 1 in retinue's component set, then k=8.There is relative mounting location relationship with arrester 1 in reliable component set
Component be 1 (f of cross-arm1=2), 2 (f of cross-arm2=3), 3 (f of cross-arm3=4), totally 3 components, then accompany in component and keep away
Final position auto―control of the thunder device 1 (k=8) relative to mechanical arm base coordinate system are as follows:
It concentrates other components to carry out same operation retinue's component, repeats no more.It completes to calculate, obtain and really existing
The identical reconstruct scene in field, as shown in figure 13.
Step 6, when need again using binocular camera measurement data amendment related device pose when, by reliable component collection
Corresponding component is rejected from the set of place and is added in movable component set in conjunction or in retinue's component set, is arranged
It is movable component, repeats step 5.3.2 to step 5.3.4, and completion is corrected again.
Claims (7)
1. a kind of method for fast reconstruction at hot line robot system livewire work scene, which is characterized in that including following step
It is rapid:
Step 1 establishes all kinds of standard operation on-site parameters databases with transmission line of electricity, constructs the index knot of system database
Structure:
It is opposite according to the type of livewire work scene electric components, corresponding standard external dimensions data and corresponding standard
These three types of data are stored in standard operation on-site parameters database by installation position data, specified unique for each component
Global index's label；Specified origin system of the component i on the component when establishing standard three-dimensional model；Establish two-spot device
The homogeneous transform matrix of standard relative mounting location data between the origin system of part；Construct the index knot of system database
Structure；
Step 2, building standard three-dimensional model database: it is reference with origin system, establishes the standard three-dimensional of each component
Model, by the storage of modeling result data into standard three-dimensional model database；
Step 3, the standard operation scene for building livewire work task: live component will be reconstructed and be divided into reliable component, activity
Component and retinue's component three classes establish reliable component set, movable component set and retinue's component collection respectively
It closes；
According to the difference of livewire work task, corresponding scene information is retrieved in standard operation on-site parameters database, is obtained
After standard relative pose in scene between each component origin system, using overall situation number in standard three-dimensional model database
In retrieve the standard three-dimensional model data of corresponding component and read in, complete building for standard operation scene；
Step 4, the vision measurement coordinate system for establishing each component in livewire work scene, obtain origin system relative to it
Homogeneous transform matrix: determining the component required in livewire work scene to pose data precision first, and foundation is attached to each
The measurement coordinate system of component；Position orientation relation of the origin system relative to measurement coordinate system is recorded with homogeneous transform matrix；
Step 5, using the binocular camera for being attached to mechanical arm tail end, measure unstructured error in livewire work scene,
The standard operation model of place established is improved in amendment, obtains the reconstruct scene coincideing with actual field: including based on binocular vision
Electric wire threedimensional model reconstruct and scene in each device actual installation pose and standard installation pose between error amendment.
2. a kind of method for fast reconstruction at hot line robot system livewire work scene according to claim 1,
It being characterized in that, step 1 constructs the index structure of system database, specifically includes the following steps:
Step 1.1 establishes standard operation on-site parameters database, specifies unique global index's label i for each component；
Step 1.2, specified origin system of the component i on the component when establishing standard three-dimensional model, are denoted as wobj(i)；
Step 1.3 establishes the origin system w that specified global number is respectively two components of i, jobj(i)、wobj(j) it is marked between
The homogeneous transform matrix of quasi- relative mounting location data, is denoted as
Wherein,For a 3x3 spin matrix, component i origin system w is describedobj(i) relative to component j origin
It is wobj(j) 3 d pose data；For a 3x1 position coordinates vector, three-dimensional position of the component i relative to component j is described
Set data；
Step 1.4 presses the index structure of tree-like tissue construction system database.
3. a kind of method for fast reconstruction at hot line robot system livewire work scene according to claim 2,
It is characterized in that, working scene is reconstructed in step 5, specifically includes the following steps:
5.1, transformation matrix of the acquisition binocular camera coordinate system to mechanical arm base coordinate systemObtain part under camera coordinates system
Measurement coordinate system wr_obj(i) to the transformation equation under mechanical arm base coordinate system
WhereinCoordinate system w is measured for component ir_obj(i) module and carriage transformation matrix of relative mechanical arm pedestal,For first device
Part i measures coordinate 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, utilizes the center line rail of electric wire in binocular camera measurement livewire work scene
Mark establishes the threedimensional model of electric wire relative mechanical arm base coordinate system；
5.3, using binocular camera metrical information, the mistake of active device installation pose and actual field in standard operation scene is corrected
Difference obtains the reconstruct scene coincideing with real scene.
4. a kind of method for fast reconstruction at hot line robot system livewire work scene according to claim 3,
It being characterized in that, step 5.1 obtains transformation square, specifically includes the following steps:
5.1.1, according to DH parametric method, the homogeneous transform matrix for establishing mechanical arm tail end coordinate system to mechanical base coordinate system is denoted as
5.1.2, it is denoted as by the homogeneous transform matrix that hand and eye calibrating algorithm obtains camera coordinates system to mechanical arm tail end coordinate system
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) to the change under mechanical arm base coordinate system
Changing equation is
5. a kind of method for fast reconstruction at hot line robot system livewire work scene according to claim 3,
It being characterized in that, step 5.2 establishes the threedimensional model of electric wire relative mechanical arm base coordinate system, specifically includes the following steps:
5.2.1, standard operation on-site parameters database is transferred, determines the cross section geometric parameter of current livewire work scene middle line
Data pass through the threedimensional model for the electric wire that cross-section curvilinear stretch algorithm is bent；
5.2.2, binocular camera is demarcated, binocular ranging is realized by Stereo Matching Algorithm；
5.2.3, manipulator motion is controlled, the position and posture for adjusting camera make that the electric wire profile measured is needed to be maintained at binocular phase
In the machine visual field；
5.2.4, the profile of electric wire feature-extraction images middle line is utilized；
5.2.5, obtain three-dimensional location coordinates of the discrete point on the center line of electric wire with respect to camera coordinates: being calculated by binocular ranging
Method finds the pixel put on corresponding center line in the mesh of left and right, obtains the three-dimensional of the single discrete point on the center line of electric wire and sits
Mark, 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 relative to camera
The position coordinates of coordinate；
Step 5.2.6, equation is utilizedIt will be with discrete point on the wire center line under camera coordinates system
It sets coordinate to be transformed under robotic arm basis coordinates system, is as a result denoted as Pb(m)；
5.2.7, the point being fitted using polynomial interopolation method on discrete center line obtains continuous wire center line tracking；
5.2.8, using the diameter data obtained in step 5.2.1, determine the size of circular cross section, drawn by cross-section curve
The three-dimensional modeling data that actual field middle line is calculated in algorithm is stretched, the reconstruct to actual field electric wire is completed.
6. a kind of method for fast reconstruction at hot line robot system livewire work scene according to claim 3,
Be characterized in that, step 5.3 correct standard operation scene in active device installation pose and actual field error, specifically include with
Lower step:
5.3.1, it will need to carry out the modified components of pose to reject from retinue's component set, be added to movable component set
In；
5.3.2, it is corrected successively according to binocular camera measurement result for each of movable component set component
Attained pose in the standard operation scene of livewire work task, and reliable component set is added:
The movable component currently measured is c_obj, and overall situation number is n；According to binocular camera measurement result, amendment activity member device
Part c_obj threedimensional model origin system wobj(n) module and carriage transformation matrix relative to mechanical arm base coordinate systemIt can obtain
The position of the component relative mechanical arm pedestal of number n
5.3.3, for each of retinue's component set component, according to defined in step 1Matrix, update its with
The new pose parameter of each component of reliable component setWhen to refer to, the new position of relative mechanical arm base coordinate system
Appearance matrix
5.3.4, it is directed to each of retinue's component set component, pose square obtained in weighted averaging step 5.3.3
Battle arrayThe final position auto―control of the retinue's part k optimized is
For reliable component set, finding out all components for being k with global number in retinue's component set has opposite peace
The component of holding position relationship, it is assumed that they marked as f1~fH, total H；K component is relative to machinery in retinue's component
The final position auto―control of arm base coordinate system are as follows:
It completes to calculate, obtains the reconstruct scene coincideing with real scene.
7. a kind of method for fast reconstruction at hot line robot system livewire work scene according to claim 6,
It is characterized in that, further includes step 6 amendment related device pose: will be corresponding in reliable component set or in retinue's component set
Component is rejected from the set of place and is added in movable component set, and it is movable component that it, which is arranged, repeats step 5.3.2
To step 5.3.4, completion is corrected again.
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