CN108988197B - Rapid reconstruction method for live working site of live working robot system - Google Patents
Rapid reconstruction method for live working site of live working robot system Download PDFInfo
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Abstract
The invention provides a quick reconstruction method for a live working site of a live working robot system, which comprises the following steps of: establishing a standard operation field parameter database of various power distribution and transmission lines, and constructing an index structure of a system database; constructing a standard three-dimensional model database: establishing a standard three-dimensional model of each component by taking the origin coordinate system as a reference coordinate system, and storing modeling result data into a standard three-dimensional model database; building a standard operation scene of a live working task; establishing a visual measurement coordinate system of each component in a live working scene to obtain a homogeneous transformation matrix of an origin coordinate system relative to the visual measurement coordinate system; measuring unstructured errors in a live-wire work site by using a binocular camera attached to the tail end of the mechanical arm, correcting and perfecting the established standard work scene model, and obtaining a reconstructed scene matched with the actual site; the live working site 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 technical field of reconstruction of an operation site, and particularly relates to a quick reconstruction method of a live working site of a live working robot system.
Background
The field reconstruction technology plays an important role in realizing safe autonomous control and immersive teleoperation control of the robot. At present, the hot-line work task in China mainly comprises manual work, the problems of high risk, low efficiency, high training cost and the like exist, the defects of the manual hot-line work can be well overcome by means of remote teleoperation work and robot autonomous work through a field reconstruction technology, and the method is one of the research hotspots in the field of the current hot-line work of the robot. How to provide real-time and reliable live working site three-dimensional environment data for a remote teleoperator and a robot autonomous working 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 the live working site, due to the problems of bending of the conducting wire, deviation of installation positions of parts and the like, a certain difference often exists between a constructed fixed virtual reality scene and the actual site, and for the processes of dismantling the connecting bolt of the lightning arrester and the cross arm, assembling the drainage wire and the hole shaft of the wire clamp and the like in the live working, the operation failure is likely to be caused by the error. 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 live-wire work task has high requirements on the precision and the real-time performance of a reconstruction field for realizing the safe autonomous operation and the remote teleoperation operation of the robot for the live-wire work task. For a live working site with an unstructured characteristic, how to consider the reliability and the reconstruction speed of a reconstruction scene is a problem to be broken through.
Disclosure of Invention
The invention aims to provide a method for quickly reconstructing a live working site of a live working robot system, which meets the requirements of the existing live working robot system on rapidness and reliability of the site reconstruction process in two modes of teleoperation operation and autonomous operation in the live field.
The technical solution for realizing the purpose of the invention is as follows:
a quick reconstruction method for a live working site of a live working robot system comprises the following steps:
step 1, establishing a standard operation field parameter database of various power distribution and transmission lines, and constructing an index structure of a system database:
storing the three types of data into a standard operation field parameter database according to the types of the electrical components on the live operation field, the corresponding standard outline dimension data and the corresponding standard relative installation position data, and assigning a unique global index label for each component; an original point coordinate system of the component i is specified when a standard three-dimensional model is established; establishing a homogeneous transformation matrix of standard relative installation position data between origin point coordinate systems of the two components; constructing an index structure of a system database;
according to different live-line work tasks, retrieving corresponding scene information from a standard work site parameter database, determining the relative pose between origin point coordinate systems of all components in a scene, retrieving and reading in standard three-dimensional model data of the corresponding components from a standard three-dimensional model database by using global numbers, and completing the construction of a standard work scene;
Compared with the prior art, the invention has the following remarkable advantages:
(1) the invention provides a standard operation site parameter database and a standard three-dimensional model database by referring to the construction standards of national power grids and local power grids, and is convenient for classifying, storing and reading various effective data of a live operation site.
(2) According to the invention, the live-line work field environment is divided into a standard work scene and an unstructured error, and the reconstruction process is divided into two stages of construction of the standard work scene and an unstructured error correction based on binocular vision, so that the reconstruction process is simplified, and the calculation efficiency is greatly improved.
(3) The invention establishes a standard three-dimensional model database of each component in a live working field, and is used for realizing the storage and reading of the standard three-dimensional models of various components. By pre-establishing the standard three-dimensional model of the standard component, the process of acquiring and processing the three-dimensional model data of the standard component in the environment in the real-time reconstruction process can be omitted, the dependence on the sensor is reduced, the cost can be reduced, and the reconstruction speed is accelerated.
(4) Aiming at the standard operation scene part, the invention provides the method for realizing the rapid construction of the standard operation scene according to the standard three-dimensional model data of each component in the standard three-dimensional model database and the standard relative installation position data among the components in the standard operation field 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 standard operation scene can be ensured to be consistent with the actual field layout.
(5) Aiming at the reconstruction process of the electric wire, the invention provides a method for measuring the position coordinates of discrete points on the central line of the electric wire in an operation field by using a binocular camera, obtaining an approximate central line track in a polynomial interpolation mode, and further calculating by using an equal section pull-up algorithm to obtain a three-dimensional model of the electric wire, thereby realizing the rapid and accurate reconstruction of the three-dimensional model of the electric wire.
(6) Aiming at the unstructured error part, the invention provides a method for measuring pose (position and attitude) information of a designated component in an operation field in real time by using a binocular camera, and the measured pose information is used for correcting the pose state of a corresponding component in a standard operation scene, so that the pose of the component in a reconstructed scene is 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 method for rapidly reconstructing a live-wire work scene according to the present invention.
FIG. 2 is a schematic view of a robotic arm based image acquisition system.
FIG. 3 is a block diagram of a database structure of the system of the present invention.
Fig. 4(a-b) are respectively two standard three-dimensional model diagrams of lightning arresters of the embodiment.
Fig. 5 is a standard three-dimensional model diagram of the drop-out fuse in the present embodiment.
FIG. 6 is a diagram of a cross arm standard three-dimensional model in the present embodiment.
Fig. 7 is a standard three-dimensional model diagram of the tower in this embodiment.
FIG. 8 is a three-dimensional model diagram of the standard of the stay insulator in this embodiment
Fig. 9 is a block diagram of a database structure in the present embodiment.
Fig. 10 is a three-dimensional scene diagram of the standard job site in the present embodiment.
Fig. 11(a-b) are schematic diagrams of discrete point acquisition and serialization, respectively, on a wire centerline.
Fig. 12 is a schematic view of a reconstructed three-dimensional model of a wire.
Fig. 13 is a diagram showing a reconstruction result of the work site in the present embodiment.
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 image acquisition system based on the mechanical arm of the present invention includes a six-degree-of-freedom mechanical arm 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 present invention provides a method for rapidly reconstructing a live working site of a live working robot system, which includes the following steps:
step 1, establishing a standard operation field parameter database of various power distribution and transmission lines, and constructing an index structure of a system database:
currently, hot-line work tasks mainly include several types: the lightning arrester replacement, the drainage wire connection, the isolation switch replacement and the drop-out fuse replacement are carried out, the site of each operation task is only one part of the power distribution and transmission line, and from the aspects of efficiency and usability, the corresponding local site is only required to be intercepted and reconstructed for specific operation tasks, so that the scale of a reconstruction scene can be effectively reduced, and the efficiency of the reconstruction process is improved.
Step 1.1, establishing a standard operation field parameter database:
the method comprises the steps of taking construction standards of power distribution and transmission lines of national power grids and power grids of all places as a basis, researching, analyzing and recording the types of electric components on a live working site, corresponding standard outline dimension data and corresponding standard relative installation position data, storing the three types of data into a standard working site parameter database, and assigning a unique global index mark i (i is a natural number) to each component, wherein for example, input 1 in the database corresponds to a first component, and input i corresponds to an ith component. The specific components in the standard operation field parameter database comprise: cross arm, shaft tower, arrester, drop out fuse, stay wire insulator, drainage wire etc.. The relevant data of the components comprise: standard outline dimension data of each component and standard relative mounting position data among the components in a standard operation scene.
Step 1.2, appointing an original point coordinate system on the component when the component i is in the establishment of the standard three-dimensional model, and marking the original point coordinate system as wobj(i)：
For a particular component i, its coordinates wobj(i) The original point of the method is suggested to be selected at a three-dimensional characteristic position which has an assembly relation with other components, so that the relative position in the standard relative installation position data between the two components can be conveniently described; coordinate system wobj(i) The direction of (a) is established according to the right-hand coordinate system principle, and the specification of the direction of the coordinate system is convenient for describing the relative posture in the standard relative installation position data between the component i and other components.
Step 1.3, establishing an origin point coordinate system w of two elements with designated global numbers i and j respectivelyobj(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;
is a 3x1 position coordinate vectorThree-dimensional positional data of the component i with respect to the component j is described.
Step 1.4, an index structure of the system database is constructed:
the index structure of the established system database is shown in fig. 3: the classified management of the scene data is organized according to a tree, the top layer of national power grid is an entrance, the next layer of the national power grid is relatively independent local power grids, and the next layer of the national power grid is a specific operation scene; and specific data are respectively stored in a standard operation field parameter database and a standard three-dimensional model database, and the two databases respectively store various data recorded in the investigation process and the standard three-dimensional model data of each component obtained in the step 2 so as to be used for retrieval and calling of an operation scene layer.
and (2) establishing a standard three-dimensional model of each component in the power transmission line according to the data in the standard operation field parameter database in the step (1), and storing the standard three-dimensional model in the standard three-dimensional model database.
The standard operation field parameter database assigns a unique global index mark i for each component, and the origin coordinate system of the standard three-dimensional model of the component i is wobj(i) Specified by step 1.2; and (3) establishing a standard three-dimensional model of each component by taking the original point coordinate system as a reference coordinate system, storing modeling result data into a standard three-dimensional model database, and establishing standard three-dimensional model data of components such as cross arms, towers, drop-out fuses, lightning arresters and the like according to the information in the standard operation field parameter database in the step 1.
and (3) building a standard operation field three-dimensional scene of a specific live working task by using the standard relative installation position parameters in the 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 in the reconstruction process.
3.1, dividing components in the operation site of the specific live working task into three types of reliable components, movable components and follower components:
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 in the reconstructed scene 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, establishing a standard operation scene:
according to different live-line work tasks, retrieving corresponding scene information including the types and the quantity of components in the scene, a global index number i and standard relative installation position data from a standard work field parameter databaseAccording toAfter the relative position and posture between the origin point coordinate systems of all the components in the scene are determined, the standard three-dimensional model data of the corresponding components are retrieved in the standard three-dimensional model database by using the global number i and read in, the construction of a standard operation scene is completed, all the components in the scene are in a random component set, and the reliable component set and the movable component set are both empty.
According to the standard relative installation position data in the established standard operation field parameter database
And standard three-dimensional model data of corresponding components in the standard three-dimensional model database, reading in the standard three-dimensional model data of the components and according to the standard three-dimensional model data
And (4) determining the relative pose relationship among the components, and then completing the construction of the standard operation scene of the specific live-wire operation task.
Firstly, determining components with requirements on the accuracy of attitude data in a live working scene, and establishing a measurement coordinate system w attached to each componentr_obj(i) (i is the global number of the part). Due to wr_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 used
To record the origin coordinate system wobj(i) Relative to the vision measurement coordinate wr_obj(i) The relative pose relationship of (1).
compared with the actual scene, the standard operation scene established in the step 3 lacks wire elements; secondly, due to installation errors caused by human factors and the like in the actual installation process, the reconstructed standard operation scene has a larger difference from the actual field, so the standard operation scene needs to be perfected and corrected. 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 system
Obtaining a measurement coordinate system w of the part under the camera coordinate systemr_obj(i) Transformation equation to mechanical arm base coordinate systemWherein
Measuring 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 electric wire, measuring the center line track of the electric wire in the live working field by using a binocular camera, and establishing a three-dimensional model of the electric wire relative to a mechanical arm base coordinate system. The method mainly comprises the following steps:
and 5.2.1, calling the standard operation field parameter database established in the step 1, and determining the cross section geometric parameter data of the electric wire in the current live working field, wherein the required cross section geometric parameter is the outer diameter of the electric wire. The cross sections of the electric wires with the same specification are the same in geometric dimension and are circular, and by utilizing the characteristic, only the track of the central line of the electric wire is measured, and a three-dimensional model of the bent electric wire can be obtained through an equal-section curve stretching algorithm;
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 wire profile needing to be measured in the visual field of the binocular camera;
5.2.4, extracting the contour of the line in the image by using line features (colors);
5.2.5, acquiring three-dimensional position coordinates of discrete points on the central line of the wire relative to the camera coordinates;
segmenting the edge of the electric wire profile, and finding out the direction of a normal vector of the outer edge of each segment of the profile, wherein the middle point of a connecting line of two intersection points of the normal vector and the edge line of the profile is the central line of the line; finding out pixel points of points on the center line corresponding to the left eye and the right eye through a binocular matching algorithm, obtaining three-dimensional coordinates of a single discrete point on the center line of the electric 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) position coordinates representing the m-th point with respect to the camera coordinates;
5.2.6, using the camera coordinate system obtained in the step 5.1 to get the cameraConversion calculation equation of mechanical arm base coordinate system
Converting the coordinates of the discrete point positions on the center line of the electric wire in the camera coordinate system into the mechanical arm base coordinate system, and recording the result as Pb(m), wherein m is the same as in step 5.2.5, the schematic diagram of the discrete point of the center line of the wire is shown in fig. 11 (a);
5.2.7, fitting the discrete points on the central line obtained in the step 5.2.6 by utilizing a polynomial interpolation method to obtain a continuous wire central line track. The schematic diagram of the continuous track of the central line of the wire is shown in FIG. 11 (b);
5.2.8, determining the size of the circular cross section by using the diameter data acquired in the step 5.2.1, calculating to obtain the three-dimensional model data of the central line in the actual field by using an equal-section curve stretching algorithm, completing the reconstruction work of the electric wire in the actual field, adding the reconstructed model of the electric wire into a reliable part set, wherein the reconstructed three-dimensional model schematic diagram of the electric wire is shown in fig. 11.
5.3, correcting errors between the installation pose of the movable device in the standard operation scene and the actual scene by using binocular camera measurement information, and specifically comprising the following steps:
5.3.1, removing parts needing pose correction from the follower component set, and adding the parts into the movable component set:
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 component in the movable component set, sequentially correcting the actual pose of each component in the standard operation scene according to the measurement result of the binocular camera, and adding a reliable component set:
and marking the currently measured active component as c _ obj and the global number as n. According to the measurement result of the binocular cameraCorrecting origin coordinate system w of three-dimensional model of movable component c _ objobj(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 system
Transforming 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 5.1
And 4, establishing a transformation matrix between the part measurement coordinate system and the three-dimensional model origin coordinate system
It can be deduced that:
updating the position of the component with the number n relative to the mechanical arm base by using the calculation result
According to
The 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, for each component in the follower component set, according to the definition in step 1
Matrix updated with reliable component setsNew pose parameters of components
For reference, a new pose matrix relative to the robot arm base coordinate system
Marking the number of the current follow-up component as k, and taking the new pose parameter of the component f in the reliable component set as the reference, and then, relative to the mechanical arm base coordinate system
The matrix is:
5.3.4, for each component in the follower component set, carrying out weighted averaging on the pose matrix obtained in the step 5.3.3
Obtaining 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 finishing calculation to obtain a reconstructed scene matched with the real scene.
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.
Example (b):
at present, hot-line work tasks mainly comprise: replacing the lightning arrester, connecting and lapping a drainage wire, replacing an isolation switch, replacing a drop-out fuse and the like. In this embodiment, a lightning arrester, a drop-out fuse, a pole tower, a stay insulator and a cross arm in a certain power grid 10KV distribution transmission line are taken as a modeling example, and field reconstruction of replacement of the drop-out fuse in the certain power grid 10KV distribution transmission line is taken as a specific embodiment for detailed description.
Step 1, establishing a standard operation field parameter database of various power distribution and transmission lines, and constructing an index structure of a system database. At present, hot-line work tasks mainly comprise: the method comprises the following steps of replacing the drop-out fuse, replacing the lightning arrester, connecting and overlapping the drainage wire and replacing the isolation switch, wherein the site of each operation task is only one part of the power distribution and transmission line, and from the aspects of efficiency and usability, the corresponding local site is only required to be intercepted and reconstructed aiming at a specific operation task, so that the scale of a reconstruction scene can be effectively reduced, and the efficiency of the reconstruction process is improved. The method specifically comprises the following steps:
1.1, establishing a standard operation field parameter database:
for example, for field reconfiguration of an operation task of replacing a drop-out fuse on a certain power grid 10KV distribution line in this embodiment, the specifically included components are: 1 pole tower, 3 cross arms, 3 drop-out fuses, 4 lightning arresters, 3 stay wire insulators, 1 hoop, 6 drainage wires and 3 power transmission lines, wherein the overall numbers of the poles, the cross arms and the drop-out fuses are designated to be 1-24 in sequence, and the components and the corresponding overall numbers are shown in table 1. 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, designating an origin coordinate system fixedly connected with the component and needed by the component i when establishing the standard three-dimensional model, and marking as wobj(i)：
In the field reconstruction of the task of replacing the drop-out fuse in the 10KV distribution transmission line of a certain power grid in this embodiment, the origin coordinate systems w of the arrester, the drop-out fuse, the cross arm, the tower and the stay insulator are respectivelyobj(i) As shown in fig. 4 to 8. In fig. 4(a), the position of the model 1 lightning arrester origin coordinate system is determined at the center of the upper end face of a hole which is matched with the upper hole of the cross arm, the z-axis direction is parallel to the axial direction of the hole, the x-axis direction and the y-axis direction are respectively parallel to two sides of the lightning arrester base, in fig. 4(b), the position of the model 2 lightning arrester origin coordinate system is determined at the center of the end face of the lightning arrester main body, the z-axis direction is parallel to the axial direction of the lightning arrester, and the x-axis and the y-axis can be selected according to the right-hand coordinate system criterion without specific requirements; 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; in fig. 8, the position of the origin coordinate system of the guyed insulator is determined at the center of the rectangular groove at the end part, the x-axis direction is parallel to the axis direction of the insulator, and the y-axis direction and the z-axis direction are respectively parallel to two sides of the groove.
1.3, establishing the origin of two elements with global numbers i and j respectivelyCoordinate system wobj(i)、wobj(i) The data of the standard relative installation positions are recorded as a homogeneous transformation matrix
In the field reconstruction of the task of replacing the drop-out fuse in the 10KV distribution transmission line of a certain power grid in this embodiment, the unit of data is defaulted to millimeter (mm), kilogram (kg), newton (N), and second(s). The homogeneous transformation matrix of the standard relative installation position data of the cross arm 2 and the tower is recorded as
The 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 2 origin point coordinate system wobj(3) Relative to the tower origin coordinate system wobj(1) And the offset distances in the x direction, the y direction and the z direction are respectively 0mm, 0mm and 13500mm, then:
similarly, the homogeneous transformation matrix of cross arm 1 and cross arm 2 isAccording to the data in the standard operation site parameter database in the step 1.1, relative rotation between two elements is not caused by default, and a cross arm origin point coordinate system wobj(2) Relative to the cross arm 2 origin coordinate system wobj(3) And the offset distances in the x, y and z directions are respectively 0mm, 0mm and-1500 mm, then:
similarly, the homogeneous transformation matrix of crossarm 3 and crossarm 2 is recorded as
According to the data in the standard operation field parameter database in the step 1.1, the two components are defaulted without relative rotationTurning, cross arm 3 origin coordinate system wobj(4) Relative to the cross arm 2 origin coordinate system wobj(3) And the offset distances in the x, y and z directions are respectively 0mm, 0mm and 1450mm, then:
in the same way, the homogeneous transformation matrix of the drop-out fuse 1 and the cross arm 2 is recorded as
According 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(5) 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 as
According to the data in the standard operation field parameter database in the step 1.1, obtaining:
similarly, the homogeneous transformation matrix of the stay wire type insulation 1 and the cross arm 3 is recorded as
According to the data in the standard operation field parameter database in the step 1.1, obtaining:
method and device for establishing homogeneous transformation matrix of appointed standard relative mounting positions among other componentsThe process is the same, and correspondingAnd will not be described in detail.
1.4, constructing an index structure of a system database:
in the field reconstruction of the task of replacing the drop-out fuse in the power grid 10KV distribution transmission line in this embodiment, the index structure of the established system database is shown in fig. 9. The classified management of the scene data is organized according to a tree, and a top-level national power grid is an entrance; the next layer is relatively independent local power grids, in this embodiment, a 10kv line of a certain power grid; the next layer is a specific operation site, in this embodiment, the drop-out fuse is replaced; and specific data are respectively stored in a standard operation field parameter database and a standard three-dimensional model database, and the two databases respectively store various data recorded in the investigation process and the standard three-dimensional model data of each component obtained in the step 2 so as to be used for retrieval and calling of an operation scene layer.
in the field reconstruction of the task of replacing the drop-out fuse of a certain power grid 10KV distribution transmission line in this embodiment, the standard three-dimensional model of each component is established by using the SolidWorks software, and the model is stored in the stl file format in order to ensure the compatibility of model data. Partial model results are shown in fig. 4-7. Wherein, fig. 4(a) is a visualization result of model 1 lightning arrester standard three-dimensional model data; fig. 4(b) is a visualization result of standard three-dimensional model data of the model 2 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; fig. 8 is a visualization result of standard three-dimensional model data of the stay wire insulator.
in the field reconstruction of the operation task of replacing the drop-out fuse of the 10KV distribution transmission line of the power grid in this embodiment, according to the operation task requirement of replacing the drop-out fuse, a standard operation field three-dimensional scene corresponding to the operation task is built by using the standard relative mounting position parameter in the standard operation field parameter database obtained in step 1 and the standard three-dimensional model of the component built in step 2, so as to complete the building of the standard operation scene in the reconstruction process. The method specifically comprises the following steps:
3.1, dividing the reconstructed field components into reliable components, movable components and follower components:
in the field reconstruction of the task of replacing the drop-out fuse of the 10KV power distribution line of the power grid in the embodiment, the reconstructed 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, establishing a standard operation scene:
in this embodiment, when a standard operation scene is constructed in field reconstruction of a drop-out fuse replacement operation task of a power grid 10KV distribution transmission line, three-dimensional model data of a required component is extracted from the standard three-dimensional model database of the component established in step 2, the specific component includes 1 tower, 3 cross arms, 3 drop-out fuses, 4 lightning arresters, 3 stay wire insulators, and 1 hoop, global index numbers are 1-15 in table 1, and all of them are classified into a follow-up component set, and at this time, the reliable component set and the active component set are both empty.
According to the standard relative installation position data in the established standard operation field parameter database
And standard three-dimensional model data of corresponding components in the standard three-dimensional model database, reading in the standard three-dimensional model data of No. 1-15 components in the table 1, and according to the standard three-dimensional model data
And (4) determining the relative pose relationship among the components, and completing the construction of the standard operation scene of replacing the drop-out fuse. Firstly, a component 1, namely a tower model is read in and set as a first componentW thereofobj(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 3, i.e. the cross arm 2, is read in, as established in step 1.3
The pose of the component 3 in the reconstructed scene can be determined; reading in the component 2, i.e. the cross arm 1, from the result of step 1.3The pose of the component 2 in the reconstructed scene can be determined; reading in the component 4, i.e. the cross arm 3, from the result of the step 1.3
The pose of the component 4 in the reconstructed scene can be determined; reading in the component 12, i.e. the pull-string insulator 1, from the result established in step 1.3
The pose of the component 12 in the reconstructed scene can be determined; and the standard operation scene can be built by performing the same operation on other components.
In the field reconstruction of the task of replacing the drop-out fuse in the power grid 10KV distribution transmission line in this embodiment, the construction result of the standard operation scene is shown in fig. 10, where the numbers of the components correspond to the numbers in table 1.
In the field reconstruction of the task of replacing the drop-out fuse of a certain power grid 10KV distribution transmission line in this embodiment, a component with a requirement on the accuracy of attitude data in a scene is determined first, and a measurement coordinate system w attached to the component is establishedr_obj(i) (i is the global number of the part), the component having the requirement on the precision in this embodiment includes: 3 cross arms and 3A drop-out fuse. 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 used
To 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, which
Denotes wobj(2) Relative to wr_obj(2) The offset distances in the x direction, the y direction and the z direction are respectively 120mm, -1040mm and-65 mm without posture change; to component 5, i.e. drop-out fuse 1, which
Denotes wobj(5) Relative to wr_obj(5) Firstly rotating the y axis by-90 degrees, and then rotating the x axis by 180 degrees, wherein the offset distances in the x, y and z directions are-180 mm, -115mm and 0mm respectively.
Part of the component wr_obj(i) The selection results are shown in fig. 4-8, model 1 lightning arrester w in fig. 4(a)r_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; model 2 arrester w in fig. 4(b)r_obj(i) Direction and origin coordinate system wobj(i) The original point position is positioned at the center of the end face of the lightning arrester; 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) The same, the original point position is positioned at the center of a circle at the top of the tower; figure 8 center stay insulator wr_obj(i) Direction and origin coordinate system wobj(i) Same, origin positionIs positioned at the center of a circle of the end face of the first insulating block.
in the field reconstruction of the task of replacing the drop-out fuse in the power grid 10KV distribution transmission line of the embodiment, the method comprises the following steps:
5.1, obtaining a transformation matrix from a binocular camera coordinate system to a mechanical arm base coordinate system
Obtaining a measurement coordinate system w of the part under the camera coordinate systemr_obj(i) Transformation equation to mechanical arm base coordinate system
Wherein
Measuring 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
And 5.2, measuring the center line tracks of 6 drainage wires and 3 power transmission wires in the drop-out fuse replacing operation field by using a binocular camera, and establishing a three-dimensional model of the electric wires relative to a mechanical arm base coordinate system. The method mainly comprises the following steps:
5.2.1, calling the standard operation field parameter database established in the step 1, and determining the cross section geometric parameter data of the central line in the current operation scene, wherein the diameters of 6 drainage wires are 16mm, and the diameters of 3 power transmission lines are 21 mm;
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 wire profile needing to be measured in the visual field of the binocular camera;
5.2.4, extracting the contour of the line in the image by using line features (colors);
5.2.5, acquiring three-dimensional position coordinates of discrete points on the central line of the wire relative to the camera coordinates;
5.2.6, converting the coordinates of the discrete point positions on the center line of the electric wire under the camera coordinate system into the coordinates of the base of the mechanical arm by using the conversion calculation equation from the camera coordinate system to the coordinate system of the base of the mechanical arm obtained in the step 5.1, wherein a calculation result schematic diagram is shown in fig. 11 (a);
5.2.7, fitting the discrete center line points obtained in the step 5.2.6 by utilizing a polynomial interpolation method to obtain a continuous wire center line track, wherein a schematic diagram of a calculation result is shown in fig. 11 (b);
5.2.8, determining the size of the circular cross section by using the diameter data acquired in the step 5.2.1, calculating to obtain the three-dimensional model data of the central line in the actual field by using an equal-section curve stretching algorithm, completing the reconstruction work of the electric wire in the actual field, adding the reconstructed model of the electric wire into a reliable part set, and obtaining a reconstruction result schematic diagram as shown in fig. 12.
5.3, correcting errors between the installation pose of the movable device in the standard operation scene and the actual scene by using binocular camera measurement information, and specifically comprising the following steps:
5.3.1, removing the components needing pose correction from the follower component set, and adding the components into the movable component set:
in the field reconstruction of the task of replacing the drop-out fuse in the 10KV distribution transmission line of a certain power grid in the embodiment, 3 drop-out fuses and 3 cross arms are removed from the accompanied component set and added into the movable component set. At the moment, the components in the follower component set are 1 tower, 4 lightning arresters, 3 stay wire insulators and 1 hoop, 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 6 drainage wires and 3 power transmission wires, and the global numbers of the components are indicated by a letter f. It is worth noting that the meaning of k, n, f is the same as the meaning of the global number i defined in step 1, and different letters are used herein for the purpose of designating the set where the components are located.
5.3.2 for each drop-out fuse and cross arm in the movable component set, correcting the actual pose in the standard operation scene of the live replacement drop-out fuse according to the measurement result of the binocular camera, and adding a reliable component set:
assuming that the movable component is the drop-out fuse 1 at this time, the movable component is labeled as c _ obj, the global number is n equal to 5, and the three-dimensional model origin coordinate system w of the c _ obj drop-out fuse 1 is corrected through the measurement result of the binocular cameraobj(5) Pose transformation matrix relative to mechanical arm base coordinate system
According to the measurement result of the binocular camera, the measurement coordinate system w of the c _ obj drop-out fuse 1 can be obtainedr_obj(5) 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 5.1
And 4, establishing a transformation matrix between the part measurement coordinate system and the three-dimensional model origin coordinate system
It can be deduced that:
updating the position of the c _ obj drop-out fuse 1 relative to the mechanical arm base by using the calculation result
According to
The designated pose relation is used for adjusting and reconstructing the pose of the c _ obj drop-out fuse 1 in the scene; and after the adjustment is finished, the c _ obj drop-out fuse 1 is removed from the movable component set and added into the reliable component set.
5.3.3 for each tower, arrester and stay insulator etc. in the follower component set, according to the definition in step 1
Matrix updating new pose parameters of elements in the follower element set
For reference, a new pose matrix with respect to the robot arm base coordinate system:
in this embodiment, k is 8 for the arrester 1 in the follower component set; the drop-out fuse 1 takes the new pose of the cross arm 1
(Note: Cross arm 1 has global reference number 2, assuming that Cross arm 1 has completed pose correction based on binocular camera measurements) as a reference the new pose is:
5.3.4, weighting and averaging the pose matrix obtained in the step 5.3.3 for each tower, lightning arrester, stay insulator and the like in the follower component set
Obtaining the optimized final pose matrix of the follower part k as
In the field reconstruction of the task of replacing the drop-out fuse in the 10KV distribution transmission line of the power grid in this embodiment, if the lightning arrester 1 in the follower component set is targeted, k is 8. The component in the reliable component set which has a relative installation position relation with the lightning arrester 1 is a cross arm 1 (f)12), cross arm 2 (f)23), cross arm 3 (f)34), 3 components in total, the final position matrix of the lightning arrester 1(k 8) in the follower components 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. The calculation is completed, and a reconstructed site which is consistent with the real site is obtained, as shown in fig. 13.
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 quick reconstruction method for a live working site of a live working robot system is characterized by comprising the following steps:
step 1, establishing a standard operation field parameter database of various power distribution and transmission lines, and constructing an index structure of a system database:
storing the three types of data into a standard operation field parameter database according to the types of the electrical components on the live operation field, the corresponding standard outline dimension data and the corresponding standard relative installation position data, and assigning a unique global index label for each component; an original point coordinate system of the component i is specified when a standard three-dimensional model is established; establishing a homogeneous transformation matrix of standard relative installation position data between origin point coordinate systems of the two components; constructing an index structure of a system database;
step 2, constructing a standard three-dimensional model database: establishing a standard three-dimensional model of each component by taking the origin coordinate system as reference, and storing modeling result data into a standard three-dimensional model database;
step 3, building a standard operation scene of the live working task: 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;
according to different live-line work tasks, retrieving corresponding scene information from a standard work site parameter database, after obtaining a standard relative pose between origin point coordinate systems of each component in a scene, retrieving standard three-dimensional model data of the corresponding component from a standard three-dimensional model database by using a global number, reading in the standard three-dimensional model data, and completing construction of a standard work scene;
step 4, establishing a visual measurement coordinate system of each component in the live working scene to obtain a homogeneous transformation matrix of the origin coordinate system relative to the origin coordinate system: firstly, determining components with requirements on the accuracy of attitude data in a live working scene, and establishing a measurement coordinate system attached to each component; recording the pose relation of the origin coordinate system relative to the measurement coordinate system by using a homogeneous transformation matrix;
step 5, measuring unstructured errors in the live-wire work site by using a binocular camera attached to the tail end of the mechanical arm, correcting and perfecting the established standard work scene model, and obtaining a reconstructed scene matched with the actual site: the method comprises the steps of reconstructing a wire three-dimensional model based on binocular vision and correcting errors between actual installation poses and standard installation poses of all devices in a scene.
2. The method for rapidly reconstructing the live working site of the live working robot system according to claim 1, wherein the step 1 of constructing the index structure of the system database specifically comprises the following steps:
step 1.1, establishing a standard operation field parameter database, and assigning a unique global index mark i to each component;
step 1.2, appointing an original point coordinate system on the component when the component i is in the establishment of the standard three-dimensional model, and marking the original point coordinate system as wobj(i)；
Step 1.3, establishing an origin point coordinate system w of two elements with designated global numbers i and j respectivelyobj(i)、wobj(i) 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(i) Three-dimensional attitude data;
is a 3x1 positionA coordinate vector describing three-dimensional position data of the component i relative to the component j;
and 1.4, constructing an index structure of the system database according to tree organization.
3. The method for rapidly reconstructing the live working site of the live working robot system according to claim 2, wherein reconstructing the working 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 system
Obtaining a measurement coordinate system w of the part under the camera coordinate systemr_obj(i) Transformation equation to mechanical arm base coordinate system
Wherein
Measuring 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, aiming at each lightning arrester drainage wire, measuring the center line track of the electric wire in a live working field by using a binocular camera, and establishing a three-dimensional model of the electric wire relative to a mechanical arm base coordinate system;
and 5.3, correcting errors between the installation pose of the movable device in the standard operation scene and the actual field by using the binocular camera measurement information to obtain a reconstructed scene matched with the actual field.
4. The method for rapidly reconstructing the live working site of the live working robot system according to claim 3, wherein the step 5.1 of obtaining the transformation moment 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, 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. The method for rapidly reconstructing the live working site of the live working robot system according to claim 3, wherein the step 5.2 of establishing a three-dimensional model of the electric wire relative to the robot arm base coordinate system specifically comprises the following steps:
5.2.1, calling a standard operation field parameter database, determining the geometric parameter data of the cross section of the central line of the current live working field, and obtaining a three-dimensional model of the bent electric wire through an equal-section curve stretching algorithm;
5.2.2, calibrating the binocular camera, and realizing binocular ranging 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 wire profile needing to be measured in the visual field of the binocular camera;
5.2.4, extracting the contour of the line in the image by using the line features;
5.2.5, acquiring three-dimensional position coordinates of discrete points on the central line of the wire relative to camera coordinates: finding out pixel points of points on the center line corresponding to the left eye and the right eye through a binocular matching algorithm, obtaining three-dimensional coordinates of a single discrete point on the center line of the electric 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) position coordinates representing the m-th point with respect to the camera coordinates;
step 5.2.6, use equation
Converting the position coordinates of discrete points on the center line of the electric wire in the camera coordinate system into the base coordinate system of the robot arm, and recording the result as Pb(m)；
5.2.7, fitting points on the discrete central line by utilizing a polynomial interpolation method to obtain a continuous central line track of the electric wire;
and 5.2.8, determining the size of the circular cross section by using the diameter data acquired in the step 5.2.1, and calculating to obtain the three-dimensional model data of the central line in the actual field by using an equal-section curve stretching algorithm to complete the reconstruction of the electric wire in the actual field.
6. The method for rapidly reconstructing the live working site of the live working robot system according to claim 3, wherein the step 5.3 of correcting the error between the installation pose of the movable device and the actual site in the standard working scene specifically comprises the following steps:
5.3.1, removing parts needing pose correction from the follower component set, and adding the parts into the movable component set;
5.3.2, aiming at each component in the movable component set, sequentially correcting the actual pose in the standard operation scene of the live operation task according to the measurement result of the binocular camera, and adding a reliable component set:
the currently measured movable component is c _ obj, and the global number is 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 system
Position of component capable of obtaining number n relative to mechanical arm base
5.3.3, for each component in the follower component set, according to the definition in step 1
Matrix updating its new pose parameters for reliable component set
For reference, a new pose matrix relative to the robot arm base coordinate system
5.3.4, for each component in the follower component set, carrying out weighted averaging on the pose matrix obtained in the step 5.3.3
Obtaining the optimized final pose matrix of the follower part k as
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～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 working field of the live working robot system according to claim 6, further comprising the step 6 of correcting the pose of the correlator device: and (4) removing the corresponding components in the reliable component set or the follow-up component set from the set and adding the components into the movable component set, setting the components as movable components, and repeating the steps from 5.3.2 to 5.3.4 to finish correction again.
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