CN108994820A - Robot system and working scene construction method for livewire work - Google Patents
Robot system and working scene construction method for livewire work Download PDFInfo
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- CN108994820A CN108994820A CN201810842039.6A CN201810842039A CN108994820A CN 108994820 A CN108994820 A CN 108994820A CN 201810842039 A CN201810842039 A CN 201810842039A CN 108994820 A CN108994820 A CN 108994820A
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- 238000010276 construction Methods 0.000 title claims abstract description 33
- 210000000707 wrist Anatomy 0.000 claims description 64
- 210000002310 elbow joint Anatomy 0.000 claims description 22
- 210000000245 forearm Anatomy 0.000 claims description 22
- 210000003857 wrist joint Anatomy 0.000 claims description 22
- 210000000323 shoulder joint Anatomy 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000004308 accommodation Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 5
- 238000010977 unit operation Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000005684 electric field Effects 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
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Abstract
The present invention relates to technical field of electric power, specifically provide a kind of robot system for livewire work and working scene construction method, it is intended to solve the problems, such as that the robot of existing livewire work can bring Personal Risk, ineffective to operator.For this purpose, the robot system for livewire work of the invention is included: the information acquisition unit of the operation image for carrying out the livewire work unit of livewire work, for acquiring livewire work unit and is controlled the control unit of the livewire work track of livewire work unit based on the collection result of information acquisition unit and default livewire work task.Working scene construction method of the invention constructs working scene according to the location information of the working scene image information of livewire work unit and manipulating object.The present invention, come component working scene, allows the operator to issue corresponding operation instruction according to the working scene of component, avoids and bring Personal Risk to operator according to specific operating condition.
Description
Technical field
The present invention relates to technical field of electric power, specifically provide a kind of robot system and working scene for livewire work
Construction method.
Background technique
Currently, China's 10kV power distribution network needs frequent livewire work operation.Current livewire work operation requires operator
It climbs 10kV electric pole or carries out uninterrupted operation, i.e. livewire work by aerial lift device with insulated arm.Artificial hot line job needs to operate
Personnel carry out the manual operationss such as wiring, solution line, large labor intensity, essence under the extreme dangers environment such as high-altitude, high pressure, strong-electromagnetic field
Refreshing high-pressure not only brings Personal Risk to livewire work personnel, but also the low efficiency that fulfils assignment.
Although the country has researched and developed multiple types hot line robot, existing hot line robot is in band
During electric operation, it is still desirable to machine of the operator in the insulation bucket of aerial lift device with insulated arm or on the outside of insulation bucket
Arm rises to the periphery of livewire work route, however it remains potential risks can bring Personal Risk to operator.Moreover, existing
Hot line robot be that livewire work, more traditional manual work cannot independently be completed by operator's field control
Mode more reduces working efficiency.
Therefore, this field needs a kind of new robot system for livewire work and working scene construction method to solve
The certainly above problem.
Summary of the invention
It, can be to operator in order to solve the robot of existing livewire work in order to solve the above problem in the prior art
Member brings Personal Risk, ineffective problem, and the present invention provides a kind of robot system for livewire work, machines
People's system includes: livewire work unit, is used to carry out livewire work；Information acquisition unit is used to acquire livewire work list
The operation image of member；Control unit is controlled based on the collection result of information acquisition unit and default livewire work task
The livewire work track of livewire work unit.
In the optimal technical scheme of above-mentioned robot system, the inside of livewire work unit forms accommodation space；Information
Acquisition unit includes: three lens cameras, and three lens cameras are arranged in accommodation space, for acquiring the operation of livewire work unit
Scene image；Two-dimensional laser radar, two-dimensional laser radar are rotatably arranged on three lens cameras, for measuring and demarcating work
The position of industry object.
In the optimal technical scheme of above-mentioned robot system, control unit includes: computer, and computer installation is accommodating
In space, for handling the operation image information and the acquisition of two-dimensional laser radar of the livewire work unit of three lens cameras acquisition
Manipulating object location information；Industrial personal computer, industrial personal computer are arranged in accommodation space, based on computer to livewire work unit
Operation image information and the acquisition of two-dimensional laser radar manipulating object location information processing result and default electrification
Job task plans the livewire work track of livewire work unit.
In the optimal technical scheme of above-mentioned robot system, livewire work unit includes: at least two mechanical arms, at least
Two mechanical arms are arranged around the circumferential direction of three lens cameras, for carrying out livewire work.
In the optimal technical scheme of above-mentioned robot system, mechanical arm is six degree of freedom structure, six degree of freedom structure packet
Large arm, forearm, shoulder joint, elbow joint and wrist joint component are included, the first end and shoulder joint of large arm connect in a rotating manner, with
Adjust the rotational angle of large arm；The first end of forearm is connected in a rotating manner by the second end of elbow joint and large arm, to adjust
The rotational angle of whole forearm；The second end of wrist joint component and forearm connects in a rotating manner, to adjust wrist joint component
Rotational angle.
In the optimal technical scheme of above-mentioned robot system, wrist joint component includes wrist pitching joint, wrist swinging joint
With wrist rotary joint, the second end of wrist pitching joint and forearm connects in a rotating manner, to adjust the pitching of wrist swinging joint
Angle；Wrist swinging joint and wrist pitching joint connect in a rotating manner, to adjust the swing angle of wrist swinging joint；Wrist rotation
Joint and wrist swinging joint connect in a rotating manner, to adjust the rotational angle of wrist rotary joint.
In the optimal technical scheme of above-mentioned robot system, mechanical arm further include: orthogonal rotary encoder is used to adopt
Collect shoulder joint, elbow joint, wrist pitching joint, wrist swinging joint and wrist rotary joint angle, angular speed and angular acceleration data；
Driving motor, the angle-data driving shoulder joint based on the acquisition of orthogonal rotary encoder, elbow joint, wrist pitching joint, wrist shake
Put joint and the movement of wrist rotary joint.
In addition, the present invention also provides a kind of working scene construction method for robot system, robot system packet
Include livewire work unit；Working scene construction method is the following steps are included: obtain the working scene image letter of livewire work unit
Breath；Obtain the location information of manipulating object；According to the working scene image information of livewire work unit and the position of manipulating object
Confidence ceases to construct working scene.
In the optimal technical scheme of above-mentioned working scene construction method, robot system further includes information acquisition unit,
Information acquisition unit includes three lens cameras and two-dimensional laser radar；" the working scene image information for obtaining livewire work unit "
The step of specifically include: make any two camera of three lens cameras from two viewpoints simultaneously from image in working scene
To obtain image information；Calculate the parallax between the pixel for the image that any two camera is observed；It is resolved and is appointed according to parallax
It anticipates three-dimensional coordinate of the characteristic point under base coordinate system of image that two cameras are observed；It is seen according to any two camera
The spy for the image that three-dimensional coordinate and any two camera of the characteristic point of the image observed under base coordinate system are observed
Sign three-dimensional coordinate of the point under object coordinates system determines the position appearance of the characteristic point of image that any two camera is observed
State parameter.
In the optimal technical scheme of above-mentioned working scene construction method, the step of the location information of manipulating object " obtain "
It specifically includes: so that two-dimensional laser radar is carried out a cloud to the characteristic point for the image that any two camera is observed and measure, obtain
The position and attitude parameter of the characteristic point for the image that any two camera is observed, any two determined with three lens cameras of amendment
The position and attitude parameter of the characteristic point for the image that a camera is observed.
In the optimal technical scheme of above-mentioned working scene construction method, the step of the location information of manipulating object " obtain "
Further include: make the distance between the image in two-dimensional laser radar surveying working scene；By the operation of two-dimensional laser radar surveying
The distance between image in scene information is converted to the positional relationship between image, and by the operation of two-dimensional laser radar surveying
Positional relationship between image in scene is marked and is shown in the working scene of building.
In the optimal technical scheme of above-mentioned working scene construction method, livewire work unit includes at least two mechanical arms
With orthogonal rotary encoder；Working scene construction method further include: believed by the pose that orthogonal rotary encoder obtains mechanical arm
Breath；According to the positional relationship between the image in the posture information of mechanical arm and the working scene of two-dimensional laser radar surveying come really
Determine the positional relationship between the image in mechanical arm and working scene.
In the optimal technical scheme of above-mentioned working scene construction method, " swashed according to the posture information of mechanical arm and two dimension
The positional relationship between image in the working scene of optical radar measurement determines between the image in mechanical arm and working scene
Positional relationship " the step of specifically include: the posture information of mechanical arm is converted into mechanical arm in the working scene of building
Pose coordinate information；According to the work of the mechanical arm pose coordinate information in the working scene of building and two-dimensional laser radar surveying
The positional relationship between image in industry scene determines the positional relationship between the image in mechanical arm and working scene, and will
The positional relationship between image in mechanical arm and working scene is labeled in the working scene of building.
In the optimal technical scheme of above-mentioned working scene construction method, robot system further includes monitor control mechanism；" according to
The location information of the working scene image information of livewire work unit and manipulating object constructs working scene " the step of also wrap
Include: the position and attitude parameter of the characteristic point for the image observed according to the modified any two camera of two-dimensional laser radar and
The positional relationship between image in the working scene of two-dimensional laser radar surveying constructs working scene；And/or by structure
The working scene built is shown on monitor control mechanism.
It will be appreciated to those of skill in the art that in the preferred technical solution of the present invention, hot line robot
Mechanical arm is six degree of freedom structure, and six degree of freedom structure includes large arm, forearm, shoulder joint, elbow joint and wrist joint component, large arm
First end and shoulder joint connect in a rotating manner, to adjust the rotational angle of large arm；The first end of forearm passes through elbow joint
It is connected in a rotating manner with the second end of large arm, to adjust the rotational angle of forearm；The second end of wrist joint component and forearm
It connects in a rotating manner, to adjust the rotational angle of wrist joint component, freedom degree is evenly distributed, to ensure that mechanical arm can
Neatly to move, the obstacle that can be effectively shielded from operating environment and manpower can be imitated complete livewire work, behaviour
Make personnel only to need to be remotely controlled operation to electrification robot by controlling terminal on the ground, thus by operator and high pressure
Electric field isolation avoids and brings Personal Risk to operator, improves operating efficiency.
Further, operator needs to carry out the site environment where robotic arm clear and accurate observation and grasp,
It needs accurately to obtain the positional relationship between robotic arm and each power line, scene monitoring operation is carried out by information acquisition unit,
The working scene image that at least two mechanical arms are acquired by video camera, can more accurately obtain scene information；Utilize radar
Measure and demarcate the position of manipulating object, precision can achieve 0.1 millimeter, between robotic arm and manipulating object, mechanical arm it
Between, the relative position between manipulating object and operating environment provides precise measurement, and measurement result is accurately labeled in operation
On the display of personnel.Therefore, operator carries out monitoring operation, available naked eyes direct operation by information acquisition unit
When the high precision position and range information that can not all obtain, further improve the operation precision of livewire work, can prevent from touching
Generation is hit, operational security is improved.
Further, the working scene construction method for robot system of the invention is according to livewire work unit
The location information of working scene image information and manipulating object constructs working scene, and robotic arm carrying out livewire work task
When, the three-dimensional information of all images in true environment can be not only clearly seen on monitor control mechanism device, but also mark
The positional relationship between the image in exact positional relationship and mechanical arm and working scene between each image, guarantees
Operator understands the situation of ambient conditions and robotic arm clear and accurately, can accurately issue corresponding operation and refer to
It enables, improves the operation precision of livewire work.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of hot line robot system of the invention；
Fig. 2 is the structural schematic diagram of mechanical arm of the invention；
Fig. 3 is the flow chart of working scene construction method of the invention；
Fig. 4 is a kind of flow chart of the working scene construction method of embodiment of the invention.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.
It should be noted that in the description of the present invention, the side of the instructions such as term "left", "right", " rear ", "top", "bottom"
To or the term of positional relationship be direction based on the figure or positional relationship, this is intended merely to facilitate description, rather than
Indication or suggestion described device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot manage
Solution is limitation of the present invention.In addition, term " first ", " second " are used for description purposes only, and it should not be understood as instruction or dark
Show relative importance.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
Based on the problems of the prior art mentioned in background technique, the present invention passes through livewire work unit, information collection
The mutual cooperation of unit and control unit, can accurately component working scene, allow the operator to clear and accurately
The situation for understanding ambient conditions and livewire work unit can accurately issue corresponding operation instruction, improve band
The operation precision of electric operation, and operator is isolated with high voltage electric field, it avoids and Personal Risk is brought to operator, mention
High operating efficiency.
Referring to Fig. 1 to Fig. 4, Fig. 1 is the structural schematic diagram of hot line robot system of the invention；Fig. 2 is the present invention
Mechanical arm structural schematic diagram；Fig. 3 is the flow chart of working scene construction method of the invention；Fig. 4 is one kind of the invention
The flow chart of the working scene construction method of embodiment.As shown in Figure 1, livewire work mechanism includes livewire work unit 1, information
Acquisition unit 2 and control unit 3, livewire work unit 1 is for carrying out livewire work；Information acquisition unit 2 is for acquiring electrification
The operation image of operation unit 1；Collection result and default livewire work task of the control unit 3 based on information acquisition unit 2
To control the livewire work track of livewire work unit 1.
In a kind of preferable embodiment, as shown in Figure 1, the inside of livewire work unit 1 forms accommodation space；Information
Acquisition unit 2 includes three lens cameras 21 and two-dimensional laser radar 22, and three lens cameras 21 are arranged in accommodation space, for adopting
Collect the working scene image of livewire work unit 1；Two-dimensional laser radar 22 is rotatably arranged on three lens cameras 21, can
Comprehensive measurement and the position for demarcating manipulating object.Certainly, the actual installation position of three lens cameras 21 and two-dimensional laser radar 22
The installation site for being not limited to the example above is set, those skilled in the art can flexibly set the camera shooting of three mesh in actual application
The actual installation position of machine 21 and two-dimensional laser radar 22, as long as can be real by three lens cameras 21 and two-dimensional laser radar 22
The now accurately operation image of collection machinery arm 11.
Preferably, three lens cameras 21 can more accurately shoot 11 working scene image of mechanical arm, thus more accurately
Obtain scene information, operator carries out monitoring operation by information acquisition unit 2, when available naked eyes direct operation all without
The high precision position and range information that method obtains, further improve the operation precision of livewire work, can prevent collision,
Improve operational security.It is of course also possible to use which kind of video camera no matter binocular camera or monocular-camera, take, only
It wants that 11 working scene image of mechanical arm can be shot.
Preferably, two-dimensional laser radar 22 can 180 ° of level rotation be mounted on three lens cameras 21, two-dimensional laser thunder
Precision up to 22 can achieve 0.1 millimeter, two-dimensional laser radar 22 can between robotic arm and manipulating object, mechanical arm 11 it
Between, the relative position between manipulating object and operating environment provides precise measurement, and measurement result is accurately labeled in operation
On the display of personnel, so that the high precision position and distance that can not all be obtained when the available naked eyes direct operation of operator
Information further improves the operation precision of livewire work, can prevent collision, improve operational security.Certainly,
One-dimensional laser radar, three-dimensional laser radar can be used, which kind of radar no matter is taken, as long as can measure and demarcate manipulating object
Position.
In a kind of preferable embodiment, as shown in Figure 1, control unit 3 includes computer 31 and industrial personal computer 32, calculate
Machine 31 be arranged in accommodation space, for handle three lens cameras 21 acquire livewire work unit 1 operation image information with
And the location information of the manipulating object of the acquisition of two-dimensional laser radar 22；Industrial personal computer 32 is arranged in accommodation space, based on calculating
The location information for the manipulating object that machine 31 acquires the operation image information and two-dimensional laser radar 22 of livewire work unit 1
Processing result and default livewire work task plan the livewire work track of livewire work unit 1.Preferably, computer 31
It is arranged between three lens cameras 21 and mechanical arm 11, industrial personal computer 32 is arranged between three lens cameras 21 and mechanical arm 11.When
So, the actual installation position of computer 31 and industrial personal computer 32 is not limited to the installation site of the example above, and those skilled in the art can
To flexibly set the actual installation position of computer 31 and industrial personal computer 32 in actual application, as long as passing through 31 He of computer
Industrial personal computer 32 can be realized the livewire work track of control livewire work unit 1.
Preferably, computer 31 is the computer 31 for carrying the high-performance data processing board based on GPU, certainly, computer
31 may be other computers 31, no matter take which kind of computer 31, as long as being capable of handling at least two of video camera acquisition
The location information of the manipulating object of operation image information and the radar acquisition of mechanical arm 11.
In a kind of preferable embodiment, as shown in Fig. 2, livewire work unit 1 includes two mechanical arms 11, two machines
Tool arm 11 is around the circumferential direction setting of three lens cameras 21, and mechanical arm 11 is for carrying out livewire work.Certainly, the practical peace of mechanical arm 11
Holding position and quantity are not limited to the installation site and quantity of the example above, and those skilled in the art can be clever in actual application
Actual installation position and the quantity of mechanical arm 11 are set livingly, as long as can be realized livewire work by mechanical arm 11.
Preferably, mechanical arm 11 is six degree of freedom structure, and six degree of freedom structure includes large arm 111, forearm 112, shoulder joint
113, elbow joint 114 and wrist joint component, the first end and shoulder joint 113 of large arm 111 connect in a rotating manner, big to adjust
The rotational angle of arm 111；The first end of forearm 112 is connected in a rotating manner by the second end of elbow joint 114 and large arm 111
It connects, to adjust the rotational angle of forearm 112；The second end of wrist joint component and forearm 112 connects in a rotating manner, with adjustment
The rotational angle of wrist joint component, freedom degree are evenly distributed, thus ensure that mechanical arm 11 can be moved neatly, it can be effective
It avoids the obstacle in operating environment and manpower completion livewire work can be imitated in ground.Certainly, the freedom degree of mechanical arm 11 is not
It is limited to the above-mentioned six degree of freedom enumerated, or other freedom degrees, for example, no matter Three Degree Of Freedom, four-degree-of-freedom etc., take
As long as which kind of freedom degree can rotate mechanical arm 11 to complete livewire work.In addition, large arm 111, forearm 112, shoulder joint
The connecting portion of section 113, elbow joint 114 and wrist joint component is also not necessarily limited to the above-mentioned connecting portion enumerated, can also be by forearm
112 first end is connected in a rotating manner by the middle part of elbow joint 114 and large arm 111, can also by wrist joint component and
The middle part of forearm 112 connects in a rotating manner, and this change is without departing from the principle and scope of the present invention.
In order to further increase the precision of livewire work, wrist joint component includes wrist pitching joint 115, wrist swinging joint
116 and wrist rotary joint 117, wherein the second end of wrist pitching joint 115 and forearm 112 connects in a rotating manner, with adjustment
The pitch angle of wrist swinging joint 116；Wrist swinging joint 116 and wrist pitching joint 115 connect in a rotating manner, to adjust wrist
The swing angle of swinging joint 116；Wrist rotary joint 117 and wrist swinging joint 116 connect in a rotating manner, to adjust wrist rotation
Turn the rotational angle in joint 117, so that freedom degree distribution is more uniform, to ensure that mechanical arm 11 can be transported more flexiblely
It is dynamic, it the obstacle that can be effectively shielded from operating environment and manpower can be imitated completes livewire work.
Although not shown in the drawings, mechanical arm 11 further includes orthogonal rotary encoder and driving motor, orthogonal rotary encoder
For acquire shoulder joint 113, elbow joint 114, wrist pitching joint 115, wrist swinging joint 116 and wrist rotary joint 117 angle,
Angular speed and angular acceleration data；The angle-data that driving motor can be acquired based on orthogonal rotary encoder drives shoulder joint
113, elbow joint 114, wrist pitching joint 115, wrist swinging joint 116 and wrist rotary joint 117 move.
Further, orthogonal rotary encoder includes first encoder corresponding with shoulder joint 113 and elbow joint 114
It is corresponding second encoder, third encoder corresponding with wrist pitching joint 115, corresponding with wrist swinging joint 116
4th encoder and the 5th encoder corresponding with wrist rotary joint 117, the first encoder is for acquiring shoulder joint 113
Angle, angular speed and angular acceleration data；Second encoder is used to acquire angle, angular speed and the angular acceleration of elbow joint 114
Data；Third encoder is used to acquire angle, angular speed and the angular acceleration data in wrist pitching joint 115；4th encoder is used
In angle, angular speed and the angular acceleration data of acquisition wrist swinging joint 116；5th encoder is for acquiring wrist rotary joint
117 angle, angular speed and angular acceleration data.
Further, driving motor include first motor corresponding with shoulder joint 113, it is corresponding with elbow joint 114
Second motor, third motor corresponding with wrist pitching joint 115, the 4th motor corresponding with wrist swinging joint 116 and
The 5th motor corresponding with wrist rotary joint 117, first motor is for driving shoulder joint 113 to move；Second motor is for driving
Dynamic elbow joint 114 moves；Third motor is for driving wrist pitching joint 115 to move；4th motor is for driving wrist swinging joint
116 movements；5th motor is for driving wrist rotary joint 117 to move.
Preferably, driving motor is servo drive motor, naturally it is also possible to be other kinds of motor, no matter which kind of be taken
Motor, as long as shoulder joint 113, elbow joint 114, wrist pitching joint 115, wrist swinging joint 116 and wrist rotary joint can be driven
117 movements.
In addition, the present invention also provides a kind of working scene construction methods for above-mentioned robot system, such as Fig. 3 institute
Show, working scene construction method the following steps are included:
S1, the working scene image information for obtaining livewire work unit；
S2, the location information for obtaining manipulating object；
S3, operation is constructed according to the location information of the working scene image information of livewire work unit and manipulating object
Scene.
Preferably, constructed working scene includes sky background, wire pole tower, two mechanical arms, electric wire, single first device
Part and mechanical arm tail end gripping tool, by wire pole tower, two mechanical arms, electric wire, single component and mechanical arm tail end
The entity apparatus such as gripping tool establish threedimensional model in proportion.
Preferably, single component includes insulator, fuse switch and isolation switch etc.；Mechanical arm tail end crawl
Tool includes clamper and automatic peeling device etc..
Further, in mechanical arm modeling process, using the self structure parameter of mechanical arm institute band, mechanical arm is first established
Equal proportion threedimensional model.Since mechanical arm complicated in mechanical structure can require for the ease of the foundation of model according to freedom degree
By model simplification, for example, only reservation freedom degree and outer dimension, internal structure and components are simplified.
It further include the display driving of manipulator model to improve the display effect of manipulator model, display driving is used
The real-time pose data of robot system are sent in reception mechanical arm itself Position and attitude sensor, by robotic arm in pedestal coordinate
The spatial alternation of three-dimensional coordinate and robotic arm between the three-dimensional coordinate under object coordinates system under system, to calculate mechanical arm
Motion profile, and the motion profile of mechanical arm is shown on monitor control mechanism, so that operator understands robotic arm in real time
Situation issues corresponding operation instruction.
Preferably, base coordinate system is when measuring pedestal, and user is for specified rectangular co-ordinate of working face or workpiece
System.
Preferably, object coordinates system is Object Coordinate System, i.e., the coordinate system established on object is sat
The origin of system is marked on object.
Preferably, livewire work unit includes two mechanical arms, and two mechanical arms are separately positioned on a left side for three lens cameras
Right two sides, mechanical arm is for carrying out livewire work.
Preferably, the second control unit includes two operation handles, and operation handle and corresponding mechanical arm are principal and subordinate
Operative relationship.
Certainly, the actual installation position and quantity of mechanical arm and operation handle are not limited to the installation site sum number of the example above
Amount, those skilled in the art can be flexibly set in actual application mechanical arm and operation handle actual installation position and
Quantity, as long as can be realized livewire work by mechanical arm and operation handle.
Further, it in single component modeling process, needs first to be built according to the detailed dimensional parameters of single component
A plan view is found, the threedimensional model of single component is then constructed by the foundation and modification of various features again, to establish
The model library of component, for user's actual selection.
Further, on high during background modeling, first sky background is shot on the spot, is incited somebody to action by computer
The sky background picture processing shot on the spot is texture picture, using unity and coherence in writing picture as background.
Further, when sky background, wire pole tower, two mechanical arms, electric wire, single component and mechanical arm tail end
After gripping tool all models, when being laid out livewire work scene, according to wire pole tower, two mechanical arms, electric wire, single first device
Mechanical connection relationship between part and mechanical arm tail end gripping tool establishes the proportionate relationship of moulded dimension, and in page wash with watercolours
It contaminates and integrates sky background, wire pole tower, two mechanical arms, electric wire, single component and mechanical arm tail end crawl inside engine
Tool and then processing modification is carried out to livewire work scene, accurately to match sky background, wire pole tower, two machinery
Arm, electric wire, single component and mechanical arm tail end gripping tool generated entity brightness, shade under virtual light source irradiation
Intensity.Wherein, page rendering engine, it be responsible for obtain webpage content (HTML, XML, image etc.), arrange information (such as plus
Enter CSS etc.), and calculate the display mode of webpage and then can export to display.All web browsers, client email
End and other application programs for needing editor, display Web content require typesetting engine.
In a kind of possible embodiment party's examination, in above-mentioned steps S1, " the working scene image of livewire work unit is obtained
The step of information ", specifically includes:
S11, make any two camera of three lens cameras from two viewpoints simultaneously from image in working scene with
Obtain image information；
Parallax between the pixel for the image that S12, calculating any two camera are observed；
S13, the characteristic point for the image that any two camera is observed is resolved according to parallax under base coordinate system
Three-dimensional coordinate；
S14, the image observed according to any two camera three-dimensional coordinate of the characteristic point under base coordinate system with
And three-dimensional coordinate of the characteristic point of image observed of any two camera under object coordinates system determines that any two are taken the photograph
The position and attitude parameter of the characteristic point for the image observed as head.
Specifically, firstly, make three lens cameras center camera and left side camera from two viewpoints simultaneously from
Image in working scene calculates center camera by principle of triangulation and left side camera is observed to obtain image information
Parallax between the pixel of the image arrived resolves the feature for the image that center camera and left side camera are observed according to parallax
Three-dimensional coordinate of the point under base coordinate system, exists further according to the characteristic point for the image that center camera and left side camera are observed
The characteristic point for the image that three-dimensional coordinate and center camera and left side camera under base coordinate system are observed is sat in object
The lower three-dimensional coordinate of mark system determines that the position and attitude of the characteristic point of image that center camera and left side camera are observed is joined
Number.Secondly, make three lens cameras center camera and right side camera from two viewpoints simultaneously from figure in working scene
Picture is to obtain image information, and the characteristic point for the image for taking the above method to determine that center camera and right side camera are observed
Position and attitude parameter, with correct the image that center camera and left side camera are observed characteristic point position and attitude ginseng
Number, so as to more accurate component working scene.
In a kind of possible embodiment party examination, in above-mentioned steps S2, the step of " location information for obtaining manipulating object "
It specifically includes:
S21, so that two-dimensional laser radar is carried out a cloud measurement to the characteristic point for the image that any two camera is observed, obtain
The position and attitude parameter of the characteristic point for the image for taking any two camera to observe is determined any with three lens cameras of amendment
The position and attitude parameter of the characteristic point for the image that two cameras are observed.
Specifically, carrying out a cloud using characteristic point of the two-dimensional laser radar to the image that any two camera is observed
Measurement, since the density of cloud measurement is larger, so as to more accurately measure image that any two camera is observed
The position and attitude parameter of characteristic point, so as to correct the image observed of any two camera that three lens cameras determine
The position and attitude parameter of characteristic point improves the position and attitude parameter of the characteristic point for the image that any two camera is observed
Accuracy, can more accurately component working scene, provide more accurately reference data for operator.
Preferably, point cloud is the point data set on the product appearance surface obtained in reverse-engineering by measuring instrument,
Spacing usually using obtained small number of three dimensional coordinate measuring machine, point and point is also bigger, is sparse cloud；And
The point cloud obtained using three-dimensional laser scanner or photographic-type scanner, point quantity is bigger and than comparatively dense, is point off density
Cloud.
Further, in above-mentioned steps S2, the step of the location information of manipulating object " obtain " further include:
S22, the distance between make image in two-dimensional laser radar surveying working scene；
S23, the distance between image in the working scene of two-dimensional laser radar surveying information is converted between image
Positional relationship, and by between the image in the working scene of two-dimensional laser radar surveying positional relationship mark and show in structure
In the working scene built.
Specifically, measured by image of the two-dimensional laser radar to all targets in working scene, for example,
Livewire work target cable wiring point etc. is measured, and the location information between livewire work target cable wiring point is turned
The positional relationship being changed between livewire work target cable wiring point, and by the position between livewire work target cable wiring point
It relationship marking and is shown in the working scene of building, so that operator can accurately grasp the position feelings of operative goals
Condition can accurately issue corresponding operation instruction, improve the operation precision of livewire work.
Further, livewire work unit further includes orthogonal rotary encoder, in above-mentioned steps S2, " obtains operation pair
The step of location information of elephant " further include:
S24, the posture information that mechanical arm is obtained by orthogonal rotary encoder；
S25, according to the position between the image in the posture information of mechanical arm and the working scene of two-dimensional laser radar surveying
Relationship is set to determine the positional relationship between the image in mechanical arm and working scene.
Further, in above-mentioned steps S25, " according to the work of the posture information of mechanical arm and two-dimensional laser radar surveying
The positional relationship between image in industry scene determines the positional relationship between the image in mechanical arm and working scene " step
Suddenly it specifically includes:
S251, the posture information of mechanical arm is converted to pose coordinate information of the mechanical arm in the working scene of building；
S252, pose coordinate information and the work of two-dimensional laser radar surveying according to mechanical arm in the working scene of building
The positional relationship between image in industry scene determines the positional relationship between the image in mechanical arm and working scene, and will
The positional relationship between image in mechanical arm and working scene is labeled in the working scene of building.
Specifically, the posture information of mechanical arm is obtained by orthogonal rotary encoder, for example, excessively orthogonal rotary encoder
The posture information of mechanical arm tail end gripping tool is obtained, and by the posture information and two-dimensional laser of mechanical arm tail end gripping tool
Location information between the livewire work target cable wiring point of radar surveying is converted to mechanical arm tail end gripping tool and band
Positional relationship between electric operative goals cable connection point, and by mechanical arm tail end gripping tool and livewire work target cable
Positional relationship between wiring point is marked and is shown in the working scene of building, so that operator can accurately grasp machine
The situation of device arm can accurately issue corresponding operation instruction, improve the operation precision of livewire work.
Preferably, the posture information of mechanical arm can be angle, angular speed and the angular acceleration data of mechanical arm, certainly,
Or the other information of mechanical arm, as long as the position of mechanical arm can be indicated.
Further, the angle of mechanical arm, angular speed and angular acceleration data include the shoulder joint of mechanical arm, elbow joint,
Wrist pitching joint, wrist swinging joint and wrist rotary joint angle, angular speed and angular acceleration data.
In a kind of possible embodiment party's examination, robot system includes monitor control mechanism；In above-mentioned steps S3, " according to band
The location information of the working scene image information of electric operation unit and manipulating object constructs working scene " the step of also wrap
It includes:
The position appearance of the characteristic point of S31, the image observed according to the modified any two camera of two-dimensional laser radar
The positional relationship between image in state parameter and the working scene of two-dimensional laser radar surveying constructs working scene；
S32, the working scene of building is shown on monitor control mechanism.
Preferably, monitor control mechanism includes display screen, and the working scene of building is shown on a display screen.
Specifically, working scene of the operator in the building by showing on display, can choose using remote control
The mode of operation in the process, not only can be clear over the display when control mechanical arm completes default livewire work task
The three-dimensional information for seeing all images in true environment, but also be labelled between each image exact positional relationship,
And robotic arm end is apart from the distance between operating point relationship so that operator understand clear and accurately ambient conditions and
The situation of robotic arm can accurately issue corresponding operation instruction, improve the operation precision of livewire work.
In a kind of possible embodiment party's examination, working scene construction method is further comprising the steps of:
It is a kind of flow chart of the working scene construction method of embodiment of the invention referring to Fig. 4, Fig. 4.
As shown in figure 4, in a preferred embodiment, the working scene for hot line robot of the invention
The process of construction method may is that
In the case of remote control operates hot line robot operation:
S11, make any two camera of three lens cameras from two viewpoints simultaneously from image in working scene with
Obtain image information；
Parallax between the pixel for the image that S12, calculating any two camera are observed；
S13, the characteristic point for the image that any two camera is observed is resolved according to parallax under base coordinate system
Three-dimensional coordinate；
S14, the image observed according to any two camera three-dimensional coordinate of the characteristic point under base coordinate system with
And three-dimensional coordinate of the characteristic point of image observed of any two camera under object coordinates system determines that any two are taken the photograph
The position and attitude parameter of the characteristic point for the image observed as head.
S21, so that two-dimensional laser radar is carried out a cloud measurement to the characteristic point for the image that any two camera is observed, obtain
The position and attitude parameter of the characteristic point for the image for taking any two camera to observe is determined any with three lens cameras of amendment
The position and attitude parameter of the characteristic point for the image that two cameras are observed.
S22, the distance between make image in two-dimensional laser radar surveying working scene；
S23, the distance between image in the working scene of two-dimensional laser radar surveying information is converted between image
Positional relationship, and by between the image in the working scene of two-dimensional laser radar surveying positional relationship mark and show in structure
In the working scene built.
S24, the posture information that mechanical arm is obtained by orthogonal rotary encoder；
S251, the posture information of mechanical arm is converted to pose coordinate information of the mechanical arm in the working scene of building；
S252, pose coordinate information and the work of two-dimensional laser radar surveying according to mechanical arm in the working scene of building
The positional relationship between image in industry scene determines the positional relationship between the image in mechanical arm and working scene, and will
The positional relationship between image in mechanical arm and working scene is labeled in the working scene of building；
The position appearance of the characteristic point of S31, the image observed according to the modified any two camera of two-dimensional laser radar
The positional relationship between image in state parameter and the working scene of two-dimensional laser radar surveying constructs working scene；
S32, the working scene of building is shown on monitor control mechanism.
It should be noted that above-described embodiment is only to be used to illustrate this in a kind of preferable embodiment of the invention
The principle of inventive method, it is not intended that limit the scope of the invention, in practical applications, those skilled in the art can root
Above-mentioned function distribution is completed by different steps according to needs, i.e., is decomposed the step in the embodiment of the present invention or group again
It closes.For example, the step of above-described embodiment can be merged into a step, multiple sub-steps can also be further split into, with complete
At all or part of function described above.For the title of the step of involved in the embodiment of the present invention, it is used for the purpose of
Each step is distinguished, limitation of the present invention is not intended as.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (14)
1. a kind of robot system for livewire work, which is characterized in that the robot system includes:
Livewire work unit is used to carry out livewire work；
Information acquisition unit is used to acquire the operation image of the livewire work unit；
Control unit controls the band based on the collection result of the information acquisition unit and default livewire work task
The livewire work track of electric operation unit.
2. robot system according to claim 1, which is characterized in that the inside of the livewire work unit, which is formed, to be accommodated
Space；The information acquisition unit includes:
Three lens cameras, three lens camera is arranged in the accommodation space, for acquiring the livewire work unit
Working scene image；
Two-dimensional laser radar, the two-dimensional laser radar is rotatably arranged on three lens camera, for measuring and marking
Determine the position of manipulating object.
3. robot system according to claim 2, which is characterized in that described control unit includes:
Computer, the computer installation is in the accommodation space, for handling the band of the three lens cameras acquisition
The location information of the operation image information of electric operation unit and the manipulating object of two-dimensional laser radar acquisition；
Industrial personal computer, the industrial personal computer are arranged in the accommodation space, based on the computer to the livewire work unit
Operation image information and the processing result of location information of manipulating object of two-dimensional laser radar acquisition and default
Livewire work task plans the livewire work track of the livewire work unit.
4. robot system according to claim 3, which is characterized in that the livewire work unit includes:
At least two mechanical arms, at least two mechanical arm is arranged around the circumferential direction of three lens camera, for being charged
Operation.
5. robot system according to claim 4, which is characterized in that the mechanical arm is six degree of freedom structure, described
Six degree of freedom structure includes large arm, forearm, shoulder joint, elbow joint and wrist joint component,
The first end of the large arm and the shoulder joint connect in a rotating manner, to adjust the rotational angle of the large arm；
The first end of the forearm is connected in a rotating manner by the second end of the elbow joint and the large arm, to adjust
State the rotational angle of forearm；
The second end of the wrist joint component and the forearm connects in a rotating manner, to adjust turning for the wrist joint component
Dynamic angle.
6. robot system according to claim 5, which is characterized in that the wrist joint component include wrist pitching joint,
Wrist swinging joint and wrist rotary joint,
The second end of wrist pitching joint and the forearm connects in a rotating manner, to adjust bowing for the wrist swinging joint
Elevation angle degree；
The wrist swinging joint and wrist pitching joint connect in a rotating manner, to adjust the swing of the wrist swinging joint
Angle；
The wrist rotary joint and the wrist swinging joint connect in a rotating manner, to adjust the rotation of the wrist rotary joint
Angle.
7. robot system according to claim 6, which is characterized in that the mechanical arm further include:
Orthogonal rotary encoder is used to acquire the shoulder joint, the elbow joint, wrist pitching joint, the wrist wave
Angle, angular speed and the angular acceleration data in joint and the wrist rotary joint；
Driving motor, the angle-data based on the orthogonal rotary encoder acquisition drive the shoulder joint, the elbow joint,
Wrist pitching joint, the wrist swinging joint and wrist rotary joint movement.
8. a kind of working scene construction method for robot system, which is characterized in that the robot system includes electrification
Operation unit；
The working scene construction method the following steps are included:
Obtain the working scene image information of the livewire work unit；
Obtain the location information of manipulating object；
Operation field is constructed according to the location information of the working scene image information of the livewire work unit and manipulating object
Scape.
9. working scene construction method according to claim 8, which is characterized in that the robot system further includes information
Acquisition unit, the information acquisition unit include three lens cameras and two-dimensional laser radar；
The step of " the working scene image information for obtaining the livewire work unit ", specifically includes:
Make any two camera of three lens camera from two viewpoints simultaneously from image in working scene to obtain
Image information；
Calculate the parallax between the pixel for the image that any two camera is observed；
The characteristic point for the image that any two camera is observed is resolved according to the parallax under base coordinate system
Three-dimensional coordinate；
Three-dimensional coordinate and institute of the characteristic point for the image observed according to any two camera under base coordinate system
Three-dimensional coordinate of the characteristic point for the image that any two camera is observed under object coordinates system is stated to determine described any two
The position and attitude parameter of the characteristic point for the image that a camera is observed.
10. working scene construction method according to claim 9, which is characterized in that " obtain the position letter of manipulating object
The step of breath ", specifically includes:
Make the two-dimensional laser radar carry out a cloud to the characteristic point for the image that any two camera is observed to measure, obtain
The position and attitude parameter of the characteristic point for the image for taking any two camera to observe, it is true to correct three lens camera
The position and attitude parameter of the characteristic point for the image that the fixed any two camera is observed.
11. working scene construction method according to claim 10, which is characterized in that " obtain the position letter of manipulating object
The step of breath " further include:
Make the distance between the image in the two-dimensional laser radar surveying working scene；
The distance between image in the working scene of two-dimensional laser radar surveying information is converted into the position between image
Relationship is set, and the positional relationship between the image in the working scene of the two-dimensional laser radar surveying is marked and is shown in structure
In the working scene built.
12. working scene construction method according to claim 11, which is characterized in that the livewire work unit includes extremely
Few two mechanical arms and orthogonal rotary encoder；The step of " location information for obtaining manipulating object " further include:
The posture information of the mechanical arm is obtained by the orthogonal rotary encoder；
According to the position between the image in the posture information of the mechanical arm and the working scene of the two-dimensional laser radar surveying
Relationship is set to determine the positional relationship between the image in the mechanical arm and working scene.
13. working scene construction method according to claim 12, which is characterized in that " according to the pose of the mechanical arm
The positional relationship between image in information and the working scene of the two-dimensional laser radar surveying come determine the mechanical arm with
The step of positional relationship between image in working scene ", specifically includes:
The posture information of the mechanical arm is converted into pose coordinate information of the mechanical arm in the working scene of building；
According to the work of the mechanical arm pose coordinate information in the working scene of building and the two-dimensional laser radar surveying
The positional relationship between image in industry scene determines the positional relationship between the image in the mechanical arm and working scene,
And the positional relationship between the image in the mechanical arm and working scene is labeled in the working scene of building.
14. working scene construction method according to claim 13, which is characterized in that the robot system further includes prison
Control mechanism；
" operation field is constructed according to the location information of the working scene image information of the livewire work unit and manipulating object
The step of scape " further include:
The position appearance of the characteristic point for the image observed according to the modified any two camera of the two-dimensional laser radar
The positional relationship between image in state parameter and the working scene of the two-dimensional laser radar surveying constructs working scene；
And/or
The working scene of building is shown on the monitor control mechanism.
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