CN109434826A - A kind of hot line robot control system - Google Patents
A kind of hot line robot control system Download PDFInfo
- Publication number
- CN109434826A CN109434826A CN201811067176.3A CN201811067176A CN109434826A CN 109434826 A CN109434826 A CN 109434826A CN 201811067176 A CN201811067176 A CN 201811067176A CN 109434826 A CN109434826 A CN 109434826A
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- Prior art keywords
- mechanical arm
- module
- personal computer
- path
- information
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention proposes a kind of hot line robot control systems, including image information collecting module, path planning selecting module, real-time monitoring module and mechanical arm control module, wherein: described image information acquisition module is used for the distance between Collecting operation environmental information and manipulating object, barrier and mechanical arm information, and above- mentioned information are sent to path planning addressing module；The real-time monitoring module is used to carry out data calculation according to the collected information of image information collecting module and completes scene rebuilding, generates virtual work scene；The path planning selecting module is used to carry out collision-free Trajectory Planning of Welding according to the data calculated and determines optimal path；The mechanical arm control module is operated for controlling mechanical arm according to optimal path.The present invention can choose remote control operation, AUTONOMOUS TASK both of which, be furnished with real-time monitoring system, while improving working efficiency, increase the safety of livewire work, flexibility and accuracy.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot control system.
Background technique
With the continuous social and economic development, ultra-high-tension power transmission line has become the weight that the energy is supplied in human production life
Approach is wanted, the electrical equipment on transmission line of electricity needs often test, inspection and maintenance in longtime running.Livewire work is in height
Do not have a power failure a kind of operational method overhauled, tested in voltage electrical equipment, is maintenance electrical equipment, guarantee normal power supply has
Effect measure.
Currently, artificial insulating glove Live line maintenance method is still key operation method, staff needs to climb high voltage iron tower,
There is the risk of high falling；It is more in barrier, it works under the complex environment of narrow space, there is very big security risk；It is biggish
Labor intensity can also cause physical strength damage and body and mind damage to staff, and once accident occurs, consequence is hardly imaginable.
Robot can replace personnel as a kind of automatic device for executing work to complete the livewire work of high risk,
Robot livewire work has higher working efficiency, safety, reliability and essence relative to traditional artificial livewire work
Exactness.Can robot complete livewire work in high quality, the performance depending on its control system.
In currently existing scheme, by taking the aloft work room mode of representative is in Japan as an example, the staff of operating robotic arm exists
Height still has the danger fallen in the air, and not intuitive enough if terrestrial operation, inadequate to the reply of complex environment, special circumstances
In time.In robot livewire work, a good reliable control system needs to overcome following difficulty: how planning space
How path nimbly eludes barrier, how to improve the precision of control, how to be monitored in real time.
Summary of the invention
The purpose of the present invention is to provide a kind of hot line robot control systems.
Realize the technical solution of the object of the invention are as follows: a kind of hot line robot control system, including image information are adopted
Collect module, path planning selecting module, real-time monitoring module and mechanical arm control module, in which:
Described image information acquisition module for Collecting operation environmental information and manipulating object, barrier and mechanical arm it
Between range information, and above- mentioned information are sent to path planning selecting module；
The real-time monitoring module is used to carry out data calculation and complete according to the collected information of image information collecting module
At scene rebuilding, virtual work scene is generated；
The path planning selecting module is used to carry out collision-free Trajectory Planning of Welding according to the data calculated and determination is optimal
Path；
The mechanical arm control module is operated for controlling mechanical arm according to optimal path.
Preferably, described image information acquisition module includes video camera and rangefinder, and the video camera is used for collection machinery
The image information of arm operating environment, the rangefinder is for the distance between Collecting operation object, barrier and mechanical arm information.
Preferably, the real-time monitoring module includes image processor and display, and described image processor is used for basis
The information of image information collecting module acquisition, calculates relative positional relationship, mechanical arm and the obstacle of mechanical arm and manipulating object
The relative positional relationship of object, the display is for showing virtual work scene.
The preferably described path planning selecting module includes the second industrial personal computer and third industrial personal computer, and second industrial personal computer is used
According to the information that calculates, has from preset mechanical arm and find collisionless path in obstacle motion sequence library, described the
Three industrial personal computers are for selecting optimal path in collisionless path.
Preferably, the mechanical arm control module includes the first industrial personal computer, and first industrial personal computer is used for optimal path
Inverse solution is carried out, obtains specific angle and speed control signal control mechanical arm, or for being parsed according to operational order,
Specific angle and speed control signal are obtained, mechanical arm is controlled.
Preferably, the mechanical arm control module includes manipulator, and the manipulator is used to manipulate the movement of mechanical arm.
Preferably, the path planning selecting module and mechanical arm control module are realized using socket communication interacts.
Compared with prior art, the present invention its remarkable advantage is: (1) through the invention, staff is defeated from high pressure
The farther away robot that can be operated of electric line carries out livewire work, reduces work risk, improves work efficiency；(2) this hair
The path planning of bright use, selection system, the simple action sequence library being previously stored in accessible situation and have obstacle situation
Under simple action sequence library, compared when encountering actual conditions with the situation in sequence library, select suitable combination of actions, improved
The flexibility of reply complex situations, and sequence library has stronger implantable, and new movement can be replenished in time, and improves path
The efficiency of planning, due to the diversity of planning path, introducing path selecting module can be screened out from it efficient working ways
Diameter；(3) present invention can monitor operating environment in real time, and staff can make correctly main manipulator according to actual environment
Movement improves operation quality, and can be carried out real-time observation, when occurring emergency case can halt system immediately, increase serious forgiveness.
Present invention will be further explained below with reference to the attached drawings and examples.
Detailed description of the invention
Fig. 1 is the hardware pictorial diagram of hot line robot.
Fig. 2 is the structural block diagram of control system under hot line robot remote operating mode.
Specific embodiment
A kind of hot line robot control system, including image information collecting module, path planning selecting module, in real time
Monitoring modular and mechanical arm control module, in which:
Described image information acquisition module for Collecting operation environmental information and manipulating object, barrier and mechanical arm it
Between range information, and above- mentioned information are sent to path planning selecting module；
The real-time monitoring module is used to carry out data calculation and complete according to the collected information of image information collecting module
At scene rebuilding, virtual work scene is generated；The real-time three-dimensional void being made of cloud is generated in some embodiments, on display
Quasi- operative scenario.
The path planning selecting module is used to carry out collision-free Trajectory Planning of Welding according to the data calculated and determination is optimal
Path；
The mechanical arm control module is operated for controlling mechanical arm according to optimal path.
In further embodiment, described image information acquisition module includes video camera and rangefinder, and the video camera is used
In the image information of collection machinery arm operating environment, the rangefinder is used between Collecting operation object, barrier and mechanical arm
Range information.In certain embodiments, the video camera and rangefinder are erected on robot platform, such as all mechanical arms
On.
In further embodiment, the real-time monitoring module includes image processor and display, described image processing
Device is used for the information acquired according to image information collecting module, calculates relative positional relationship, the machine of mechanical arm and manipulating object
The relative positional relationship of tool arm and barrier, the display is for showing virtual work scene.
In further embodiment, the path planning selecting module includes the second industrial personal computer and third industrial personal computer, described
Second industrial personal computer is used to have in obstacle motion sequence library from preset mechanical arm according to the information calculated and find collisionless
Path, the third industrial personal computer is for selecting optimal path in collisionless path.In some embodiments, according to optimal path
Time is most short, and path is minimum, after the highest weight calculation of safety, the optimal path selected in the path cooked up.
In further embodiment, the mechanical arm control module includes the first industrial personal computer, and first industrial personal computer is used for
Inverse solution is carried out to optimal path, obtains the specific angle and speed control signal control mechanical arm of mechanical arm corresponding joint, or
Person obtains specific angle and speed control signal, controls mechanical arm for being parsed according to operational order
In further embodiment, the mechanical arm control module includes manipulator, and the manipulator is for manipulating machinery
The movement of arm.
In further embodiment, the path planning selecting module and mechanical arm control module are communicated using socket
Realize interaction.
Hot line robot control system of the invention provides two kinds of operating modes, remote control operation mode and autonomous work
Industry mode, operator can select to enter remote control operation mode or AUTONOMOUS TASK mode on interface.Remote control operation mode
Under, staff manipulates main manipulator and avoids virtual obstacles by the three-dimensional operative scenario shown on observation display,
Dummy activity object location is reached, correspondingly, actual machine arm also can avoid practical obstacle object according to manual operation path, is reached
Actual job object location.Under AUTONOMOUS TASK mode, the mechanical arm current location that control system arrives according to the observation, target job pair
As position and Obstacle Position, contexture by self goes out space path and selects optimal path, and control mechanical arm is according to setting path
It is mobile.
Under remote control operation mode, including main manipulator, the second industrial personal computer, display in control room, robot platform
On the first industrial personal computer, video camera, rangefinder.Staff comes according to the three-dimensional working environment shown on display to master
Manipulator moves, avoiding obstacles, reaches manipulating object place, and the second industrial personal computer obtains master by video camera, rangefinder
Each joint angles information of manipulator, velocity information and acceleration information are sent to the first industrial personal computer, and the first industrial personal computer is according to each
Joint expected angle controls each joint motions of mechanical arm by servo drive motor.
Under AUTONOMOUS TASK mode, including the second industrial personal computer, the third industrial personal computer, display in control room, robot is flat
The first industrial personal computer, image capture module on platform.After staff selects AUTONOMOUS TASK mode, image capture module acquires scene
The range information of image information, mechanical arm and ambient enviroment is sent to the second industrial personal computer by local area network.Second industrial personal computer is in machine
Tool arm, which has, selects a plurality of feasible route in obstacle motion sequence library or accessible motion sequence library, third industrial personal computer is complete using inherent
Weight algorithm finds out optimal path in the mulitpath of the second industrial personal computer selection, is sent to the first industrial personal computer and realizes mechanical arm
Motion control.Whole process will cooperate display to carry out real-time simulative display to the course of work.
In clear, the image processor in real-time monitoring module is according to the image information and distance received
Information calculates mechanical arm current location, and the position of manipulating object calculates the relative position of mechanical arm and manipulating object, in nothing
Obstacle action sequence generates a plurality of space path in library, is sent to third industrial personal computer and is selected.
When there is barrier, the image processor in real-time monitoring module is according to the image information and distance received
Information calculates mechanical arm current location, the position of manipulating object, and the position of barrier calculates mechanical arm and manipulating object,
The relative position of barrier generates a plurality of space path in having of having set in advance, is sent to third industrial personal computer in obstacle sequence library
It is selected.
Embodiment 1
As shown in Figure 1, hot line robot system includes aerial lift device with insulated arm, the control being mounted on aerial lift device with insulated arm
Room passes through telescopic arm and the joining robot platform of bucket arm vehicle.Generator is carried on aerial lift device with insulated arm, gives control room and machine
People's platform power.Staff drives to aerial lift device with insulated arm at livewire work object, by adjusting the driving device of telescopic arm
The height for adjusting robot platform, carries out subsequent livewire work operation.
Hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Wherein, insulation bucket
Set up control room 2 and telescopic arm 3 on arm vehicle 1,3 end of telescopic arm connects robot platform 4, robot platform 4 and control room 2 it
Between using fiber optic Ethernet communication or wireless communication.Aerial lift device with insulated arm 1 is driven by operator, can put down robot
Platform 4 transports operation field.Supporting leg is housed, hot line robot can be achieved after expansion stablizes fortune on aerial lift device with insulated arm 1
Row.Generator is housed, to power in battery capacity deficiency to control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1.
Telescopic arm 3 is equipped with the driving device along telescopic direction, and operator can be by controlling driving device, thus by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made of insulating material, for realizing robot platform 4 and control room 2
Insulation.
Staff selects working method on the display interfaces of control room.
When selecting remote control operation mode, control system will establish respectively the second industrial personal computer and figure under the same local area network
As acquisition system, the second industrial personal computer is communicated with the Socket of the first industrial personal computer.
As shown in Fig. 2, after the port numbers required for the good communication of configuration and IP address, under remote operating operating mode: peace
Fill Socket client-side program the second industrial personal computer to be mounted with Socket service device end program first mechanical arm and the second machine
Tool arm sends request, available binocular camera and the measured value for looking far into the distance rangefinder.Using at image in the second industrial personal computer
Device is managed, using PCL point Yun Ku, the filters such as application fetches index, conditional screening, outlier radius carry out scene reconstruction, into
And obtain the accurate location of barrier.And scene is shown on the display screen of human-computer interaction interface.As shown in figure 4, operator
Member carries out livewire work according to the information on display screen.At this time, it may be necessary to realize the communication of the second industrial personal computer and the first industrial personal computer.It will
Socket service device end program imports the second industrial personal computer, and Socket client-side program imports the first industrial personal computer.When the first industrial personal computer
When issuing target position request, the second industrial personal computer is by target position, and angle information, there are also acceleration informations to pass to for velocity information
First industrial personal computer.First industrial personal computer controls the movement of sequence controlled machine arm by angular transition and manipulator motion, realizes distant behaviour
Make operating mode.
When selecting AUTONOMOUS TASK mode, control system the second industrial personal computer will be established under the same local area network and image is adopted
Collecting system, the second industrial personal computer and third industrial personal computer, third industrial personal computer are communicated with the Socket of the first industrial personal computer.
As shown in figure 3, after the port numbers required for the good communication of configuration and IP address, under autonomous operation operating mode,
By taking the move there are obstacle as an example: being loaded with the second industrial personal computer of Socket client-side program to being loaded with Socket service device end
Image capturing system (first mechanical arm, video camera and rangefinder in second mechanical arm) send request, obtain location information
With image information.Scene reconstruction is realized using the filtering method in this information point of use cloud library, is had in the second industrial personal computer
The three-dimensional coordinate of body obstacle.Then there is the mulitpath in obstacle motion sequence library to be compared with mechanical arm, selects a plurality of
Collisionless path.At this point, the second industrial personal computer will be used as server end, to third industrial personal computer transmitting path.After finishing receiving, the
Three industrial personal computers are most short according to the time, and the shortest principle in path selects optimal path.Third industrial personal computer will be communicated as Socket
Server end, the path coordinate for determining optimal path is sent to and is loaded with the first industrial personal computer of Socket client.It utilizes
Position angle forward and reverse solution conversion program and mechanical arm control program, so that it may realize that there are the mechanical arm shift actions under obstacle.
As shown in Figure 4.After path planning starts, receiving sensor data are first had to, use Socket in the present embodiment
Communications reception binocular camera and the location information and image information for looking far into the distance rangefinder, to realize the scene weight based on cloud library
Structure specifies Obstacle Position.It is then compared with already existing mulitpath in the second industrial personal computer, finds out non-collision road
Diameter.Most short with the time, the minimum measurement standard in path compares out optimal path, completes Path selection work.
As shown in figure 5, human-computer interaction interface is mainly made of two large divisions, left side is remote operating workspace, staff
Livewire work can be realized by the scenery control mechanical arm on display interface.Right side is autonomous operation module, is inside had
The program write.Mechanical arm is moved to after rational position again, autonomous operation realization livewire work can be used.Simultaneously in people
The instantaneous operating conditions and target operating condition that mechanical arm can also be observed on machine interactive interface, provide just for operator
Benefit.
Claims (7)
1. a kind of hot line robot control system, which is characterized in that selected including image information collecting module, path planning
Module, real-time monitoring module and mechanical arm control module, in which:
Described image information acquisition module is used between Collecting operation environmental information and manipulating object, barrier and mechanical arm
Range information, and above- mentioned information are sent to path planning selecting module；
The real-time monitoring module is used to carry out data calculation according to the collected information of image information collecting module and completes field
Scape is rebuild, and virtual work scene is generated；
The path planning selecting module is used to carry out collision-free Trajectory Planning of Welding according to the data calculated and determines optimal path；
The mechanical arm control module is operated for controlling mechanical arm according to optimal path.
2. hot line robot control system according to claim 1, which is characterized in that described image information collection mould
Block includes video camera and rangefinder, and the video camera is used for the image information of collection machinery arm operating environment, and the rangefinder is used
In the distance between Collecting operation object, barrier and mechanical arm information.
3. hot line robot control system according to claim 1, which is characterized in that the real-time monitoring module packet
Image processor and display are included, described image processor is used for the information acquired according to image information collecting module, calculates
The relative positional relationship of the relative positional relationship of mechanical arm and manipulating object, mechanical arm and barrier, the display is for showing
Show virtual work scene.
4. hot line robot control system according to claim 1, which is characterized in that the path planning selects mould
Block includes the second industrial personal computer and third industrial personal computer, and second industrial personal computer is used for according to the information that calculates, from preset
Mechanical arm, which has, finds collisionless path in obstacle motion sequence library, the third industrial personal computer in collisionless path for selecting most
Shortest path.
5. hot line robot control system according to claim 1, which is characterized in that the mechanical arm control module
Including the first industrial personal computer, first industrial personal computer is used to carry out optimal path inverse solution, obtains specific angle and speed control
Signal controlling machine tool arm, or for being parsed according to operational order, obtain specific angle and speed control signal, control
Mechanical arm.
6. according to claim 1 or 4 any hot line robot control systems, which is characterized in that the mechanical arm
Control module includes manipulator, and the manipulator is used to manipulate the movement of mechanical arm.
7. hot line robot control system according to claim 1, which is characterized in that the path planning selects mould
Block and mechanical arm control module are realized using socket communication to be interacted.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811067176.3A CN109434826A (en) | 2018-09-13 | 2018-09-13 | A kind of hot line robot control system |
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| CN201811067176.3A CN109434826A (en) | 2018-09-13 | 2018-09-13 | A kind of hot line robot control system |
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Family
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| CN112248835A (en) * | 2020-10-21 | 2021-01-22 | 北京理工大学 | Charging mechanical arm control method and system |
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| CN113240943A (en) * | 2021-07-12 | 2021-08-10 | 国网瑞嘉(天津)智能机器人有限公司 | Vehicle safety operation control method, device and system and electronic equipment |
| CN113240943B (en) * | 2021-07-12 | 2021-09-24 | 国网瑞嘉(天津)智能机器人有限公司 | Vehicle safety operation control method, device and system and electronic equipment |
| CN114770567A (en) * | 2022-04-28 | 2022-07-22 | 国网山东省电力公司青岛供电公司 | Remote control method and system for distribution live working robot |
| CN117226851A (en) * | 2023-11-10 | 2023-12-15 | 拓锐科技有限公司 | Intelligent robot operation management system based on electric power site |
| CN117226851B (en) * | 2023-11-10 | 2024-01-30 | 拓锐科技有限公司 | Intelligent robot operation management system based on electric power site |
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