CN110842951A - Control system and method based on defect repairing robot on overhead conductor - Google Patents
Control system and method based on defect repairing robot on overhead conductor Download PDFInfo
- Publication number
- CN110842951A CN110842951A CN201911125641.9A CN201911125641A CN110842951A CN 110842951 A CN110842951 A CN 110842951A CN 201911125641 A CN201911125641 A CN 201911125641A CN 110842951 A CN110842951 A CN 110842951A
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- mechanical
- mechanical arm
- clamping jaw
- arm
- control subsystem
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The application discloses a control system and a method for a defect repairing robot based on an overhead conductor, and the control system comprises a mechanical arm, wherein a visual positioning device is arranged on the mechanical arm, a control subsystem is arranged in the mechanical arm, a mechanical clamping jaw is arranged at the tail end of the mechanical arm, and the visual positioning device and the mechanical clamping jaw are both connected with the control subsystem; the visual positioning device comprises two cameras which are respectively positioned at different positions of the mechanical arm; the control subsystem comprises a controller, a pressure sensor and a torque sensor, and the pressure sensor and the torque sensor are both connected with the controller; the mechanical clamping jaw comprises a driving device, a transmission device and a mechanical finger, wherein the two ends of the transmission device are connected with the driving device and the mechanical finger. The automatic positioning of the mechanical arm is realized by using the visual positioning device, so that errors caused by the judgment of the distance by observing an image are avoided, and the operation precision of the robot is improved; the control subsystem guides the action of the mechanical clamping jaw according to the feedback data of the sensor, avoids the damage of a lead caused by manual guide operation, and improves the operation safety.
Description
Technical Field
The application relates to the field of power equipment maintenance, in particular to a control system and method based on a defect repairing robot on an overhead conductor.
Background
The rapid development of the robot technology provides a new way for the inspection and repair of the high-voltage transmission line. The robot is used for assisting or replacing people to carry out wire detection and repair operation, and the operation is carried out by the robot in an indirect mode, so that the safety of operating personnel is guaranteed; the robot has a compact structure, and ensures enough safety distance; when the robot works, only the personnel on the ground need to operate, and the efficiency is greatly improved. The device not only ensures the personal safety of operators, but also greatly reduces the labor intensity, improves the labor efficiency and the operational standardization, and can also realize all-weather live working.
However, there are some disadvantages in the process of using the robot to perform live-line work, for example, the robot mainly relies on the operator to observe an image (real-time image or visual observation) to determine when accurately positioning a certain component, and the clamping force between the mechanical arm and the wire lacks feedback, which easily causes low precision and safety of live-line work. Therefore, a control system and method based on a defect repair robot on an overhead conductor are provided.
Disclosure of Invention
The application provides a control system and a control method based on a defect repairing robot on an overhead conductor, and aims to solve the technical problems of low operation precision and low safety when the defect repairing robot on the overhead conductor works.
In order to solve the above problems, the present application provides the following technical solutions:
control system based on defect repair robot on air wire, including the arm, wherein: the mechanical arm is provided with a visual positioning device, a control subsystem is arranged inside the mechanical arm, the tail end of the mechanical arm is provided with a mechanical clamping jaw, and the visual positioning device and the mechanical clamping jaw are respectively in communication connection with the control subsystem; the visual positioning device comprises two cameras which are respectively positioned at two different positions of the mechanical arm; the control subsystem comprises a controller, a pressure sensor and a torque sensor, wherein the pressure sensor and the torque sensor are respectively in communication connection with the controller; the mechanical clamping jaw comprises a driving device, a transmission device and a mechanical finger, wherein two ends of the transmission device are respectively connected with the driving device and the mechanical finger.
Optionally, the pressure sensor is arranged at the fingertip and the base of the mechanical finger of the mechanical clamping jaw.
Optionally, the torque sensor is provided at a joint of a mechanical finger of the mechanical jaw.
Optionally, the robotic arm and the mechanical gripper are both multi-degree of freedom structures.
The control method based on the defect repairing robot on the overhead conductor comprises the following steps: acquiring the position information of the mechanical arm by using a visual positioning device, and transmitting the position information to a control subsystem; the control subsystem drives the mechanical arm to move according to the position information; when the mechanical arm reaches a preset position, actual pressure data when the mechanical clamping jaw grabs a wire and actual torque data of each joint are respectively acquired by using a pressure sensor and a torque sensor; and the control subsystem controls the movement of the mechanical finger through a driving device and a transmission device of the mechanical clamping jaw according to the actual pressure data and the standard pressure data and the actual torque data and the standard torque data.
Optionally, acquiring the position information of the mechanical arm by using a visual positioning device includes: respectively acquiring images of the mechanical arm in different directions by using two cameras on the mechanical arm; and respectively carrying out three-dimensional matching on the two images to obtain the position information of the mechanical arm, wherein the position information of the mechanical arm is obtained according to the distance between the mechanical arm and a preset target.
Optionally, both the standard pressure data and the standard torque data are obtained experimentally.
Optionally, the experimental procedure comprises: the mechanical clamping jaws respectively grab the wires of different models, and standard pressure data and standard torque data of the mechanical arm are obtained when the mechanical clamping jaws grab the wires of different models do not damage the wires and do not skid.
Has the advantages that: the control system comprises a mechanical arm, a visual positioning device is arranged on the mechanical arm, a control subsystem is arranged inside the mechanical arm, a mechanical clamping jaw is arranged at the tail end of the mechanical arm, and the visual positioning device and the mechanical clamping jaw are in communication connection with the control subsystem respectively. In the using process, the visual positioning device is used for acquiring the position information of the mechanical arm and transmitting the position information to the control subsystem. And the control subsystem drives the mechanical arm to move according to the position information. When the mechanical arm reaches a preset position, the sensor is used for acquiring actual data when the mechanical clamping jaw grabs the wire. And the control subsystem controls the mechanical clamping jaw to move according to the actual data and the standard data. In order to accurately acquire the position information of the mechanical arm, the visual positioning device comprises two cameras which are respectively positioned at two different positions of the mechanical arm. In the using process, the two cameras respectively acquire images of the mechanical arm in different directions, and the two images are respectively subjected to stereo matching to obtain position information of the mechanical arm. In order to conveniently control the motion of the mechanical arm according to the position information, the control subsystem comprises a controller, a pressure sensor and a torque sensor, and the pressure sensor and the torque sensor are respectively in communication connection with the controller. In the using process, pressure data acquired by the pressure sensor and moment data acquired by the moment sensor are transmitted to the controller, and the controller controls the mechanical arm to move according to the pressure data and the moment data. In order to facilitate the movement of the mechanical arm, the mechanical clamping jaw comprises a driving device, a transmission device and a mechanical finger, wherein two ends of the transmission device are respectively connected with the driving device and the mechanical finger. In the use process, the controller drives the transmission device through the driving device to control the movement of the mechanical finger. According to the mechanical clamping jaw movement control system, the visual positioning device is used for acquiring the position information of the mechanical arm, the control subsystem controls the mechanical arm to move to a preset position according to the position information, and the mechanical clamping jaw movement is controlled according to data acquired by the pressure sensor and the torque sensor. According to the robot positioning device, the automatic positioning of the mechanical arm can be realized by using a binocular vision positioning technology of the vision positioning device, so that an error caused by distance judgment through an image observed by an operator is avoided, and the operation precision and efficiency of the robot are improved; meanwhile, the control subsystem can guide the action of the mechanical clamping jaw according to information fed back by the sensor on the mechanical clamping jaw, so that the feedback of force and moment is realized, the phenomenon that the mechanical clamping jaw slips or a wire is damaged due to overlarge force caused by unknown force in the manual guide operation process is avoided, and the operation safety of the robot is improved.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.
FIG. 1 is a schematic diagram of the control system of the application based defect repair robot on overhead conductor;
FIG. 2 is a schematic diagram of a visual positioning apparatus provided in the application;
FIG. 3 is a schematic diagram of the control subsystem structure provided in the application;
FIG. 4 is a schematic diagram of a mechanical jaw configuration provided in the application;
description of the drawings: 1-visual positioning device, 2-control subsystem, 3-mechanical clamping jaw, 11-camera, 21-controller, 22-pressure sensor, 23-torque sensor, 31-driving device, 32-transmission device and 33-mechanical finger.
Detailed Description
Fig. 1 is a schematic structural diagram of a control system based on a defect repairing robot on an overhead line provided by the present application; FIG. 2 is a schematic structural diagram of a visual positioning apparatus provided herein; FIG. 3 is a schematic structural diagram of a control subsystem provided in the present application; FIG. 4 is a schematic diagram of a mechanical jaw configuration provided herein; referring to fig. 1, 2, 3 and 4, it can be known that the present application provides a control system based on a defect repairing robot on an overhead line, the control system includes a robot arm, a visual positioning device 1 is arranged on the robot arm, a control subsystem 2 is arranged inside the robot arm, a mechanical clamping jaw 3 is arranged at the end of the robot arm, and the visual positioning device 1 and the mechanical clamping jaw 3 are respectively in communication connection with the control subsystem 2. In the using process, the visual positioning device 1 is used for acquiring the position information of the mechanical arm and transmitting the position information to the control subsystem 2. The control subsystem 2 drives the mechanical arm to move according to the position information. When the mechanical arm reaches a preset position, the sensor is used for acquiring actual data when the mechanical clamping jaw 3 grabs the wire. And the control subsystem 2 controls the mechanical clamping jaw 3 to move according to the actual data and the standard data. In order to accurately acquire the position information of the mechanical arm, the visual positioning device 1 includes two cameras 11, and the two cameras 11 are respectively located at two different positions of the mechanical arm. In the using process, the two cameras 11 respectively acquire images of the mechanical arm in different directions, and the two images are respectively subjected to stereo matching to obtain position information of the mechanical arm. In order to control the motion of the mechanical arm according to the position information, the control subsystem 2 comprises a controller 21, a pressure sensor 22 and a torque sensor 23, wherein the pressure sensor 22 and the torque sensor 23 are respectively in communication connection with the controller 21. In the using process, the pressure data acquired by the pressure sensor 22 and the moment data acquired by the moment sensor 23 are transmitted to the controller 21, and the controller 21 controls the mechanical arm to move according to the pressure data and the moment data. In order to facilitate the movement of the mechanical arm, the mechanical clamping jaw 3 comprises a driving device 31, a transmission device 32 and a mechanical finger 33, wherein two ends of the transmission device 32 are respectively connected with the driving device 31 and the mechanical finger 33. During use, the controller 21 drives the transmission device 32 through the driving device 31 to control the mechanical finger 33 to move. According to the application, the visual positioning device 1 is used for acquiring the position information of the mechanical arm, the control subsystem 2 controls the mechanical arm to move to a preset position according to the position information, and the mechanical clamping jaw 3 is controlled to move according to the data acquired by the pressure sensor 22 and the torque sensor 23. In the application, the automatic positioning of the mechanical arm can be realized by using the binocular vision positioning technology of the vision positioning device 1, so that the error caused by judging the distance through the image observed by an operator is avoided, and the operation precision and efficiency of the robot are improved; meanwhile, the control subsystem 2 can guide the action of the mechanical clamping jaw 3 according to information fed back by the sensor on the mechanical clamping jaw 3, so that the feedback of force and moment is realized, the phenomenon that the mechanical clamping jaw 3 slips or a wire is damaged due to overlarge force caused by unknown force in the manual guide operation process is avoided, and the operation safety of the robot is improved.
In order to accurately acquire the pressure data of each mechanical finger 33 of the mechanical clamping jaw 3, in the embodiment, the pressure sensor 22 is arranged at the fingertip and the base of the mechanical finger 33 of the mechanical clamping jaw 3. The pressure sensors 22 at the finger tip and the finger root collect pressure data of the mechanical finger 33 when the mechanical clamping jaw 3 grabs the lead.
In order to accurately acquire torque data of each joint of the mechanical clamping jaw 3, in the present embodiment, the torque sensor 23 is disposed at a joint of the mechanical finger 33 of the mechanical clamping jaw 3. The moment sensor 23 at the joint collects moment data of each joint of the mechanical finger 33, namely the bending angle of the mechanical finger 33.
In order to fully move the mechanical arm and the mechanical clamping jaw 3, in this embodiment, the mechanical arm and the mechanical clamping jaw 3 are both multi-degree-of-freedom structures. In the using process, the mechanical arm with the multi-degree-of-freedom structure and the mechanical clamping jaw 3, and the mechanical clamping jaw 3 and the mechanical arm move along any direction at any angle.
The application provides a control system based on a defect repairing robot on an overhead conductor, and also provides a control method based on the defect repairing robot on the overhead conductor, wherein the control method comprises the following steps:
s01: and acquiring the position information of the mechanical arm by using the visual positioning device, and transmitting the position information to the control subsystem.
S011: and respectively acquiring images of the mechanical arm in different directions by using two cameras on the mechanical arm.
S012: and respectively carrying out three-dimensional matching on the two images to obtain the position information of the mechanical arm, wherein the position information of the mechanical arm is obtained according to the distance between the mechanical arm and a preset target.
S02: and the control subsystem drives the mechanical arm to move according to the position information.
S03: when the mechanical arm reaches a preset position, actual pressure data when the mechanical clamping jaw grabs the wire and actual torque data of each joint are acquired by the pressure sensor and the torque sensor respectively.
S04: and the control subsystem controls the movement of the mechanical finger through a driving device and a transmission device of the mechanical clamping jaw according to the actual pressure data and the standard pressure data and the actual torque data and the standard torque data.
And the standard pressure data and the standard torque data are obtained through experiments.
The experimental process comprises the following steps: the mechanical clamping jaws respectively grab the wires of different models, and standard pressure data and standard torque data of the mechanical arm are obtained when the mechanical clamping jaws grab the wires of different models do not damage the wires and do not skid.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (8)
1. Control system based on defect repair robot on air wire, its characterized in that includes the arm, wherein:
the mechanical arm is provided with a visual positioning device (1), a control subsystem (2) is arranged inside the mechanical arm, the tail end of the mechanical arm is provided with a mechanical clamping jaw (3), and the visual positioning device (1) and the mechanical clamping jaw (3) are respectively in communication connection with the control subsystem (2);
the visual positioning device (1) comprises two cameras (11), and the two cameras (11) are respectively positioned at two different positions of the mechanical arm;
the control subsystem (2) comprises a controller (21), a pressure sensor (22) and a torque sensor (23), wherein the pressure sensor (22) and the torque sensor (23) are respectively in communication connection with the controller (21);
the mechanical clamping jaw (3) comprises a driving device (31), a transmission device (32) and a mechanical finger (33), wherein two ends of the transmission device (32) are respectively connected with the driving device (31) and the mechanical finger (33).
2. Control system according to claim 1, characterized in that the pressure sensor (22) is arranged at the tip and root of the mechanical finger (33) of the mechanical jaw (3).
3. Control system according to claim 1, characterized in that the torque sensor (23) is arranged at the joint of the mechanical finger (33) of the mechanical jaw (3).
4. Control system according to claim 1, characterized in that the robot arm and the mechanical gripper (3) are both multi-degree of freedom structures.
5. A control method based on a defect repairing robot on an overhead conductor, characterized in that based on the control system of any one of claims 1-4, the control method comprises:
acquiring position information of the mechanical arm by using a visual positioning device, and transmitting the position information to a control subsystem;
the control subsystem drives the mechanical arm to move according to the position information;
when the mechanical arm reaches a preset position, actual pressure data when the mechanical clamping jaw grabs a wire and actual torque data of each joint are respectively acquired by using a pressure sensor and a torque sensor;
and the control subsystem controls the movement of the mechanical finger through a driving device and a transmission device of the mechanical clamping jaw according to the actual pressure data and the standard pressure data and the actual moment data and the standard moment data.
6. The control method according to claim 5, wherein acquiring the position information of the robot arm using the visual positioning device comprises:
respectively acquiring images of the mechanical arm in different directions by using two cameras on the mechanical arm;
and performing three-dimensional matching on the two images respectively to obtain the position information of the mechanical arm, wherein the position information of the mechanical arm is obtained according to the distance between the mechanical arm and a preset target.
7. The control method according to claim 5, characterized in that the standard pressure data and the standard torque data are both obtained experimentally.
8. The control method of claim 7, wherein the experimental procedure comprises:
the mechanical clamping jaws respectively grab the wires of different models, and standard pressure data and standard torque data of the mechanical arm are obtained when the mechanical clamping jaws grab the wires of different models do not damage the wires and do not skid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911125641.9A CN110842951A (en) | 2019-11-18 | 2019-11-18 | Control system and method based on defect repairing robot on overhead conductor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911125641.9A CN110842951A (en) | 2019-11-18 | 2019-11-18 | Control system and method based on defect repairing robot on overhead conductor |
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| CN110842951A true CN110842951A (en) | 2020-02-28 |
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| CN201911125641.9A Pending CN110842951A (en) | 2019-11-18 | 2019-11-18 | Control system and method based on defect repairing robot on overhead conductor |
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