CN111300415B - Optimal operation position determination method used in live working robot scene - Google Patents
Optimal operation position determination method used in live working robot scene Download PDFInfo
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- CN111300415B CN111300415B CN202010150313.0A CN202010150313A CN111300415B CN 111300415 B CN111300415 B CN 111300415B CN 202010150313 A CN202010150313 A CN 202010150313A CN 111300415 B CN111300415 B CN 111300415B
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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
- B25J9/16—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
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables
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Abstract
The invention discloses a method for determining an optimal operation position in a live working robot scene, which comprises the following steps: (1) establishing a coordinate system by taking the position of the root of the branch as an original point, and marking the original point as A; (2) calculating a candidate range of the hanging point according to known parameters; (3) calculating the working space of the mechanical arm according to the tail end position of the branch line and each candidate wire hanging point; (4) taking the working space center of the mechanical arm corresponding to each candidate wire hanging point as the optimal working position of the mechanical arm corresponding to the wire hanging point; (5) and forming a new working space of the mechanical arm by using the optimal working positions of the mechanical arms of all the candidate wire hanging points, and selecting the center of the working space as the optimal working position of the mechanical arm. The invention can calculate the available working space, and because the optimal working position is positioned at the center of the working space, the position of the robot is convenient to adjust, the adjustment error is allowed to the maximum extent, the subsequent working operation is convenient, and the failure rate of the working is reduced.
Description
Technical Field
The invention relates to the field of live working robots, in particular to a method for determining an optimal working position in a live working robot scene.
Background
An electric working robot is an emerging industry. The hot-line work robot aims to complete main branch lapping operation of cables in high altitude by using a mechanical arm. The basic action is to use a mechanical arm to approach and grab the branch line, then lift the branch line to approach the main line, and finally hang the tail end of the branch line on the main line.
When the live working robot is used for completing the task, a proper working position needs to be found for the robot, so that the mechanical arm of the live working robot can conveniently execute the series of actions, the condition that certain actions cannot be executed cannot occur, and the actions cannot be executed and collided simultaneously. The current problems with this job site selection are not yet studied.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a method for determining an optimal working position in a scene of an electric working robot, aiming at the defects, so that the optimal working position of the electric working robot during main branch lapping operation can be obtained.
The technical scheme is as follows:
a method for determining an optimal working position in a live working robot scene comprises the following steps:
(1) establishing a coordinate system by taking the position of the root of the branch line as an origin, taking a parallel line which passes through the origin and is parallel to the main line as an x-axis, taking a vertical line which passes through the origin and is intersected with the x-axis as a z-axis in a plane determined by the projections of the x-axis and the x-axis on a horizontal plane, and determining a y-axis according to a right-hand rule;
(2) calculating all possible space positions of the wire hanging points after the branch wires are hung according to the known length s from the root of the branch wire to the tail end of the branch wire, the height difference h between the root of the branch wire and the main wire and the projection distance l from the root of the branch wire to the main wire on the xy plane, thereby calculating the candidate range of the wire hanging points;
(3) calculating the working space of the mechanical arm according to the tail end position of the branch line and each candidate wire hanging point calculated in the step (2);
(4) taking the working space center of the mechanical arm corresponding to each candidate wire hanging point obtained in the step (3) as the optimal working position of the mechanical arm corresponding to the wire hanging point;
(5) and (4) forming the optimal working positions of the mechanical arms of all the candidate wire hanging points obtained in the step (4) into a new working space of the mechanical arms, and selecting the center of the working space as the optimal working position of the mechanical arms.
The candidate range of the hanging point is calculated as follows:
using the parabolic equation y-ax2+ bx + c, performing curve fitting of the hanging line, determining coordinates of hanging line points, and recording the hanging line points as B; when the origin a is a point on the parabola, c is 0, and the parabola equation y is ax2+bx；
Setting the distance from the projection point B' of the hanging line point B on the xy plane to the point A as w, the coordinate of the hanging line point B is (v, l, aw)2+ bw), from geometric relationshipsThe coordinates of the obtained hanging line point B are as follows:
wherein v is the distance from B 'to the y-axis and l is the distance from B' to the x-axis, then
According to the known parabolic arc length s between A and B, the
The indefinite integral is obtained
Substituting formula (1) into formula (2), wherein B and w are variables, and different B can obtain different w, thereby obtaining a hanging line point set { B1，B2，B3，…，Bn}。
In step (2), any two candidates { B }i，BjDistance D (B) betweeni，Bj)>5cm。
Wherein D is the Euclidean distance.
And (3) completing a branch wire hanging task by using one mechanical arm, wherein the working space of the mechanical arm corresponding to each candidate wire hanging point is calculated as follows:
and (3) if the position of the mechanical arm of the hot-line work robot in the coordinate system is O, establishing distance condition constraint according to the length of the mechanical arm:
αA<D(O，A)<βA
αB<D(O，Bn)<βB
for any hanging wire point BnThe position set of the robot satisfying the conditions is
Collection
Namely the hanging line point BnA corresponding workspace of (1); alpha is alphaAAnd betaAMinimum and maximum values, alpha, respectively, representing the position between the arm position and the spur rootBAnd betaBRespectively representing the minimum value and the maximum value of the position between the mechanical arm position and the wire hanging point;
then, the sets are collected
Taking the center as the wire hanging point BnOptimum working position of (2):
further, for all BnThe set of the optimal working positions of all the wire hanging points is recorded as:
forming a new working space of the mechanical arm, taking the center of the working space as the optimal working position of the mechanical arm:
any two candidates
The distance between
αA＝αB＝1.0m，βA＝βB＝1.7m。
The method comprises the following steps that two mechanical arms are used for cooperatively completing a branch wire hanging task, wherein the mechanical arm 1 is used for grabbing a wire, and the mechanical arm 2 is used for hanging the wire; and then obtaining the position of the mechanical arm 1 in the coordinate system to be O and the position of the mechanical arm 2 in the coordinate system to be O' according to the position relation of the two mechanical arms, and establishing distance condition constraint according to the length of the mechanical arms:
αA<D(O，A)<βA
αB<D(O′，Bn)<βB
the rest is the same as the task of completing branch line hanging by using one mechanical arm.
Has the advantages that: the invention can calculate the available working space of the mechanical arm, and because the optimal working position is positioned at the center of the working space, the position of the robot is convenient to adjust, the adjustment error is allowed to the maximum extent, the subsequent working operation is convenient, and the failure rate of the working is reduced.
Drawings
Fig. 1 is a diagram showing the positional relationship between the branch line and the main line after the hooking of the branch line and the main line is completed.
Fig. 2 is a geometric relationship diagram after the hooking of the branch line and the main line is completed in the present invention.
FIG. 3 is a flow chart of the algorithm of the present invention.
Wherein 101 is a main line, 102 is a branch line, 103 is a telegraph pole, and 104 is a branch line frame.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments. Fig. 1 is a diagram showing the positional relationship between the branch lines and the main line after the hooking of the branch lines and the main line is completed, as shown in fig. 1, the main line 101 is vertically fixed on two utility poles 103, one end of the branch line 102 is fixed on the branch line frame 104, the other end is connected with the main line 101, and the shape of the hooked branch line 102 is similar to a parabola.
FIG. 3 is a flow chart of the algorithm of the present invention. As shown in fig. 3, the method for determining the optimal working position in the scene of the live working robot of the present invention includes the following steps:
(1) knowing the length s from the root of the branch line to the tail end of the branch line, the height difference h between the root of the branch line and the main line, and the projection distance l from the root of the branch line to the main line on an xy plane; because the position of the branch root is fixed, a robot coordinate system xyz is established by taking the position of the branch root as an origin, and the origin is marked with a position A. Taking a parallel line which passes through the origin and is parallel to the main line as an x-axis, taking a perpendicular line which passes through the origin and is intersected with the x-axis as a z-axis in a plane determined by projections of the x-axis and the x-axis on a horizontal plane, and determining a y-axis according to a right-hand rule; as shown in fig. 2.
(2) Calculating all possible spatial positions of the wire hanging points after the branch wires are hung according to the known parameters in the step (1), thereby calculating the candidate range of the wire hanging points; the method specifically comprises the following steps:
using the parabolic equation y-ax2+ bx + c, determining coordinates of the hanging line point, recording the hanging line point as B, and the original point A as a point on the parabola, wherein c is 0, and the parabola equation y is ax2+ bx. The hanging line point B is also a point on the parabola;
a is taken as an origin, an extension line of a connecting line of a projection of a main line hanging line point on an xy plane and the point A is taken as an x 'axis, and a perpendicular line which is vertical to the xy plane and passes through the point A is taken as a y' axis to establish a coordinate system x 'y'. If the distance from the projection B ' of the hanging line point B on the XY plane to the point A is w, the coordinate of the hanging line point B on the branch line coordinate system x ' y ' is (w, aw)2+ bw). Given that the distance from B 'to the x-axis is l and the distance from B' to the Y-axis is v, the coordinates of the hanging line point B in the xyz coordinate system are (v, l, h) and the coordinates of the hanging line point B in the x 'Y' coordinate system are (w, h). From the geometrical relationship, the coordinate of the hanging line point B in the robot coordinate system xyz is
Wherein
At this time, knowing that the parabolic arc length between A and B is s, and s is the length from the root of the branch to the end of the branch, then
The indefinite integral is obtained
Formula (1) is substituted for formula (2), wherein B and w are variables, and different w can be obtained by different B, so that a hanging line point set { B1，B2，B3，…，Bn}. Since two candidate points are considered to be similar if the distance between the two candidate points is too close, the processing effect is approximately the same, and in order to reduce the amount of calculation and therefore the size of the set, any two candidates { B } are required for the approximately same point combination calculationi，BjDistance D (B) betweeni，Bj)>5cm, D can use Euclidean distance;
(3) calculating the working space of the mechanical arm according to the tail end position of the branch line and each candidate wire hanging point calculated in the step (2); the method specifically comprises the following steps:
use a arm to accomplish branch line task, the arm of establishing electrified operation robot is the O in the coordinate system position, because the structure of arm, its connecting rod has physical length, if the overlength then can't reach, if too short then the arm need be folded very seriously also can't carry out the operation, then establish the distance condition according to arm length and retrain:
αA<D(O，A)<βA
αB<D(O，Bn)<βB
for any hanging wire point BnThe position set of the robot satisfying the conditions is
Similarly, in order to prevent the effect of the close points from being approximately the same, and also to prevent the working positions of different robots from overlapping, any two candidates are required
The distance between
D may be the Euclidean distance; collection
Namely the hanging line point BnA corresponding workspace of (1); alpha is alphaAAnd betaAMinimum and maximum values, alpha, respectively, representing the position between the arm position and the spur rootBAnd betaBRespectively representing the minimum and maximum values of the position between the position of the arm and the point of wire hanging, the determination of said parameters being related to the physical parameter of the arm selected, in this case alpha is selectedA＝αB＝1.0m，βA＝βB＝1.7m；
(4) Taking the working space center of the mechanical arm corresponding to each candidate wire hanging point obtained in the step (3) as the optimal working position of the mechanical arm corresponding to the wire hanging point; namely:
to the collection
Taking the center as the wire hanging point BnAt the optimum working position
(5) Forming the optimal working positions of the mechanical arms of all the candidate wire hanging points obtained in the step (4) into a new working space of the mechanical arms, and selecting the center of the working space as the optimal working position of the mechanical arms;
the method specifically comprises the following steps:
for all BnThe set of the optimal working positions of all the wire hanging points is recorded as
A new complete working space is formed, and the center of the working space is taken as the optimal working position of the mechanical arm:
in the invention, two mechanical arms can be used for cooperatively completing a branch wire hanging task, wherein the mechanical arm 1 is used for grabbing a wire, and the mechanical arm 2 is used for hanging the wire; assuming that two mechanical arms are used to cooperatively complete the task, the position of the mechanical arm 1 in the coordinate system is still O, the position of the mechanical arm 2 in the coordinate system is O ', and the relative position relationship between O and O' is fixed (pre-established), the distance condition constraint of step (4) is changed into
αA<D(O，A)<βA
αB<D(O′，Bn)<βB
The rest is the same as the task of completing branch line hanging by using one mechanical arm.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and the equivalents are protected by the present invention.
Claims (8)
1. A method for determining an optimal operation position in a live working robot scene is characterized by comprising the following steps: the method comprises the following steps:
(1) establishing a coordinate system by taking the position of the root of the branch line as an origin, taking a parallel line which passes through the origin and is parallel to the main line as an x-axis, taking a vertical line which passes through the origin and is intersected with the x-axis as a z-axis in a plane determined by the projections of the x-axis and the x-axis on a horizontal plane, and determining a y-axis according to a right-hand rule;
(2) calculating all possible space positions of the wire hanging points after the branch wires are hung according to the known length s from the root of the branch wire to the tail end of the branch wire, the height difference h between the root of the branch wire and the main wire and the projection distance l from the root of the branch wire to the main wire on the xy plane, thereby calculating the candidate range of the wire hanging points;
(3) calculating the working space of the mechanical arm according to the tail end position of the branch line and each candidate wire hanging point calculated in the step (2);
(4) taking the working space center of the mechanical arm corresponding to each candidate wire hanging point obtained in the step (3) as the optimal working position of the mechanical arm corresponding to the wire hanging point;
(5) and (4) forming the optimal working positions of the mechanical arms of all the candidate wire hanging points obtained in the step (4) into a new working space of the mechanical arms, and selecting the center of the working space as the optimal working position of the mechanical arms.
2. The method for determining the optimal working position in the scene of a live working robot according to claim 1, characterized in that: the candidate range of the hanging point is calculated as follows:
using the parabolic equation y-ax2+ bx + c, performing curve fitting of the hanging line, determining coordinates of hanging line points, and recording the hanging line points as B; when the origin a is a point on the parabola, c is 0, and the parabola equation y is ax2+bx；
Setting the distance from the projection point B' of the hanging line point B on the xy plane to the point A as w, the coordinate of the hanging line point B is (v, l, aw)2+ bw), the coordinates of the hanging line point B obtained from the geometrical relationship are:
wherein v is the distance from B 'to the y-axis and l is the distance from B' to the x-axis, then
According to the known parabolic arc length s between A and B, then
The indefinite integral is obtained
Substituting formula (1) into formula (2), wherein B and w are variables, and different B can obtain different w, thereby obtaining a hanging line point set { B1，B2，B3，…，Bn}。
3. The method for determining the optimal working position in the scene of a live working robot according to claim 2, characterized in that: in step (2), any two candidates { B }i，BjDistance D (B) betweeni，Bj)>5cm。
4. The method for determining the optimal working position in the scene of a live working robot according to claim 3, characterized in that: d is the Euclidean distance.
5. The method for determining the optimal working position in the scene of a live working robot according to claim 1, characterized in that: and (3) completing a branch wire hanging task by using one mechanical arm, wherein the working space of the mechanical arm corresponding to each candidate wire hanging point is calculated as follows:
and (3) if the position of the mechanical arm of the hot-line work robot in the coordinate system is O, establishing distance condition constraint according to the length of the mechanical arm:
αA<D(O，A)<βA
αB<D(O，Bn)<βB
for any hanging wire point BnThe position set of the robot satisfying the conditions is
Collection
Namely the hanging line point BnA corresponding workspace of (1); alpha is alphaAAnd betaAMinimum and maximum values, alpha, respectively, representing the position between the arm position and the branch rootBAnd betaBRespectively representing the minimum value and the maximum value of the positions between the mechanical arm position and the wire hanging point;
then, the sets are collected
Taking the center as the wire hanging point BnOptimum working position of (2):
further, for all BnThe set of the optimal working positions of all the wire hanging points is recorded as:
forming a new working space of the mechanical arm, taking the center of the working space as the optimal working position of the mechanical arm:
6. the method for determining the optimal working position in the scene of a live working robot according to claim 5, characterized in that: any two candidates
The distance between
7. The method for determining the optimal working position in the scene of a live working robot according to claim 5, characterized in that: alpha is alphaA＝αB＝1.0m，βA＝βB＝1.7m。
8. The method for determining the optimal working position in the scene of a live working robot according to claim 5, characterized in that: the method comprises the following steps that two mechanical arms are used for cooperatively completing a branch wire hanging task, wherein the mechanical arm 1 is used for grabbing a wire, and the mechanical arm 2 is used for hanging the wire; and then obtaining the position of the mechanical arm 1 in the coordinate system to be O and the position of the mechanical arm 2 in the coordinate system to be O' according to the position relation of the two mechanical arms, and establishing distance condition constraint according to the length of the mechanical arms:
αA<D(O，A)<βA
αB<D(O′，Bn)<βB
the rest is the same as the task of completing branch line hanging by using one mechanical arm.
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| PCT/CN2020/113915 WO2021174798A1 (en) | 2020-03-06 | 2020-09-08 | Working position determination method for live-current robot scenario |
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| CN112366615B (en) * | 2020-09-22 | 2022-04-22 | 亿嘉和科技股份有限公司 | Non-bucket-moving line lapping method for scene with vertical distance of 1m |
| CN117207202B (en) * | 2023-11-09 | 2024-04-02 | 国网山东省电力公司东营供电公司 | Anti-collision constraint control method, system, terminal and medium for live working robot |
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