CN111805506B

CN111805506B - Balance control method for power inspection robot and soft waist platform

Info

Publication number: CN111805506B
Application number: CN202010641063.0A
Authority: CN
Inventors: 王峥; 刘思聪; 苏引引; 方忠桂; 魏瀛
Original assignee: Shenzhen Renzhi Technology Co ltd
Current assignee: Shenzhen Renzhi Technology Co ltd
Priority date: 2020-07-06
Filing date: 2020-07-06
Publication date: 2022-04-29
Anticipated expiration: 2040-07-06
Also published as: CN111805506A

Abstract

A balance control method for an electric power inspection robot and a soft waist platform is disclosed, wherein the electric power inspection robot comprises a case, a suspension movement mechanism, a mechanical arm, the soft waist platform and a controller; the soft body driving group in the soft body waist platform comprises a first shelf, a second shelf and a plurality of soft body drivers, wherein one ends of the plurality of soft body drivers are connected to the first shelf, and the other ends of the plurality of soft body drivers are connected to the second shelf; one side of the first shelf, which is not connected with the soft driver, is fixed on the case, and the other side of the second shelf, which is not connected with the soft driver, is provided with a mechanical arm; the controller is arranged in the case and is in pipeline connection with the software driving group in the software waist platform; the controller is used for driving at least one software driver in the software driver group to do telescopic motion through the fluid medium so as to adjust the space posture of the second shelf. This application provides certain initiative anti-shake ability for the arm with the help of software waist platform, improves the stability of arm in the live working.

Description

Balance control method for power inspection robot and soft waist platform

Technical Field

The invention relates to the technical field of power inspection, in particular to a power inspection robot and a balance control method of a soft waist platform.

Background

At present, in the scene of the live-line inspection work of the high-voltage transmission line, the electric inspection robot is generally used to replace manual inspection work, and the method has the advantages of safety and high efficiency. The electric power inspection robot generally comprises a robot body, a suspension motion mechanism and a mechanical arm, wherein the suspension motion mechanism is hung on a power transmission cable through a sliding wheel, the cable is used as an advancing track, and the robot body is pulled to move and has certain obstacle crossing capacity; the multi-joint mechanical arm is installed on the robot body, and live-wire work such as detection, maintenance, obstacle clearance is carried out to the cable through the end effector of cooperation specific function.

The existing robot for live-line inspection work of the power transmission line is limited by the self weight in an application scene, and the self weight of the robot needs to be reduced as much as possible while each functional module is equipped. The weight limits the size of the articulated arm, which is usually constructed of a metal structure, and the working space of the arm is therefore limited. In order to smoothly and efficiently complete the inspection task, the working condition of live inspection requires that the mechanical arm carried by the robot has as large a working space and flexibility as possible, and the robot also needs to face the cable and the swinging of the machine body caused by external environment disturbance (such as wind power). If the cable or the body swings, the robot arm and the end effector may not work accurately and stably during the operation, and even the robot arm may collide with the cable or other object to be operated.

At present, the mechanical arm of the power inspection robot has very limited flexibility and operable space, and cannot meet the potential comprehensive application requirements formed by various power transmission towers (tangent towers, tension towers and the like), various power loops (single loop, double loops on the same tower and multi-loop tower poles) and various lead parts (insulator strings, vibration dampers and spacing rods). In addition, when the power inspection robot works in a field environment with disturbance, the mechanical arm of the existing robot cannot effectively cope with the situation that the mechanical arm action and the pose are unstable due to the environmental disturbance, the efficiency of the hot-line work of the mechanical arm is influenced, and the safety of the hot-line work is seriously damaged.

Disclosure of Invention

The invention mainly solves the technical problem of how to overcome the problem of poor flexibility and stability of a mechanical arm in the conventional electric power inspection robot. In order to solve the above technical problems, the present application provides a balance control method for a power inspection robot and a soft waist platform.

According to a first aspect, an embodiment provides an electric power inspection robot, which comprises a case, a suspension motion mechanism and a mechanical arm, wherein the suspension motion mechanism and the mechanical arm are assembled on the case; the soft waist platform comprises a soft driving group, the soft driving group comprises a first shelf, a second shelf and a plurality of soft drivers, one ends of the plurality of soft drivers are connected to the first shelf, and the other ends of the plurality of soft drivers are connected to the second shelf; one side of the first shelf, which is not connected with the soft driver, is fixed on the case, and the other side of the second shelf, which is not connected with the soft driver, is provided with the mechanical arm; the controller is arranged in the case and is in pipeline connection with the software driving group in the software waist platform; the controller is used for driving at least one soft driver in the soft driving group to do telescopic motion through a fluid medium so as to adjust the space posture of the second shelf.

For the soft body driving group, each soft body driver is provided with a foldable shell, a cavity for containing fluid medium is formed in the shell, and a fluid pipeline communicated with the cavity is arranged at one end of the shell connected to the first shelf; the plurality of soft drivers in the soft driver group form a driving unit, the fluid pipeline of each soft driver in the driving unit is used for connecting a medium source of fluid, and the shell of each soft driver is used for performing linear extension when the fluid pipeline is filled with the fluid and performing linear shortening when the fluid pipeline is sucked out; the other soft drivers in the soft driver group form a sensing unit, the fluid pipeline of each soft driver in the sensing unit is used for being respectively sealed, and the shell of each soft driver is used for sensing the space attitude change of the first shelf and/or the second shelf to be self-adaptively stretched and contracted.

Each soft driver in the driving unit and each soft driver in the sensing unit are arranged between the first shelf and the second shelf in parallel, and form uniform distribution of relative positions on the first shelf.

The soft waist platform is provided with a plurality of soft driving groups which are sequentially connected in series and form an upper and lower layered structure; the second shelf of the soft driving group positioned at the lower layer is fixedly connected with the first shelf of the soft driving group positioned at the upper layer, and the fixedly connected second shelf and the first shelf form a middle splint of the soft waist platform; the first shelf of the software driving group positioned at the lowest layer forms a bottom plate of the software waist platform, and the second shelf of the software driving group positioned at the uppermost layer forms a top plate of the software waist platform; the bottom plate is fixed on the surface of the case, and the mechanical arm is assembled on the top plate.

The controller comprises a fluid pump, a plurality of electromagnetic valves, a plurality of pressure sensors, a motion sensor, a state sensing circuit and a central processing unit; for the driving unit in each soft body driving group, the fluid pipeline communicated with each soft body driver in the driving unit is respectively connected with the output ends of the plurality of electromagnetic valves in a one-to-one correspondence mode, and the input ends of the plurality of electromagnetic valves are connected with the fluid pump; the fluid pump is used for being communicated to a medium source of the fluid and pumping in or out the fluid; for the sensing unit in each soft body driving group, the fluid pipeline communicated with each soft body driver in the sensing unit respectively forms a closed state; the fluid pipelines of the soft drivers in the soft driver group of each layer are matched with the pressure sensors one by one, and the pressure sensors are used for respectively detecting the fluid pressure in the fluid pipelines; the motion sensor is used for detecting the motion inertia of the case; the state sensing circuit is in signal connection with the motion sensor and the pressure sensors and is used for converting motion inertia detected by the motion sensor and fluid pressure detected by the pressure sensors into state information which can be sensed by the central processing unit; the fluid pump, the electromagnetic valves and the state sensing circuit are in signal connection with the central processing unit, and the central processing unit is used for controlling the fluid pump and the electromagnetic valves to act according to state information converted by the state sensing circuit, and adjusting the fluid pressure required by the extension and contraction of each soft body driver in the belonging driving unit in the soft body driving group of each layer by driving the injected or sucked fluid.

The power inspection robot also comprises a monitor, wherein the monitor comprises a camera and a holder, and the camera is connected to one end of the holder and is used for shooting an operation image of the mechanical arm; the other end of the holder is fixed on the surface of the case and used for weakening the shake transmitted to the camera in the case during swinging.

The controller also comprises a communication circuit, and the communication circuit and the camera are in signal connection with the central processing unit; the communication circuit is used for transmitting the operation image shot by the camera to a user terminal and receiving a control signal which is sent by the user terminal to the central processing unit and aims at the software waist platform.

According to a second aspect, an embodiment provides a balance control method for a soft body lumbar platform, wherein the soft body lumbar platform is a layered structure formed by a plurality of soft body driving groups involved in the first embodiment, and the balance control method comprises the following steps: acquiring state information of motion inertia and state information of fluid pressure; calculating the respective target displacement of each soft driver in the driving unit in the soft driving group of each layer when the space posture of the top plate of the soft waist platform is stabilized according to the state information of the motion inertia;

calculating the fluid pressure required by the extension and retraction of each soft driver in the drive unit according to the target displacement of each soft driver in the drive unit belonging to the soft drive group in which each layer is positioned; respectively sending an adjusting instruction to the fluid pump and the plurality of electromagnetic valves, and driving to inject or suck fluid according to the adjusting instruction and the state information of the fluid pressure so as to adjust each soft body driver in the drive unit belonging to the soft body drive group in which each layer is located to reach the fluid pressure required by respective expansion and contraction; the driving units and the sensing units in each layer are used for jointly providing movement amount opposite to movement inertia, and the spatial posture of the top plate is balanced in a motion compensation mode.

The motion inertia comprises the swinging direction, the swinging displacement and the swinging angle of the case: if the chassis is judged to swing up and down, sending an adjusting instruction to control the plurality of electromagnetic valves and the fluid pump to act, respectively injecting or sucking fluid into or out of each soft driver in the belonging driving unit in each layer, and jointly providing a displacement opposite to the up-and-down swing by the driving units and the sensing units in each layer so as to balance the spatial attitude of the top plate; if the case swings left and right, sending an adjusting instruction to control the plurality of electromagnetic valves and the fluid pump to act, respectively injecting or sucking fluid into or out of at least two soft drivers which are distributed in the driving unit and distributed left and right in each layer, and jointly providing an angle opposite to the left and right swinging by the driving unit and the sensing unit in each layer to balance the spatial posture of the top plate; if the chassis swings back and forth, an adjusting instruction is sent to control the plurality of electromagnetic valves and the fluid pump to act, at least two soft drivers which belong to the driving units in each layer and are distributed back and forth inject or suck fluid respectively, and the driving units and the sensing units in each layer jointly provide an angle opposite to the forward and backward swinging to balance the space attitude of the movable plate.

According to a third aspect, an embodiment provides a computer-readable storage medium characterized by a program executable by a processor to implement the balance control method described in the second aspect.

The beneficial effect of this application is:

according to the balance control method of the power inspection robot and the soft waist platform of the embodiment, the power inspection robot comprises a case, a suspension movement mechanism and a mechanical arm, wherein the suspension movement mechanism and the mechanical arm are assembled on the case, and the power inspection robot further comprises the soft waist platform and a controller; the soft waist platform comprises a soft driving group, the soft driving group comprises a first shelf, a second shelf and a plurality of soft drivers, one ends of the plurality of soft drivers are connected to the first shelf, and the other ends of the plurality of soft drivers are connected to the second shelf; one side of the first shelf, which is not connected with the soft driver, is fixed on the case, and the other side of the second shelf, which is not connected with the soft driver, is provided with a mechanical arm; the controller is arranged in the case and is in pipeline connection with the software driving group in the software waist platform; the controller is used for driving at least one software driver in the software driver group to do telescopic motion through the fluid medium so as to adjust the space posture of the second shelf. On the first hand, as the soft waist platform is adopted as the assembling and supporting structure of the mechanical arm on the case, a certain active anti-shaking capability can be provided for the mechanical arm by means of the soft waist platform, and the stability of the mechanical arm in the live-wire operation process of the power cable is improved; in the second aspect, because the software driving set in the software waist platform only comprises the first shelf, the second shelf and the plurality of software drivers, and does not relate to cloud deck components such as a servo motor, extra electromagnetic protection is not needed, and the software waist platform has the advantages of small self weight, simple structure and easy maintenance; in the third aspect, each software driver in the software driver group is divided into a driving unit and a sensing unit, so that the sensing unit can detect and feed back the variation of the platform attitude in real time while the driving unit adjusts the change of the platform attitude, and the driving adjustment process is more accurate and efficient; in the fourth aspect, the controller comprises a fluid pump, a plurality of electromagnetic valves, a plurality of pressure sensors, a motion sensor, a state sensing circuit and a central processing unit, so that the central processing unit can control the fluid pump and the plurality of electromagnetic valves to act according to state information converted by the state sensing circuit, and the injected or sucked fluid is driven to adjust the fluid pressure required by the extension and contraction of each soft driver in the home drive unit in the soft drive group in each layer, so that the fluid medium is conveniently driven to adjust the spatial pose of the lumbar soft platform; in the fifth aspect, as all electronic components included in the controller for the soft waist platform are integrated in the case of the power inspection robot, functional devices in the case can be effectively matched, and all the functional devices can be electromagnetically protected only in the case, so that the overall electromagnetic protection performance of the robot can be enhanced; in the sixth aspect, the soft waist platform is provided with a plurality of soft driving groups and forms an up-and-down layered structure, so that the soft waist platform can not only output up-and-down, left-and-right, front-and-back multi-dimensional motion amounts, but also expand the execution range of the motion amounts of all dimensions, so that the soft waist platform provides all-dimensional and large-range anti-shake performance for the mechanical arm assembled on the soft waist platform, actively counteracts the shake transmitted to the mechanical arm by environmental interference, and realizes the effect of stabilizing the spatial pose of the mechanical arm; in a seventh aspect, the claimed power inspection robot can increase the working space and flexibility of the mechanical arm on the premise of meeting the self-weight requirement, and can increase the operation stability of the mechanical arm by actively preventing shaking under the condition of environmental disturbance; in an eighth aspect, the power inspection robot has the advantages of simple structure, small weight, active anti-shaking and the like, and can effectively meet the requirements of the mechanical arm on flexibility, operation space and stability in an aerial live-line work scene; in a ninth aspect, the present application is directed to a balance control method for a soft body waist platform, according to state information of motion inertia and state information of fluid pressure, flexibly driving a fluid medium to adjust each soft body driver in a belonging driving unit in a soft body driving group in which each layer is located to achieve fluid pressure required for respective extension, so that the driving units and sensing units in each layer are easily combined to provide an amount of motion opposite to the motion inertia, a spatial posture of a top plate in the soft body waist platform is balanced in a motion compensation manner, flexibility and stability of a mechanical arm operation process are further enhanced, and a higher application value is achieved.

Drawings

Fig. 1 is a three-dimensional structure diagram of a power inspection robot in the first embodiment;

FIG. 2 is a perspective view of a soft lumbar platform according to an embodiment;

FIG. 3 is a diagram illustrating the connection between the software driver set and the controller according to an embodiment;

FIG. 4 is a front cross-sectional view of a software driver set according to an embodiment;

FIG. 5 is a top cross-sectional view of the software driver set according to one embodiment;

FIG. 6 is a schematic structural diagram of a controller according to an embodiment;

fig. 7 is a three-dimensional structure diagram of the power inspection robot in the second embodiment;

FIG. 8 is a perspective view of the soft waist platform according to the second embodiment;

FIG. 9 is a sectional front view of the multi-layer software driver set according to the second embodiment;

FIG. 10 is a perspective view of a monitor according to a second embodiment;

FIG. 11 is a perspective view of a soft jaw according to the second embodiment;

FIG. 12 is a schematic structural diagram of a controller according to a second embodiment;

FIG. 13 is a diagram illustrating the second embodiment of the present invention in which the robot arm moves left and right with respect to the soft lumbar platform;

FIG. 14 is a diagram illustrating the forward and backward movement of the robot arm with the soft lumbar platform according to the second embodiment;

FIG. 15 is a flowchart illustrating a balance control method for the soft lumbar platform according to a second embodiment;

FIG. 16 is a schematic diagram illustrating the control of the displacement change of the soft lumbar platform according to the third embodiment;

FIG. 17 is a schematic diagram illustrating the control of the combined output force of the soft lumbar platform according to the third embodiment;

FIG. 18 is a schematic view showing the up-and-down displacement of the soft lumbar platform composed of the multi-layer soft driving set in the third embodiment;

FIG. 19 is a schematic view showing the lateral displacement of the soft lumbar platform composed of the multi-layer soft driving set according to the third embodiment;

FIG. 20 is a schematic view showing the forward and backward displacement of the soft lumbar platform composed of the multi-layer soft driving set in the third embodiment.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).

The first embodiment,

Referring to fig. 1-3, the present application discloses an electric inspection robot, which includes a housing 11, a suspension moving mechanism 12 mounted on the housing 11, a robot arm 13, a flexible waist platform 14 and a controller 15, which are described below.

The case 11 may be a box structure, and the inside of the case has a space for accommodating components such as a circuit board, and the case may be constructed by using a metal material to ensure the structural stability of the case 11 and the protection performance of the internal components.

The suspension movement mechanism 12 is fixed on the case 11, and a group of rolling discs which are suspended on the cable in a matching manner can be respectively arranged on the surfaces of the two sides of the case 11, so that each group of rolling discs is suspended on one cable. Each group of rolling discs has a grabbing structure, so that the rolling discs can not only travel along a high-altitude cable, but also cross obstacles on the cable by means of the grabbing structure, and the case 11 is pulled to move along with the grabbing structure. It should be noted that the power for the suspension movement mechanism 12 to travel along the cable may be from the driving of the motor or from the pulling of the hand rope by the user.

The robot arm 13 is fixed to the surface of the chassis 11, preferably at the end of the forward travel of the chassis. The mechanical arm 13 may be a multi-joint movable mechanical device, and the end of the mechanical arm is provided with an end effector such as a pair of pliers, an electric welding tool, an electric shock pen, etc., and the end effector with specific functions is used cooperatively to perform live-line work such as detection, maintenance, obstacle clearing, etc. on a cable. Furthermore, two or more robot arms 13 may be provided on the housing 11, and these robot arms 13 cooperate to perform live-wire work or respectively implement different work functions.

Referring to fig. 2 and 3, the soft lumbar platform 14 comprises a soft body drive group Z1, the soft body drive group Z1 comprising a first shelf 141, a second shelf 142, and a plurality of soft body drives 143, where one end of the plurality of soft body drives 143 is connected to the first shelf 141 and the other end is connected to the second shelf 142. The first shelf 141 is fixed to the cabinet 11, preferably to the front end of the cabinet 11, on the side to which the soft actuator is not connected. In addition, the robot arm 13 is mounted on the side of the second shelf 142 to which the soft actuator is not connected, and preferably, the two robot arms 13 are mounted to be coupled to each other in a hot-line work, and the two robot arms 13 can also be adapted to balance the right and left forces.

Referring to fig. 3, the controller 15 is disposed inside the case 11 and is connected to the software driver group Z1 in the software lumbar platform 14 through a pipeline. The controller 15 is used for driving at least one soft driver 143 in the soft driver group Z1 to do telescopic movement through the fluid medium so as to adjust the spatial posture of the second shelf 142. Here, the fluid medium for driving may be a gas medium (e.g., air, nitrogen, etc.) or a liquid medium (e.g., water, engine oil, etc.).

Referring to fig. 4 and 5, for the soft body driving group Z1, each soft body driver (such as reference character a) has a foldable housing a1, a cavity a2 containing fluid medium is formed inside the housing a1, and one end of the housing a1 connected to the first shelf 141 is provided with a fluid conduit a3 communicated with the cavity.

It should be noted that several soft drivers (such as A, C, E, G) in the soft driver group Z1 form a driving unit, the fluid conduit of each soft driver in the driving unit is used for connecting the medium source of the fluid, and the shell of the soft driver is used for linear extension when the fluid conduit is filled with the fluid and linear contraction when the fluid conduit is sucked out of the fluid. The remaining soft drivers (such as B, D, F) in the soft driver group Z1 form a sensing unit, the fluid pipeline of each soft driver in the sensing unit is used for being respectively sealed, and the shell of each soft driver is used for sensing the space attitude change of the first shelf 141 and/or the second shelf 142 so as to be adaptively telescopic. Each soft driver in the driving unit is mainly used for performing stretching action under the driving of a fluid medium, and each soft driver in the sensing unit is mainly used for sensing the stretching state of the soft driver and providing a control reference for the driving unit.

In one embodiment, referring to fig. 2 and 5, in the soft body driving group Z1 of the soft body lumbar platform 14, 7 soft body drivers may be uniformly distributed on the first shelf 141, each soft body driver A, B, C, D, E, F, G has the same folding structure, only each soft body driver A, C, E, G in the driving unit can be extended or retracted when fluid is injected or sucked out, and the sensing unit B, D, F is adaptively extended or retracted by pressure or pulling force from the first shelf 141 and/or the second shelf 142. Wherein, the shell of each soft driver can be designed into a bellows type, so as to be capable of folding and changing the shape length. The fluid injected into the cavity may be a gas or a liquid, and is not strictly limited herein; if gas is used as the drive medium, the soft drive will be of the pneumatic type, and if liquid is used as the drive medium, the soft drive will be of the hydraulic type. In this embodiment, in order to meet the requirement of convenient and safe driving, gas (such as air) is preferably used as the driving medium.

In the present embodiment, referring to fig. 2 to 5, each soft body driver (such as A, C, E, G) in the driving unit and each soft body driver (such as B, D, F) in the sensing unit are arranged in parallel between the first shelf 141 and the second shelf 142, and constitute a uniform distribution of relative positions on the first shelf 141. For example, the soft drivers G are disposed at the center of the first shelf 141, and the soft drivers A, B, C, D, E, F are disposed around the soft drivers G in a surrounding and uniformly distributed manner. Preferably, the soft drivers in the driving unit and the soft drivers in the sensing unit are distributed across the first shelf 141, so that better driving and sensing effects can be achieved.

In the present embodiment, referring to fig. 6, the controller 15 includes a fluid pump 151, a plurality of solenoid valves 152, a plurality of pressure sensors 153, a motion sensor 154, a state sensing circuit 155, and a central processor 156. The following are described separately.

Referring to fig. 4, 5 and 6, for the driving units in the soft body driving group Z1, the fluid pipes connecting the soft body drivers (such as the reference numeral A, C, E, G) in the driving units are respectively connected with the output ends of the electromagnetic valves 152 in a one-to-one correspondence manner, and the input ends of the electromagnetic valves 152 are connected with the fluid pump 151. The fluid pump 151 is mainly used for communicating with a medium source of fluid and pumping in or out the fluid, and it is understood that the fluid pump 151 is a driving pump of the fluid, and for a gas-like fluid, the fluid pump 151 can be regarded as an integrated device of an inflator and a vacuum pump, and realizes dual functions of inflation and air exhaust. For liquid-like fluids, fluid pump 151 may be a conventional liquid delivery pump, achieving a bi-directional switching delivery action.

Referring to fig. 4, 5 and 6, for the sensing unit in the soft body driving group Z1, the fluid conduits connecting the soft body drivers (such as the reference numeral B, D, F) in the sensing unit are respectively formed in a closed state.

The fluid conduits of each soft actuator (such as A, B, C, D, E, F, G) in the soft actuator group Z1 are respectively matched with a plurality of pressure sensors 153, and the plurality of pressure sensors are used for respectively detecting the fluid pressure in the fluid conduits. It can be understood that when each pressure sensor 153 is disposed in the corresponding fluid conduit, it can be ensured that the load cell and the signal processing element of the sensor are both located inside the case 11, thereby reducing electromagnetic interference from the external environment of the case 11; the pressure sensor 153 is a commonly used gas pressure sensor if gas is used as the driving medium, and the pressure sensor 153 is a commonly used hydraulic pressure sensor if liquid is used as the driving medium.

The motion sensor 154 is provided inside the cabinet 11, and detects the inertia of the cabinet 11. It is understood that the motion sensor 154 may be an attitude sensor such as a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, etc., and may be configured to sense a three-dimensional motion attitude, output three-dimensional and total six-directional inertia values such as an angle, an acceleration, etc., and the swing direction, the swing angle, and the displacement when the chassis 11 is disturbed by the environment can be easily calculated through conversion.

The state sensing circuit 155 is in signal connection with the motion sensor 154 and the plurality of pressure sensors 153, and is configured to convert the inertia of the motion detected by the motion sensor 154 and the fluid pressure detected by the plurality of pressure sensors 153 into state information perceivable by the central processing unit 156. It is understood that the state sensing circuit 155 is equivalent to a composite circuit of analog-to-digital conversion, numerical conversion processing, and communication conversion, and can transmit data conforming to a communication protocol to the central processing unit 156, so that the central processing unit 156 can directly obtain the state information of the motion inertia and the state information of the fluid pressure.

Referring to fig. 6, the fluid pump 151, the plurality of solenoid valves 152, and the state sensing circuit 155 are all in signal connection with the central processor 156, and the central processor 156 is configured to control the fluid pump 151 and the plurality of solenoid valves 152 to operate according to the state information converted by the state sensing circuit 155, and to adjust the fluid pressure required for the expansion and contraction of each of the soft drivers in the driving unit in the soft driver group Z1 by driving the injection or the suction fluid.

In addition, with respect to any one of the soft actuators in the drive unit, the deformation length of the soft actuator and the internal fluid pressure have a positive correlation. If the soft actuator is required to extend to the target displacement, the central processing unit 156 controls the fluid pump 151 and the corresponding solenoid valve 152 to start and inject fluid into the soft actuator to reach a fluid pressure matching the target displacement; if the soft drive is required to be shortened to the target displacement, the CPU 156 controls the fluid pump 151 and the corresponding solenoid valve 152 to start and draw fluid from the soft drive to a fluid pressure matching the target displacement. When the expansion amount of one or more soft drivers in the driving unit is changed, the spatial pose of the connected first shelf 141 and/or second shelf 142 is changed.

It should be noted that, for any one of the soft actuators in the sensing unit, the deformation length of the soft actuator and the internal fluid pressure are also in a positive correlation relationship. If the internal fluid pressure of the soft driver is increased when the soft driver is stressed from the first shelf 141 and/or the second shelf 142, the cpu 156 obtains the information of the fluid pressure state detected by the pressure sensor arranged in the fluid pipeline of the soft driver, processes and analyzes the information to obtain the posture change state when the soft driver is pressed by the first shelf 141 or the second shelf 142. If the internal fluid pressure of the soft driver is reduced when the soft driver is pulled by the first shelf 141 and/or the second shelf 142, the cpu 156 obtains the fluid pressure state information detected by the pressure sensor arranged in the fluid pipeline of the soft driver, and analyzes and obtains the posture change state of the first shelf 141 or the second shelf 142 stretching the soft driver.

Further, referring to fig. 6, the controller 15 further includes a communication circuit 157, and the communication circuit 157 is in signal connection with the central processor 156. The communication circuit 157 is used for transmitting the pose information of the software lumbar platform 14 to the user terminal U1 and receiving the control signal for the software lumbar platform sent by the user terminal U1 to the central processing unit 156.

The user terminal U1 may be a terminal device such as a computer, a mobile phone, a tablet, or a remote controller, and may wirelessly communicate with the communication circuit 157 in the controller 15 through a base station or a wireless transceiver. The user can use the user terminal U1 to view the posture information of the soft lumbar platform 14 and can also operate the user terminal U1 to send a control signal so as to remotely control the displacement of the soft lumbar platform 14 and move the robot arm 13 to the working area concerned by the user.

It will be appreciated by those skilled in the art that the following technical advantages may be achieved with the control apparatus disclosed in the above embodiments: (1) the soft waist platform is used as an assembly supporting structure of the mechanical arm on the case, so that a certain active anti-shaking capability can be provided for the mechanical arm by means of the soft waist platform, and the stability of the mechanical arm in the live-wire operation process of a power cable is improved; (2) the software driving group in the software waist platform only comprises a first shelf, a second shelf and a plurality of software drivers, and cloud deck components such as a servo motor and the like are not involved, so that extra electromagnetic protection is not needed, and the software waist platform has the advantages of small self weight, simple structure and easiness in maintenance; (3) each software driver in the software drive group is divided into a drive unit and a sensing unit, so that the drive unit can detect and feed back the variation of the attitude of the platform in real time while adjusting the attitude of the platform, and the drive adjusting process is more accurate and efficient.

Example II,

Referring to fig. 7, the present application discloses an improved power inspection robot based on the power inspection robot disclosed in the first embodiment, the improved power inspection robot includes not only a housing 11, a suspension moving mechanism 12 mounted on the housing 11, a robot arm 13, but also a soft waist platform 14' having a plurality of soft driving groups and a controller 15. The soft waist platform 14 'with a plurality of soft driving groups is arranged to improve the displacement space and flexibility of the soft waist platform 14'.

In the present embodiment, the plurality of software driver groups in the software lumbar platform 14' are sequentially connected in series and form an upper and lower layered structure, for example, the software driver groups Z1 and Z2 in fig. 8 form a layered structure with the software driver group Z1 on top and the software driver group Z2 on bottom.

Referring to fig. 8, the second shelf 142 ' of the soft body driving group Z2 located at the lower layer is fixedly connected with the first shelf 141 of the soft body driving group Z1 located at the upper layer, and the fixedly connected second shelf 142 ' and first shelf 141 form a middle splint of the soft body lumbar platform 14 '; the first shelf 141 'of the lowermost software-driven group Z2 forms the bottom plate of the software lumbar platform 14', and the second shelf 'of the uppermost software-driven group Z1 forms the top plate of the software lumbar platform 14'. In addition, the bottom plate of the soft waist platform 14 'is fixed on the surface of the case 11, and the mechanical arm 13 is assembled on the top plate of the soft waist platform 14'.

In this embodiment, each of the plurality of software drivers connected in series in sequence may have the same components, and each of the plurality of software drivers includes a first shelf, a second shelf and a plurality of software drivers, and each of the plurality of software drivers on each layer is further divided into a driving unit and a sensing unit. For example, fig. 8, the software driver group Z1 includes a first shelf 141, a second shelf 142 and a plurality of software drivers 143, and the uniform distribution state of the plurality of software drivers 143 can refer to fig. 5, wherein four software drivers constitute a driving unit and three software drivers constitute a sensing unit; the software driver group Z2 comprises a first shelf 141 ', a second shelf 142' and a plurality of software drivers 143 ', and the uniform distribution state of the plurality of software drivers 143' can also refer to fig. 5, wherein four software drivers form a driving unit and three software drivers form a sensing unit; in addition, each soft-body driver in the soft-body driver group Z1 and each soft-body driver in the soft-body driver group Z2 in fig. 8 can maintain a spatial one-to-one relationship, for example, the soft-body driver a in the soft-body driver group Z1 and the soft-body driver a' in the soft-body driver group Z2 are on the same axis.

Referring to fig. 8 and 9, the fluid conduit of each soft drive in the respective drive units of soft drive group Z1 and soft drive group Z2 is used to connect to a media source of fluid, such as fluid conduit a3 of soft drive a and fluid conduit a3 'of soft drive a' are used to connect to a media source of fluid, and then the housing of each soft drive is used to linearly lengthen when the fluid conduit is filled with fluid and to linearly shorten when the fluid conduit is filled with fluid.

Referring to fig. 8 and 9, the fluid conduit of each soft drive in the soft drive group Z1 and the soft drive group Z2 sensing unit is used for being sealed, and the shell of each soft drive is used for sensing the space attitude change of the first shelf 141' (i.e. the bottom plate) and/or the second shelf 142 (i.e. the top plate) to be expanded and contracted adaptively.

Further, referring to fig. 7 and 10, the power inspection robot further comprises a monitor 16, the monitor 16 comprises a pan-tilt 161 and a camera 162 assembled on the pan-tilt 161, wherein the camera 162 is used for shooting the working area of the mechanical arm 13, and the pan-tilt 161 is used for stabilizing the spatial pose of the camera 162, so as to avoid the occurrence of camera shake. Preferably, the cradle head 161 of the monitor is a soft cradle head illustrated in fig. 10, and three-dimensional displacement (such as up-down, left-right, and front-back displacement) in six directions of the cradle head is adjusted by four bellows-type soft drivers, wherein the structure and the telescopic implementation of each soft driver in the soft cradle head can specifically refer to the driving units in the soft driving group Z1 in the soft driving platform 14', and will not be described in detail here.

Further, referring to fig. 7 and 11, a soft clamping jaw 17 may be further disposed at an end joint of the robot arm 13 of the power inspection robot, and the soft clamping jaw 17 may have a structure shown in fig. 11, wherein

reference numerals

171, 172, 173, 174, and 175 are all bellows-type soft drivers, and reference numeral 176 is a clamping jaw finger. Each soft driver needs a fluid medium to drive and adjust itself to extend and retract, so as to drive the fingers 176 of the clamping jaws to move towards the clamping direction or towards the releasing direction, so as to clamp an object or release the clamped object.

In the present embodiment, referring to fig. 12, the controller 15 is disposed in the housing 11 of the power inspection robot, and may include a fluid pump 151, a plurality of solenoid valves 152, a plurality of pressure sensors 153, a motion sensor 154, a state sensing circuit 155, and a central processor 156, which are respectively described as follows.

Referring to fig. 8, 9 and 12, for each of the driving units in the soft driving groups Z1 and Z2, the fluid pipes connecting the soft drivers in the driving units are respectively connected with the output ends of the plurality of solenoid valves 152 in a one-to-one correspondence manner, and the input ends of the plurality of solenoid valves 152 are connected with the fluid pump 151. For the sensing units in the soft body driving groups Z1 and Z2, the fluid pipelines communicated with the soft body drivers in the sensing units are respectively in a closed state.

The fluid conduits of each soft body driver in the soft body driving group Z1 and each soft body driver in the soft body driving group Z2 are matched with a plurality of pressure sensors 153, and the plurality of pressure sensors are used for respectively detecting the fluid pressure in the fluid conduits.

The motion sensor 154 is provided inside the cabinet 11, and detects the inertia of the cabinet 11.

The state sensing circuit 155 is in signal connection with the motion sensor 154 and the plurality of pressure sensors 153, and is configured to convert the inertia of the motion detected by the motion sensor 154 and the fluid pressure detected by the plurality of pressure sensors 153 into state information perceivable by the central processing unit 156.

Referring to fig. 12, the fluid pump 151, the plurality of solenoid valves 152, and the state sensing circuit 155 are all in signal connection with the central processor 156, and the central processor 156 is configured to control the fluid pump 151 and the plurality of solenoid valves 152 to operate according to the state information converted by the state sensing circuit 155, and adjust the fluid pressure required for each layer of the software drivers in the driving unit belonging to the software driver group to reach the respective expansion and contraction by driving the injection or the suction of the fluid. It will be appreciated that the drive units and sensing units in each tier are used in combination to provide a motion amount opposite to the inertia of the motion, balancing the spatial attitude of the top plate in a motion compensated manner.

Referring to fig. 7 and 13, in the process of swinging the case 11 of the power inspection robot left and right, the cpu 156 may adjust the left and right displacement of the soft lumbar platform 14 'by driving the injected or sucked fluid, so that the soft drivers installed left and right in the belonging driving units in the soft driving group of each layer perform the stretching and retracting action, thereby realizing the left and right displacement requirement of the soft lumbar platform 14', and balancing the spatial pose of the mechanical arm 13 mounted thereon by providing the amount of motion opposite to the inertia of motion.

Referring to fig. 7 and 14, in the process of swinging the chassis 11 of the power inspection robot back and forth, the cpu 156 may adjust the back and forth displacement of the soft lumbar platform 14 'by driving the injected or sucked fluid, so that the software drivers installed in the driving units belonging to each layer of the soft driving group perform the telescopic action, thereby implementing the back and forth displacement requirement of the soft lumbar platform 14', and balancing the spatial pose of the robotic arm 13 mounted thereon by providing the amount of motion opposite to the inertia of motion.

Further, the pan/tilt head 161 of the monitor is further connected to a plurality of solenoid valves 152, which are additionally provided, the fluid pump 151 provides the fluid injection or suction capability for each soft actuator in the pan/tilt head 161, and the pressure sensors 153, which are additionally provided, respectively detect the fluid pressure in the fluid conduit of each soft actuator in the pan/tilt head 161. Then the cpu 156 can control the action of the fluid pump 151 and the associated solenoid valve 152 according to the detected motion inertia and fluid pressure, and stabilize the camera 162 to avoid the shake by driving a plurality of soft actuators in the injection or suction fluid adjusting stage 161 to respectively generate the telescopic action of the stabilization camera 162. The camera 162 is in signal communication with the central processing unit 156, and transmits the captured job image to the central processing unit 156.

Further, the soft body gripper 17 of the robot arm may also be connected to a plurality of solenoid valves 152, which are further provided, and the fluid pump 151 provides the fluid injecting or sucking capability for each soft body driver in the soft body gripper 17, and the plurality of pressure sensors 153, which are further provided, respectively detect the fluid pressure in the fluid conduit of each soft body driver in the soft body gripper 17. The cpu 156 can control the operation of the fluid pump 151 and associated solenoid valve 152 based on the sensed motion inertia and fluid pressure to adjust the movement of the jaw fingers 176 of the soft jaws 17 in either the gripping or release direction by actuating the injection or aspiration fluid.

Further, referring to fig. 12, the controller 15 further includes a communication circuit 157, and the communication circuit 157 is in signal connection with the central processor 156. The communication circuit 157 is used for transmitting the job image captured by the camera 162 to the user terminal U1, and receiving the control signal sent by the user terminal U1 to the central processing unit 156 for the software lumbar platform 14' (or the pan/tilt head 161 of the monitor, the software clamping jaw 17 of the robot arm).

It will be appreciated by those skilled in the art that the following technical advantages may be achieved with the control apparatus disclosed in the above embodiments: (1) the controller comprises a fluid pump, a plurality of electromagnetic valves, a plurality of pressure sensors, a motion sensor, a state sensing circuit and a central processing unit, so that the central processing unit can control the fluid pump and the plurality of electromagnetic valves to act according to state information converted by the state sensing circuit, and the injected or sucked fluid is driven to adjust the fluid pressure required by the extension and contraction of each soft body driver in the belonging driving unit in the soft body driving group of each layer, thereby conveniently driving a fluid medium to adjust the space pose of the soft body waist platform; (2) electronic components included in a controller for the soft waist platform are integrated in a case of the power inspection robot, so that functional devices in the case can be effectively matched, and all the functional devices are only electromagnetically protected in the case, and the integral electromagnetic protection performance of the robot is favorably enhanced; (3) the soft waist platform is provided with a plurality of soft driving groups and forms an up-and-down layered structure, so that the soft waist platform can not only output up-and-down, left-and-right, front-and-back multi-dimension exercise amounts, but also expand the execution range of the exercise amounts of all dimensions, so that the soft waist platform provides all-dimensional and large-range anti-shake performance for the mechanical arm assembled on the soft waist platform, actively counteracts the shake transmitted to the mechanical arm by environmental interference, and realizes the effect of enhancing the stability of the spatial pose of the mechanical arm; (4) the claimed power inspection robot can increase the working space and flexibility of the mechanical arm on the premise of meeting the self-weight requirement, and can increase the operation stability of the mechanical arm by actively preventing shaking under the condition of environmental disturbance; (5) the electric power inspection robot has the advantages of being simple in structure, small in weight, active in anti-shaking and the like, and can effectively meet the requirements of the mechanical arm on flexibility, operation space and stability under the high-altitude live-line work scene.

Example III,

Referring to fig. 15, based on the power inspection robot provided in the second embodiment, the present embodiment discloses a balance control method for a software waist platform, where the software waist platform is a software waist platform 14 'constructed by a plurality of software driver groups in the second embodiment, and the software waist platform 14' has a layered structure of a plurality of software driver groups.

In the present embodiment, the claimed balance control method includes steps S210 to S240, which are described below, respectively.

Step S210, obtaining the state information of the motion inertia and the state information of the fluid pressure.

Referring to fig. 12, since the state sensing circuit 155 obtains the fluid pressure from the plurality of pressure sensors 153, respectively, and the motion inertia from the motion sensor 154, the cpu 156 conveniently obtains the state information of the motion inertia and the state information of the fluid pressure in the process of communicating with the state sensing circuit 155.

Step S220, calculating the respective target displacement of each soft driver in the driving unit in the soft driver group of each layer when the spatial attitude of the top plate of the soft waist platform is stabilized according to the state information of the motion inertia.

It is understood that the state information of the motion inertia indicates a swing state quantity of the power inspection robot, such as a swing angle in a three-dimensional direction (up-down, front-back, left-right). Referring to fig. 7 and 8, in the process of the unidirectional swing of the power inspection robot due to environmental disturbance, in order to maintain the stability of the spatial posture of the top plate 142 in the soft waist platform 14', the deformation lengths of the soft drivers in the driving units in each layer of the soft driver groups Z1 and Z2 need to be adjusted in time. If the power inspection robot swings 20 degrees to the left, the right sides of the soft driving groups Z1 and Z2 can be adjusted to be separated by 10 degrees respectively; for example, for each soft driver in the driving unit in the soft driver group Z1, specifically see the soft driver A, C, E, G in fig. 5, the soft driver E arranged on the left side needs to be shortened and the soft driver C arranged on the right side needs to be lengthened; similarly, the software driver in the left side of the driving unit in the software driver group Z2 needs to be shortened, and the software driver in the right side needs to be lengthened; this allows the soft body drivers Z1, Z2 to be angled 10 degrees apart from the right side, respectively, thereby allowing the entire soft lumbar platform 14' to be angled 20 degrees apart from the right side, thereby maintaining the spatial attitude stability of the top plate 142.

It will be appreciated that the multi-layered soft lumbar platform 14' allows for the free adjustment of the soft drive sets of each layer, thereby allowing for a greater range of telescoping distances in combination. If the single-layer soft driving set generates a side separation angle of 20 degrees at the maximum telescopic distance, the double-layer soft driving sets can generate a side separation angle of 40 degrees together, so that the spatial attitude adjustment range of the top plate 142 can be greatly increased. Of course, if a single layer of soft drive stack is already available to meet the adjustment requirements for eliminating the flutter of the robotic arm 13, a single layer of soft lumbar platform may be used.

Step S230, calculating the fluid pressure required for each software driver in the driving unit to extend and retract according to the target displacement of each software driver in the driving unit belonging to the software driving group in which each layer is located.

It can be understood that, referring to fig. 7, 8 and 12, in order to satisfy the requirement that the top plate 142 is separated from the bottom plate 141' by 20 degrees at the right side, the software drivers (such as the reference sign E in fig. 5) distributed at the left side in the home drive unit in the software driver group of each layer are required to be shortened, the software drivers (such as the reference sign C in fig. 5) distributed at the right side are required to be lengthened, and if the left and right software drivers reach the respective target displacement amounts of 10mm and 20mm, respectively, the central processing unit 156 is required to calculate the fluid pressure corresponding to the shortening of the left software driver to 10mm and the lengthening of the right software driver to 20 mm.

Step S240, sending an adjustment command to the fluid pump and the plurality of electromagnetic valves, respectively, and driving the injection or the suction of the fluid according to the adjustment command and the state information of the fluid pressure to adjust the fluid pressure required for the extension and contraction of each soft body driver in the driving unit belonging to the soft body driving group in which each layer is located. It will be appreciated that the drive units and sensing units in each tier are used in combination to provide a motion amount opposite to the inertia of the motion, balancing the spatial attitude of the top plate in a motion compensated manner.

It is understood that, referring to fig. 7, 8 and 12, in the case that the cpu 156 calculates the fluid pressure corresponding to the shortening of the left side soft driver to 10mm and the fluid pressure corresponding to the lengthening of the right side soft driver to 20mm in each layer of driving units, the cpu 156 drives the fluid in the left side soft driver to be sucked out by the control signal so as to achieve the fluid pressure required for shortening to 10mm, and drives the fluid in the right side soft driver to achieve the fluid pressure required for lengthening to 20 mm.

In the present embodiment, the calculation process of the cpu 156 can be described by the following mathematical relationship.

Referring to fig. 7 and 8, for the soft body driving groups Z1, Z2 in the soft body lumbar platform 14', the driving units in a single soft body driving group can be represented by (d1, d2, d3, d4), and d1 to d4 respectively represent the soft body drivers in the driving units, which output telescopic deformation under the driving of fluid medium, so as to push the top plate or the middle splint to move; the sensing units in the single soft body driving group are represented by (a, b, c), and a to c respectively represent each soft body driver in the sensing units, which have an internal closed structure and are passively deformed when the top plate or the middle splint moves. The physical quantity of the second shelf in the single soft-body driving group relative to the first shelf can be divided into a displacement z of up-and-down motion, an angle alpha of back-and-forth motion and an angle beta of left-and-right motion, and then the physical quantity of the second shelf of each soft-body driving group is expressed as the displacement z of the second shelf

Assuming that the soft drivers are deformed only along the axial direction, the target displacement of three soft drivers in the sensing units (a, b, c) can be set to be l_a、l_b、l_cThe target displacement of each layer of software driver set is expressed as the same displacement

At this point, a functional relationship between x and l may be established

x＝f(L)。

If the fluid medium in the closed cavity of each soft body driver in the sensing unit is considered to be ideal fluid (such as ideal gas), the relationship between the deformation displacement and the internal fluid pressure of the single fluid driver can be preset in a factory setting or other manners

l＝g(p)；

Where l represents the deformation displacement, p represents the fluid pressure, and g represents the transfer function and factory set.

Then, the physical displacement quantity of the soft driving set in which the single layer is located is further expressed as

x＝f(g(p_a),g(p_b),g(p_c))。

Referring to FIG. 16, the CPU 156 calculates the target displacement X of the software driver set in which the single layer is located_objectiveThen, the displacement X corresponding to each soft driver in the sensing unit is measured_{sealed_measured}Comparing, inputting to an air pressure control model, and combining the air pressure control model L ═ f^-1(X)、P＝g^-1(L) calculation of P_{driver_objective}Fluid pressure P corresponding to each soft body actuator in the drive unit_{driver_measured}Comparing, and controlling the starting/closing of the fluid pump and the plurality of electromagnetic valves after comparison so as to change the fluid pressure required by each soft driver in the driving unit in the process of fluid injection or suction; using the fluid pressure P corresponding to each soft body driver in the sensing unit_{sealed_measured}X can be calculated by combining the actual displacement model L ═ g (p), X ═ f (L)_real. Then, by comparing X_objectiveAnd X_realThe displacement of the soft driving set in which the single layer is located can be finely adjusted. Wherein, the measurement displacement X corresponding to each soft driver in the sensing unit_{sealed_measured}Can be controlled by the corresponding fluid pressure P for each soft body driver in the sensing unit_{sealed_measured}Combined displacement control model x ═ f (g (P)_{_seal}) Is calculated).

It should be noted that, referring to fig. 7 and 8, the overall displacement of the soft lumbar platform 14' can be obtained by integrating the displacement of each single-layer soft driving set. Therefore, the driving units and the sensing units in the layers are combined to provide the motion amount opposite to the motion inertia of the case of the power inspection robot, and the spatial posture of the top plate is balanced in a motion compensation mode.

As can be understood by those skilled in the art, in the process of providing the amount of movement opposite to the inertia of the movement by using the driving units and the sensing units in the layers in combination, the output force of each layer of soft body driving group must be precisely controlled, so that the actual displacement of each layer of soft body driving group can be precisely controlled. The process of calculating the combined output force of each layer of the soft body driver set in the soft body lumbar platform 14' can be illustrated by the following mathematical formula.

Assuming that the soft lumbar platform 14' is capable of producing three-dimensional forces, and is represented as

For the force F generated by the driving units in the single-layer soft driving set₁It can be considered as coming from two parts, namely the elastic deformation force generated by the self deformation of each soft driver in the driving unit and the internal and external pressure difference generated by the fluid pressure of the inner cavity and the external atmospheric pressure, which are specifically expressed as

F₁＝F_k+F_p。

For elastic deformation force F_kThe stiffness of a single drive unit can be measured by measuring force and displacement, and the relationship between deformation and force is established, expressed as

F_k＝h(Δl)；

Wherein, Delta l is l-l₀L is the current length of the drive unit, l₀Is the initial length of the drive unit. For a sealed sensing unit, there is a relation l_a＝g(p_a)、l_b＝g(p_b)、l_c＝g(p_c). Displacement l for each soft driver in the driving unit_iCan be calculated by the geometrical relationship of planes and is represented by_a、l_b、l_cTo carry out the expression

l_i＝map_li(l_a,l_b,l_c)；

Wherein, i is 1, 2, 3, 4, which corresponds to the soft drivers d1, d2, d3, d4 in the driving unit, respectively.

For internal and external differential pressure F_pCan be expressed by pressure as

F_p＝j(p)；

The function j can be established by measuring the pressure and the internal air pressure value to which the driving unit is subjected.

The resultant forces may establish a combined force generated by the entire soft lumbar platform 14', and are represented as

F＝map_F(F_a,F_b,F_c,F_d1,F_d2,F_d3,F_d4)；

In combination with the results obtained from the displacement sensing, the force output by the entire platform can be represented by the fluid pressure values measured inside the drive unit and the sensing unit

F＝G(p_a,p_b,p_c,p_d1,p_d2,p_d3,p_d4)；

Wherein, the fluid pressure corresponding to each soft body driver in the single soft body driving group is expressed as

The fluid pressure corresponding to each soft body driver in the driving unit is expressed as

Referring to FIG. 17, the CPU 156 calculates the target output force F of the soft driving set with the single layer_objectiveThen, the measured output force F corresponding to each soft body driver in the soft body driver group_measuredComparing, inputting to an air pressure control model, and combining the air pressure control model P ═ G^-1(F) Is calculated to obtain P_{driver_objective}And in the drive unitFluid pressure P corresponding to each soft body driver_{driver_measured}Comparing, and controlling the starting/closing of the fluid pump and the plurality of electromagnetic valves after comparison so as to change the fluid pressure required by each soft driver in the driving unit in the process of fluid injection or suction; utilizing the fluid pressure P corresponding to each soft body driver in the soft body driving set_{sealed_measured}And F can be calculated by combining the actual output force model F ═ G (P)_real. Then, by comparison F_objectiveAnd F_realThe output force of the soft driving group in which the single layer is arranged can be finely adjusted. Wherein, the measured output force F corresponding to each soft body driver in the soft body driver group_measuredCan be controlled by the corresponding fluid pressure P for each soft body driver in the soft body driving set_measuredAnd calculating by combining the output force control model F with G (P).

In the present embodiment, referring to fig. 7, 8 and 12, the inertia of the motion measured by the motion sensor 154 may include a swing direction, a swing displacement and a swing angle of the cabinet 11 subjected to the environmental disturbance. Then, the control process of the central controller 156 for the soft lumbar platform 14' will be described below with reference to different swing states of the chassis 11.

In the first case, referring to fig. 12 and 18, if the cpu 156 determines that the chassis 11 drives the bottom plate 141 'of the soft lumbar platform 14' to swing up and down according to the state information of the motion inertia, an adjustment command is sent to control the operation of the plurality of solenoid valves 152 and the fluid pump 151, and the fluid is respectively injected into or sucked out of each soft actuator (such as the soft actuator A, C, E, G) in the driving unit of each layer of soft driving group, and the displacement opposite to the up-and-down swing is provided by each soft actuator in the driving unit and the soft actuator in the sensing unit in combination to stabilize the spatial posture of the top plate 142.

In the second case, referring to fig. 12 and fig. 19, if the cpu 156 determines that the chassis 11 drives the fixed plate of the soft lumbar platform 14' to swing left and right through the state information of the motion inertia, the cpu sends an adjustment command to control the operation of the plurality of solenoid valves 152 and the fluid pump 151, and injects or sucks fluid into or out of the soft drivers distributed left and right in the driving units (e.g., the left soft driver C and the right soft driver E) in each layer of soft driver group, and the soft drivers distributed left and right in the driving units and the soft drivers in the sensing units jointly provide an angle opposite to the left and right swing to stabilize the spatial posture of the top plate 142.

In a third situation, referring to fig. 12 and fig. 20, if the cpu 156 determines that the chassis 11 drives the bottom plate 141 'of the soft lumbar platform 14' to swing back and forth according to the state information of the motion inertia, an adjustment command is sent to control the operation of the plurality of solenoid valves 152 and the fluid pump 151, and fluid is respectively injected into or sucked out of the soft drivers (such as the front soft driver a and the rear soft driver C, E) distributed back and forth in the driving units in each layer of soft driving group, and the soft drivers distributed back and forth in the driving units and the soft drivers in the sensing units jointly provide an angle opposite to the back and forth swing to stabilize the spatial posture of the top plate 142.

Those skilled in the art will appreciate that the following application advantages can be achieved when the control device of the second embodiment is used: according to the balance control method for the soft body waist platform, the fluid medium is flexibly driven to adjust all the soft body drivers in the belonging driving units in the soft body driving group where each layer is located to achieve the fluid pressure required by respective extension according to the state information of the motion inertia and the state information of the fluid pressure, so that the driving units and the sensing units in all the layers are easy to jointly provide the motion amount opposite to the motion inertia, the spatial posture of the top plate in the soft body waist platform is balanced in a motion compensation mode, the flexibility and the stability of the mechanical arm in the operation process are further enhanced, and the balance control method has high application value.

Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by computer programs. When all or part of the functions of the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to realize the above functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above may be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and may be downloaded or copied to a memory of a local device, or may be version-updated in a system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.

The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.

Claims

1. A power inspection robot comprises a case, a suspension motion mechanism and a mechanical arm, wherein the suspension motion mechanism and the mechanical arm are assembled on the case;

the soft waist platform comprises a soft driving group, the soft driving group comprises a first shelf, a second shelf and a plurality of soft drivers, one ends of the plurality of soft drivers are connected to the first shelf, and the other ends of the plurality of soft drivers are connected to the second shelf;

one side of the first shelf, which is not connected with the soft driver, is fixed on the case, and the other side of the second shelf, which is not connected with the soft driver, is provided with the mechanical arm;

the controller is arranged in the case and is in pipeline connection with the software driving group in the software waist platform; the controller is used for driving at least one soft driver in the soft driving group to do telescopic motion through a fluid medium so as to adjust the space posture of the second shelf;

for the soft body driving group, each soft body driver is provided with a foldable shell, a cavity for containing fluid medium is formed in the shell, and a fluid pipeline communicated with the cavity is arranged at one end of the shell connected to the first shelf;

the plurality of soft drivers in the soft driver group form a driving unit, the fluid pipeline of each soft driver in the driving unit is used for connecting a medium source of fluid, and the shell of each soft driver is used for performing linear extension when the fluid pipeline is filled with the fluid and performing linear shortening when the fluid pipeline is sucked out;

the other soft drivers in the soft driver group form a sensing unit, the fluid pipeline of each soft driver in the sensing unit is used for being respectively sealed, and the shell of each soft driver is used for sensing the space attitude change of the first shelf and/or the second shelf to be self-adaptively stretched and contracted;

the controller comprises a fluid pump, a plurality of electromagnetic valves, a plurality of pressure sensors, a motion sensor, a state sensing circuit and a central processing unit;

for the driving units in the soft body driving group, the fluid pipelines communicated with the soft body drivers in the driving units are respectively connected with the output ends of the electromagnetic valves in a one-to-one correspondence mode, and the input ends of the electromagnetic valves are connected with the fluid pump; the fluid pump is used for being communicated to a medium source of the fluid and pumping in or out the fluid;

for the sensing units in the soft body driving group, the fluid pipelines communicated with all the soft body drivers in the sensing units respectively form a closed state;

the fluid pipelines of the soft drivers in the soft driver group are matched with the pressure sensors one by one, and the pressure sensors are used for respectively detecting the fluid pressure in the fluid pipelines;

the motion sensor is used for detecting the motion inertia of the case;

the state sensing circuit is in signal connection with the motion sensor and the pressure sensors and is used for converting motion inertia detected by the motion sensor and fluid pressure detected by the pressure sensors into state information which can be sensed by the central processing unit;

the fluid pump, the electromagnetic valves and the state sensing circuit are in signal connection with the central processing unit, and the central processing unit is used for controlling the fluid pump and the electromagnetic valves to act according to state information converted by the state sensing circuit, and adjusting the fluid pressure required by the extension and contraction of each soft body driver in the belonging driving unit in the soft body driving group of each layer by driving the injected or sucked fluid.

2. The power inspection robot according to claim 1, wherein the soft drivers of the drive unit and the soft drivers of the sensing unit are juxtaposed between the first shelf and the second shelf and form a uniform distribution of relative positions on the first shelf.

3. The power inspection robot according to claim 2, wherein the software waist platform has a plurality of software driver groups, the plurality of software driver groups being sequentially connected in series and forming an upper and lower layered structure;

the second shelf of the soft driving group positioned at the lower layer is fixedly connected with the first shelf of the soft driving group positioned at the upper layer, and the fixedly connected second shelf and the first shelf form a middle splint of the soft waist platform; the first shelf of the software driving group positioned at the lowest layer forms a bottom plate of the software waist platform, and the second shelf of the software driving group positioned at the uppermost layer forms a top plate of the software waist platform;

the bottom plate is fixed on the surface of the case, and the mechanical arm is assembled on the top plate.

4. The power inspection robot according to claim 3, further comprising a monitor including a camera and a pan/tilt head, the camera being coupled to one end of the pan/tilt head for capturing images of the operation of the robotic arm; the other end of the holder is fixed on the surface of the case and used for weakening the shake transmitted to the camera in the case during swinging.

5. The power inspection robot according to claim 4, wherein the controller further includes a communication circuit, the camera and the central processor being in signal connection; the communication circuit is used for transmitting the operation image shot by the camera to a user terminal and receiving a control signal which is sent by the user terminal to the central processing unit and aims at the software waist platform.

6. A balance control method of a soft lumbar platform having a layered structure formed by a plurality of soft drive groups according to claim 3, the balance control method comprising the steps of:

acquiring state information of motion inertia and state information of fluid pressure;

calculating the respective target displacement of each soft driver in the driving unit in the soft driving group of each layer when the space posture of the top plate of the soft waist platform is stabilized according to the state information of the motion inertia;

calculating the fluid pressure required by the extension and retraction of each soft driver in the drive unit according to the target displacement of each soft driver in the drive unit belonging to the soft drive group in which each layer is positioned;

respectively sending an adjusting instruction to the fluid pump and the plurality of electromagnetic valves, and driving to inject or suck fluid according to the adjusting instruction and the state information of the fluid pressure so as to adjust each soft body driver in the drive unit belonging to the soft body drive group in which each layer is located to reach the fluid pressure required by respective expansion and contraction; the driving units and the sensing units in each layer are used for jointly providing movement amount opposite to movement inertia, and the spatial posture of the top plate is balanced in a motion compensation mode.

7. The balance control method of claim 6, wherein the motion inertia comprises a swing direction, a swing displacement, and a swing angle of the cabinet:

if the chassis is judged to swing up and down, sending an adjusting instruction to control the plurality of electromagnetic valves and the fluid pump to act, respectively injecting or sucking fluid into or out of each soft driver in the belonging driving unit in each layer, and jointly providing a displacement opposite to the up-and-down swing by the driving units and the sensing units in each layer so as to balance the spatial attitude of the top plate;

if the case swings left and right, sending an adjusting instruction to control the plurality of electromagnetic valves and the fluid pump to act, respectively injecting or sucking fluid into or out of at least two soft drivers which are distributed in the driving unit and distributed left and right in each layer, and jointly providing an angle opposite to the left and right swinging by the driving unit and the sensing unit in each layer to balance the spatial posture of the top plate;

if the chassis swings back and forth, an adjusting instruction is sent to control the plurality of electromagnetic valves and the fluid pump to act, at least two soft drivers which belong to the driving units in each layer and are distributed back and forth inject or suck fluid respectively, and the driving units and the sensing units in each layer jointly provide an angle opposite to the forward and backward swinging to balance the space attitude of the top plate.

8. A computer-readable storage medium, characterized in that the medium has stored thereon a program executable by a processor to implement the balance control method according to any one of claims 6 to 7.