CN112838516A - Overhead conductor robot live working device and method - Google Patents
Overhead conductor robot live working device and method Download PDFInfo
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- CN112838516A CN112838516A CN202110017784.9A CN202110017784A CN112838516A CN 112838516 A CN112838516 A CN 112838516A CN 202110017784 A CN202110017784 A CN 202110017784A CN 112838516 A CN112838516 A CN 112838516A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to an overhead conductor robot live working method and a device, wherein the method comprises the following steps: the overhead conductor robot positions the overhead conductor by using a vision sensor arranged on the overhead conductor robot to acquire the position of the overhead conductor; the overhead conductor robot adopts a rapid expansion random tree RRT to plan the path of an operation device on the overhead conductor robot according to the position of the overhead conductor; the overhead conductor robot advances towards the overhead conductor according to the route planning to utilize the inertial measurement unit compensation operation device's that sets up on it motion skew, control operation device and accomplish the operation, wherein, operation device includes: the device comprises a transverse moving mechanism, a longitudinal moving mechanism, a lifting mechanism, a rotary joint, a telescopic mechanism and a tail end mechanism. The invention improves the inspection efficiency of the overhead conductor robot, improves the safety of the overhead conductor robot during operation and has good applicability.
Description
Technical Field
The application relates to the technical field of electrical equipment, in particular to an overhead conductor robot live working device and method.
Background
Power lines are important components of power systems and are responsible for the delivery and distribution of electrical energy. The power line and the pole tower accessories are exposed outdoors for a long time and are damaged by continuous mechanical tension, electric flashover and material aging, and if the power line and the pole tower accessories are not repaired and replaced in time, the original tiny damage and defects can be enlarged, and finally serious accidents are caused. Therefore, the power transmission line must be regularly inspected to ensure power supply safety.
At present, the maintenance work of the overhead transmission line is mainly completed manually, the traditional operation method requires a worker to wear a plurality of protection and maintenance devices, and the worker climbs a tower and then patrols the high-voltage line to complete the maintenance, the method has high labor intensity and low efficiency, and the high-voltage transmission line is erected in an area with less human smoke, so that the working environment is relatively severe. In recent years, various research institutions begin to develop inspection robots for completing live inspection work of overhead transmission lines, the robots can complete autonomous inspection and fault diagnosis work on the transmission lines, and the existing inspection robots have single function and cannot well complete fault maintenance tasks.
The overhead conductor robot needs to work on a high-voltage overhead conductor, so that the invention provides the live-wire operation method and the device with good applicability, which can be effectively suitable for the autonomous obstacle avoidance and detection work of the outdoor overhead conductor robot and is the main problem to be solved by the invention.
Disclosure of Invention
The application provides an overhead conductor robot live working device and method, which can be effectively suitable for autonomous obstacle avoidance and detection work of an outdoor overhead conductor robot.
The technical scheme adopted by the application is as follows:
the invention provides an overhead conductor robot live working method, which comprises the following steps:
s01: the overhead conductor robot positions the overhead conductor by using a vision sensor arranged on the overhead conductor robot to acquire the position of the overhead conductor;
s02: the overhead conductor robot adopts a rapid expansion random tree RRT to plan the path of an operation device on the overhead conductor robot according to the position of the overhead conductor;
s03: the overhead conductor robot advances towards the overhead conductor according to the route planning to utilize the inertial measurement unit compensation operation device's that sets up on it motion skew, control operation device and accomplish the operation, wherein, operation device includes: the device comprises a transverse moving mechanism, a longitudinal moving mechanism, a lifting mechanism, a rotary joint, a telescopic mechanism and a tail end mechanism.
Further, the overhead conductor robot utilizes the vision sensor that sets up on it to fix a position overhead conductor, acquires overhead conductor's position, includes:
two RGB cameras are installed on the overhead conductor robot, and the relative positions of the overhead conductor and the overhead conductor robot are positioned according to the binocular distance measuring principle of the two RGB cameras;
suppose o1、o2The optical centers of the left camera and the right camera are respectively provided with a point P, u in space1、u2The distances from the imaging points of the point P on the left and right RGB camera photoreceptors to the boundary at one side of the photoreceptor are obtained according to the triangulation principle:
wherein f is the focal length of the camera, T is the center distance between two cameras, and zcIs the vertical distance of point P to the camera
The distance z is derived from the formula (1)c：
Further, the overhead conductor robot adopts the fast expansion random tree RRT to carry out route planning to the operation device on the overhead conductor robot according to the position of the overhead conductor, including:
s021: acquiring current coordinates of an input robot, taking the current coordinates as root nodes, and sending the root nodes to a control system of the overhead conductor robot;
s022: a control system of the overhead conductor robot generates random points in a free space in a working space of the working device;
s023: repeatedly and iteratively traversing all child nodes of a random tree formed by the random points and searching the child node closest to the child nodes;
s024: calculating the distances between all the child nodes and the current random node, and defining the node with the shortest distance as xnear；
S025: at xnearGenerating a new node in a certain step length along with the direction of the generated random point;
s026: and judging the distance between the new node and the target node, if the distance is less than the given distance requirement, searching the corresponding planned path, and otherwise, replacing the root node with the new node for circulation S022-S026 until a path meeting the conditions is found.
Further, the overhead conductor robot advances towards the overhead conductor according to the route planning, and utilizes the inertia measuring unit arranged on the overhead conductor robot to compensate the movement deviation of the operation device, and controls the operation device to complete the operation, and the method comprises the following steps:
the overhead conductor robot advances towards the overhead conductor according to the path planning, and an inertia measurement unit arranged on the overhead conductor robot is used for collecting the offset of the robot;
the robot can send signals to the transverse moving mechanism, the longitudinal moving mechanism and the lifting mechanism of the working device, and the transverse moving mechanism, the longitudinal moving mechanism and the lifting mechanism move to compensate the offset parallel to the conducting wire.
Further, an overhead conductor robot live working device is applied to an overhead conductor robot live working method, and the working device comprises:
the transverse moving mechanism comprises a transverse moving motor, a transverse moving slide block and a transverse moving screw rod, the transverse moving screw rod is arranged on the transverse moving motor, and the transverse moving slide block is arranged on the transverse moving screw rod in a left-right movable manner;
the longitudinal moving mechanism comprises a longitudinal moving motor, a longitudinal moving sliding block and a longitudinal moving screw rod, the longitudinal moving motor is arranged on the transverse moving sliding block, the longitudinal moving screw rod is arranged on the longitudinal moving motor, and the longitudinal moving sliding block can be arranged on the longitudinal moving screw rod in a front-and-back manner;
the lifting mechanism is arranged on the longitudinal sliding block;
the rotating joint is arranged at one end, far away from the longitudinal sliding block, of the lifting mechanism;
the telescopic mechanism comprises a telescopic motor, a telescopic screw rod and a telescopic sliding block, the telescopic screw rod is connected to the telescopic motor, the telescopic sliding block is movably arranged on the telescopic screw rod, and the telescopic sliding block is connected with the rotary joint;
the terminal mechanism is an execution mechanism and used for executing specific tasks, and the terminal mechanism is detachably arranged.
Furthermore, the transverse moving mechanism also comprises a transverse moving guide rail, the transverse moving motor is arranged in the transverse moving guide rail, the transverse moving screw rod is arranged on the transverse moving motor and is arranged along the length direction of the transverse moving guide rail;
the longitudinal moving mechanism further comprises a longitudinal moving guide rail, the longitudinal moving motor is arranged in the longitudinal moving guide rail, the longitudinal moving screw rod is arranged on the longitudinal moving motor and arranged along the length direction of the longitudinal moving guide rail, and the longitudinal moving guide rail is fixed on the longitudinal moving slide block.
Further, the lifting mechanism comprises a lifting motor, a lifting screw rod, a lifting slide block, a sliding sleeve and a guide post,
the lifting screw rod is arranged on the lifting motor, the lifting slide block is vertically movably arranged on the lifting screw rod, the sliding sleeve is arranged on the lifting slide block, the guide post is movably arranged in the sliding sleeve, and the bottom of the guide post is arranged on the longitudinal guide rail;
the rotary joint is arranged above the lifting motor.
Further, the rotary joint comprises a mounting frame and a swing joint motor,
the mounting frame is L-shaped and comprises a transverse plate and a vertical plate, the lifting motor is arranged below the transverse plate, the swing joint motor is arranged above the transverse plate, the vertical plate is provided with a through hole, and a shaft of the swing joint motor penetrates through the through hole;
and a shaft of the swing joint motor is connected with a telescopic sliding block of the telescopic mechanism to drive the telescopic mechanism to rotate.
Furthermore, the telescopic mechanism also comprises a telescopic guide rail, the telescopic motor is arranged in the telescopic guide rail, the telescopic screw rod is arranged on the telescopic motor and is arranged along the length direction of the longitudinal movement guide rail;
the telescopic sliding block is provided with a rotary joint shaft hole, and a shaft of the swing joint motor is arranged on the telescopic sliding block through the rotary joint shaft hole.
Furthermore, the tail end mechanism is detachably arranged at one end of the telescopic guide rail, which is far away from the swing joint motor;
the end mechanisms may be jaws and sleeves.
The technical scheme of the application has the following beneficial effects:
the invention relates to an operation method and a device suitable for an overhead conductor environment, which comprises the following steps that firstly, an overhead conductor robot positions an overhead conductor by using a vision sensor; in order to avoid the collision between the operation device and the high-voltage conductor, a rapid-expansion Random Tree (RRT) is adopted for path planning; in order to improve the operation precision, an Inertial Measurement Unit (IMU) is used for compensating the motion deviation, and an operation device is controlled to complete the operation.
The invention improves the inspection efficiency of the overhead conductor robot; the safety of the overhead conductor robot during operation is improved; and has good applicability.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an overhead wire robot live working device according to an embodiment of the present invention;
FIG. 2 is a schematic view of the lateral movement mechanism and the longitudinal movement mechanism of FIG. 1;
FIG. 3 is a schematic view of the lift mechanism and rotary joint of FIG. 1;
FIG. 4 is a schematic view of the telescoping mechanism of FIG. 1;
fig. 5 is a binocular positioning schematic diagram of a live working method of an overhead conductor robot according to an embodiment of the present invention;
fig. 6 is a schematic view of an overhead wire robot live working device working on a robot platform;
illustration of the drawings:
wherein, 1-a transverse moving mechanism; 11-a traversing motor; 12-traversing a slide block; 13-traversing lead screw; 14-traversing guide rails;
2-a longitudinal moving mechanism; 21-a longitudinal movement motor; 22-longitudinal movement guide rail;
3-a lifting mechanism; 31-a lifting motor; 32-a sliding sleeve; 35-a guide post;
4-a revolute joint; 41-a mounting frame; 42-swing joint motor; 43-via holes;
5-a telescoping mechanism; 51-a telescoping motor; 52-telescopic screw rod; 53-telescopic slide block; 54-telescopic guide rails; 55-rotary joint shaft hole;
6-end mechanism; 61-clamping jaw.
Detailed Description
Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following examples do not represent all embodiments consistent with the present application. But merely as exemplifications of systems and methods consistent with certain aspects of the application, as recited in the claims.
The invention designs an operation device and method suitable for an overhead conductor robot, aiming at the special environment and work task of the overhead conductor robot when the overhead conductor robot works on a high-voltage conductor.
As shown in fig. 1, the overhead wire robot live working device of the present invention includes a transverse moving mechanism, a longitudinal moving mechanism, a lifting mechanism, a rotary joint, a telescopic mechanism, and a terminal mechanism, and specifically:
as shown in fig. 2, the transverse moving mechanism comprises a transverse moving motor, a transverse moving slider, a transverse moving screw rod and a transverse moving guide rail, the transverse moving motor is arranged in the transverse moving guide rail, the transverse moving screw rod is arranged on the transverse moving motor and arranged along the length direction of the transverse moving guide rail, and the transverse moving slider is movably arranged on the transverse moving screw rod left and right;
the longitudinal moving mechanism comprises a longitudinal moving motor, a longitudinal moving slide block, a longitudinal moving screw rod and a longitudinal moving guide rail, wherein the longitudinal moving motor is arranged on the transverse moving slide block, the longitudinal moving motor is arranged in the longitudinal moving guide rail, the longitudinal moving screw rod is arranged on the longitudinal moving motor and is arranged along the length direction of the longitudinal moving guide rail, the longitudinal moving slide block is arranged on the longitudinal moving screw rod in a manner of moving back and forth, and the longitudinal moving guide rail is fixed on the longitudinal moving slide block;
as shown in fig. 3, the lifting mechanism includes a lifting motor, a lifting screw, a lifting slider, a sliding sleeve, and a guide post, the lifting screw is disposed on the lifting motor, the lifting slider is vertically movably disposed on the lifting screw, the sliding sleeve is disposed on the lifting slider, the guide post is movably disposed in the sliding sleeve, and the bottom of the guide post is disposed on the longitudinal guide rail;
the rotary joint comprises an installation frame and a swing joint motor, the installation frame is L-shaped and comprises a transverse plate and a vertical plate, the lifting motor is arranged below the transverse plate, the swing joint motor is arranged above the transverse plate, the vertical plate is provided with a through hole, and a shaft of the swing joint motor penetrates through the through hole;
as shown in fig. 4, the telescopic mechanism includes a telescopic motor, a telescopic lead screw, a telescopic slider and a telescopic guide rail, the telescopic motor is disposed in the telescopic guide rail, the telescopic lead screw is disposed on the telescopic motor and disposed along the length direction of the longitudinal movement guide rail, the telescopic slider is movably disposed on the telescopic lead screw, the telescopic slider is provided with a rotary joint shaft hole, and a shaft of the swing joint motor is disposed on the telescopic slider through the rotary joint shaft hole;
the terminal mechanism is an execution mechanism and used for executing specific tasks, and the terminal mechanism is detachably arranged.
The transverse moving mechanism can drive the transverse moving slide block to move left and right through the rotation of the transverse moving motor, so that the longitudinal moving mechanism connected to the transverse moving slide block can be driven to move left and right; a longitudinal movement motor of the longitudinal movement mechanism rotates, and a longitudinal movement sliding block moves back and forth so as to drive the lifting mechanism to move back and forth; a lifting motor of the lifting mechanism rotates, and a lifting slide block moves up and down, so that the sliding sleeve is driven to move up and down on the guide post; the swing joint motor at the top of the lifting mechanism rotates to drive the telescopic mechanism to rotate; the horizontal and vertical translational motion along the overhead conductor and the horizontal translational motion along the overhead conductor are provided for the whole operation device, and the two translational motions can ensure that the operation device is suitable for various operation tasks of single-split conductors, horizontal two-split conductors, vertical two-split conductors or four-split conductors.
Meanwhile, the telescopic mechanism rotates by the telescopic motor, and the telescopic sliding block moves along the direction of the screw rod, so that the telescopic mechanism is driven to move integrally along the direction of the screw rod.
The swing joint motor is arranged at the top of the lifting mechanism, a shaft of the swing joint motor is arranged on a telescopic sliding block of the telescopic mechanism through a rotary joint shaft hole and used for rotary motion of the whole telescopic mechanism relative to the lifting mechanism, the rotary motion can greatly adjust the pose of the tail end mechanism relative to the overhead conductor, and the operation task requirements of the whole operation device in the environments of single-split conductors, vertical two-split conductors, horizontal two-split conductors and quadri-split conductors are guaranteed to a certain extent; the telescopic sliding block on the telescopic mechanism is used for providing translational motion of the telescopic mechanism relative to the lifting mechanism, and the translational motion and the rotational motion are matched to ensure that the operation device can be switched between different split conductors at will to complete various tasks.
Specifically, a strong magnetic field is distributed around the overhead high-voltage conductor, when the rotary joint operating arm is close to the high-voltage conductor, induced current generated by cutting magnetic induction line movement cannot be avoided, a telescopic arm (telescopic mechanism) is additionally arranged on the basis of the rotary joint, and the robot is close to the high-voltage conductor through the telescopic arm so as to reduce generation of the induced current.
In one embodiment, the tail end mechanism is detachably arranged at one end of the telescopic guide rail far away from the swing joint motor; the tail end mechanism is an actuating mechanism installed when the working device executes a specific task, and is a clamping jaw in the figures 1 and 4, and the clamping jaw can be replaced, for example, a sleeve can be replaced when the clamping jaw is used for screwing a bolt of a vibration damper; of course, the present invention is not limited to the end mechanism being a clamping jaw or a sleeve, and may also be other actuating mechanisms, which are not described herein.
In an embodiment, when the overhead conductor robot live working apparatus is applied to an overhead conductor robot live working method, the overhead conductor robot live working method provided by the embodiment includes the following steps:
s01: the overhead conductor robot positions the overhead conductor by using a vision sensor arranged on the overhead conductor robot to acquire the position of the overhead conductor;
the method comprises the following specific steps:
s011: two RGB cameras are installed on the overhead conductor robot, and the relative positions of the overhead conductor and the overhead conductor robot are positioned according to the binocular distance measuring principle of the two RGB cameras; the binocular distance measurement principle of the two RGB cameras is a human eye parallax simulation principle, the imaging difference of two images with different angles of the same target is analyzed, and the three-dimensional information of the target in the physical world is determined by utilizing the triangulation principle.
S012: as shown in FIG. 5, assume o1、o2The optical centers of the left camera and the right camera are respectively provided with a point P, u in space1、u2The distances from the imaging points of the point P on the left and right RGB camera photoreceptors to the boundary at one side of the photoreceptor are obtained according to the triangulation principle:
wherein f is the focal length of the camera, T is the center distance between two cameras, and zcIs the vertical distance of point P to the camera
The distance z is derived from the formula (1)c：
S02: the overhead conductor robot adopts a rapid expansion random tree RRT to plan the path of an operation device on the overhead conductor robot according to the position of the overhead conductor;
when the robot works, the operation device is easy to collide with the lead, so a path planning algorithm is needed to avoid the collision of the operation arm and the lead, and the method adopts a rapid search random tree (RRT) algorithm.
The fast search random tree algorithm can be used for solving the problem of complex constrained high-dimensional space path planning, and as a path search method, the fast search random tree algorithm has the main advantages of strong expansibility, probability completeness, easiness in implementation and the like, and has the main defects of large calculated amount and low convergence speed under a complex map. For the environment of the overhead conductor robot, the main obstacle is a conductor, and the working space of the robot is simpler, so that the fast search random tree algorithm can better meet the requirement of the overhead conductor robot on the working task.
The algorithm is used for collecting path points in a robot working space by continuously utilizing a random collection method by taking a known starting point (the starting point is the current posture of a working device, namely the current coordinate) as a root node, and then expanding sub-nodes by a fixed step length so as to generate an expanded tree until the sub-nodes reach a working target task point.
The method comprises the following specific steps:
s021: acquiring current coordinates of an input robot, taking the current coordinates as root nodes, and sending the root nodes to a control system of the overhead conductor robot;
specifically, the traversing motor of the transverse moving mechanism, the longitudinal moving motor of the longitudinal moving mechanism, the lifting motor of the lifting mechanism, the swing joint motor of the rotary joint and the telescopic motor of the telescopic mechanism are all connected with encoders matched with the motors, the encoders of the motors can acquire the movement or rotation angle of each motor so as to obtain the current position of each mechanism of the operation device, the current posture of the operation device is obtained from the position of each mechanism, and the current posture is used as a root node and needs to be sent to a control system of the overhead conductor robot.
S022: a control system of the overhead conductor robot generates random points in a free space in a working space of the working device;
in this step, the working space is a set of spatial points that can be reached by the movement of the end mechanism of the working device, and these random points are generated by the control system of the robot.
S023: repeatedly and iteratively traversing all child nodes of a random tree formed by the random points and searching the child node closest to the child nodes;
s024: calculating the distances between all the child nodes and the current random node, and defining the node with the shortest distance as xnear；
S025: at xnearGenerating a new node in a certain step length along with the direction of the generated random point;
s026: and judging the distance between the new node and a target node (a point to be reached by the tail end mechanism of the operation device), if the distance is smaller than a given distance requirement, searching a corresponding planned path, and if not, replacing the root node with the new node to continue the current cycle (S022-S026) until a path meeting the conditions is found.
S03: as shown in fig. 6, the overhead conductor robot, i.e., the robot platform, moves forward toward the overhead conductor according to the path plan, compensates the motion deviation of the working device by using the inertial measurement unit provided thereon, and controls the working device to perform the work, wherein the working device includes: the device comprises a transverse moving mechanism, a longitudinal moving mechanism, a lifting mechanism, a rotary joint, a telescopic mechanism and a tail end mechanism.
Because overhead conductor robot will inevitably receive environmental impact at the line patrol in-process, overhead conductor robot can produce the swing motion, in addition, because the terminal mechanism of operation device need accomplish multiple different tasks, like centre gripping wire, detection wire, promotion stockbridge damper etc. the terminal mechanism that the quality is great probably is equipped with to the terminal of device, when operation device during operation robot self focus will produce the skew. At the moment, if the path planning is carried out for multiple times in real time, the calculated amount and the planning time are greatly increased, the purpose of real-time performance cannot be achieved, and meanwhile, in the main path planning method, only obstacles in a static environment can be avoided, so that an Inertial Measurement Unit (IMU) is arranged on a robot platform to carry out motion offset acquisition, the motion offset at the tail end of an operation device is compensated, the operation device is controlled to complete the operation, and the working efficiency of the overhead line robot is improved.
The swinging motion of the overhead line robot is mainly the translation motion around and along the conductor.
The method comprises the following specific steps:
the overhead conductor robot advances towards the overhead conductor according to the path planning, and an inertia measurement unit arranged on the overhead conductor robot is used for collecting the offset of the robot;
the robot can send signals to the transverse moving mechanism, the longitudinal moving mechanism and the lifting mechanism of the working device, and the transverse moving mechanism, the longitudinal moving mechanism and the lifting mechanism move to compensate the offset parallel to the conducting wire.
The application designs an operation method and a device suitable for an overhead conductor environment, and firstly, an overhead conductor robot positions an overhead conductor by using a vision sensor; in order to avoid the collision between the operation device and the high-voltage conductor, a rapid-expansion Random Tree (RRT) is adopted for path planning; in order to improve the operation precision, an Inertial Measurement Unit (IMU) is used for compensating the motion deviation, and an operation device is controlled to complete the operation.
The beneficial effects of this embodiment:
(1) the invention improves the inspection efficiency of the overhead conductor robot;
(2) the safety of the overhead conductor robot during operation is improved;
(3) the invention has good applicability.
The embodiments provided in the present application are only a few examples of the general concept of the present application, and do not limit the scope of the present application. Any other embodiments extended according to the scheme of the present application without inventive efforts will be within the scope of protection of the present application for a person skilled in the art.
Claims (10)
1. An overhead conductor robot live working method is characterized by comprising the following steps:
s01: the overhead conductor robot positions the overhead conductor by using a vision sensor arranged on the overhead conductor robot to acquire the position of the overhead conductor;
s02: the overhead conductor robot adopts a rapid expansion random tree RRT to plan the path of an operation device on the overhead conductor robot according to the position of the overhead conductor;
s03: the overhead conductor robot advances towards the overhead conductor according to the route planning to utilize the inertial measurement unit compensation operation device's that sets up on it motion skew, control operation device and accomplish the operation, wherein, operation device includes: the device comprises a transverse moving mechanism, a longitudinal moving mechanism, a lifting mechanism, a rotary joint, a telescopic mechanism and a tail end mechanism.
2. The live working method of the overhead conductor robot according to claim 1, wherein the overhead conductor robot uses the vision sensor provided thereon to position the overhead conductor and obtain the position of the overhead conductor, and the method comprises:
two RGB cameras are installed on the overhead conductor robot, and the relative positions of the overhead conductor and the overhead conductor robot are positioned according to the binocular distance measuring principle of the two RGB cameras;
suppose o1、o2The optical centers of the left camera and the right camera are respectively provided with a point P, u in space1、u2The distances from the imaging points of the point P on the left and right RGB camera photoreceptors to the boundary at one side of the photoreceptor are obtained according to the triangulation principle:
wherein f is the focal length of the camera, T is the center distance between two cameras, and zcIs the vertical distance of point P to the camera
The distance z is derived from the formula (1)c：
3. The live working method of the overhead conductor robot of claim 2, wherein the overhead conductor robot adopts the fast-expansion random tree RRT to plan the path of the working device on the overhead conductor robot according to the position of the overhead conductor, and the method comprises the following steps:
s021: acquiring current coordinates of an input robot, taking the current coordinates as root nodes, and sending the root nodes to a control system of the overhead conductor robot;
s022: a control system of the overhead conductor robot generates random points in a free space in a working space of the working device;
s023: repeatedly and iteratively traversing all child nodes of a random tree formed by the random points and searching the child node closest to the child nodes;
s024: calculating the distances between all the child nodes and the current random node, and defining the node with the shortest distance as xnear；
S025: at xnearGenerating a new node in a certain step length along with the direction of the generated random point;
s026: and judging the distance between the new node and the target node, if the distance is less than the given distance requirement, searching the corresponding planned path, and otherwise, replacing the root node with the new node for circulation S022-S026 until a path meeting the conditions is found.
4. The live working method of the overhead conductor robot according to claim 3, wherein the overhead conductor robot advances toward the overhead conductor according to the path plan, compensates for the movement deviation of the working device by using the inertial measurement unit provided thereon, and controls the working device to perform the work, and the method comprises:
the overhead conductor robot advances towards the overhead conductor according to the path planning, and an inertia measurement unit arranged on the overhead conductor robot is used for collecting the offset of the robot;
the robot can send signals to the transverse moving mechanism, the longitudinal moving mechanism and the lifting mechanism of the working device, and the transverse moving mechanism, the longitudinal moving mechanism and the lifting mechanism move to compensate the offset parallel to the conducting wire.
5. The utility model provides an overhead conductor robot live working device, is applied to overhead conductor robot live working method, its characterized in that, the apparatus includes:
the transverse moving mechanism comprises a transverse moving motor, a transverse moving slide block and a transverse moving screw rod, the transverse moving screw rod is arranged on the transverse moving motor, and the transverse moving slide block is arranged on the transverse moving screw rod in a left-right movable manner;
the longitudinal moving mechanism comprises a longitudinal moving motor, a longitudinal moving sliding block and a longitudinal moving screw rod, the longitudinal moving motor is arranged on the transverse moving sliding block, the longitudinal moving screw rod is arranged on the longitudinal moving motor, and the longitudinal moving sliding block can be arranged on the longitudinal moving screw rod in a front-and-back manner;
the lifting mechanism is arranged on the longitudinal sliding block;
the rotating joint is arranged at one end, far away from the longitudinal sliding block, of the lifting mechanism;
the telescopic mechanism comprises a telescopic motor, a telescopic screw rod and a telescopic sliding block, the telescopic screw rod is connected to the telescopic motor, the telescopic sliding block is movably arranged on the telescopic screw rod, and the telescopic sliding block is connected with the rotary joint;
the terminal mechanism is an execution mechanism and used for executing specific tasks, and the terminal mechanism is detachably arranged.
6. Overhead conductor robot hot-line work apparatus according to claim 5,
the transverse moving mechanism also comprises a transverse moving guide rail, the transverse moving motor is arranged in the transverse moving guide rail, the transverse moving screw rod is arranged on the transverse moving motor and is arranged along the length direction of the transverse moving guide rail;
the longitudinal moving mechanism further comprises a longitudinal moving guide rail, the longitudinal moving motor is arranged in the longitudinal moving guide rail, the longitudinal moving screw rod is arranged on the longitudinal moving motor and arranged along the length direction of the longitudinal moving guide rail, and the longitudinal moving guide rail is fixed on the longitudinal moving slide block.
7. The overhead conductor robot live working device according to claim 5 or 6, wherein the lifting mechanism comprises a lifting motor, a lifting lead screw, a lifting slider, a sliding sleeve and a guide post,
the lifting screw rod is arranged on the lifting motor, the lifting slide block is vertically movably arranged on the lifting screw rod, the sliding sleeve is arranged on the lifting slide block, the guide post is movably arranged in the sliding sleeve, and the bottom of the guide post is arranged on the longitudinal guide rail;
the rotary joint is arranged above the lifting motor.
8. The overhead conductor robot live working device according to claim 7, wherein the rotary joint includes a mounting frame and a swing joint motor,
the mounting frame is L-shaped and comprises a transverse plate and a vertical plate, the lifting motor is arranged below the transverse plate, the swing joint motor is arranged above the transverse plate, the vertical plate is provided with a through hole, and a shaft of the swing joint motor penetrates through the through hole;
and a shaft of the swing joint motor is connected with a telescopic sliding block of the telescopic mechanism to drive the telescopic mechanism to rotate.
9. The overhead conductor robot live working device according to claim 8, wherein the telescopic mechanism further comprises a telescopic guide rail, the telescopic motor is arranged in the telescopic guide rail, the telescopic lead screw is arranged on the telescopic motor, and the telescopic lead screw is arranged along the length direction of the longitudinal movement guide rail;
the telescopic sliding block is provided with a rotary joint shaft hole, and a shaft of the swing joint motor is arranged on the telescopic sliding block through the rotary joint shaft hole.
10. The overhead conductor robot live working device according to claim 9, wherein the end mechanism is detachably provided at an end of the telescopic rail away from the swing joint motor;
the end mechanisms may be jaws and sleeves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110017784.9A CN112838516B (en) | 2021-01-07 | 2021-01-07 | Overhead conductor robot live working device and method |
Applications Claiming Priority (1)
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| CN114407030A (en) * | 2021-11-12 | 2022-04-29 | 山东大学 | Autonomous navigation distribution network live working robot and working method thereof |
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