CN112894850A - Pole-climbing robot control system and control method thereof - Google Patents
Pole-climbing robot control system and control method thereof Download PDFInfo
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- 230000007246 mechanism Effects 0.000 claims description 153
- 230000009471 action Effects 0.000 claims description 86
- 210000000323 shoulder joint Anatomy 0.000 claims description 48
- 230000008569 process Effects 0.000 claims description 45
- 230000001960 triggered effect Effects 0.000 claims description 27
- 230000009194 climbing Effects 0.000 claims description 14
- 230000001174 ascending effect Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 12
- 238000007621 cluster analysis Methods 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 6
- 230000003578 releasing effect Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention discloses a pole-climbing robot control system and a control method thereof, wherein the pole-climbing robot control system comprises a pole-climbing robot, the pole-climbing robot is connected with a wireless remote control device, the pole-climbing robot is provided with a robot controller which is used for receiving operation environment data and sending the data to a binocular camera and a laser radar sensor on the robot controller, and the robot controller is connected with the wireless remote control device and is used for realizing the connection between the pole-climbing robot and the robot controller. According to the invention, the electric power overhaul operation is carried out by controlling the pole-climbing robot instead of manpower, so that the full-automatic pole-climbing overhaul operation can be realized, or the labor intensity of workers can be greatly reduced and the construction risk coefficient can be reduced by manual remote control operation under a more complicated working condition.
Description
Technical Field
The invention relates to the technical field of robot control systems, in particular to a pole-climbing robot control system and a pole-climbing robot control method.
Background
The robot system is an integral body formed by a robot, a working object and an environment, and comprises four parts, namely a mechanical system, a driving system, a control system and a sensing system, wherein the robot is an automatic machine which has intelligent capabilities similar to human or biology, such as sensing capability, planning capability, action capability and coordination capability, and is an automatic machine with high flexibility.
With the continuous development of modern society, the number of urban power transmission lines is gradually increased, theoretically, the power transmission lines are less affected by external environmental factors, and the safe operation reliability is higher, but actually, wires and insulators on the power transmission lines are inevitably affected by the external factors in a long-term external open environment, for example, dirt such as dust and bird droppings adheres to the wires and insulators after the wires and insulators are operated for a period of time, and finally, the failure rate of the power transmission lines may be increased, so that power failure accidents are frequent, and therefore, the power transmission lines need to be overhauled.
Firstly, inspection and maintenance of domestic power transmission lines are mostly finished manually, and due to outdoor operation, overhaul personnel need to endure the trouble of wind, sunshine and rain while climbing high, the working conditions are hard, and the working strength is high;
secondly, during electric power overhaul, live working is often needed, great potential safety hazards exist due to manual short-distance contact with live equipment, and major safety accidents are very easy to happen due to improper operation or failure to comply with safety regulations or accidents.
Disclosure of Invention
In order to solve the problems mentioned in the background art, a control system and a control method for a climbing robot are provided.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control system of a pole-climbing robot comprises a pole-climbing robot, wherein a wireless remote control device is connected to the pole-climbing robot;
the pole-climbing robot comprises a pole-climbing robot body, a weight arm and a working tool;
the pole-climbing robot body comprises a left side action mechanism, a right side action mechanism and a trunk action mechanism;
the robot controller is arranged on the trunk action mechanism, and the binocular camera and the laser radar sensor are respectively arranged at the upper end part and the lower end part of the pole-climbing robot body;
the robot controller is used for receiving operation environment data and sending the operation environment data to the binocular camera and the laser radar sensor on the robot controller;
the left side action mechanism comprises a left arm upper push rod mechanism, a left arm lower driving wheel lifting mechanism and a left trunk shoulder joint mechanism;
the left arm upper push rod mechanism is provided with a left arm upper push rod loosening in-place sensor and a left arm upper push rod holding rod in-place sensor;
the left arm lower push rod mechanism is provided with a left arm lower push rod loosening in-place sensor and a left arm lower push rod holding rod in-place sensor;
the left trunk shoulder joint mechanism is provided with a left trunk shoulder joint outward rotation in-place sensor and a left trunk joint mechanism inward rotation in-place sensor;
the right side action mechanism comprises a right arm upper push rod mechanism, a right arm lower driving wheel lifting mechanism and a right trunk shoulder joint mechanism;
the right arm push rod mechanism is provided with a right arm push rod loosening in-place sensor and a right arm push rod holding in-place sensor;
the right arm lower push rod mechanism is provided with a right arm lower push rod loosening in-place sensor and a right arm lower push rod holding rod in-place sensor;
the right trunk shoulder joint mechanism is provided with a right trunk shoulder joint outward rotation in-place sensor and a right trunk joint mechanism inward rotation in-place sensor;
the weight arm comprises a weight arm rotating shaft, a weight upper shaft, a weight lower shaft and a weight arm tool shaft, wherein the weight upper shaft and the weight lower shaft are arranged on the weight arm rotating shaft;
a weight arm rotating shaft origin sensor is arranged on the weight arm rotating shaft, a weight upper shaft origin sensor and a weight lower shaft origin sensor are arranged on the weight upper shaft and the weight lower shaft, and a weight arm tool shaft origin sensor is arranged on the weight arm tool shaft;
the trunk action mechanism is provided with a trunk ascending in-place sensor and a trunk descending in-place sensor;
the robot controller is connected with the wireless remote control equipment and used for realizing the connection between the pole-climbing robot and the robot controller.
As a further description of the above technical solution:
the robot controller comprises a controller, a controller output module, a controller input module, a controller communication interface and a controller wireless communication interface;
the controller output modules are correspondingly connected with the left arm upper push rod mechanism, the left arm lower driving wheel lifting mechanism, the left trunk shoulder joint mechanism, the right arm upper push rod mechanism, the right arm lower driving wheel lifting mechanism, the right trunk shoulder joint mechanism, the trunk action mechanism, the weight holding arm and the operation tool;
the controller input modules are correspondingly connected with a left arm upper push rod loosening in-place sensor, a left arm upper push rod holding rod in-place sensor, a left arm lower push rod loosening in-place sensor, a left arm lower push rod holding rod in-place sensor, a left trunk shoulder joint outward rotation in-place sensor, a left trunk joint mechanism inward rotation in-place sensor, a right arm upper push rod loosening rod in-place sensor, a right arm upper push rod holding rod in-place sensor, a right arm lower push rod loosening rod in-place sensor, a right arm lower push rod holding rod in-place sensor, a right trunk shoulder joint mechanism outward rotation in-place sensor, a right trunk joint mechanism inward rotation in-place sensor, a trunk ascending in-place sensor, a trunk descending in-place sensor, a weight-holding arm rotating shaft origin sensor, a weight-holding upper and lower shaft origin sensor and a weight-holding arm tool shaft;
the controller communication interface is connected with the binocular camera and the laser radar sensor;
the controller wireless communication interface is connected with the wireless remote control equipment.
As a further description of the above technical solution:
the robot controller comprises an automatic mode and a manual mode, the automatic mode comprises a pole climbing process, the manual mode comprises a pole climbing process and an operation process, and the operation process and the manual mode after the automatic mode is finished are controlled by the wireless remote control equipment.
As a further description of the above technical solution:
a control method of a pole-climbing robot control system comprises an automatic mode and a manual mode, wherein the pole-climbing process of the automatic mode comprises the following specific steps:
sz1, the robot controller sends out a rod-releasing and rod-holding action starting instruction of the rod-climbing robot, the left arm and the right arm need to alternately act according to the action flow, and when the instruction sent by the robot controller is the left arm starting instruction, the left arm action flow is started;
sz2, the left arm upper push rod mechanism and the left arm lower push rod mechanism act simultaneously, and when signals of the left arm upper push rod loosening in-place sensor and the right arm upper push rod loosening in-place sensor are triggered, the loosening action is finished;
sz3, after the left arm upper push rod mechanism and the left arm lower push rod mechanism are loosened in place, the left arm lower driving wheel lifting mechanism carries out retraction action, when the left arm lower driving wheel lifting mechanism finishes retraction, the outward rotation action of the left body shoulder joint mechanism is started, and when the outward rotation in-place sensor signal of the left body shoulder joint mechanism is triggered, the outward rotation action of the left body shoulder joint mechanism is finished;
sz4, when the outward rotation of the left trunk shoulder joint mechanism is completed, the trunk action mechanism determines whether to ascend or descend according to the instruction;
when the robot controller requires to ascend, when the trunk ascending position sensor signal is triggered, the trunk action mechanism finishes ascending action;
when the robot controller requires to descend, when the trunk descending position sensor signal is triggered, the trunk action mechanism finishes descending action;
sz5, Sz2 to Sz4 are left arm rod loosening processes, and after the left arm rod loosening is completed, the left arm rod holding process is performed;
sz6, starting the internal rotation action of the left trunk joint mechanism, when the signal of the sensor for the internal rotation in-place of the left trunk shoulder joint is triggered, the internal rotation in-place of the left trunk joint mechanism is completed;
sz7, when the left arm lower driving wheel lifting mechanism is lowered to be in place, the left arm upper push rod mechanism and the left arm lower push rod mechanism act simultaneously, and when signals of the left arm upper push rod holding rod in-place sensor and the left arm lower push rod holding rod in-place sensor are triggered, the holding rod action is finished;
sz8, when the robot controller sends out the command to start the right arm, the motion process of the right arm is the same as the motion process of the left arm.
As a further description of the above technical solution:
in step Sz4, after the outward rotation of the left trunk shoulder joint mechanism is completed, when the trunk action mechanism determines to ascend or descend, the obstacle detection is performed in advance, and when an obstacle is encountered, the obstacle avoidance mode is performed, and the specific flow steps of the obstacle avoidance mode are as follows:
sb1, the safe pole-climbing distance of the pole-climbing robot is preset in the robot controller;
sb2, when the laser radar sensor detects the obstacle, the laser radar sensor sends data to the robot controller, and the robot controller calculates the distance between the obstacle and the pole-climbing robot through calculation;
sb3, if the distance is greater than the safety distance, the pole-climbing robot continues to perform the pole-climbing action, and if the distance is less than the safety distance, the robot controller replans a reasonable path to avoid the obstacle.
As a further description of the above technical solution:
climbing rod robot need rely on binocular camera and laser radar sensor to carry out the perception to the operational environment on every side all the time and construct in automatic mode, and then let climbing rod robot discern the cable in the environment and the barrier of climbing rod in-process, and concrete environmental perception process is as follows:
sg1, collecting laser radar data of a working environment by a laser radar sensor, extracting data of a sensing interval after median filtering, and carrying out cluster analysis on the data of the sensing interval;
sg2, carrying out further characteristic value analysis after cluster analysis, comparing the characteristic values with the existing database, determining correct data, carrying out coordinate system conversion on the correct data, and converting the correct data into a binocular camera coordinate system, so that subsequent data fusion is facilitated;
sg3, acquiring data of a working environment by using a binocular camera sensor, acquiring RGB (red, green and blue) data of an image, and then carrying out gray processing;
sg4, fusing the grayed data information and the information data acquired by the laser radar sensor in the same coordinate system, extracting a sensing interval after fusing the data, inquiring a working environment characteristic value in an existing database, and identifying the data characteristic value with the sensing interval after fusing the data;
sg5, calculating the information of the target object according to the characteristic value of the target data in the identified fusion data, and finally giving the coordinate data of the target object to the robot controller to help guide the pole-climbing robot to complete the designated function.
As a further description of the above technical solution:
a control method of a pole-climbing robot control system comprises the following specific steps in a manual mode:
the action process of the Sh1 and the pole-climbing robot is consistent with the automatic mode, and the difference is that:
the action of the pole-climbing robot is controlled by the wireless remote control equipment every time, and when encountering an obstacle in the climbing process, the pole-climbing robot is controlled by the wireless remote control equipment to avoid the obstacle, so that the pole-climbing robot finishes the pole-climbing process;
sh2, when the weight arm rotation axis needs to return to the original point, the weight arm rotation axis is remotely controlled by wireless remote control equipment to move towards the original point direction, when the weight arm rotation original point sensor signal is triggered, the weight arm rotation axis stops, and the return-to-zero action is completed;
sh3, when the upper and lower axes of the weight arm need to return to the original point, the upper and lower axes of the weight arm are remotely controlled to move in the direction of the original point by wireless remote control equipment, when the original point sensor signals of the upper and lower axes of the weight arm are triggered, the upper and lower axes of the weight arm stop, and the return-to-zero action is completed;
sh4, when holding arm instrument axle needs the zero point of returning, move through the axial zero point direction of wireless remote control equipment remote control holding arm instrument, when holding arm instrument axle zero point sensor signal is triggered, hold arm instrument axle and stop, the action of returning to zero is accomplished.
As a further description of the above technical solution:
the job process after the end of the automatic mode coincides with steps Sh2 to Sh4 in the manual mode.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the electric power overhaul operation is carried out by controlling the pole-climbing robot to replace manpower, the full-automatic pole-climbing overhaul operation can be realized, or the labor intensity of workers can be greatly reduced and the construction risk coefficient can be reduced by manual remote control operation under a complex working condition.
Drawings
Fig. 1 is a connection diagram illustrating a control system of a pole-climbing robot control system and a control method thereof according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating a rod-releasing action flow of a rod-climbing robot according to a control system and a control method of the rod-climbing robot provided by an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a holding rod action of a climbing robot according to a control system and a control method of the climbing robot provided by an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating an obstacle avoidance process in an automatic mode of a pole-climbing robot according to a control system and a control method of the pole-climbing robot provided by an embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating a context awareness function of a pole-climbing robot in motion according to a control system and a control method for the pole-climbing robot provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1-5, the present invention provides a technical solution: a control system of a pole-climbing robot comprises a pole-climbing robot, wherein a wireless remote control device is connected to the pole-climbing robot;
the pole-climbing robot comprises a pole-climbing robot body, a weight arm and a working tool;
the pole-climbing robot body comprises a left side action mechanism, a right side action mechanism and a trunk action mechanism;
the robot controller is arranged on the trunk action mechanism, and the binocular camera and the laser radar sensor are respectively arranged at the upper end part and the lower end part of the pole-climbing robot body;
the robot controller is used for receiving the working environment data and sending the working environment data to the binocular camera and the laser radar sensor on the robot controller;
the left side action mechanism comprises a left arm upper push rod mechanism, a left arm lower driving wheel lifting mechanism and a left trunk shoulder joint mechanism;
the left arm upper push rod mechanism is provided with a left arm upper push rod loosening in-place sensor and a left arm upper push rod holding rod in-place sensor;
the left arm lower push rod mechanism is provided with a left arm lower push rod loosening in-place sensor and a left arm lower push rod holding rod in-place sensor;
the left trunk shoulder joint mechanism is provided with a left trunk shoulder joint outward rotation in-place sensor and a left trunk joint mechanism inward rotation in-place sensor;
the right side action mechanism comprises a right arm upper push rod mechanism, a right arm lower driving wheel lifting mechanism and a right trunk shoulder joint mechanism;
the right arm upper push rod mechanism is provided with a right arm upper push rod loosening in-place sensor and a right arm upper push rod holding rod in-place sensor;
the right arm lower push rod mechanism is provided with a right arm lower push rod loosening in-place sensor and a right arm lower push rod holding rod in-place sensor;
the right trunk shoulder joint mechanism is provided with a right trunk shoulder joint outward rotation in-place sensor and a right trunk joint mechanism inward rotation in-place sensor;
the weight arm comprises a weight arm rotating shaft, a weight upper shaft, a weight lower shaft and a weight arm tool shaft, wherein the weight upper shaft and the weight lower shaft are arranged on the weight arm rotating shaft;
a weight arm rotating shaft origin sensor is arranged on the weight arm rotating shaft, a weight upper shaft origin sensor and a weight lower shaft origin sensor are arranged on the weight upper shaft and the weight lower shaft, and a weight arm tool shaft origin sensor is arranged on the weight arm tool shaft;
the trunk action mechanism is provided with a trunk ascending in-place sensor and a trunk descending in-place sensor;
the robot controller is connected with the wireless remote control equipment and used for realizing the connection between the pole-climbing robot and the robot controller.
Referring to fig. 1, the robot controller includes a controller, a controller output module, a controller input module, a controller communication interface, and a controller wireless communication interface;
the controller output modules are correspondingly connected with the left arm upper push rod mechanism, the left arm lower driving wheel lifting mechanism, the left trunk shoulder joint mechanism, the right arm upper push rod mechanism, the right arm lower driving wheel lifting mechanism, the right trunk shoulder joint mechanism, the trunk action mechanism, the weight holding arm and the operation tool;
the controller input modules are correspondingly connected with a left arm upper push rod loosening in-place sensor, a left arm upper push rod holding rod in-place sensor, a left arm lower push rod loosening in-place sensor, a left arm lower push rod holding rod in-place sensor, a left trunk shoulder joint outward rotation in-place sensor, a left trunk joint mechanism inward rotation in-place sensor, a right arm upper push rod loosening rod in-place sensor, a right arm upper push rod holding rod in-place sensor, a right arm lower push rod loosening rod in-place sensor, a right arm lower push rod holding rod in-place sensor, a right trunk shoulder joint mechanism outward rotation in-place sensor, a right trunk joint mechanism inward rotation in-place sensor, a trunk ascending in-place sensor, a trunk descending in-place sensor, a weight-holding arm rotating shaft origin sensor, a weight-holding upper and lower shaft origin sensor and a weight-holding arm tool;
the controller communication interface is connected with the binocular camera and the laser radar sensor;
the controller wireless communication interface is connected with the wireless remote control device.
Referring to fig. 2 and 3, the robot controller includes an automatic mode and a manual mode, the automatic mode includes a pole-climbing process, the manual mode includes a pole-climbing process and an operation process, and the operation process after the automatic mode is finished and the manual mode are controlled by the wireless remote control device.
Referring to fig. 2 and 3, a control method of a pole-climbing robot control system includes an automatic mode and a manual mode, wherein the pole-climbing process in the automatic mode includes the following specific steps:
sz1, the robot controller sends out a rod-releasing and rod-holding action starting instruction of the rod-climbing robot, the left arm and the right arm need to alternately act according to the action flow, and when the instruction sent by the robot controller is the left arm starting instruction, the left arm action flow is started;
sz2, the left arm upper push rod mechanism and the left arm lower push rod mechanism act simultaneously, and when signals of the left arm upper push rod loosening in-place sensor and the right arm upper push rod loosening in-place sensor are triggered, the loosening action is finished;
sz3, after the left arm upper push rod mechanism and the left arm lower push rod mechanism are loosened in place, the left arm lower driving wheel lifting mechanism carries out retraction action, when the left arm lower driving wheel lifting mechanism finishes retraction, the outward rotation action of the left body shoulder joint mechanism is started, and when the outward rotation in-place sensor signal of the left body shoulder joint mechanism is triggered, the outward rotation action of the left body shoulder joint mechanism is finished;
sz4, when the outward rotation of the left trunk shoulder joint mechanism is completed, the trunk action mechanism determines whether to ascend or descend according to the instruction;
when the robot controller requires to ascend, when the trunk ascending position sensor signal is triggered, the trunk action mechanism finishes ascending action;
when the robot controller requires to descend, when the trunk descending position sensor signal is triggered, the trunk action mechanism finishes descending action;
sz5, Sz2 to Sz4 are left arm rod loosening processes, and after the left arm rod loosening is completed, the left arm rod holding process is performed;
sz6, starting the internal rotation action of the left trunk joint mechanism, when the signal of the sensor for the internal rotation in-place of the left trunk shoulder joint is triggered, the internal rotation in-place of the left trunk joint mechanism is completed;
sz7, when the left arm lower driving wheel lifting mechanism is lowered to be in place, the left arm upper push rod mechanism and the left arm lower push rod mechanism act simultaneously, and when signals of the left arm upper push rod holding rod in-place sensor and the left arm lower push rod holding rod in-place sensor are triggered, the holding rod action is finished;
sz8, when the robot controller sends out the command to start the right arm, the motion process of the right arm is the same as the motion process of the left arm.
Referring to fig. 4, in step Sz4, after the outward rotation of the left trunk shoulder joint mechanism is completed, when the trunk action mechanism determines to ascend or descend, the obstacle detection is performed in advance, and when an obstacle is encountered, the obstacle avoidance mode is performed, and the specific flow steps of the obstacle avoidance mode are as follows:
sb1, the safe pole-climbing distance of the pole-climbing robot is preset in the robot controller;
sb2, when the laser radar sensor detects the obstacle, the laser radar sensor sends data to the robot controller, and the robot controller calculates the distance between the obstacle and the pole-climbing robot through calculation;
sb3, if the distance is greater than the safety distance, the pole-climbing robot continues to perform the pole-climbing action, and if the distance is less than the safety distance, the robot controller replans a reasonable path to avoid the obstacle.
Referring to fig. 5, in the automatic mode, the pole-climbing robot always needs to rely on the binocular camera and the lidar sensor to perform sensing construction on the surrounding working environment, so that the pole-climbing robot can identify the cable in the environment and the obstacle in the pole-climbing process, and the specific environment sensing process is as follows:
sg1, collecting laser radar data of a working environment by a laser radar sensor, extracting data of a sensing interval after median filtering, and carrying out cluster analysis on the data of the sensing interval;
wherein the clustering analysis is as follows: analyzing which are irrelevant objects and which are important objects in the working environment;
sg2, carrying out further characteristic value analysis after cluster analysis, comparing the characteristic values with the existing database, determining correct data, carrying out coordinate system conversion on the correct data, and converting the correct data into a binocular camera coordinate system, so that subsequent data fusion is facilitated;
sg3, acquiring image data of a working environment by using a binocular camera sensor, acquiring RGB (red, green and blue) data of an image, and then carrying out gray processing;
sg4, fusing the grayed data information and the information data acquired by the laser radar sensor in the same coordinate system, extracting a sensing interval after fusing the data, inquiring a working environment characteristic value in an existing database, and identifying the data characteristic value with the sensing interval after fusing the data;
sg5, calculating the information of the target object according to the characteristic value of the target data in the identified fusion data, and finally giving the coordinate data of the target object to the robot controller to help guide the pole-climbing robot to complete the designated function.
Referring to fig. 1 to 3, a control method of a control system of a pole-climbing robot is characterized in that the manual mode comprises the following specific steps:
the action process of the Sh1 and the pole-climbing robot is consistent with the automatic mode, and the difference is that:
the action of the pole-climbing robot is controlled by the wireless remote control equipment every time, and when encountering an obstacle in the climbing process, the pole-climbing robot is controlled by the wireless remote control equipment to avoid the obstacle, so that the pole-climbing robot finishes the pole-climbing process;
sh2, when the weight arm rotation axis needs to return to the original point, the weight arm rotation axis is remotely controlled by wireless remote control equipment to move towards the original point direction, when the weight arm rotation original point sensor signal is triggered, the weight arm rotation axis stops, and the return-to-zero action is completed;
sh3, when the upper and lower axes of the weight arm need to return to the original point, the upper and lower axes of the weight arm are remotely controlled to move in the direction of the original point by wireless remote control equipment, when the original point sensor signals of the upper and lower axes of the weight arm are triggered, the upper and lower axes of the weight arm stop, and the return-to-zero action is completed;
sh4, when holding arm instrument axle needs the zero point of returning, move through the axial zero point direction of wireless remote control equipment remote control holding arm instrument, when holding arm instrument axle zero point sensor signal is triggered, hold arm instrument axle and stop, the action of returning to zero is accomplished.
The work process after the automatic mode is finished corresponds to the steps Sh2 to Sh4 in the manual mode.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides a pole-climbing robot control system, includes pole-climbing robot, be connected with wireless remote control equipment on the pole-climbing robot, its characterized in that:
the pole-climbing robot comprises a pole-climbing robot body, a weight arm and a working tool;
the pole-climbing robot body comprises a left side action mechanism, a right side action mechanism and a trunk action mechanism;
the robot controller is arranged on the trunk action mechanism, and the binocular camera and the laser radar sensor are respectively arranged at the upper end part and the lower end part of the pole-climbing robot body;
the robot controller is used for receiving operation environment data and sending the operation environment data to the binocular camera and the laser radar sensor on the robot controller;
the left side action mechanism comprises a left arm upper push rod mechanism, a left arm lower driving wheel lifting mechanism and a left trunk shoulder joint mechanism;
the left arm upper push rod mechanism is provided with a left arm upper push rod loosening in-place sensor and a left arm upper push rod holding rod in-place sensor;
the left arm lower push rod mechanism is provided with a left arm lower push rod loosening in-place sensor and a left arm lower push rod holding rod in-place sensor;
the left trunk shoulder joint mechanism is provided with a left trunk shoulder joint outward rotation in-place sensor and a left trunk joint mechanism inward rotation in-place sensor;
the right side action mechanism comprises a right arm upper push rod mechanism, a right arm lower driving wheel lifting mechanism and a right trunk shoulder joint mechanism;
the right arm push rod mechanism is provided with a right arm push rod loosening in-place sensor and a right arm push rod holding in-place sensor;
the right arm lower push rod mechanism is provided with a right arm lower push rod loosening in-place sensor and a right arm lower push rod holding rod in-place sensor;
the right trunk shoulder joint mechanism is provided with a right trunk shoulder joint outward rotation in-place sensor and a right trunk joint mechanism inward rotation in-place sensor;
the weight arm comprises a weight arm rotating shaft, a weight upper shaft, a weight lower shaft and a weight arm tool shaft, wherein the weight upper shaft and the weight lower shaft are arranged on the weight arm rotating shaft;
a weight arm rotating shaft origin sensor is arranged on the weight arm rotating shaft, a weight upper shaft origin sensor and a weight lower shaft origin sensor are arranged on the weight upper shaft and the weight lower shaft, and a weight arm tool shaft origin sensor is arranged on the weight arm tool shaft;
the trunk action mechanism is provided with a trunk ascending in-place sensor and a trunk descending in-place sensor;
the robot controller is connected with the wireless remote control equipment and used for realizing the connection between the pole-climbing robot and the robot controller.
2. The control system of claim 1, wherein the robot controller comprises a controller, a controller output module, a controller input module, a controller communication interface, and a controller wireless communication interface;
the controller output modules are correspondingly connected with the left arm upper push rod mechanism, the left arm lower driving wheel lifting mechanism, the left trunk shoulder joint mechanism, the right arm upper push rod mechanism, the right arm lower driving wheel lifting mechanism, the right trunk shoulder joint mechanism, the trunk action mechanism, the weight holding arm and the operation tool;
the controller input modules are correspondingly connected with a left arm upper push rod loosening in-place sensor, a left arm upper push rod holding rod in-place sensor, a left arm lower push rod loosening in-place sensor, a left arm lower push rod holding rod in-place sensor, a left trunk shoulder joint outward rotation in-place sensor, a left trunk joint mechanism inward rotation in-place sensor, a right arm upper push rod loosening rod in-place sensor, a right arm upper push rod holding rod in-place sensor, a right arm lower push rod loosening rod in-place sensor, a right arm lower push rod holding rod in-place sensor, a right trunk shoulder joint mechanism outward rotation in-place sensor, a right trunk joint mechanism inward rotation in-place sensor, a trunk ascending in-place sensor, a trunk descending in-place sensor, a weight-holding arm rotating shaft origin sensor, a weight-holding upper and lower shaft origin sensor and a weight-holding arm tool shaft;
the controller communication interface is connected with the binocular camera and the laser radar sensor;
the controller wireless communication interface is connected with the wireless remote control equipment.
3. The control system of claim 2, wherein the robot controller comprises an automatic mode and a manual mode, the automatic mode comprises a pole climbing process, the manual mode comprises a pole climbing process and a working process, and the working process after the automatic mode is finished and the manual mode are controlled by the wireless remote control device.
4. A control method of the control system of the pole-climbing robot according to any one of claims 1-3, characterized by comprising an automatic mode and a manual mode, wherein the pole-climbing process of the automatic mode comprises the following specific steps:
sz1, the robot controller sends out a rod-releasing and rod-holding action starting instruction of the rod-climbing robot, the left arm and the right arm need to alternately act according to the action flow, and when the instruction sent by the robot controller is the left arm starting instruction, the left arm action flow is started;
sz2, the left arm upper push rod mechanism and the left arm lower push rod mechanism act simultaneously, and when signals of the left arm upper push rod loosening in-place sensor and the right arm upper push rod loosening in-place sensor are triggered, the loosening action is finished;
sz3, after the left arm upper push rod mechanism and the left arm lower push rod mechanism are loosened in place, the left arm lower driving wheel lifting mechanism carries out retraction action, when the left arm lower driving wheel lifting mechanism finishes retraction, the outward rotation action of the left body shoulder joint mechanism is started, and when the outward rotation in-place sensor signal of the left body shoulder joint mechanism is triggered, the outward rotation action of the left body shoulder joint mechanism is finished;
sz4, when the outward rotation of the left trunk shoulder joint mechanism is completed, the trunk action mechanism determines whether to ascend or descend according to the instruction;
when the robot controller requires to ascend, when the trunk ascending position sensor signal is triggered, the trunk action mechanism finishes ascending action;
when the robot controller requires to descend, when the trunk descending position sensor signal is triggered, the trunk action mechanism finishes descending action;
sz5, Sz2 to Sz4 are left arm rod loosening processes, and after the left arm rod loosening is completed, the left arm rod holding process is performed;
sz6, starting the internal rotation action of the left trunk joint mechanism, when the signal of the sensor for the internal rotation in-place of the left trunk shoulder joint is triggered, the internal rotation in-place of the left trunk joint mechanism is completed;
sz7, when the left arm lower driving wheel lifting mechanism is lowered to be in place, the left arm upper push rod mechanism and the left arm lower push rod mechanism act simultaneously, and when signals of the left arm upper push rod holding rod in-place sensor and the left arm lower push rod holding rod in-place sensor are triggered, the holding rod action is finished;
sz8, when the robot controller sends out the command to start the right arm, the motion process of the right arm is the same as the motion process of the left arm.
5. The control method of the control system of the pole-climbing robot as claimed in claim 4, wherein in step Sz4, after the outward rotation of the left trunk shoulder joint mechanism is completed, the trunk action mechanism determines whether to ascend or descend, the obstacle detection is performed in advance, and when an obstacle is encountered, the obstacle avoidance mode is performed, and the specific flow steps of the obstacle avoidance mode are as follows:
sb1, the safe pole-climbing distance of the pole-climbing robot is preset in the robot controller;
sb2, when the laser radar sensor detects the obstacle, the laser radar sensor sends data to the robot controller, and the robot controller calculates the distance between the obstacle and the pole-climbing robot through calculation;
sb3, if the distance is greater than the safety distance, the pole-climbing robot continues to perform the pole-climbing action, and if the distance is less than the safety distance, the robot controller replans a reasonable path to avoid the obstacle.
6. The control method of the pole-climbing robot control system according to claim 5, wherein in the automatic mode, the pole-climbing robot always needs to rely on a binocular camera and a laser radar sensor to perform sensing construction on the surrounding working environment, so that the pole-climbing robot can identify a cable in the environment and an obstacle in the pole-climbing process, and the specific environment sensing process is as follows:
sg1, collecting laser radar data of a working environment by a laser radar sensor, extracting sensing interval data after median filtering, and carrying out cluster analysis on the sensing interval data;
sg2, carrying out further characteristic value analysis after cluster analysis, comparing the characteristic values with the existing database, determining correct data, carrying out coordinate system conversion on the correct data, and converting the correct data into a binocular camera coordinate system, so that subsequent data fusion is facilitated;
sg3, acquiring image data of a working environment by using a binocular camera sensor, acquiring RGB (red, green and blue) data of an image, and then carrying out gray processing;
sg4, fusing the grayed data information and the information data acquired by the laser radar sensor in the same coordinate system, extracting a sensing interval after fusing the data, inquiring a working environment characteristic value in an existing database, and identifying the data characteristic value with the sensing interval after fusing the data;
sg5, calculating the information of the target object according to the characteristic value of the target data in the identified fusion data, and finally giving the coordinate data of the target object to the robot controller to help guide the pole-climbing robot to complete the designated function.
7. The control method of the pole-climbing robot control system according to claim 4, wherein the manual mode comprises the following specific steps:
the action process of the Sh1 and the pole-climbing robot is consistent with the automatic mode, and the difference is that:
the action of the pole-climbing robot is controlled by the wireless remote control equipment every time, and when encountering an obstacle in the climbing process, the pole-climbing robot is controlled by the wireless remote control equipment to avoid the obstacle, so that the pole-climbing robot finishes the pole-climbing process;
sh2, when the weight arm rotation axis needs to return to the original point, the weight arm rotation axis is remotely controlled by wireless remote control equipment to move towards the original point direction, when the weight arm rotation original point sensor signal is triggered, the weight arm rotation axis stops, and the return-to-zero action is completed;
sh3, when the upper and lower axes of the weight arm need to return to the original point, the upper and lower axes of the weight arm are remotely controlled to move in the direction of the original point by wireless remote control equipment, when the original point sensor signals of the upper and lower axes of the weight arm are triggered, the upper and lower axes of the weight arm stop, and the return-to-zero action is completed;
sh4, when holding arm instrument axle needs the zero point of returning, move through the axial zero point direction of wireless remote control equipment remote control holding arm instrument, when holding arm instrument axle zero point sensor signal is triggered, hold arm instrument axle and stop, the action of returning to zero is accomplished.
8. The control method of the control system of the pole-climbing robot as claimed in claim 7, wherein the working process after the automatic mode is finished is consistent with the steps Sh2 to Sh4 in the manual mode.
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