CN115167412A - Inspection robot and inspection robot-based power distribution room equipment control method - Google Patents
Inspection robot and inspection robot-based power distribution room equipment control method Download PDFInfo
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- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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Abstract
The invention provides an inspection robot and a power distribution room equipment control method based on the inspection robot. The power distribution room equipment control method specifically comprises the steps of receiving a control command, determining control target equipment and a corresponding target operation area in a power distribution room, navigating to the target operation area and determining the control target equipment, acquiring corresponding image data in real time, identifying an indicator light, judging whether the control target equipment is in an operable state or not, determining a control target and the position of the control target when the control target equipment is in the operable state, controlling a mechanical arm to move to a corresponding posture position for operation, identifying the indicator light after operation content is completed, and judging an operation result. The invention can replace manual work to realize the operation and control processing of the equipment in the power distribution room, and improve the fault processing efficiency and the operation safety of the power grid.
Description
Technical Field
The invention relates to the technical field of power distribution management, in particular to an inspection robot and a power distribution room equipment control method based on the inspection robot.
Background
In recent years, with the increasing pace of domestic power development and the expansion of the investment scale of a power grid, the scale of power grid infrastructure such as a transformer substation, a power distribution room and the like is increasingly large. The power grid company must invest a large amount of capital and manpower to perform daily supervision, inspection, maintenance and other work so as to ensure the normal and stable operation of the power grid. At present, a manual inspection mode is generally adopted for daily inspection, but the mode is greatly influenced by the state of an inspection worker, so that the problems of untimely detection, missed detection, false detection and the like exist, most of data acquired in inspection is recorded on a paper file, and timely and effective data analysis cannot be performed. At present, the industries such as a transformer substation, a photovoltaic power station, a thermal power station, a high-voltage overhead line and the like in China try to use an inspection robot to replace manpower to perform inspection operation, and the conventional inspection robot comprises an indoor inspection robot and an outdoor inspection robot, can realize in-station autonomous navigation and positioning based on multiple trackless and tracked mobile platforms, can automatically identify the state of equipment through sensors such as infrared and visible light sensors, can comprehensively diagnose the fault of the equipment according to the state of the equipment, and can replace the manpower to complete the inspection task. However, the most important function of these robots is the polling function, and if an equipment fault condition exists in the substation or the distribution room during the polling process and the equipment needs to be operated, the operation and maintenance personnel still need to be notified to go to the relevant equipment for manual operation, so that the equipment management efficiency in the substation or the distribution room is low. And because the equipment operation needs to be carried out manually, the equipment fault in the inspection process cannot be solved in time, and the operation safety of the power grid still cannot be guaranteed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides an inspection robot and a power distribution room equipment control method based on the inspection robot, and solves the problems that the conventional inspection robot cannot support equipment operation, the equipment management efficiency is low, and the fault treatment is not timely.
The purpose of the invention is realized by the following technical scheme:
the utility model provides an inspection robot, receives monitor platform's regulation and control, inspection robot includes the arm, removes chassis, control module and visual module, the arm sets up on removing the chassis, the arm, remove chassis and visual module all are connected with control module, it is by control module drive control to remove chassis and arm, visual module includes camera and laser sensor, laser sensor sets up on removing the chassis, laser sensor is used for gathering the all ring edge border data of robot to fix a position the navigation according to the all ring edge border data of gathering through control module, the camera sets up on the arm, the camera is used for the image data of real-time collection inspection in-process, when carrying out equipment control, and control module moves the position of chassis and arm according to the image data adjustment that gathers.
Furthermore, the tail end of the mechanical arm is also provided with a tail end operation unit, the tail end operation unit is connected with the control module, and the control module controls a knob or an operation screen on the control target device through the tail end operation unit.
Further, the inspection robot further comprises a communication module, the communication module is connected with the control module and the monitoring platform at the same time, and the control module is in wireless communication with the monitoring platform through the communication module.
A power distribution room equipment control method based on an inspection robot is applied to the inspection robot and comprises the following steps:
firstly, an inspection robot receives an operation command of a monitoring platform, determines an operation target device in a power distribution room according to the operation command, determines a target operation area, performs map positioning on the inspection robot, and acquires navigation information according to the target operation area and the positioning information of the inspection robot;
step two, the inspection robot advances to a target operation area according to the navigation information, determines an operation target device through a camera, collects image data of the operation target device in real time, and calls an operation command to obtain operation contents;
thirdly, identifying an indicator light on the control target equipment by the inspection robot, judging whether the control target equipment is in an operable state according to an identification result, if so, determining a control target according to operation content, determining the position of the control target through image data, controlling the mechanical arm to move to a corresponding posture position, and operating according to the operation content; if the inspection robot is not in the operable state, the inspection robot sends information of incapability of operation to the monitoring background and restores the initial state;
after finishing the operation content, the inspection robot identifies the indicator light on the control target equipment again, identifies the operation result according to the identification result, and if the operation result is successful, the inspection robot restores the initial state; and if the operation result is unsuccessful, the inspection robot sends operation failure information to the monitoring background and restores the initial state.
Furthermore, in the third step, when the mechanical arm of the robot is controlled to move to the corresponding attitude position, the attitude position of the robot is compensated step by step through the positioning deviation, and the robot is subjected to feedback control by adopting an independent image characteristic in each compensation step.
Furthermore, the step compensation comprises skew deviation compensation of the inspection robot, distance deviation compensation of the inspection robot and the control target equipment and moving distance compensation of the inspection robot.
Furthermore, when the attitude position of the inspection robot is compensated step by step through the positioning deviation, the target attitude required to be achieved by each step of compensation is divided into a first target attitude, a second target attitude and a third target attitude, the tail end operation unit on the mechanical arm is just opposite to the control target equipment through the first target attitude, the distance between the mobile chassis of the inspection robot and the control target equipment is adjusted through the second target attitude, and finally the distance between the mobile chassis of the inspection robot and the control target equipment and the distance between the tail end operation unit and the control target equipment are adjusted while the relative positions of the tail end operation unit and the control object are kept unchanged through the third target attitude.
Furthermore, two auxiliary labels are pre-attached to the control target device, before the first target posture is adjusted, the inspection robot calls corresponding initial posture information according to the control target device, the control target and operation contents, adjusts the mechanical arm to the corresponding initial posture, extracts perimeter characteristics of the two auxiliary labels in image data collected by the camera, obtains perimeter deviation of the two auxiliary labels, compares the perimeter deviation with the target perimeter deviation, adjusts the posture of the mechanical arm according to the comparison result until the error between the perimeter deviation and the target perimeter deviation is smaller than a preset threshold value, the inspection robot reaches the first target posture, continues to extract central pixel distance characteristics of the two auxiliary labels in the image data, compares the central pixel distance with the target central pixel distance, adjusts the distance between the moving chassis and the control target according to the comparison result until the error between the central pixel distance and the target central pixel distance is smaller than the preset threshold value, the robot reaches the second target posture, then builds an image jacobian matrix, obtains an adjustment track according to the image jacobian matrix, adjusts the mechanical arm according to the adjustment track, contacts the tail end of the control target device, and the inspection robot reaches the third target posture.
The invention has the beneficial effects that:
can accomplish controlling to the interior equipment of block terminal through patrolling and examining the robot, replace artifical the handling of controlling that realizes equipment through patrolling and examining the robot, can effectively improve the equipment management efficiency in the block terminal. And at the in-process of patrolling and examining, can directly carry out the equipment control in the room of joining in marriage according to the scheduling instruction at the in-process of patrolling and examining, when the in-process of patrolling and examining finds that equipment breaks down, can take effective measure the very first time, ensure the operation safety of joining in marriage room equipment.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is an external view of an inspection robot according to an embodiment of the present invention;
FIG. 3 is a schematic flow diagram of the present invention;
FIG. 4 shows a feature point P after a mechanical arm performs a tentative motion according to an embodiment of the present invention 1 Schematic diagram of coordinate change between two coordinate systems.
Wherein: 1. the system comprises a mechanical arm 11, a tail end operation unit 2, a movable chassis 3, a control module 4, a vision module 41, a camera 42, a laser sensor 5, a communication module 6 and a monitoring platform.
Detailed Description
The invention is further described below with reference to the figures and examples.
The embodiment is as follows:
the utility model provides an inspection robot, is regulated and control by monitoring platform 6, as shown in figure 1, inspection robot includes arm 1, removes chassis 2, control module 3 and visual module 4, the arm sets up on removing the chassis, and arm fixed connection is on removing the chassis promptly, arm, removal chassis and visual module all are connected with control module, it is by control module drive control to remove chassis and arm, visual module includes camera 41 and laser sensor 42, laser sensor sets up on removing the chassis, and laser sensor fixed connection is on removing the chassis promptly, laser sensor is used for gathering robot's all ring edge border data to fix a position the navigation according to the all ring border data who gathers through control module, the camera sets up on the arm, camera fixed connection is on the arm promptly, the camera is used for real-time collection in-process image data, when carrying out equipment control, control module adjusts the position of removing chassis and arm according to the image data who gathers.
In this embodiment, the mechanical arm specifically adopts a UR5 mechanical arm, and the control module may be a single chip microcomputer, an embedded system, or the like.
The appearance schematic diagram of the inspection robot in the embodiment is shown in fig. 2, and as can be seen from fig. 2, the moving chassis of the inspection robot is independently driven by four wheels. The mobile chassis used in this embodiment supports a straight traveling speed of up to 1.9m/s, and the mobile chassis can rotate in place. And a suspended chassis is adopted, so that the inspection robot can move in a complex and narrow space without limitation. The mobile chassis is also internally provided with a close-distance obstacle sensing device and an anti-collision contact strip, the obstacle sensing device can detect an obstacle in front of the inspection robot within a certain distance and feed back a value control module, the control module controls the inspection robot to decelerate or stop moving, the anti-collision contact strip feeds back collision information under the condition that the inspection robot collides with the obstacle, and the control module controls the mobile chassis to stop moving.
The laser sensor specifically adopts a 3D laser radar device, three-dimensional data of the peripheral environment of the inspection robot can be obtained through the 3D laser radar device, the 3D laser radar device is further provided with an inertia measurement module and a mileage recording module, the inertia data and the mileage data of the inspection robot are collected in real time, the control module generates a three-dimensional point cloud map after receiving the peripheral environment data formed by the three-dimensional data, the inertia data and the mileage data, and the current position of the inspection robot is calculated according to the three-dimensional point cloud map. When a three-dimensional point cloud map is constructed, map construction is specifically carried out by adopting a slam _ mapping algorithm, and the current position of the inspection robot is calculated by adopting self-adaptive Monte Carlo positioning.
The inspection robot is also provided with a real-time monitoring function, and when abnormal conditions such as unstable voltage, current overload, short circuit and disconnection, overhigh temperature and the like occur in the inspection robot, the inspection robot can feed back and report to the monitoring platform in time.
The tail end of the mechanical arm is further provided with a tail end operation unit 11, the tail end operation unit is connected with the control module, and the control module controls a knob or an operation screen on the control target device through the tail end operation unit. One end of the tail end operation unit is fixedly connected to the mechanical arm, and the other end of the tail end operation unit can be inserted into an operation hole of the control target equipment and clamps the knob to realize rotation operation.
The inspection robot further comprises a communication module 5, the communication module is connected with the control module and the monitoring platform at the same time, and the control module is in wireless communication with the monitoring platform through the communication module. The wireless communication between the communication module and the monitoring platform can be in wireless communication modes such as 5G, 4G, wireless network and the like, and meanwhile, the communication data encryption between the monitoring platform and the inspection robot is realized through a quantum encryption mode.
A power distribution room equipment control method based on an inspection robot is applied to the inspection robot and comprises the following steps as shown in fig. 3:
firstly, an inspection robot receives an operation command of a monitoring platform, determines an operation target device in a power distribution room according to the operation command, determines a target operation area, performs map positioning on the inspection robot, and acquires navigation information according to the target operation area and the positioning information of the inspection robot;
step two, the inspection robot advances to a target operation area according to the navigation information, determines an operation target device through a camera, collects image data of the operation target device in real time, and calls an operation command to obtain operation contents;
thirdly, the inspection robot identifies an indicator light on the control target equipment, judges whether the control target equipment is in an operable state or not according to the identification result, determines a control target according to operation contents if the control target equipment is in the operable state, determines the position of the control target through image data, controls the mechanical arm to move to a corresponding posture position and operates according to the operation contents; if the inspection robot is not in the operable state, the inspection robot sends information of incapability of operation to the monitoring background and restores to the initial state;
after finishing the operation content, the inspection robot identifies the indicator light on the control target equipment again, identifies the operation result according to the identification result, and if the operation result is successful, the inspection robot restores the initial state; and if the operation result is unsuccessful, the inspection robot sends operation failure information to the monitoring background and restores the initial state.
By taking a high-voltage switch cabinet as an example of control target equipment, indicating lamps such as a switch cabinet opening indicating lamp, a switch cabinet closing indicating lamp, an stored energy indicating lamp, a test position indicating lamp, a working position indicating lamp, a switch cabinet line side disconnecting link indicating lamp and the like are arranged on the high-voltage switch cabinet, the indicating lamps represent the current state of each equipment in the high-voltage switch cabinet, before the high-voltage switch cabinet is controlled, whether each equipment in the high-voltage switch cabinet can be operated at the moment is judged by a recognition indicating lamp, the subsequent operation of an inspection robot is prevented from influencing the operation of the high-voltage switch cabinet, and the fault of the high-voltage switch cabinet is avoided.
When navigation information is acquired, the position of the high-voltage switch cabinet is determined on the basis of the constructed three-dimensional point cloud map, the position of the high-voltage switch cabinet is converted into coordinates on the three-dimensional point cloud map, and a path is planned according to the coordinates corresponding to the current position and the converted coordinates of the high-voltage switch cabinet, so that the navigation information is acquired.
The operation content comprises the realization of the switching of the equipment in the high-voltage switch cabinet by rotating each knob on the high-voltage switch cabinet.
And in the third step, when the mechanical arm of the robot is controlled to move to the corresponding attitude position, the attitude position of the robot is compensated step by step through the positioning deviation, and the robot is subjected to feedback control by adopting an independent image characteristic in each compensation step.
The inspection robot has the advantages that the mechanical arm is required to be adjusted through multiple degrees of freedom to compensate the movement deviation of the inspection robot when the mechanical arm executes a task each time, so that the mechanical arm can be always in an ideal relative position, and the relative position between the tail end operation unit on the mechanical arm and an operation object can be kept unchanged. When the tail end operation unit processes the high-voltage switch cabinet, the operation content is usually a rotary knob, and the mechanical arm does not need to rotate, so that pose decoupling is not considered when the adjustment of the mechanical arm is considered, and a calibration-free method is adopted when a mechanical arm vision servo system of the inspection robot mechanical arm and the vision module is constructed, and parameter calibration is not carried out.
The step compensation comprises skew deviation compensation of the inspection robot, distance deviation compensation of the inspection robot and the control target equipment and moving distance compensation of the inspection robot.
When the attitude position of the inspection robot is compensated step by step through positioning deviation, the target attitude required to be achieved by each step of compensation is divided into a first target attitude, a second target attitude and a third target attitude, the tail end operation unit on the mechanical arm is over against the control target equipment through the first target attitude, the distance between the mobile chassis of the inspection robot and the control target equipment is adjusted through the second target attitude, and finally the distance between the mechanical arm and the control target equipment is adjusted while the distance between the mobile chassis of the inspection robot and the control target equipment and the relative position between the tail end operation unit and the control target equipment are kept unchanged through the third target attitude.
The method comprises the steps that two auxiliary labels are attached to a control target device in advance, before the posture of a first target is adjusted, an inspection robot calls corresponding initial posture information according to the control target device, a control target and operation content, a mechanical arm is adjusted to the corresponding initial posture, the perimeter characteristics of the two auxiliary labels in image data collected by a camera are extracted, the perimeter deviation of the two auxiliary labels is obtained, the perimeter deviation is compared with the perimeter deviation of the target, the control module adjusts the posture of the mechanical arm according to the comparison result until the error between the perimeter deviation and the perimeter deviation of the target is smaller than a preset threshold value, the inspection robot reaches the first target posture, the central pixel distance characteristics of the two auxiliary labels in the image data are continuously extracted, the central pixel distance is compared with the target central pixel distance, the control module adjusts the distance between a moving chassis and the control target according to the comparison result until the error between the central pixel distance of the central pixel distance and the target is smaller than the preset threshold value, the inspection robot reaches the second target posture, an image jacobian matrix is built, the adjustment track is obtained according to the image jacobian matrix, the adjustment track is adjusted according to the mechanical arm adjustment track, a tail end control unit on the mechanical arm is in contact with the inspection robot, and the inspection target, and the inspection robot reaches the third target posture.
When the robot is patrolled and examined in the regulation, adjust earlier and patrol and examine the robot and just to high tension switchgear, terminal operating unit can just to the cabinet body of high tension switchgear, when carrying out the knob operation, can be through removing the arm for terminal operating unit inserts and corresponds the jack, if the crooked condition appears, then terminal operating unit probably causes the harm to high tension switchgear. Just behind the high tension switchgear, adjust and patrol and examine the distance between robot and the high tension switchgear for terminal operating unit can be close high tension switchgear cabinet body surface. Because in the adjustment process of the inspection robot, the images displayed in the image data acquired by the camera can be changed continuously due to the changes of the relative angle, the relative height and the like in the moving process of the two auxiliary marks, but the images are fixed and unchangeable on the high-voltage switch cabinet, so that the mechanical arm is adjusted according to different displayed image characteristics, and the tail end operation unit can be aligned to the control target.
In this embodiment, an Apriltag tag is used as an auxiliary flag.
When the inspection robot moves to the initial posture, the two auxiliary marks gradually appear in image data acquired by the camera, when the inspection robot is parallel to the plane of the high-voltage switch cabinet, the tail end operation unit is over against the plane of the operation cabinet, the circumferences of the two auxiliary marks are approximately equal, the circumference deviation between the two auxiliary marks can be reduced along with the increase of the distance between the camera and the plane of the cabinet body of the high-voltage switch cabinet, therefore, the position of the inspection robot is adjusted by calculating the circumference deviation between the two auxiliary marks until the first target posture is reached, and the tail end operation unit is over against the cabinet body of the high-voltage switch cabinet, so that the correction and compensation for the deviation of the skew inspection robot are realized.
And the central coordinates of two auxiliary marks in the image data collected by the camera can be extracted through the central point position characteristics of the Apriltag, and when the central coordinates are extracted, the vertex at the upper left corner of the collected image data is used as an origin. And calculating the central pixel distance between the two auxiliary marks according to the acquired central coordinates.
After the first target posture and the second target posture are adjusted, the mechanical arm only needs to be adjusted on a 2D plane, and the calculated image Jacobian matrix can convert the coordinates of the mechanical arm in a real coordinate system and the coordinates of the mechanical arm in a pixel coordinate system in a camera imaging plane, so that the adjustment moving track of the mechanical arm is effectively obtained. The essence of the image jacobian matrix is that a differential relation between a control system represented by a control module corresponding to the mechanical arm and a visual system represented by the camera is modeled, so that the influence between the control system and the visual system is obtained, and the image jacobian matrix is a local linear approximation for the mechanical arm control and the camera to acquire images. When the jacobian matrix of the image is calculated, parameters of a camera are required to be obtained, and therefore the jacobian matrix of the approximate image is obtained by controlling the mechanical arm to do tentative movement.
Taking one of the auxiliary marks on the high-voltage switch cabinet as a characteristic point as an example, the auxiliary mark is a characteristic point P 1 . Taking the camera O as an original point of a real coordinate system, wherein the focal length of the camera O is f, uv is a pixel coordinate axis and xy is a display coordinate axis in an imaging plane of the camera, and a Z axis of the real coordinate system is adjusted on a 2D plane due to the fact that the mechanical arm is arranged on the 2D plane, so that a characteristic point P is formed 1 The Z-axis coordinate of (a) does not change. Characteristic point P 1 The coordinate in the real coordinate system is (X) 1 ，Y 1 Z), characteristic point P 1 Imaging point p on the imaging plane 1 The coordinate in the pixel coordinate system is (u) 1 ，v 1 ). After the mechanical arm makes tentative movement, the characteristic point P 1 Move to P 2 The position of the mobile phone is determined,P 2 the coordinate in the real coordinate system is (X) 2 ，Y 2 ，Z)，P 2 Imaging a point p on an imaging plane 2 Has a coordinate of (u) in the imaging coordinate system 2 ，v 2 ). Through the moving track of the mechanical arm in the tentative moving process and the coordinate change of the imaging point, the relation between the mechanical arm control and the image change collected by the camera can be obtained, and therefore an approximate image Jacobian matrix is obtained.
Specifically, after the mechanical arm makes a tentative movement, the characteristic point P 1 The change in coordinates between the two coordinate systems is shown in fig. 4.
After the terminal operation unit finishes the rotation of the knob, the corresponding equipment can be turned on or turned off, so that whether the knob is rotated to the position or not is judged through the identification of the corresponding indicator lamp, and whether the equipment which is expected to be turned on or turned off is operated successfully or not is judged.
The above-described embodiment is a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. The utility model provides a patrol and examine robot, receives monitor platform's regulation and control, its characterized in that, includes the arm, removes chassis, control module and visual module, the arm sets up on removing the chassis, the arm, remove chassis and visual module all are connected with control module, it is by control module drive control to remove chassis and arm, visual module includes camera and laser sensor, laser sensor sets up on removing the chassis, laser sensor is used for gathering robot's all ring edge border data to fix a position the navigation according to the all ring edge border data who gathers through control module, the camera sets up on the arm of machinery, the camera is used for the image data of real-time collection inspection in-process, when carrying out equipment control, control module moves the position of chassis and arm according to the image data adjustment that gathers.
2. The inspection robot according to claim 1, wherein the tail end of the mechanical arm is further provided with a tail end operation unit, the tail end operation unit is connected with the control module, and the control module controls a knob or an operation screen on the control target device through the tail end operation unit.
3. The inspection robot according to claim 1, further comprising a communication module, wherein the communication module is connected with the control module and the monitoring platform at the same time, and the control module is in wireless communication with the monitoring platform through the communication module.
4. A power distribution room equipment control method based on an inspection robot is applied to the inspection robot as claimed in claims 1 to 3, and is characterized by comprising the following steps:
the method comprises the following steps that firstly, an inspection robot receives an operation command of a monitoring platform, determines operation target equipment in a power distribution room according to the operation command, determines a target operation area, carries out map positioning on the inspection robot, and acquires navigation information according to the target operation area and the positioning information of the inspection robot;
step two, the inspection robot advances to a target operation area according to the navigation information, determines an operation target device through a camera, collects image data of the operation target device in real time, and calls an operation command to obtain operation contents;
thirdly, the inspection robot identifies an indicator light on the control target equipment, judges whether the control target equipment is in an operable state or not according to the identification result, determines a control target according to operation contents if the control target equipment is in the operable state, determines the position of the control target through image data, controls the mechanical arm to move to a corresponding posture position and operates according to the operation contents; if the inspection robot is not in the operable state, the inspection robot sends information of incapability of operation to the monitoring background and restores to the initial state;
after the inspection robot finishes the operation content, identifying the indicator light on the control target equipment again, identifying the operation result according to the identification result, and if the operation result is successful, recovering the inspection robot to the initial state; and if the operation result is unsuccessful, the inspection robot sends operation failure information to the monitoring background and restores the initial state.
5. The inspection robot-based power distribution room equipment control method according to claim 4, wherein in the third step, when the mechanical arm of the robot is controlled to move to the corresponding attitude position, the attitude position of the robot is compensated step by step through positioning deviation, and the robot is subjected to feedback control by adopting an individual image characteristic in each compensation step.
6. The inspection robot-based power distribution room equipment control method according to claim 5, wherein the step compensation comprises inspection robot skew deviation compensation, inspection robot and control target equipment distance deviation compensation and inspection robot moving distance compensation.
7. The inspection robot-based power distribution room equipment control method according to claim 5, wherein when the attitude position of the inspection robot is compensated step by step through positioning deviation, the target attitude required to be achieved by each step of compensation is divided into a first target attitude, a second target attitude and a third target attitude, the tail end operation unit on the mechanical arm is aligned to the control target equipment through the first target attitude, the distance between the inspection robot moving chassis and the control target equipment is adjusted through the second target attitude, and finally the distance between the mechanical arm and the control target equipment is adjusted while the distance between the inspection robot moving chassis and the control target equipment and the relative position between the tail end operation unit and the control target equipment are kept unchanged through the third target attitude.
8. The inspection robot-based power distribution room equipment control method according to claim 7, characterized in that two auxiliary labels are pre-attached to a control target device, before adjusting a first target posture, the inspection robot calls corresponding initial posture information according to the control target device, a control target and operation contents, adjusts the mechanical arm to the corresponding initial posture, extracts perimeter characteristics of two auxiliary marks in image data acquired by a camera, acquires perimeter deviations of the two auxiliary marks, compares the perimeter deviations with a target perimeter deviation, adjusts the posture of the mechanical arm according to the comparison result until an error between the perimeter deviations and the target perimeter deviation is smaller than a preset threshold, the inspection robot reaches the first target posture, continues to extract central pixel distance characteristics of the two auxiliary marks in the image data, compares a central pixel distance with a target central pixel distance, adjusts the distance between a mobile chassis and the control target according to the comparison result until an error between the central pixel distance and the target central pixel distance is smaller than the preset threshold, the inspection robot reaches a second target posture, then establishes an image, adjusts the distance according to the control matrix, adjusts the mechanical arm according to the comparison result, and acquires a control target trajectory, and adjusts the inspection robot arm matrix, and adjusts the inspection robot to a third target posture.
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| CN116148614A (en) * | 2023-04-18 | 2023-05-23 | 江苏明月软件技术股份有限公司 | Cable partial discharge detection system and method based on unmanned mobile carrier |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116148614A (en) * | 2023-04-18 | 2023-05-23 | 江苏明月软件技术股份有限公司 | Cable partial discharge detection system and method based on unmanned mobile carrier |
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