CN116256742B - Live working safety distance monitoring method and device - Google Patents
Live working safety distance monitoring method and device Download PDFInfo
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- CN116256742B CN116256742B CN202310537610.4A CN202310537610A CN116256742B CN 116256742 B CN116256742 B CN 116256742B CN 202310537610 A CN202310537610 A CN 202310537610A CN 116256742 B CN116256742 B CN 116256742B
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/0084—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring voltage only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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Abstract
The invention belongs to the technical field of electromagnetic protection of power transmission and transformation engineering, and discloses a live working safety distance monitoring method and device, wherein the monitoring method comprises the following steps: acquiring the voltage of a charged object and the surface voltage of a protective body in real time; determining the safety distance between the protective body and the charged object in real time according to the voltage of the charged object and the surface voltage of the protective body; and detecting the distance between the protective body and the charged object in real time, and alarming when the distance between the protective body and the charged object is smaller than the safety distance. Compared with the prior art that the safety distance is determined according to the voltage, the method establishes different confirmation models according to different voltage levels, and realizes quick and efficient calculation.
Description
Technical Field
The invention belongs to the technical field of electromagnetic protection of power transmission and transformation engineering, and particularly relates to a live working safety distance monitoring method and device.
Background
The stability of the power system has important significance for supporting the national economy and health development. The fixed inspection and maintenance work of links such as transmission, transformation, distribution, use and the like plays a vital role in maintaining the stability of a power system, and the safety problem is always a great concern.
With the rapid development of sensor and robot control technologies, robots have replaced manual work in many high risk industries. The distribution network live working has great potential safety hazard, and is suitable for replacing manual work with a robot. In distribution network live working, an electric power working robot is an intelligent device for power distribution network working, and attention is paid to the field of intelligent power grids in recent years. The electric power operation robot can effectively complete the tasks of disconnection and connection of live lines, improves the operation safety and enlarges the operation range.
In the live working process of the distribution network, a certain safety distance needs to be kept between the mechanical arm of the robot and the live body, and when the mechanical arm of the robot is close to the live equipment and smaller than the safety distance, the power working robot can be caused to fail. Therefore, how to ensure the safe operation of the power operation robot in the distribution network is the primary problem to be solved when the power operation robot performs the live operation.
Disclosure of Invention
Aiming at the problems, the invention provides a live working safety distance monitoring method and a live working safety distance monitoring device, which adopt the following technical scheme:
a live working safety distance monitoring method comprises the following steps: acquiring the voltage of a charged object and the surface voltage of a protective body in real time; determining the safety distance between the protective body and the charged object in real time according to the voltage of the charged object and the surface voltage of the protective body; and detecting the distance between the protective body and the charged object in real time, and alarming when the distance between the protective body and the charged object is smaller than the safety distance.
Further, the voltage of the power transmission line is obtained in real time based on the space electric field integration of the chebyshev algorithm.
Further, the step of acquiring the voltage of the power transmission line in real time includes the following steps:
determining an electric field integral path in an electric field area under the power transmission line by taking the ground as a reference potential;
and measuring the electric field intensity at the Chebyshev integral node by using an electric field sensor, and acquiring the voltage of the power transmission line through the line integral of the electric field intensity at the Chebyshev integral node to the path.
Further, the charged object is a power transmission line, and the protective body is a mechanical arm of the robot.
Further, the step of acquiring the surface voltage of the mechanical arm in real time comprises the following steps:
setting a plurality of detection points on the surface of a shell of the mechanical arm;
collecting currents of a plurality of detection points on the surface of a shell of the mechanical arm, and obtaining voltage values of the plurality of detection points on the surface of the current mechanical arm according to the currents of the plurality of detection points and the equivalent resistance of the shell of the mechanical arm.
Further, determining in real time a safe distance between the shielding body and the charged object according to the voltage of the charged object and the surface voltage of the shielding body includes the following steps:
establishing a configuration model of a voltage value, an insulation resistance and a safety distance;
and comparing the difference value of the insulation resistance of the protective body, the voltage of the charged object and the surface voltage of the protective body with corresponding items in the configuration model to determine the safety distance between the voltage of the charged object and the surface of the protective body.
Further, detecting the distance between the mechanical arm and the power transmission line in real time comprises the following steps:
acquiring point cloud data of a power transmission line through a radar;
determining wrist boundary endpoints of the mechanical arm and model end lines of the mechanical arm according to finger joint coordinates provided by the mechanical arm;
determining a conversion coordinate system according to the relative positions of the mechanical arm and the radar;
according to the operation range of the mechanical arm, identifying the point cloud data of the power transmission line acquired by the radar to acquire a curved surface of the power transmission line;
determining a curved surface closest to the mechanical arm from the curved surfaces of the power transmission line according to the wrist boundary end points of the mechanical arm;
and taking the minimum distance between the end line of the mechanical arm model and the curved surface of the power transmission line as the distance between the mechanical arm and the power transmission line.
Further, the method further comprises the step of adjusting the pose of the mechanical arm when the distance between the mechanical arm and the power transmission line is smaller than the safe distance.
Further, the pose adjustment of the mechanical arm is specifically as follows: and determining normal vectors of two points, which are closest to the transmission line, of the mechanical arm, and sending the normal vectors to the robot to adjust the pose of the mechanical arm.
Further, according to the operation range of the mechanical arm, the point cloud data of the power transmission line, which are acquired by the radar, are identified, and the curved surface of the power transmission line is obtained specifically as follows:
cutting out the point cloud data of the power transmission line according to the operation range of the mechanical arm;
performing straight line or broken line fitting on the cut power transmission line point cloud data to obtain a minimum data set of the power transmission line point cloud data;
training point cloud data of the power transmission line by adopting a point cloud semantic segmentation network algorithm to generate a power transmission line identification model;
and inputting the minimum data set of the point cloud data of the power transmission line into a power transmission line identification model for calculation, and dividing and identifying the curved surface of the power transmission line through a point cloud semantic dividing network algorithm.
Further, the step of acquiring the surface voltage of the mechanical arm in real time further comprises the following steps: and when the voltage values of a plurality of detection points on the surface of the shell of the mechanical arm are close to the insulation protection voltage of the mechanical arm, alarming is carried out.
Further, the mechanical arm comprises a rotating base, a large arm, a front arm and a wrist, and a plurality of detection points are arranged on the surface of a shell of the mechanical arm, specifically as follows:
the front end surface of the knuckle is provided with a first detection point, the two end surfaces of the wrist are provided with a second detection point and a third detection point, the two end surfaces of the wrist are respectively provided with a fourth detection point and a fifth detection point, and the two side surfaces of the forearm are respectively provided with a sixth detection point and a seventh detection point.
The invention also provides a live working safety distance monitoring device, which comprises:
the charged body voltage acquisition module is used for acquiring the voltage of a charged object in real time;
the protective body surface voltage acquisition module is used for acquiring the protective body surface voltage in real time;
the algorithm processing module is used for determining the safety distance between the protective body and the charged object in real time according to the voltage of the charged object and the surface voltage of the protective body;
the data acquisition processing module is used for detecting the distance between the protective body and the charged object in real time;
the central processing module is used for determining whether the distance between the protective body and the charged object is smaller than the safety distance, and sending a control instruction to the alarm module when the distance between the protective body and the charged object is smaller than the safety distance;
and the alarm module is used for carrying out audible and visual alarm according to the control instruction of the central processing module.
Further, the charged body voltage acquisition module is specifically configured to:
determining an electric field integral path in an electric field area under the power transmission line by taking the ground as a reference potential;
and measuring the electric field intensity at the Chebyshev integral node by using an electric field sensor, and acquiring the voltage of the power transmission line through the line integral of the electric field intensity at the Chebyshev integral node to the path.
Further, the algorithm processing module is specifically configured to:
establishing a configuration model of a voltage value, an insulation resistance and a safety distance;
and comparing the difference value of the insulation resistance of the protective body, the voltage of the charged object and the surface voltage of the protective body with corresponding items in the configuration model to determine the safety distance between the voltage of the charged object and the surface of the protective body.
Further, the charged object is a power transmission line, the protective body is a mechanical arm of a robot, and the data acquisition and processing module comprises a radar and data processing module;
the radar is used for acquiring point cloud data of the power transmission line;
the data processing module is specifically used for: determining wrist boundary endpoints of the mechanical arm and model end lines of the mechanical arm according to finger joint coordinates provided by the mechanical arm; determining a conversion coordinate system according to the relative positions of the mechanical arm and the radar; according to the operation range of the mechanical arm, identifying the point cloud data of the power transmission line acquired by the radar to acquire a curved surface of the power transmission line; determining a curved surface closest to the mechanical arm from the curved surfaces of the power transmission line according to the wrist boundary end points of the mechanical arm; and taking the minimum distance between the end line of the mechanical arm model and the curved surface of the power transmission line as the distance between the mechanical arm and the power transmission line.
The invention has the beneficial effects that: compared with the prior art that the safety distance is determined according to the voltage, the method establishes different confirmation models according to different voltage levels, and realizes quick and efficient calculation.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a live working safety distance monitoring method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a plurality of detection points disposed on a robotic arm according to an embodiment of the invention;
FIG. 3 is a schematic diagram showing a construction of a live working safety distance monitoring device according to an embodiment of the present invention;
FIG. 4 shows a schematic diagram of the connection of a protective body surface voltage acquisition module with other modules according to an embodiment of the invention;
fig. 5 shows a schematic diagram of the connection of an insulation protection voltage module with other modules according to an embodiment of the invention.
In the figure: 1. a rotating base; 2. a large arm; 3. a forearm; 4. a wrist; 5. a knuckle; 6. a first detection point; 7. a second detection point; 8. a third detection point; 9. a fourth detection point; 10. a fifth detection point; 11. a sixth detection point; 12. and a seventh detection point.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
The embodiment of the invention provides a live working safety distance monitoring method and device, which can acquire the safety distance between a protective body and a voltage in real time according to the real-time voltage of a charged object, monitor and alarm in real time according to the acquired distance between the protective body and the charged object, and monitor the safety distance between the protective body and the charged object in real time according to the voltage value of the charged object, thereby effectively avoiding errors of manual visual inspection judgment, further improving the working safety and reducing the probability of electric shock. The live working safety distance monitoring method and device provided by the embodiment of the invention not only can be applied to the live working process of the power working robot in the distribution network, but also can be applied to the safety distance monitoring of patrol personnel, patrol robots or unmanned aerial vehicles in the patrol process of the transformer substation under the conception of the invention.
As shown in fig. 1, a live working safety distance monitoring method includes the following steps: acquiring the voltage of a charged object and the surface voltage of a protective body in real time; determining the safety distance between the protective body and the charged object in real time according to the voltage of the charged object and the surface voltage of the protective body; and detecting the distance between the protective body and the charged object in real time, and alarming when the distance between the protective body and the charged object is smaller than the safety distance.
According to the embodiment of the invention, the safety distance is obtained and regulated in real time according to the real-time voltage, and the real-time performance is high.
The electric field below the power transmission line is a time-varying electric field, and meets Maxwell's equations. Because the power transmission line is power frequency voltage, the electric field below the power transmission line changes slowly along with time, and the power transmission line is generally regarded as an electric quasi-static field, and the influence of the magnetic field in the time-varying electromagnetic field on the electric field due to the time change rate can be ignored.
The power frequency electric field below the transmission line can be regarded as conservative, and the gradient of the scalar field can be defined to represent the electric field. In the space electric field generated by the transmission line, there are any P, Q two points whose electric potential is phi respectively p 、φ Q After the electric field strength is determined, the potential difference between the two points P, Q can be determined according to the theory that the electric field works on the electric charges. When the electric field strength is determined, the upper limit Q point of the line integral is fixed, namely the reference point (phi) Q =0), the potential phi of the P point can be obtained p 。
And taking the ground potential as a reference potential, forming a field intensity region between the power transmission line and the ground, wherein the electric field integral measurement voltage is calculated in the calculation region by combining an integral relation between the electric field intensity and the power transmission line potential with a numerical integral mathematical method to obtain the voltage value of a certain phase line to the ground.
Setting three-phase line potentials to phi A 、φ B 、φ C Constructing any integral path from the lead to the reference potential in the calculation region, wherein according to the electromagnetic field theory, the relation exists between the potential difference between any two points a and b along the integral path and the electric field intensity on the integral path: when measuring the phase voltages of a three-phase power transmission line, the electric field intensities on different integral paths are different because the geometrical arrangement positions of the wires are different, the boundary conditions and other factors influence the three-phase composite electric field intensity in the calculation area. But the potential of the wire itself is not due to the aboveThe potential between the wires is not mutually influenced by the influence of elements, and the voltage of each phase of wires can be obtained through electric field integration.
In one embodiment, the charged object is a power transmission line, and the step of acquiring the voltage of the power transmission line in real time based on the spatial electric field integration of chebyshev algorithm includes the following steps:
s101, determining an electric field integral path in an electric field area under the power transmission line by taking the ground as a reference potential.
For example, for any phase line (e.g., a phase power line), an integral path is constructed from the power line to ground (zero potential reference point) in the calculation region. I 1 、I 2 、I 3 Three different integration paths along the phase a power line to ground.
The electric field strength varies along the three paths, but the area between each curve and the abscissa must be equal due to the conservation of the electric field (the potential difference is independent of the integrating path). Therefore, the electric field intensity change condition caused by the change of the specific gravity of the three-phase components of the electric field intensity along the integral path, the shape of the partition curve, the surrounding environment (such as radial electric field component caused by line sag and electric field distortion caused by a tower) and the geometric position of the three-phase lead is not required to be considered, so long as the integral path is from the conductor surface to the potential reference point, the electric field intensity in the direction of the integral path can be accurately measured, the integral result is necessarily the electric potential value of the surface of the transmission line, and the property is determined by the single value of the conserved field potential.
Considering factors such as installation of an electric field sensor, a plumb line segment between a power transmission line and the ground can be determined in a calculation area to serve as an electric field integration path.
S102, measuring the electric field intensity at the Chebyshev integral node by using an electric field sensor, and acquiring the voltage of the power transmission line through line integration of the electric field intensity at the Chebyshev integral node to the path.
In the live working of the distribution network, the voltage of a live object can be obtained in real time through the connection of the voltage measuring device and the power transmission line.
In one embodiment, an electric power working robot is used to perform live maintenance work on the electric power transmission line, for example, the protection body is a mechanical arm of the robot.
First, the structure of a mechanical arm of an electric power operation robot is simply introduced:
the electric power operation robot is a six-axis mechanical arm, because the periphery of the electric power operation robot is distributed with high-voltage transmission lines, shock-proof, tension clamps, wire clamp towers and other barriers, the mechanical arm needs to complete some more complex movements under the environment, the action range is large, the end effector of the mechanical arm can reach any position in a three-dimensional space and has any gesture, and the mechanical arm at least needs 6 degrees of freedom.
As shown in fig. 2, the mechanical arm of the electric power working robot includes a rotating base 1, a large arm 2, a front arm 3 and a wrist 4, the large arm 2 and the front arm 3 can rotate around the axis of the rotating base 1, the rotating base 1 and the large arm 2 are connected through a shoulder joint, the large arm 2 and the front arm 3 are connected through an elbow joint, the front arm 3 and the wrist 4 are connected through a wrist joint, the wrist 4 and the end effector are connected through a finger joint 5, wherein the rotating base 1, the shoulder joint, the elbow joint, the wrist joint and the finger joint 5 can realize rotation and pitching movement.
When live working is performed on a power transmission line through an electric power working robot, the distance between a mechanical arm of the electric power working robot and the power transmission line needs to be considered, and if the distance between a certain position of the mechanical arm and the power transmission line is smaller than a safe distance, a control system fault of the mechanical arm can be caused.
The method for acquiring the surface voltage of the mechanical arm in real time comprises the following steps of:
s201, setting a plurality of detection points on the surface of a shell of the mechanical arm, wherein the positions of the detection points are set according to requirements.
For example, a first detection point 6 is provided on the front end surface of the knuckle 5, a second detection point 7 and a third detection point 8 are provided on the both end surfaces of the wrist 4, a fourth detection point 9 and a fifth detection point 10 are provided on the both end surfaces of the wrist, respectively, and a sixth detection point 11 and a seventh detection point 12 are provided on the both side surfaces of the forearm 3, respectively.
S202, collecting currents of a plurality of detection points on the surface of a shell of the mechanical arm, and obtaining voltage values of the plurality of detection points on the surface of the current mechanical arm according to the currents of the plurality of detection points and the equivalent resistance of the shell of the mechanical arm.
And S203, alarming when the voltage values of a plurality of detection points on the surface of the shell of the mechanical arm are close to the insulation protection voltage of the mechanical arm.
For example, when the mechanical arm is in a special electric field position, abnormal increase of surface voltage may be caused, and when the insulation protection voltage of the mechanical arm is close, an alarm is given.
In one embodiment, when the inspection personnel, the inspection robot or the unmanned aerial vehicle inspect the transformer substation, a plurality of detection points can be arranged on the surface of the inspection personnel, the inspection robot or the unmanned aerial vehicle to obtain the surface voltage value.
In one embodiment, determining in real time a safe distance between the guard and the charged object from the voltage of the charged object and the guard surface voltage comprises the steps of: and determining the safety distance between the protective body and the charged object according to the difference value between the voltage of the charged object and the surface voltage of the protective body.
In the step, a configuration model of a voltage value, an insulation resistance and a safety distance is established according to relevant electrical safety specifications; the difference between the insulation resistance of the protective body (e.g., the insulation resistance of the housing of the robotic arm), the voltage of the charged object, and the protective body surface voltage is compared to corresponding entries in the configuration model to determine a safe distance between the voltage of the charged object and the protective body surface.
In one embodiment, the protection body is a mechanical arm, the charged object is a power transmission line, and detecting the distance between the mechanical arm and the power transmission line in real time includes the following steps:
s301, arranging a radar on a pole tower above the power transmission line, and acquiring point cloud data of the power transmission line through the radar.
For example, after the radar is fixed on the tower, the radar direction is manually or automatically controlled, the point cloud data of the power transmission line is collected, and the point cloud data with higher density is obtained by carrying out repeated non-scanning for a plurality of times in the same space range.
S302, determining a wrist 4 boundary endpoint (x-direction threshold) of the mechanical arm and an end line of the mechanical arm model according to the finger joint 5 coordinates provided by the mechanical arm.
S303, determining a conversion coordinate system according to the relative positions of the mechanical arm and the radar. According to the spatial relationship between the radar coordinate origin and the mechanical arm, the coordinate system is converted into a radar coordinate system by a method of switching the coordinate origin, and the coordinate system is used for processing the point cloud data of the power transmission line.
S304, identifying the point cloud data of the power transmission line acquired by the radar according to the operation range of the mechanical arm to acquire a curved surface of the power transmission line, wherein the method comprises the following steps of:
s3041, cutting out the point cloud data of the power transmission line according to the operation range of the mechanical arm. The calculated amount is reduced by cutting the data, so that the distance between the mechanical arm and the power transmission line can be obtained quickly in the subsequent step, and further actions of the mechanical arm when the distance is smaller than the safe distance are prevented.
S3042, fitting straight lines or broken lines to the cut power transmission line point cloud data to obtain a minimum data set of the power transmission line point cloud data.
S3043, training point cloud data of the power transmission line by adopting a point cloud semantic segmentation network algorithm (for example, a RandLA-Net algorithm) to generate a power transmission line identification model; and inputting the minimum data set of the power transmission line point cloud data into a power transmission line identification model for calculation, and identifying the curved surface of the power transmission line through RandLA-Net segmentation.
S305, determining a curved surface closest to the mechanical arm from the curved surfaces of the power transmission line according to the boundary end points of the wrist 4 of the mechanical arm.
S306, taking the minimum distance between the end line of the mechanical arm model and the curved surface of the power transmission line as the distance between the mechanical arm and the power transmission line.
In one embodiment, the alarm is given when the distance between the mechanical arm and the power transmission line is smaller than the safety distance, and the robot is controlled to give an audible and visual alarm and the pose of the mechanical arm is adjusted when the distance between the mechanical arm and the power transmission line is smaller than the safety distance, for example, a buzzer is controlled to give a flash and a voice alarm. The pose adjustment of the mechanical arm is specifically as follows: and determining normal vectors of two points, which are closest to the transmission line, of the mechanical arm, and sending the normal vectors to the robot to adjust the pose of the mechanical arm.
As shown in fig. 3 and fig. 4, based on the above-mentioned live working safety distance monitoring method, the embodiment of the invention further provides a live working safety distance monitoring device, which comprises a live body voltage acquisition module, a protective body surface voltage acquisition module, a communication module, an algorithm processing module, a data acquisition processing module, a central processing module and an alarm module.
The charged body voltage acquisition module, the algorithm processing module, the data acquisition processing module and the alarm module are all connected with the central processing module, and the algorithm processing module is also connected with the charged body voltage acquisition module and the data acquisition processing module; the protective body surface voltage acquisition module is connected with the algorithm processing module through the communication module. For example, when the inspection is performed, an inspection personnel robot or an unmanned aerial vehicle and the like are automatically connected with the algorithm processing module through the communication module.
The charged body voltage acquisition module is used for acquiring the voltage of a charged object in real time; and the protective body surface voltage acquisition module is used for acquiring the protective body surface voltage in real time. For example, the protective body surface voltage acquisition module may acquire voltages at a plurality of detection points on the protective body surface at the same time.
The algorithm processing module is used for determining the safety distance between the protective body and the charged object in real time according to the voltage of the charged object and the surface voltage of the protective body; the data acquisition processing module is used for detecting the distance between the protective body and the charged object in real time; the central processing module is used for determining whether the distance between the protective body and the charged object is smaller than the safety distance, and sending a control instruction to the alarm module when the distance between the protective body and the charged object is smaller than the safety distance; and the alarm module is used for carrying out audible and visual alarm according to the control instruction of the central processing module.
As shown in fig. 5, in one embodiment, the live working safety distance monitoring device further includes an insulation protection voltage module, where the insulation protection voltage module is connected to the algorithm processing module, and the insulation protection voltage module is configured to alarm when voltage values of a plurality of detection points on the surface of the protection body are close to the insulation protection voltage of the protection body.
In one embodiment, when the protective body is a mechanical arm and the charged object is a power transmission line, the data acquisition and processing module comprises a radar and a data processing module, wherein the radar is used for acquiring point cloud data of the power transmission line; the data processing module is specifically used for: determining a wrist 4 boundary endpoint of the mechanical arm and a mechanical arm model end line according to the finger joint 5 coordinates provided by the mechanical arm; determining a conversion coordinate system according to the relative positions of the mechanical arm and the radar; according to the operation range of the mechanical arm, identifying the point cloud data of the power transmission line acquired by the radar to acquire a curved surface of the power transmission line; determining a curved surface closest to the mechanical arm from the curved surfaces of the power transmission line according to the boundary end points of the wrist 4 of the mechanical arm; and taking the minimum distance between the end line of the mechanical arm model and the curved surface of the power transmission line as the distance between the mechanical arm and the power transmission line.
The safety distance monitoring method and the system can further improve the safety protection of the robot in the operation in the abnormal complex circuit environment.
Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (14)
1. The live working safety distance monitoring method is characterized by comprising the following steps of:
acquiring the voltage of a charged object and the surface voltage of a protective body in real time;
determining in real time a safe distance between the protective body and the charged object according to the voltage of the charged object and the surface voltage of the protective body comprises: according to the relevant specification of electric safety, a configuration model of a voltage value, an insulation resistance and a safety distance is established; comparing the insulation resistance of the protective body, the voltage of the charged object and the difference value of the surface voltage of the protective body with corresponding items in the configuration model to determine the safety distance between the charged object and the protective body;
and detecting the distance between the protective body and the charged object in real time, and alarming when the distance between the protective body and the charged object is smaller than the safety distance.
2. The live working safety distance monitoring method according to claim 1, wherein the voltage of the power transmission line is obtained in real time based on a spatial electric field integral of chebyshev algorithm.
3. The live working safety distance monitoring method according to claim 2, wherein the step of acquiring the voltage of the power transmission line in real time comprises the steps of:
determining an electric field integral path in an electric field area under the power transmission line by taking the ground as a reference potential;
and measuring the electric field intensity at the Chebyshev integral node by using an electric field sensor, and acquiring the voltage of the power transmission line through the line integral of the electric field intensity at the Chebyshev integral node to the path.
4. The live working safety distance monitoring method according to claim 1, wherein the live object is a power transmission line, and the protective body is a mechanical arm of a robot.
5. The live working safety distance monitoring method according to claim 4, wherein the step of acquiring the surface voltage of the mechanical arm in real time comprises the steps of:
setting a plurality of detection points on the surface of a shell of the mechanical arm;
collecting currents of a plurality of detection points on the surface of a shell of the mechanical arm, and obtaining voltage values of the plurality of detection points on the surface of the current mechanical arm according to the currents of the plurality of detection points and the equivalent resistance of the shell of the mechanical arm.
6. The live working safety distance monitoring method according to claim 4, wherein detecting the distance between the mechanical arm and the power transmission line in real time comprises the steps of:
acquiring point cloud data of a power transmission line through a radar;
determining wrist boundary endpoints of the mechanical arm and model end lines of the mechanical arm according to finger joint coordinates provided by the mechanical arm;
determining a conversion coordinate system according to the relative positions of the mechanical arm and the radar;
according to the operation range of the mechanical arm, identifying the point cloud data of the power transmission line acquired by the radar to acquire a curved surface of the power transmission line;
determining a curved surface closest to the mechanical arm from the curved surfaces of the power transmission line according to the wrist boundary end points of the mechanical arm;
and taking the minimum distance between the end line of the mechanical arm model and the curved surface of the power transmission line as the distance between the mechanical arm and the power transmission line.
7. The live working safety distance monitoring method according to claim 6, further comprising the step of performing pose adjustment on the mechanical arm when the distance between the mechanical arm and the power transmission line is smaller than the safety distance.
8. The live working safety distance monitoring method according to claim 7, wherein the pose adjustment of the mechanical arm is specifically as follows: and determining normal vectors of two points, which are closest to the transmission line, of the mechanical arm, and sending the normal vectors to the robot to adjust the pose of the mechanical arm.
9. The live working safety distance monitoring method according to any one of claims 6 to 8, wherein the identification of the power transmission line point cloud data acquired by the radar according to the working range of the mechanical arm is performed to obtain a power transmission line curved surface specifically as follows:
cutting out the point cloud data of the power transmission line according to the operation range of the mechanical arm;
performing straight line or broken line fitting on the cut power transmission line point cloud data to obtain a minimum data set of the power transmission line point cloud data;
training point cloud data of the power transmission line by adopting a point cloud semantic segmentation network algorithm to generate a power transmission line identification model;
and inputting the minimum data set of the point cloud data of the power transmission line into a power transmission line identification model for calculation, and dividing and identifying the curved surface of the power transmission line through a point cloud semantic dividing network algorithm.
10. The live working safety distance monitoring method according to claim 5, wherein the step of acquiring the surface voltage of the mechanical arm in real time further comprises the steps of: and when the voltage values of a plurality of detection points on the surface of the shell of the mechanical arm are close to the insulation protection voltage of the mechanical arm, alarming is carried out.
11. The live working safety distance monitoring method according to claim 5, wherein the mechanical arm comprises a rotating base, a large arm, a forearm and a wrist, and a plurality of detection points are arranged on the surface of a shell of the mechanical arm specifically as follows:
the front end surface of the knuckle is provided with a first detection point, the two end surfaces of the wrist are provided with a second detection point and a third detection point, the two end surfaces of the wrist are respectively provided with a fourth detection point and a fifth detection point, and the two side surfaces of the forearm are respectively provided with a sixth detection point and a seventh detection point.
12. A live working safe distance monitoring device, characterized by comprising:
the charged body voltage acquisition module is used for acquiring the voltage of a charged object in real time;
the protective body surface voltage acquisition module is used for acquiring the protective body surface voltage in real time;
the algorithm processing module is used for determining the safe distance between the protection body and the charged object in real time according to the voltage of the charged object and the surface voltage of the protection body, and comprises the following steps: according to the relevant specification of electric safety, a configuration model of a voltage value, an insulation resistance and a safety distance is established; comparing the insulation resistance of the protective body, the voltage of the charged object and the difference value of the surface voltage of the protective body with corresponding items in the configuration model to determine the safety distance between the charged object and the protective body;
the data acquisition processing module is used for detecting the distance between the protective body and the charged object in real time;
the central processing module is used for determining whether the distance between the protective body and the charged object is smaller than the safety distance, and sending a control instruction to the alarm module when the distance between the protective body and the charged object is smaller than the safety distance;
and the alarm module is used for carrying out audible and visual alarm according to the control instruction of the central processing module.
13. The live working safety distance monitoring device according to claim 12, wherein the live body voltage acquisition module is specifically configured to:
determining an electric field integral path in an electric field area under the power transmission line by taking the ground as a reference potential;
and measuring the electric field intensity at the Chebyshev integral node by using an electric field sensor, and acquiring the voltage of the power transmission line through the line integral of the electric field intensity at the Chebyshev integral node to the path.
14. The live working safety distance monitoring device according to claim 12, wherein the live object is a power transmission line, the protective body is a mechanical arm of a robot, and the data acquisition processing module comprises a radar and data processing module;
the radar is used for acquiring point cloud data of the power transmission line;
the data processing module is specifically used for: determining wrist boundary endpoints of the mechanical arm and model end lines of the mechanical arm according to finger joint coordinates provided by the mechanical arm; determining a conversion coordinate system according to the relative positions of the mechanical arm and the radar; according to the operation range of the mechanical arm, identifying the point cloud data of the power transmission line acquired by the radar to acquire a curved surface of the power transmission line; determining a curved surface closest to the mechanical arm from the curved surfaces of the power transmission line according to the wrist boundary end points of the mechanical arm; and taking the minimum distance between the end line of the mechanical arm model and the curved surface of the power transmission line as the distance between the mechanical arm and the power transmission line.
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