CN117226851A - Intelligent robot operation management system based on electric power site - Google Patents
Intelligent robot operation management system based on electric power site Download PDFInfo
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- CN117226851A CN117226851A CN202311489959.1A CN202311489959A CN117226851A CN 117226851 A CN117226851 A CN 117226851A CN 202311489959 A CN202311489959 A CN 202311489959A CN 117226851 A CN117226851 A CN 117226851A
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- 238000000034 method Methods 0.000 claims abstract description 24
- 238000007726 management method Methods 0.000 claims abstract description 19
- 238000012797 qualification Methods 0.000 claims abstract description 8
- 239000012636 effector Substances 0.000 claims description 48
- 238000012544 monitoring process Methods 0.000 claims description 40
- 210000001503 joint Anatomy 0.000 claims description 14
- 238000005516 engineering process Methods 0.000 claims description 9
- 238000012216 screening Methods 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
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- 230000006698 induction Effects 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims description 3
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- 238000009864 tensile test Methods 0.000 abstract 1
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Abstract
The invention belongs to the field of intelligent robot operation management, and particularly discloses an intelligent robot operation management system based on an electric power field, which comprises the following components: the operation safety space of the electric power field is delineated, the obstacle is removed outside the operation safety space, and the robot is prevented from collision, accident or other equipment damage in the wiring operation process. The intelligent robot actuator operation data are acquired in real time, so that the intelligent robot can conduct autonomous and flexible path planning and adjustment in an operation safety space, the robot autonomous adjustment data are more efficient and accurate, unnecessary downtime and maintenance cost caused by manual errors can be reduced, the occurrence rate of invalid operation is reduced, and further the operation tasks are more efficiently completed. And carrying out a tensile test at the connection position, analyzing the completion qualification coefficient of the connection position, and evaluating whether the structure of the connection position is stable or not so as to ensure that the connection position can withstand the tensile force under normal working conditions.
Description
Technical Field
The invention belongs to the field of intelligent robot operation management, and relates to an intelligent robot operation management system based on an electric power field.
Background
The intelligent robot wiring operation management operation combines various technologies including robot technology, sensor technology, image recognition technology, path planning technology and the like, and plays an important role in planning, managing and monitoring the high-voltage wire wiring operation process. The high-voltage line wiring operation process generally has certain electric shock hazard, and the intelligent robot can replace personnel to carry out dangerous operation, so that the risk of accidents in the high-voltage line wiring operation process is effectively reduced, the safety of operators is ensured, and the intelligent robot has great necessity in electric power field application.
Because the existing robot high-voltage line wiring operation is mostly manually operated, the existing robot high-voltage line wiring operation has obvious inconveniences in actual operation of an electric power field. On the one hand, the existing robot wiring operation needs manual real-time adjustment, and the robot wiring operation needs high accuracy and proficiency, however, the manual operation process is difficult to accurately control the robot operation data, so that the high-voltage wire wiring operation can be influenced by subjective consciousness and skill level of operators, and further the wiring operation results are different, and with the change of the operation environment and the fine adjustment of the robot operation position, the manual adjustment can need frequent intervention and adjustment, thereby the operation efficiency is low.
On the other hand, the existing robot wiring operation is more important to evaluate the power safety risk in the high-voltage line wiring operation process, for example, parameters such as voltage, current and the like are monitored through a sensor, so that the robot is ensured to operate in a power safety range. Neglecting the safety determination of the surrounding space obstacle environment of the cable, the surrounding space obstacle may cause the robot to fail to maintain a sufficient safety distance, the robot cannot autonomously and correctly evaluate and maintain a proper safety distance, and a collision accident may be caused, thereby causing a certain risk of equipment damage.
Disclosure of Invention
In view of this, in order to solve the problems set forth in the background art, an intelligent robot job management system based on an electric power field is now proposed.
The aim of the invention can be achieved by the following technical scheme: the invention provides an intelligent robot operation management system based on an electric power field, which comprises: robot docking position adjustment module: the intelligent robot base position adjusting device is used for acquiring a target cable to-be-wired position and a to-be-wired cable position area of an electric power site and adjusting the intelligent robot base position.
Wiring environment analysis module: the method is used for delineating the operation safety space of the target cable based on the to-be-wired position of the target cable of the electric power field.
The mechanical arm operation monitoring module comprises: the intelligent robot end effector position determining device is used for acquiring the position of the intelligent robot end effector in real time, judging whether the position of the intelligent robot end effector exceeds the operation safety space of the target cable, and further adjusting the intelligent robot end effector.
Connector wiring control module: the device is used for controlling the end effector to butt the to-be-connected cable with the connector and obtaining the bolt screwing parameters of the connector, and accordingly controlling the end effector to butt the connector with the to-be-connected position of the target cable.
Database: the device is used for storing characteristic images of positions to be wired of the target cable, storing the length of the mechanical arm when the mechanical arm is at the maximum adjusting angle, and storing the screwing direction of each bolt on the surface of each type of connector.
And a wiring completion confirmation module: and the device is used for applying detection tensile force to the connection position after the butt joint is finished, analyzing the finished qualification coefficient of the connection position, and further confirming whether the wiring is finished.
In a specific embodiment, the step of obtaining the location area of the to-be-connected cable includes: the method comprises the steps of arranging an induction instrument in the intelligent robot to scan the surrounding environment of a target cable, identifying the surrounding environment of the target cable through an image identification technology, positioning the shape outline of the cable to be connected according to the image characteristics of the cable to be connected, defining the occupied area of the shape outline of the cable to be connected according to a set area dividing principle, and marking the occupied area as the position area of the cable to be connected.
In a specific embodiment, the adjusting method for the base position of the intelligent robot is as follows: acquiring the length of a mechanical arm of the intelligent robot at the maximum adjusting angle, and recording the length asConnecting the current position of the base of the intelligent robot with the position to be wired of the target cable to obtain a finger lead taking the current position of the base of the intelligent robot as a starting point and the position to be wired of the target cable as an ending point, and extracting the distance length of the finger lead>。
When (when)When in use, by->Obtaining the offset required distance of the base position of the intelligent robot, < >>And in order to set a basic offset distance, the position of the intelligent robot base is moved and adjusted to the position to be wired of the target cable along the direction of the guide line according to the offset required distance.
In a specific embodiment, the method for delineating the operation safety space of the target cable is as follows: a1, acquiring a position of the intelligent robot base after moving and adjusting, marking the position as a reference position, taking a connecting line of the reference position and a target cable to-be-wired position as a central axis, scanning in a range that the length of the mechanical arm is a radius when the mechanical arm is at a maximum adjusting angle, and regarding the scanning range as an intelligent robot operation range.
A2, performing obstacle scanning in the intelligent robot operation range, if no obstacle exists in the intelligent robot operation range, marking the intelligent robot operation range as an operation safety space of a target cable, otherwise, further acquiring each obstacle type, executing A3 when a certain obstacle type is a processable type, and executing A4-A7 when a certain obstacle type is an unprocessed type.
A3, adopting corresponding treatment measures according to the types of the obstacles, and repeatedly executing the operation A2 on the operation range of the intelligent robot after the treatment.
A4, acquiring horizontal edge positions of the non-treatable type barriers by using a sensor, acquiring horizontal distances between the horizontal edge positions of the non-treatable type barriers and the position to be wired of the target cable, screening out the minimum horizontal distance, and rounding the position to be wired of the target cable by taking the minimum horizontal distance as a radius to obtain a first plane area.
A5, obtaining the edge positions of the bottom ends of the non-treatable obstacles above the to-be-wired position of the target cable, obtaining the vertical height distance between the non-treatable obstacles and the to-be-wired position of the target cable, screening out the maximum vertical height distance, and further extending the first plane area upwards according to the central axis of the maximum vertical height distance to obtain a second plane area.
A6, taking the vertical distance between the reference position and the position to be wired of the target cable as a set height, and extending the first plane area downwards according to the central axis of the set height to obtain a third plane area.
And A7, connecting edge lines of the second plane area and the third plane area, and recording the obtained delineation volume as an operation safety space of the target cable.
In a specific embodiment, the specific method for judging whether the position of the end effector of the intelligent robot exceeds the operation safety space of the target cable is as follows: and establishing an operation safety space model of the target cable, marking the position of the end effector of the intelligent robot as a monitoring point, positioning the position of the monitoring point in the operation safety space model of the target cable in real time, comparing the position of the monitoring point with a to-be-connected cable position area when the position of the monitoring point is outside the operation safety space of the target cable, and judging that the position of the end effector of the intelligent robot exceeds the operation safety space of the target cable if the position of the monitoring point is outside the to-be-connected cable position area.
In a specific embodiment, the adjusting method for the end effector of the intelligent robot is as follows: setting a reference point position at the lowest joint of the intelligent robot arm, connecting the reference point position with a monitoring point position to obtain a specified connecting line, and extracting the distance length of the specified connecting line。
Taking the reference point position as an origin, and taking a vertical extension line right above the reference point position to obtain an included angle between the designated connecting line and the vertical extension line。
From the following componentsObtaining the horizontal distance between the position of the monitoring point and the central axis on the horizontal plane, and substituting the horizontal distance into the horizontal planeObtaining the callback distance of the position of the monitoring point, and (I)>The radius of the plane area is corresponding to the operation safety space, and then the intelligent robot end effector is closed to the central axis according to the callback distance of the monitoring point position.
In a specific embodiment, the controlling the end effector to dock the cable to be connected with the connector includes: and controlling the end effector of the left mechanical arm of the intelligent robot to clamp the cable to be connected according to the set wire clamping force, and controlling the end effector of the right mechanical arm of the intelligent robot to clamp the connector.
And marking a connecting line between the breakpoint position of the to-be-connected cable and any layout position on the to-be-connected cable as a layout direction line taking the layout position as a starting point and taking the breakpoint position of the to-be-connected cable as an ending point.
Marking a connecting line between the connector interface position and the break point position of the cable to be connected as a moving direction line taking the break point position of the cable to be connected as a starting point and the connector interface position as an ending point, overlapping the layout position of the layout direction line and the break point position of the cable to be connected of the moving direction line to obtain the deviation angle of the layout direction line and the moving direction line。
From the calculation formulaObtaining reasonable coefficients of the interface positions of the cables to be connected and the connectors, wherein->For a set deviation angle reference value, +.>And e is a natural constant, which is a correction factor corresponding to the reasonable coefficient of the set interface position.
When the reasonable coefficient of the interface position of the cable to be connected and the connector is smaller than the set reasonable coefficient threshold value of the interface position, the end effector of the mechanical arm on the left side of the intelligent robot is controlled to adjust the deflection direction of the layout direction line to be consistent with the deflection direction of the moving direction line according to the deviation angle.
And monitoring the butt joint depth of the cable to be connected and the connector in real time, and indicating that the wiring operation of the cable to be tested and the connector is completed when the butt joint depth reaches a set value.
In a specific embodiment, the bolt screwing parameters of the connectors corresponding to the target cable and the to-be-connected cable include screwing direction and screwing force.
In a specific embodiment, the step of controlling the end effector to dock the connector with the target cable waiting position includes: the screwing direction of each bolt on the surface of each type of connector stored in the database is extracted, the screwing direction of each bolt on the surface of each connector corresponding to the target cable and the cable to be connected is obtained through screening according to the model of the connector corresponding to the target cable and the cable to be connected, and then each bolt of the connector is screwed according to the screwing direction of each bolt.
And acquiring torque values of all bolts when the bolts are screwed through a torque sensor arranged in the internal structure device of the connector in real time, comparing the torque values of all bolts when the bolts are screwed with the torque values corresponding to the set screwing force, and stopping the screwing operation until the torque values of all bolts when the torque values of all bolts are screwed reach the torque values corresponding to the set screwing force.
In a specific embodiment, the method for analyzing the completion qualification coefficient of the connection position is as follows:the connection position is scanned by an infrared scanner, and the connection depth of the connector and the cable to be tested is detectedObtaining the initial position and the current position of each bolt in the connector to obtain the exposed distance of the current position of each bolt>，/>For the bolt number->。
Calculating the completion pass coefficient of the connection position，/>Wherein->Respectively setting reference values corresponding to the connection depth and the exposed distance of the current position of the bolt, < + >>And setting duty ratio weights corresponding to the connection depth and the exposed distance of the current position of the bolt respectively.
Compared with the prior art, the invention has the following beneficial effects: (1) The invention performs delineation on the operation safety space of the electric power field, eliminates the obstacle outside the operation safety space, monitors the position of the actuator of the intelligent robot in real time, ensures that the robot works within a specified safety range, avoids collision, accident or other equipment damage in the wiring operation process of the robot, and is helpful for protecting the safety of operation equipment and space environment.
(2) According to the invention, the operation data of the actuator of the intelligent robot is acquired in real time, so that the intelligent robot can conduct autonomous and flexible path planning and adjustment in the operation safety space, the manual intervention frequency is reduced, the data of the robot autonomous adjustment is more efficient and accurate, the unnecessary downtime and maintenance cost caused by manual errors can be reduced, the occurrence rate of invalid operation is reduced, and further the operation task can be more efficiently completed.
(3) According to the invention, after the butt joint of the connecting positions is completed, a tensile force test is performed, the completion qualification coefficient of the connecting positions is analyzed, whether the connecting positions meet the design requirement or not and whether the structure is stable or not can be evaluated, so that the connecting positions can withstand the tensile force under the normal working condition, and the wiring quality is further ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the system module connection of the present invention.
FIG. 2 is a diagram illustrating the layout of a safe operation space according to the present invention.
FIG. 3 is a schematic view of the location callback distance of a monitoring point according to the present invention.
Fig. 4 is a design diagram of the present invention for laying direction lines and moving direction lines.
Reference numerals: 1. the device comprises a first plane area, 2, a second plane area, 3, a third plane area, 4, a target cable, 5, a cable to be connected, 6, an intelligent robot, 7, a position to be connected, 8, a central axis, 9, a monitoring point position, 10, a reference point position, 11, a reference position, 12, a vertical extension line, 13, a horizontal distance between the monitoring point position and the central axis on a horizontal plane, 14, a breakpoint position of the cable to be connected, 15, a connector interface position, 16 and a random layout position on the cable to be connected.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
Referring to fig. 1, the present invention provides an intelligent robot 6 operation management system based on an electric power field, the system comprising: the system comprises a robot parking position adjustment module, a wiring environment analysis module, a mechanical arm operation monitoring module, a connector wiring control module, a wiring completion confirmation module and a database. The robot stop position adjusting module is connected with the wiring environment analyzing module, the wiring environment analyzing module is connected with the mechanical arm operation monitoring module, the mechanical arm operation monitoring module is connected with the connector wiring control module, the connector wiring control module is connected with the wiring completion confirming module, and the database is connected with the connector wiring control module.
The robot parking position adjustment module is used for acquiring a position area of the target cable 4 to be connected 7 and the position area of the target cable 5 to be connected on the power field and adjusting the base position of the intelligent robot 6.
The power field to which the present invention is directed is a high-voltage wiring field, and there is no other obstacle from below the target cable 4 to the position of the intelligent robot 6 in the set area range. The high voltage wiring is normally in high altitude so that the obstacle is on the side of or above the target cable 4.
The specific acquisition mode of the to-be-wired position 7 of the target cable 4 of the electric power field is as follows: the intelligent robot 6 is internally provided with a camera to collect images of the power field, the characteristic images of the position 7 to be wired of the target cable 4 are extracted from a database, and then the images collected by the power field are analyzed and matched with the characteristic images of the position 7 to be wired of the target cable 4 by adopting an image recognition technology, so that the position 7 to be wired of the target cable 4 of the power field is positioned.
In a preferred embodiment, the step of obtaining the location area of the to-be-connected cable 5 includes: the intelligent robot 6 is internally provided with an induction instrument to scan the surrounding environment of the target cable 4, the surrounding environment of the target cable 4 is identified through an image identification technology, the shape outline of the to-be-connected cable 5 is positioned according to the image characteristics of the to-be-connected cable 5, the area occupied by the shape outline of the to-be-connected cable 5 is defined according to a set area dividing principle, and the area is further marked as the position area of the to-be-connected cable 5.
In a preferred embodiment, the adjustment of the base position of the intelligent robot 6 is performed by: the length of the mechanical arm when the intelligent robot 6 is at the maximum adjusting angle is obtained and is recorded asConnecting the current position of the base of the intelligent robot 6 with the position 7 to be wired of the target cable 4 to obtain a guiding line taking the current position of the base of the intelligent robot 6 as a starting point and the position 7 to be wired of the target cable 4 as an ending point, and extracting the distance length of the guiding line>。
When (when)When in use, by->Obtaining the offset required distance of the base position of the intelligent robot 6, < > or->And in order to set a basic offset distance, the base position of the intelligent robot 6 is moved and adjusted to the to-be-wired position 7 of the target cable 4 along the direction of the guide line according to the offset required distance.
The current position of the base of the intelligent robot 6 is the base center point position.
The length of the mechanical arm when the mechanical arm is at the maximum adjusting angle is extracted from a database.
The wiring environment analysis module is used for delineating the operation safety space of the target cable 4 based on the to-be-wired position 7 of the target cable 4 of the power field.
Referring to fig. 2, in a preferred embodiment, the method for delineating the working safety space of the target cable 4 is as follows: a1, acquiring the position of the base of the intelligent robot 6 after moving and adjusting, marking the position as a reference position 11, taking a connecting line of the reference position 11 and a position 7 to be connected of the target cable 4 as a central axis 8, scanning in a range that the length of the mechanical arm is a radius when the mechanical arm is at the maximum adjusting angle, and regarding the scanning range as the operation range of the intelligent robot 6.
A2, performing obstacle scanning within the operation range of the intelligent robot 6, if no obstacle exists within the operation range of the intelligent robot 6, recording the operation range of the intelligent robot 6 as an operation safety space of the target cable 4, otherwise, further acquiring each obstacle type, executing A3 when a certain obstacle type is a processable type, and executing A4-A7 when a certain obstacle type is an unprocessed type.
A3, adopting corresponding treatment measures according to the types of the obstacles, and repeatedly executing the operation A2 on the operation range of the intelligent robot 6 after the treatment.
A4, acquiring horizontal edge positions of the non-treatable type barriers by using a sensor, acquiring horizontal distances between the horizontal edge positions of the non-treatable type barriers and the to-be-wired position 7 of the target cable 4, screening out the minimum horizontal distance, and rounding the to-be-wired position 7 of the target cable 4 by taking the minimum horizontal distance as a radius to obtain the first plane area 1.
It should be noted that the types of the obstacle include a disposable type and an untreated type, wherein the disposable type obstacle includes a branch, a hanger such as an electric wire, and birds, rodents, etc., and ice and snow may be formed on the cable in extreme weather. Non-treatable types of obstructions include poles, electrical equipment, and other cables.
The horizontal distance between each non-treatable type obstacle position and the to-be-wired position 7 of the target cable 4 is obtained by the following steps: after the intelligent robot 6 scans to obtain each contour area of the obstacle of the non-treatable type, the edge position of each contour area of the obstacle of the non-treatable type, which is the smallest in distance from the central axis 8, is extracted, and the distance between the edge position and the central axis 8 is used as the horizontal distance.
A5, acquiring the edge positions of the bottom ends of the non-treatable obstacles above the to-be-wired position 7 of the target cable 4, acquiring the vertical height distance between the non-treatable obstacles and the to-be-wired position 7 of the target cable 4, screening out the maximum vertical height distance, and further extending the first plane area 1 upwards according to the maximum vertical height distance along the central axis 8 to obtain the second plane area 2.
It should be noted that, when there is no obstacle of an unprocessed type above the to-be-wired position 7 of the target cable 4, the height value is set to the maximum vertical height distance.
A6, taking the vertical distance between the reference position 11 and the to-be-wired position 7 of the target cable 4 as a set height, and extending the first plane area 1 downwards according to a set height extension axis 8 to obtain a third plane area 3.
And A7, connecting the edge lines of the second plane area 2 and the third plane area 3, and recording the obtained delineation volume as the operation safety space of the target cable 4.
The invention performs delineation on the operation safety space of the electric power field, eliminates barriers outside the operation safety space, monitors the position of the actuator of the intelligent robot 6 in real time, ensures that the robot works within a specified safety range, avoids collision, accidents or other equipment damage in the wiring operation process of the robot, and is beneficial to protecting the safety of operation equipment and space environment.
The mechanical arm operation monitoring module is used for acquiring the position of the end effector of the intelligent robot 6 in real time, judging whether the position of the end effector of the intelligent robot 6 exceeds the operation safety space of the target cable 4, and further adjusting the end effector of the intelligent robot 6.
In a preferred embodiment, the specific method for determining whether the position of the end effector of the intelligent robot 6 exceeds the working safety space of the target cable 4 is as follows: establishing an operation safety space model of the target cable 4, marking the position of the end effector of the intelligent robot 6 as a monitoring point, positioning a monitoring point position 9 in the operation safety space model of the target cable 4 in real time, comparing the monitoring point position 9 with a position area of the to-be-connected cable 5 when the monitoring point position 9 is outside the operation safety space of the target cable 4, and judging that the position of the end effector of the intelligent robot 6 exceeds the operation safety space of the target cable 4 if the monitoring point position 9 is outside the position area of the to-be-connected cable 5.
Referring to fig. 3, in a preferred embodiment, the adjustment of the end effector of the intelligent robot 6 is performed by: setting a reference point position 10 at the lowest joint of the robot arm of the intelligent robot 6, connecting the reference point position 10 with a monitoring point position 9 to obtain a specified connecting line, and extracting the distance length of the specified connecting line。
Taking the reference point position 10 as an origin, and taking a vertical extension line 12 directly above the reference point position 10 to obtain an included angle between a specified connecting line and the vertical extension line 12。
From the following componentsA horizontal distance 13 between the monitoring point position 9 and the central axis 8 on the horizontal plane is obtained, and is substituted into +.>Obtaining the callback distance of the monitoring point position 9, < >>The radius of the plane area is corresponding to the operation safety space, and then the end effector of the intelligent robot 6 is pulled back to the central axis 8 by the callback distance according to the monitoring point position 9.
The connector wiring control module is used for controlling the end effector to butt joint the to-be-connected cable 5 with the connector and obtaining the bolt screwing parameters of the connector, and accordingly controlling the end effector to butt joint the connector with the to-be-connected position of the target cable 4.
Referring to fig. 4, in a preferred embodiment, the controlling the end effector to interface the cable 5 with the connector includes: and controlling the end effector of the left mechanical arm of the intelligent robot 6 to clamp the cable 5 to be connected according to the set wire-holding force, and controlling the end effector of the right mechanical arm of the intelligent robot 6 to clamp the connector.
Specifically, the gripping objects of the left and right robot arms of the intelligent robot 6 are not limited to the above-described one, and exemplary ones are: the end effector of the right mechanical arm of the intelligent robot 6 is controlled to clamp the cable 5 to be connected, and the end effector of the left mechanical arm of the intelligent robot 6 is controlled to clamp the connector. The gripping object comprises a cable 5 to be connected and a connector.
The connection line between the break point position 14 of the to-be-connected cable 5 and any layout position 16 on the to-be-connected cable 5 is marked as a layout direction line taking the layout position as a starting point and taking the break point position 14 of the to-be-connected cable 5 as an ending point.
The connecting line between the connector interface position 15 and the breakpoint position 14 of the to-be-connected cable 5 is marked as a moving direction line taking the breakpoint position 14 of the to-be-connected cable 5 as a starting point and the connector interface position 15 as an ending point, and the laying position of the laying direction line is overlapped with the breakpoint position 14 of the to-be-connected cable 5 of the moving direction line to obtain the deviation angle of the laying direction line and the moving direction line。
From the calculation formulaObtaining reasonable interface position coefficient of the to-be-connected cable 5 and the connector, wherein +.>For a set deviation angle reference value, +.>And e is a natural constant, which is a correction factor corresponding to the reasonable coefficient of the set interface position.
When the reasonable coefficient of the interface position of the cable 5 to be connected and the connector is smaller than the set reasonable coefficient threshold value of the interface position, the end effector of the mechanical arm at the left side of the intelligent robot 6 is controlled to adjust the deflection direction of the layout direction line to be consistent with the deflection direction of the moving direction line according to the deviation angle.
And monitoring the butt joint depth of the cable 5 to be connected and the connector in real time, and when the butt joint depth reaches a set value, indicating that the wiring operation of the cable to be tested and the connector is completed.
In a preferred embodiment, the bolt screwing parameters of the connector corresponding to the target cable 4 and the to-be-connected cable 5 comprise screwing direction and screwing force.
In a preferred embodiment, the step of controlling the end effector to dock the connector with the destination cable 4 at the standby position comprises: the screwing direction of each bolt on the surface of each type of connector stored in the database is extracted, the screwing direction of each bolt on the surface of each connector corresponding to the target cable 4 and the cable 5 to be connected is obtained through screening according to the model of each connector corresponding to the target cable 4 and the cable 5 to be connected, and then each bolt of the connector is screwed according to the screwing direction of each bolt.
And acquiring torque values of all bolts when the bolts are screwed through a torque sensor arranged in the internal structure device of the connector in real time, comparing the torque values of all bolts when the bolts are screwed with the torque values corresponding to the set screwing force, and stopping the screwing operation until the torque values of all bolts when the torque values of all bolts are screwed reach the torque values corresponding to the set screwing force.
The database is used for storing characteristic images of the positions 7 to be wired of the target cable 4, storing the length of the mechanical arm when the mechanical arm is at the maximum adjusting angle and storing the screwing direction of each bolt on the surface of each type of connector.
According to the invention, the operation data of the executor of the intelligent robot 6 is acquired in real time, the intelligent robot 6 is ensured to perform autonomous and flexible path planning and adjustment in the operation safety space, the manual intervention frequency is reduced, the robot autonomous adjustment is more efficient and accurate, the unnecessary downtime and maintenance cost caused by manual errors can be reduced, the occurrence rate of invalid operation is reduced, and further the operation task can be more efficiently completed.
And the wiring completion confirming module is used for applying detection pulling force to the connection position after the butt joint is completed, analyzing the qualification degree of the connection position and further confirming whether the wiring is completed or not.
In a preferred embodiment, the way to analyze the completion qualification rate of the connection location is: the connection position is scanned by an infrared scanner, and the connection depth of the connector and the cable to be tested is detectedObtaining the initial position and the current position of each bolt in the connector to obtain the exposed distance of the current position of each bolt>，/>For the bolt number->。
The acquisition modes of the initial position and the current position of each bolt in the connector are specifically as follows: after the butt joint is finished and before the detection pulling force is applied to the connecting position, the connecting position is scanned through an infrared scanner, and the initial position of each bolt in the connector is obtained. And after the detection tensile force is applied to the connecting position, scanning the connecting position again through an infrared scanner to obtain the current position of each bolt in the connector.
Calculating the completion pass coefficient of the connection position，/>Wherein->Respectively setting reference values corresponding to the connection depth and the exposed distance of the current position of the bolt, < + >>Respectively is connected withSetting the corresponding duty ratio weight of the joint depth and the exposed distance of the current position of the bolt.
The method for confirming whether the wiring is completed is as follows: comparing the completion qualified coefficient of the connection position with a set qualified coefficient threshold, and if the completion qualified coefficient of the connection position is larger than or equal to the set qualified coefficient threshold, confirming that wiring is completed.
According to the invention, after the butt joint of the connecting positions is completed, a tensile force test is performed, the completion qualification coefficient of the connecting positions is analyzed, whether the connecting positions meet the design requirement or not and whether the structure is stable or not can be evaluated, so that the connecting positions can withstand the tensile force under the normal working condition, and the wiring quality is further ensured.
The foregoing is merely illustrative and explanatory of the principles of this invention, as various modifications and additions may be made to the specific embodiments described, or similar arrangements may be substituted by those skilled in the art, without departing from the principles of this invention or beyond the scope of this invention as defined in the claims.
Claims (10)
1. An intelligent robot job management system based on an electric power site, the system comprising:
robot docking position adjustment module: the intelligent robot base position adjusting device is used for acquiring a target cable to-be-wired position and a to-be-wired cable position area of an electric power field and adjusting the intelligent robot base position;
wiring environment analysis module: the method comprises the steps of carrying out delineation on an operation safety space of a target cable based on a to-be-wired position of the target cable on an electric power site;
the mechanical arm operation monitoring module comprises: the intelligent robot end effector position determining device is used for acquiring the position of the intelligent robot end effector in real time, judging whether the position of the intelligent robot end effector exceeds the operation safety space of the target cable, and adjusting the intelligent robot end effector;
connector wiring control module: the device comprises a connector, a target cable, an end effector, a connector, a control device and a control device, wherein the connector is used for connecting the target cable with the connector, and acquiring a bolt screwing parameter of the connector;
database: the device is used for storing characteristic images of positions to be wired of the target cable, storing the length of the mechanical arm when the mechanical arm is at the maximum adjusting angle and storing the screwing direction of each bolt on the surface of each type of connector;
and a wiring completion confirmation module: and the device is used for applying detection tensile force to the connection position after the butt joint is finished, analyzing the finished qualification coefficient of the connection position, and further confirming whether the wiring is finished.
2. The intelligent robotic work management system based on the power field of claim 1, wherein: the obtaining step of the position area of the to-be-connected cable comprises the following steps: the method comprises the steps of arranging an induction instrument in the intelligent robot to scan the surrounding environment of a target cable, identifying the surrounding environment of the target cable through an image identification technology, positioning the shape outline of the cable to be connected according to the image characteristics of the cable to be connected, defining the occupied area of the shape outline of the cable to be connected according to a set area dividing principle, and marking the occupied area as the position area of the cable to be connected.
3. The intelligent robotic work management system based on the power field of claim 1, wherein: the mode of adjusting the base position of the intelligent robot is as follows: acquiring the length of a mechanical arm of the intelligent robot at the maximum adjusting angle, and recording the length asConnecting the current position of the base of the intelligent robot with the position to be wired of the target cable to obtain a finger lead taking the current position of the base of the intelligent robot as a starting point and the position to be wired of the target cable as an ending point, and extracting the distance length of the finger lead>；
When (when)When in use, by->Obtaining the offset required distance of the base position of the intelligent robot, < >>And in order to set a basic offset distance, the position of the intelligent robot base is moved and adjusted to the position to be wired of the target cable along the direction of the guide line according to the offset required distance.
4. An intelligent robotic work management system based on an electric power site according to claim 3, wherein: the method for delineating the operation safety space of the target cable comprises the following steps:
a1, acquiring a position of the intelligent robot base after moving and adjusting, recording the position as a reference position, taking a connecting line of the reference position and a position to be wired of a target cable as a central axis, scanning in a range of which the length of the mechanical arm is a radius when the mechanical arm is at a maximum adjusting angle, and regarding the scanning range as an intelligent robot operation range;
a2, performing obstacle scanning in the intelligent robot operation range, if no obstacle exists in the intelligent robot operation range, marking the intelligent robot operation range as an operation safety space of a target cable, otherwise, further acquiring each obstacle type, executing A3 when a certain obstacle type is a processable type, and executing A4-A7 when a certain obstacle type is an unprocessed type;
a3, adopting corresponding treatment measures according to the types of the obstacles, and repeatedly executing the operation A2 on the operation range of the intelligent robot after the treatment;
a4, acquiring horizontal edge positions of the non-treatable type barriers by using a sensor, acquiring horizontal distances between the horizontal edge positions of the non-treatable type barriers and a position to be wired of a target cable, screening out a minimum horizontal distance, and rounding the position to be wired of the target cable by taking the minimum horizontal distance as a radius to obtain a first plane area;
a5, acquiring the edge positions of the bottom ends of the non-treatable obstacles above the to-be-wired position of the target cable, acquiring the vertical height distance between the non-treatable obstacles and the to-be-wired position of the target cable, screening out the maximum vertical height distance, and further extending the first plane area upwards according to the central axis of the maximum vertical height distance to obtain a second plane area;
a6, taking the vertical distance between the reference position and the position to be wired of the target cable as a set height, and extending the first plane area downwards according to the central axis of the set height to obtain a third plane area;
and A7, connecting edge lines of the second plane area and the third plane area, and recording the obtained delineation volume as an operation safety space of the target cable.
5. The intelligent robotic work management system based on the power field of claim 4, wherein: the specific method for judging whether the position of the end effector of the intelligent robot exceeds the operation safety space of the target cable comprises the following steps: and establishing an operation safety space model of the target cable, marking the position of the end effector of the intelligent robot as a monitoring point, positioning the position of the monitoring point in the operation safety space model of the target cable in real time, comparing the position of the monitoring point with a to-be-connected cable position area when the position of the monitoring point is outside the operation safety space of the target cable, and judging that the position of the end effector of the intelligent robot exceeds the operation safety space of the target cable if the position of the monitoring point is outside the to-be-connected cable position area.
6. The intelligent robotic work management system based on electric power sites of claim 5, wherein: the mode of adjusting the intelligent robot end effector is as follows:
setting a reference point position at the lowest joint of the intelligent robot arm, connecting the reference point position with a monitoring point position to obtain a specified connecting line, and extracting the distance length of the specified connecting line；
Taking the reference point position as an origin, and taking a vertical extension line right above the reference point position to obtain an included angle between the designated connecting line and the vertical extension line；
From the following componentsObtaining the horizontal distance between the position of the monitoring point and the central axis on the horizontal plane, and substituting the horizontal distance into the horizontal planeObtaining the callback distance of the position of the monitoring point, and (I)>The radius of the plane area is corresponding to the operation safety space, and then the intelligent robot end effector is closed to the central axis according to the callback distance of the monitoring point position.
7. The intelligent robotic work management system based on the power field of claim 1, wherein: the corresponding contents of the control end effector for docking the cable to be spliced with the connector include:
the method comprises the steps of controlling an end effector of a left mechanical arm of the intelligent robot to clamp a cable to be connected according to a set wire clamping force, and controlling an end effector of a right mechanical arm of the intelligent robot to clamp a connector;
marking a connecting line between the breakpoint position of the cable to be connected and any layout position on the cable to be connected as a layout direction line taking the layout position as a starting point and the breakpoint position of the cable to be connected as an ending point;
marking a connecting line between the connector interface position and the break point position of the cable to be connected as a moving direction line taking the break point position of the cable to be connected as a starting point and the connector interface position as an ending point, overlapping the layout position of the layout direction line and the break point position of the cable to be connected of the moving direction line to obtain the deviation angle of the layout direction line and the moving direction line；
From the calculation formulaObtaining reasonable coefficients of the interface positions of the cables to be connected and the connectors, wherein->For a set deviation angle reference value, +.>E is a natural constant, which is a correction factor corresponding to a reasonable coefficient of the set interface position;
when the reasonable coefficient of the interface position of the cable to be connected and the connector is smaller than the set reasonable coefficient threshold value of the interface position, controlling an end effector of a mechanical arm on the left side of the intelligent robot to adjust the deflection direction of the layout direction line to be consistent with the deflection direction of the moving direction line according to a deviation angle;
and monitoring the butt joint depth of the cable to be connected and the connector in real time, and indicating that the wiring operation of the cable to be tested and the connector is completed when the butt joint depth reaches a set value.
8. The intelligent robotic work management system based on the power field of claim 1, wherein: the bolt screwing parameters of the connectors corresponding to the target cable and the to-be-connected cable comprise screwing direction and screwing force.
9. The intelligent robotic work management system based on the power field of claim 1, wherein: the step of controlling the end effector to dock the connector with the target cable to-be-spliced position comprises the following steps:
extracting the screwing direction of each bolt on the surface of each type of connector stored in a database, screening to obtain the screwing direction of each bolt on the surface of the connector corresponding to the target cable and the cable to be connected according to the model of the connector corresponding to the target cable and the cable to be connected, and screwing each bolt of the connector according to the screwing direction of each bolt;
and acquiring torque values of all bolts when the bolts are screwed through a torque sensor arranged in the internal structure device of the connector in real time, comparing the torque values of all bolts when the bolts are screwed with the torque values corresponding to the set screwing force, and stopping the screwing operation until the torque values of all bolts when the torque values of all bolts are screwed reach the torque values corresponding to the set screwing force.
10. The intelligent robotic work management system based on the power field of claim 1, wherein: the method for analyzing the finished qualified coefficient of the connection position comprises the following steps:
the connection position is scanned by an infrared scanner, and the connection depth of the connector and the cable to be tested is detectedObtaining the initial position and the current position of each bolt in the connector to obtain the exposed distance of the current position of each bolt>，/>The bolts are numbered and the number of the bolts,；
calculating the completion pass coefficient of the connection position，/>Wherein->Respectively setting reference values corresponding to the connection depth and the exposed distance of the current position of the bolt, < + >>And setting duty ratio weights corresponding to the connection depth and the exposed distance of the current position of the bolt respectively.
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