CN117340878A - Method and device for analyzing working safety distance of live working robot - Google Patents
Method and device for analyzing working safety distance of live working robot Download PDFInfo
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- CN117340878A CN117340878A CN202311356933.XA CN202311356933A CN117340878A CN 117340878 A CN117340878 A CN 117340878A CN 202311356933 A CN202311356933 A CN 202311356933A CN 117340878 A CN117340878 A CN 117340878A
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- 238000004088 simulation Methods 0.000 claims abstract description 170
- 238000006243 chemical reaction Methods 0.000 claims abstract description 143
- 238000004458 analytical method Methods 0.000 claims abstract description 27
- 238000005259 measurement Methods 0.000 claims description 80
- 238000004364 calculation method Methods 0.000 claims description 33
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
Abstract
The invention discloses a working safety distance analysis method and device of a live working robot, wherein a plurality of simulation points are arranged at a first joint of the live working robot, first relative positions of the simulation points relative to the first joint are obtained, and a first conversion relation of the simulation points relative to the first joint is obtained based on the first relative positions; determining a robot coordinate system of the live working robot, and acquiring a second conversion relation of the first joint under the robot coordinate system based on a plurality of first joint values of the live working robot; obtaining simulation point positions of a plurality of simulation points under a robot coordinate system based on the first conversion relation and the second conversion relation; determining a wire track, respectively calculating distances from the positions of a plurality of simulation points to the wire, and determining the current minimum distance of the live working robot based on the obtained first distances; compared with the prior art, the technical scheme of the invention can improve the accuracy of the detection of the safety distance of the live working robot.
Description
Technical Field
The invention relates to the technical field of the humanized energy measurement of live working machines, in particular to a method and a device for analyzing the working safety distance of a live working robot.
Background
The power lines are divided into power transmission lines and distribution lines according to voltage levels. The distribution circuit is of a voltage class below 35kV and is wide in coverage area, so that the distribution circuit is also called a distribution network line. Because the distribution network line is directly related to the user, the user experience on the distribution network line is also most direct, so that the long-term stable operation of the distribution network line is an important way for maintaining the image of the power grid enterprise; events that affect the safe and stable operation of a grid line are generally classified into defects and faults, wherein a fault may cause the line to be shut down, while defects are not necessarily present, but further development of defects may develop into faults. In the management regulation of the power grid, defects are generally subdivided into four grades of emergency, heavy, general and other grades, and defects of each grade need to be eliminated within a specified time, but the defect quantity and the defect eliminating workload are very large due to the wide coverage of distribution network lines.
In order to ensure the defect eliminating timeliness, the power supply reliability of a circuit is improved, the charged defect eliminating is one of the most effective means at present, based on the requirements of the aspects, a plurality of distribution network live working robots are produced on the market at present, but in the process of operation, the distance between the robots and wires is required to be within a certain safe distance range, otherwise, after the robots are contacted with the wires, grounding short-circuit faults can be caused, the operation robot equipment is damaged, the integrated detection cannot be realized aiming at the safe distance at present, manual mode is adopted in most cases, more manpower and time are required in the detection process, and the detection precision and repeatability are not high.
Disclosure of Invention
The invention aims to solve the technical problems that: the method and the device for analyzing the working safety distance of the live working robot are provided, and accuracy of detection of the working safety distance of the live working robot is improved.
In order to solve the technical problems, the invention provides a working safety distance analysis method of a live working robot, comprising the following steps:
setting a plurality of simulation points at a first joint of a live working robot, acquiring first relative positions of the simulation points relative to the first joint, and acquiring a first conversion relation of the simulation points relative to the first joint based on the first relative positions;
determining a robot coordinate system in which the live working robot is located, and acquiring a second conversion relation of the first joint under the robot coordinate system based on a plurality of first joint values of the live working robot in a simulation operation process;
obtaining simulation point positions of the simulation points under the robot coordinate system based on the first conversion relation and the second conversion relation;
and determining a wire track, respectively calculating the distances from the positions of the plurality of simulation points to the wire to obtain a plurality of first distances, and determining the current minimum distance of the live working robot based on the plurality of first distances.
In one possible implementation, determining the wire trace specifically includes:
setting a laser tracker, determining a measurement coordinate system where the laser tracker is located, and acquiring a third conversion relation between the measurement coordinate system and the robot coordinate system based on a preset coordinate system conversion method;
acquiring a first wire coordinate and a second wire coordinate of a wire in the measurement coordinate system, and performing coordinate conversion on the first wire coordinate and the second wire coordinate based on the third conversion relation to obtain a third wire coordinate and a fourth wire coordinate of the wire in the robot coordinate system;
and determining a wire trace based on the third wire coordinate and the fourth wire coordinate.
In one possible implementation manner, based on a preset coordinate system conversion method, the obtaining a third conversion relationship between the measurement coordinate system and the robot coordinate system specifically includes:
acquiring a first end coordinate value of the live working robot under the robot coordinate system;
installing a first measurement target at the tail end of the live working robot, and measuring the first measurement target based on the laser tracker to obtain a second tail end coordinate value of the live working robot in the measurement coordinate system;
And obtaining a coordinate value point pair based on the first end coordinate value and the second end coordinate value, and carrying out fitting processing on the coordinate value point pair based on a fitting algorithm to obtain a third conversion relation between the measurement coordinate system and the robot coordinate system.
In one possible implementation manner, the distances between the positions of the plurality of simulation points and the wire are calculated respectively to obtain a plurality of first distances, which specifically includes:
sequentially inputting the positions of each simulation point into a preset wire distance calculation formula, so that the distance from each simulation point to the wire is calculated based on the wire distance calculation formula, and a plurality of first distances are obtained; the wire distance calculation formula is as follows:
D(Tk,L)＝|Tk―A(R)·(L(R))|/|L(R)|(k＝1...n)；
where D (Tk, L) is the first distance from the kth analog point position to the wire, tk is the kth analog point position, a (R) is the third wire coordinate, and L (R) is the wire trace.
In one possible implementation manner, obtaining the first relative positions of the plurality of simulation points with respect to the first joint specifically includes:
installing a second measurement target at a first joint of the live working robot, and measuring the second measurement target based on the laser tracker to obtain a first joint coordinate value of the live working robot in the measurement coordinate system;
Respectively installing a third measurement target at the plurality of simulation points of the live working robot, and measuring the third measurement target based on the laser tracker to obtain a plurality of first simulation point coordinate values of the live working robot in the measurement coordinate system;
and obtaining first relative positions of the plurality of simulation points relative to the first joint based on the coordinates of the plurality of first simulation points and the coordinate values of the first joint.
In one possible implementation manner, based on a plurality of first joint values of the live working robot in the simulation working process, the method for obtaining the second conversion relation of the first joint under the robot coordinate system specifically includes:
acquiring a plurality of first joint values of the live working robot in the simulation operation process, and respectively calculating second relative positions of the first joint values and the live working robot;
and carrying out fitting processing on the second relative position pair based on a fitting algorithm to obtain a second conversion relation of the first joint relative to the robot coordinate system.
In one possible implementation manner, based on the first conversion relationship and the second conversion relationship, obtaining the simulation point positions of the plurality of simulation points under the robot coordinate system specifically includes:
Constructing a simulation point position calculation formula based on the first conversion relation and the second conversion relation;
respectively obtaining first simulation point positions of the simulation points, substituting the first simulation point positions into the simulation point position calculation formula to obtain simulation point positions of the simulation points under the robot coordinate system;
the calculation formula of the simulation point position is as follows:
Tk＝M(R_JN)M(JN_Tk)(k＝1...n)；
where Tk is the kth analog point position, M (r_jn) is the second conversion relationship, and M (jn_tk) is the first conversion relationship.
The invention also provides a working safety distance analysis device of the live working robot, which comprises: the system comprises a first conversion relation determining module, a second conversion relation determining module, a simulation point position obtaining module and a robot operation distance calculating module;
the first conversion relation determining module is used for setting a plurality of simulation points at a first joint of the live working robot, acquiring first relative positions of the simulation points relative to the first joint, and acquiring a first conversion relation of the simulation points relative to the first joint based on the first relative positions;
the second conversion relation determining module is used for determining a robot coordinate system in which the live working robot is located, and acquiring a second conversion relation of the first joint under the robot coordinate system based on a plurality of first joint values of the live working robot in the simulation operation process;
The simulation point position acquisition module is used for acquiring simulation point positions of the simulation points under the robot coordinate system based on the first conversion relation and the second conversion relation;
the robot working distance calculation module is used for determining a wire track, calculating distances from the positions of the plurality of simulation points to the wire respectively to obtain a plurality of first distances, and determining the current minimum distance of the live working robot based on the plurality of first distances.
In one possible implementation manner, the robot working distance calculating module is configured to determine a wire track, and specifically includes:
setting a laser tracker, determining a measurement coordinate system where the laser tracker is located, and acquiring a third conversion relation between the measurement coordinate system and the robot coordinate system based on a preset coordinate system conversion method;
acquiring a first wire coordinate and a second wire coordinate of a wire in the measurement coordinate system, and performing coordinate conversion on the first wire coordinate and the second wire coordinate based on the third conversion relation to obtain a third wire coordinate and a fourth wire coordinate of the wire in the robot coordinate system;
and determining a wire trace based on the third wire coordinate and the fourth wire coordinate.
In one possible implementation manner, the robot working distance calculating module is configured to obtain a third conversion relationship between the measurement coordinate system and the robot coordinate system based on a preset coordinate system conversion method, and specifically includes:
acquiring a first end coordinate value of the live working robot under the robot coordinate system;
installing a first measurement target at the tail end of the live working robot, and measuring the first measurement target based on the laser tracker to obtain a second tail end coordinate value of the live working robot in the measurement coordinate system;
and obtaining a coordinate value point pair based on the first end coordinate value and the second end coordinate value, and carrying out fitting processing on the coordinate value point pair based on a fitting algorithm to obtain a third conversion relation between the measurement coordinate system and the robot coordinate system.
In one possible implementation manner, the robot working distance calculating module is configured to calculate distances from positions of a plurality of simulation points to the wires, to obtain a plurality of first distances, and specifically includes:
sequentially inputting the positions of each simulation point into a preset wire distance calculation formula, so that the distance from each simulation point to the wire is calculated based on the wire distance calculation formula, and a plurality of first distances are obtained; the wire distance calculation formula is as follows:
D(Tk,L)＝|Tk―A(R)·(L(R))|/|L(R)|(k＝1...n)；
Where D (Tk, L) is the first distance from the kth analog point position to the wire, tk is the kth analog point position, a (R) is the third wire coordinate, and L (R) is the wire trace.
In one possible implementation manner, the first conversion relation determining module is configured to obtain a first relative position of the plurality of simulation points with respect to the first joint, and specifically includes:
installing a second measurement target at a first joint of the live working robot, and measuring the second measurement target based on the laser tracker to obtain a first joint coordinate value of the live working robot in the measurement coordinate system;
respectively installing a third measurement target at the plurality of simulation points of the live working robot, and measuring the third measurement target based on the laser tracker to obtain a plurality of first simulation point coordinate values of the live working robot in the measurement coordinate system;
and obtaining first relative positions of the plurality of simulation points relative to the first joint based on the coordinates of the plurality of first simulation points and the coordinate values of the first joint.
In one possible implementation manner, the second conversion relation determining module is configured to obtain, based on a plurality of first joint values of the live working robot in a simulation working process, a second conversion relation of the first joint in a robot coordinate system, where the second conversion relation specifically includes:
Acquiring a plurality of first joint values of the live working robot in the simulation operation process, and respectively calculating second relative positions of the first joint values and the live working robot;
and carrying out fitting processing on the second relative position pair based on a fitting algorithm to obtain a second conversion relation of the first joint relative to the robot coordinate system.
In one possible implementation manner, the simulated point position obtaining module is configured to obtain simulated point positions of the plurality of simulated points in the robot coordinate system based on the first conversion relationship and the second conversion relationship, and specifically includes:
constructing a simulation point position calculation formula based on the first conversion relation and the second conversion relation;
respectively obtaining first simulation point positions of the simulation points, substituting the first simulation point positions into the simulation point position calculation formula to obtain simulation point positions of the simulation points under the robot coordinate system;
the calculation formula of the simulation point position is as follows:
Tk＝M(R_JN)M(JN_Tk)(k＝1...n)；
where Tk is the kth analog point position, M (r_jn) is the second conversion relationship, and M (jn_tk) is the first conversion relationship.
The invention also provides a terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor realizes the working safety distance analysis method of the live working robot when executing the computer program.
The invention also provides a computer readable storage medium, which comprises a stored computer program, wherein the computer program is used for controlling equipment where the computer readable storage medium is located to execute the working safety distance analysis method of the live working robot.
Compared with the prior art, the method and the device for analyzing the operation safety distance of the live working robot have the following beneficial effects:
acquiring first relative positions of a plurality of simulation points relative to a first joint of a live working robot by setting the simulation points at the first joint, and acquiring a first conversion relation of the simulation points relative to the first joint based on the first relative positions; determining a robot coordinate system in which the live working robot is located, and acquiring a second conversion relation of the first joint under the robot coordinate system based on a plurality of first joint values of the live working robot in a simulation operation process; obtaining simulation point positions of the simulation points under the robot coordinate system based on the first conversion relation and the second conversion relation; determining a wire track, respectively calculating the distances from the positions of a plurality of simulation points to the wire to obtain a plurality of first distances, and determining the current minimum distance of the live working robot based on the plurality of first distances; compared with the prior art, the technical scheme of the invention has the advantages that the simulation points are arranged at the first joint, the positions of the simulation points under the robot coordinate system are determined based on the first conversion relation of the simulation points relative to the first joint and the second conversion relation of the first joint under the robot coordinate system, the distances from the simulation points to the wires are calculated, the current minimum distance of the live working robot is determined, the safety distance between the robot and the wires in the working process is guaranteed, the accuracy of the safety distance detection of the live working robot is improved, and the potential risks are effectively avoided.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for analyzing working safety distance of a live working robot according to the present invention;
FIG. 2 is a schematic view of an embodiment of a working safety distance analysis device for a live working robot according to the present invention;
FIG. 3 is a schematic diagram of a system for analyzing a working safety distance according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a live working robot simulated point marking according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the 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.
Embodiment 1, referring to fig. 1, fig. 1 is a flow chart of an embodiment of a working safety distance analysis method of a live working robot provided by the present invention, as shown in fig. 1, and the method includes steps 101 to 104, specifically as follows:
Step 101: setting a plurality of simulation points at a first joint of the live working robot, acquiring first relative positions of the simulation points relative to the first joint, and obtaining a first conversion relation of the simulation points relative to the first joint based on the first relative positions.
In one embodiment, before the operation safety distance analysis is performed, an operation safety distance analysis system is set, wherein the operation safety distance analysis system comprises a laser tracker, an electrified working robot, a simulation wire, an insulating bracket, an insulating pad, a driving device and an insulating lifting platform; as shown in fig. 3, fig. 3 is a schematic diagram of a working safety distance analysis system.
In one embodiment, the driving device and the insulating bracket are arranged above the insulating pad, the insulating bracket is used for supporting the insulating wire, the insulating lifting platform is arranged above the driving device, the live working robot is placed on the insulating lifting platform, and the live working robot is used for controlling the posture of the tip of the working tool so as to enable the simulated wire to be worked based on the tip of the working tool; the laser tracker is used for measuring the position of the live working robot.
Preferably, the laser tracker is placed in an open area, and the laser tracker is limited in an effective measurement range by arranging a target on the live working robot according to a laser measurement principle, so that no shielding object exists between the laser tracker and the live working robot.
Preferably, the driving device consists of an adjustable lifting platform, and is mainly used for lifting the borne live working robot so that the live working robot can reach a proper working height.
In an embodiment, the live working robot is a collaborative robot, preferably, the live working robot may be a small industrial six-axis robot.
In an embodiment, a plurality of simulation points are set at a first joint of the live working robot, preferably, the first joint is at an end joint, as shown in fig. 4, and fig. 4 is a schematic diagram of a simulation point mark of the live working robot.
In an embodiment, a second measurement target is installed at a first joint of the live working robot, and the first joint coordinate value of the live working robot in the measurement coordinate system is obtained based on the second measurement target measured by the laser tracker.
In an embodiment, a third measurement target is installed at the plurality of simulation points of the live working robot respectively, and a plurality of first simulation point coordinate values of the live working robot in the measurement coordinate system are obtained based on the measurement of the third measurement target by the laser tracker.
In an embodiment, based on the coordinates of the plurality of first simulation points and the coordinate values of the first joint, a first relative position of the plurality of simulation points with respect to the first joint is obtained.
Specifically, a target is mounted at a first joint of the live working robot, and the position (x 0 ,y 0 ,z 0 ) Then, a target is installed at each simulation point, for example, the target is installed at the nth simulation point, and the coordinates (x n ,y n ,z n ) Obtaining a first relative position (x n ―x 0 ,y n ―y 0 ,z n ―z 0 ) And the positions of the n simulation points relative to the first joint of the live working robot are obtained in real time according to the postures of the installation joints in the calculation process.
In an embodiment, when the first conversion relation of the plurality of simulation points relative to the first joint is obtained based on the first relative position, fitting the plurality of first relative positions based on a fitting algorithm, and determining the first conversion relation of the plurality of simulation points relative to the first joint according to a fitting result.
In one embodiment, the first transformation relationship of the obtained plurality of simulated points Tn with respect to the first joint JN is M (jn_t1), M (jn_t2)..m (jn_tn).
Step 102: and determining a robot coordinate system in which the live working robot is positioned, and acquiring a second conversion relation of the first joint under the robot coordinate system based on a plurality of first joint values of the live working robot in the simulation working process.
In an embodiment, a plurality of first joint values of the live working robot in a simulation working process are obtained.
Specifically, based on the selected first joint of the live working robot, a plurality of first joint values of the live working robot, which need to be acquired, in the simulation operation process are determined.
Specifically, when the first joint is a terminal joint, first joint values corresponding to all joints of the live working robot are obtained, and a plurality of first joint values are obtained.
Specifically, when the first joint is an initial joint, only a first joint value corresponding to the initial joint of the live working robot is obtained.
Specifically, when the first joint is not the end joint or the initial joint, the first joint values corresponding to all the joints before the first joint are obtained, and a plurality of first joint values are obtained.
In an embodiment, the second relative positions of the plurality of first joint values and the live working robot are calculated respectively.
Specifically, an origin coordinate value of a robot coordinate system corresponding to the live working robot is determined, and based on the first joint values and the origin coordinate value, second relative positions of the first joint values and the live working robot are obtained.
In an embodiment, based on a fitting algorithm, the second relative position pair is fitted to obtain a second conversion relationship of the first joint relative to the robot coordinate system.
Preferably, the second conversion relation of the first joint JN under the robot coordinate system can be obtained based on configuration parameters of the live working robot besides the fitting algorithm.
In one embodiment, a second transformation relation M (r_jn) of the first joint JN in the robot coordinate system is obtained.
Step 103: and obtaining the simulation point positions of the simulation points under the robot coordinate system based on the first conversion relation and the second conversion relation.
In an embodiment, the first conversion relation describes a conversion relation of the simulation point relative to the first joint, and the second conversion relation describes a conversion relation of the first joint relative to the robot coordinate system; therefore, the simulation point positions of the simulation points under the robot coordinate system can be obtained based on the first conversion relation and the second conversion relation.
In an embodiment, an analog point location calculation formula is constructed based on the first conversion relation and the second conversion relation.
In one embodiment, the calculation formula of the simulated point position is as follows:
Tk＝M(R_JN)M(JN_Tk)(k＝1...n)；
where Tk is the kth analog point position, M (r_jn) is the second conversion relationship, and M (jn_tk) is the first conversion relationship.
In an embodiment, first simulation point positions of the simulation points are obtained respectively, and the first simulation point positions are substituted into the simulation point position calculation formula to obtain simulation point positions of the simulation points under the robot coordinate system.
Step 104: and determining a wire track, respectively calculating the distances from the positions of the plurality of simulation points to the wire to obtain a plurality of first distances, and determining the current minimum distance of the live working robot based on the plurality of first distances.
In an embodiment, a laser tracker is set, a measurement coordinate system where the laser tracker is located is determined, and a third conversion relation between the measurement coordinate system and the robot coordinate system is obtained based on a preset coordinate system conversion method.
Specifically, a first terminal coordinate value of the live working robot under the robot coordinate system is obtained; installing a first measurement target at the tail end of the live working robot, and measuring the first measurement target based on the laser tracker to obtain a second tail end coordinate value of the live working robot in the measurement coordinate system; and obtaining a coordinate value point pair based on the first end coordinate value and the second end coordinate value, and carrying out fitting processing on the coordinate value point pair based on a fitting algorithm to obtain a third conversion relation between the measurement coordinate system and the robot coordinate system.
In one embodiment, the fitting algorithm is a multi-point fitting algorithm. Preferably, the fitting algorithm may also be set as a fixed point conversion method.
As an illustration in this embodiment, by installing a measurement target at the robot tip, coordinate value point pairs (Rp 1-Mp1, rp2-Mp2.. Rpn-Mpn, n > =4) of the robot tip in the robot coordinate system and the measurement coordinate system are collected, wherein Rpn is given by the live working robot, mpn is measured by the laser tracker, and the fitting algorithm is used to obtain a third conversion relation M (m_r) of the two coordinate systems.
In an embodiment, a first wire coordinate and a second wire coordinate of the wire in the measurement coordinate system are obtained, and based on the third conversion relation, the first wire coordinate and the second wire coordinate are subjected to coordinate conversion to obtain a third wire coordinate and a fourth wire coordinate of the wire in the robot coordinate system.
Specifically, a first wire measurement target is arranged at a first end of a wire, a second wire measurement target is arranged at a second end of the wire, and the first wire coordinate and the second wire coordinate are respectively obtained based on the first wire measurement target and the second wire measurement target which are respectively measured by the laser tracker.
Specifically, the first wire coordinate and the second wire coordinate in the measurement coordinate system are converted into a third wire coordinate and a fourth wire coordinate in the robot coordinate system based on a third conversion relation between the two coordinates.
Specifically, a coordinate system conversion formula is constructed based on the third conversion relation, the first wire coordinate is substituted into the coordinate system conversion formula to obtain a third wire coordinate, and the second wire coordinate is substituted into the coordinate system conversion formula to obtain a fourth wire coordinate.
Specifically, the coordinate system conversion formula is as follows:
A(R)＝M(M_R)A(M)；B(R)＝M(M_R)B(M)；
wherein A (R) is the coordinates of a third wire, M (M) R ) In the third conversion relationship, a (M) is the first wire coordinate, B (R) is the fourth wire coordinate, and B (M) is the second wire coordinate.
In one embodiment, a wire trace is determined based on the third wire coordinate and the fourth wire coordinate.
Specifically, substituting the third wire coordinate and the fourth wire coordinate into a wire determination formula to obtain a wire track; wherein, the wire determination formula is as follows:
L(R)＝A(R)―B(R)；
wherein L (R) is a wire trace, A (R) is a third wire coordinate, and B (R) is a fourth wire coordinate.
In an embodiment, distances from the positions of the plurality of simulation points to the wires are calculated respectively, when a plurality of first distances are obtained, each simulation point position is input into a preset wire distance calculation formula in sequence, so that the distances from each simulation point position to the wires are calculated based on the wire distance calculation formula, and a plurality of first distances are obtained; the wire distance calculation formula is as follows:
D(Tk,L)＝|Tk―A(R)·(L(R))|/|L(R)|(k＝1...n)；
where D (Tk, L) is the first distance from the kth analog point position to the wire, tk is the kth analog point position, a (R) is the third wire coordinate, and L (R) is the wire trace.
In an embodiment, when determining the current minimum distance of the live working robot based on the plurality of first distances, substituting the plurality of first distances into a preset minimum distance determination formula to obtain the minimum first distance of the plurality of first distances.
Specifically, the minimum distance determination formula is as follows:
D min ＝Min(D(T1,L)，D(T2,L)...D(Tn,L))；
wherein D is min Is the minimum first distance.
In one embodiment, based on GB/T18857, Q/GDW 10520, part 2 of the distribution network live working robot: job specification, and the following safety requirements: when the robot works on a certain phase of electrified body, the minimum safety distance between the tail end working tool and the metal exposed part or the metal non-effective shielding part of the mechanical arm and other parts of the robot and the adjacent electrified body or the nearby pole tower and cross arm is not less than 0.2m; therefore, after obtaining the minimum first distance, the minimum first distance is also compared with a preset standard safety distance.
In an embodiment, comparing the minimum first distance with the preset standard safety distance, if the minimum first distance is not greater than the preset standard safety distance, the operation safety distance is considered to be in accordance with the operation specification, otherwise, the operation safety distance is considered to be out of accordance with the operation specification; wherein the preset standard safety distance is 0.2m.
Embodiment 2 referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of a working safety distance analysis device for a live working robot according to the present invention, and as shown in fig. 2, the device includes a first conversion relation determining module 201, a second conversion relation determining module 202, an analog point location obtaining module 203, and a robot working distance calculating module 204, specifically as follows:
the first conversion relation determining module 201 is configured to set a plurality of simulation points at a first joint of the live working robot, obtain first relative positions of the plurality of simulation points with respect to the first joint, and obtain a first conversion relation of the plurality of simulation points with respect to the first joint based on the first relative positions.
The second conversion relation determining module 202 is configured to determine a robot coordinate system in which the live working robot is located, and obtain a second conversion relation of the first joint under the robot coordinate system based on a plurality of first joint values of the live working robot in a simulation process.
The simulation point position obtaining module 203 is configured to obtain simulation point positions of the plurality of simulation points under the robot coordinate system based on the first conversion relationship and the second conversion relationship.
The robot working distance calculating module 204 is configured to determine a wire track, calculate distances from the positions of the plurality of simulation points to the wire, obtain a plurality of first distances, and determine a current minimum distance of the live working robot based on the plurality of first distances.
In one embodiment, the robot working distance calculating module 204 is configured to determine a wire track, and specifically includes: setting a laser tracker, determining a measurement coordinate system where the laser tracker is located, and acquiring a third conversion relation between the measurement coordinate system and the robot coordinate system based on a preset coordinate system conversion method; acquiring a first wire coordinate and a second wire coordinate of a wire in the measurement coordinate system, and performing coordinate conversion on the first wire coordinate and the second wire coordinate based on the third conversion relation to obtain a third wire coordinate and a fourth wire coordinate of the wire in the robot coordinate system; and determining a wire trace based on the third wire coordinate and the fourth wire coordinate.
In one embodiment, the robot working distance calculating module 204 is configured to obtain a third conversion relationship between the measurement coordinate system and the robot coordinate system based on a preset coordinate system conversion method, and specifically includes: acquiring a first end coordinate value of the live working robot under the robot coordinate system; installing a first measurement target at the tail end of the live working robot, and measuring the first measurement target based on the laser tracker to obtain a second tail end coordinate value of the live working robot in the measurement coordinate system; and obtaining a coordinate value point pair based on the first end coordinate value and the second end coordinate value, and carrying out fitting processing on the coordinate value point pair based on a fitting algorithm to obtain a third conversion relation between the measurement coordinate system and the robot coordinate system.
In one embodiment, the robot working distance calculating module 204 is configured to calculate distances from the positions of the plurality of simulation points to the wires, respectively, to obtain a plurality of first distances, and specifically includes: sequentially inputting the positions of each simulation point into a preset wire distance calculation formula, so that the distance from each simulation point to the wire is calculated based on the wire distance calculation formula, and a plurality of first distances are obtained; the wire distance calculation formula is as follows:
D(Tk,L)＝|Tk―A(R)·(L(R))|/|L(R)|(k＝1...n)；
Where D (Tk, L) is the first distance from the kth analog point position to the wire, tk is the kth analog point position, a (R) is the third wire coordinate, and L (R) is the wire trace.
In an embodiment, the first transformation relationship determining module 201 is configured to obtain a first relative position of the plurality of simulation points with respect to the first joint, and specifically includes: installing a second measurement target at a first joint of the live working robot, and measuring the second measurement target based on the laser tracker to obtain a first joint coordinate value of the live working robot in the measurement coordinate system; respectively installing a third measurement target at the plurality of simulation points of the live working robot, and measuring the third measurement target based on the laser tracker to obtain a plurality of first simulation point coordinate values of the live working robot in the measurement coordinate system; and obtaining first relative positions of the plurality of simulation points relative to the first joint based on the coordinates of the plurality of first simulation points and the coordinate values of the first joint.
In an embodiment, the second conversion relation determining module 202 is configured to obtain, based on a plurality of first joint values of the live working robot in a simulation process, a second conversion relation of the first joint in a robot coordinate system, where the second conversion relation specifically includes: acquiring a plurality of first joint values of the live working robot in the simulation operation process, and respectively calculating second relative positions of the first joint values and the live working robot; and carrying out fitting processing on the second relative position pair based on a fitting algorithm to obtain a second conversion relation of the first joint relative to the robot coordinate system.
In an embodiment, the simulated point position obtaining module 203 is configured to obtain simulated point positions of the plurality of simulated points in the robot coordinate system based on the first conversion relationship and the second conversion relationship, and specifically includes: constructing a simulation point position calculation formula based on the first conversion relation and the second conversion relation; respectively obtaining first simulation point positions of the simulation points, substituting the first simulation point positions into the simulation point position calculation formula to obtain simulation point positions of the simulation points under the robot coordinate system; the calculation formula of the simulation point position is as follows:
Tk＝M(R_JN)M(JN_Tk)(k＝1...n)；
where Tk is the kth analog point position, M (r_jn) is the second conversion relationship, and M (jn_tk) is the first conversion relationship.
It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the above-described apparatus, which is not described in detail herein.
The embodiment of the working safety distance analysis device of the live working robot is merely illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as the modules may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
On the basis of the embodiment of the working safety distance analysis method of the live working robot, another embodiment of the invention provides a working safety distance analysis terminal device of the live working robot, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the working safety distance analysis method of the live working robot of any embodiment of the invention is realized when the processor executes the computer program.
Illustratively, in this embodiment the computer program may be partitioned into one or more modules, which are stored in the memory and executed by the processor to perform the present invention. The one or more modules may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program in a working safety distance analysis terminal device of the live working robot.
The operation safety distance analysis terminal equipment of the live working robot can be computing equipment such as a desktop computer, a notebook computer, a palm computer and a cloud server. The working safety distance analysis terminal device of the live working robot can comprise, but is not limited to, a processor and a memory.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor is a control center of the working safety distance analysis terminal device of the live working robot, and various interfaces and lines are used to connect various parts of the working safety distance analysis terminal device of the whole live working robot.
The memory may be used to store the computer program and/or the module, and the processor may implement various functions of the working safety distance analysis terminal device of the live working robot by running or executing the computer program and/or the module stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the cellular phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
On the basis of the embodiment of the working safety distance analysis method of the live working robot, another embodiment of the invention provides a storage medium, which comprises a stored computer program, wherein when the computer program runs, equipment where the storage medium is controlled to execute the working safety distance analysis method of the live working robot of any embodiment of the invention.
In this embodiment, the storage medium is a computer-readable storage medium, and the computer program includes computer program code, where the computer program code may be in a source code form, an object code form, an executable file, or some intermediate form, and so on. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
In summary, according to the method and the device for analyzing the working safety distance of the live working robot, provided by the invention, a plurality of simulation points are arranged at a first joint of the live working robot, so that first relative positions of the simulation points relative to the first joint are obtained, and a first conversion relation of the simulation points relative to the first joint is obtained based on the first relative positions; determining a robot coordinate system of the live working robot, and acquiring a second conversion relation of the first joint under the robot coordinate system based on a plurality of first joint values of the live working robot; obtaining simulation point positions of a plurality of simulation points under a robot coordinate system based on the first conversion relation and the second conversion relation; determining a wire track, respectively calculating distances from the positions of a plurality of simulation points to the wire, and determining the current minimum distance of the live working robot based on the obtained first distances; compared with the prior art, the technical scheme of the invention can improve the accuracy of the detection of the safety distance of the live working robot.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (10)
1. The method for analyzing the working safety distance of the live working robot is characterized by comprising the following steps of:
setting a plurality of simulation points at a first joint of a live working robot, acquiring first relative positions of the simulation points relative to the first joint, and acquiring a first conversion relation of the simulation points relative to the first joint based on the first relative positions;
determining a robot coordinate system in which the live working robot is located, and acquiring a second conversion relation of the first joint under the robot coordinate system based on a plurality of first joint values of the live working robot in a simulation operation process;
obtaining simulation point positions of the simulation points under the robot coordinate system based on the first conversion relation and the second conversion relation;
and determining a wire track, respectively calculating the distances from the positions of the plurality of simulation points to the wire to obtain a plurality of first distances, and determining the current minimum distance of the live working robot based on the plurality of first distances.
2. The method for analyzing the working safety distance of the live working robot according to claim 1, wherein determining the wire trace comprises:
Setting a laser tracker, determining a measurement coordinate system where the laser tracker is located, and acquiring a third conversion relation between the measurement coordinate system and the robot coordinate system based on a preset coordinate system conversion method;
acquiring a first wire coordinate and a second wire coordinate of a wire in the measurement coordinate system, and performing coordinate conversion on the first wire coordinate and the second wire coordinate based on the third conversion relation to obtain a third wire coordinate and a fourth wire coordinate of the wire in the robot coordinate system;
and determining a wire trace based on the third wire coordinate and the fourth wire coordinate.
3. The method for analyzing the working safety distance of the live working robot according to claim 2, wherein the step of obtaining the third conversion relation between the measurement coordinate system and the robot coordinate system based on a preset coordinate system conversion method comprises the following steps:
acquiring a first end coordinate value of the live working robot under the robot coordinate system;
installing a first measurement target at the tail end of the live working robot, and measuring the first measurement target based on the laser tracker to obtain a second tail end coordinate value of the live working robot in the measurement coordinate system;
And obtaining a coordinate value point pair based on the first end coordinate value and the second end coordinate value, and carrying out fitting processing on the coordinate value point pair based on a fitting algorithm to obtain a third conversion relation between the measurement coordinate system and the robot coordinate system.
4. The method for analyzing the working safety distance of a live working robot according to claim 2, wherein the distances from the positions of the plurality of simulation points to the wires are calculated respectively to obtain a plurality of first distances, and the method comprises the steps of:
sequentially inputting the positions of each simulation point into a preset wire distance calculation formula, so that the distance from each simulation point to the wire is calculated based on the wire distance calculation formula, and a plurality of first distances are obtained; the wire distance calculation formula is as follows:
D(Tk,L)＝|Tk―A(R)·(L(R))|/|L(R)|(k＝1...n)；
where D (Tk, L) is the first distance from the kth analog point position to the wire, tk is the kth analog point position, a (R) is the third wire coordinate, and L (R) is the wire trace.
5. The method for analyzing a working safety distance of a live working robot according to claim 2, wherein obtaining the first relative positions of the plurality of simulation points with respect to the first joint comprises:
Installing a second measurement target at a first joint of the live working robot, and measuring the second measurement target based on the laser tracker to obtain a first joint coordinate value of the live working robot in the measurement coordinate system;
respectively installing a third measurement target at the plurality of simulation points of the live working robot, and measuring the third measurement target based on the laser tracker to obtain a plurality of first simulation point coordinate values of the live working robot in the measurement coordinate system;
and obtaining first relative positions of the plurality of simulation points relative to the first joint based on the coordinates of the plurality of first simulation points and the coordinate values of the first joint.
6. The method for analyzing the working safety distance of the live working robot according to claim 1, wherein the step of acquiring the second conversion relation of the first joint in the robot coordinate system based on the plurality of first joint values of the live working robot in the simulation working process comprises the following steps:
acquiring a plurality of first joint values of the live working robot in the simulation operation process, and respectively calculating second relative positions of the first joint values and the live working robot;
And carrying out fitting processing on the second relative position pair based on a fitting algorithm to obtain a second conversion relation of the first joint relative to the robot coordinate system.
7. The method for analyzing the working safety distance of the live working robot according to claim 1, wherein the obtaining the simulated point positions of the plurality of simulated points in the robot coordinate system based on the first conversion relation and the second conversion relation specifically comprises:
constructing a simulation point position calculation formula based on the first conversion relation and the second conversion relation;
respectively obtaining first simulation point positions of the simulation points, substituting the first simulation point positions into the simulation point position calculation formula to obtain simulation point positions of the simulation points under the robot coordinate system;
the calculation formula of the simulation point position is as follows:
Tk＝M(R_JN)M(JN_Tk)(k＝1...n)；
where Tk is the kth analog point position, M (r_jn) is the second conversion relationship, and M (jn_tk) is the first conversion relationship.
8. An operation safety distance analysis device for a live working robot, comprising: the system comprises a first conversion relation determining module, a second conversion relation determining module, a simulation point position obtaining module and a robot operation distance calculating module;
The first conversion relation determining module is used for setting a plurality of simulation points at a first joint of the live working robot, acquiring first relative positions of the simulation points relative to the first joint, and acquiring a first conversion relation of the simulation points relative to the first joint based on the first relative positions;
the second conversion relation determining module is used for determining a robot coordinate system in which the live working robot is located, and acquiring a second conversion relation of the first joint under the robot coordinate system based on a plurality of first joint values of the live working robot in the simulation operation process;
the simulation point position acquisition module is used for acquiring simulation point positions of the simulation points under the robot coordinate system based on the first conversion relation and the second conversion relation;
the robot working distance calculation module is used for determining a wire track, calculating distances from the positions of the plurality of simulation points to the wire respectively to obtain a plurality of first distances, and determining the current minimum distance of the live working robot based on the plurality of first distances.
9. A terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the working safety distance analysis method of the live working robot according to any one of claims 1 to 7 when the computer program is executed.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer-readable storage medium is located to perform the working safety distance analysis method of the live working robot according to any one of claims 1 to 7.
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