CN204546544U - Drop switch based on robot for high-voltage hot-line work changes control system - Google Patents
Drop switch based on robot for high-voltage hot-line work changes control system Download PDFInfo
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- CN204546544U CN204546544U CN201520267280.2U CN201520267280U CN204546544U CN 204546544 U CN204546544 U CN 204546544U CN 201520267280 U CN201520267280 U CN 201520267280U CN 204546544 U CN204546544 U CN 204546544U
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Abstract
The utility model discloses a kind of drop switch based on robot for high-voltage hot-line work and change control system, comprise: robot for high-voltage hot-line work control unit is connected with image real time transfer center and mechanical arm control unit respectively, described image real time transfer center is connected respectively with vision module, target tracking module, and described vision module is connected with target tracking module.The utility model beneficial effect: by bolt end head is arranged to taper, bolt end head is convenient to be deep into bolt hole, even if the location of bolt exists the difference of several millimeters, still can bolt be deep in bolt fixing hole, reduce difficulty bolt being deep into bolt hole.By increasing color mark at the two ends of bolt, can give prominence to bolt in background, be convenient to utilize colouring information to follow the tracks of out the position of bolt, the colouring information simultaneously utilizing both sides to mark can determine the length of bolt.
Description
Technical field
The utility model relates to field of machine vision, particularly relates to a kind of drop switch based on robot for high-voltage hot-line work and changes control system.
Background technology
Traditional electric equipment maintenance needs artificial close contact equipment, so not only threatens the personal safety of workmen, and inefficiency.Along with the development of the correlation technique such as artificial intelligence, machine vision, already starting in various high-risk environment is substituted by robot, and the plant maintenance of ultra-high-tension power transmission line can also utilize robot for high-voltage hot-line work to complete.
Drop switch is requisite device in ultra-high-tension power transmission line, and when the electric current in circuit is excessive, the fuse in drop switch will generate heat because electric current is excessive fusing, to reach the object of protection circuit.Usually, need manually to change maintenance after drop switch fusing, so not only inefficiency, and there is potential safety hazard in construction on electrification in high voltage circuit in workmen.The technology such as artificial intelligence, machine vision can make robot have people's sector of breakdown intelligence, and robot can be made to replace workmen efficiently, rapidly to complete construction task in the environment of danger.But, remain in blank for the correlative study of the robot for high-voltage hot-line work control system changing drop switch in ultra-high-tension power transmission line.
Because the normally used external diameter of drop switch bolt end head differs minimum with the internal diameter of bolt hole, even if successfully drop switch can not be fixed when therefore bolt differs 1mm with the position of bolt hole.Therefore, when utilizing the technology such as machine vision, artificial intelligence to change drop switch, need accurately the bolt hole on drop switch to be alignd with the bolt hole on fixed support, and bolt is extend into accurately in bolt fixing hole the task that could complete smoothly and change drop switch.
In addition, the position and the relative tilt direction thereof that need the image obtained according to video camera to calculate current bolt is fixed in the whole operating process of drop switch, so that the pose of the bolt of reconditioner mechanical arm crawl in time and position in technology such as use machine vision, artificial intelligence etc.The gray feature that bolt shows in video camera is very similar to other high-tension electricity facilities in the environment of surrounding, and the distinctive texture information that the bolt that presents of video camera will likely be lost himself screw thread and embodies, this adds increased the difficulty of track and localization bolt.
Analyzing through above, there is following problem when controlling replacing drop switch in intelligent power equipment robot for high-voltage hot-line work:
(1) in the bolt of the mechanical arm gripping image of catching at video camera to show gray scale very similar to other power equipment, supports etc. of surrounding, this makes the unsuitable realize target of control system follow the tracks of.
(2) relatively little in the image that bolt obtains at video camera, the texture information that self screw thread is formed will be lost, add the difficulty of control system track and localization bolt.
(3) external diameter of bolt and bolt hole internal diameter very close, not easily accurately control bolt and extend in bolt aperture.
Utility model content
The purpose of this utility model is exactly to solve the problem, provide a kind of drop switch based on robot for high-voltage hot-line work and change control system, this control system can realize accurate controller mechanical arm and automatically change drop switch in ultra-high-tension power transmission line, avoids workmen and directly to construct on electrification in high voltage circuit the danger brought.
To achieve these goals, the utility model adopts following technical scheme:
Drop switch based on robot for high-voltage hot-line work changes a control system, comprising:
Robot for high-voltage hot-line work control unit: for receiving the data at image real time transfer center and sending control command to mechanical arm control unit;
Mechanical arm control unit: the mechanical arm for controlling robot for high-voltage hot-line work changes drop switch by the bolt screwing or screw out with mark;
Vision module: for obtaining the image of mechanical arm front end and image being sent to image real time transfer center;
Target tracking module: for the shift position utilizing the view data of acquisition to calculate current interest target in real time;
Image real time transfer center: the image for collecting vision module processes, according to the position of the drop switch that position and the needs of the movement of image information tracing machine mechanical arm are changed;
Described robot for high-voltage hot-line work control unit is connected with image real time transfer center and mechanical arm control unit respectively, described image real time transfer center is connected respectively with vision module, target tracking module, described vision module is connected with target tracking module, and described mechanical arm control unit control mechanical arm completes replacing and falls operation.
Described vision module comprises: optical axis intersection binocular camera and image pick-up card;
Optical axis intersection binocular camera is arranged on mechanical arm front end for obtaining the image of mechanical arm front end to simulate the binocular vision function of human eye, the analog signal that image pick-up card is used for binocular camera exports converts the data signal can using Computing process to, and described image pick-up card is at least two passages.
The described bolt two ends with mark scribble eye-catching mark look, add the texture information of screw thread between described mark look.
The texture information of described screw thread is between described mark look, add the different striped of thickness and interval, or other have the texture of colouring information.
The beneficial effects of the utility model:
1, control system of the present utility model is utilized, accurate controller mechanical arm automatically can be realized and change the drop switch in ultra-high-tension power transmission line, utilize target tracking module track and localization with the bolt position of identification information, and then controller mechanical arm is identified bolt position accurately and is realized the automatic replacing of drop switch by precession or back-out bolt.
2, by bolt end head is arranged to taper, be convenient to bolt end head to be deep into bolt hole, even if the location of bolt exists the difference of several millimeters, still by control system, bolt be deep in bolt fixing hole, reduce difficulty bolt being deep into bolt hole.
3, by increasing color mark at the two ends of bolt, can give prominence to bolt in background, be convenient to utilize colouring information to follow the tracks of out the position of bolt, the colouring information simultaneously utilizing both sides to mark can determine the length of bolt.
4, the texture information that the screw thread that bolt very likely lost by the bolt accessed by video camera shows, therefore adds texture information in the middle of color mark.Thus, bolt that video camera captures will embody obvious colouring information and texture information, be conducive to the localization and tracking of bolt.
Accompanying drawing explanation
Fig. 1 is the utility model system architecture schematic diagram;
Fig. 2 is the utility model mechanical arm structural representation;
Fig. 3 is the machining sketch chart of the utility model bolt end head;
Fig. 4 is the utility model bolt two ends mark schematic diagrames;
Fig. 5 is the utility model bolt texture markings schematic diagram;
Wherein, 1. robot for high-voltage hot-line work control unit, 2. mechanical arm control unit, 3. image real time transfer center, 4. vision module, 5. target tracking module, 6. intersection binocular camera, 7. drop switch, 8. mechanical arm, 9. with the bolt of identification information.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
As shown in Figure 1-2, a kind of drop switch based on robot for high-voltage hot-line work changes control system automatically, it is characterized in that, comprising:
Robot for high-voltage hot-line work control unit 1: for receiving the data at image real time transfer center and sending control command to mechanical arm control unit;
Mechanical arm control unit 2: the mechanical arm 8 for control changes drop switch 7 by the bolt 9 screwing or screw out with identification information;
Vision module 4: for obtaining the image of mechanical arm 8 front end and image being sent to image real time transfer center; The binocular camera 6 that intersects is used for obtaining the image of mechanical arm 8 front end to simulate the binocular vision function of human eye, the optical axis of intersection binocular camera 6 intersects, the plane that two optical axises are formed is parallel with three-dimensional reference planes, and the joining of optical axis is positioned on the perpendicular bisector of two photocentre lines; Image pick-up card is used for converting the analog signal that binocular camera exports to can use Computing process data signal, and the image pick-up card selected should be at least two passages.
Target tracking module 5: the binocular image utilizing vision module to collect calculates the movement of current interest target in real time.In the utility model, the tracking of moving target adopts colouring information integration technology, realizes the matching primitives of horizontal projective histogram and vertical projective histogram.Described target tracking module 5 adopts ADI company double-core digital signal processing chip ADSP-BF561 to realize.
Image real time transfer center 3: the binocular vision view data that main process image pick-up card obtains, utilize view data to follow the tracks of out the position of mechanical arm movement and need the position of the drop switch 7 dismantled and install, a high-performance computer can be utilized as image real time transfer center.
Described image real time transfer center 3 is connected respectively with mechanical arm control unit 2, vision module 4, target tracking module 5, and vision module 4 is connected with target tracking module 5.
Robot for high-voltage hot-line work control unit 1 receives the data at image real time transfer center 3, transmit control signal to mechanical arm control unit 2, mechanical arm control unit 2 controller mechanical arm 8 is moved, gather image by the optical axis intersection binocular camera 6 in mechanical arm 8 front-end vision module and be sent to image real time transfer center 3, and utilizing these images to be followed the tracks of by target tracking module 5 pairs of current interest targets.
Bolt 9 with identification information: as shown in Fig. 3 to Fig. 5, for convenience of following the tracks of the bolt 9 with identification information of mechanical arm 8 gripping and being convenient to the bolt 9 with identification information to be deep in bolt aperture, in the utility model, the profile of the bolt 9 with identification information is improved.Scribble eye-catching mark look at the two ends of bolt, and taper is processed on the top of bolt, between mark look, add the texture information of screw thread.Texture information can be the stripe information do not waited by the thickness of color mark, or other are by the texture information of color mark, the grid texture etc. of such as red-label.
For bolt outstanding in binocular image, bolt used during erection unit improves in outward appearance and structure, scribbles eye-catching color at the two ends of bolt, can utilize Camshift algorithm realization target following function; Bolt adds texture, object close with it in bolt and background can be distinguished.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (4)
1. the drop switch based on robot for high-voltage hot-line work changes a control system, it is characterized in that, comprising:
Robot for high-voltage hot-line work control unit: for receiving the data at image real time transfer center and sending control command to mechanical arm control unit;
Mechanical arm control unit: the mechanical arm for controlling robot for high-voltage hot-line work changes drop switch by the bolt screwing or screw out with mark;
Vision module: for obtaining the image of mechanical arm front end and image being sent to image real time transfer center;
Target tracking module: for the shift position utilizing the view data of acquisition to calculate current interest target in real time;
Image real time transfer center: the image for collecting vision module processes, according to the position of the drop switch that position and the needs of the movement of image information tracing machine mechanical arm are changed;
Described robot for high-voltage hot-line work control unit is connected with image real time transfer center and mechanical arm control unit respectively, described image real time transfer center is connected respectively with vision module, target tracking module, described vision module is connected with target tracking module, and described mechanical arm control unit control mechanical arm completes replacing and falls operation.
2. a kind of drop switch based on robot for high-voltage hot-line work changes control system as claimed in claim 1, and it is characterized in that, described vision module comprises: optical axis intersection binocular camera and image pick-up card;
Optical axis intersection binocular camera is arranged on mechanical arm front end for obtaining the image of mechanical arm front end to simulate the binocular vision function of human eye, the analog signal that image pick-up card is used for binocular camera exports converts the data signal can using Computing process to, and described image pick-up card is at least two passages.
3. a kind of drop switch based on robot for high-voltage hot-line work changes control system as claimed in claim 1, it is characterized in that, the described bolt two ends with mark scribble eye-catching mark look, add the texture information of screw thread between described mark look.
4. a kind of drop switch based on robot for high-voltage hot-line work changes control system as claimed in claim 3, it is characterized in that, the texture information of described screw thread is between described mark look, add the different striped of thickness and interval, or other have the texture of colouring information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520267280.2U CN204546544U (en) | 2015-04-28 | 2015-04-28 | Drop switch based on robot for high-voltage hot-line work changes control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520267280.2U CN204546544U (en) | 2015-04-28 | 2015-04-28 | Drop switch based on robot for high-voltage hot-line work changes control system |
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| CN204546544U true CN204546544U (en) | 2015-08-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786227A (en) * | 2015-04-28 | 2015-07-22 | 山东鲁能智能技术有限公司 | Drop type switch replacing control system and method based on high-voltage live working robot |
| CN104858877A (en) * | 2015-04-28 | 2015-08-26 | 国家电网公司 | Automatic replacement control system for high-voltage line drop switch and control method |
-
2015
- 2015-04-28 CN CN201520267280.2U patent/CN204546544U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786227A (en) * | 2015-04-28 | 2015-07-22 | 山东鲁能智能技术有限公司 | Drop type switch replacing control system and method based on high-voltage live working robot |
| CN104858877A (en) * | 2015-04-28 | 2015-08-26 | 国家电网公司 | Automatic replacement control system for high-voltage line drop switch and control method |
| CN104786227B (en) * | 2015-04-28 | 2016-10-05 | 山东鲁能智能技术有限公司 | Drop switch based on robot for high-voltage hot-line work changes control system and method |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 Shandong city of Ji'nan province high tech Zone (Lixia District) Xinluo Avenue No. 2008 silver bearing building B block 626 Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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| CP03 | Change of name, title or address |