CN206840057U - A kind of hot line robot control system based on double mechanical arms and sub-arm - Google Patents
A kind of hot line robot control system based on double mechanical arms and sub-arm Download PDFInfo
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Abstract
The utility model proposes a kind of hot line robot control system based on double mechanical arms and sub-arm, binocular camera is equipped with first mechanical arm, second mechanical arm and auxiliary mechanical arm；The binocular camera is used for collection machinery arm working scene image, and the working scene image is sent into data processing and control system；The data processing and control system are connected by communication system with mechanical arm.Method autonomous type of the utility model based on binocular vision combination coordinate transform control machinery arm complete distribution line live working task, mitigate the labor intensity of operating personnel, improve security.
Description
Technical field
The utility model belongs to technical field of electric power, and in particular to a kind of livewire work based on double mechanical arms and sub-arm
Robot control system.
Background technology
Livewire work is not have a power failure checked, repaired and a kind of special work of part replacement on high voltage electric equipment
Journey technology.For a long time, China is generally using artificial livewire work or the operating type of master-slave operation.For operation pair
As if 10KV and following high-tension overhead line, these operating types require that operating personnel is in high-altitude, high pressure, forceful electric power for a long time
In the environment in magnetic field, the accident of personal injury easily occurs.
Although the country has researched and developed hot line robot, but still needs operating personnel's random device people's liter in insulation bucket
To circuit, do not solve the safety problem of operating personnel fundamentally.Also, the Work robot is completely by operator
Member's control, can not independently complete livewire work, more traditional insulating glove working system reduces operating efficiency on the contrary.
Complex and dangerous job task towards these is, it is necessary to which AUTONOMOUS TASK robot has very high intelligence, band
Electric job safety is reliable, and this design to whole control system proposes very high requirement.It is certain to have manipulator
AUTONOMOUS TASK ability, need to possess a variety of key technologies, safely and reliably can independently complete livewire work task.
The content of the invention
The utility model proposes a kind of hot line robot control system based on double mechanical arms and sub-arm, based on double
Control machinery arm completes the task of distribution line live working with visually feeling the method autonomous type for combining coordinate transform, mitigates operation
The labor intensity of personnel, improves security.
In order to solve the above-mentioned technical problem, the utility model provides a kind of livewire work based on double mechanical arms and sub-arm
Robot control system, including aerial lift device with insulated arm, the robot platform being mounted on aerial lift device with insulated arm, installed in robot platform
On mechanical arm, in addition to data processing and control system；The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary
Mechanical arm, the video camera include binocular camera, carried on the first mechanical arm, second mechanical arm and auxiliary mechanical arm
There is binocular camera；The binocular camera is used for collection machinery arm working scene image, and the working scene image is sent out
Give data processing and control system；The data processing and control system are connected by communication system with mechanical arm.
Further, the data processing and control system include the first industrial computer, the second industrial computer, first industrial computer
On robot platform, the motion control for mechanical arm；Second industrial computer is arranged on aerial lift device with insulated arm, is used for
Control instruction, the second industrial computer Built-in Image processor and livewire work action sequence storehouse, the band are sent to the first industrial computer
Action sequence data corresponding to every livewire work are previously stored with electric operation action sequence storehouse；The work of the camera acquisition
Industry scene image is sent to the second industrial computer, the tool arm terminal position that image processor obtains after handling working scene image
With the difference of coordinate of the operative goals position under same reference frame, the second industrial computer is according to tool arm terminal position and operation mesh
Action sequence corresponding to the difference of coordinate of the cursor position under same reference frame and specific livewire work calculates machinery
The angle desired value in each joint of arm, and angle expectation Value Data is sent to the first industrial computer；First industrial computer according to
The angle desired value control machinery arm action.
Further, control room is provided with the aerial lift device with insulated arm, the data processing and control system include the first work
Control machine, the second industrial computer, display screen and main manipulator, the second industrial computer Built-in Image processor, display screen and main manipulator position
In in control room；Main manipulator and mechanical arm are principal and subordinate's operative relationship, are transported by the gesture stability mechanical arm for changing main manipulator
It is dynamic；The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is carried out to working scene image
The 3D dummy activity scenes obtained after processing, and send display to show.
Further, the mechanical arm or main manipulator are mechanism in six degree of freedom, including pedestal, rotate direction of principal axis and pedestal
The vertical waist joint of plane, the shoulder joint being connected with waist joint, the large arm being connected with shoulder joint, the elbow joint being connected with large arm,
The forearm being connected with elbow joint, the wrist joint being connected with forearm, wrist joint are made up of three rotary joints, and respectively wrist pitching is closed
Section, wrist swinging joint and wrist rotary joint；Each joint is respectively provided with corresponding orthogonal rotary coding in the mechanism in six degree of freedom
Device and servo drive motor, orthogonal rotary encoder are used for the angle-data for gathering each joint, and servo drive motor is used to control
Make the motion in each joint；First industrial computer is according to the desired values of each joint angles of mechanical arm, by controlling servo drive motor control
System presses each joint motions of mechanical arm.
Further, between each mechanical arm between be assigned priority, first mechanical arm is arranged to the first priority, the second machinery
Arm is arranged to the second priority, and it is preferential that the priority of auxiliary mechanical arm is arranged to first when its needs captures and performs Work tool
Level, when execution Work tool need not be captured, third priority is arranged to, the mechanical arm of highest priority is performing task process
In it is unfettered, the relatively low mechanical arm of priority active dodge and mechanical arm of highest priority in task process is performed occur
Collision prevention.
Compared with prior art, its remarkable advantage is the utility model, and the control system is combined based on binocular vision
The method autonomous type of coordinate transform control machinery arm complete the task of distribution line live working, mitigate the work of operating personnel
Intensity, improve security.In addition, the double mechanical arms livewire work people compared to routine adds less important work mechanical arm, it
Work compound can be carried out with double mechanical arms, complete the task of measurement and monitoring, and image letter can be shared between mechanical arm
Breath.By double mechanical arms and the work compound of auxiliary mechanical arm, the job task of some more difficult completions in the past can be completed,
Such as：Fuse switch is changed, changes isolation switch etc., improves the reliability and convenience of operation.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of the utility model hot line robot；
Fig. 2 is the utility model hot line robot control system composition frame chart；
Fig. 3 is the structural representation of robot platform in the utility model；
Fig. 4 is the structural representation of mechanical arm in the utility model；
Fig. 5 is robot linkage coordinate system schematic diagram in the utility model；
Fig. 6 is mechanical arm control principle block diagram in the utility model.
Embodiment
It is readily appreciated that, according to the technical solution of the utility model, is not changing the situation of connotation of the present utility model
Under, those of ordinary skill in the art can imagine livewire work machine of the utility model based on double mechanical arms and sub-arm
The numerous embodiments of people's control system.Therefore, detailed description below and accompanying drawing are only to technical side of the present utility model
The exemplary illustration of case, and be not to be construed as whole of the present utility model or be considered as limitation to technical solutions of the utility model
Or limit.
Hot line robot based on double mechanical arms and sub-arm
With reference to accompanying drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1, the end of telescopic arm 3 connection robot platform 4, robot platform 4 with
Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 is available for operating personnel to drive, so as to which robot platform 4 is transported into operation field.Insulation bucket arm
Supporting leg is housed, supporting leg can deploy, so as to which aerial lift device with insulated arm 1 and ground are consolidated into support on car 1.On aerial lift device with insulated arm 1
Equipped with generator, so as to be powered to control room 2 and telescopic arm 3.
Telescopic arm 3 is provided with the drive device along telescopic direction, and operating personnel can be by controlling drive device, so as to by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made up of insulating materials, for realizing robot platform 4 and control room 2
Insulation.In the utility model, telescopic arm 3 can have by scissor-type lifting mechanism or the replacement of other mechanisms.
As a kind of embodiment, the second industrial computer, display screen, the first main manipulator, the second master are provided with control room 2
Manipulator, auxiliary main manipulator and communication module etc..
As a kind of embodiment, robot platform 4 includes insulator 46, first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, the first industrial computer 48, binocular camera 45, full-view camera 41, depth camera 410, battery 49, special
Tool box 47, communication module.
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms and robot platform 4 are insulated.
Battery 49 is the first industrial computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As first 41, binocular camera 45, depth camera 410, communication module power supply.
As a kind of embodiment, binocular camera 45 1 shares three, is separately mounted to first mechanical arm 43, the second machine
On the wrist rotary joint 439 of tool arm 44 and auxiliary mechanical arm 42, it is responsible for the view data of Collecting operation scene, and by view data
It is sent to the second industrial computer.Binocular camera 45 is made up of two parallel industrial cameras of optical axis, the distance between parallel optical axis
It is fixed.
Depth camera 410 is arranged on the side of the face working scene of robot platform 4, is responsible for the scape of Collecting operation scene
Deep data, depth of field data is sent to the second industrial computer.
Full-view camera 41 is arranged on the top of robot platform 4 by support, is responsible for the panorama sketch of Collecting operation scene
As data, view data is sent to the second industrial computer, and show that operating personnel can be supervised by panoramic picture over the display
Control working scene.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is provided with instrument quick change
Device.Mechanical arm obtains power tool into tool box special 47 according to the type of job task using instrument fast replacing device.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of are used for manually remotely in control room 2
The operation device of operating robotic arm, they form principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relation.Mechanical arm and main manipulator have identical structure, and simply main manipulator dimensions is smaller than mechanical arm, in order to grasp
Make human users.Mechanical arm and main manipulator possess six joints, and there are photoelectric encoder acquisition angles data in each joint, respectively
The angle-data in six joints is sent to the second industrial computer by the microcontroller of main manipulator by serial ports.
As the utility model one embodiment, the mechanical arm is mechanism in six degree of freedom, including pedestal 431, rotary shaft
The direction waist joint 432 vertical with base plane, the shoulder joint 433 being connected with waist joint 432, is connected big with shoulder joint 433
Arm 434, the elbow joint 435 being connected with large arm 434, the forearm 436 being connected with elbow joint 435, the wrist being connected with forearm 436 close
Section, wrist joint are made up of three rotary joints, respectively wrist pitching joint 437, wrist swinging joint 438 and wrist rotary joint 439；
Each joint is respectively provided with corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotation in the mechanism in six degree of freedom
Encoder 31 is used for the angle-data for gathering each joint, and servo drive motor is used for the motion for controlling each joint；First industry control
Machine calculates the movement angle in each joint according to the space path of the mechanical arm, and control servo drive motor is according to the motion
Each joint motions of angle control machinery arm.
As a kind of embodiment, data transfer between robot platform 4 and control room 2 by optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is used to realize light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, so as to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, the optical signal that fiber optical transceiver is used to realize in optical fiber with
The mutual conversion of electric signal in twisted-pair feeder, so as to realize the electrical isolation of robot platform 4 and control room 2 in communication.
As a kind of embodiment, the second industrial computer can complete following task：
Establish action sequence storehouse.It is in advance acting sequences by every livewire work Task-decomposing, composition action sequence storehouse, deposits
Storage is planned in the second industrial computer for robotic arm path.
Establish manipulating object model library.The threedimensional model of manipulating object involved by pre-production items livewire work task
And Model of Target Recognition, for example, system in kind according to devices such as electric power tower bar, electric wire, strain insulator, isolation switch, arresters
Make threedimensional model and Model of Target Recognition, for hot line robot automatic identification manipulating object, structure working scene is three-dimensional
Virtual scene.
Establish mechanical arm and specific purpose tool model library.The threedimensional model and target of pre-production mechanical arm and specific purpose tool are known
Other model, for example, spanner etc., working scene three-dimensional virtual scene is built for hot line robot automatically, plan mechanical arm
Space path.
Obtain view data.Obtain the data message of panoramic picture, depth image and binocular image.
Operative goals is identified and tracked according to view data.
Angle, angular speed and the angular acceleration data of main manipulator are obtained, angle, angular speed and the angle for obtaining mechanical arm add
Speed data.
Dependent image data is handled and calculated, obtains mechanical arm position, obtains the position of manipulating object, obtains machine
Relative position between tool arm and manipulating object, and according to relative position and the space path of job task planning mechanical arm.
Manipulating object three-dimensional scenic is built according to view data, according to arm angle information and manipulating object three-dimensional scenic
The relative position of mechanical arm and manipulating object is obtained, and the space path of mechanical arm is planned according to relative position and job task.
Dependent image data is handled and calculated, 3D dummy activity scenes is built, send display to show, operating personnel
According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activities scene synthesis and depth image letter
Breath and binocular image information, to the phase between robotic arm and manipulating object, between mechanical arm, between manipulating object and operating environment
Judgement to position is more accurate, and is not in visual dead angle.Therefore, operating personnel carry out operation by 3D dummy activities scene
Monitoring, performance accuracy is higher, can prevent collision, improve security.Meanwhile 3D dummy activity scenes are shown in control
On display in room 2, away from mechanical arm operation field, the personal safety of people operating personnel is improved.
As a kind of embodiment, the first industrial computer can complete following task：
The angle information in each joint of main manipulator sent according to the second industrial computer, the motion in each joint of control machinery arm.
The space path data of the mechanical arm of the second industrial computer transmission are obtained, according to the action sequence of job task, are resolved
Go out the angle-data amount of exercise in each joint of mechanical arm, and each joint motions of control machinery arm.
In the utility model, first mechanical arm and second mechanical arm cooperate, can be with the operation of apish two hands
Order completes livewire work.In view of flexibility, a strong auxiliary mechanical arm, now, auxiliary mechanical arm can be further added by
Specially the big action of power, first mechanical arm and the second mechanical arm such as department's device clamping then carry out related service operation.
The combination for the different task completed according to the second industrial computer and the first industrial computer, the utility model livewire work machine
People can both have been carried out long-range shake by operating personnel and operated to complete livewire work, can carry out autonomous livewire work again.Carry out
Before livewire work, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved near manipulating object.
It is virtual according to number of images and depth image structure 3D by the second industrial computer if selection manually remotely shakes operation
Working scene simultaneously send display to show, operating personnel is manual by main operation by 3D dummy activity scene monitoring operating process
The action of mechanical arm processed, to complete livewire work.In the process, after operating personnel changes main manipulator posture, main manipulator
In the photoelectric encoder in each joint gather each joint angles, the microcontroller of each main manipulator is by serial ports by the angle in each joint
Degrees of data is sent to the second industrial computer.Second industrial computer is using the angle-data in each joint of main manipulator as each joint angle of mechanical arm
The desired value of degree is sent to the first industrial computer, and the first industrial computer is respectively closed according to angle desired value by servomotor controller tool arm
The motion of section, has completed livewire work.
If selecting AUTONOMOUS TASK, calculated by the second industrial computer according to binocular image by coordinate system transformation and obtain operation
Relative position relation between object and mechanical arm, then carry out mechanical arm space according to the action sequence corresponding to job task
Path planning, the desired value of angle-data that each joint of mechanical arm needs to rotate as each joint angles of mechanical arm is calculated, and
Space path is sent to the first industrial computer, the second industrial computer is by the motion in each joint of servomotor controller tool arm, with complete
Into livewire work.
Hot line robot control system
The above-mentioned hot line robot based on double mechanical arms (first mechanical arm and second mechanical arm) and auxiliary mechanical arm
In, double mechanical arms are the body operation parts of the hot line robot, need directly contact alive circuit etc. powered during operation
Body, and the movement instruction sent by industrial computer completes corresponding actions, should be able to realize speed, position control.And first machine
Tool arm and second mechanical arm have good collaboration capabilities.First mechanical arm and second mechanical arm end, which need to be furnished with, meets national standard
Mechanical interface, according to the difference of livewire work task, different special operation Work tools can be changed.Utilize these special tool devices
Tool, livewire work mechanical arm can be completed to dismount nut, disconnect the operations such as wire.
Robotic arm uses electric drive, has build dexterous, deadweight is low, and prudent relatively high, installation dimension is small, the control in joint
The characteristics of driving integration and open good programming.Photoelectric encoder measurement joint rotation angle is installed at joint of mechanical arm.Use
Main mechanical arm and auxiliary mechanical arm be 6 frees degree, be made up of pedestal, waist joint, shoulder joint, elbow joint, wrist joint, respectively
Connected between joint by connecting rod, wherein：Wrist joint has three degree of freedom, and other respectively have one degree of freedom.The present embodiment uses
Six degree of freedom main mechanical arm it is as shown in Figure 4.By taking first mechanical arm 43 as an example, sixdegree-of-freedom simulation is by pedestal 431, waist joint
432nd, shoulder joint 433, large arm 434, elbow joint 435, forearm 436, wrist joint, clamping jaw interface 4310 form, and wrist joint includes again
Three joints, i.e. wrist pitching joint 437, wrist swinging joint 438, wrist rotary joint 439.Therefore, wrist joint has three degree of freedom,
Respectively there is one degree of freedom in other each joints.The arm that robot is made up of extruded aluminum tube and joint in itself.Pedestal 431 is machine
The installation site of people, the other end of robot are connected with taking out instrument from mechanical arm tool box special 47.It is each by coordinating
The motion in joint, robot can arbitrarily move instrument and carry out operation.Clamping jaw interface 4310 is used to connect the special clamping jaw of mechanical arm, presss from both sides
Pawl is used to picking up or connecting the end Work tool in mechanical arm tool box special 47.
First mechanical arm and second mechanical arm are main Work implement, carry out handling bolt and nut, connect and take lead etc.
Operation；Auxiliary mechanical arm and main mechanical arm isomorphism, have bigger size, are mainly used in cooperation double mechanical arms and are captured, be solid
The outdoor equipment for power transmission and distribution and clamp leads such as fixed and mobile isolating transformer, fuse switch etc. effect, improve operation
Reliability；
Three mechanical arms respectively have a servo controller, it is carried out position, speed control.Can be between mechanical arm
Carry out certain coordinative operation, ensure that in operation AUTONOMOUS TASK can be carried out by optimal path, avoid occurring mutually collision or
Collision obstacle such as band electrical lead, controller switching equipment, it is ensured that robot performs the reliability of job task, security and stably
Property；
Hot line robot carries out letter using two industrial control computers (the first industrial computer and second industrial computer)
Breath processing and system control, have a large amount of expansible Peripheral Interfaces, pass through Ethernet interface with each mechanical arm controller respectively
Or serial ports control.Wherein, the first industrial computer is mainly used in mechanical arm control, and the second industrial computer is used for image procossing, mechanical arm fortune
Dynamic learn calculates, the process such as coordinate system transformation processing.
Needed before operation is started for hot line robot system establish model and generation action sequence, specifically include as
Lower work：
1st, mechanical arm is made to be moved to target job areas adjacent by principal and subordinate's remote operating, it is ensured that the target of manipulating object is double
In the identification range visually felt；
2nd, basis coordinates system is established as origin using the central point of mechanical arm pedestal using D-H parametric methods, in each of mechanical arm
Individual joint establishes link rod coordinate system, and tool coordinates system is established at specific purpose tool.
Basis coordinates system is reference frame, begins to transform into shoulder joint from pedestal, then to elbow joint, finally arrives end
Wrist joint.AiConnecting rod transformation matrix between link rod coordinate system i-1 to link rod coordinate system i.
Wherein, θi,αi,aiAnd diJoint angle, torsion angle, length of connecting rod and connecting rod skew respectively in D-H Mo Xing parameter
Amount.
3rd, binocular coordinate system is established for origin with the point that hung down in two camera lines in binocular camera, translated for convenience
Coordinate transform makes three of direction and the wrist rotary joint coordinate system of three axles of binocular coordinate system to wrist rotary joint coordinate system
The direction of axle is identical；
4th, job task is identified by artificial selection or binocular vision.Given birth to according to hot line robot AUTONOMOUS TASK method
Into action sequence, the path of each step and sequence of movement when it includes mechanical arm AUTONOMOUS TASK；
AUTONOMOUS TASK rate-determining steps of mechanical arm and as follows：
Step 1: determine the current pose of mechanical arm tail end
1-1：Basis coordinates system is established as origin using the central point of mechanical arm pedestal using D-H parametric methods, in the every of mechanical arm
One joint establishes link rod coordinate system, and is performed in mechanical arm tail end and establish tool coordinates system at Work tool；With binocular camera shooting
The point that hung down in head line establishes binocular coordinate system for origin；
1-2：The current angle-data in each joint is gathered by the encoder of each joint of mechanical arm and is sent to the second work
Control machine, the second industrial computer according to joint angles determine mechanical arm pedestal perform Work tool to end between total connecting rod transformation matrix,
Coordinate of the Work tool end under tool coordinates system is obtained according to the length of current connected end special operation Work tool
If TtTransformation matrix for pedestal to mechanical arm tool coordinates system, AtIt is tool coordinates system relative to wrist rotary joint
Transformation matrix of coordinates under coordinate system.Therefore, mechanical arm pedestal performs total connecting rod transformation matrix between Work tool to terminal end
For:
WhereinFor rotational transformation matrix, with machine
The joint angles θ of tool arm is relevant.Wherein, n is normal vector, and o is direction vector, and a is close to vector.Total connecting rod transformation matrix is right
The 3*1 matrixes of topFor translation transformation matrix, as seat of the Current mechanical arm tool coordinate origin under basis coordinates system
Mark.CalculateThe 3*1 in upper right side matrix PtAs coordinate of the mechanical arm tail end under basis coordinates system.
Step 2: obtain the position of operative goals
2-1：Position of the operative goals in left and right camera review is obtained by the method for template matches, and according to vertical
Body vision three-dimensional measurement principle calculates the coordinate for obtaining target under binocular coordinate systemxm, ym, zmTo be led to by binocular vision
Coordinate of the obtained target job position under binocular coordinate system is crossed after three-dimensional measurement image procossing.
2-2：By coordinate premultiplication translational coordination transformation matrix A of the target under binocular coordinate systemmTarget is obtained in mechanical arm
Coordinate under wrist rotary joint coordinate system, then premultiplication wrist rotary joint coordinate system is to the connecting rod transformation matrix T of basis coordinates system6Obtain
Coordinate of the target under basis coordinates system.
Therefore, binocular coordinate system relative to basis coordinates system transformation matrix of coordinates TmFor：Tm=T6Am, wherein AmSat for binocular
Mark system is determined relative to the transformation matrix of coordinates of wrist rotary joint coordinate system by the installation site of binocular camera on the robotic arm.
CalculateWherein, Tm,It is calculated respectively by foregoing,For the left side
Two matrix multiples obtain.RmFor 3*3 rotational transformation matrix.The matrix P in the upper right cornermFor 3*1 translation transformation matrix, it is
Coordinate of the mechanical arm tool coordinates system origin under basis coordinates system；
Step 3: carry out mechanical arm space path planning
3-1：Second industrial computer calculating machine arm terminal position and coordinate of the operative goals position under same basis coordinates system
Difference；
3-2：Second industrial computer carries out Motion trajectory using the Inverse Kinematics Solution computational methods of mechanical arm.Pass through ratio
Method compared with following two formulas solves each joint angular displacement of mechanical armiAll solutions；
According to mechanical arm working condition, θ is tried to achieve by the simulation avoidance of Combining with technology of virtual realityiIt is optimal unique
Solution.
The joint displacements angle solved is sent to the first industrial computer by 3-3, the second industrial computer, and the first industrial computer believes angle
The servo controller number being sent to inside mechanical arm, each joint motions of control machinery arm to target job point；
After 3-4, arrival target job point, the first industrial computer continues to control operation Work tool in end to complete according to action sequence
Operation acts.
Step 4: return to step one continues to move to the next position after execution.If complete everything instruction, machine
Tool arm resets to initial position.
Hot line robot in the utility model adds by the way of double mechanical arms add sub-arm to cooperate
Spatial complex degree and the probability clashed are improved while flexibility and serious forgiveness.Its collaboration working method major embodiment
：
1st, the anticollision mode between each mechanical arm：Using the priority autonomous type collision prevention mode of Combining with technology of virtual reality.
First, priority is distributed between mechanical arm：Definition first mechanical arm is main mechanical arm, and priority is high, the second machine
Tool arm is secondary mechanical arm, and priority is low.It is excellent that the priority of auxiliary mechanical arm is arranged to first when it needs to carry out grasping manipulation
It first level, need not captured, only complete measurement with being minimum priority during monitoring task.The mechanical arm of highest priority
Unfettered in task process is performed, the relatively low mechanical arm of priority performs collision prevention operation.
During execution task, calculated simultaneously according to the measuring principle Combining with technology of virtual reality of the current pose of mechanical arm
Construct model of each mechanical arm in three-dimensional virtual scene, the beeline between calculating machine arm simultaneously finds out beeline
The position of corresponding point, determined to need the joint readjusted by the position of the point.Because virtual reality scenario is for actual mistake
Delay in journey be present, and initial velocity in Working motion be present in mechanical arm, therefore safe distance need to be set.Such as the distance is less than
Under the safe distance of setting, then Inverse Kinematics Solution is reselected to the relatively low mechanical arm of priority, and enter in virtual reality scenario
Row verifies whether that beeline is more than safe distance, until the beeline between two mechanical arms is both greater than safe distance,
And distance all meets the safe distance requirement of collision prevention between three mechanical arms.So as to realize the avoidance obstacle between mechanical arm.
2nd, blind area measures：In actually measuring, the binocular camera of double mechanical arms end needs to identify and track target work
The position of industry point, but due to its size and the limitation of action, blind area during Binocular vision photogrammetry be present.Therefore in two-shipper
It is bigger more flexible using auxiliary mechanical arm in the case that tool arm binocular vision can not be recognized for being in the operative goals of blind area
Advantage, the position of operative goals is measured by the binocular camera on master-slave operation auxiliary mechanical arm, so as to utilize
The method for obtaining target job position obtains positional information of the target location under auxiliary mechanical arm basis coordinates system.
Because the pedestal of double mechanical arms and auxiliary mechanical arm is relatively fixed on robot platform, therefore can lead to
It is the seat under any basis coordinates system in double mechanical arms that coordinate transform, which is crossed, by coordinate transformation of the target under auxiliary mechanical arm basis coordinates
Mark, so as to assist double mechanical arms to be identified and track target, realizes information sharing.
3rd, on-stream monitoring：When double mechanical arms perform main operation task, auxiliary mechanical arm can complete livewire work and appoint
The monitoring for performance of being engaged in, is handled by the way that feedback data is sent into industrial computer, judges whether task is finished.
When double mechanical arms are performing the task of handling bolt and nut, due to the spirit of the force feedback sensor inside mechanical arm
Sensitivity is not high, can not judge the installation situation of bolt by force feedback when performing the work.Due to the binocular on double mechanical arms
Video camera can not be between direct measurement bolts and nuts in operation process gap, it is therefore desirable to control auxiliary mechanical arm to move
The clearance distance between bolts and nuts is gathered on to relevant position, industrial computer is sent to and judges whether bolt is tightened, is formed
Feedback control loop, so as to complete the monitoring task of work operations.
Claims (4)
1. a kind of hot line robot control system based on double mechanical arms and sub-arm, including aerial lift device with insulated arm, are mounted in
Robot platform on aerial lift device with insulated arm, the mechanical arm on robot platform, it is characterised in that also including data processing
And control system；The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and video camera includes binocular camera shooting
Head, binocular camera is equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm；The binocular camera is used
In collection machinery arm working scene image；The data processing and control system are connected by communication system with mechanical arm.
2. the hot line robot control system based on double mechanical arms and sub-arm as claimed in claim 1, it is characterised in that
The data processing and control system include the first industrial computer, the second industrial computer,
First industrial computer is arranged on robot platform, the motion control for mechanical arm；
Second industrial computer is arranged on aerial lift device with insulated arm, for sending control instruction to the first industrial computer.
3. the hot line robot control system based on double mechanical arms and sub-arm as claimed in claim 1, it is characterised in that
Be provided with control room on the aerial lift device with insulated arm, the data processing and control system include the first industrial computer, the second industrial computer,
Display screen and main manipulator, the second industrial computer Built-in Image processor, display screen and main manipulator are located in control room；Main operation
Hand and mechanical arm are principal and subordinate's operative relationship；The working scene image of the camera acquisition is sent to the second industrial computer, display
The 3D dummy activity scenes obtained after being handled for display image processor working scene image.
4. the hot line robot control system based on double mechanical arms and sub-arm as described in claim 1,2 or 3, it is special
Sign is, the mechanical arm or main manipulator are mechanism in six degree of freedom, including pedestal, rotation direction of principal axis are vertical with base plane
Waist joint, the shoulder joint being connected with waist joint, the large arm being connected with shoulder joint, the elbow joint being connected with large arm, with elbow joint
The forearm of connection, the wrist joint being connected with forearm, wrist joint are made up of three rotary joints, and respectively wrist pitching joint, wrist shake
Put joint and wrist rotary joint；
Each joint is respectively provided with corresponding orthogonal rotary encoder and servo drive motor, orthogonal rotation in the mechanism in six degree of freedom
Turn the angle-data that encoder is used to gather each joint, servo drive motor is used for the motion for controlling each joint；
First industrial computer is each by mechanical arm by controlling servo drive motor to control according to the desired values of each joint angles of mechanical arm
Joint motions.
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| CN110320071A (en) * | 2019-07-29 | 2019-10-11 | 东南大学 | A kind of full-automatic enclosed hydraulic oil sampler |
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