CN209319770U - A kind of livewire work tow-armed robot intelligence control system - Google Patents
A kind of livewire work tow-armed robot intelligence control system Download PDFInfo
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- CN209319770U CN209319770U CN201821724376.7U CN201821724376U CN209319770U CN 209319770 U CN209319770 U CN 209319770U CN 201821724376 U CN201821724376 U CN 201821724376U CN 209319770 U CN209319770 U CN 209319770U
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- 238000012545 processing Methods 0.000 claims abstract description 16
- 230000003993 interaction Effects 0.000 claims abstract description 15
- 239000012636 effector Substances 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000010146 3D printing Methods 0.000 claims description 5
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000011161 development Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a kind of livewire work tow-armed robot intelligence control system, the intelligence control system includes binocular vision module, power feel feedback module, information acquisition module, message processing module, human-computer interaction module, mission planning module, motion-control module and display module；The intelligence control system is used for the livewire work tow-armed robot of distribution line.The tow-armed robot can substitute the mankind and complete 10KV power transmission line altitude hot-line operation below, can be very good to solve the problems, such as live-working safety, by human operator who, carry out far-end remote control operation to robotic arm.Remote operating mode application foundation is extensive, and reliability is high.
Description
Technical field
The utility model belongs to electric power network technique field, is related to a kind of livewire work tow-armed robot intelligence control system.
Background technique
With the rapid development of China's economy and power grid construction, economic construction and people's lives get over the degree of dependence of electric power
Come it is higher, society to the ability to bear of power failure worse and worse.And the progress operating repairs that have a power failure are most safe and reliable electric power
System job mode, but it is huge on industrial influence to have a power failure, and is affected to quality of residents'life.Therefore livewire work
Horizontal raising is to solve one of the important means of this contradiction.Livewire work is not had a power failure on high-voltage electrical equipment
The operation of maintenance, part replacement or test, is paid attention to by countries in the world always.Up to the present, the livewire work mode in China
For the artificial livewire work of insulating bar method and insulating glove method.Artificial livewire work can according to the working experience of people to route into
Row maintenance, can accurately find the fault point of route, and solve in time, but generally require several skilled workers and cooperate
It is operated, relatively high to the technical requirements of worker, there are huge electric shock risks by worker, while also needing to rely on Live working Aerial Device
Etc. more expensive large-scale instrument.
With the development of social economy and science and technology, production automation level is continuously improved, and robot technology is in some danger
The application field rapid development of coefficient height, large labor intensity, completes these tasks to substitute the mankind.In order to avoid manually charging work
The generation of accident in industry, keeps livewire work safer, while improving operating efficiency, replaces artificial progress operation using robot
It is extremely urgent, also comply with the requirement in epoch.
Utility model content
Based on the above realistic background, a kind of livewire work tow-armed robot intelligence control system of the utility model, for matching
The livewire work tow-armed robot of electric line, the tow-armed robot can substitute the mankind and complete the power transmission line high-altitude below 10KV
Livewire work can be very good to solve the problems, such as live-working safety, by human operator who, carry out far-end remote control behaviour to robotic arm
Make.Remote operating mode application foundation is extensive, and reliability is high.
The utility model is specially a kind of livewire work tow-armed robot intelligence control system, the intelligence control system packet
Include binocular vision module, power feels feedback module, information acquisition module, message processing module, human-computer interaction module, mission planning mould
Block, motion-control module and display module；The binocular vision module and the power feel that feedback module is connected to information collection mould
Block, the information acquisition module by binocular vision module and power feel feedback module to the image and power of operating environment feel information into
Row acquisition；The information acquisition module is connected to the message processing module, and the message processing module is to the information collection
Module acquired image and power feel that information is handled；The message processing module and the human-computer interaction module are all connected to
The mission planning module, the mission planning module feel information and human-computer interaction module according to the image of operating environment, power
The assignment instructions of input carry out task parsing and step planning；The mission planning module is connected to the motion-control module,
The task step planning that the motion-control module is conveyed according to the mission planning module to livewire work tow-armed robot into
Row control；The motion-control module is also connected to the display module, and the display module is to operating environment and handling situations
It is shown.
Further, human-computer interaction module is a personal-machine interactive interface, provides the window, virtual of supervisory-controlled robot system
Reality scene and control menu；Inputting information is assignment instructions, main hand position information or voice messaging；Human-computer interaction interface passes through
Assignment instructions are sent mission planning module by socket communication mode.
Further, mission planning module includes that job task module, controlling planning module and motion profile generate mould again
Block.
Further, binocular vision module obtains image by binocular camera.
Further, the motion-control module includes mechanical arm control module, job platform control module and locomotive
Body control module；When control module receives motion command and track table, each joint angle number of rotation and phase are further determined that out
Answer angular speed.
Further, the intelligence control system is used for the livewire work tow-armed robot of distribution line；The electrification is made
Industry tow-armed robot includes mechanical arm, report control platform and automobile, and the mechanical arm and report control platform are mounted on automobile, the machine
Tool arm includes two mechanical arms of mutual coordinative operation；The mechanical arm is made using 3D printing technique, the mechanical arm
For articulated structure, the mechanical arm includes end effector gripper, rimless motor and driving motor；The rimless motor is mounted on
On the joint of mechanical arm；The driving motor is mounted on automobile, and the end of the mechanical arm is mounted with end effector gripper；Institute
End effector gripper is stated by 3D printing and traditional processing means, and be made using flexible material；The robot includes
Force sensor, visual sensor and display, the force sensor are mounted on gripper, and the visual sensor is mounted on
The end of mechanical arm, the display are mounted in report control platform；The report control platform can to rimless motor, driving motor and
End effector gripper carries out the control of distal end remote operating.
Detailed description of the invention
Fig. 1 is a kind of structural schematic block diagram of livewire work tow-armed robot intelligence control system of the utility model；
Fig. 2 is overall structure of the utility model for the livewire work tow-armed robot of distribution line；
Fig. 3 is mechanical arm configuration of the utility model for the livewire work tow-armed robot of distribution line.
In figure: 1, end effector gripper；2, mechanical arm；3, rimless motor；4, driving motor；5, automobile；6, report control platform；
7, visual sensor；8, display；9, force sensor.
Specific embodiment
With reference to the accompanying drawing to a kind of livewire work tow-armed robot intelligence control system specific embodiment of utility model
It elaborates.
As shown in Figure 1, the utility model livewire work tow-armed robot intelligence control system, including binocular vision module,
Power feels feedback module, information acquisition module, message processing module, human-computer interaction module, mission planning module, motion-control module
And display module；The binocular vision module and the power feel that feedback module is connected to information acquisition module, the information collection
Module feels that feedback module feels that information is acquired to the image and power of operating environment by binocular vision module and power；The information
Acquisition module is connected to the message processing module, and the message processing module is to the information acquisition module acquired image
Feel that information is handled with power；The message processing module and the human-computer interaction module are all connected to the mission planning mould
Block, the mission planning module feel information and the assignment instructions that human-computer interaction module inputs according to the image of operating environment, power
The parsing of carry out task and step planning；The mission planning module is connected to the motion-control module, the motion control mould
The task step planning that root tuber is conveyed according to the mission planning module controls livewire work tow-armed robot；The movement
Control module is also connected to the display module, and the display module shows operating environment and handling situations.
Human-computer interaction module is a personal-machine interactive interface, provides window, the virtual reality scenario of supervisory-controlled robot system
With control menu；Inputting information is assignment instructions, main hand position information or voice messaging；Human-computer interaction interface is logical by socket
Assignment instructions are sent mission planning module by letter mode.
Mission planning module includes job task module, controlling planning module and motion profile generation module again.
Binocular vision module obtains image by binocular camera, and is identified by way of edge extracting and images match
Bolt hole on support frame out, the center location information for finally calculating spiral shell inspection hole are sent to mission planning module.
The motion-control module includes mechanical arm control module, job platform control module and moving body control mould
Block；When control module receives motion command and track table, each joint angle number of rotation and corresponding angular velocity are further determined that out,
And joint rotation angle and angular velocity information are sent to mechanical arm driver, and these letters are updated in robot data library
Breath.
The intelligence control system is used for the livewire work tow-armed robot of distribution line；As Figure 2-3, the electrification
Operation tow-armed robot includes mechanical arm 2, report control platform 6 and automobile 5, and the mechanical arm 2 and report control platform installation 6 are in automobile 5
On, the mechanical arm 2 includes two mechanical arms of mutual coordinative operation；The mechanical arm 2 is made using 3D printing technique,
The mechanical arm 2 is articulated structure, and the mechanical arm 2 includes end effector gripper 1, rimless motor 3 and driving motor 4；Institute
Rimless motor 3 is stated to be mounted on the joint of mechanical arm 2；The driving motor 4 is mounted on automobile 5, the end of the mechanical arm 2
It is mounted with end effector gripper 1；The end effector gripper 1 uses flexible material by 3D printing and traditional processing means
It is made；The robot includes force sensor 9, visual sensor 7 and display 8, and the force sensor 9 is mounted on
On gripper, the visual sensor 7 is mounted on the end of mechanical arm, and the display 8 is mounted in report control platform；The manipulation
Platform 6 can carry out the control of distal end remote operating to rimless motor 3, driving motor 4 and end effector gripper 1.
Finally it should be noted that only illustrating the technical solution of the utility model in conjunction with above-described embodiment rather than limiting it
System.Those of ordinary skills in the art should understand that arriving, those skilled in the art can be to the specific implementation of the utility model
Mode is modified or replaced equivalently, but these modifications or change are being applied among pending claims.
Claims (6)
1. a kind of livewire work tow-armed robot intelligence control system, which is characterized in that the intelligence control system includes binocular
Vision module, power feel feedback module, information acquisition module, message processing module, human-computer interaction module, mission planning module, fortune
Dynamic control module and display module；The binocular vision module and the power feel that feedback module is connected to information acquisition module, institute
It states information acquisition module and feels that feedback module feels that information is adopted to the image and power of operating environment by binocular vision module and power
Collection；The information acquisition module is connected to the message processing module, and the message processing module is to the information acquisition module
Acquired image and power feel that information is handled；The message processing module and the human-computer interaction module are all connected to described
Mission planning module, the mission planning module feel that information and human-computer interaction module input according to the image of operating environment, power
Assignment instructions carry out task parsing and step planning；The mission planning module is connected to the motion-control module, described
Livewire work tow-armed robot is controlled in the task step planning that motion-control module is conveyed according to the mission planning module
System；The motion-control module is also connected to the display module, and the display module carries out operating environment and handling situations
Display.
2. a kind of livewire work tow-armed robot intelligence control system according to claim 1, which is characterized in that man-machine friendship
Mutual module is a personal-machine interactive interface, provides the window, virtual reality scenario and control menu of supervisory-controlled robot system；Input
Information is assignment instructions, main hand position information or voice messaging；Human-computer interaction interface is referred to task by socket communication mode
Order is sent to mission planning module.
3. a kind of livewire work tow-armed robot intelligence control system according to claim 1, which is characterized in that task rule
Draw module includes job task module, controlling planning module and motion profile generation module again.
4. a kind of livewire work tow-armed robot intelligence control system according to claim 1, which is characterized in that binocular vision
Feel that module obtains image by binocular camera.
5. a kind of livewire work tow-armed robot intelligence control system according to claim 1, which is characterized in that the fortune
Dynamic control module includes mechanical arm control module, job platform control module and moving body control module；Control module receives
When to motion command and track table, each joint angle number of rotation and corresponding angular velocity are further determined that out.
6. a kind of livewire work tow-armed robot intelligence control system according to claim 1, which is characterized in that the intelligence
It can control livewire work tow-armed robot of the system for distribution line；The livewire work tow-armed robot include mechanical arm,
Report control platform and automobile, the mechanical arm and report control platform are mounted on automobile, and the mechanical arm includes mutual coordinative operation
Two mechanical arms；The mechanical arm is made using 3D printing technique, and the mechanical arm is articulated structure, the mechanical arm
Including end effector gripper, rimless motor and driving motor；The rimless motor is mounted on the joint of mechanical arm；The driving
Motor is mounted on automobile, and the end of the mechanical arm is mounted with end effector gripper；The end effector gripper is beaten by 3D
Print and traditional processing means, and be made using flexible material；The robot include force sensor, visual sensor and
Display, the force sensor are mounted on gripper, and the visual sensor is mounted on the end of mechanical arm, the display
It is mounted in report control platform；It is distant that the report control platform can carry out distal end to rimless motor, driving motor and end effector gripper
Operation control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821724376.7U CN209319770U (en) | 2018-10-24 | 2018-10-24 | A kind of livewire work tow-armed robot intelligence control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821724376.7U CN209319770U (en) | 2018-10-24 | 2018-10-24 | A kind of livewire work tow-armed robot intelligence control system |
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| CN209319770U true CN209319770U (en) | 2019-08-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112838516A (en) * | 2021-01-07 | 2021-05-25 | 云南电网有限责任公司电力科学研究院 | Overhead conductor robot live working device and method |
-
2018
- 2018-10-24 CN CN201821724376.7U patent/CN209319770U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112838516A (en) * | 2021-01-07 | 2021-05-25 | 云南电网有限责任公司电力科学研究院 | Overhead conductor robot live working device and method |
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