CN211890839U - Man-machine interaction system and man-machine cooperation system of single-arm live working robot - Google Patents
Man-machine interaction system and man-machine cooperation system of single-arm live working robot Download PDFInfo
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Abstract
The utility model provides a single armed live working robot's human-computer interaction system and man-machine cooperative system, include: the system comprises an actuator, an industrial personal computer and a robot control cabinet, wherein the actuator and the robot control cabinet are respectively connected with the industrial personal computer, and the actuator comprises a human-computer interaction panel; the human-computer interaction panel is used for acquiring operation instruction information of an operator; the industrial personal computer is used for acquiring operation flow information according to the operation instruction information; the robot control cabinet is used for receiving the operation flow information sent by the industrial personal computer, controlling the robot to execute corresponding operation according to the operation flow information, and sending response information to the industrial personal computer so that the industrial personal computer sends the response information to the human-computer interaction panel; the response information is process information executed by the robot according to the operation flow information, and a man-machine cooperative operation mode can be realized through the man-machine interaction panel, so that the operation environment and the operation flow can be better observed, problems can be timely found and solved, and the complexity of operation steps can be reduced.
Description
Technical Field
The utility model belongs to the technical field of the hot-line work robot technique and specifically relates to a human-computer interaction system and man-machine cooperative system that relate to single armed hot-line work robot.
Background
At present, a single/double-arm robot under semi-automatic or master-slave control is used as a master for an electric working robot, the single/double-arm robot is separated from a machine, namely the single/double-arm robot works aloft, an operator is on the ground, and the operator can only observe the operation through visual equipment configured by the single/double-arm robot, so that the observation of the working environment and the working process is not thorough, and the problem can not be found and solved in time.
In addition, the whole operation process of the single/double arm robot is operated by the operator on the ground through the operation platform, thereby causing a problem that the operation steps are too complicated.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a man-machine interaction system and man-machine cooperative system of single armed live working robot can realize man-machine cooperative operation mode through man-machine interaction is dull and stereotyped to better observation operational environment and operation flow in time discover the problem and solve the problem, and reduce the complexity of operating procedure.
In a first aspect, an embodiment of the present invention provides a human-computer interaction system of a single-arm live working robot, the system includes: the system comprises an actuator, an industrial personal computer and a robot control cabinet, wherein the actuator and the robot control cabinet are respectively connected with the industrial personal computer, and the actuator comprises a human-computer interaction panel;
the man-machine interaction panel is used for acquiring operation instruction information of an operator and sending the operation instruction information to the industrial personal computer;
the industrial personal computer is used for receiving the operation instruction information sent by the human-computer interaction panel, acquiring operation flow information according to the operation instruction information and sending the operation flow information to the robot control cabinet;
the robot control cabinet is used for receiving the operation flow information sent by the industrial personal computer, controlling the robot to execute corresponding operation according to the operation flow information, and sending response information to the industrial personal computer so that the industrial personal computer sends the response information to the man-machine interaction panel;
and the response information is process information executed by the robot according to the operation flow information.
Further, the operation instruction information includes guidance instruction information, and the guidance instruction information includes guidance start information and guidance confirmation information;
the industrial personal computer is used for receiving the guidance starting information sent by the human-computer interaction panel, receiving the information of the electrified lead-in wire sent by a guidance system according to the guidance starting information, and sending the information of the electrified lead-in wire to the robot control cabinet after receiving guidance confirmation information sent by the human-computer interaction panel, wherein the information of the electrified lead-in wire is position information of a working point in the process of electrified lead-in wire;
the robot control cabinet is used for receiving the information of the electrified lead wire sent by the industrial personal computer, controlling the robot to move to an operation point from a preset position of an operation platform according to the information of the electrified lead wire, taking down a wire stripping tool and then moving to the lower part of a wire, stripping the wire by the wire stripping tool, controlling the robot to move to the initial position after the wire stripping is finished, and sending instruction information of successful acquisition of the wire stripping tool to the industrial personal computer.
Further, the operation instruction information further includes wiring instruction information;
the industrial personal computer is used for receiving the wiring instruction information sent by the human-computer interaction panel, acquiring wiring operation flow information according to the wiring instruction information, and sending the wiring operation flow information to the robot control cabinet;
the robot control cabinet is used for receiving the wiring operation flow information sent by the industrial personal computer, controlling the robot to move from an initial position to a preset position of an operation platform according to the wiring operation flow information, moving the robot to a position below a wire subjected to wire stripping after a wiring tool is taken down, and sending instruction information for successful acquisition of the wiring tool to the industrial personal computer.
Further, the actuator also comprises a voice broadcasting system;
the voice broadcasting system is used for receiving the instruction information which is sent by the industrial personal computer and successfully acquired by the wire stripping tool or the instruction information which is sent by the wire connecting tool, and carrying out voice broadcasting according to the instruction information which is successfully acquired by the wire stripping tool or the instruction information which is successfully acquired by the wire connecting tool.
Further, the system also comprises a position sensor, wherein the position sensor is connected with the industrial personal computer;
the position sensor is used for acquiring position information of a wire stripping cutter in a wire stripping tool and sending the position information of the wire stripping cutter in the wire stripping tool to the industrial personal computer;
the industrial personal computer is used for receiving the position information of the wire stripping tool in the wire stripping tool sent by the position sensor and judging whether the wire stripping tool is in an initial state or not according to the position information of the wire stripping tool in the wire stripping tool.
The system further comprises an illumination intensity sensor, wherein the illumination intensity sensor is connected with the industrial personal computer;
the illumination intensity sensor is used for acquiring illumination intensity and sending the illumination intensity to the industrial personal computer;
the industrial personal computer is used for receiving the illumination intensity sent by the illumination intensity sensor, comparing the illumination intensity with a preset threshold value, and fusing picture information acquired by the binocular depth camera with data information acquired by the guidance system if the illumination intensity is smaller than the preset threshold value; if the illumination intensity is greater than the preset threshold value, the image information acquired by the binocular depth camera is not fused with the data information acquired by the guidance system;
the data information collected by the guidance system comprises the spatial position of a working point and the vector information of the working point.
Further, the system also comprises an air speed sensor, wherein the air speed sensor is connected with the industrial personal computer;
the wind speed sensor is used for detecting the wind speed of the current environment to obtain wind speed information and sending the wind speed information to the industrial personal computer;
the industrial personal computer is used for receiving the wind speed information sent by the wind speed sensor, judging whether the wind speed information is within a preset wind speed threshold range, and if so, sending information that the wind speed meets the operation requirement to the voice broadcasting system; and if not, sending the information that the wind speed does not meet the operation requirement to the voice broadcasting system.
In a second aspect, the embodiment of the present invention provides a man-machine cooperation system for a single-arm live working robot, including the above-mentioned man-machine interaction system for a single-arm live working robot, and further including a positioning system, where the positioning system includes a guiding system and a guiding auxiliary system;
the guidance system is used for acquiring the spatial position of an operation point and the vector information of the operation point;
and the guide auxiliary system is used for acquiring distance information from a tail end tool to a lead and correcting the spatial position of the operation point according to the distance information to obtain the corrected position of the operation point.
Further, the end tool is arranged at the end of a mechanical arm of the robot in the human-computer interaction system and is used for a tool for operation.
Further, the device also comprises an operation platform, wherein the operation platform comprises a heat dissipation system and a heating system;
the heat dissipation system is used for working under the condition that the operation temperature is higher than a preset temperature threshold value;
and the heating system is used for working under the condition that the working temperature is lower than the preset temperature threshold value.
The embodiment of the utility model provides a single armed live working robot's human-computer interaction system and man-machine cooperative system, include: the system comprises an actuator, an industrial personal computer and a robot control cabinet, wherein the actuator and the robot control cabinet are respectively connected with the industrial personal computer, and the actuator comprises a human-computer interaction panel; the man-machine interaction panel is used for acquiring operation instruction information of an operator and sending the operation instruction information to the industrial personal computer; the industrial personal computer is used for receiving operation instruction information sent by the human-computer interaction panel, acquiring operation flow information according to the operation instruction information and sending the operation flow information to the robot control cabinet; the robot control cabinet is used for receiving the operation flow information sent by the industrial personal computer, controlling the robot to execute corresponding operation according to the operation flow information, and sending response information to the industrial personal computer so that the industrial personal computer sends the response information to the human-computer interaction panel; the response information is process information executed by the robot according to the operation flow information, and a man-machine cooperative operation mode can be realized through the man-machine interaction panel, so that the operation environment and the operation flow can be better observed, problems can be timely found and solved, and the complexity of operation steps can be reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of a human-computer interaction system of a single-arm live working robot according to an embodiment of the present invention;
fig. 2 is a schematic view of a human-machine cooperative system of a single-arm live working robot according to an embodiment of the present invention;
fig. 3 is a schematic view of a positioning system of a single-arm live working robot according to an embodiment of the present invention;
fig. 4 is a schematic view of a working platform of a single-armed live working robot provided by the second embodiment of the present invention;
fig. 5 is a schematic view of a human-machine system control system of a single-arm live working robot according to an embodiment of the present invention;
fig. 6 is a schematic view of a human-computer interaction model of a single-arm live working robot according to an embodiment of the present invention;
fig. 7 is an insulation protection system schematic diagram of a single-arm live working robot provided by the embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the man-machine cooperation process, the whole operation process is classified according to the difficulty and the risk of operation, the operation with simpler operation steps and higher risk in the operation process is completed by a robot, and the operation with more complicated operation steps and lower risk is completed by an operator; classifying each step in the operation flow, taking an electrified lead wire as an example, the robot electrically peels a line (a line route refers to an overhead cable) through a wire stripping tool and electrically connects the lead wire through a wire connecting tool; the remaining workflow is then completed by the operator.
After the operation is classified according to the flow, compared with the existing single/double-arm live working robot in a master-slave mode or a semi-automatic mode, the operation efficiency and the operation simplicity are greatly improved; the single-arm robot is a tool for assisting operators to work in a man-machine cooperative working mode, and the method of excluding the operators from the working process is not like completely excluding the operators from the working process like a master-slave or semi-automatic single/double-arm live working robot, so that most of the experience of the operators in high-altitude work is abandoned, the operators are completely operated by the robot, and the master-slave or semi-automatic single/double-arm live working robot completes the working steps with low risk and complex operation by the robot, so that the time and complexity of the operation are inevitably increased.
To facilitate understanding of the present embodiment, the following detailed description will be given of embodiments of the present invention.
The first embodiment is as follows:
fig. 1 is a schematic view of a human-computer interaction system of a single-arm live working robot according to an embodiment of the present invention.
Referring to fig. 1, the system includes: the system comprises an actuator, an industrial personal computer and a robot control cabinet, wherein the actuator and the robot control cabinet are respectively connected with the industrial personal computer, and the actuator comprises a human-computer interaction panel; the executor carries a windows system and is fixed on an operation insulating bucket of an operator. The edge of the man-machine interaction panel is provided with a confirmation key, a return key, an emergency stop key, an operation remote lever and other parts.
The man-machine interaction panel is used for acquiring operation instruction information of an operator and sending the operation instruction information to the industrial personal computer;
the industrial personal computer is used for receiving the operation instruction information sent by the human-computer interaction panel, acquiring the operation flow information according to the operation instruction information and sending the operation flow information to the robot control cabinet;
and the robot control cabinet is used for receiving the operation flow information sent by the industrial personal computer and controlling the robot to execute corresponding operation according to the operation flow information.
In the embodiment, the operation instruction information selected by the operator is acquired through the man-machine interaction panel, the industrial personal computer calls the corresponding operation flow information according to the operation instruction information selected by the operator and sends the operation flow information to the robot control cabinet, the robot control cabinet controls the robot to execute corresponding operation according to the operation flow information, after the robot executes the corresponding operation, the industrial personal computer sends response information to the industrial personal computer, and the industrial personal computer sends the response information to the man-machine interaction panel.
Further, the operation instruction information comprises guidance instruction information, and the guidance instruction information comprises guidance starting information and guidance confirmation information;
the system comprises an industrial personal computer, a guidance starting system and a guidance confirmation system, wherein the industrial personal computer is used for receiving guidance starting information sent by a human-computer interaction panel, receiving information of an electrified lead-in line sent by a guidance system according to the guidance starting information, and sending the information of the electrified lead-in line to a robot control cabinet after receiving guidance confirmation information sent by the human-computer interaction panel, wherein the information of the electrified lead-in line is position information of a working point in the process of the electrified lead-in line;
the robot control cabinet is used for receiving information of the electrified lead wire sent by the industrial personal computer, controlling the robot to move to an operation point from a preset position of the operation platform according to the information of the electrified lead wire, removing the wire stripping tool and then moving to the lower part of the wire, stripping the wire by the wire stripping tool, controlling the robot to move to an initial position after the wire stripping is finished, and sending instruction information of successful acquisition of the wire stripping tool to the industrial personal computer.
Further, the operation instruction information also comprises wiring instruction information;
the industrial personal computer is used for receiving wiring instruction information sent by the human-computer interaction panel, acquiring wiring operation flow information according to the wiring instruction information and sending the wiring operation flow information to the robot control cabinet;
and the robot control cabinet is used for receiving the wiring operation flow information sent by the industrial personal computer, controlling the robot to move from an initial position to a preset position of the operation platform according to the wiring operation flow information, moving the robot to a position below a wire which is stripped after the wiring tool is taken down, and sending instruction information for the successful acquisition of the wiring tool to the industrial personal computer.
Further, the actuator also comprises a voice broadcasting system;
and the voice broadcasting system is used for receiving the instruction information which is sent by the industrial personal computer and successfully acquired by the wire stripping tool or the instruction information which is successfully acquired by the wire connecting tool, and carrying out voice broadcasting according to the instruction information which is successfully acquired by the wire stripping tool or the instruction information which is successfully acquired by the wire connecting tool.
Here, the voice broadcast system can be connected with the bluetooth headset who is equipped with, and the voice broadcast system receives the voice prompt information that the industrial computer sent, because the sound that the operation personnel sent through the man-machine interaction flat board is not clear when high altitude construction, so need broadcast after being connected voice broadcast system and bluetooth headset.
Specifically, taking the operation of connecting a lead wire with electricity as an example, the method comprises the following steps:
step S101, an operator wears insulating clothes and other protective tools to perform insulating protection, and wears safety clothes to prevent the operator from falling from high altitude;
and S102, moving the operator and the operation platform to an operation area by controlling the lifting system of the insulating bucket arm vehicle, and well performing insulating shielding. During live-line work, the insulation skin outside the default wire is unreliable, namely the wire is in a live-line state, so the wire needs to be shielded in an insulation way;
step S103, an operator selects different operation instruction information through the human-computer interaction panel, for example, an operation flow needing to be performed at present is selected from operation instruction information such as live lead wire connection operation, insulator righting operation and live lead wire disconnection, and the operator selects operation instruction information of a live lead wire from the human-computer interaction panel by taking the selection of the live lead wire connection operation as an example;
step S104, preprocessing the drainage wire, trying out branch wires (drainage wires) by an operator, determining the length of the drainage wire (cutting off excessive parts), peeling the drainage wire, and marking a mark on the aviation wire (the point is a manually determined operation point, and then marking the point in a robot coordinate system through a guide system);
step S105, the actuator further comprises a voice broadcasting system, the voice broadcasting system can prompt that the operation of connecting the lead wire in a live state starts, insulating clothes and other protective tools are worn, a confirmation key is pressed after the confirmation key is pressed, and the like;
step S106, the voice broadcasting System continues to prompt the guidance starting and then please press a confirmation key, an operator combines an insulating rod of the guidance device with a differential GPS (Global Positioning System) mobile terminal, moves to an operation point manually marked by the operator, and then separately places the insulating rod and the differential GPS mobile terminal back to the original position; pressing a confirmation key;
step S107, the robot automatically moves to a fixed position of the working platform from an HOME point (the initial position and the state of the robot are not moved), the wire stripping tool is taken down and moves to a position 40cm below a lead (40cm is because the safe distance between an operator and a charged line is at least 40cn), the voice broadcasting system prompts that the wire stripping tool is taken out successfully, equipment initialization is carried out, and after the equipment initialization is successfully prompted, controlling the wire stripping tool to reach an operation point, judging whether to perform wire stripping operation, pressing a confirmation key, performing wire stripping operation (the length of the wire stripping tool is 9cm), after the wire stripping is finished, replacing the wire stripping tool in the position of the wire stripping tool before the wire stripping tool is replaced, the voice prompts that whether the wire stripping tool is placed successfully and the operation is continued or not, and after an operator presses a confirmation key, the robot gets a wire connecting tool;
step S108, the robot automatically reaches a fixed position of an operation platform, a wiring tool is taken down and moves to a position 40cm below a lead wire exposed position where wire stripping is finished before, at the moment, a voice broadcasting system can give a voice prompt that whether the wiring tool is taken successfully or not and operation is continued, then, an operator places a drainage wire (when electrified drainage wire connection and drainage wire connection operation is carried out, a wire line is electrified, so the robot carries out wire stripping, the drainage wire is not electrified, so that when pretreatment is carried out before operation, the operator can strip the drainage wire) stripped in the step S104 in the wiring tool through an insulating rod, after the operator finishes the preparation work before wire connection, the operator presses a confirmation key, and the robot can automatically lift the stripped drainage wire to the exposed wire stripping position where the wire stripping tool strips the drainage wire to carry out the wire connection operation;
step S109, after the wiring is finished, the voice broadcasting system can prompt whether the wiring operation is finished or not, after an operator presses a confirmation key, the robot can automatically replace the wiring tool to the position of the wire stripping tool before the wiring tool is taken, and prompt that the wiring tool is successfully placed, at the moment, the robot can automatically finish the subsequent steps to return to an HOME point, and prompt that the operation of a middle item (or a far-edge item/a near-edge item) is finished or not, and whether the operation is continued or not, at the moment, the operator needs to press the confirmation key after moving to the next operation area by controlling the lifting system of the insulating bucket arm vehicle, and the steps S106 to S109 are repeated; after accomplishing the above-mentioned operation that connects the drainage line, voice broadcast system can voice prompt "electrified drainage line operation completion that connects".
Further, the device also comprises a position sensor, wherein the position sensor is connected with the industrial personal computer;
the position sensor is used for acquiring the position information of a wire stripping cutter in the wire stripping tool and sending the position information of the wire stripping cutter in the wire stripping tool to the industrial personal computer;
and the industrial personal computer is used for receiving the position information of the wire stripping cutter in the wire stripping tool sent by the position sensor and judging whether the wire stripping tool is in an initial state or not according to the position information of the wire stripping cutter in the wire stripping tool.
Further, the system also comprises an illumination intensity sensor, wherein the illumination intensity sensor is connected with the industrial personal computer;
the illumination intensity sensor is used for acquiring illumination intensity and sending the illumination intensity to the industrial personal computer;
the industrial personal computer is used for receiving the illumination intensity sent by the illumination intensity sensor, comparing the illumination intensity with a preset threshold value, and fusing the image information acquired by the binocular depth camera with the data information acquired by the guidance system if the illumination intensity is smaller than the preset threshold value; if the illumination intensity is greater than the preset threshold value, the image information acquired by the binocular depth camera is not fused with the data information acquired by the guidance system;
the data information collected by the guidance system comprises the spatial position of the operation point and the vector information of the operation point.
Further, the wind speed sensor is connected with the industrial personal computer;
the wind speed sensor is used for detecting the wind speed of the current environment to obtain wind speed information and sending the wind speed information to the industrial personal computer;
the industrial personal computer is used for receiving the wind speed information sent by the wind speed sensor, judging whether the wind speed information is within a preset wind speed threshold range, and if so, sending information that the wind speed meets the operation requirement to the voice broadcasting system; and if not, sending information that the wind speed does not meet the operation requirements to a voice broadcasting system.
The embodiment of the utility model provides a single armed live working robot's human-computer interaction system, include: the control layer is arranged in an industrial personal computer and is mainly used for processing various information and data and controlling the operation flow solidified in the control layer, namely the operation flows of different operations are written in the programs of the control layer, an operator selects and calls different programs in the control layer through a man-machine interaction panel, the industrial personal computer is directly connected with a robot control cabinet (the robot control cabinet is equivalent to the brain of a robot and directly controls various motions and actions of the robot) through a network cable, and data of a positioning system are processed, such as information of the position and the posture of space operation electricity acquired by a guidance system, image information acquired by a visual device, information of the distance acquired by a laser ranging sensor on a terminal tool and the like, and after the various information and data are processed, the coordinate information of an operation point required by the robot is transmitted to the robot control cabinet; information needing to be informed to workers, such as prompt information, warning information and the like of the operation process is transmitted back to the executor through the ZIGBEE to be informed to the workers; and the instruction information of the operation personnel operating the human-computer interaction panel, such as pressing the enter key/emergency stop key and other actions, is transmitted back to the industrial personal computer for controlling the operation process by the control layer, and a human-computer cooperative operation mode can be realized through the human-computer interaction panel, so that the operation environment and the operation process can be better observed, the problems can be timely found and solved, and the complexity of the operation steps can be reduced.
Example two:
fig. 2 is a schematic view of a human-machine cooperative system of a single-arm live working robot according to an embodiment of the present invention.
Referring to fig. 2, the system comprises a human-computer interaction system of a single-arm live working robot, an insulating bucket arm vehicle, an insulating arm lifting system and a working platform, wherein the working platform comprises a positioning system, a human-computer interaction system, a double-insulating bucket working platform and an insulating protection system, and the double-insulating bucket working platform comprises a working personnel working platform and a single-arm live working robot working platform; the double-insulation bucket operation platform is used for providing a stable and safe high-altitude operation environment for operators and robots. The insulation protection system is used for providing a safer high-voltage live working environment for operators;
referring to fig. 3, the positioning system is a positioning system of a single-arm live working robot, and comprises a guide system and a guide auxiliary system; the guidance system is used for acquiring the spatial position of the operation point and the vector information of the operation point; and the guide auxiliary system is used for acquiring the distance information from the tail end tool to the lead and correcting the spatial position of the operation point according to the distance information to obtain the corrected position of the operation point. The positioning system also includes a visual positioning system. The guidance assistance system includes a laser ranging sensor mounted on the end-of-line work tool. The positioning system is used for enabling the robot to accurately identify the position and the posture of the operation point.
The vision positioning system transmits data of the industrial personal computer back through the illumination intensity sensor, and judges whether data collected by the binocular depth camera and data of the guidance system are fused or not, so that the first correction of the positioning information of the guidance system is realized.
The method specifically comprises the following steps: the illumination intensity sensor is used for collecting illumination intensity, and the illumination intensity sensor accessible ZIGBEE sends illumination intensity for the industrial computer, and wherein, ZIGBEE is similar to the wireless transmission agreement of bluetooth transmission, is fit for low-speed short distance transmission. And then data information acquired by the guidance system, the illumination intensity acquired by the illumination intensity sensor, data acquired by the visual equipment and data transmitted back by the laser ranging sensor positioned at the tail end tool are transmitted to the industrial personal computer. The industrial personal computer is connected with the robot Control cabinet through a network cable, and the Transmission of the data is realized by relying on a Transmission Control Protocol (TCP)/Internet Protocol (IP).
Comparing the illumination intensity acquired by the illumination intensity sensor with a preset threshold value, if the illumination intensity acquired by the illumination intensity sensor is smaller than the preset threshold value, the image information acquired by the vision equipment is reliable, and the acquired data information is fused with the data information acquired by the guidance system; if the illumination intensity acquired by the illumination intensity sensor is greater than a preset threshold value, the information acquired by the vision equipment is unreliable, and the acquired data information is not fused with the data information acquired by the guidance system;
the guidance system collects the spatial position of the operation point (Differential GPS (DGPS) collection) and the vector information of the position point (gyroscope collection); the binocular depth camera collects two pictures, calculates the distance to the operation point according to the color RGB or gray level image, and fuses the distance to the operation point with the space position of the operation point collected by the guidance system and the vector information of the operation point. The fusion refers to comparing the spatial position of the operating point of the guidance system with distance information collected by a binocular depth camera, and if the distances between the two collected data are the same, the positioning is accurate; if the two are different, the average value is obtained, and then the vector information of the single space operation point and the space operation point is converted into the attitude information of the operation point on the wire and the wire. If the illumination intensity is greater than the preset threshold value, data fusion is not carried out, at the moment, the position of the collection space operation point of the single guidance system and the vector information of the point can also be positioned, and only the data accuracy is high after the data fusion is not carried out.
After the positioning system mainly based on the guide system finishes positioning, whether the positioning system is fused with data information acquired by the visual equipment or not, the distance information between the tail end tool and the lead acquired by the tail end tool is corrected, and the requirement on positioning precision can be met after correction.
And the guiding auxiliary system is used for acquiring the information of the operation point through the laser ranging sensor under the condition that the guiding system conveys the tail end tool to the position below the operation point, and performing secondary correction on the positioning information of the guiding system. The high-precision positioning is realized by the combined positioning of the guide system, the visual positioning system and the guide auxiliary system.
The end tool refers to a tool mounted at the end of a robot arm for work, and the end tool is divided into 2, namely a wire stripping tool and a wire connecting tool.
Further, an end tool is provided at an end of a robot arm of the robot in the human-computer interaction system, and is used for a tool for work.
Further, referring to fig. 4, the operation platform is a single-arm live working robot operation platform, and the operation platform comprises a heat dissipation system and a heating system; the operation platform is a single-arm live working robot operation platform, the single-arm live working robot operation platform comprises a mechanical arm control system, a single-arm live working robot special tool, a mechanical arm, a lifting distance measuring module and a heat dissipation/heating system, and the heat dissipation/heating system comprises a heat dissipation system and a heating system;
the heat dissipation system is used for working under the condition that the operation temperature is higher than a preset temperature threshold value;
and the heating system is used for working under the condition that the working temperature is lower than the preset temperature threshold value.
Specifically, the heat dissipation/heating system controls the operation temperature of the robot, and when the operation temperature is higher than a preset temperature threshold value, the heat dissipation system works; and when the working temperature is lower than the preset temperature threshold value, the heating system works. The heat dissipation system is realized by the following three parts, wherein the first part is that sunlight is reflected by the insulating bucket on the outermost layer; secondly, the insulating bucket on the outer layer is separated from the robot on the inner layer and is used for isolating the robot from the outside; thirdly, a radiating fin and a water-cooling radiating system of the whole system are added outside the industrial personal computer;
the heating system is mainly arranged around the battery, because the battery is the most directly influenced by low temperature, and besides, the structure of the inner and outer double-layer insulating buckets can also play a role in heat preservation when the temperature is too low.
The operation platform is used for carrying out live-wire work. The mechanical arm control system comprises a single-arm robot control cabinet, a miniature meteorological station, a power supply system, a control board card, a switch and the like, and the operation platform is used for data acquisition and transmission, supplying power to the system, controlling and planning the mechanical arm to complete corresponding actions and the like.
The miniature weather station detects the environment near the operation line, detects before live working, ensures that the live working is carried out under the condition that environmental conditions allow, and mainly detects wind speed and temperature and humidity.
The heat dissipation/generation system is mainly used for controlling the operation temperature of the single-arm live working robot, and the suitable operation temperature of the single-arm live working robot is 0-50 ℃, so the heat dissipation/generation system is required to control the temperature when the single-arm live working robot needs to operate in summer and winter.
Further, referring to fig. 5, the robot system control system for the single-arm live working robot is further included, and the robot system control system for the single-arm live working robot comprises a human-computer interaction system, an insulating bucket lifting system, a contact type guide assembly, a control system and a human-computer interface.
The control system of the single-arm live working robot human-machine system is arranged behind an operation insulating bucket of an operator, is used for realizing the interaction between the operator and the single-arm live working robot human-machine system and assisting the single-arm live working robot to complete the function of live working, and is connected with the single-arm live working robot operation insulating bucket through a liftable connecting device;
the contact type guiding assembly comprises an insulating rod, a differential GPS guiding system moving end and an end branch moving tool.
The control system comprises an operator control system and a ground responsible person control system, and the human-computer interface comprises an operator cooperative operation interface and a ground responsible person handheld terminal interface. The cooperative operation interface of the operating personnel comprises a voice broadcasting system, a warning lamp and a robot control system control interface.
The man-machine interaction system comprises an industrial personal computer, wherein the industrial personal computer comprises a control layer, the control layer comprises a reflecting layer, a planning layer and a monitoring layer, a man-machine interaction model is shown in figure 6, the reflecting layer comprises a reflecting behavior and a reacting behavior, the reflecting behavior is used for reacting to an emergency in the environment and reacting to the input of a sensor and the internal state of the robot, such as motor locked-rotor protection;
the reactive behavior is mainly to receive the control signals sent from the mission planning layer and the supervision layer to act;
the planning layer comprises three behavior modes of task planning, environment analysis and track planning; the task planning is used for interacting with an operator and transmitting an instruction to the robot; the environment analysis is to sense and recognize the environment information and intelligently judge whether further operation is available on the basis; the trajectory planning is to plan the trajectory of the mechanical arm based on the perception and modeling of the surrounding environment when the robot works in a live state, so that the robot works in a safe working space;
the supervision layer comprises three action modes of fault supervision, reaction layer supervision and planning layer supervision, and is used for supervising the execution conditions of the task planning layer and the action layer, so that an operator can master the task execution process, and a way for manual intervention when the robot encounters safety or other obstacles during operation is provided.
Referring to fig. 7, the insulation protection system of the single-arm live working robot comprises a main insulation protection system and an auxiliary insulation protection system, wherein the main insulation protection system comprises an insulation bucket and an insulation arm, an insulation shell of the robot platform (when the robot is arranged outside the bucket), a post insulator for isolating and fixing the robot platform and an L-shaped support on the insulation arm, a connecting insulation part between a mechanical arm and a terminal tool, an insulation protection shell between double buckets and an air gap between the mechanical arm and the terminal tool. The auxiliary insulation protection system mainly comprises an insulation protection shell of a mechanical arm, an insulation protection tool (when a person is positioned in a bucket to participate in cooperative operation) and an insulation shielding tool (part of complex operation projects).
Insulation protection measures are taken, so that the main insulation protection system can bear the power frequency voltage of 45kV, and the auxiliary insulation protection system can bear the power frequency voltage of 20 kV;
in the whole operation process, a process of data fusion of a guidance system and a visual positioning system or other positioning modes is not embodied, and the process is operated in an industrial personal computer by default, for example, the data fusion is performed when the illumination intensity is smaller than a preset threshold value, because the data fusion or the data fusion does not affect the positioning precision, but not the operation process, namely the operation process is unrelated to the operation of an operator.
The robot is operated in a working mode of a man-machine cooperative system more simply, simple and dangerous working steps are given to the robot to be completed, the professional requirements for operating the robot by operators are reduced, the operators who have too-high-altitude operation can quickly adapt to the single-arm robot for live working, and therefore the working efficiency is improved.
The embodiment of the utility model provides an electronic equipment is still provided, including memory, treater and the computer program that stores on the memory and can run on the treater, realize the step of the human-computer interaction method of the single armed electric working robot that above-mentioned embodiment provided when treater execution computer program.
The embodiment of the present invention further provides a computer readable medium having a nonvolatile program code executable by a processor, where the computer readable medium has a computer program stored thereon, and the computer program executes the steps of the human-computer interaction method of the single-arm electric working robot according to the above-mentioned embodiment when the computer program is executed by the processor.
The embodiment of the present invention provides a computer program product, which includes a computer readable storage medium storing a program code, wherein the instruction included in the program code can be used to execute the method described in the foregoing method embodiment, and the specific implementation can refer to the method embodiment, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A human-computer interaction system of a single-arm live working robot, characterized in that the system comprises: the system comprises an actuator, an industrial personal computer and a robot control cabinet, wherein the actuator and the robot control cabinet are respectively connected with the industrial personal computer, and the actuator comprises a human-computer interaction panel;
the man-machine interaction panel is used for acquiring operation instruction information of an operator and sending the operation instruction information to the industrial personal computer;
the industrial personal computer is used for receiving the operation instruction information sent by the human-computer interaction panel, acquiring operation flow information according to the operation instruction information and sending the operation flow information to the robot control cabinet;
the robot control cabinet is used for receiving the operation flow information sent by the industrial personal computer, controlling the robot to execute corresponding operation according to the operation flow information, and sending response information to the industrial personal computer so that the industrial personal computer sends the response information to the man-machine interaction panel;
and the response information is process information executed by the robot according to the operation flow information.
2. The human-computer interaction system of the single-arm live working robot according to claim 1, wherein the operation instruction information includes guidance instruction information including guidance start information and guidance confirmation information;
the industrial personal computer is used for receiving the guidance starting information sent by the human-computer interaction panel, receiving the information of the electrified lead-in wire sent by a guidance system according to the guidance starting information, and sending the information of the electrified lead-in wire to the robot control cabinet after receiving guidance confirmation information sent by the human-computer interaction panel, wherein the information of the electrified lead-in wire is position information of a working point in the process of electrified lead-in wire;
the robot control cabinet is used for receiving the information of the electrified lead wire sent by the industrial personal computer, controlling the robot to move to an operation point from a preset position of an operation platform according to the information of the electrified lead wire, taking down a wire stripping tool and then moving to the lower part of a wire, stripping the wire by the wire stripping tool, controlling the robot to move to an initial position after the wire stripping is finished, and sending instruction information of successful acquisition of the wire stripping tool to the industrial personal computer.
3. The human-computer interaction system of the single-arm live working robot according to claim 1, wherein the operation instruction information further includes wiring instruction information;
the industrial personal computer is used for receiving the wiring instruction information sent by the human-computer interaction panel, acquiring wiring operation flow information according to the wiring instruction information, and sending the wiring operation flow information to the robot control cabinet;
the robot control cabinet is used for receiving the wiring operation flow information sent by the industrial personal computer, controlling the robot to move from an initial position to a preset position of an operation platform according to the wiring operation flow information, moving the robot to a position below a wire subjected to wire stripping after a wiring tool is taken down, and sending instruction information for successful acquisition of the wiring tool to the industrial personal computer.
4. The human-computer interaction system of the single-arm electric working robot according to claim 2 or 3, wherein the actuator further comprises a voice broadcasting system;
the voice broadcasting system is used for receiving instruction information which is sent by the industrial personal computer and successfully acquired by the wire stripping tool or successfully acquired by the wire connecting tool, and carrying out voice broadcasting according to the instruction information which is successfully acquired by the wire stripping tool or successfully acquired by the wire connecting tool.
5. The human-computer interaction system of the single-arm live working robot according to claim 1, further comprising a position sensor connected with the industrial personal computer;
the position sensor is used for acquiring position information of a wire stripping cutter in a wire stripping tool and sending the position information of the wire stripping cutter in the wire stripping tool to the industrial personal computer;
the industrial personal computer is used for receiving the position information of the wire stripping tool in the wire stripping tool sent by the position sensor and judging whether the wire stripping tool is in an initial state or not according to the position information of the wire stripping tool in the wire stripping tool.
6. The human-computer interaction system of the single-arm live working robot according to claim 1, further comprising an illumination intensity sensor connected with the industrial personal computer;
the illumination intensity sensor is used for acquiring illumination intensity and sending the illumination intensity to the industrial personal computer;
the industrial personal computer is used for receiving the illumination intensity sent by the illumination intensity sensor, comparing the illumination intensity with a preset threshold value, and fusing picture information acquired by the binocular depth camera with data information acquired by the guidance system if the illumination intensity is smaller than the preset threshold value; if the illumination intensity is greater than the preset threshold value, the image information acquired by the binocular depth camera is not fused with the data information acquired by the guidance system;
the data information collected by the guidance system comprises the spatial position of a working point and the vector information of the working point.
7. The human-computer interaction system of the single-arm live working robot according to claim 1, further comprising an air speed sensor, wherein the air speed sensor is connected with the industrial personal computer;
the wind speed sensor is used for detecting the wind speed of the current environment to obtain wind speed information and sending the wind speed information to the industrial personal computer;
the industrial personal computer is used for receiving the wind speed information sent by the wind speed sensor, judging whether the wind speed information is within a preset wind speed threshold range, and if so, sending information that the wind speed meets the operation requirement to the voice broadcasting system; and if not, sending the information that the wind speed does not meet the operation requirement to a voice broadcasting system.
8. A human-machine cooperative system of a single-arm live working robot, characterized by comprising the human-machine interactive system of the single-arm live working robot of any one of claims 1 to 7, and further comprising a positioning system, wherein the positioning system comprises a guiding system and a guiding auxiliary system;
the guidance system is used for acquiring the spatial position of an operation point and the vector information of the operation point;
and the guide auxiliary system is used for acquiring distance information from a tail end tool to a lead and correcting the spatial position of the operation point according to the distance information to obtain the corrected position of the operation point.
9. The human-machine cooperative system of the single-arm charged working robot according to claim 8, wherein the end tool is provided at an end of a robot arm of the robot in the human-machine interactive system and is used for a tool for work.
10. The robotic collaboration system as claimed in claim 8, further comprising a work platform, the work platform comprising a heat dissipation system and a heat generation system;
the heat dissipation system is used for working under the condition that the operation temperature is higher than a preset temperature threshold value;
and the heating system is used for working under the condition that the working temperature is lower than the preset temperature threshold value.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883775A (en) * | 2019-11-20 | 2020-03-17 | 北京国电富通科技发展有限责任公司 | Man-machine interaction system and man-machine cooperation system of single-arm live working robot |
| CN113752266A (en) * | 2021-11-09 | 2021-12-07 | 深圳市烨嘉为技术有限公司 | Human-computer cooperation method, system and medium based on cooperative driving and controlling integrated robot |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883775A (en) * | 2019-11-20 | 2020-03-17 | 北京国电富通科技发展有限责任公司 | Man-machine interaction system and man-machine cooperation system of single-arm live working robot |
| CN113752266A (en) * | 2021-11-09 | 2021-12-07 | 深圳市烨嘉为技术有限公司 | Human-computer cooperation method, system and medium based on cooperative driving and controlling integrated robot |
| CN113752266B (en) * | 2021-11-09 | 2022-01-18 | 深圳市烨嘉为技术有限公司 | Human-computer cooperation method, system and medium based on cooperative driving and controlling integrated robot |
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