WO2022036770A1 - 高空带电作业挂线检测方法 - Google Patents

高空带电作业挂线检测方法 Download PDF

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WO2022036770A1
WO2022036770A1 PCT/CN2020/113916 CN2020113916W WO2022036770A1 WO 2022036770 A1 WO2022036770 A1 WO 2022036770A1 CN 2020113916 W CN2020113916 W CN 2020113916W WO 2022036770 A1 WO2022036770 A1 WO 2022036770A1
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manipulator
force
hanging
joint
wire
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PCT/CN2020/113916
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English (en)
French (fr)
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程敏
张兵园
林欢
王坚
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亿嘉和科技股份有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control

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  • the present disclosure relates to the field of high-altitude live work robots, for example, to a method for detecting hanging wires in high-altitude live work.
  • the wire hanging step is one of the key steps to determine whether an operation is successful, so the closed-loop detection of the success of the wire hanging step is very important.
  • the force on the end of the manipulator has a great influence on its motion and control.
  • the detection of the force at the end of the robot arm is generally realized by adding a high-dimensional force/torque sensor at the end of the robot arm. Further calculations are performed according to the data detected by the force/torque sensor to obtain the force at the end of the robot arm, and then to determine the hanging force. line is successful, but this way will undoubtedly increase the cost of equipment.
  • the present disclosure proposes a method for detecting wire hanging in high-altitude live work, without adding a high-dimensional force/torque sensor at the end of the manipulator, and completes the closed-loop detection of whether the wire hanging of a multi-degree-of-freedom manipulator is successful in high-altitude live work.
  • a method for detecting hanging wires in live work at heights comprising:
  • the movement direction of the wire hanging verification is determined based on the idea of impedance control and the force range of the end of the manipulator after the wire hanging verification step is executed. and distance;
  • step (3) According to the movement direction and distance calculated in the step (2), control the robotic arm to perform the wire hanging verification step;
  • step (1) Calculate the change of the force information at the end of the manipulator before and after the execution of the hanging verification step, and compare it with the threshold determined in step (1). If the change is greater than the threshold, it means that the hanging is successful; otherwise, it means that the hanging fails.
  • the joint torque signal of each joint motor of the manipulator is calculated according to the joint current signal of each joint motor of the manipulator, including:
  • the force information of the end of the manipulator can be obtained
  • the threshold value delta_force_wall of the end force change for determining whether the hanging line is successful is:
  • aver_f1 represents the force on the end of the manipulator
  • f1 represents the minimum force of the main line on the end of the manipulator when it can judge the success of hanging the line, which is a fixed value
  • f2 represents the force of the main line on the end of the manipulator can be judged
  • the maximum force when the line is successfully hung is a fixed value
  • F min and F max represent the value of the threshold delta_force_wall when aver_f1 takes f1 and f2 respectively, both are fixed values
  • f(aver_f1) indicates that the value of aver_f1 is at f1 and f2, the functional relationship between the threshold delta_force_wall and the force aver_f1 at the end of the manipulator.
  • the joint current signal of each joint motor of the manipulator arm is obtained within a period of time after the hooking is completed, and the joint torque signal of each joint motor of the manipulator arm is calculated accordingly, and filtered and averaged. Force information to the end of the manipulator;
  • step (4) after the step (3) of the hanging line verification step is completed, and after the force on the end of the manipulator is stable, the joint current signals of the motors of each joint of the manipulator are acquired for a period of time, and the manipulator is calculated accordingly.
  • the joint torque signal of each joint motor is filtered and averaged to obtain the force information at the end of the manipulator.
  • the movement direction and distance of the wire-hanging verification are determined, including:
  • Ke represents the environmental stiffness of the end of the manipulator
  • X represents the original position of the end of the manipulator
  • X e represents the position of the end of the manipulator affected by the environmental stiffness
  • the present disclosure calculates the force information on the end of the manipulator by acquiring the joint current signals of the motors of each joint of the manipulator after the hooking is completed, and completes the closed-loop detection of whether the hooking of the high-altitude live work is successful.
  • FIG. 1 is a flow chart of a method for detecting hanging wires in live work at heights of the present disclosure.
  • FIG. 1 is a flow chart of a method for detecting hanging wires in live work at heights of the present disclosure. As shown in FIG. 1 , the method for detecting hanging wires in live work at heights of the present disclosure includes the following steps:
  • the DH kinematic model of the multi-DOF manipulator is obtained, and then the Jacobian matrix J of the multi-DOF manipulator is deduced.
  • the force information at the end of the multi-degree-of-freedom manipulator can be obtained.
  • (41) Acquire the joint current signals of each joint motor of the multi-degree-of-freedom manipulator arm within a period of time after the completion of the hook-up, and calculate the joint torque signals of each joint motor of the multi-degree-of-freedom manipulator arm for a period of time after the hook-up is completed, and perform the calculation on it.
  • the filtering process obtains the filtered joint torque information at the end of the multi-degree-of-freedom robot arm, and then the force information at the end of the multi-degree-of-freedom robot arm can be obtained.
  • the force on the end of the arm; the force on the end of the multi-degree-of-freedom manipulator arm after the hook-up step is performed.
  • the size of aver_f1 can approximately describe the current stiffness of the environment, thereby determining an end force threshold delta_force_wall for judging whether the hook-up is successful.
  • delta_force_wall the greater the stiffness, the greater the delta_force_wall; on the contrary, the smaller the delta_force_wall; this threshold is used to determine whether the force of the main line on the end of the multi-degree-of-freedom manipulator changes significantly after the thread hanging verification is performed.
  • f1 represents the minimum force of the main line acting on the end of the multi-degree-of-freedom manipulator under the condition that the success of the hook-up can be judged, which is a fixed value.
  • the maximum force of the acting force in the case of judging the success of hanging the line is a fixed value.
  • the stiffness of the main line is relatively large; F min and F max respectively indicate that when aver_f1 takes f1 and f2, the value of the threshold delta_force_wall is fixed.
  • f(aver_f1) indicates that when the value of aver_f1 is between f1 and f2, the functional relationship between the threshold delta_force_wall and the force aver_f1 at the end of the multi-DOF manipulator is calculated according to the amount of The force information at the end of the degree-of-freedom manipulator is obtained by least squares fitting.
  • step (42) The force magnitude aver_f1 of the end of the multi-degree-of-freedom manipulator after the wire-hanging step obtained in step (41) is completed.
  • a spring model can be used to simply describe the force/position relationship between the end of the multi-degree-of-freedom manipulator and the environment:
  • Ke represents the environmental stiffness received by the end of the multi-degree-of-freedom manipulator
  • X represents the original position of the end of the multi-degree-of-freedom manipulator
  • X e represents the multi-degree freedom The position of the end of the robot arm after being subjected to the environmental stiffness image.
  • step (42) According to the motion direction and distance calculated in step (42), call the motion planner to plan the motion trajectory of the multi-degree-of-freedom manipulator and control the execution of the multi-degree-of-freedom manipulator.
  • step (43) After the execution of step (43), wait for 2s, wait until the force on the end of the multi-degree-of-freedom manipulator tends to be stable, and then read the force data at the end of the multi-degree-of-freedom manipulator at the same time interval as in the first step, and take Its average value is recorded as aver_f2.
  • delta_f the change of aver_f1 and aver_f2 before and after the execution of the hanging verification step, it is recorded as delta_f, and compared with delta_force_wall, if delta_f>delta_force_wall, that is, the main line's force on the end of the multi-degree-of-freedom manipulator has changed significantly, it means that the hanging is successful; On the contrary, it means that the hanging line fails, and the user needs to confirm the failure in person, and perform manual intervention to complete the hanging line, so as to ensure the smooth completion of the high-altitude live work process.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种高空带电作业挂线检测方法，包括：（1）在挂线完成后获取机械臂各关节电机的电流信号并计算得到机械臂末端受力信息；确定判断挂线是否成功的末端受力阈值；（2）根据机械臂末端的受力信息，基于阻抗控制以及挂线验证步骤执行完毕后机械臂末端受力范围确定挂线验证的运动方向和距离；（3）控制机械臂执行挂线验证步骤；（4）根据步骤（1）的方法计算得到挂线验证步骤完成后的机械臂末端受力信息；（5）计算挂线验证步骤前后机械臂末端受力信息的变化量，并与步骤（1）的阈值比较，若变化量大于阈值则挂线成功；反之挂线失败。

Description

高空带电作业挂线检测方法
本申请要求在2020年08月19日提交中国专利局、申请号为202010838951.1的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本公开涉及高空带电作业机器人领域，例如涉及一种高空带电作业挂线检测方法。
背景技术
在高空带电作业所有步骤中，挂线步骤是决定一次作业是否成功的关键步骤之一，所以对挂线步骤是否成功的闭环检测是非常重要的。多自由度机械臂在进行任务操作过程中，机械臂末端受力情况对其运动和控制有着较大的影响。而机械臂末端受力的检测一般是通过在机械臂末端加装高维度力/力矩传感器实现，根据力/力矩传感器检测到的数据做进一步的计算，得到机械臂末端受力，进而来判断挂线是否成功，但这种方式无疑会增加设备成本。
发明内容
本公开提出了一种高空带电作业挂线检测方法，无需在机械臂末端加装高维度力/力矩传感器，完成了多自由度机械臂高空带电作业的挂线是否成功的闭环检测。
一种高空带电作业挂线检测方法，包括：
(1)在挂线步骤执行完毕后，获取挂线完成后稳定状态下机械臂各关节电机的关节电流信号并据此计算得到机械臂各关节电机的关节力矩信号，并对其进行滤波处理得到滤波后的机械臂末端受力信息；并确定用于判断挂线是否成功的末端受力阈值；
(2)根据步骤(1)得到的挂线步骤执行完毕后机械臂末端的受力信息，基于阻抗控制的思想以及挂线验证步骤执行完毕后机械臂末端受力范围确定挂线验证的运动方向和距离；
(3)根据步骤(2)中计算得到的运动方向和距离，控制机械臂执行挂线验证步骤；
(4)在步骤(3)挂线验证步骤执行完毕后，待机械臂末端受力稳定后，再根据步骤(1)的方法计算得到机械臂末端受力信息；
(5)计算挂线验证步骤执行前后机械臂末端受力信息的变化量，并与步骤(1)确定的阈值进行比较，如果变化量大于阈值，则代表挂线成功；反之代表挂线失败。
所述步骤(1)中，根据机械臂各关节电机的关节电流信号计算得到机械臂各关节电机的关节力矩信号，包括：
(11)获取机械臂各关节电机的关节电流信号，根据得到的机械臂各关节电机的电流信号以及电机的输入电流和输出转矩之间的线性关系计算得到机械臂各关节电机的关节力矩信号，对机械臂各关节电机的关节力矩信号进行滤波平滑处理得到稳定的关节力矩信息τ；
(12)根据机械臂的DH参数表得到机械臂的DH运动学模型，进而推导出机械臂的雅克比矩阵J；
(13)在机械臂处于力静止状态时，对机械臂静力建模，各关节电机力矩信息τ与机械臂的末端受力F存在下式等价转化关系：
τ＝J TF
根据上式可得到机械臂末端受力信息
Figure PCTCN2020113916-appb-000001
所述步骤(1)中，所述判断挂线是否成功的末端受力变化的阈值delta_force_wall为：
Figure PCTCN2020113916-appb-000002
其中，aver_f1表示机械臂末端的受力；f1表示主线对机械臂末端的作用力在能判断挂线成功情况下的最小力，为固定值；f2表示主线对机械臂末端的作用力在能判断挂线成功情况下的最大力，为固定值；F min和F max分别表示在aver_f1取f1和f2时，阈值delta_force_wall的取值，均为固定值；f(aver_f1)表示aver_f1的取值在f1和f2之间时，阈值delta_force_wall与机械臂末端受力aver_f1之间的函数关系。
所述步骤(1)中，获取挂线完成后一段时间内机械臂各关节电机的关节电流信号并据此计算得到机械臂各关节电机的关节力矩信号，并对其进行滤波处理并取平均值得到机械臂末端受力信息；
所述步骤(4)中，在步骤(3)挂线验证步骤执行完毕后，待机械臂末端受力稳定后，获取一段时间内机械臂各关节电机的关节电流信号并据此计算得到机械臂各关节电机的关节力矩信号，并对其进行滤波处理并取平均值得到机械臂末端受力信息。
所述步骤(2)中，基于阻抗控制的思想以及挂线验证步骤执行完毕后机械臂末端受力大小的范围aver_F确定挂线验证的运动方向和距离，包括：
(21)当机械臂末端与外界环境接触时，机械臂末端运动会受到环境的约束；此时，采用弹簧模型描述机械臂末端与环境的力/位置关系：
F＝K e(X-X e)
其中，K e表示机械臂末端所受到的环境刚度，delta_X＝X-X e表示机械臂末端移动的距离，X表示机械臂末端的原始位置，X e表示机械臂末端受环境刚度影响后的位置；
(22)设定挂线验证步骤执行完毕后机械臂末端受力大小的范围aver_F；结合aver_f1以及步骤(21)的模型计算得到机械臂末端在移动的方向和距离。
本公开在不增加设备成本的前提下，通过获取挂线完成后机械臂各关节电机的关节电流信号来计算机械臂末端受力信息，完成了高空带电作业的挂线是否成功的闭环检测。
附图说明
图1为本公开的高空带电作业挂线检测方法的流程图。
具体实施方式
下面结合附图和具体实施例，阐明本公开。
图1为本公开的高空带电作业挂线检测方法的流程图。如图1所示，本公开的高空带电作业挂线检测方法包括如下步骤：
(1)获取多自由度机械臂各关节电机的关节电流信号，因为关节力矩信号与关节电流信号是电机的输入电流和输出转矩之间的线性关系，根据得到的多自由度机械臂各关节电机的电流信号计算得到多自由度机械臂各关节电机的关节力矩信号，对多自由度机械臂各关节电机的关节力矩信号进行滤波平滑处理得到稳定的关节力矩信息τ。
(2)根据多自由度机械臂的DH参数表得到多自由度机械臂的DH运动学模型，进而推导出多自由度机械臂的雅克比矩阵J。
(3)在多自由度机械臂处于力静止状态时，对机械臂静力建模，各关节电机力矩信息τ与多自由度机械臂的末端受力F存在下式等价转化关系：
τ＝J TF
进而可得到：
Figure PCTCN2020113916-appb-000003
根据上式可得到多自由度机械臂末端受力信息。
(4)在挂线步骤执行完毕后，增加挂线是否成功检测流程，如下：
(41)获取挂线完成后一段时间内多自由度机械臂各关节电机的关节电流信号并计算得到挂线完成后一段时间内多自由度机械臂各关节电机的关节力矩信号，并对其进行滤波处理得到多自由度机械臂末端滤波后的关节力矩信息，进而可以得到多自由度机械臂末端的受力信息，取其平均值记为aver_f1，即为挂线步骤执行完毕后多自由度机械臂末端受力；挂线步骤执行完毕后多自由度机械臂末端受力情况aver_f1的大小可以近似描述当前的环境刚度大小，由此确定一个用于判断挂线是否成功的末端受力阈值delta_force_wall，刚度越大，delta_force_wall越大；反之，delta_force_wall越小；通过该阈值判断在执行完挂线验证之后，主线对多自由度机械臂末端的作用力是否发生明显变化。
Figure PCTCN2020113916-appb-000004
其中，f1表示主线对多自由度机械臂末端的作用力在能判断挂线成功情况下的最小力，为固定值，该情况下主线刚度较小；f2表示主线对多自由度机械臂末端的作用力在能判断挂线成功情况下的最大力，为固定值，该情况下主线刚度较大；F min和F max分别表示在aver_f1取f1和f2时，阈值delta_force_wall的取值，均为固定值；f(aver_f1)表示aver_f1的取值在f1和f2之间时，阈值delta_force_wall与多自由度机械臂末端受力aver_f1之间的函数关系，是根据挂线完成后一段时间内计算得到的多自由度机械臂末端受力信息进行最小二乘拟合得到。
(42)根据步骤(41)得到的挂线步骤执行完毕后多自由度机械臂末端的受力大小aver_f1，基于阻抗控制的思想，当多自由度机械臂末端与外界环境接触时，多自由度机械臂末端运动会受到环境的约束；此时，可以用一个弹簧模型来简单描述多自由度机械臂末端与环境的力/位置关系：
F＝K e(X-X e)
其中，K e表示多自由度机械臂末端所受到的环境刚度，delta_X＝X-X e表示多自由度机械臂末端移动的距离，其中X表示多自由度机械臂末端的原始位置，X e表示多自由度机械臂末端受环境刚度影像后的位置。
考虑在挂线验证步骤执行完毕后，多自由度机械臂末端受力大小要保证在多自由度机械臂的负载能力范围内，设定挂线验证步骤执行完毕后多自由度机械臂末端受力大小的范围aver_F；结合aver_f1通过上式确定多自由度机械臂末端在Z方向上移动的方向和距离。此处阻抗控制的思想主要是为保证挂线验证 步骤执行完毕后，机械臂末端的受力不会超出机械臂负载能力范围，以免损坏机械臂。
(43)根据步骤(42)中计算得到的运动方向和距离，调用运动规划器，规划多自由度机械臂的运动轨迹并控制多自由度机械臂执行。
(44)在步骤(43)执行完毕后，等待2s，待多自由度机械臂末端受力趋于稳定，再读取与第一步相同时间间隔的多自由度机械臂末端力数据，并取其平均值记为aver_f2。
根据挂线验证步骤执行前后aver_f1与aver_f2的变化量记为delta_f，同delta_force_wall进行比较，如果delta_f>delta_force_wall，即主线对多自由度机械臂末端的作用力发生了明显变化，则代表挂线成功；反之代表挂线失败，需要用户亲自确认失败情况，并进行人工干预完成挂线，以保证高空带电作业流程顺利完成。

Claims (5)

  1. 一种高空带电作业挂线检测方法，包括：
    (1)在挂线步骤执行完毕后，获取挂线完成后稳定状态下机械臂各关节电机的关节电流信号并据此计算得到机械臂各关节电机的关节力矩信号，并对其进行滤波处理得到滤波后的机械臂末端受力信息；并确定用于判断挂线是否成功的末端受力阈值；
    (2)根据步骤(1)得到的挂线步骤执行完毕后机械臂末端的受力信息，基于阻抗控制的思想以及挂线验证步骤执行完毕后机械臂末端受力范围确定挂线验证的运动方向和距离；
    (3)根据步骤(2)中计算得到的运动方向和距离，控制机械臂执行挂线验证步骤；
    (4)在步骤(3)挂线验证步骤执行完毕后，待机械臂末端受力稳定后，再根据步骤(1)的方法计算得到机械臂末端受力信息；
    (5)计算挂线验证步骤执行前后机械臂末端受力信息的变化量，并与步骤(1)确定的阈值进行比较，如果变化量大于阈值，则代表挂线成功；反之代表挂线失败。
  2. 根据权利要求1所述的高空带电作业挂线检测方法，其中，所述步骤(1)中，根据机械臂各关节电机的关节电流信号计算得到机械臂各关节电机的关节力矩信号，包括：
    (11)获取机械臂各关节电机的关节电流信号，根据得到的机械臂各关节电机的电流信号以及电机的输入电流和输出转矩之间的线性关系计算得到机械臂各关节电机的关节力矩信号，对机械臂各关节电机的关节力矩信号进行滤波平滑处理得到稳定的关节力矩信息τ；
    (12)根据机械臂的DH参数表得到机械臂的DH运动学模型，进而推导出机械臂的雅克比矩阵J；
    (13)在机械臂处于力静止状态时，对机械臂静力建模，各关节电机力矩信息τ与机械臂的末端受力F存在下式等价转化关系：
    τ＝J TF；
    根据上式可得到机械臂末端受力信息F＝J T-1τ。
  3. 根据权利要求1所述的高空带电作业挂线检测方法，其中，所述步骤(1)中，所述判断挂线是否成功的末端受力变化的阈值delta_force_wall为：
    Figure PCTCN2020113916-appb-100001
    其中，aver_f1表示机械臂末端的受力；f1表示主线对机械臂末端的作用力在能判断挂线成功情况下的最小力，为固定值；f2表示主线对机械臂末端的作用力在能判断挂线成功情况下的最大力，为固定值；F min和F max分别表示在aver_f1取f1和f2时，阈值delta_force_wall的取值，均为固定值；f(aver_f1)表示aver_f1的取值在f1和f2之间时，阈值delta_force_wall与机械臂末端受力aver_f1之间的函数关系。
  4. 根据权利要求1所述的高空带电作业挂线检测方法，其中，所述步骤(1)中，获取挂线完成后一段时间内机械臂各关节电机的关节电流信号并据此计算得到机械臂各关节电机的关节力矩信号，并对其进行滤波处理并取平均值得到机械臂末端受力信息；
    所述步骤(4)中，在步骤(3)挂线验证步骤执行完毕后，待机械臂末端受力稳定后，获取一段时间内机械臂各关节电机的关节电流信号并据此计算得到机械臂各关节电机的关节力矩信号，并对其进行滤波处理并取平均值得到机械臂末端受力信息。
  5. 根据权利要求1所述的高空带电作业挂线检测方法，其中，所述步骤(2)中，基于阻抗控制的思想以及挂线验证步骤执行完毕后机械臂末端受力大小的范围aver_F确定挂线验证的运动方向和距离，包括：
    (21)当机械臂末端与外界环境接触时，机械臂末端运动会受到环境的约束；此时，采用弹簧模型描述机械臂末端与环境的力/位置关系：
    F＝K e(X-X e)；
    其中，K e表示机械臂末端所受到的环境刚度，delta_X＝X-X e表示机械臂末端移动的距离，X表示机械臂末端的原始位置，X e表示机械臂末端受环境刚度影响后的位置；
    (22)设定挂线验证步骤执行完毕后机械臂末端受力大小的范围aver_F；结合aver_f1以及步骤(21)的模型计算得到机械臂末端在移动的方向和距离。
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