High-tension line emergency repair mechanical arm moving path planning system and method

Abstract

The invention provides a high-tension line emergency repair mechanical arm moving path planning system and method. The system includes a binocular vision system, a three-dimensional reconstruction system, a path planning system, and a motion control system, wherein the binocular vision system is connected with the three-dimensional reconstruction system, and the path planning system is connected with the three-dimensional reconstruction system and the motion control system. The high-tension line emergency repair mechanical arm moving path planning system and the method have the beneficial effects that through calculation of optimal control parameters of a moving angle of each joint, influence of the moving angle of each joint on a moving path of a mechanical arm is reduced, thereby enabling the mechanical arm to accurately move along a planned path; and operations are carried out based on image information, information content is abundant, a calculation method is simple, the cost is low, and popularization is easy.

Description

technical field [0001] The invention relates to the field of moving path planning, in particular to a moving path planning system and method for a high-voltage line emergency repair manipulator. Background technique [0002] At present, technologies such as artificial intelligence and machine vision are developing rapidly. Robots are machines with a high degree of intelligence. They can use cameras to obtain visual information, and use CPU to calculate data so that they have logical thinking ability. The binocular vision system can simulate the mechanism of human binocular observation of the three-dimensional world, but the binocular vision system composed of machines is difficult to simulate the sensitivity of human eyes to motion signals. [0003] A target point in the three-dimensional world will be mapped to two pixels at different positions in the left and right vision of the binocular system. Using the two two-dimensional images acquired by the left and right vision i...

AI Technical Summary

Problems solved by technology

[0004] The existing data calculation method is to calculate the offset of each point in the binocular vision field relative to the specified motion trajectory, but this method will bring a lot of useless calculations, and the overall calculation amount is very large

Moreover, the movement of the robotic arm will show different positions in the images acquired by the left and right vision. The points in the left and right visual images are in one-to-one correspondence according to the geometric relationship between the poles, so the movement trajectory of the robotic arm is reflected in the left, right In the right visual image, it will be a complex two-dimensional optimal value search problem

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