Robot manipulator control method, device and system

A technology of a control device and a control method, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems that autonomous operations are not stable and reliable, and the technical requirements of operators are high, so as to improve operation efficiency and safety, improve stability and reliability. Reliability and the effect of reducing secondary accidents

Inactive Publication Date: 2018-07-24
STATE GRID CORP OF CHINA +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide a robot manipulator control method, device and system, aiming at solving the problem of safety accidents easily caused by manual operation in the prior art, high technical requirements for operators in ordinary offline remote control operations, and The problem of insufficient stability and reliability of autonomous operation

Method used

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  • Robot manipulator control method, device and system
  • Robot manipulator control method, device and system

Examples

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specific Embodiment 1

[0056] like figure 1 As shown, the embodiment of the present invention provides a robot manipulator control method, including:

[0057] Video acquisition and analysis step S101:

[0058] Obtain binocular video through binocular cameras;

[0059] Identify the target device in the binocular video and automatically track the target device, establish a 3D model of the current environment, obtain the posture of the target device, and the relative coordinates of the target device and the manipulator;

[0060] Get the panoramic video of the current environment in real time through the panoramic camera;

[0061] Force feedback control step S102:

[0062] According to the 3D model of the current environment, the panoramic video of the current environment, the attitude of the target device, and the relative coordinates between the target device and the manipulator, the movement of the manipulator is controlled through the force feedback control device;

[0063] Obtain the force feed...

specific Embodiment 2

[0071] like figure 2 As shown, the embodiment of the present invention provides a robot manipulator control device, including:

[0072] The video acquisition analysis module 201 is used for:

[0073] Obtain binocular video through binocular cameras;

[0074] Identify the target device in the binocular video and automatically track the target device, establish a 3D model of the current environment, obtain the posture of the target device, and the relative coordinates of the target device and the manipulator;

[0075] Get the panoramic video of the current environment in real time through the panoramic camera;

[0076] The force feedback control module 202 is used for:

[0077] According to the 3D model of the current environment, the panoramic video of the current environment, the attitude of the target device, and the relative coordinates between the target device and the manipulator, the movement of the manipulator is controlled through the force feedback control device; ...

specific Embodiment 3

[0082] like image 3 As shown, the embodiment of the present invention provides a robot manipulator control system, including:

[0083] The robot manipulator control device 301 in the second specific embodiment;

[0084] binocular camera 302, for obtaining binocular video;

[0085] Panoramic camera 303, for real-time acquisition of panoramic video of the current environment;

[0086] The force feedback control device 304 is used to acquire force feedback data of the manipulator and control the movement of the manipulator.

[0087] The binocular camera 302 can be installed on the robot; the panoramic camera 303 can be fixedly installed at a certain position in the current environment; the force feedback control device 304 can be installed on the robot.

[0088] preferred, such as Figure 4 As shown, the force feedback control device 304 may include an online manipulator force detection module, a communication module, a manual operation module and an offline force feedback r...

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Abstract

The invention discloses a robot manipulator control method, device and system. Target equipment can be identified and tracked, three-dimensional reconstruction of a current environment is carried out,the posture and relative coordinates of the target equipment are acquired, then a manipulator is controlled with the combination of a three-dimensional model and a real-time panoramic video, and after force feedback data is acquired, the control over the manipulator is adjusted according to the force feedback data. The method, device and system can adapt to the working scene of a hot-line work robot, the stability and reliability of the hot-line work robot are improved, and the operating efficiency and the safety are improved; through double guarantees of environmental data feedback and forcefeedback, the probability of secondary accidents caused by a hot-line work robot failure or violation operation is lowered; and operating personnel are easy to train, operation and force data in various situations can be simulated in an experimental field, and the range of a force data sheet is prepared and has a guiding function on the operating personnel.

Description

technical field [0001] The invention relates to the technical field of a live working robot and a remote-controlled manipulator robot, in particular to a control method, device and system for a robot manipulator. Background technique [0002] At present, in the high-voltage power system, there are very high potential safety hazards in live work. The research and development of the live work robot developed in my country relies on the three major directions of on-line non-contact maintenance by staff, offline remote control maintenance and independent maintenance, but on-line staff contactless The mode is too close to high voltage, and the protection and shielding requirements for artificial high-voltage live work are strict, which may easily lead to safety accidents. The ordinary offline remote control mode has very high technical requirements for operators, and it is easy to cause human negligence or fatigue mistakes, and the consequences are also very serious. [0003] Alt...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/04
CPCB25J9/16B25J9/161B25J9/1674B25J19/04
Inventor 郑佩祥阮烁鑫陈斌林平程航何书华韩旭郑剑武陈凯王榆
Owner STATE GRID CORP OF CHINA
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