A rapid reconstruction method of live replacement surge arrester job site

Abstract

The invention proposes a rapid reconfiguration method for an operation site of a lightning arrester replaced in a live-line way. The rapid reconfiguration method comprises the steps of building a standard operation side parameter database of the lightning arrester replaced in the live-line way; building standard three-dimensional model data of each component by an original point coordinate systemof a pole tower, a cross arm, a drop-out fuse and the lightning arrester; building a standard operation site of the lightning arrester replaced in the live-line way; building a visual measurement coordinate system of each component in the operation scene of the lightning arrester replaced in the live-line way to obtain a homogeneous transformation matrix of the original point coordinate system relative to the visual measurement coordinate system; and reconfiguring a three-dimensional model of a drainage wire of the lightning arrester by a dual-lens camera attached onto a tail end of a mechanical arm, measuring actual gesture of each component in the operation site of the lightning arrester replaced in the live-line way, and correcting and completing the built standard operation scene modelof the lightning arrester replaced in the live-line way. The built operation side of the lightning arrester replaced in the live-line way is coincided with a real site, and relevant operation of a robot is facilitated.

Description

technical field [0001] The invention belongs to the field of computer three-dimensional technology scene reconstruction, and in particular relates to a rapid reconstruction method for live replacement of lightning arresters. Background technique [0002] At present, the task of live replacement of lightning arresters in my country is mainly manual work, which has problems such as high risk, low efficiency, and high training costs. Relying on on-site reconstruction technology, remote teleoperation and robot autonomous operation can well avoid artificial electrification. The shortcomings of replacing lightning arresters are also one of the research hotspots in the field of robot live working. How to provide real-time and reliable three-dimensional environmental data for the remote operator and robot autonomous operation control platform is one of the difficulties that need to be solved urgently. [0003] At present, the 3D scene reconstruction method mainly uses the binocular ...

AI Technical Summary

Problems solved by technology

However, in the live work site, due to problems such as the bending of the wires and the deviation of the installation position of the parts, there is often a certain gap between the fixed virtual reality scene constructed and the actual site. For the assembly process of bolts, lightning arresters and cross-arm hole shafts, this error is likely to cause job failure

Due to the lack of data interaction with the actual scene, the virtual reality scene cannot be used directly as a reliable reconstruction scene

Images