A fast reconfiguration method for live connection and drainage line work site

Abstract

The present invention proposes a quick reconfiguration method for the operation site of connecting and draining wires. Firstly, a database of standard operating site parameters for connecting and connecting and draining wires with electricity is established; And the origin coordinate system of the hoop is used as a reference to establish the standard 3D model data of each component; build a standard operating field for the live connection and drainage line; establish a visual measurement coordinate system for the crossarm and wire clip in the operation scene of the live connection and drainage line, Obtain the homogeneous transformation moment of the origin coordinate system relative to it; use the binocular camera attached to the end of the manipulator to reconstruct the three-dimensional model of the drop-out fuse drain line and transmission line, and measure each The actual pose and posture of the cross arm and wire clamp, correct and improve the established standard operation scene model of the live connection and drainage line, and obtain a reconstructed scene that matches the actual scene. The operation scene of the live connection and drainage line constructed by this method is consistent with the real scene, which is convenient for the robot to perform related operations.

Description

technical field [0001] The invention belongs to the technical field of computers, and in particular relates to a method for rapid reconstruction of a work site for connecting a drain line with electricity. Background technique [0002] At present, the task of connecting and connecting the drain lines in my country is mainly manual work, which has problems such as high risk, low efficiency and high training cost. Relying on on-site reconstruction technology, remote operation and robot autonomous operation can be well avoided. The shortcomings of manual live-connecting and drain-line operations are also one of the research hotspots in the field of robotic live-line work. How to provide real-time and reliable three-dimensional environmental data of the connecting and draining line for the remote teleoperator and the robot autonomous operation control platform is one of the difficulties that need to be solved urgently. [0003] At present, the 3D scene reconstruction method main...

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 process of assembling the hole and shaft of the drainage line, this error is likely to cause the failure of the job

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

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