A fast reconfiguration method of live working site of live working robot system

A robot system and live working technology, applied in the direction of overhead lines/cable equipment, etc., can solve the problems of virtual reality scenes that cannot be reconstructed, installation position deviation, lack of data interaction, etc., so as to save the collection and processing process and speed up The effect of refactoring speed and improving computing efficiency

Active Publication Date: 2018-12-11
NANJING UNIV OF SCI & TECH
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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. , Drainage line and the assembly of the hole shaft of the clamp, etc., 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 reconstructed scene

Method used

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  • A fast reconfiguration method of live working site of live working robot system
  • A fast reconfiguration method of live working site of live working robot system
  • A fast reconfiguration method of live working site of live working robot system

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Embodiment

[0098] At present, live work tasks mainly include: replacing lightning arresters, connecting drain wires, replacing isolating knife switches, and replacing drop-out fuses, etc. In this embodiment, lightning arresters, dropout fuses, pole towers, guyed insulators, and crossarms in a 10KV distribution and transmission line of a power grid are selected as modeling examples, and the on-site reconstruction of a 10KV distribution and transmission line in a certain power grid is used as an example. Specific embodiments are described in detail.

[0099] Step 1. Establish the standard operation site parameter database of various distribution and transmission lines, and construct the index structure of the system database. At present, live work tasks mainly include: replacement of drop-out fuses, replacement of lightning arresters, connection of drain wires, and replacement of isolation switches. For a specific job task, only the corresponding partial site needs to be intercepted for r...

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Abstract

The invention provides a quick reconfiguration method of live working site of a live working robot system, which comprises the following steps: establishing a standard working site parameter databaseof various distribution transmission lines, and constructing an index structure of the system database; Constructing standard three-dimensional model data taking origin coordinate system as reference coordinate system, establishing standard three-dimensional model of each component, and storing the modeling result data in standard three-dimensional model database; Construct standard working scenarios for live working tasks; The homogeneous transformation matrix of the origin coordinate system relative to the vision measurement coordinate system is obtained by establishing the vision measurement coordinate system of each component in the live working scene. The binocular camera attached to the end of the manipulator is used to measure the unstructured error of the live working scene, and the standard working scene model is modified and perfected to obtain the reconstructed scene which is consistent with the actual scene. The live working site constructed by the method coincides with the real site, and is convenient for the robot to carry out the related operation.

Description

technical field [0001] The invention belongs to the technical field of work site reconfiguration, and in particular relates to a fast reconfiguration method for live work site of a live work robot system. Background technique [0002] Field reconfiguration technology plays an important role in realizing safe autonomous control of robots and immersive teleoperation control. At present, live work tasks in my country are mainly manual work, which has problems such as high risk, low efficiency, and high training costs. Relying on on-site reconstruction technology, remote operation and robot autonomous work can well avoid the existence of manual live work. This is also one of the research hotspots in the field of robotic live working. How to provide real-time and reliable three-dimensional environmental data of the live-line work site for the remote teleoperator and the robot autonomous operation control platform is one of the difficulties that need to be solved urgently. [000...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02G1/02
CPCH02G1/02
Inventor 郭毓饶志强郭健吴益飞吴巍吴禹均苏鹏飞陈宝存肖潇郭飞
Owner NANJING UNIV OF SCI & TECH
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