Environment three-dimensional perception and safety early warning protection system and method of distribution network live working robot

Abstract

The invention discloses an environment three-dimensional perception and safety early warning protection system and method of a distribution network live working robot. The environment three-dimensional perception and safety early warning protection system mainly comprises a three-dimensional laser radar, a high-definition camera, a data transmission device and a server, wherein the three-dimensional laser radar and the high-definition camera are connected with the server through the data transmission device; and the server is used for image processing, three-dimensionally reconstructing a distribution network operation scene, early warning the collision between the robot and an operation scene model and stopping robot actions for safety protection. According to the environment three-dimensional perception and safety early warning protection system, the comprehensive environmental perception can be realized through the three-dimensional laser radar and the panoramic camera, so that an operator sees a complete three-dimensional image with the effect the same as short-distance operation; and the obtained three-dimensional model can be compared with the spatial position of an mechanical arm, so that the system is capable of autonomously determining whether the working state is safe or not to avoid the loss caused by misoperation.

Description

technical field [0001] The invention relates to the field of electric robots, in particular to a three-dimensional environmental perception and safety early warning protection system and method for a live-line operation robot in a distribution network. Background technique [0002] Environmental perception and obstacle avoidance navigation have always been a very important research direction in the field of robotics. How to perceive the existence of obstacles in real time and avoid them autonomously when the robot performs tasks requires the robot to have a very efficient system as support from the perception layer to the understanding layer and finally to the execution layer. Due to the complex tasks performed by the distribution network live working robot, and the working environment is very complex and dangerous, it needs to have accurate and efficient environmental perception capabilities for the surrounding environment. damage. [0003] At present, there are two main ...

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Problems solved by technology

However, in the first method, the environmental awareness and safety warning are completely carried out by the operator, and there are potential safety hazards in the working environment of personnel, and the distribution network operation environment is complex, with many uncertain factors; in the second method, the operator needs to observe the operation through the monitor The environment, the information that the monitor can obtain is not sufficient, and the observation process is easily affected by weather and light conditions

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