Design method of remote control robot for clearing tree barriers based on force feedback

Abstract

The present application relates to the technical field of urban power grid, and particularly relates to a design method of a remote control tree barrier cleaning robot based on force feedback, which comprises the following steps: deploying a local area network, so that the robot and the robot controller are online in the deployed local area network, and the control commands in real time sent by the robot controller are received by the robot; capturing the position information of the service range of the local area network in step 1, obtaining the current crawling cable distribution structure and position information of the robot, and analyzing the receiving range of the robot control command; the steps in the method of the present application are executed, an independent local area network can be configured for the robot and the robot controller for the transmission and reception of the control commands in the running process of the robot, so that the stability of the robot running is effectively maintained, and at the same time, by means of setting a threshold, the robot in the state of being configured with a force feedback sensor will not appear the false triggering of the robot tree barrier cleaning station function due to the excessively large wind level of the strong wind weather.

Description

Technical Field

[0001] This invention relates to the field of urban power grid technology, and more specifically to a design method for a remotely controlled tree obstacle clearing robot based on force feedback. Background Technology

[0002] Large and medium-sized cities and large industrial and mining areas transmit and distribute electrical energy to users through power networks. Their power networks are called urban power grids, which consist of transmission and distribution lines, substations, and distribution stations.

[0003] The main characteristics of urban power supply are as follows: Urban industries are concentrated, electricity consumption is high, load density is high, and growth is rapid. Sufficient room for future load growth must be allowed in planning. Large cities concentrate government agencies, important scientific research institutions, management units, various factories, and municipal public facilities; power outages for critical users can have serious consequences. Therefore, the power grid must provide safe, reliable, and high-quality electricity. Dense populations and congested roads in urban areas severely limit the land use for power lines and substations, often necessitating underground structures. Furthermore, environmental protection considerations must be taken into account, such as requirements and restrictions on power supply facilities related to preventing air pollution, noise pollution, beautifying the cityscape, and promoting greening.

[0004] However, due to the growth of trees in urban green areas, some power transmission cables may be obstructed by the branches of the trees, or cause line faults. When such problems occur, people often clear the tree obstructions manually. With the further development of technology, people have developed tree obstruction clearing robots to replace manual tree obstruction clearing operations. However, the current tree obstruction clearing robots do not have force feedback functions. Therefore, the tree obstruction shearing, flame spraying and other functions equipped on the tree obstruction clearing robots may damage the power transmission cables during operation. Summary of the Invention

[0005] Technical problems to be solved

[0006] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a design method for a remotely controlled tree obstacle clearing robot based on force feedback, which solves the technical problems mentioned in the background.

[0007] Technical solution

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] The design method of a remotely controlled tree obstacle clearing robot based on force feedback includes the following steps:

[0010] Step 1: Deploy a local area network to connect the robot and its controller to the network, allowing the robot to receive control commands issued by the controller in real time.

[0011] Step 2: Capture the location information of the local area network service deployed in Step 1, obtain the current crawling power cable distribution structure and location information, and analyze the range in which the robot control commands can be received;

[0012] Step 3: Based on the robot's control command receiving range and the current crawling cable position information, select the robot controller configuration location within the local area network service range;

[0013] Step 4: Deploy force feedback sensors on the surface of the robot, positioning them in the direction the robot is currently crawling along the power cable, and receive the forces detected by the force feedback sensors in real time;

[0014] Step 5: Divide the range of force that the force feedback sensor can sense, obtain the functions of the robot tree obstacle clearing station, and configure the functions of the robot tree obstacle clearing station according to the division results of the pressure range that the force feedback sensor can sense.

[0015] Step 6: The various functions of the robot tree obstacle clearing station operate in real time based on the force feedback sensor, and the operating parameters of the various functions of the robot tree obstacle clearing station are acquired simultaneously during operation.

[0016] Step 7: During robot operation, identify the target location information of the crawling power transmission cable, obtain the target distribution structure of the crawling power transmission cable, and capture the operating parameters of the robot's tree obstacle clearing station function that match the identification of the target location information and the acquisition of the target distribution structure of the crawling power transmission cable in the cloud database built in the next sub-step of step 6.

[0017] Furthermore, after the robot and robot controller go online in the deployed local area network in step 1, the control commands issued by the robot controller to the robot in the local area network are stored in real time in the local area network.

[0018] Furthermore, in steps 2 and 3, when selecting the robot controller configuration position, the robot's current crawling power cable position information corresponding to the power cable area is obtained in real time, and the center position of the range within the power cable area is captured as the selection target for the robot controller configuration position.

[0019] Furthermore, steps 2 and 3 are further subdivided into sub-steps, including the following steps:

[0020] Step 31: Determine whether the area corresponding to the location information of the power transmission cable is larger than the reset range of the deployed local area network;

[0021] Step 311; If the result of step 31 is yes, proceed to step 1 to redeploy the local area network.

[0022] Step 32: Determine whether the area corresponding to the power cable location information is larger than the range that the robot control commands can receive;

[0023] Step 321: If the result of step 32 is yes, control step 3 to be executed repeatedly;

[0024] If the determination results of steps 31 and 32 are both negative, after the execution of steps 2 and 3, the process will proceed to step 4 for further execution.

[0025] Furthermore, in step 4, when deploying the force feedback sensor on the robot, a monitoring data feedback threshold is set for the force feedback sensor. When the force feedback sensor monitors the force data in real time, it compares it with the set monitoring data feedback threshold and stores the comparison result in step 4.

[0026] Furthermore, after completing the division of the force feedback sensor's sensing range and configuring the various functions of the robot's tree obstacle clearing station in step 5, the force monitored in real time by the force feedback sensor deployed on the robot surface is first compared with the feedback threshold set in step 4. If the force monitored by the force feedback sensor is within the feedback threshold range, step 5 is further sent. Step 5 matches the force monitored by the force feedback sensor with the divided force feedback sensor's sensing range, and triggers the corresponding function of the robot's tree obstacle clearing station to run according to the matching result.

[0027] Furthermore, step 6 has sub-steps, including the following steps:

[0028] Step 61: Build a cloud database, receive the running parameters of each function of the robot tree obstacle clearing station obtained in Step 6 in real time, and send them to the built cloud database for storage.

[0029] Furthermore, the information obtained in step 6 regarding the robot's operating parameters includes: the current location information of the crawling power cable and the functions used by the robot at the current tree obstacle clearing station;

[0030] After obtaining the robot's operating parameters, step 6 involves matching and packaging the various operating parameters together. Step 61 then sends the stored operating parameters to the constructed cloud database, which contains the operating parameters after the packaging process in step 6.

[0031] Furthermore, when a matching item is captured in step 7, the response function of the robot obstacle clearing station is driven to run. After the matching item is captured in step 7, when the robot is controlled by the robot controller, the matching item captured in step 7 is deleted from the cloud database constructed in sub-step 61 of step 6, and the running parameter data of the robot currently being controlled by the robot controller is sent to the cloud database as a replacement target.

[0032] Beneficial effects

[0033] Compared with known public technologies, the technical solution provided by this invention has the following beneficial effects:

[0034] 1. This invention provides a design method for a remotely controlled tree obstacle clearing robot based on force feedback. By executing the steps in this method, an independent local area network can be configured for the robot and robot controller to send and receive control commands during the operation of the robot, thereby effectively maintaining the stability of the robot's operation. At the same time, by setting a threshold, the robot's tree obstacle clearing station function will not be falsely triggered due to excessive wind force in windy weather when the force feedback sensor is configured.

[0035] 2. In the process of executing the steps of the method in this invention, a threshold is further set so that the values ​​of each sensing force of the force feedback sensor are matched with the function of the robot tree obstacle clearing station. In this way, the function of the robot tree obstacle clearing station is triggered by the force values ​​sensed in real time by the force feedback sensor, so that the robot has a certain degree of autonomous operation capability, thereby making the use of the tree obstacle clearing robot more intelligent.

[0036] 3. In the process of executing the steps of the method in this invention, the robot's operating parameters can also be stored, and the position information of the robot's operating parameters can be recorded during storage. This allows the robot to operate completely autonomously when it is repeatedly applied to the tree obstacle removal work on the same power transmission cable surface, without the need for manual operation and management, thereby making the construction of the tree obstacle removal robot more efficient and faster. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0038] Figure 1 A flowchart illustrating the design method for a force feedback-based remotely controlled tree obstacle clearing robot. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0040] The present invention will be further described below with reference to embodiments.

[0041] Example 1

[0042] This embodiment presents a design method for a force feedback-based remotely controlled tree obstacle removal robot, such as... Figure 1 As shown, it includes the following steps:

[0043] Step 1: Deploy a local area network to connect the robot and its controller to the network, allowing the robot to receive control commands issued by the controller in real time.

[0044] Step 2: Capture the location information of the local area network service deployed in Step 1, obtain the current crawling power cable distribution structure and location information, and analyze the range in which the robot control commands can be received;

[0045] Step 3: Based on the robot's control command receiving range and the current crawling cable position information, select the robot controller configuration location within the local area network service range;

[0046] Step 4: Deploy force feedback sensors on the surface of the robot, positioning them in the direction the robot is currently crawling along the power cable, and receive the forces detected by the force feedback sensors in real time;

[0047] Step 5: Divide the range of force that the force feedback sensor can sense, obtain the functions of the robot tree obstacle clearing station, and configure the functions of the robot tree obstacle clearing station according to the division results of the pressure range that the force feedback sensor can sense.

[0048] Step 6: The various functions of the robot tree obstacle clearing station operate in real time based on the force feedback sensor, and the operating parameters of the various functions of the robot tree obstacle clearing station are acquired simultaneously during operation.

[0049] Step 7: During robot operation, identify the target location information of the crawling power transmission cable, obtain the target distribution structure of the crawling power transmission cable, and capture the operating parameters of the robot's tree obstacle clearing station function that match the identification of the target location information and the acquisition of the target distribution structure of the crawling power transmission cable in the cloud database built in the next sub-step of step 6.

[0050] Example 2

[0051] At the implementation level, based on Example 1, this example refers to... Figure 1 The following provides a further detailed explanation of the design method for the force feedback-based remote-controlled tree obstacle removal robot in Example 1:

[0052] After the robot and robot controller are online in the deployed local area network in step 1, the control commands issued by the robot controller to the robot in the local area network are stored in real time in the local area network.

[0053] like Figure 1 As shown, in steps 2 and 3, when selecting the robot controller configuration position, the robot's current crawling power cable position information and the corresponding power cable area are obtained in real time, and the center position of the range within the power cable area is captured as the selection target for the robot controller configuration position.

[0054] like Figure 1 As shown, steps 2 and 3 have sub-steps, including the following steps:

[0055] Step 31: Determine whether the area corresponding to the location information of the power transmission cable is larger than the reset range of the deployed local area network;

[0056] Step 311; If the result of step 31 is yes, proceed to step 1 to redeploy the local area network.

[0057] Step 32: Determine whether the area corresponding to the power cable location information is larger than the range that the robot control commands can receive;

[0058] Step 321: If the result of step 32 is yes, control step 3 to be executed repeatedly;

[0059] If the determination results of steps 31 and 32 are both negative, after the execution of steps 2 and 3, the process will jump to step 4 for further execution.

[0060] Example 3

[0061] At the implementation level, based on Example 1, this example refers to... Figure 1 The following provides a further detailed explanation of the design method for the force feedback-based remote-controlled tree obstacle removal robot in Example 1:

[0062] In step 4, when deploying the force feedback sensor on the robot, a monitoring data feedback threshold is set for the force feedback sensor. When the force feedback sensor monitors the force data in real time, it compares it with the set monitoring data feedback threshold and stores the comparison result in step 4.

[0063] like Figure 1 As shown, after completing the division of the force feedback sensor's sensing range and configuring the various functions of the robot's tree obstacle clearing station in step 5, the force monitored in real time by the force feedback sensor deployed on the robot surface is first compared with the feedback threshold set in step 4. If the force monitored by the force feedback sensor is within the feedback threshold range, it is further sent in step 5. Step 5 matches the force monitored by the force feedback sensor with the divided force feedback sensor's sensing range, and triggers the corresponding function of the robot's tree obstacle clearing station to run according to the matching result.

[0064] like Figure 1 As shown, step 6 has sub-steps, including the following steps:

[0065] Step 61: Build a cloud database, receive the running parameters of each function of the robot tree obstacle clearing station obtained in Step 6 in real time, and send them to the built cloud database for storage.

[0066] like Figure 1 As shown, the robot's operating parameters acquired in step 6 include: the current location information of the crawling power cable and the functions used by the robot at the current tree obstacle clearing station;

[0067] After obtaining the robot's operating parameters, step 6 involves matching and packaging the various operating parameters together. Step 61 then sends the stored operating parameters to the constructed cloud database, which contains the operating parameters after the packaging process in step 6.

[0068] like Figure 1 As shown, when a matching item is captured in step 7, the response function of the robot's tree obstacle clearing station is driven to run. After the matching item is captured in step 7, when the robot is controlled by the robot controller, the matching item captured in step 7 is deleted from the cloud database constructed in sub-step 61 of step 6, and the running parameter data of the robot currently being controlled by the robot controller is sent to the cloud database as a replacement target.

[0069] In summary, by executing the steps of the method in the above embodiments, an independent local area network can be configured for the robot and robot controller to send and receive control commands during robot operation, thereby effectively maintaining the stability of robot operation. Simultaneously, by setting thresholds, the robot's tree-clearing function will not be falsely triggered due to excessively strong winds when equipped with force feedback sensors. Furthermore, by further setting thresholds, the sensing force values ​​of each force feedback sensor are matched with the robot's tree-clearing function, thereby triggering the robot's tree-clearing function based on the real-time sensing force values ​​of the force feedback sensor. This gives the robot a certain degree of autonomous operation capability, making the use of the tree-clearing robot more intelligent. In addition, the method can store the robot's operating parameters during the execution of the steps and record the robot's position information during storage. This allows the robot to operate completely autonomously when repeatedly applied to tree-clearing work on the same power cable surface, without the need for manual operation and management, thus making the construction of the tree-clearing robot more efficient and faster.

[0070] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A design method for a remotely controlled tree obstacle clearing robot based on force feedback, characterized in that, Includes the following steps: Step 1: Deploy a local area network to connect the robot and its controller to the network, allowing the robot to receive control commands issued by the controller in real time. Step 2: Capture the location information of the local area network service deployed in Step 1, obtain the current crawling power cable distribution structure and location information, and analyze the range in which the robot control commands can be received; Step 3: Based on the robot's control command receiving range and the current crawling cable position information, select the robot controller configuration location within the local area network service range; Step 4: Deploy force feedback sensors on the surface of the robot, positioning them in the direction the robot is currently crawling along the power cable, and receive the forces detected by the force feedback sensors in real time; Step 5: Divide the range of force that the force feedback sensor can sense, obtain the functions of the robot tree obstacle clearing station, and configure the functions of the robot tree obstacle clearing station according to the division results of the pressure range that the force feedback sensor can sense. Step 6: The various functions of the robot tree obstacle clearing station operate in real time based on the force feedback sensor, and the operating parameters of the various functions of the robot tree obstacle clearing station are acquired simultaneously during operation. Step 7: During robot operation, identify the target location information of the crawling power transmission cable, obtain the target distribution structure of the crawling power transmission cable, and capture the running parameters of the robot tree obstacle clearing station that match the target location information and target distribution structure of the crawling power transmission cable in the cloud database built in the next sub-step of step 6.

2. The design method for a remotely controlled tree obstacle clearing robot based on force feedback according to claim 1, characterized in that, In step 1, after the robot and robot controller are online in the deployed local area network, the control commands issued by the robot controller to the robot in the local area network are stored in real time in the local area network.

3. The design method for a remotely controlled tree obstacle clearing robot based on force feedback according to claim 1, characterized in that, In step 3, when selecting the robot controller configuration position, the robot obtains the current crawling power cable position information and the corresponding power cable area in real time, and captures the center position of the range within the power cable area as the selection target for the robot controller configuration position.

4. The design method for a remotely controlled tree obstacle clearing robot based on force feedback according to claim 1, characterized in that, Step 3 has sub-steps, including the following steps: Step 31: Determine whether the area corresponding to the location information of the power transmission cable is larger than the reset range of the deployed local area network; Step 311: If the result of step 31 is yes, proceed to step 1 to redeploy the local area network; Step 32: Determine whether the area corresponding to the power cable location information is larger than the range that the robot control commands can receive; Step 321: If the result of step 32 is yes, control step 3 to be executed repeatedly; If the determination results of steps 31 and 32 are both negative, the process will proceed to step 4 after steps 2 and 3 are completed.

5. The design method for a remotely controlled tree obstacle clearing robot based on force feedback according to claim 1, characterized in that, In step 4, when deploying the force feedback sensor on the robot, a monitoring data feedback threshold is set for the force feedback sensor. When the force feedback sensor monitors the force data in real time, it compares it with the set monitoring data feedback threshold and stores the comparison result.

6. The design method for a remotely controlled tree obstacle clearing robot based on force feedback according to claim 1, characterized in that, After completing the division of the force feedback sensor's sensing range and configuring the various functions of the robot's tree obstacle clearing station in step 5, the force monitored in real time by the force feedback sensor deployed on the robot surface is first compared with the feedback threshold set in step 4. After the force monitored by the force feedback sensor is within the feedback threshold range, step 5 matches the force monitored by the force feedback sensor with the divided force feedback sensor's sensing range, and triggers the corresponding function of the robot's tree obstacle clearing station to run according to the matching result.

7. The design method for a remotely controlled tree obstacle clearing robot based on force feedback according to claim 1, characterized in that, Step 6 has sub-steps, including the following steps: Step 61: Build a cloud database, receive the running parameters of each function of the robot tree obstacle clearing station obtained in Step 6 in real time, and send them to the built cloud database for storage.

8. The design method for a remotely controlled tree obstacle clearing robot based on force feedback according to claim 7, characterized in that, The information obtained in step 6 regarding the robot's operating parameters includes: the current location information of the crawling power cable and the functions used by the robot at the current tree obstacle clearing station. After obtaining the robot's operating parameters, step 6 involves matching and packaging the various operating parameters together. Step 61 then sends the stored operating parameters to the constructed cloud database, which contains the operating parameters after the packaging process in step 6.

9. The design method for a remotely controlled tree obstacle clearing robot based on force feedback according to claim 8, characterized in that, When a matching item is captured in step 7, the corresponding function of the robot's tree obstacle clearing station is activated. After the matching item is captured, when the robot is controlled by the robot controller, the matching item captured in step 7 is deleted from the cloud database constructed in sub-step 61 of step 6, and the current running parameter data of the robot being controlled by the robot controller is sent to the cloud database as a replacement target.

Images