A live working robot guidance system and method using an unmanned aerial vehicle

Abstract

The present invention discloses a live working robot guiding system and method using an unmanned aerial vehicle. The system includes a load-carrying support vehicle, a robotic arm, a robot controller, a robot module, and a guiding unmanned aerial vehicle. The robot module includes an insulating bucket and a live working robot. The live working robot is arranged on the insulating bucket, and the insulating bucket is installed on the load-carrying support vehicle through the robotic arm. The robotic arm adjusts the aerial position of the live working robot, and the load-carrying support vehicle adjusts the horizontal position of the live working robot. The robot controller is respectively connected to the load-carrying support vehicle and the robotic arm, so as to control the live working robot to move to a designated working position through the load-carrying support vehicle and the robotic arm. The guiding unmanned aerial vehicle is wirelessly connected to the robot controller and guides the live working robot to move to a designated working position. The present invention can solve problems such as deviation in positioning and unsuccessful arrival, improve the maintenance operation efficiency, and enable the live working robot to accurately reach the working position in a complex environment.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic behavior feature research, and particularly relates to a guiding system and method for a live working robot using an unmanned aerial vehicle (UAV). Background Art

[0002] Live working is of great significance for improving power supply reliability, reducing power outage losses, and providing high-quality services to users. In order to improve the safety and automation level of live working, meet the needs of industry development, reduce the labor intensity of operators, ensure the safety of maintenance operations, and improve the maintenance efficiency and accuracy, the research and development of live working robots for distribution networks have been widely carried out worldwide.

[0003] Existing live working robots often adopt "robot autonomous positioning - dual-arm path planning" to achieve automatic trajectory planning of the robotic arms and complete relevant live working tasks. However, this method has very high requirements for precise positioning and dual-arm path planning. In actual applications, there are often situations such as deviation in positioning and unsuccessful arrival, which require operators to make fine adjustments, making it difficult for the robot to autonomously reach the predetermined position, resulting in a reduction in the maintenance operation efficiency. Especially in complex environments, such as environments with low visibility and many obstacles, the live working robot cannot accurately reach the working position. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a guiding system for a live working robot using an unmanned aerial vehicle, which solves problems such as deviation in positioning and unsuccessful arrival, improves the maintenance operation efficiency, and enables the live working robot to work in complex environments.

[0005] To achieve the above purpose, the technical solution provided by the present invention is as follows:

[0006] A guiding system for a live working robot using an unmanned aerial vehicle, comprising a load-carrying support vehicle, a robotic arm, a robot controller, a robot module, and a guiding UAV;

[0007] Wherein, the robot module includes an insulating bucket and a live working robot;

[0008] The live working robot is arranged on the insulating bucket, and the insulating bucket is installed on the load-carrying support vehicle through the robotic arm. The robotic arm adjusts the aerial position of the live working robot, and the load-carrying support vehicle adjusts the horizontal position of the live working robot;

[0009] The robot controller is respectively connected to the load-carrying support vehicle and the robotic arm, so as to control the live working robot to move to a designated working position through the load-carrying support vehicle and the robotic arm;

[0010] The guiding drone is wirelessly connected to the robot controller to guide the live working robot to move to a designated working position.

[0011] Further, the guiding drone includes a drone and a control terminal wirelessly connected to the drone;

[0012] The drone includes a drone body, an execution module, and an information collection module;

[0013] The execution module and the information collection module are mounted on the drone body.

[0014] Furthermore, the execution module includes a loudspeaker and a lighting lamp;

[0015] The information collection module includes a camera, a laser sensor, and an ultrasonic sensor.

[0016] Furthermore, the control terminal is wirelessly connected to the robot controller, and the control terminal includes an environmental information acquisition and processing module, an execution device control module, and a display module;

[0017] The environmental information collection and processing module is used to receive information sent by the drone and analyze the information to obtain the working position of the live working robot;

[0018] The execution device control module is used to perform corresponding operations after receiving input information from the environmental information collection and processing module, and send corresponding instructions to the drone so that the drone completes the corresponding task.

[0019] Furthermore, the control terminal also includes a work analysis and evaluation module, which records the entire work process, analyzes key nodes, compares the gaps between predetermined procedures, forms an evaluation report, and guides the next step of work.

[0020] Furthermore, it also includes a laser receiver;

[0021] The execution module also includes a laser transmitter;

[0022] The laser receiver is installed at the center of the front side of the insulating bucket and is connected to the robot controller to receive the laser signal emitted by the laser transmitter.

[0023] To achieve the above object, the present invention further provides a method for guiding a live working robot using a drone, which is implemented using the above guidance system and includes:

[0024] Control and guide the drone to fly to the work area, collect environmental information of the work area, and analyze the existing data information to obtain the working position of the live working robot;

[0025] Using the coordinate positioning guidance method or the laser guidance method, the charged operation robot is guided by the guiding UAV to move to the analyzed working position.

[0026] Furthermore, analyzing the working position of the charged operation robot includes:

[0027] Controlling the guiding UAV to fly to the working area and collecting the environmental information of the working area. In this environmental information,

[0028] Let the stripping point of the near-phase conductor be point A, the stripping point of the middle-phase conductor be point B, the stripping point of the far-phase conductor be point C, the placement point of the near-phase lead be point D, the placement point of the middle-phase lead be point E, the placement point of the far-phase lead be point F, and the unknown point be point O. These points are all three-dimensional coordinate points;

[0029] It is known that the arm span of the charged operation robot is L1, the straight-line distance from the center of the insulating bucket to the edge is L2, and the safe distance from the edge of the insulating bucket to the energized part is L3;

[0030] The goal is to obtain the coordinates of point O when OA + OB + OC + OD + OE + OF is the smallest. At the same time, there are constraints: L2 + L3 < OX < L1 + L2, where X = A, B, C, D, E, F;

[0031] Taking the obtained coordinates of point O as the working position of the charged operation robot.

[0032] Furthermore, using the coordinate positioning guidance method, guiding the robot module to move to the analyzed working position by guiding the UAV includes:

[0033] Controlling the guiding UAV to fly to the analyzed working position of the charged operation robot;

[0034] Recording the working position coordinates of the charged operation robot;

[0035] Sending the working position coordinates of the charged operation robot to the robot controller;

[0036] The robot controller controls the load-carrying support vehicle and the manipulator so that the charged operation robot moves to the specified working position.

[0037] Furthermore, using the laser guidance method, guiding the robot module to move to the analyzed working position by guiding the UAV includes:

[0038] Controlling the guiding UAV to fly to the analyzed working position of the charged operation robot;

[0039] Adjusting the position of the laser emitter on the guiding UAV to face the charged operation robot;

[0040] Controlling the guiding UAV to emit laser at the working position;

[0041] Adjust the insulating bucket to face the laser emission direction so that the laser receiver is directly facing the laser emission direction;

[0042] After the robot controller receives the signal from the laser receiver, it controls the load-bearing support vehicle and the robotic arm so that the live working robot moves along the laser to the designated working position.

[0043] Compared with the prior art, the principle and advantages of this solution are as follows:

[0044] 1. This solution solves the problems of deviation in the positioning of the live working robot and unsuccessful arrival at the position by guiding the live working robot to move to the working position through the guiding UAV.

[0045] 2. This solution combines the coordinates of three wire stripping points and three lead placement points to calculate the optimal working position of the live working robot, eliminating the need for operators to fine-tune the position of the live working robot, thus improving the maintenance operation efficiency.

[0046] 3. In addition to the method of laser guidance, this solution also includes a method of coordinate positioning guidance, enabling the live working robot to accurately reach the working position even in a complex environment. Description of the Drawings

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the services required in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0048] Figure 1 Schematic diagram of a live working robot guidance system using a UAV according to the present invention;

[0049] Figure 2 Connection block diagram of a live working robot guidance system using a UAV according to the present invention.

[0050] Reference Signs:

[0051] 1 - Load-bearing support vehicle; 2 - Robotic arm; 3 - Robot controller; 4 - Guiding UAV; 5 - Laser receiver; 6 - Insulating bucket; 7 - Live working robot. Detailed Embodiments

[0052] The following further illustrates the present invention in conjunction with specific embodiments:

[0053] As Figures 1 to 2As shown in the figure, a live working robot guidance system using a drone according to this embodiment includes a load-carrying support vehicle 1, a robotic arm 2, a robot controller 3, a robot module, a guiding drone 4, and a laser receiver 5.

[0054] Among them, the robot module includes an insulating bucket 6 and a live working robot 7; the live working robot 7 is arranged on the insulating bucket 6, and the insulating bucket 6 is installed on the load-carrying support vehicle 1 through the robotic arm 2. The robotic arm 2 adjusts the aerial position of the live working robot 7, and the load-carrying support vehicle 1 adjusts the horizontal position of the live working robot 7; the robot controller 3 is respectively connected to the control end of the load-carrying support vehicle 1 (this control end can control the movement of the load-carrying support vehicle 1) and the drive motor of the robotic arm 2 (this drive motor controls the telescopic movement of the robotic arm); the guiding drone 4 is wirelessly connected to the robot controller 3 and guides the live working robot 7 to move to a designated working position.

[0055] Specifically, in this embodiment, the guiding drone 4 includes a drone and a control terminal wirelessly connected to the drone; the drone includes a drone body, an execution module, and an information collection module; the execution module and the information collection module are carried on the drone body.

[0056] The execution module includes a megaphone, a lighting lamp, and a laser emitter; the information collection module includes a camera, a laser sensor, and an ultrasonic sensor.

[0057] The control terminal is wirelessly connected to the robot controller 3. The control terminal includes an environmental information collection and processing module, an execution device control module, an operation analysis and evaluation module, and a display module; the environmental information collection and processing module is used to receive the information sent by the drone and analyze the information to obtain the working position of the live working robot 7; the execution device control module is used to execute corresponding operations after receiving the input information from the environmental information collection and processing module, send corresponding instructions to the drone, so that the drone completes corresponding tasks; the operation analysis and evaluation module records the entire operation process, analyzes key nodes, compares the gaps between the preset programs, forms an evaluation report, and guides the next step of work; the display module is used to display the scene and corresponding data captured by the guiding drone 4 in real time.

[0058] Specifically, in this embodiment, the laser receiver 5 is installed at the center position on the front of the insulating bucket 6 and is connected to the robot controller 3, and is used to receive the laser signal emitted by the laser emitter.

[0059] The working principle of this embodiment is as follows:

[0060] The guiding drone 4 is controlled by the control terminal to fly to the working area, collect the environmental information of the working area, and analyze in combination with the existing data information to obtain the working position of the live working robot 7;

[0061] The specific process of analyzing the working position of the live working robot 7 includes:

[0062] In the environmental information of the working area, let the stripping point of the near-phase wire be point A, the stripping point of the middle-phase wire be point B, the stripping point of the far-phase wire be point C, the placement point of the near-phase lead be point D, the placement point of the middle-phase lead be point E, the placement point of the far-phase lead be point F, and the unknown point be point O. These points are all three-dimensional coordinate points;

[0063] It is known that the arm span of the live working robot 7 is L1, the straight-line distance from the center of the insulating bucket 6 to the edge is L2, and the safe distance from the edge of the insulating bucket 6 to the energized part is L3;

[0064] The goal is to obtain the coordinates of point O when OA + OB + OC + OD + OE + OF is the smallest. At the same time, there are constraints: L2 + L3 < OX < L1 + L2, where X = A, B, C, D, E, F;

[0065] The obtained coordinates of point O are used as the working position of the live working robot 7.

[0066] Using the coordinate positioning guidance method or the laser guidance method, the live working robot 7 is guided by the guiding UAV 4 to move to the analyzed working position.

[0067] Using the coordinate positioning guidance method, guiding the robot module to move to the analyzed working position by the guiding UAV 4 includes:

[0068] The control terminal controls the guiding UAV 4 to fly to the analyzed working position of the live working robot 7;

[0069] Record the working position coordinates of the live working robot 7;

[0070] Send the working position coordinates of the live working robot 7 to the robot controller 3;

[0071] The robot controller 3 controls the load-carrying support vehicle 1 and the robotic arm 2 so that the live working robot 7 moves to the specified working position.

[0072] Using the laser guidance method, guiding the robot module to move to the analyzed working position by the guiding UAV 4 includes:

[0073] The control terminal controls the guiding UAV 4 to fly to the analyzed working position of the live working robot 7;

[0074] Adjust the position of the laser emitter on the guiding UAV 4 to face the live working robot 7;

[0075] Control the guiding UAV 4 to emit laser at the working position;

[0076] Adjust the insulating bucket 6 towards the laser emission direction so that the laser receiver 5 is directly facing the laser emission direction;

[0077] After the robot controller 3 receives the signal from the laser receiver 5, it controls the load-bearing support vehicle 1 and the robotic arm 2, so that the live working robot 7 moves along the laser to the designated working position.

[0078] In this embodiment, by guiding the drone 4 to guide the live working robot 7 to move to the working position, the problems of deviation in the positioning of the live working robot 7 and unsuccessful arrival are solved. Combining the coordinates of the three wire stripping points and the three lead placement points, the optimal working position of the live working robot 7 is obtained, and there is no need for the operator to fine-tune the position of the live working robot 7, thereby improving the maintenance operation efficiency. In addition to the method using laser guidance, there is also a method using coordinate positioning guidance, that is, even in a complex environment, the live working robot 7 can accurately reach the working position.

[0079] The above-described embodiments are only the preferred embodiments of the present invention, and do not limit the scope of implementation of the present invention. Therefore, all changes made according to the shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A live working robot guidance system using a drone, characterized in that, Includes load-carrying support vehicle, robotic arm, robot controller, robot module, and guided drone; Wherein, the robot module includes an insulating bucket and a live-working robot; The live-line working robot is arranged on an insulating bucket, and the insulating bucket is mounted on a load-bearing support vehicle through a mechanical arm, the mechanical arm adjusts the aerial position of the live-line working robot, and the load-bearing support vehicle adjusts the horizontal position of the live-line working robot; The robot controller is connected to the load-carrying support vehicle and the mechanical arm respectively, so as to control the live-working robot to move to a designated working position through the load-carrying support vehicle and the mechanical arm; The guiding drone is wirelessly connected to the robot controller to guide the live working robot to move to a designated working position; The working process of the live working robot guidance system using drones includes: Control and guide the drone to fly to the work area, collect environmental information of the work area, and analyze the existing data information to obtain the working position of the live working robot; Using a coordinate positioning guidance method or a laser guidance method, the live working robot is guided by a drone to move to the analyzed working position; Analyze the working position of the live working robot, including: Control and guide the drone to fly to the work area and collect environmental information of the work area. Assume that the stripping point of the near-phase conductor is point A, the stripping point of the middle-phase conductor is point B, the stripping point of the far-phase conductor is point C, the placement point of the near-phase lead is point D, the placement point of the middle-phase lead is point E, the placement point of the far-phase lead is point F, and the unknown point is point O. These points are all three-dimensional coordinate points; It is known that the arm span of the live working robot is L1, the straight-line distance from the center of the insulating bucket to the edge is L2, and the safe distance from the edge of the insulating bucket to the live part is L3; The goal is to find the coordinates of point O when OA+OB+OC+OD+OE+OF is the minimum, and at the same time, subject to the constraints: L2+L3 <OX<L1+L2,X=A,B,C,D,E,F; The obtained coordinates of point O are used as the working position of the live working robot.

2. The live working robot guiding system using a drone according to claim 1, wherein, The guiding drone includes a drone and a control terminal wirelessly connected to the drone; The drone includes a drone body, an execution module, and an information collection module; The execution module and the information collection module are mounted on the drone body.

3. The live working robot guiding system using a drone according to claim 2, wherein, The execution module includes a loudspeaker and a lighting lamp; The information collection module includes a camera, a laser sensor, and an ultrasonic sensor.

4. A live working robot guiding system using a drone according to claim 2, characterized in that, The control terminal is wirelessly connected to the robot controller, and the control terminal includes an environmental information acquisition and processing module, an execution device control module, and a display module; The environmental information collection and processing module is used to receive information sent by the drone and analyze the information to obtain the working position of the live working robot; The execution device control module is used to perform corresponding operations after receiving input information from the environmental information collection and processing module, and send corresponding instructions to the drone so that the drone completes the corresponding task.

5. The guiding system for a live working robot using a drone according to claim 4, characterized in that, The control terminal also includes an operation analysis and evaluation module, which records the entire operation process, analyzes key nodes, compares the gaps between predetermined procedures, forms an evaluation report, and guides the next step of work.

6. A live working robot guiding system using a drone according to any one of claims 3-5, characterized in that, It further includes a laser receiver; The execution module further includes a laser emitter; The laser receiver is installed at the center position of the front of the insulating bucket and is connected to the robot controller, and is used for receiving the laser signal emitted by the laser emitter.

7. A method for guiding a live working robot using a drone, characterized in that, It is implemented by using the guiding system described in claim 6, including: Controlling the guiding unmanned aerial vehicle to fly to the working area, collecting the environmental information of the working area, and analyzing in combination with the existing data information to obtain the working position of the live working robot; Using the coordinate positioning guiding method or the laser guiding method, guiding the live working robot to move to the analyzed working position by the guiding unmanned aerial vehicle.

8. A method for guiding a live working robot using a drone according to claim 7, characterized in that, Analyzing the working position of the live working robot includes: Controlling the guiding unmanned aerial vehicle to fly to the working area, collecting the environmental information of the working area, in this environmental information, Let the stripping point of the near-phase wire be point A, the stripping point of the middle-phase wire be point B, the stripping point of the far-phase wire be point C, the placement point of the near-phase lead be point D, the placement point of the middle-phase lead be point E, the placement point of the far-phase lead be point F, and the unknown point be point O. These points are all three-dimensional coordinate points; It is known that the arm span of the live working robot is L1, the straight-line distance from the center of the insulating bucket to the edge is L2, and the safe distance from the edge of the insulating bucket to the energized part is L3; The goal is: to obtain the coordinates of point O when OA + OB + OC + OD + OE + OF is the smallest. At the same time, it is subject to the constraint: L2 + L3 < OX < L1 + L2, where X = A, B, C, D, E, F; Taking the obtained coordinates of point O as the working position of the live working robot.

9. A method for guiding a live working robot using a drone according to claim 7, characterized in that, Using the coordinate positioning guiding method, guiding the robot module to move to the analyzed working position by the guiding unmanned aerial vehicle includes: Controlling the guiding unmanned aerial vehicle to fly to the analyzed working position of the live working robot; Recording the working position coordinates of the live working robot; Sending the working position coordinates of the live working robot to the robot controller; The robot controller controls the load-bearing support vehicle and the robotic arm, so that the live working robot moves to the designated working position.

10. A method for guiding a live working robot using a drone according to claim 7, characterized in that, Using the laser guiding method, guiding the robot module to move to the analyzed working position by the guiding unmanned aerial vehicle includes: Controlling the guiding unmanned aerial vehicle to fly to the analyzed working position of the live working robot; Adjusting the position of the laser emitter on the guiding unmanned aerial vehicle to face the live working robot; Controlling the guiding unmanned aerial vehicle to emit laser at the working position; Adjusting the orientation of the insulating bucket towards the laser emission direction so that the laser receiver is directly facing the laser emission direction; After receiving the signal from the laser receiver, the robot controller controls the load-bearing support vehicle and the robotic arm, so that the live working robot moves along the laser to the designated working position.

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