Multifunctional auxiliary operation vehicle for distribution network line construction and automatic replacement method of auxiliary tools thereof

Abstract

The present application relates to a multifunctional auxiliary operation vehicle for distribution network line construction and a method for automatically replacing auxiliary tools thereof. The multifunctional auxiliary operation vehicle for distribution network line construction includes a wheeled chassis, a control system, a multifunctional auxiliary tool box, a hydraulic quick-change joint, and a telescopic arm. The wheeled chassis is connected to the control system, the multifunctional auxiliary tool box, and the telescopic arm, and the control system is connected to the telescopic arm; the hydraulic quick-change joint is provided on the telescopic arm for detachable connection with the auxiliary tools in the multifunctional auxiliary tool box; the control system is used to control the telescopic arm to sequentially select the corresponding auxiliary tools in the multifunctional auxiliary tool box to perform line construction operations. During auxiliary operations, only auxiliary tools with different functions need to be switched, and no manual cooperation is required. The construction efficiency is high, thereby improving the construction efficiency and environmental adaptability of the multifunctional auxiliary operation vehicle for distribution network line construction.

Description

Technical Field

[0001] The present application relates to the technical field of distribution network technology, and in particular to a multifunctional auxiliary operation vehicle for distribution network line construction and an automatic replacement method for auxiliary tools thereof. Background Art

[0002] With the urgent needs of the distribution network auxiliary construction market, some improvements have been made to auxiliary engineering vehicles. For example: an auxiliary vehicle for transporting electric poles completely bears the weight of the electric poles during horizontal transportation. During transportation, only people need to pull the cart in front or push the cart in the back; an auxiliary vehicle for installing electric poles places the electric poles on at least two transport vehicles and transports them to the installation hole on the ground where they need to be installed. The bottom end of the electric pole faces the installation hole, and finally the electric pole is lifted straight by a crane to facilitate the installation of the electric pole; another auxiliary vehicle for installing electric poles lifts one end of the electric pole to the specified position through the cooperation of the clamping assembly and the lifting assembly. The above-mentioned auxiliary engineering vehicles have met the diversified needs of auxiliary engineering operations to a certain extent, but there are still functional defects: manual cooperation is required during auxiliary operations, and the construction efficiency is low. How to improve the construction efficiency of auxiliary operation vehicles is an urgent problem to be solved. Summary of the Invention

[0003] Based on this, it is necessary to provide a multifunctional auxiliary operation vehicle for distribution network line construction and an automatic replacement method for its auxiliary tools to improve construction efficiency in order to solve the above problems.

[0004] A multifunctional auxiliary work vehicle for distribution network line construction comprises: a wheeled chassis, a control system, a multifunctional auxiliary tool box, a hydraulic quick-change joint and a telescopic arm, wherein the wheeled chassis is connected to the control system, the multifunctional auxiliary tool box and the telescopic arm, and the control system is connected to the telescopic arm; the hydraulic quick-change joint is provided on the telescopic arm for detachable connection with the auxiliary tool in the multifunctional auxiliary tool box; the control system is used to control the telescopic arm to sequentially select the corresponding auxiliary tool in the multifunctional auxiliary tool box to perform line construction operations.

[0005] In one embodiment, the multifunctional auxiliary tool box includes an auxiliary tool box and auxiliary tools arranged in the auxiliary tool box; the auxiliary tool box includes a box body, support legs, a hydraulic push rod and a support platform, the support legs and the hydraulic push rod are connected to the box body, the hydraulic push rod is connected to the support platform and the control system, and the support platform is used to place the auxiliary tools; after the multifunctional auxiliary work vehicle for distribution network line construction arrives at the auxiliary construction site, the control system will disconnect the hook connected to the multifunctional auxiliary tool box, control the support legs to extend to support the functional auxiliary tool box, control the hydraulic push rod to push the support platform upward, and control the telescopic arm to replace the auxiliary tools on the support platform.

[0006] In one embodiment, the control system also determines the distance between the multifunctional auxiliary tool box and the multifunctional auxiliary work vehicle for distribution network line construction based on the positioning device installed on the multifunctional auxiliary tool box and outputs a prompt message. After the multifunctional auxiliary work vehicle for distribution network line construction stops at a set position in front of the multifunctional auxiliary tool box according to the prompt message, the control system controls the telescopic arm to replace the auxiliary tool on the support platform.

[0007] In one embodiment, the control system scans and samples the assistive device to be replaced by a laser scanner to obtain a scene point cloud, and determines a model of the assistive device to be replaced based on the scene point cloud computing, and a pose transformation matrix of the assistive device to be replaced in the scene;

[0008] The control system also simulates all motion trajectories of the front end of the telescopic arm and the corresponding positions of the hydraulic quick-change joint under different motion trajectories based on the posture transformation matrix, and then simulates the feasible trajectory of the hydraulic quick-change joint moving to the position of the auxiliary tool to be replaced based on the specific position of the auxiliary tool to be replaced, and controls the movement of the telescopic arm to replace the auxiliary tool according to the feasible trajectory.

[0009] In one embodiment, the control system performs uniform downsampling processing on the collected scene point cloud, and then extracts a plane from the scene point cloud based on a plane-constrained point-to-feature plane extraction algorithm, obtains assistive device model points based on the plane screening, and rotates and translates the assistive device model points to coincide with the assistive device points to be replaced, thereby obtaining a model of the assistive device to be replaced and a posture transformation matrix of the assistive device to be replaced in the scene.

[0010] In one embodiment, the number of feasible trajectories is more than two, and the control system also analyzes and compares the shortest distances between the telescopic arm and different obstacles in different feasible trajectories, selects the route with the lowest collision probability from the feasible trajectories as a safe motion trajectory, and controls the movement of the telescopic arm to replace the auxiliary device according to the determined safe motion trajectory.

[0011] In one embodiment, the control system further outputs a replacement confirmation message after completing the replacement of the auxiliary tool, and after receiving a confirmation instruction corresponding to the replacement confirmation message input, the telescopic arm is moved and retracted according to a safe motion trajectory during the replacement.

[0012] In one embodiment, the wheeled chassis includes a frame, and drive wheels, a non-independent steering system, an electronic control system and a CNC hydraulic winch arranged on the frame. The electronic control system is connected to the non-independent steering system and the drive wheels, the control system is connected to the electronic control system and the CNC hydraulic winch, and the non-independent steering system is connected to the control system, the multi-functional auxiliary tool box and the telescopic arm; the control system is also used to control the CNC hydraulic winch to adjust the traction force according to the traction speed and force conditions, so as to smoothly pull, extend and reel in the wire.

[0013] In one embodiment, the auxiliary tools in the multifunctional auxiliary tool box include a bucket, a fork, a lifting arm and an aerial automated work platform.

[0014] A method for automatically replacing auxiliary tools of the multifunctional auxiliary operation vehicle for distribution network line construction, comprising:

[0015] Scanning and sampling the assistive device to be replaced by a laser scanner to obtain a scene point cloud, and determining the model of the assistive device to be replaced based on the scene point cloud computing, and the pose transformation matrix of the assistive device to be replaced in the scene;

[0016] According to the posture transformation matrix, all motion trajectories of the front end of the telescopic arm and the corresponding positions of the hydraulic quick-change joint under different motion trajectories are simulated. Then, based on the specific position of the auxiliary tool to be replaced, the feasible trajectory of the hydraulic quick-change joint moving to the position of the auxiliary tool to be replaced is simulated. According to the feasible trajectory, the movement of the telescopic arm is controlled to replace the auxiliary tool.

[0017] The above-mentioned multifunctional auxiliary operation vehicle for distribution network line construction and the automatic replacement method of its auxiliary tools only need to switch auxiliary tools with different functions during auxiliary operations, without the need for manual cooperation, and the construction efficiency is high, thereby improving the construction efficiency and environmental adaptability of the multifunctional auxiliary operation vehicle for distribution network line construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A front view of a multifunctional auxiliary operation vehicle for power distribution network line construction in one embodiment;

[0019] Figure 2 A schematic diagram of the operating area of ​​a multifunctional auxiliary operation vehicle for power distribution network line construction in one embodiment;

[0020] Figure 3 Schematic diagram of three steering modes (crab steering, four-wheel steering, and rear-wheel steering) of a wheeled chassis in one embodiment;

[0021] Figure 4 This is a structural diagram of a multifunctional auxiliary tool box in one embodiment;

[0022] Figure 5This is a schematic structural diagram of a multifunctional assistive tool box in one embodiment;

[0023] Figure 6 This is a schematic diagram showing the principle of automatically replacing auxiliary tools in a multifunctional auxiliary operation vehicle for distribution network line construction in one embodiment;

[0024] Figure 7 This is a flow chart of the auxiliary construction process of a multifunctional auxiliary operation vehicle for distribution network line construction in one embodiment.

[0025] Explanation of the accompanying reference numerals: 1-wheeled chassis, 2-control system, 3-multi-functional auxiliary tool box, 4-power system, 5-hydraulic quick-change connector, 6-telescopic arm, 31-auxiliary tool box, 32-bucket, 33-fork, 34-lifting arm, 35-high-altitude automated work platform, 36-other auxiliary tools, 301-box, 302-support legs, 303-support platform, 304-hydraulic jack. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0028] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if there is transmission of electrical signals or data between the connected circuits, modules, units, etc.

[0029] When used herein, the singular forms "a", "an", and "the" may also include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0030] The equipment foundation bulldozing and loading, equipment loading and unloading and stacking, cargo lifting, manned high-altitude automated operations and other auxiliary equipment operations in traditional distribution network auxiliary construction are relatively independent and scattered, requiring a lot of manpower and various single-function mechanical equipment, resulting in high labor intensity, difficult management, excessive labor expenditure, low construction efficiency, high construction risks and difficult to control construction results.

[0031] The urgent need for auxiliary construction in the distribution network market has led to improvements to existing auxiliary engineering vehicles. While these improved vehicles have, to a certain extent, met the diverse needs of auxiliary engineering operations, they still suffer from functional limitations: The auxiliary operations require human assistance, resulting in high labor intensity, difficult management, and excessive labor costs. Furthermore, the switching of mechanical equipment with different functions during auxiliary operations also reduces construction efficiency. Existing auxiliary engineering vehicles also cover incomplete auxiliary processes, leading to the use of manpower or other mechanical equipment with similar functions, resulting in high construction risks and unpredictable results.

[0032] Based on this, the present application provides a multifunctional auxiliary work vehicle for distribution network line construction, which is suitable for agricultural distribution network line construction. The work vehicle includes a wheeled chassis, a control system, a multifunctional auxiliary tool box, a hydraulic quick-change joint, and a telescopic arm. The hydraulic quick-change joint is provided on the telescopic arm and is used for detachable connection with the auxiliary tools in the multifunctional auxiliary tool box. The control system is used to control the telescopic arm to sequentially select the corresponding auxiliary tools in the multifunctional auxiliary tool box to perform line construction operations. During auxiliary operations, it is only necessary to switch between auxiliary tools with different functions, without the need for manual coordination, and the construction efficiency is high, thereby improving the construction efficiency and environmental adaptability of the multifunctional auxiliary work vehicle for distribution network line construction.

[0033] In one embodiment, Figure 1 As shown, a multifunctional auxiliary work vehicle for distribution network line construction is provided, comprising: a wheeled chassis 1, a control system 2, a multifunctional auxiliary tool box 3, a hydraulic quick-change connector 5, and a telescopic arm 6. The wheeled chassis 1 is connected to the control system 2, the multifunctional auxiliary tool box 3, and the telescopic arm 6, and the control system 2 is connected to the telescopic arm 6. The hydraulic quick-change connector 5 is provided on the telescopic arm 6 for removable connection with auxiliary tools in the multifunctional auxiliary tool box 3. The control system 2 is used to control the telescopic arm 6 to sequentially select corresponding auxiliary tools from the multifunctional auxiliary tool box 3 to perform line construction operations. Furthermore, the multifunctional auxiliary work vehicle for distribution network line construction also includes a power system 4, which is connected to the wheeled chassis 1 and the control system 2 and is used to provide power to the work vehicle. The power system 4 may include a diesel engine drive assembly, a hydraulic system, and a power transmission system. The control system 2, the multifunctional auxiliary tool box 3, the power system 4, the hydraulic quick-change connector 5, and the telescopic arm 6 constitute the vehicle body, which is connected to the wheeled chassis 1 via a non-independent steering system. The telescopic arm 6 is connected to the hydraulic quick-change connector 5 to enable quick connection and disconnection with auxiliary tools in the multifunctional auxiliary tool box 3.

[0034] Among them, such as Figure 2 and Figure 3As shown, the wheeled chassis 1 can realize rear-wheel steering (default mode), four-wheel steering and crab walking. In this embodiment, the wheeled chassis 1 adopts hydrostatic drive and swing suspension, has excellent off-road performance, flexible walking, can adapt to various off-road road surfaces, and adapt to diverse working conditions. The specific structure of the wheeled chassis 1 is not unique. In one embodiment, the wheeled chassis 1 includes a frame, and drive wheels, a non-independent steering system, an electronic control system and a CNC hydraulic winch arranged on the frame. The electronic control system connects the non-independent steering system and the drive wheels, the control system 2 connects the electronic control system and the CNC hydraulic winch, and the non-independent steering system connects the control system 2, the multi-functional auxiliary tool box 3 and the telescopic arm 6. Among them, the electronic control system controls the operation of the drive wheel according to the instructions sent by the control system 2. Furthermore, the control system 2 is also used to control the CNC hydraulic winch to adjust the traction force according to the traction speed and force conditions, and to smoothly pull, spread and reel in the wire.

[0035] The control system 2 may specifically include a main control room, a hydraulic control system, a leveling system, an intelligent application platform, and a digital hydraulic winch control system. The hydraulic control system, the leveling system, the intelligent application platform, and the digital hydraulic winch control system are all arranged in the main control room to perform corresponding functions. For example, the digital hydraulic winch control system can realize stepless speed regulation and over-limit protection of the digital hydraulic winch. The digital hydraulic winch automatically adjusts the traction force according to the traction speed and the force conditions to achieve smooth traction, deployment, and reeling of the conductor. The multifunctional auxiliary tool box 3 integrates a variety of operating tools required by the multifunctional auxiliary operation vehicle for the construction of the distribution network line, specifically, Figure 4 As shown, the multifunctional tool box 3 includes a tool box 31 and the tools stored therein. The type and quantity of tools are not limited and can be customized based on actual needs. In one embodiment, the tools in the multifunctional tool box 3 include a bucket 32, a fork 33, a lifting arm 34, and an automated aerial work platform 35. The bucket 32, fork 33, lifting arm 34, and automated aerial work platform 35 are placed in different compartments of the tool box 31 for use during line construction. Furthermore, the tool box 31 can also be used to store the hydraulic quick-change connector 5 and other tools 36.

[0036] The structure of the auxiliary tool box 31 is not unique. Figure 5 As shown, the auxiliary tool box 31 includes a box body 301, support legs 302, a support platform 303, and a hydraulic jack 304. The support legs 302 and hydraulic jack 304 are connected to the box body 301. The hydraulic jack 304 is connected to the support platform 303 and the control system 2. The support platform 303 is used to store auxiliary tools. After the multifunctional auxiliary work vehicle for distribution network line construction arrives at the construction site, it uses the hydraulic control system to control the telescopic arm 6, which connects to the auxiliary tools in the multifunctional auxiliary tool box 3 via the hydraulic quick-change connector 5. This allows operations such as bulldozing and loading equipment foundations, loading and unloading equipment, stacking equipment, lifting cargo, manned high-altitude automated operations, and other auxiliary tool operations.

[0037] In one embodiment, the multifunctional auxiliary work vehicle for distribution network line construction also includes a leveling mechanism mounted on the telescopic arm 6. The leveling mechanism is connected to the control system 2. The control system 2 controls the leveling mechanism to maintain a horizontal position when the telescopic arm 6 is used to replace the aerial automated work platform. Furthermore, when the telescopic arm 6 is used to replace the bucket, the control system 2 operates the telescopic arm 6 and the leveling mechanism to level the ground for distribution network line construction.

[0038] In one embodiment, after a multifunctional auxiliary work vehicle for distribution network line construction arrives at the auxiliary construction site, the control system 2 disconnects the hook connected to the multifunctional auxiliary tool box 3, controls the legs 302 to extend to support the auxiliary tool box 3, controls the hydraulic jack 304 to push the support platform 303 upward, and controls the telescopic arm 6 to replace the auxiliary tools on the support platform 303. Specifically, during construction, the multifunctional auxiliary work vehicle for distribution network line construction stops at a suitable location and disconnects the hook connected to the multifunctional auxiliary tool box 3 behind it. The multifunctional auxiliary tool box 3 has four legs 302 integrated into its side center. After the multifunctional auxiliary tool box 3 is disconnected from the multifunctional auxiliary work vehicle for distribution network line construction, the operator uses the control system 2 to control the four legs 302 to extend. These legs support the multifunctional tool box 3 during subsequent tool replacement, preventing it from moving or tipping. Each auxiliary tool in the multifunctional auxiliary tool box 3 is equipped with a hydraulic jack 304 beneath its support platform 303. When an auxiliary tool needs to be replaced, the operator uses the control system 2 to control the hydraulic jack 304 under the corresponding auxiliary tool to push the support platform 303 upward, facilitating the replacement of the auxiliary tool.

[0039] In one embodiment, the control system 2 also determines the distance between the multifunctional auxiliary tool box 3 and the multifunctional auxiliary work vehicle for distribution network line construction based on the positioning device installed in the multifunctional auxiliary tool box 3 and outputs a prompt message. After the multifunctional auxiliary work vehicle for distribution network line construction stops at the set position in front of the multifunctional auxiliary tool box 3 according to the prompt message, the control system 2 controls the telescopic arm 6 to replace the auxiliary tools on the support platform 303. Specifically, the specific value of the set position is not unique and can be determined by the structural parameters and operating range of the telescopic arm 6 of the work vehicle. The multifunctional auxiliary tool box 3 is equipped with a positioning device. When replacing auxiliary tools, the control system 3 will issue a reminder based on the relative distance from the multifunctional auxiliary tool box 3. Only after the work vehicle stops at the appropriate position in front of the multifunctional auxiliary tool box 3 can the automatic replacement of the auxiliary tools be controlled by the control system 2.

[0040] Furthermore, in one embodiment, the control system 2 scans and samples the auxiliary device to be replaced through a laser scanner to obtain a scene point cloud, and determines the model of the auxiliary device to be replaced based on the scene point cloud computing, and calculates the posture transformation matrix of the auxiliary device to be replaced in the scene. The control system 2 also simulates all the motion trajectories of the front end of the telescopic arm 6 and the corresponding positions of the hydraulic quick-change joint 5 under different motion trajectories based on the posture transformation matrix, and then simulates the feasible trajectory of the hydraulic quick-change joint 5 moving to the position of the auxiliary device to be replaced based on the specific position of the auxiliary device to be replaced, and controls the movement of the telescopic arm 6 according to the feasible trajectory to replace the auxiliary device. Among them, there may be one or more feasible trajectories. When there are multiple feasible trajectories, the control system 2 can control the replacement of the auxiliary device based on the safe motion trajectory selected by the staff; or it can screen a safe motion trajectory from multiple feasible trajectories through model analysis to control the replacement of the auxiliary device.

[0041] The control system 2 analyzes the model of the auxiliary device to be replaced, the posture transformation matrix of the auxiliary device to be replaced in the scene, and the method of simulating the feasible trajectory of the hydraulic quick-change connector 5 to the position of the auxiliary device to be replaced is not the only one. In one embodiment, the control system 2 uniformly downsamples the collected scene point cloud, and then extracts a plane from the scene point cloud based on a plane-constrained point-to-feature plane extraction algorithm, obtains the auxiliary device model points based on the plane screening, and makes the auxiliary device model points coincide with the auxiliary device points to be replaced by rotating and translating, thereby obtaining the model of the auxiliary device to be replaced and the posture transformation matrix of the auxiliary device to be replaced in the scene.

[0042] Furthermore, when the number of feasible trajectories is more than two, the control system 2 also analyzes and compares the shortest distances between the telescopic arm and different obstacles in different feasible trajectories, selects the route with the lowest collision probability from the feasible trajectories as the safe motion trajectory, and controls the movement of the telescopic arm 6 to replace the auxiliary equipment according to the determined safe motion trajectory.

[0043] Specifically, the work vehicle is equipped with a 3D object recognition system based on OpenCV and PCL. Figure 6 As shown in the figure, when replacing an assistive device, the system uses a laser scanner to scan and sample the assistive device to be replaced to obtain a scene point cloud. By uniformly downsampling the acquired scene point cloud, the assistive device recognition speed is improved. Then, based on the plane-constrained point pair feature (PC-PPF) plane extraction algorithm, the formula is used:

[0044] F(p1, p2)∈{|d|, [π / 2-δ, π / 2+δ], [π / 2-δ, π / 2+δ], [-δ, δ]}

[0045] Determine whether any two directed points are in the same plane, thereby extracting a plane from a point cloud. Where p1 and p2 are two different directed points in the same plane, d is the distance vector between p1 and p2, and δ is a given angle deviation value.

[0046] When replacing an assistive tool, the multifunctional assistive tool box 3 pushes the support platform 303 upward, so the support platform 303 is located at a higher plane relative to the multifunctional assistive tool box 3. The system selects the plane with the higher point cloud as the plane location of the support platform, and then removes all points below the assistive tool support platform in the scene point cloud. The remaining point cloud contains all points of the support platform 303 and the assistive tool to be replaced on its surface.

[0047] Even after the initial point cloud preprocessing, the time complexity of direct matching with the PPF point pair features in the scene is still too high to meet the needs of real-time recognition. Therefore, when building the model feature library, only the points with obvious differences between different auxiliary tools (for example, auxiliary tool 1 can occupy a certain point in space due to its structure, while auxiliary tool 2 cannot) and all points at the docking position of the quick-change joint are used, using the formula:

[0048] F(m1, m2)=(|d|, ∠(n1, d), ∠(n2, d), ∠(n1, n2))

[0049] Calculate the PPF feature descriptor of the point pair, where m1 and m2 are two directed points in the assistive model point cloud, n1 and n2 are the normals of m1 and m2 respectively, d is the distance vector between m1 and m2, and ∠(n1, d), ∠(n2, d), and ∠(n1, n2) represent the angles between the corresponding two vectors respectively.

[0050] After the calculation is completed, the auxiliary points to be replaced in the scene (s i , s j ), and the point in the model (m i , m j ) corresponds. The system makes the assistive device model points coincide with the assistive device points to be replaced through rotation, translation, etc., thereby obtaining the model of the assistive device to be replaced, and the pose transformation matrix of the assistive device to be replaced in the scene. Then, the pose transformation matrix obtained is subjected to pose clustering operation, where the translation components of each point are summed and averaged to obtain the translation vector T. The rotation component needs to obtain the corresponding quaternion from the rotation components of the two matrices, and then the two quaternions are summed and the average is obtained, and then the average quaternion is converted into a rotation component. The calculation formula for the quaternion (q0, q1, q2, q3) corresponding to the rotation matrix is:

[0051]

[0052]

[0053]

[0054]

[0055] Among them, R ij is the rotation component. The rotation matrix calculation formula of quaternion q0, q1, q2, q3 is:

[0056]

[0057] Finally, the ICP (Iterative Closest Point) algorithm is used for precise registration. Let the point clouds P and Q to be registered be the model point cloud and the point cloud of the auxiliary tool to be replaced respectively. After obtaining the rotation matrix R and the translation vector T, select a point p in the point cloud P. i , and then find a point p from the point cloud Q i The point with the least Euclidean distance is denoted as q i , these two points are the corresponding points, and the transformation matrix is ​​calculated. Then this process is iterated continuously. According to the set iteration stop condition, the optimal transformation matrix can be obtained after the iteration ends, so that the two point clouds can be aligned. The iteration stop formula is as follows:

[0058]

[0059] Ultimately, the model is better overlapped with the auxiliary tool to be replaced, and the various structures of the auxiliary tool to be replaced are accurately identified, providing data support for the alignment of the quick-change connector and the important positions of the auxiliary tool during the subsequent replacement of the auxiliary tool.

[0060] Furthermore, the work vehicle is equipped with a Simulink and STM32-based work arm motion trajectory simulation system, which incorporates a dynamic model of the work vehicle's telescopic arm 6. After determining the relative position of the work vehicle and the auxiliary tool to be replaced, the joint angles derived from the dynamic model are subjected to a forward kinematics solution, using the positions of spatial obstacles scanned by a laser scanner and the alignment requirements of the quick-change joints with key positions of the auxiliary tool when replacing the auxiliary tool as constraints. This system simulates the entire motion trajectory of the front end of the telescopic arm 6 and the corresponding position of the front quick-change joint. Using the specific position of the auxiliary tool to be replaced as the result, a feasible trajectory for the quick-change joint to move to the position of the auxiliary tool to be replaced is simulated.

[0061] After the work vehicle simulates a feasible trajectory, if there is more than one feasible trajectory, the safest trajectory must be selected as the moving trajectory. Although the feasible trajectories are generated under the premise of no collision, in actual work, objective factors such as the environment often have a significant impact on vehicle safety. Therefore, the work vehicle is equipped with a judgment system that uses the collision probability as the judgment condition. The system has a collision threshold d c and the collision threshold dc Form a collision warning circle. Import the shortest distance d between the telescopic arm 6 and different obstacles measured when moving along a certain trajectory i , when d i Less than d c When the system defaults to the telescopic arm 6 collision. c The value of d c Compare one by one, using the formula:

[0062]

[0063] Calculate the estimated collision probability P of the telescopic arm 6, where K is the number of the shortest distances (number of obstacles) introduced. Compare the probabilities P obtained from different routes, and take the route with the minimum estimated collision probability P as the safest trajectory.

[0064] Furthermore, in one embodiment, the control system 2 outputs a replacement confirmation message after completing the auxiliary tool replacement. Upon receiving a confirmation instruction corresponding to the replacement confirmation message, the control system 2 retracts the telescopic arm 6 along the safe movement trajectory used during the replacement. After the auxiliary tool is replaced, the system uses a sensor to notify the driver whether the replacement was successful. Upon confirmation by the driver, the system retracts the telescopic arm 6 along the original path based on the movement trajectory of the telescopic arm 6 during the replacement.

[0065] With the support of the above structure, when the work vehicle changes auxiliary tools, after parking in front of the multifunctional auxiliary tool box 3, the control system 2 can automatically change the auxiliary tools with one click, and the motion trajectory of the telescopic arm 6 is automatically generated by the system. Through the above functional modules, the work vehicle can automatically change auxiliary tools after parking in the appropriate position.

[0066] like Figure 7 As shown, the digital assisted construction control process of control system 2 is:

[0067] a. The multifunctional auxiliary operation vehicle for distribution network line construction starts and arrives at the auxiliary construction site;

[0068] b. Through the intelligent application platform, carry out auxiliary equipment calibration and auxiliary construction environment testing to make preparations for auxiliary construction;

[0069] c. Based on the auxiliary engineering content, the driver operates the control system to use the forks or lifting arm to perform auxiliary construction;

[0070] d. Through the quick-change connector, when the lifting arm is selected, the cargo can be lifted;

[0071] e. The quick-change connector ensures smooth loading, unloading, and stacking of agricultural distribution network equipment such as utility poles when using forks.

[0072] f. Then use the bucket to level the ground for the agricultural distribution network construction by operating the telescopic arm and leveling mechanism;

[0073] g. When carrying out manned aerial work on the agricultural distribution network, the high-altitude automated work platform is installed through the hydraulic quick-change connector. The active leveling mechanism can keep the high-altitude automated work platform in a horizontal state, which can be used for manned aerial work such as laying power lines;

[0074] h. At the same time, the digital hydraulic winch control system is required to control the digital hydraulic winch on the wheeled chassis to achieve smooth traction and deployment of the wires;

[0075] i. Through the intelligent application platform, the wires are tested to see if they are qualified. If they are unqualified, the wires are retracted and re-laid;

[0076] j. After checking that the position of the wires is qualified, disconnect and fix the wires. The control system notifies the construction personnel to re-inspect and the construction is completed.

[0077] In one embodiment, a method for automatic replacement of auxiliary tools based on the above-mentioned multifunctional auxiliary work vehicle for distribution network line construction is also provided, including: scanning and sampling the auxiliary tool to be replaced by a laser scanner to obtain a scene point cloud, determining the model of the auxiliary tool to be replaced based on the scene point cloud computing, and obtaining a posture transformation matrix of the auxiliary tool to be replaced in the scene; simulating all motion trajectories of the front end of the telescopic arm and the corresponding positions of the hydraulic quick-change joint under different motion trajectories according to the posture transformation matrix, and then simulating the feasible trajectory of the hydraulic quick-change joint moving to the position of the auxiliary tool to be replaced based on the specific position of the auxiliary tool to be replaced, and controlling the movement of the telescopic arm according to the feasible trajectory to replace the auxiliary tool.

[0078] It can be understood that the specific content of the automatic replacement method of auxiliary tools of the above-mentioned multifunctional auxiliary operation vehicle for distribution network line construction has been explained in detail in the above-mentioned multifunctional auxiliary operation vehicle for distribution network line construction, and will not be repeated here.

[0079] The above-mentioned multifunctional auxiliary operation vehicle for distribution network line construction does not require manual cooperation during auxiliary operations, has high construction efficiency, convenient management, and reduced labor costs; during auxiliary operations, it is only necessary to switch auxiliary tools with different functions, which improves the construction efficiency and environmental adaptability of the multifunctional auxiliary operation vehicle for distribution network line construction; the auxiliary processes involved in the auxiliary operations are complete, the construction risk is low, and the construction results are controllable.

[0080] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A multifunctional auxiliary operation vehicle for distribution network line construction, characterized in that: include: A wheeled chassis, a control system, a multifunctional auxiliary tool box, a hydraulic quick-change joint, and a telescopic arm. The wheeled chassis is connected to the control system, the multifunctional auxiliary tool box, and the telescopic arm, and the control system is connected to the telescopic arm. The hydraulic quick-change joint is provided on the telescopic arm for detachable connection with the auxiliary tool in the multifunctional auxiliary tool box. The control system is used to control the telescopic arm to sequentially select the corresponding auxiliary tool in the multifunctional auxiliary tool box to perform line construction operations. The control system uses a laser scanner to scan and sample the auxiliary tool to be replaced to obtain a scene point cloud, uniformly downsamples the collected scene point cloud, and then extracts a plane from the scene point cloud based on a plane-constrained point-to-feature plane extraction algorithm. Based on the plane, auxiliary tool model points are screened and obtained. The auxiliary tool model points are made to coincide with the auxiliary tool points to be replaced by rotating and translating, and the model of the auxiliary tool to be replaced is obtained, and the posture transformation matrix of the auxiliary tool to be replaced in the scene is obtained; the control system also simulates all motion trajectories of the front end of the telescopic arm and the corresponding positions of the hydraulic quick-change joint under different motion trajectories according to the posture transformation matrix, and then simulates the feasible trajectory of the hydraulic quick-change joint moving to the position of the auxiliary tool to be replaced based on the specific position of the auxiliary tool to be replaced, and controls the movement of the telescopic arm to replace the auxiliary tool according to the feasible trajectory; The control system uses the formula: Calculate the PPF feature descriptor of the point pair, where are two directed points in the auxiliary model point cloud. They are The normal direction, for The distance vector between Respectively represent the angle between the two corresponding vectors; after the calculation is completed, the auxiliary point to be replaced in the scene , and the points in the model Correspondingly, the assistive device model points are made to coincide with the assistive device points to be replaced by rotating and translating, thereby obtaining the model of the assistive device to be replaced and the pose transformation matrix of the assistive device to be replaced in the scene; The multifunctional auxiliary tool box includes an auxiliary tool box and auxiliary tools arranged in the auxiliary tool box; the auxiliary tool box includes a box body, support legs, a hydraulic push rod and a support platform, the support legs and the hydraulic push rod are connected to the box body, the hydraulic push rod is connected to the support platform and the control system, and the support platform is used to place the auxiliary tools; after the multifunctional auxiliary work vehicle for distribution network line construction arrives at the auxiliary construction site, the control system will disconnect the hook connected to the multifunctional auxiliary tool box, control the support legs to extend to support the functional auxiliary tool box, control the hydraulic push rod to push the support platform upward, and control the telescopic arm to replace the auxiliary tools on the support platform.

2. The multifunctional auxiliary operation vehicle for distribution network line construction according to claim 1, characterized in that: The control system also determines the distance between the multifunctional auxiliary tool box and the multifunctional auxiliary work vehicle for distribution network line construction based on the positioning device installed on the multifunctional auxiliary tool box and outputs prompt information. After the multifunctional auxiliary work vehicle for distribution network line construction stops at a set position in front of the multifunctional auxiliary tool box according to the prompt information, the control system controls the telescopic arm to replace the auxiliary tool on the support platform.

3. The multifunctional auxiliary operation vehicle for distribution network line construction according to claim 2, characterized in that: The control system performs uniform downsampling on the acquired scene point cloud to improve the assistive device recognition speed, and then uses the point-to-feature plane extraction algorithm based on plane constraints, using the formula: Determine whether any two directed points are in the same plane, thereby extracting the plane from the point cloud; are two different directed points in the same plane. for The distance vector between is a given angle deviation value; the plane where the point cloud is located is selected as the plane position of the support table, and then all points under the auxiliary tool support table in the scene point cloud are eliminated. The remaining point cloud is the support table and all points on its surface of the auxiliary tool to be replaced.

4. The multifunctional auxiliary operation vehicle for distribution network line construction according to claim 3, characterized in that: The control system performs a posture clustering operation on the obtained posture transformation matrix, wherein the translation components of each point are summed and averaged to obtain the translation vector T ; Calculate the corresponding quaternion from the rotation components of the two matrices, then sum the two quaternions and calculate the average value, and then convert this average quaternion into a rotation component; After the iterative closest point algorithm is used to perform the registration operation and the set iteration stop condition is reached, the iteration ends and the optimal transformation matrix is ​​obtained, so that the two point clouds can be aligned. The iteration stop formula is as follows: in, R, T are the rotation matrix and translation vector respectively, Point Cloud P A point in Point Cloud Q midpoint The point with the least Euclidean distance, point cloud P and point cloud Q are the model point cloud and the point cloud of the auxiliary tool to be replaced respectively; The control system imports the dynamic model of the telescopic arm of the work vehicle. After determining the relative position of the work vehicle and the auxiliary tool to be replaced, the position of the spatial obstacles obtained by the laser scanner and the alignment requirements of the quick-change joint and the important positions of the auxiliary tool when replacing the auxiliary tool are used as constraints. The joint angle obtained by the dynamic model is solved by forward kinematics to simulate all the motion trajectories of the front end of the telescopic arm and the corresponding position of the front end quick-change joint. Then, based on the specific position of the auxiliary tool to be replaced, the feasible trajectory of the quick-change joint moving to the position of the auxiliary tool to be replaced is simulated.

5. The multifunctional auxiliary operation vehicle for distribution network line construction according to claim 3 is characterized in that: The number of the feasible trajectories is two or more, and the control system further analyzes and compares the shortest distances between the telescopic arm and different obstacles in different feasible trajectories, selects a route with the lowest collision probability from the feasible trajectories as a safe motion trajectory, and controls the movement of the telescopic arm to replace the auxiliary tool according to the determined safe motion trajectory; The calculation formula for collision probability is: in, is the shortest distance between the telescopic arm and different obstacles, is the collision threshold, and K is the minimum number of distances imported.

6. The multifunctional auxiliary operation vehicle for distribution network line construction according to claim 3, characterized in that: The control system also outputs a replacement confirmation message after completing the replacement of the auxiliary tool, and after receiving a confirmation instruction corresponding to the replacement confirmation message, moves and retracts the telescopic arm according to a safe motion trajectory during the replacement.

7. The multifunctional auxiliary operation vehicle for distribution network line construction according to any one of claims 1 to 6, characterized in that: The wheeled chassis includes a frame, and drive wheels, a non-independent steering system, an electronic control system and a CNC hydraulic winch arranged on the frame. The electronic control system is connected to the non-independent steering system and the drive wheels, the control system is connected to the electronic control system and the CNC hydraulic winch, and the non-independent steering system is connected to the control system, the multi-functional auxiliary tool box and the telescopic arm; the control system is also used to control the CNC hydraulic winch to adjust the traction force according to the traction speed and force conditions, so as to smoothly pull, extend and reel in the wire.

8. The multifunctional auxiliary operation vehicle for distribution network line construction according to any one of claims 1 to 6, characterized in that: The auxiliary tools in the multifunctional auxiliary tool box include a bucket, a fork, a lifting arm and an aerial automated work platform.

9. A method for automatically replacing auxiliary tools of a multifunctional auxiliary work vehicle for distribution network line construction according to any one of claims 1 to 8, characterized in that: include: The scene point cloud is obtained by scanning and sampling the auxiliary tool to be replaced with a laser scanner. The collected scene point cloud is uniformly downsampled. Then, a plane is extracted from the scene point cloud based on a plane-constrained point-to-feature plane extraction algorithm. The auxiliary tool model points are screened based on the plane. The auxiliary tool model points are rotated and translated to coincide with the points of the auxiliary tool to be replaced. The model of the auxiliary tool to be replaced is obtained, and the pose transformation matrix of the auxiliary tool to be replaced in the scene is obtained. Among them, for the points that are obviously different from different auxiliary tools and all points at the docking position of the quick-change joint, the formula is used: Calculate the PPF feature descriptor of the point pair, where are two directed points in the auxiliary model point cloud. They are The normal direction, for The distance vector between Respectively represent the angle between the two corresponding vectors; after the calculation is completed, the auxiliary point to be replaced in the scene , and the points in the model Correspondingly, the assistive device model points are made to coincide with the assistive device points to be replaced by rotating and translating, thereby obtaining the model of the assistive device to be replaced and the pose transformation matrix of the assistive device to be replaced in the scene; According to the posture transformation matrix, all motion trajectories of the front end of the telescopic arm and the corresponding positions of the hydraulic quick-change joint under different motion trajectories are simulated. Then, based on the specific position of the auxiliary tool to be replaced, the feasible trajectory of the hydraulic quick-change joint moving to the position of the auxiliary tool to be replaced is simulated. According to the feasible trajectory, the movement of the telescopic arm is controlled to replace the auxiliary tool.

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