A method for tightening bolts on a tension clamp drain plate, a maintenance robot, and a medium.

Abstract

This application relates to a method for tightening bolts on a tension clamp drain plate, a maintenance robot, and a medium. The method includes: generating a depth image by acquiring depth data within the field of view using a detection device; determining whether a drain plate exists within the field of view based on the depth image; if present, controlling a displacement device to stop moving and adjusting the angles of the detection device and the tightening device so that the line of sight of the detection device is perpendicular to the drain plate; identifying the position of the bolt on the drain plate based on the depth image generated from the depth data acquired by the detection device after the angle adjustment; controlling the tightening device to move so that it is perpendicularly aligned with the center of the position, and controlling the tightening device to perform the tightening operation on the bolt. This method solves the problems of low efficiency and untimely tightening of bolts on tension clamp drain plates in related technologies.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a method for fastening bolts on a tension clamp drain plate, a maintenance robot, and a medium. Background Technology

[0002] The working environment of overhead high-voltage transmission lines is harsh. Due to their constant exposure to the elements, they are highly susceptible to environmental and geographical factors. Compression-type tension clamps on overhead high-voltage transmission lines typically have large drain plates with two or more fastening bolts. Due to environmental factors, these bolts may loosen due to heat and temperature differences, which can significantly impact the safe and stable operation of the power grid. Therefore, timely tightening and maintenance of the fastening bolts on the drain plates is essential.

[0003] Currently, this defect is mainly addressed by manual work on low-potential or equipotential lines. However, due to limitations in the distance of live-line work, it is difficult for workers to perform tightening operations. Furthermore, equipotential live-line work requires approval from the dispatching department, which involves a lengthy approval process, making it difficult to tighten loose bolts in a timely manner. This results in low efficiency and untimely tightening of the tension clamp drain plate bolts. Summary of the Invention

[0004] Therefore, it is necessary to provide a method for tightening bolts on the tension clamp drain plate, a maintenance robot, and a medium to address the aforementioned technical problems.

[0005] In a first aspect, embodiments of this application provide a method for fastening bolts on a tension clamp drain plate, applied to a maintenance robot. The maintenance robot includes a displacement device, a carrier, a detection device, and a fastening device. The detection device and the fastening device are mounted on the carrier. The displacement device is used to move the maintenance robot along the stranded wire. The method includes:

[0006] A depth image is generated based on the depth data collected within the field of view by the detection device.

[0007] Based on the depth image, determine whether a drainage plate exists within the field of view;

[0008] If present, the displacement device is controlled to stop moving, and the angles of the detection device and the fastening device are adjusted so that the line of sight of the detection device is perpendicular to the drainage plate.

[0009] The location of the bolts on the drain plate is identified by a depth image generated from depth data collected within the field of view by the detection device after the angle is adjusted.

[0010] Control the movement of the fastening device to align it vertically with the center of the position, and control the fastening device to perform the tightening operation on the bolt.

[0011] In one embodiment, generating a depth image based on depth data collected within the field of view by the detection device includes:

[0012] Based on a preset depth range, the depth data collected by the detection device within its field of view is filtered to obtain effective depth data;

[0013] A depth image is generated based on the effective depth data.

[0014] In one embodiment, determining whether a drainage plate exists within the field of view based on the depth image includes:

[0015] Based on the shape of the depth image, determine whether a drainage plate exists within the field of view.

[0016] In one embodiment, determining whether a drainage plate exists within the field of view based on the shape of the depth image includes:

[0017] If the depth image appears as a straight line, it is determined that there is no drainage plate within the field of view;

[0018] If the depth image has an irregular shape, and the proportion of effective depth data in the middle of the depth image is greater than a preset value, then it is determined that a drainage plate exists within the field of view.

[0019] In one embodiment, adjusting the angles of the detection device and the fastening device so that the line of sight of the detection device is perpendicular to the drainage plate includes:

[0020] Based on the depth data, the angle between the drainage plate and the horizontal plane is obtained;

[0021] Based on the angle between the drainage plate and the horizontal plane, adjust the angles of the detection device and the fastening device so that the angle between the plane containing the detection device and the fastening device and the horizontal plane is consistent with the angle between the drainage plate and the horizontal plane.

[0022] In one embodiment, obtaining the angle between the drainage plate and the horizontal plane based on the depth image includes:

[0023] Based on the numerical values ​​of the depth data and the relative positional relationship of the depth data within the field of view, the first plane is fitted using the least squares method;

[0024] Based on the first plane and the horizontal plane, the angle between the drainage plate and the horizontal plane is obtained.

[0025] In one embodiment, the depth image generated by the detection device acquiring depth data within its field of view after the angle adjustment is used to identify the position of the bolt on the drainage plate:

[0026] A depth image is generated based on depth data collected within the field of view by the detection device after the angle is adjusted, and a first region in the depth image whose depth data value is lower than the depth data value of other regions is obtained.

[0027] Determine whether the shape of the first region is circular and / or elliptical;

[0028] If so, then the first area is the location of the bolt on the drainage plate.

[0029] In one embodiment, the detection device is a depth camera.

[0030] Secondly, embodiments of this application also provide a maintenance robot, including a displacement device, a carrier, a detection device, a fastening device, and a controller. The detection device and the fastening device are mounted on the carrier. The displacement device is used to move the maintenance robot along a stranded wire.

[0031] The controller is used to perform the method described in the first aspect above to complete the tightening of the tension clamp drain plate bolts.

[0032] Thirdly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect above.

[0033] The aforementioned method for tightening bolts on the tension clamp drain plate, along with the maintenance robot and readable storage medium, generates a depth image by collecting depth data within the field of view using the detection device. Based on the depth image, it determines whether a drain plate exists within the field of view. If present, it controls the displacement device to stop moving and adjusts the angles of the detection device and the tightening device so that the line of sight of the detection device is perpendicular to the drain plate. Based on the depth image generated from the depth data collected within the field of view by the detection device after the angle adjustment, it identifies the position of the bolt on the drain plate. It then controls the tightening device to move so that it is perpendicularly aligned with the center of the position and performs the tightening operation on the bolt. This method solves the problems of low efficiency and untimely tightening of bolts on tension clamp drain plates in related technologies, and improves the automation level of the tightening operation.

[0034] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0035] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0036] Figure 1 This is a schematic diagram illustrating the application environment of the tension clamp drain plate bolt fastening method in one embodiment;

[0037] Figure 2 This is a flowchart illustrating the bolt fastening method for the tension clamp drain plate in one embodiment;

[0038] Figure 3 This is a flowchart illustrating the specific steps of S201 in one embodiment;

[0039] Figure 3-1 This is a schematic diagram of the shape of a depth image in one embodiment;

[0040] Figure 3-2 This is a schematic diagram of the shape of the depth image in another embodiment;

[0041] Figure 4 This is a flowchart illustrating the specific steps of S203 in one embodiment;

[0042] Figure 4-1 This is a schematic diagram of two-dimensional array values ​​when the line of sight of the detection device is perpendicular to the diversion plate in one embodiment;

[0043] Figure 5 This is a flowchart illustrating the specific steps of S401 in one embodiment;

[0044] Figure 5-1 This is a schematic diagram of a two-dimensional array when the horizontal angle is 45° in one embodiment;

[0045] Figure 5-2 This is a schematic diagram of a two-dimensional array when the vertical angle is 45° in one embodiment;

[0046] Figure 6 This is a flowchart illustrating the specific steps of S204 in one embodiment;

[0047] Figure 6-1 This is a schematic diagram illustrating the determination of the bolt's position in a depth image in one embodiment;

[0048] Figure 6-2 This is a schematic diagram showing the position of the bolt in a depth image in one embodiment;

[0049] Figure 7 This is a schematic diagram of the maintenance robot structure in one embodiment.

[0050] Among them, 102 is the maintenance robot; 104 is the stranded wire; 106 is the diversion plate; 11 is the displacement device; 12 is the carrier; 13 is the detection device; 14 is the fastening device; and 15 is the controller. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0052] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0053] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0054] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0055] The tension clamp drain plate bolt fastening method provided in this application is applied to maintenance robots and can be used in applications such as... Figure 1 The application environment is shown. The maintenance robot 102 is suspended on a stranded wire 104 of an overhead high-voltage transmission line, with a diversion plate 106 located below the stranded wire 104. The maintenance robot 102 includes a displacement device 11, a carrier 12, a detection device 13, and a fastening device 14. The carrier 12 carries the detection device 13 and the fastening device 14. The displacement device 14 moves the maintenance robot 102 along the stranded wire 104. The detection device 13 maintains a horizontal line of sight and its height does not exceed the stranded wire 104, collecting depth data within its field of view in real time.

[0056] The current-draining plate is located on the compression-type tension clamp, which is the compression-type tension clamp referred to in the power industry standard DL / T757-2009.

[0057] This embodiment provides a method for fastening bolts on the drain plate of a tension clamp, the method comprising the following steps:

[0058] Step S201: Generate a depth image based on the depth data collected within the field of view by the detection device;

[0059] Specifically, the detection device collects depth data within its field of view in real time and stores the depth data in a two-dimensional array. The depth data represents the distance from a point within the field of view to the detection device, as well as the point's location within that field of view.

[0060] In this embodiment, depth data is stored in a two-dimensional array. The size of the two-dimensional array is determined by the resolution of the detection device. A depth image is generated based on the two-dimensional array. The detection device clears and fills the two-dimensional array each time it acquires data, and regenerates the depth image.

[0061] Step S202: Based on the depth image, determine whether a drainage plate exists within the field of view;

[0062] Step S203: If present, control the displacement device to stop moving, and control the detection device and the fastening device to adjust their angles so that the line of sight of the detection device is perpendicular to the drainage plate;

[0063] Step S204: Based on the depth image generated by the detection device acquiring depth data within the field of view after the angle is adjusted, the position of the bolt on the drainage plate is identified;

[0064] Step S205: Control the fastening device to move so that it is vertically aligned with the center of the position, and control the fastening device to perform the fastening work on the bolt.

[0065] Steps S201 to S205 above involve generating a depth image by collecting depth data within the field of view using the detection device; determining whether a drainage plate exists within the field of view based on the depth image; if so, stopping the displacement device and adjusting the angles of the detection device and the fastening device so that the line of sight of the detection device is perpendicular to the drainage plate; identifying the position of the bolt on the drainage plate based on the depth image generated from the depth data collected within the field of view by the detection device after the angle adjustment; controlling the fastening device to move so that it is perpendicularly aligned with the center of the position; and controlling the fastening device to perform the fastening work on the bolt. This solves the problems of low efficiency and untimely operation of bolt fastening for tension clamp drainage plates in related technologies, and improves the automation level of bolt fastening for tension clamp drainage plates.

[0066] In one embodiment, such as Figure 3 As shown, the process of generating a depth image based on depth data collected within the field of view by the detection device includes the following steps:

[0067] Step S301: Based on a preset depth range, filter the depth data within the field of view collected by the detection device to obtain effective depth data;

[0068] Step S302: Generate a depth image based on the effective depth data.

[0069] Specifically, due to the unique nature of high-altitude operations and the constraints of effective visual distance, not all depth data collected within the field of view of the detection device is valid depth data. Therefore, in order to obtain depth data related to the components of the transmission line, the depth data within the field of view of the detection device can be filtered by setting a preset depth range to obtain valid depth data.

[0070] In one embodiment, determining whether a drainage plate exists within the field of view based on the depth image includes:

[0071] Based on the shape of the depth image, determine whether a drainage plate exists within the field of view.

[0072] Specifically, if the depth image presents a straight line shape, such as Figure 3-1 As shown, it is determined that there is no drainage plate within the field of view; when the depth image presents a straight line shape, it is assumed that the detection device is horizontally aligned with the sleeve of the stranded wire or the compression type tension clamp.

[0073] If the depth image has an irregular shape, and the proportion of effective depth data in the middle of the depth image is greater than a preset value, such as Figure 3-2 As shown, it is determined that a drainage plate exists within the field of view.

[0074] In this embodiment, by combining the overall shape of the depth image with the proportion of effective depth data in the depth image, the maintenance robot can intelligently identify the drainage plate within its field of view.

[0075] It should be noted that, under the traction force of the various components of the transmission line, the angle between the plane of the current-carrying plate of the compression-type tension clamp on the transmission line and the horizontal plane is unpredictable, and the angle between the plane of the same current-carrying plate and the horizontal plane may change at different times. Therefore, before tightening the bolts of the current-carrying plate of the tension clamp, the line of sight of the detection device must be perpendicular to the current-carrying plate.

[0076] In one embodiment, such as Figure 4 As shown, adjusting the angles of the detection device and the fastening device so that the line of sight of the detection device is perpendicular to the drainage plate includes the following steps:

[0077] Step S401: Based on the depth data, obtain the angle between the drainage plate and the horizontal plane;

[0078] Step S402: Based on the angle between the drainage plate and the horizontal plane, adjust the angles of the detection device and the fastening device so that the angle between the plane containing the detection device and the fastening device and the horizontal plane is consistent with the angle between the drainage plate and the horizontal plane.

[0079] It should be noted that, in this embodiment, the relative positions of the detection device and the fastening device remain unchanged during the angle adjustment process. After the angle is adjusted, the line of sight of the detection device is perpendicular to the drainage plate, and the fastening device is also perpendicular to the drainage plate.

[0080] When the line of sight of the detection device is perpendicular to the drainage plate, the effective depth data of each point on the plane of the drainage plate remains consistent within a certain proportion. This proportion should be adjusted accordingly for different models of drainage plates. For example, Figure 4-1 It is a numerical representation of the effective depth within a 5×5 two-dimensional array.

[0081] In one embodiment, such as Figure 5 As shown, obtaining the angle between the drainage plate and the horizontal plane based on the depth image includes the following steps:

[0082] Step S501: Based on the numerical value of the depth data and the relative positional relationship of the depth data within the field of view, the first plane is fitted using the least squares method;

[0083] Step S502: Based on the first plane and the horizontal plane, obtain the angle between the drainage plate and the horizontal plane.

[0084] For example, such as Figure 5-1 As shown, taking the depth data of a 5×5 two-dimensional array as an example, the least squares method is used to fit the two-dimensional array into a first plane, which is a horizontal plane at 45°, based on the numerical value of the depth data and the relative positional relationship of the depth data in the two-dimensional array. This first plane can be regarded as the plane of the drainage plate. Based on the first plane and the horizontal plane, the angle between the drainage plate and the horizontal plane can be calculated. Figure 5-2 As shown, taking the depth data of another 5×5 two-dimensional array as an example, the two-dimensional array is fitted to a first plane by using the numerical value of the depth data and the relative positional relationship of the depth data in the two-dimensional array, which is a plane with a vertical tilt angle of 45°. The first plane can be regarded as the plane of the drainage plate. Based on the first plane and the horizontal plane, the angle between the drainage plate and the horizontal plane can be calculated.

[0085] It should be noted that the bolts on the drainage plate are protrusions on the drainage plate, which are close to the camera, and the corresponding depth data values ​​are smaller than those in other areas.

[0086] In one embodiment, such as Figure 6As shown, the steps for identifying the position of the bolt on the drainage plate are as follows: The depth image generated by the detection device acquiring depth data within its field of view after angle adjustment.

[0087] Step S601: Based on the depth image generated by the detection device collecting depth data within the field of view after adjusting the angle, obtain the first region in the depth image where the depth data value is lower than the depth data value of other regions;

[0088] Step S602: Determine whether the shape of the first region is circular and / or elliptical;

[0089] Step S603: If yes, then the first area is the position of the bolt on the drainage plate.

[0090] For example, such as Figure 6-1 As shown, taking the depth data of a 10×10 two-dimensional array as an example, Figure 6-1 The depth data for the middle section is either 4 or 3, and the overall shape of the area is circular, therefore it can be determined that... Figure 6-1 The black circle in the middle indicates the location of the bolt on the drainage plate. For example, as shown... Figure 6-2 As shown, when the detection device is 20cm away from the drainage plate and vertically aligned with it, the specific location of a bolt in the drainage plate in the depth image is obtained. Figure 6-2 The position of the ellipse.

[0091] In this embodiment, by combining the numerical value of depth data with the overall shape of the area, the maintenance robot can automatically identify the position of the bolts on the drain plate.

[0092] In one embodiment, the detection device is a depth camera.

[0093] The depth camera should be a small or miniature depth camera with a certain resolution, and it should have a usable camera function at close range.

[0094] This application also provides a maintenance robot, such as... Figure 7 As shown, the system includes a displacement device 11, a carrier 12, a detection device 13, a fastening device 14, and a controller 15. The carrier 12 is equipped with the detection device 13 and the fastening device 14. The displacement device 11 is used to move the maintenance robot along the strand.

[0095] The controller 15 is used to perform the method described in the first aspect above to complete the tightening of the tension clamp drain plate bolts.

[0096] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in any of the above embodiments of the tension clamp drain plate bolt fastening method.

[0097] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0098] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.

[0099] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for bolt fastening of a strain clamp drainage plate, applied to a maintenance robot, the maintenance robot comprising a displacement device, a carrier, a detection device and a fastening device, the detection device and the fastening device being loaded on the carrier, the displacement device being used to move the maintenance robot along a strand; characterized in that, The method includes: Based on a preset depth range, the depth data collected by the detection device within its field of view is filtered to obtain effective depth data, and a depth image is generated based on the effective depth data. Based on the depth image, determine whether a drainage plate exists within the field of view; if the depth image is a straight line, determine that no drainage plate exists within the field of view; if the depth image is an irregular shape, and the proportion of effective depth data in the middle of the depth image is greater than a preset value, determine that a drainage plate exists within the field of view. If present, the displacement device is controlled to stop moving, and the angles of the detection device and the fastening device are adjusted so that the line of sight of the detection device is perpendicular to the drainage plate. The method for identifying the position of the bolt on the drainage plate involves: generating a depth image based on depth data collected within the field of view by the detection device after the angle adjustment; obtaining a first region in the depth image whose depth data value is lower than the depth data values ​​of other regions; determining whether the shape of the first region is circular and / or elliptical; if so, the first region is the position of the bolt on the drainage plate. Control the movement of the fastening device to align it vertically with the center of the position, and control the fastening device to perform the tightening operation on the bolt.

2. The method according to claim 1, characterized in that, Adjusting the angles of the detection device and the fastening device so that the line of sight of the detection device is perpendicular to the drainage plate includes: Based on the depth data, the angle between the drainage plate and the horizontal plane is obtained; Based on the angle between the drainage plate and the horizontal plane, adjust the angles of the detection device and the fastening device so that the angle between the plane containing the detection device and the fastening device and the horizontal plane is consistent with the angle between the drainage plate and the horizontal plane.

3. The method according to claim 2, characterized in that, The step of obtaining the angle between the drainage plate and the horizontal plane based on the depth image includes: Based on the numerical values ​​of the depth data and the relative positional relationship of the depth data within the field of view, the first plane is fitted using the least squares method; Based on the first plane and the horizontal plane, the angle between the drainage plate and the horizontal plane is obtained.

4. The method according to claim 1, characterized in that, The detection device is a depth camera.

5. A maintenance robot, characterized in that, The system includes a displacement device, a carrier, a detection device, a fastening device, and a controller. The detection device and the fastening device are mounted on the carrier. The displacement device is used to move the maintenance robot along the strand. The controller is used to perform the method as described in any one of claims 1 to 4 to complete the tightening of the tension clamp drain plate bolts.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 4.

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