A live-line work robot work safety distance analysis method and device

Abstract

The application discloses a live-line work robot work safety distance analysis method and device, a plurality of simulation points are arranged at the first joint of the live-line work robot, the first relative position of the plurality of simulation points relative to the first joint is obtained, and the first conversion relationship of the plurality of simulation points relative to the first joint is obtained based on the first relative position; the robot coordinate system of the live-line work robot is determined, the second conversion relationship of the first joint under the robot coordinate system is obtained based on a plurality of first joint values of the live-line work robot; the simulation point positions of the plurality of simulation points under the robot coordinate system are obtained based on the first conversion relationship and the second conversion relationship; the conductor track is determined, the distances from the plurality of simulation point positions to the conductor are calculated respectively, the current minimum distance of the live-line work robot is determined based on the obtained plurality of first distances; compared with the prior art, the technical scheme of the application can improve the accuracy of live-line work robot safety distance detection.

Description

Technical Field

[0001] This invention relates to the technical field of performance measurement of live-line working robots, and in particular to a method and apparatus for analyzing the safe working distance of live-line working robots. Background Technology

[0002] Power lines are classified into transmission lines and distribution lines according to voltage levels. Distribution circuits, with voltage levels below 35kV, cover a wide area and are therefore also called distribution network lines. Since distribution network lines are directly related to users, and users have the most direct experience with them, ensuring the long-term stable operation of distribution network lines is an important way to maintain the image of the power grid company. Events affecting the safe and stable operation of power grid lines are generally divided into defects and faults. Faults cause line outages, while defects do not necessarily lead to outages, but defects may develop into faults. Power grid management regulations generally subdivide defects into four levels: emergency, major, general, and other. Each level of defect needs to be eliminated within a specified time. However, due to the wide coverage of distribution network lines, the number of defects and the workload for eliminating them are very large.

[0003] To ensure timely troubleshooting and improve the reliability of power supply lines, live-line troubleshooting is one of the most effective methods. Based on this need, many live-line operation robots for distribution networks have emerged on the market. However, in practice, the robot must maintain a safe distance from the conductor during operation. Otherwise, if the robot comes into contact with the conductor, it will cause a grounding short circuit and damage the robot equipment. Currently, integrated detection of safe distance cannot be achieved, and manual methods are used in most cases. The detection process requires a lot of manpower and time, and the detection accuracy and repeatability are not high. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and device for analyzing the safe working distance of a live-line working robot, so as to improve the accuracy of the safe working distance detection of the live-line working robot.

[0005] To address the aforementioned technical problems, this invention provides a method for analyzing the safe working distance of a live-line working robot, comprising:

[0006] Multiple simulated points are set at the first joint of the live-line working robot, the first relative position of the multiple simulated points relative to the first joint is obtained, and based on the first relative position, the first transformation relationship of the multiple simulated points relative to the first joint is obtained.

[0007] Determine the robot coordinate system in which the live-line working robot is located, and based on multiple first joint values ​​of the live-line working robot during the simulated operation process, obtain the second transformation relationship of the first joint in the robot coordinate system;

[0008] Based on the first transformation relationship and the second transformation relationship, the simulated point positions of the plurality of simulated points in the robot coordinate system are obtained;

[0009] The trajectory of the conductor is determined, and the distances from multiple simulated points to the conductor are calculated to obtain multiple first distances. Based on the multiple first distances, the current minimum distance of the live-line working robot is determined.

[0010] In one possible implementation, determining the traverse trajectory specifically includes:

[0011] Set up a laser tracker, determine the measurement coordinate system in which the laser tracker is located, and obtain the third transformation relationship between the measurement coordinate system and the robot coordinate system based on a preset coordinate system transformation method;

[0012] Obtain the first and second conductor coordinates of the conductor in the measurement coordinate system. Based on the third transformation relationship, perform coordinate transformation on the first and second conductor coordinates to obtain the third and fourth conductor coordinates of the conductor in the robot coordinate system.

[0013] The traverse trajectory is determined based on the coordinates of the third and fourth traverses.

[0014] In one possible implementation, a third transformation relationship between the measurement coordinate system and the robot coordinate system is obtained based on a preset coordinate system transformation method, specifically including:

[0015] Obtain the first end coordinate value of the live-line working robot in the robot coordinate system;

[0016] A first measuring target is installed at the end of the live-line working robot. The first measuring target is measured based on the laser tracker to obtain the second end coordinate value of the live-line working robot in the measuring coordinate system.

[0017] Based on the first end coordinate value and the second end coordinate value, coordinate point pairs are obtained, and based on the fitting algorithm, the coordinate point pairs are fitted to obtain the third transformation relationship between the measurement coordinate system and the robot coordinate system.

[0018] In one possible implementation, the distances from multiple simulated point locations to the traverse are calculated to obtain multiple first distances, specifically including:

[0019] Each simulated point location is sequentially input into a preset traverse distance calculation formula, so that the distance from each simulated point location to the traverse is calculated based on the traverse distance calculation formula, resulting in multiple first distances; wherein, the traverse distance calculation formula is as follows:

[0020] D(Tk,L)=|Tk-A(R)·(L(R))| / |L(R)|(k=1...n);

[0021] In the formula, D(Tk,L) is the first distance from the kth simulated point to the traverse, Tk is the position of the kth simulated point, A(R) is the coordinate of the third traverse, and L(R) is the traverse trajectory.

[0022] In one possible implementation, obtaining the first relative position of the plurality of simulated points relative to the first joint specifically includes:

[0023] A second measuring target is installed at the first joint of the live-line working robot. The coordinate values ​​of the first joint of the live-line working robot in the measuring coordinate system are obtained by measuring the second measuring target based on the laser tracker.

[0024] A third measuring target is installed at each of the plurality of simulated points of the live-line working robot. The coordinate values ​​of the live-line working robot at the plurality of first simulated points in the measuring coordinate system are obtained by measuring the third measuring target based on the laser tracker.

[0025] Based on the coordinates of the plurality of first simulated points and the coordinate values ​​of the first joint, the first relative positions of the plurality of simulated points relative to the first joint are obtained.

[0026] In one possible implementation, based on multiple first joint values ​​of the live-line working robot during simulated operation, a second transformation relationship of the first joint in the robot coordinate system is obtained, specifically including:

[0027] Obtain multiple first joint values ​​of the live-line working robot during the simulated operation process, and calculate the second relative position of the multiple first joint values ​​with the live-line working robot respectively;

[0028] Based on the fitting algorithm, the second relative position pair is fitted to obtain the second transformation relationship of the first joint relative to the robot coordinate system.

[0029] In one possible implementation, the simulated point positions of the plurality of simulated points in the robot coordinate system are obtained based on the first transformation relationship and the second transformation relationship, specifically including:

[0030] Based on the first and second transformation relationships, a formula for calculating the location of simulated points is constructed;

[0031] The first simulated point position of each simulated point is obtained, and the first simulated point position is substituted into the simulated point position calculation formula to obtain the simulated point position of the plurality of simulated points in the robot coordinate system.

[0032] The formula for calculating the location of the simulated point is as follows:

[0033] Tk=M(R_JN)M(JN_Tk)(k=1...n);

[0034] In the formula, Tk is the position of the kth simulation point, M(R_JN) is the second transformation relationship, and M(JN_Tk) is the first transformation relationship.

[0035] The present invention also provides a working safety distance analysis device for a live-line working robot, comprising: a first conversion relationship determination module, a second conversion relationship determination module, a simulated point position acquisition module, and a robot working distance calculation module;

[0036] The first conversion relationship determination module is used to set multiple simulated points at the first joint of the live-line working robot, obtain the first relative position of the multiple simulated points relative to the first joint, and obtain the first conversion relationship of the multiple simulated points relative to the first joint based on the first relative position.

[0037] The second transformation relationship determination module is used to determine the robot coordinate system in which the live-line working robot is located, and to obtain the second transformation relationship of the first joint in the robot coordinate system based on multiple first joint values ​​of the live-line working robot during the simulated operation process;

[0038] The simulated point position acquisition module is used to obtain the simulated point positions of the plurality of simulated points in the robot coordinate system based on the first transformation relationship and the second transformation relationship;

[0039] The robot operation distance calculation module is used to determine the conductor trajectory, calculate the distance from multiple simulated point positions to the conductor to obtain multiple first distances, and determine the current minimum distance of the live-line working robot based on the multiple first distances.

[0040] In one possible implementation, the robot operation distance calculation module, used to determine the guide trajectory, specifically includes:

[0041] Set up a laser tracker, determine the measurement coordinate system in which the laser tracker is located, and obtain the third transformation relationship between the measurement coordinate system and the robot coordinate system based on a preset coordinate system transformation method;

[0042] Obtain the first and second conductor coordinates of the conductor in the measurement coordinate system. Based on the third transformation relationship, perform coordinate transformation on the first and second conductor coordinates to obtain the third and fourth conductor coordinates of the conductor in the robot coordinate system.

[0043] The traverse trajectory is determined based on the coordinates of the third and fourth traverses.

[0044] In one possible implementation, the robot operation distance calculation module is used to obtain a third transformation relationship between the measurement coordinate system and the robot coordinate system based on a preset coordinate system transformation method, specifically including:

[0045] Obtain the first end coordinate value of the live-line working robot in the robot coordinate system;

[0046] A first measuring target is installed at the end of the live-line working robot. The first measuring target is measured based on the laser tracker to obtain the second end coordinate value of the live-line working robot in the measuring coordinate system.

[0047] Based on the first end coordinate value and the second end coordinate value, coordinate point pairs are obtained, and based on the fitting algorithm, the coordinate point pairs are fitted to obtain the third transformation relationship between the measurement coordinate system and the robot coordinate system.

[0048] In one possible implementation, the robot operation distance calculation module is used to calculate the distances from multiple simulated point locations to the guide wire, obtaining multiple first distances, specifically including:

[0049] Each simulated point location is sequentially input into a preset traverse distance calculation formula, so that the distance from each simulated point location to the traverse is calculated based on the traverse distance calculation formula, resulting in multiple first distances; wherein, the traverse distance calculation formula is as follows:

[0050] D(Tk,L)=|Tk-A(R)·(L(R))| / |L(R)|(k=1...n);

[0051] In the formula, D(Tk,L) is the first distance from the kth simulated point to the traverse, Tk is the position of the kth simulated point, A(R) is the coordinate of the third traverse, and L(R) is the traverse trajectory.

[0052] In one possible implementation, the first transformation relationship determination module is used to obtain the first relative position of the plurality of simulation points relative to the first joint, specifically including:

[0053] A second measuring target is installed at the first joint of the live-line working robot. The coordinate values ​​of the first joint of the live-line working robot in the measuring coordinate system are obtained by measuring the second measuring target based on the laser tracker.

[0054] A third measuring target is installed at each of the plurality of simulated points of the live-line working robot. The coordinate values ​​of the live-line working robot at the plurality of first simulated points in the measuring coordinate system are obtained by measuring the third measuring target based on the laser tracker.

[0055] Based on the coordinates of the plurality of first simulated points and the coordinate values ​​of the first joint, the first relative positions of the plurality of simulated points relative to the first joint are obtained.

[0056] In one possible implementation, the second transformation relationship determination module is used to obtain a second transformation relationship of the first joint in the robot coordinate system based on multiple first joint values ​​of the live-line working robot during simulated operation, specifically including:

[0057] Obtain multiple first joint values ​​of the live-line working robot during the simulated operation process, and calculate the second relative position of the multiple first joint values ​​with the live-line working robot respectively;

[0058] Based on the fitting algorithm, the second relative position pair is fitted to obtain the second transformation relationship of the first joint relative to the robot coordinate system.

[0059] In one possible implementation, the simulated point location acquisition module is used to obtain the simulated point locations of the plurality of simulated points in the robot coordinate system based on the first transformation relationship and the second transformation relationship, specifically including:

[0060] Based on the first and second transformation relationships, a formula for calculating the location of simulated points is constructed;

[0061] The first simulated point position of each simulated point is obtained, and the first simulated point position is substituted into the simulated point position calculation formula to obtain the simulated point position of the plurality of simulated points in the robot coordinate system.

[0062] The formula for calculating the location of the simulated point is as follows:

[0063] Tk=M(R_JN)M(JN_Tk)(k=1...n);

[0064] In the formula, Tk is the position of the kth simulation point, M(R_JN) is the second transformation relationship, and M(JN_Tk) is the first transformation relationship.

[0065] The present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the working safety distance analysis method for a live-line working robot as described in any of the preceding claims.

[0066] The present invention also provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the working safety distance analysis method for a live-line working robot as described in any of the preceding claims.

[0067] This invention provides a method and apparatus for analyzing the safe working distance of a live-line working robot, which has the following advantages compared with the prior art:

[0068] By setting multiple simulated points at the first joint of a live-line working robot, obtaining the first relative positions of the multiple simulated points relative to the first joint, and based on the first relative positions, obtaining a first transformation relationship of the multiple simulated points relative to the first joint; determining the robot coordinate system in which the live-line working robot is located, and based on multiple first joint values ​​of the live-line working robot during simulated operation, obtaining a second transformation relationship of the first joint in the robot coordinate system; based on the first transformation relationship and the second transformation relationship, obtaining the simulated point positions of the multiple simulated points in the robot coordinate system; determining the conductor trajectory, calculating the distances from the multiple simulated point positions to the conductor, obtaining multiple first distances, and based on the multiple first distances, determining the current minimum distance of the live-line working robot; compared with the prior art, the technical solution of the present invention, by setting multiple simulated points at the first joint, and based on the first transformation relationship of the multiple simulated points relative to the first joint, and the second transformation relationship of the first joint in the robot coordinate system, thereby determining the positions of the simulated points in the robot coordinate system, and calculating the distances from the simulated point positions to the conductor, and thus determining the current minimum distance of the live-line working robot, helps to ensure the safe distance between the robot and the conductor during operation, improves the accuracy of the safe distance detection of the live-line working robot, and effectively avoids potential risks. Attached Figure Description

[0069] Figure 1 This is a flowchart illustrating an embodiment of a method for analyzing the safe working distance of a live-line working robot provided by the present invention;

[0070] Figure 2 This is a schematic diagram of an embodiment of a safety distance analysis device for live-line working robots provided by the present invention;

[0071] Figure 3This is a schematic diagram of a work safety distance analysis system according to an embodiment of the present invention;

[0072] Figure 4 This is a schematic diagram of simulated point markings for a live-line working robot according to an embodiment of the present invention. Detailed Implementation

[0073] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0074] Example 1, see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of a method for analyzing the safe working distance of a live-line working robot provided by the present invention. Figure 1 As shown, the method includes steps 101-104, as detailed below:

[0075] Step 101: Set multiple simulated points at the first joint of the live-line working robot, obtain the first relative position of the multiple simulated points relative to the first joint, and obtain the first transformation relationship of the multiple simulated points relative to the first joint based on the first relative position.

[0076] In one embodiment, before performing the operational safety distance analysis, an operational safety distance analysis system is first set up. This system includes a laser tracker, a live-line working robot, simulated wires, insulating supports, insulating mats, a drive device, and an insulating lifting platform. Figure 3 As shown, Figure 3 This is a schematic diagram of a work safety distance analysis system.

[0077] In one embodiment, the drive device and the insulating support are disposed above the insulating pad, the insulating support being used to support the insulating wire, and the insulating lifting platform is disposed above the drive device. The live-line working robot is placed on the insulating lifting platform, and the live-line working robot is used for attitude control of the tip of the working tool to perform work on the simulated wire based on the tip of the working tool; the laser tracker is used to measure the position of the live-line working robot.

[0078] Preferably, the laser tracker is placed in an open area. Relying on the principle of laser measurement, the target is set on the live-line working robot. The distance between the laser tracker and the multiple live-line working robots is limited to the effective measurement range, and there are no obstructions between them.

[0079] Preferably, the drive device consists of an adjustable lifting platform, whose main function is to lift the live-line working robot it carries, so that the live-line working robot reaches a suitable working height.

[0080] In one embodiment, the live-line working robot is a collaborative robot; preferably, the live-line working robot can also be a small industrial six-axis robot.

[0081] In one embodiment, multiple simulated points are set at the first joint of the live-line working robot. Preferably, the first joint is the end joint, such as... Figure 4 The above, Figure 4 This is a schematic diagram of simulated point markings for a live-line working robot.

[0082] In one embodiment, a second measuring target is installed at the first joint of the live-line working robot, and the coordinate values ​​of the first joint of the live-line working robot in the measuring coordinate system are obtained by measuring the second measuring target based on the laser tracker.

[0083] In one embodiment, a third measuring target is installed at each of the plurality of simulated points on the live-line working robot, and the coordinate values ​​of the live-line working robot at the plurality of first simulated points in the measuring coordinate system are obtained by measuring the third measuring target based on the laser tracker.

[0084] In one embodiment, the first relative position of the plurality of simulated points relative to the first joint is obtained based on the coordinates of the plurality of first simulated points and the coordinate values ​​of the first joint, respectively.

[0085] Specifically, a target is installed at the first joint of the live-line working robot, and its position (x0, y0, z0) in the measurement coordinate system is obtained by a laser tracker. Then, a target is installed at each simulated point. For example, if a target is installed at the nth simulated point, its measurement coordinates (x0, y0, z0) are measured. n ,y n ,z n ), thus obtaining the first relative position (x) of the nth simulated point relative to the first joint. n ―x0,y n ―y0,z n ―z0), during the calculation process, the positions of n simulated points relative to the first joint of the live-line working robot are obtained in real time according to the posture of the installed joint.

[0086] In one embodiment, when the first transformation relationship of the plurality of simulated points relative to the first joint is obtained based on the first relative position, the plurality of first relative positions are fitted using a fitting algorithm, and the first transformation relationship of the plurality of simulated points relative to the first joint is determined based on the fitting result.

[0087] In one embodiment, the first transformation relationship between the multiple simulated points Tn and the first joint JN is M(JN_T1), M(JN_T2)...M(JN_Tn).

[0088] Step 102: Determine the robot coordinate system in which the live-line working robot is located, and based on multiple first joint values ​​of the live-line working robot during the simulated operation, obtain the second transformation relationship of the first joint in the robot coordinate system.

[0089] In one embodiment, multiple first joint values ​​of the live-line working robot are obtained during the simulated operation process.

[0090] Specifically, based on the selected first joint of the live-line working robot, multiple first joint values ​​of the live-line working robot during the simulated operation process are determined.

[0091] Specifically, when the first joint is an end joint, the first joint values ​​corresponding to all joints of the live-line working robot are obtained, resulting in multiple first joint values.

[0092] Specifically, when the first joint is the initial joint, only the first joint value corresponding to the initial joint of the live-line working robot is obtained.

[0093] Specifically, when the first joint is neither an end joint nor an initial joint, the first joint values ​​corresponding to all joints preceding the first joint are obtained, resulting in multiple first joint values.

[0094] In one embodiment, the plurality of first joint values ​​and the second relative position of the live-line working robot are calculated respectively.

[0095] Specifically, the origin coordinates of the robot coordinate system corresponding to the live-line working robot are determined, and the second relative positions of the multiple first joint values ​​and the live-line working robot are obtained based on the origin coordinates.

[0096] In one embodiment, based on a fitting algorithm, the second relative position pair is fitted to obtain a second transformation relationship of the first joint relative to the robot coordinate system.

[0097] Preferably, in addition to the fitting algorithm, the second transformation relationship of the first joint JN in the robot coordinate system can also be obtained by utilizing the configuration parameters of the live-line working robot.

[0098] In one embodiment, the second transformation relationship M(R_JN) of the first joint JN in the robot coordinate system is obtained.

[0099] Step 103: Based on the first transformation relationship and the second transformation relationship, obtain the simulated point positions of the plurality of simulated points in the robot coordinate system.

[0100] In one embodiment, since the first transformation relationship describes the transformation relationship of the simulated point relative to the first joint, and the second transformation relationship describes the transformation relationship of the first joint relative to the robot coordinate system, the simulated point positions of multiple simulated points in the robot coordinate system can be obtained based on the first and second transformation relationships.

[0101] In one embodiment, a formula for calculating the location of a simulated point is constructed based on the first transformation relationship and the second transformation relationship.

[0102] In one embodiment, the formula for calculating the location of the simulated point is as follows:

[0103] Tk=M(R_JN)M(JN_Tk)(k=1...n);

[0104] In the formula, Tk is the position of the kth simulation point, M(R_JN) is the second transformation relationship, and M(JN_Tk) is the first transformation relationship.

[0105] In one embodiment, the first simulated point position of each of the simulated points is obtained, and the first simulated point position is substituted into the simulated point position calculation formula to obtain the simulated point positions of the plurality of simulated points in the robot coordinate system.

[0106] Step 104: Determine the conductor trajectory, calculate the distance from multiple simulated point positions to the conductor to obtain multiple first distances, and determine the current minimum distance of the live-line working robot based on the multiple first distances.

[0107] In one embodiment, a laser tracker is set up, the measurement coordinate system in which the laser tracker is located is determined, and a third transformation relationship between the measurement coordinate system and the robot coordinate system is obtained based on a preset coordinate system transformation method.

[0108] Specifically, the first end coordinate value of the live-line working robot in the robot coordinate system is obtained; a first measurement target is installed at the end of the live-line working robot, and the first measurement target is measured based on the laser tracker to obtain the second end coordinate value of the live-line working robot in the measurement coordinate system; based on the first end coordinate value and the second end coordinate value, coordinate value point pairs are obtained, and the coordinate value point pairs are fitted based on a fitting algorithm to obtain a third transformation relationship between the measurement coordinate system and the robot coordinate system.

[0109] In one embodiment, the fitting algorithm is a multi-point fitting algorithm. Preferably, the fitting algorithm can also be set as a fixed-point transformation method.

[0110] As an example in this embodiment, by installing a measurement target at the end of the robot, the coordinate point pairs (Rp1-Mp1, Rp2-Mp2...Rpn-Mpn, n>=4) of the end of the robot in the robot coordinate system and the measurement coordinate system are collected. Rpn is given by the live-line working robot and Mpn is measured by the laser tracker. Then, the third transformation relationship M (M_R) between the two coordinate systems is obtained by using a fitting algorithm.

[0111] In one embodiment, the first and second conductor coordinates of the conductor in the measurement coordinate system are obtained. Based on the third transformation relationship, the first and second conductor coordinates are transformed to obtain the third and fourth conductor coordinates of the conductor in the robot coordinate system.

[0112] Specifically, a first conductor measurement target is set at the first end of the conductor, and a second conductor measurement target is set at the second end of the conductor. The first conductor measurement target and the second conductor measurement target are measured by the laser tracker to obtain the coordinates of the first conductor and the second conductor, respectively.

[0113] Specifically, based on the third transformation relationship between the two coordinates, the first and second traverse coordinates in the measurement coordinate system are transformed into the third and fourth traverse coordinates in the robot coordinate system.

[0114] Specifically, based on the third transformation relationship, a coordinate system transformation formula is constructed. The first traverse coordinates are substituted into the coordinate system transformation formula to obtain the third traverse coordinates. The second traverse coordinates are substituted into the coordinate system transformation formula to obtain the fourth traverse coordinates.

[0115] Specifically, the coordinate system transformation formula is as follows:

[0116] A(R)=M(M_R)A(M); B(R)=M(M_R)B(M);

[0117] In the formula, A(R) represents the coordinates of the third traverse, and M(M R The third transformation relationship is A(M), where A(M) is the coordinate of the first traverse, B(R) is the coordinate of the fourth traverse, and B(M) is the coordinate of the second traverse.

[0118] In one embodiment, the traverse trajectory is determined based on the coordinates of the third traverse and the coordinates of the fourth traverse.

[0119] Specifically, the coordinates of the third and fourth traverse lines are substituted into the traverse determination formula to obtain the traverse trajectory; wherein the traverse determination formula is as follows:

[0120] L(R) = A(R) - B(R);

[0121] In the formula, L(R) is the traverse trajectory, A(R) is the coordinate of the third traverse, and B(R) is the coordinate of the fourth traverse.

[0122] In one embodiment, when calculating the distances from multiple simulated point locations to the conductor to obtain multiple first distances, each simulated point location is sequentially input into a preset conductor distance calculation formula, so that the distance from each simulated point location to the conductor is calculated based on the conductor distance calculation formula, resulting in multiple first distances; wherein, the conductor distance calculation formula is as follows:

[0123] D(Tk,L)=|Tk-A(R)·(L(R))| / |L(R)|(k=1...n);

[0124] In the formula, D(Tk,L) is the first distance from the kth simulated point to the traverse, Tk is the position of the kth simulated point, A(R) is the coordinate of the third traverse, and L(R) is the traverse trajectory.

[0125] In one embodiment, when determining the current minimum distance of the live-line working robot based on multiple first distances, the multiple first distances are substituted into a preset minimum distance determination formula to obtain the minimum first distance among the multiple first distances.

[0126] Specifically, the formula for determining the minimum distance is as follows:

[0127] D min =Min(D(T1,L),D(T2,L)...D(Tn,L));

[0128] In the formula, D min The minimum first distance.

[0129] In one embodiment, based on GB / T 18857, Q / GDW 10520, "Live-line Working Robot for Distribution Network Part 2: Operation Specifications" and the following safety requirements: when the robot is working on a live conductor of a certain phase, the minimum safe distance between the end-effector, the exposed metal parts of the robotic arm or the unshielded parts, and other parts of the robot and the adjacent live conductor or nearby towers or crossarms shall not be less than 0.2m; therefore, after obtaining the minimum first distance, the minimum first distance shall be compared with the preset standard safe distance.

[0130] In one embodiment, the minimum first distance is compared with the preset standard safety distance. If the minimum first distance is not greater than the preset standard safety distance, the operation safety distance is considered to comply with the operation specifications; otherwise, the operation safety distance is considered to not comply with the operation specifications. The preset standard safety distance is 0.2m.

[0131] Example 2, see Figure 2 , Figure 2 This is a schematic diagram of an embodiment of the safety distance analysis device for live-line working robots provided by the present invention, as shown below. Figure 2 As shown, the device includes a first conversion relationship determination module 201, a second conversion relationship determination module 202, a simulated point position acquisition module 203, and a robot operation distance calculation module 204, as detailed below:

[0132] The first conversion relationship determination module 201 is used to set multiple simulated points at the first joint of the live-line working robot, obtain the first relative position of the multiple simulated points relative to the first joint, and obtain the first conversion relationship of the multiple simulated points relative to the first joint based on the first relative position.

[0133] The second transformation relationship determination module 202 is used to determine the robot coordinate system in which the live-line working robot is located, and to obtain the second transformation relationship of the first joint in the robot coordinate system based on multiple first joint values ​​of the live-line working robot during the simulated operation process.

[0134] The simulated point location acquisition module 203 is used to obtain the simulated point locations of the plurality of simulated points in the robot coordinate system based on the first transformation relationship and the second transformation relationship.

[0135] The robot operation distance calculation module 204 is used to determine the conductor trajectory, calculate the distance from multiple simulated point positions to the conductor, obtain multiple first distances, and determine the current minimum distance of the live-line working robot based on the multiple first distances.

[0136] In one embodiment, the robot operation distance calculation module 204 is used to determine the traverse trajectory, specifically including: setting up a laser tracker, determining the measurement coordinate system in which the laser tracker is located, obtaining a third transformation relationship between the measurement coordinate system and the robot coordinate system based on a preset coordinate system transformation method; obtaining a first traverse coordinate and a second traverse coordinate of the traverse in the measurement coordinate system, performing coordinate transformation on the first traverse coordinate and the second traverse coordinate based on the third transformation relationship to obtain a third traverse coordinate and a fourth traverse coordinate of the traverse in the robot coordinate system; and determining the traverse trajectory based on the third traverse coordinate and the fourth traverse coordinate.

[0137] In one embodiment, the robot operation distance calculation module 204 is used to obtain a third transformation relationship between the measurement coordinate system and the robot coordinate system based on a preset coordinate system transformation method. Specifically, it includes: obtaining the first end coordinate value of the live-line working robot in the robot coordinate system; installing a first measurement target at the end of the live-line working robot, measuring the first measurement target based on the laser tracker, and obtaining the second end coordinate value of the live-line working robot in the measurement coordinate system; obtaining coordinate point pairs based on the first end coordinate value and the second end coordinate value, and performing fitting processing on the coordinate point pairs based on a fitting algorithm to obtain the third transformation relationship between the measurement coordinate system and the robot coordinate system.

[0138] In one embodiment, the robot operation distance calculation module 204 is used to calculate the distances from multiple simulated point positions to the guide wire to obtain multiple first distances. Specifically, it includes: sequentially inputting each simulated point position into a preset guide wire distance calculation formula, so that the distance from each simulated point position to the guide wire is calculated based on the guide wire distance calculation formula to obtain multiple first distances; wherein, the guide wire distance calculation formula is as follows:

[0139] D(Tk,L)=|Tk-A(R)·(L(R))| / |L(R)|(k=1...n);

[0140] In the formula, D(Tk,L) is the first distance from the kth simulated point to the traverse, Tk is the position of the kth simulated point, A(R) is the coordinate of the third traverse, and L(R) is the traverse trajectory.

[0141] In one embodiment, the first conversion relationship determination module 201 is used to obtain the first relative position of the plurality of simulated points relative to the first joint, specifically including: installing a second measuring target at the first joint of the live-line working robot, measuring the second measuring target based on the laser tracker to obtain the first joint coordinate value of the live-line working robot in the measuring coordinate system; installing a third measuring target at each of the plurality of simulated points of the live-line working robot, measuring the third measuring target based on the laser tracker to obtain the coordinate values ​​of the plurality of first simulated points of the live-line working robot in the measuring coordinate system; and obtaining the first relative position of the plurality of simulated points relative to the first joint based on the coordinates of the plurality of first simulated points and the first joint coordinate value, respectively.

[0142] In one embodiment, the second transformation relationship determination module 202 is used to obtain a second transformation relationship of the first joint in the robot coordinate system based on multiple first joint values ​​of the live-line working robot during the simulated operation process. Specifically, it includes: obtaining multiple first joint values ​​of the live-line working robot during the simulated operation process, calculating the second relative position of the multiple first joint values ​​and the live-line working robot respectively; and performing fitting processing on the second relative position pair based on a fitting algorithm to obtain the second transformation relationship of the first joint relative to the robot coordinate system.

[0143] In one embodiment, the simulated point position acquisition module 203 is used to obtain the simulated point positions of the plurality of simulated points in the robot coordinate system based on the first transformation relationship and the second transformation relationship. Specifically, this includes: constructing a simulated point position calculation formula based on the first transformation relationship and the second transformation relationship; obtaining the first simulated point position of each simulated point; and substituting the first simulated point position into the simulated point position calculation formula to obtain the simulated point positions of the plurality of simulated points in the robot coordinate system. The simulated point position calculation formula is as follows:

[0144] Tk=M(R_JN)M(JN_Tk)(k=1...n);

[0145] In the formula, Tk is the position of the kth simulation point, M(R_JN) is the second transformation relationship, and M(JN_Tk) is the first transformation relationship.

[0146] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0147] It should be noted that the above-described embodiment of the working safety distance analysis device for live-line working robots is merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0148] Based on the above-described embodiments of the method for analyzing the safe working distance of a live-line working robot, another embodiment of the present invention provides a terminal device for analyzing the safe working distance of a live-line working robot. This terminal device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the method for analyzing the safe working distance of a live-line working robot according to any embodiment of the present invention.

[0149] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the operational safety distance analysis terminal device of the live-line working robot.

[0150] The operational safety distance analysis terminal device for the live-line working robot can be a desktop computer, laptop, handheld computer, or cloud server, etc. The operational safety distance analysis terminal device for the live-line working robot may include, but is not limited to, a processor and a memory.

[0151] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. This processor is the control center of the live-line working robot's safe working distance analysis terminal equipment, connecting all parts of the equipment via various interfaces and lines.

[0152] The memory can be used to store the computer programs and / or modules. The processor, by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory, realizes various functions of the operational safety distance analysis terminal device of the live-line working robot. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application required for a function, etc.; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0153] Based on the above-described embodiments of the live-line working robot safety distance analysis method, another embodiment of the present invention provides a storage medium, the storage medium including a stored computer program, wherein, when the computer program is running, the device where the storage medium is located controls the execution of the live-line working robot safety distance analysis method of any embodiment of the present invention.

[0154] In this embodiment, the storage medium is a computer-readable storage medium, and the computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0155] In summary, the present invention provides a method and apparatus for analyzing the safe working distance of a live-line working robot. This involves setting multiple simulated points at the first joint of the live-line working robot, obtaining the first relative positions of these simulated points relative to the first joint, and based on these first relative positions, obtaining a first transformation relationship between the simulated points and the first joint; determining the robot coordinate system of the live-line working robot, and based on the multiple first joint values ​​of the live-line working robot, obtaining a second transformation relationship of the first joint in the robot coordinate system; based on the first and second transformation relationships, obtaining the simulated point positions of the multiple simulated points in the robot coordinate system; determining the conductor trajectory, calculating the distances from the multiple simulated point positions to the conductor, and based on the obtained first distances, determining the current minimum distance of the live-line working robot. Compared with the prior art, the technical solution of the present invention can improve the accuracy of safe distance detection for live-line working robots.

[0156] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A method for analyzing the safe working distance of a live-line working robot, characterized in that, include: Multiple simulated points are set at the first joint of the live-line working robot, the first relative position of the multiple simulated points relative to the first joint is obtained, and based on the first relative position, the first transformation relationship of the multiple simulated points relative to the first joint is obtained. Determine the robot coordinate system in which the live-line working robot is located, and based on multiple first joint values ​​of the live-line working robot during the simulated operation process, obtain the second transformation relationship of the first joint in the robot coordinate system; Based on the first transformation relationship and the second transformation relationship, the simulated point positions of the plurality of simulated points in the robot coordinate system are obtained; The trajectory of the conductor is determined, and the distances from multiple simulated points to the conductor are calculated to obtain multiple first distances. Based on the multiple first distances, the current minimum distance of the live-line working robot is determined. Determining the traverse trajectory specifically includes: Set up a laser tracker, determine the measurement coordinate system in which the laser tracker is located, and obtain the third transformation relationship between the measurement coordinate system and the robot coordinate system based on a preset coordinate system transformation method; Obtain the first and second conductor coordinates of the conductor in the measurement coordinate system. Based on the third transformation relationship, perform coordinate transformation on the first and second conductor coordinates to obtain the third and fourth conductor coordinates of the conductor in the robot coordinate system. The traverse trajectory is determined based on the coordinates of the third and fourth traverses. Based on a preset coordinate system transformation method, a third transformation relationship between the measurement coordinate system and the robot coordinate system is obtained, specifically including: Obtain the first end coordinate value of the live-line working robot in the robot coordinate system; A first measuring target is installed at the end of the live-line working robot. The first measuring target is measured based on the laser tracker to obtain the second end coordinate value of the live-line working robot in the measuring coordinate system. Based on the first end coordinate value and the second end coordinate value, coordinate point pairs are obtained, and based on the fitting algorithm, the coordinate point pairs are fitted to obtain the third transformation relationship between the measurement coordinate system and the robot coordinate system.

2. The method for analyzing the safe working distance of a live-line working robot as described in claim 1, characterized in that, Calculate the distances from multiple simulated points to the traverse line to obtain multiple first distances, specifically including: Each simulated point location is sequentially input into a preset traverse distance calculation formula, so that the distance from each simulated point location to the traverse is calculated based on the traverse distance calculation formula, resulting in multiple first distances; wherein, the traverse distance calculation formula is as follows: ; In the formula, Let k be the first distance from the k-th simulation point to the conductor. Let k be the location of the simulated point. The coordinates of the third traverse are... This represents the trajectory of the conductor.

3. The method for analyzing the safe working distance of a live-line working robot as described in claim 1, characterized in that, Obtaining the first relative position of the plurality of simulated points relative to the first joint specifically includes: A second measuring target is installed at the first joint of the live-line working robot. The coordinate values ​​of the first joint of the live-line working robot in the measuring coordinate system are obtained by measuring the second measuring target based on the laser tracker. A third measuring target is installed at each of the plurality of simulated points of the live-line working robot. The coordinate values ​​of the live-line working robot at the plurality of first simulated points in the measuring coordinate system are obtained by measuring the third measuring target based on the laser tracker. Based on the coordinates of the plurality of first simulated points and the coordinate values ​​of the first joint, the first relative positions of the plurality of simulated points relative to the first joint are obtained.

4. The method for analyzing the safe working distance of a live-line working robot as described in claim 1, characterized in that, Based on multiple first joint values ​​of the live-line working robot during simulated operation, a second transformation relationship of the first joint in the robot coordinate system is obtained, specifically including: Obtain multiple first joint values ​​of the live-line working robot during the simulated operation process, and calculate the second relative position of the multiple first joint values ​​with the live-line working robot respectively; Based on the fitting algorithm, the second relative position pair is fitted to obtain the second transformation relationship of the first joint relative to the robot coordinate system.

5. The method for analyzing the safe working distance of a live-line working robot as described in claim 1, characterized in that, Based on the first transformation relationship and the second transformation relationship, the simulated point positions of the plurality of simulated points in the robot coordinate system are obtained, specifically including: Based on the first and second transformation relationships, a formula for calculating the location of simulated points is constructed; The first simulated point position of each simulated point is obtained, and the first simulated point position is substituted into the simulated point position calculation formula to obtain the simulated point position of the plurality of simulated points in the robot coordinate system. The formula for calculating the location of the simulated point is as follows: ； In the formula, Let k be the location of the simulated point. This is the second transformation relation. This is the first transformation relationship.

6. A device for analyzing the safe working distance of a live-line working robot, characterized in that, include: The module includes a first conversion relationship determination module, a second conversion relationship determination module, a simulation point location acquisition module, and a robot operation distance calculation module. The first conversion relationship determination module is used to set multiple simulated points at the first joint of the live-line working robot, obtain the first relative position of the multiple simulated points relative to the first joint, and obtain the first conversion relationship of the multiple simulated points relative to the first joint based on the first relative position. The second transformation relationship determination module is used to determine the robot coordinate system in which the live-line working robot is located, and to obtain the second transformation relationship of the first joint in the robot coordinate system based on multiple first joint values ​​of the live-line working robot during the simulated operation process; The simulated point position acquisition module is used to obtain the simulated point positions of the plurality of simulated points in the robot coordinate system based on the first transformation relationship and the second transformation relationship; The robot operation distance calculation module is used to determine the conductor trajectory, calculate the distance from multiple simulated point positions to the conductor, obtain multiple first distances, and determine the current minimum distance of the live-line working robot based on the multiple first distances. The robot operation distance calculation module is used to determine the guide trajectory, specifically including: setting up a laser tracker, determining the measurement coordinate system in which the laser tracker is located, obtaining a third transformation relationship between the measurement coordinate system and the robot coordinate system based on a preset coordinate system transformation method; obtaining the first and second guide coordinates of the guide in the measurement coordinate system, performing coordinate transformation on the first and second guide coordinates based on the third transformation relationship to obtain the third and fourth guide coordinates of the guide in the robot coordinate system; and determining the guide trajectory based on the third and fourth guide coordinates. The robot operation distance calculation module is used to obtain a third transformation relationship between the measurement coordinate system and the robot coordinate system based on a preset coordinate system transformation method. Specifically, it includes: obtaining the first end coordinate value of the live-line working robot in the robot coordinate system; installing a first measurement target at the end of the live-line working robot, measuring the first measurement target based on the laser tracker, and obtaining the second end coordinate value of the live-line working robot in the measurement coordinate system; obtaining coordinate point pairs based on the first end coordinate value and the second end coordinate value, and performing fitting processing on the coordinate point pairs based on a fitting algorithm to obtain the third transformation relationship between the measurement coordinate system and the robot coordinate system.

7. A terminal device, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the method for analyzing the safe working distance of a live-line working robot as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the operational safety distance analysis method for a live-line working robot as described in any one of claims 1 to 5.

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