Cabinet interior observation method for narrow space, related device and system

Abstract

The invention relates to the technical field of manipulator control, in particular to a cabinet interior observation method for a narrow space and a related device and system.The method comprises the steps that space division basic data are determined, and working space division is conducted on the internal space of a cabinet along the inner wall of the cabinet in combination with the space division basic data; and the position of the target equipment and the current real-time positions of the operation ends of one or more multi-joint manipulators are obtained, path planning is conducted on each multi-joint manipulator in combination with manipulator motion parameters, and path planning is converted into manipulator control signals in combination with manipulator characteristic parameters. Reasonable working space division is performed on the internal space of the cabinet along the inner wall of the cabinet based on the three-dimensional structure model diagram, the manipulator model and the manipulator motion parameters, the multi-joint manipulators are effectively arranged, and effective path planning and control are performed on all the multi-joint manipulators based on the target equipment position. And the multi-joint manipulator can efficiently and reliably observe the equipment in the cabinet on the basis of not touching the equipment in the cabinet.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator control, and is a method for observing the interior of a cabinet in a narrow space, a related device and a system. Background Art

[0002] There are a large number of cabinets in the power system. The stable operation of the cabinets is the basis for the stable operation of the power system. Regular inspection and maintenance inside the cabinets are the key to ensuring their normal operation and extending their service life. Close observation is essential for discovering potential failures, wear and defects of equipment in the cabinet. For example, through regular internal close observation, potential problems can be discovered before failures occur, so that preventive measures can be taken to avoid unexpected downtime and expensive repair costs; close observation can provide more detailed data, which is helpful for analyzing the operating status and performance of the equipment and optimizing maintenance plans.

[0003] Commonly used methods for close observation inside existing cabinets include: (1) Manual inspection: manually opening the cabinet for close observation. This method is inefficient, time-consuming, has a long observation cycle, poor timeliness, and is easily affected by human factors. Furthermore, if there is a safety risk in the cabinet, it is easy to cause harm to personnel; (2) Traditional camera inspection: This method cannot provide close observation and has poor flexibility, making it difficult to detect defects such as wear and tear of equipment in the cabinet; (3) Simple rigid robotic arm inspection: This method is often performed through manual control in the background. It lacks flexibility, cannot independently complete path planning and close-up observation, and is difficult to adapt to narrow and complex spatial structures. Summary of the invention

[0004] The present invention provides a method, related device and system for observing the inside of a cabinet in a narrow space, which overcomes the shortcomings of the above-mentioned prior art and can effectively solve the problem in the prior art that it is impossible to independently complete path planning and close-up observation in a narrow space for observing the inside of a cabinet.

[0005] One of the technical solutions of the present invention is achieved by the following measures: A method for observing the inside of a cabinet in a narrow space, applied to a control end, comprising: Obtaining a three-dimensional structural model diagram inside the cabinet, wherein the three-dimensional structural model diagram is obtained based on a spatial distribution diagram and three-dimensional coordinates inside the cabinet; Determine the basic data for space division, divide the internal space of the cabinet into workspaces along the inner wall of the cabinet based on the basic data for space division, and use a point on the inner wall of the cabinet in each workspace as the installation point of the multi-joint manipulator, wherein the basic data for space division includes the manipulator model, manipulator motion parameters, and a three-dimensional structural model diagram of the interior of the cabinet; Obtain the target device position and the real-time position of one or more current multi-joint manipulator operating terminals, plan the path for each multi-joint manipulator based on the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet, and convert the path planning into a manipulator control signal based on the manipulator characteristic parameters to control the movement of each multi-joint manipulator.

[0006] The following are further optimizations and / or improvements to the above technical solutions: The above-mentioned basic data for space division is determined, and the working space of the internal space of the cabinet is divided along the inner wall of the cabinet in combination with the basic data for space division, including: Determine basic data for space division, wherein the basic data for space division includes the robot model, robot motion parameters, and a three-dimensional structural model diagram inside the cabinet.

[0007] A point on the inner wall of the cabinet is used as the installation position of the multi-joint manipulator, and several points in the internal space of the cabinet are used as target points. The path of the multi-joint manipulator is planned by combining the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet. Delete the target points that cannot be routed or that exceed the limit value range, and divide the space corresponding to the remaining target point set into a workspace; Repeat the above steps until the inner walls and internal space of the cabinet are completely divided.

[0008] The above also includes the selection of the optimal robot model, including: Determine a plurality of different types of multi-joint manipulators and obtain corresponding multiple groups of basic space division data; Combined with each set of basic data for space division, the internal space of the cabinet is divided into working spaces along the inner wall of the cabinet, and a point on the inner wall of the cabinet in each working space is used as the installation point of the multi-joint manipulator. The basic data for space division include the manipulator model, manipulator motion parameters, and a three-dimensional structural model diagram of the interior of the cabinet.

[0009] Based on the total number of multi-joint manipulator installation points, the total installation cost of different types of multi-joint manipulators is calculated, and the multi-joint manipulator type with the lowest cost is selected as the optimal manipulator model.

[0010] The above-mentioned target device position and the real-time positions of the current multiple multi-joint manipulator operating ends are obtained, and the path planning is performed for each multi-joint manipulator in combination with the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet. If multiple multi-joint manipulators can reach the target device position, the path planning results are compared, and the multi-joint manipulator corresponding to the path planning result that meets the optimal path condition is selected, where the optimal path condition is the shortest time or the shortest path.

[0011] The algorithm used in the above path planning is an algorithm for finding all paths in a maze.

[0012] The second technical solution of the present invention is achieved by the following measures: a method for observing the inside of a cabinet in a narrow space, applied to a multi-joint manipulator, comprising: Obtain the real-time location of the installation location and the operating end, and send it to the control end; The multi-joint manipulator receives the manipulator control signal sent by the control end, executes the manipulator control signal and feeds back the real-time position of the operating end to the control end.

[0013] The following are further optimizations and / or improvements to the above technical solutions: The above also includes collecting environmental image data and three-dimensional distance measurement data when the multi-joint manipulator moves, and feeding back to the control end, wherein the three-dimensional distance measurement data is the distance data between the operating end of the multi-joint manipulator and the surrounding equipment.

[0014] The third technical solution of the present invention is achieved by the following measures: a control end, the control end uses the cabinet internal observation method for a narrow space described in the first technical solution, comprising: An acquisition unit acquires a three-dimensional structural model diagram inside the cabinet, wherein the three-dimensional structural model diagram is obtained based on a spatial distribution diagram and three-dimensional coordinates inside the cabinet; The installation point determination unit determines the basic data of space division, divides the internal space of the cabinet into working spaces along the inner wall of the cabinet based on the basic data of space division, and uses a point on the inner wall of the cabinet in each working space as the installation point of the multi-joint manipulator, wherein the basic data of space division includes the manipulator model, the manipulator motion parameters, and the three-dimensional structural model diagram of the interior of the cabinet; The path planning unit obtains the target device position and the real-time position of one or more current multi-joint manipulator operating terminals, plans the path for each multi-joint manipulator based on the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet, and converts the path planning into a manipulator control signal based on the manipulator characteristic parameters to control the movement of each multi-joint manipulator.

[0015] The fourth technical solution of the present invention is achieved by the following measures: a multi-joint manipulator, the multi-joint manipulator uses the cabinet internal observation method for a narrow space described in the second technical solution, comprising: The communication unit obtains the real-time position of the installation location and the operation end and sends it to the control end; The multi-joint manipulator body receives the manipulator control signal sent by the control end. The multi-joint manipulator executes the manipulator control signal and feeds back the real-time position of the operating end to the control end.

[0016] The fifth technical solution of the present invention is achieved through the following measures: a cabinet internal observation system for a narrow space, including a control end and multiple multi-joint manipulators, and the control end is connected to each multi-joint manipulator.

[0017] The present invention divides the internal space of the cabinet reasonably along the inner wall of the cabinet based on the three-dimensional structural model diagram inside the cabinet, the manipulator model, and the manipulator motion parameters, effectively sets up multi-joint manipulators, and autonomously performs effective path planning and control for each multi-joint manipulator based on the position of the target device, so that the multi-joint manipulator can observe the internal equipment of the cabinet efficiently and reliably without touching the internal equipment of the cabinet. Furthermore, the environmental image data and three-dimensional ranging data collected by each multi-joint manipulator during movement can be used to reversely verify the path planning results, update the path planning algorithm, and update the three-dimensional structural model diagram to provide data support, so that the next path planning is more accurate, which is conducive to accurate observation of the inside of the cabinet. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Attached Figure 1 The present invention is a schematic flow chart of a method.

[0019] Attached Figure 2 The figure is a flowchart of a method for dividing a workspace in one embodiment of the present invention.

[0020] Attached Figure 3 The figure is a flow chart of a method for selecting the optimal robot model in one embodiment of the present invention.

[0021] Attached Figure 4 The present invention is another method flow chart.

[0022] Attached Figure 5 The figure is a schematic diagram showing the structure of the device of the control terminal of the present invention.

[0023] Attached Figure 6 The diagram is a schematic diagram of the circuit structure of the multi-joint manipulator of the present invention.

[0024] Attached Figure 7 It is a schematic diagram of the system structure of the present invention. DETAILED DESCRIPTION

[0025] The present invention is not limited by the following embodiments, and specific implementation methods can be determined based on the technical solution of the present invention and actual conditions.

[0026] Those skilled in the art will understand that, unless otherwise stated, in the embodiments of the present application, a "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as a processing circuit or memory) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0027] In addition, the term "plurality" in the embodiments of the present application refers to two or more than two, and "first" and "second" are used to distinguish descriptions and should not be understood as implying relative importance.

[0028] The embodiment of the present application provides a method, a related device and a system for observing the inside of a cabinet in a narrow space. The method for observing the inside of a cabinet in a narrow space applied to the control end can be integrated in a computer device, that is, the control end can be a computer device, and the computer device can be a server or a terminal or other device; it can also be executed by the terminal and the server together, and the above examples should not be understood as limiting the present application.

[0029] The above terminals may include mobile phones, wearable smart devices, tablet computers, laptop computers, personal computers (PCs), and vehicle-mounted computers, etc., and this application does not limit this. This application does not limit the number of terminal devices.

[0030] The above-mentioned server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, as well as big data and artificial intelligence platforms. This application does not impose any restrictions on this.

[0031] For example, a computer device obtains a three-dimensional structural model diagram of the interior of a cabinet, wherein the three-dimensional structural model diagram is obtained based on a spatial distribution diagram and three-dimensional coordinates of the interior of the cabinet, determines basic data for spatial division, divides the interior space of the cabinet into workspaces along the inner wall of the cabinet in combination with the basic data for spatial division, uses a point on the inner wall of the cabinet in each workspace as an installation point for a multi-joint manipulator, obtains the target device position and the current real-time position of one or more multi-joint manipulator operating terminals, plans the path for each multi-joint manipulator in combination with the manipulator motion parameters and the three-dimensional structural model diagram of the interior of the cabinet, converts the path planning into a manipulator control signal in combination with the manipulator characteristic parameters, and controls the movement of each multi-joint manipulator.

[0032] Based on this, the technical solution of the present application will be introduced and explained in combination with several examples. The present application will be further described in combination with the embodiments and drawings: Embodiment 1: As attached Figure 1 As shown, an embodiment of the present invention discloses a method for observing the inside of a cabinet in a narrow space, which is applied to a control end and includes: Step S110, obtaining a three-dimensional structural model diagram inside the cabinet, wherein the three-dimensional structural model diagram is obtained based on a spatial distribution diagram and three-dimensional coordinates inside the cabinet.

[0033] In this embodiment, a three-dimensional structural model diagram of the interior of the cabinet is obtained, and the specific acquisition method may include but is not limited to: (1) Using the cabinet design drawings and the assembly design drawings of the internal equipment, use 3D drawing software to obtain the corresponding three-dimensional structural model diagram of the cabinet interior; (2) Obtain image data of the cabinet and its interior, as well as image data of each internal device, and use a 3D modeling engine to obtain a corresponding three-dimensional structural model diagram of the interior of the cabinet.

[0034] Step S120, determine the basic data for space division, divide the internal space of the cabinet into workspaces along the inner wall of the cabinet based on the basic data for space division, and use a point on the inner wall of the cabinet in each workspace as the installation point of the multi-joint manipulator, wherein the basic data for space division include the manipulator model, manipulator motion parameters, and a three-dimensional structural model diagram of the interior of the cabinet.

[0035] Since the multi-joint manipulator cannot be installed on the equipment inside the cabinet, it can only be installed on the inner wall of the cabinet. Therefore, in this embodiment, it is necessary to determine the specific installation position of each multi-joint manipulator, which specifically includes: First, obtain the basic data of space division, which includes the robot model, robot motion parameters, and the three-dimensional structure model diagram inside the cabinet. The robot motion parameters include the maximum movable angle and maximum distance. Since the models of multi-joint robots are different, the corresponding motion parameters are different. When determining the installation position of the multi-joint robot, it is necessary to consider its maximum movable angle and maximum distance. Therefore, it is necessary to first determine the robot model and robot motion parameters. Secondly, based on the basic data of space division, the internal space of the cabinet is divided into one or more workspaces along the inner wall of the cabinet, that is, each workspace includes multiple points in the space and points on the inner wall of the cabinet, and any point on the inner wall of the cabinet in each workspace is taken as the installation position of each multi-joint manipulator. The condition for space division is that after the multi-joint manipulators are installed in each workspace, the working range of all multi-joint manipulators can cover the entire space inside the cabinet.

[0036] Step S130, obtain the target device position and the real-time position of one or more current multi-joint manipulator operating ends, plan the path for each multi-joint manipulator in combination with the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet, convert the path planning into a manipulator control signal in combination with the manipulator characteristic parameters to control the movement of each multi-joint manipulator.

[0037] It should be noted that the target device position and the real-time position of the current multi-joint manipulator operating end are obtained, and the path planning is performed for each multi-joint manipulator in combination with the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet. The algorithm used for path planning can use an algorithm for finding all paths in a maze, such as a depth-first search algorithm, a breadth-first search algorithm, etc. Specifically, historical path data of several cabinets of a certain type can be used for deep learning to make the path planning results more accurate.

[0038] In this embodiment, the path planning result includes one or more groups of moving angles and moving distances of the multi-joint manipulator operation end. And if the path planning of a multi-joint manipulator fails, an alarm signal needs to be generated.

[0039] In this embodiment, the path planning result is converted into a manipulator control signal in combination with the manipulator characteristic parameters, wherein the manipulator characteristic parameters include the manipulator control signal type, material characteristics, and the like.

[0040] For example, if each joint of a multi-joint manipulator is composed of multiple layers of thermosensitive materials with different conductivity coefficients from the inside to the outside, the multi-joint manipulator needs to control the thermal expansion of the thermosensitive material by the size of the current to cause deformation and movement. Therefore, the path planning results need to be converted into various current values ​​according to the characteristic parameters of the thermosensitive material.

[0041] An embodiment of the present invention discloses a method for observing the inside of a cabinet in a narrow space. Based on a three-dimensional structural model diagram of the inside of the cabinet, a robot model, and robot motion parameters, a reasonable working space division is performed on the internal space of the cabinet along the inner wall of the cabinet, a multi-joint robot is effectively set, and effective path planning and control are performed on each multi-joint robot based on the position of a target device, so that the multi-joint robot can efficiently and reliably observe the internal equipment of the cabinet without touching the internal equipment of the cabinet.

[0042] Embodiment 2: As attached Figure 2 As shown, the embodiment of the present invention is a further optimization of the above embodiment, wherein determining the basic data for space division, and dividing the internal space of the cabinet along the inner wall of the cabinet in combination with the basic data for space division, comprises: Step S210, determining basic data for space division, wherein the basic data for space division includes a robot model, robot motion parameters, and a three-dimensional structural model diagram inside the cabinet.

[0043] Step S220, taking a point on the inner wall of the cabinet as the installation position of the multi-joint manipulator, taking several points in the internal space of the cabinet as target points, and planning the path of the multi-joint manipulator in combination with the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet.

[0044] The above path planning is the same as the algorithm used in step S130 of Example 1, and will not be described in detail.

[0045] It should be noted that several points in the internal space of the cabinet are taken as target points. The selection of several points in the internal space of the cabinet can be based on the positions of various devices in the cabinet to divide the internal space of the cabinet, and take points at the extreme positions and the middle positions of each block. It can also be scattered and randomly captured in various areas in the internal space of the cabinet, but there must be no blind spots.

[0046] Step S230, deleting target points that cannot be routed or that exceed a limited value range, and dividing the space corresponding to the remaining target point set into a workspace.

[0047] The above limit values ​​are set according to the actual situation. After deleting the target points that cannot be path planned or whose path planning exceeds the limit value range, the limit value can be found among the remaining target points as the boundary of the workspace. Therefore, the cabinet inner wall range mapped by the target point is the cabinet inner wall of the workspace.

[0048] Step S240, repeat the above steps until the inner wall and the internal space of the cabinet are completely divided.

[0049] It should be noted that when the internal space of the cabinet is divided into workspaces along the inner wall of the cabinet, the workspace brackets may overlap.

[0050] Embodiment 3: As attached Figure 3 As shown, the embodiment of the present invention is a further optimization of the above embodiment. Since there are many models of multi-joint manipulators, it also includes selecting the optimal manipulator model, including: Step S310, determining a plurality of different types of multi-joint manipulators, and obtaining a plurality of corresponding sets of basic space division data; Step S320, combining each set of basic space division data, divide the internal space of the cabinet into working space along the inner wall of the cabinet, and use a point on the inner wall of the cabinet in each working space as the installation point of the multi-joint manipulator, wherein the basic space division data includes the manipulator model, manipulator motion parameters, and a three-dimensional structural model diagram of the interior of the cabinet.

[0051] Step S330, based on the total number of multi-joint manipulator installation points, calculate the total installation cost of different types of multi-joint manipulators, and select the multi-joint manipulator type with the lowest cost as the optimal manipulator model.

[0052] In this embodiment, the optimal manipulator model is selected based on the cost, which can effectively control the cost while ensuring autonomous close-range observation, and is convenient for practical implementation.

[0053] Example 4: The embodiment of the present invention is a further optimization of the above embodiment. It obtains the target device position and the real-time positions of multiple current multi-joint manipulator operating ends, and plans the path for each multi-joint manipulator in combination with the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet. If multiple multi-joint manipulators can reach the target device position, the path planning results are compared, and the multi-joint manipulator corresponding to the path planning result that meets the optimal path condition is selected, where the optimal path condition is the shortest time or the shortest path.

[0054] This embodiment selects a multi-joint manipulator corresponding to a path planning result that satisfies the optimal path conditions to perform close observation of the equipment in the cabinet, which can improve the observation efficiency and avoid multiple multi-joint manipulators from doing duplicate work and interfering with each other.

[0055] Embodiment 5: As attached Figure 4 As shown, the embodiment of the invention discloses a method for observing the inside of a cabinet in a narrow space, which is applied to a multi-joint manipulator, comprising: Step S410, obtaining the installation location and the real-time location of the operating terminal, and sending them to the control terminal; Step S420, receiving the manipulator control signal sent by the control end, the multi-joint manipulator executes the manipulator control signal and feeds back the real-time position of the operating end to the control end.

[0056] Example 6: The embodiment of the present invention is a further optimization of the above embodiment, and also includes collecting environmental image data and three-dimensional ranging data when the multi-joint manipulator moves, and feeding back to the control end, wherein the three-dimensional ranging data is the distance data between the operating end of the multi-joint manipulator and the surrounding equipment.

[0057] In this embodiment, the multi-joint manipulator collects and feeds back environmental image data and three-dimensional ranging data during movement to the control end, which can provide data support for the control end to verify the path planning results, update the path planning algorithm, and update the three-dimensional structural model diagram, making the next path planning more accurate, thereby facilitating accurate close-up observation of the interior of the cabinet.

[0058] Embodiment 7: As attached Figure 5 As shown, an embodiment of the invention discloses a control terminal, which uses the cabinet internal observation method for a narrow space described in the above embodiment, including: An acquisition unit acquires a three-dimensional structural model diagram inside the cabinet, wherein the three-dimensional structural model diagram is obtained based on a spatial distribution diagram and three-dimensional coordinates inside the cabinet; The installation point determination unit determines the basic data of space division, divides the internal space of the cabinet into working spaces along the inner wall of the cabinet based on the basic data of space division, and uses a point on the inner wall of the cabinet in each working space as the installation point of the multi-joint manipulator, wherein the basic data of space division includes the manipulator model, the manipulator motion parameters, and the three-dimensional structural model diagram of the interior of the cabinet; The path planning unit obtains the target device position and the real-time position of one or more current multi-joint manipulator operating terminals, plans the path for each multi-joint manipulator based on the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet, and converts the path planning into a manipulator control signal based on the manipulator characteristic parameters to control the movement of each multi-joint manipulator.

[0059] The specific method of each unit in this embodiment is the same as that of the above-mentioned embodiments 1 to 4 and will not be repeated here.

[0060] Embodiment 8: As attached Figure 6 As shown, the embodiment of the invention discloses a multi-joint manipulator, which uses the cabinet internal observation method for a narrow space described in the above embodiment, including: The communication unit obtains the real-time position of the installation location and the operation end and sends it to the control end; The multi-joint manipulator body receives the manipulator control signal sent by the control end, and the multi-joint manipulator executes the manipulator control signal and feeds back the real-time position of the operating end to the control end.

[0061] The specific method of each unit in this embodiment is the same as that of the above-mentioned embodiments 5 to 6 and will not be repeated here.

[0062] It should be noted that an image acquisition unit and a three-dimensional ranging unit are set on the multi-joint manipulator to collect environmental image data and three-dimensional ranging data during movement, and feed them back to the control end, wherein the three-dimensional ranging data is the distance data between the operating end of the multi-joint manipulator and the surrounding equipment.

[0063] In this embodiment, the specific type of the multi-joint manipulator body is selected according to the actual use environment. For example, it can be but is not limited to a multi-joint manipulator body formed of a thermosensitive material, wherein each joint of the multi-joint manipulator is radially composed of multiple layers of thermosensitive materials with different conductivity coefficients from the inside to the outside, and each layer has an independent current control circuit, which can adjust its own length, shape and stiffness by controlling the current passing through it. Therefore, the manipulator control signal sent by the received control end is a current value group, including current values ​​arranged in sequence.

[0064] Embodiment 9: As attached Figure 7 As shown, the embodiment of the invention discloses a cabinet internal observation system for a narrow space, including a control terminal and one or more multi-joint manipulators, wherein the control terminal is connected to each multi-joint manipulator; The control end includes: An acquisition unit acquires a three-dimensional structural model diagram inside the cabinet, wherein the three-dimensional structural model diagram is obtained based on a spatial distribution diagram and three-dimensional coordinates inside the cabinet; The installation point determination unit determines the basic data of space division, divides the internal space of the cabinet into working spaces along the inner wall of the cabinet based on the basic data of space division, and uses a point on the inner wall of the cabinet in each working space as the installation point of the multi-joint manipulator, wherein the basic data of space division includes the manipulator model, the manipulator motion parameters, and the three-dimensional structural model diagram of the interior of the cabinet; The path planning unit obtains the target device position and the real-time position of one or more multi-joint manipulator operating terminals, performs path planning for each multi-joint manipulator based on the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet, and converts the path planning into a manipulator control signal based on the manipulator characteristic parameters to control the movement of each multi-joint manipulator; Multi-joint manipulator, including: The communication unit obtains the real-time position of the installation location and the operation end and sends it to the control end; The multi-joint manipulator body receives the manipulator control signal sent by the control end, and the multi-joint manipulator executes the manipulator control signal and feeds back the real-time position of the operating end to the control end. Here, the multi-joint manipulator executes the manipulator control signal, that is, responds to the manipulator control signal, reaches the target device position, and conducts close observation of the target device.

[0065] The above content is only a specific implementation method of the present application, which has strong adaptability and implementation effect, but the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A method for observing the inside of a cabinet in a narrow space, characterized in that: Applied to the control end, including: Obtaining a three-dimensional structural model diagram inside the cabinet, wherein the three-dimensional structural model diagram is obtained based on a spatial distribution diagram and three-dimensional coordinates inside the cabinet; Determine the basic data for space division, divide the internal space of the cabinet into workspaces along the inner wall of the cabinet based on the basic data for space division, and use a point on the inner wall of the cabinet in each workspace as the installation point of the multi-joint manipulator, wherein the basic data for space division includes the manipulator model, manipulator motion parameters, and a three-dimensional structural model diagram of the interior of the cabinet; Obtain the target device position and the real-time position of one or more current multi-joint manipulator operating terminals, plan the path for each multi-joint manipulator based on the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet, and convert the path planning into a manipulator control signal based on the manipulator characteristic parameters to control the movement of each multi-joint manipulator.

2. The method for observing the interior of a cabinet in a narrow space according to claim 1, characterized in that: The determining of the basic space division data and dividing the internal space of the cabinet into working spaces along the inner wall of the cabinet in combination with the basic space division data includes: Determine basic data for space division, wherein the basic data for space division includes a robot model, robot motion parameters, and a three-dimensional structural model diagram inside the cabinet; A point on the inner wall of the cabinet is used as the installation position of the multi-joint manipulator, and several points in the internal space of the cabinet are used as target points. The path of the multi-joint manipulator is planned by combining the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet. Delete the target points that cannot be routed or that exceed the limit value range, and divide the space corresponding to the remaining target point set into a workspace; Repeat the above steps until the inner walls and internal space of the cabinet are completely divided.

3. The method for observing the interior of a cabinet in a narrow space according to claim 2, characterized in that: It also includes selecting the optimal robot model, including: Determine a plurality of different types of multi-joint manipulators and obtain corresponding multiple groups of basic space division data; Combined with each set of basic data for space division, the internal space of the cabinet is divided into workspaces along the inner wall of the cabinet, and a point on the inner wall of the cabinet in each workspace is used as the installation point of the multi-joint manipulator, wherein the basic data for space division includes the manipulator model, the manipulator motion parameters, and the three-dimensional structural model diagram of the interior of the cabinet; Based on the total number of multi-joint manipulator installation points, the total installation cost of different types of multi-joint manipulators is calculated, and the multi-joint manipulator type with the lowest cost is selected as the optimal manipulator model.

4. The method for observing the interior of a cabinet in a narrow space according to claim 1, 2 or 3, characterized in that: The target device position and the real-time positions of the current multiple multi-joint manipulator operating ends are obtained, and the path planning is performed for each multi-joint manipulator in combination with the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet. If multiple multi-joint manipulators can reach the target device position, the path planning results are compared, and the multi-joint manipulator corresponding to the path planning result that meets the optimal path condition is selected, where the optimal path condition is the shortest time or the shortest path.

5. The method for observing the interior of a cabinet in a narrow space according to claim 1, 2 or 3, characterized in that: The algorithm used in the path planning is an algorithm for finding all paths in a maze.

6. A method for observing the interior of a cabinet in a narrow space, characterized in that: Applied to multi-joint manipulators, including: Obtain the real-time location of the installation location and the operating end, and send it to the control end; The multi-joint manipulator receives the manipulator control signal sent by the control end, executes the manipulator control signal and feeds back the real-time position of the operating end to the control end.

7. The method for observing the interior of a cabinet in a narrow space according to claim 6, characterized in that: It also includes collecting environmental image data and three-dimensional distance measurement data when the multi-joint manipulator moves, and feeding back the data to the control end, wherein the three-dimensional distance measurement data is the distance data between the operating end of the multi-joint manipulator and the surrounding equipment.

8. A control terminal, the control terminal using the cabinet interior observation method for a narrow space according to any one of claims 1 to 5, characterized in that: include: An acquisition unit acquires a three-dimensional structural model diagram inside the cabinet, wherein the three-dimensional structural model diagram is obtained based on a spatial distribution diagram and three-dimensional coordinates inside the cabinet; The installation point determination unit determines the basic data of space division, divides the internal space of the cabinet into working spaces along the inner wall of the cabinet based on the basic data of space division, and uses a point on the inner wall of the cabinet in each working space as the installation point of the multi-joint manipulator, wherein the basic data of space division includes the manipulator model, the manipulator motion parameters, and the three-dimensional structural model diagram of the interior of the cabinet; The path planning unit obtains the target device position and the real-time position of one or more current multi-joint manipulator operating terminals, plans the path for each multi-joint manipulator based on the manipulator motion parameters and the three-dimensional structural model diagram inside the cabinet, and converts the path planning into a manipulator control signal based on the manipulator characteristic parameters to control the movement of each multi-joint manipulator.

9. A multi-joint manipulator, the multi-joint manipulator using the cabinet internal observation method for a narrow space as claimed in any one of claims 6 to 7, characterized in that: include: The communication unit obtains the real-time position of the installation location and the operation end and sends it to the control end; The multi-joint manipulator body receives the manipulator control signal sent by the control end. The multi-joint manipulator executes the manipulator control signal and feeds back the real-time position of the operating end to the control end.

10. A cabinet internal observation system for narrow space, characterized in that: It comprises the control end as claimed in claim 8 and a plurality of multi-joint manipulators as claimed in claim 9, wherein the control end is connected to each multi-joint manipulator.

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