Distribution network defect elimination mechanical arm based on motion capture technology and operation method

Abstract

The invention belongs to the field of distribution network defect elimination operation, and particularly relates to a distribution network defect elimination mechanical arm based on a motion capture technology and an operation method.The distribution network defect elimination mechanical arm comprises aerial operation equipment, a ground control terminal and motion capture equipment, and the aerial operation equipment comprises mobile auxiliary equipment, a fixed support and an intelligent mechanical arm body; the front end of the intelligent mechanical arm is provided with an aerial operation equipment main control chip, a 5G communication module, a radar obstacle avoidance module, a high-definition camera module and a front-end operation module, and the ground control terminal comprises a ground control terminal main control chip, a motion capture data acquisition module, a 5G communication module and a visual screen. Potential safety hazards during pole climbing operation can be effectively avoided, the problem that a hot-line work vehicle cannot perform full-coverage operation is solved, remote operation on aerial power grid equipment is truly achieved, and digital and intelligent upgrading of distribution network maintenance operation is promoted.

Description

Technical Field

[0001] The invention belongs to the field of distribution network fault elimination operations, and in particular to a distribution network fault elimination mechanical arm and an operation method based on motion capture technology. Background Art

[0002] As the "last mile" of power grid service for customers, the pressure on distribution network operation, maintenance and inspection has always remained high. The ever-increasing volume of distribution network equipment and demand for high-quality services have gradually exposed many difficulties and pain points that affect the safety of distribution network emergency repair operations and restrict the time for emergency repairs and power restoration.

[0003] At present, 10kV line fault elimination operations include two methods: traditional pole climbing operations and live working vehicle operations.

[0004] Problems with traditional pole climbing operations: 1. The pole tower is slippery after rain, snow and frost, and forced climbing operations pose a great safety risk, and the time for emergency repairs and power restoration cannot be controlled; 2. There are metal objects in some bird nests. During the process of climbing the pole to poke the bird nests, there is a risk of falling objects from high altitude and injuries, and a risk of arc discharge due to improper positioning of metal objects.

[0005] Problems with live-line working vehicle operations: There are many rural areas where live-line working vehicles cannot reach and the working environment is complex. Traditional live-line working methods cannot cover these scenarios, and the “zero-perception” quality service capabilities are limited.

[0006] In the context of safe production and high-quality services, "small, micro, detailed, and practical" problems have gradually become prominent and amplified, becoming "stumbling blocks and roadblocks" that restrict the healthy development of distribution network maintenance, driving the digital and intelligent iteration and upgrade of distribution network operation and maintenance equipment. It is urgent to develop an intelligent remote maintenance equipment to eliminate the widespread safety operation risks in traditional distribution network maintenance operations and improve the quality of service. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a distribution network fault elimination robot arm and operating method based on motion capture technology. The motion capture equipment is used to accurately restore the arm movements of the operator, and the precise electronic control technology is used to cooperate with the robot arm to achieve precise movements, thereby truly realizing remote "surgery" on aerial power grid equipment and promoting the digital upgrade of distribution network maintenance operations.

[0008] The technical solution adopted by the present invention to solve the technical problem is:

[0009] The first aspect of the present invention is to provide a distribution network fault elimination robotic arm based on motion capture technology, including: aerial work equipment, ground control terminal, and motion capture equipment. The aerial work equipment includes mobile auxiliary equipment, a fixed bracket, and an intelligent robotic arm. The mobile auxiliary equipment uses a drone as a carrier, hangs on the fixed bracket and is placed on the top of the distribution pole tower, and assists the intelligent robotic arm to change the hanging position; the front end of the intelligent robotic arm is equipped with an aerial work equipment main control chip, a 5G communication module, a radar obstacle avoidance module, a high-definition camera module and a front-end operation module. The aerial work equipment main control chip is respectively connected to the 5G communication module, the radar obstacle avoidance module, the high-definition camera module and the front-end operation module. The 5G communication module interacts with the ground control terminal for information to realize command transmission; the radar obstacle avoidance module detects live wires and power grid equipment for automatic obstacle avoidance; the high-definition camera module collects the surrounding images of the intelligent robotic arm in real time, and feeds back to the ground control terminal to assist the operation; the front-end operation module executes the aerial work equipment The ground control terminal includes a ground control terminal main control chip, a motion capture data acquisition module, a 5G communication module, and a visualization screen. The ground control terminal main control chip is connected to the motion capture data acquisition module, the 5G communication module, and the visualization screen respectively. The motion capture data acquisition module collects the motion information of the motion capture equipment. The 5G communication module of the ground control terminal transmits the motion information to the 5G communication module in the aerial work equipment, and at the same time receives the picture information and other motion information collected by the high-definition camera module at the front end of the intelligent robotic arm in the aerial work equipment. The visualization screen monitors the operating status of the intelligent robotic arm in real time. The motion capture equipment is worn on the arm of the operator. During the operation, the operator observes the movement status of the intelligent robotic arm through the visualization screen of the ground control terminal. The motion information of the movement trajectory of the operator's arm in the motion capture equipment is collected by the motion capture data acquisition module and transmitted to the aerial work equipment to control the intelligent robotic arm in real time to carry out fine operations.

[0010] Furthermore, the main control chip of the aerial work equipment and the main control chip of the ground control terminal are both of the Stm32 type.

[0011] Furthermore, the front-end operation module is installed with screw clamps or metal adsorption clips according to different operation types.

[0012] Furthermore, the fixed bracket includes a tic-tac-toe insulating bracket, a top ring, a self-locking hoop and four connecting frames, one end of the four connecting frames is connected to the four intersections of the tic-tac-toe insulating bracket, and the other end is connected to the self-locking hoop. The top ring is located above the self-locking hoop and connected to the connecting frame.

[0013] Furthermore, the intelligent robotic arm is a three-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm, or a seven-axis robotic arm.

[0014] Furthermore, the ground control terminal can switch between two control strategies: motion capture control and manual control according to operational requirements.

[0015] The second aspect of the present invention provides an operating method for a distribution network fault elimination robotic arm based on motion capture technology, comprising: before the operation, the operating personnel replace the front-end operating module of the intelligent robotic arm according to the operating requirements, and then control the drone of the mobile auxiliary equipment in the aerial working equipment to place the fixed bracket and the intelligent robotic arm on the top of the distribution pole tower in turn, and the operating personnel start the ground control terminal and wear motion capture equipment; during the operation, the operating personnel observe the position of the intelligent robotic arm through the visualization screen of the ground control terminal, and control the movement of the intelligent robotic arm according to the operating requirements.

[0016] The advantages and positive effects of the present invention are:

[0017] The present invention utilizes a drone equipped with mobile auxiliary equipment to place a fixed bracket and an intelligent robotic arm on the top of a distribution pole tower, which is convenient for subsequent operations. Compared with pole climbing operations, this avoids the operating risks of operators, reduces safety hazards, and is conducive to improving work efficiency. Moreover, operators observe the position of the intelligent robotic arm through the visualization screen of the ground control terminal, and use motion capture equipment to accurately restore the operator's arm movements, which is coordinated with precision electronic control technology to achieve precise movements of the robotic arm, solving the problem that live operating vehicles cannot fully cover the operation, truly realizing remote "surgery" on aerial power grid equipment, and promoting the digital upgrade of distribution network maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the network fault elimination mechanical arm based on the motion capture technology of the present invention;

[0019] Figure 2 It is a circuit block diagram of the network fault elimination robot arm based on the motion capture technology of the present invention;

[0020] Figure 3 It is a schematic structural diagram of the fixing bracket of the present invention.

[0021] The above drawings include the following reference numerals:

[0022] 1- Aerial working equipment; 2- Ground control terminal; 3- Motion capture equipment; 4- T-shaped insulating bracket; 5- Top ring; 6- Self-locking clamp; 7- Connecting frame. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below through specific examples. The following examples are only illustrative and not restrictive, and the protection scope of the present invention cannot be limited thereto.

[0024] like Figure 1-Figure 3 As shown, the present invention provides a distribution network fault elimination robot arm based on motion capture technology, including: an aerial working device 1, a ground control terminal 2, and a motion capture device 3.

[0025] like Figure 1 As shown, the aerial work equipment 1 includes mobile auxiliary equipment, fixed brackets, and intelligent mechanical arms. The mobile auxiliary equipment uses a drone as a carrier, hangs on the fixed brackets and places them on the top of the distribution tower, and assists the intelligent mechanical arm to change the hanging position. Before the operation, the drone hangs a set of fixed brackets and places them on the top of the distribution tower. After fixing, the drone hangs the intelligent mechanical arm on the fixed brackets on the top of the distribution tower. The intelligent mechanical arm can be fixed to the fixed bracket on the top of the distribution tower using a self-locking buckle.

[0026] like Figure 2 As shown, the front end of the intelligent manipulator is equipped with an aerial work equipment main control chip, a 5G communication module, a radar obstacle avoidance module, a high-definition camera module and a front-end operation module. Among them, the model of the aerial work equipment main control chip is Stm 32. The aerial work equipment main control chip is connected to the 5G communication module, the radar obstacle avoidance module, the high-definition camera module and the front-end operation module respectively. The 5G communication module interacts with the ground control terminal 2 to realize command transmission; the radar obstacle avoidance module detects live wires and power grid equipment and performs automatic obstacle avoidance; the high-definition camera module collects the surrounding images of the intelligent manipulator in real time and feeds back to the ground control terminal 2 to assist in the operation; the front-end operation module executes the instructions issued by the aerial work equipment main control chip. The front-end operation module installs screw clamps or metal adsorption clips according to different operation types. Optionally, the intelligent manipulator is a three-axis manipulator, a five-axis manipulator, a six-axis manipulator or a seven-axis manipulator, and the operation method is more flexible.

[0027] like Figure 3 As shown, the fixed bracket includes a tic-tac-toe insulating bracket 4, a top ring 5, a self-locking clamp 6 and four connecting frames 7, one end of the four connecting frames 7 is connected to the four intersections of the tic-tac-toe insulating bracket 4, and the other end is connected to the self-locking clamp 6, the top ring 5 is located above the self-locking clamp 6 and connected to the connecting frame 7, wherein the diameter of the top ring 5 is smaller than the diameter of the self-locking clamp 6, and the top ring 5 can be adapted to the top of the distribution tower. The fixed bracket has a tic-tac-toe insulating bracket 4, and a self-locking clamp 6 is configured at the lower end, which can be fixed to the top of the distribution tower.

[0028] like Figure 2As shown, the ground control terminal 2 includes a ground control terminal main control chip, a motion capture data acquisition module, a 5G communication module, and a visualization screen. Among them, the model of the ground control terminal main control chip is Stm 32. The ground control terminal main control chip is connected to the motion capture data acquisition module, the 5G communication module, and the visualization screen respectively, and the ground control terminal 2 can switch between the two control strategies of motion capture control and manual control according to the operation requirements. The motion capture data acquisition module collects the motion information of the motion capture equipment 3; the 5G communication module of the ground control terminal transmits the motion information to the 5G communication module in the aerial operation equipment 1, and at the same time receives the picture information and other motion information collected by the high-definition camera module at the front end of the intelligent mechanical arm in the aerial operation equipment 1; the visualization screen monitors the operation status of the intelligent mechanical arm in real time. The ground control terminal 2 can also set fixed programs, such as cleaning metal obstacles in bird nests, etc., to reduce the work intensity of operators.

[0029] The motion capture equipment 3 is a wearable equipment, which is worn on the arm of the operator. During the operation, the operator observes the movement state of the intelligent robotic arm through the visualization screen of the ground control terminal. The motion information of the operator's arm movement trajectory in the motion capture equipment 3 is collected by the motion capture data acquisition module and transmitted to the aerial work equipment 1 to control the intelligent robotic arm in real time to perform fine operations.

[0030] The operation method of the distribution network fault elimination robot arm based on motion capture technology is:

[0031] Before the operation, the operator replaces the front-end operation module of the intelligent robotic arm according to the operation requirements, and then controls the drone of the mobile auxiliary equipment in the aerial operation equipment 1 to place the fixed bracket and the intelligent robotic arm on the top of the distribution tower in turn and fix them. The operator starts the ground control terminal 2 and wears the motion capture equipment 3; during the operation, the operator observes the position of the intelligent robotic arm through the visualization screen of the ground control terminal 2 and controls the movement of the intelligent robotic arm according to the operation requirements.

[0032] The present invention utilizes a drone equipped with mobile auxiliary equipment to place a fixed bracket and an intelligent robotic arm on the top of a distribution pole tower, which is convenient for subsequent operations. Compared with pole climbing operations, this avoids the operating risks of operators, reduces potential safety hazards, and is beneficial to improving work efficiency. Moreover, operators observe the position of the intelligent robotic arm through the visualization screen of the ground control terminal 2, and use the motion capture equipment 3 to accurately restore the operator's arm movements, and cooperate with precision electronic control technology to achieve precise movements of the robotic arm, thus solving the problem that live operating vehicles cannot fully cover the operation, truly realizing remote "surgery" on aerial power grid equipment, and promoting the digital and intelligent upgrade of distribution network maintenance operations.

[0033] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept, which all belong to the protection scope of the present invention.

Claims

1. A network fault elimination robot arm based on motion capture technology, characterized in that: include: Aerial work equipment (1), the aerial work equipment (1) comprising mobile auxiliary equipment, a fixed bracket, and an intelligent mechanical arm. The mobile auxiliary equipment uses an unmanned aerial vehicle as a carrier, is hung on the fixed bracket and placed on the top of a distribution pole tower, and assists the intelligent mechanical arm to change the hanging position; the front end of the intelligent mechanical arm is equipped with an aerial work equipment main control chip, a 5G communication module, a radar obstacle avoidance module, a high-definition camera module, and a front-end operation module. The aerial work equipment main control chip is connected to the 5G communication module, the radar obstacle avoidance module, the high-definition camera module, and the front-end operation module respectively. The 5G communication module exchanges information with a ground control terminal (2) to realize command transmission; the radar obstacle avoidance module detects live wires and power grid equipment and performs automatic obstacle avoidance; the high-definition camera module collects images around the intelligent mechanical arm in real time and feeds them back to the ground control terminal (2) to assist in the operation; the front-end operation module executes the command issued by the aerial work equipment main control chip; A ground control terminal (2), wherein the ground control terminal (2) comprises a ground control terminal main control chip, a motion capture data acquisition module, a 5G communication module, and a visualization screen. The ground control terminal main control chip is connected to the motion capture data acquisition module, the 5G communication module, and the visualization screen respectively. The motion capture data acquisition module acquires motion information of the motion capture equipment (3); the 5G communication module of the ground control terminal transmits the motion information to the 5G communication module in the aerial operation equipment (1), and simultaneously receives the picture information and other motion information acquired by the high-definition camera module at the front end of the intelligent mechanical arm in the aerial operation equipment (1); the visualization screen monitors the operation status of the intelligent mechanical arm in real time; The motion capture equipment (3) is worn on the arm of an operator. During the operation, the operator observes the motion state of the intelligent robotic arm through the visual screen of the ground control terminal. The motion information of the operator's arm motion trajectory in the motion capture equipment (3) is collected by the motion capture data collection module and transmitted to the aerial operation equipment (1) to control the intelligent robotic arm in real time to perform fine operations.

2. The network fault elimination robot arm based on motion capture technology according to claim 1 is characterized in that: The models of the main control chip of the aerial work equipment and the main control chip of the ground control terminal are both Stm 32.

3. The network fault elimination robot arm based on motion capture technology according to claim 2 is characterized in that: The front-end operation module is installed with screw clamps or metal adsorption clamps according to different operation types.

4. The network fault elimination robot arm based on motion capture technology according to claim 3 is characterized in that: The fixed bracket comprises a tic-tac-toe insulating bracket (4), a top ring (5), a self-locking clamp (6) and four connecting frames (7), one end of the four connecting frames (7) being connected to four intersection points of the tic-tac-toe insulating bracket (4) and the other end being connected to the self-locking clamp (6), and the top ring (5) being located above the self-locking clamp (6) and connected to the connecting frame (7).

5. The network fault elimination robot arm based on motion capture technology according to claim 4 is characterized in that: The intelligent robotic arm is a three-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm, or a seven-axis robotic arm.

6. The network fault elimination robot arm based on motion capture technology according to claim 5 is characterized in that: The ground control terminal (2) can switch between two control strategies: motion capture control and manual control according to operational requirements.

7. The operation method of the network fault elimination robot arm based on motion capture technology according to any one of claims 1 to 6 is characterized in that: include: Before the operation, the operator replaces the front-end operation module of the intelligent robotic arm according to the operation requirements, and then controls the drone of the mobile auxiliary equipment in the aerial operation equipment (1) to place the fixed bracket and the intelligent robotic arm on the top of the distribution tower in turn, and the operator starts the ground control terminal (2) and wears the motion capture equipment (3); during the operation, the operator observes the location of the intelligent robotic arm through the visual screen of the ground control terminal (2) and controls the movement of the intelligent robotic arm according to the operation requirements.

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