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

Abstract

The application belongs to the field of distribution network defect elimination operation, and particularly relates to a distribution network defect elimination mechanical arm based on motion capture technology and an operation method, which comprises: an aerial operation device, a ground control terminal and motion capture equipment, the aerial operation device comprises mobile auxiliary equipment, a fixed support and an intelligent mechanical arm, the front end of the intelligent mechanical arm is provided with an aerial operation device 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. The application can effectively avoid the safety hazards during pole climbing operation, solve the problem that the live working vehicle cannot fully cover the operation, and truly realize remote "surgery" on the aerial power grid equipment, thereby promoting the digital and intelligent upgrading of distribution network maintenance operation.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of distribution network defect elimination operation, and particularly relates to a distribution network defect elimination mechanical arm based on motion capture technology and an operation method. BACKGROUND

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

[0003] At present, the 10kV line defect elimination operation includes traditional pole climbing operation and live working vehicle operation.

[0004] The problems of traditional pole climbing operation are as follows: 1. After rain, snow and frost, the tower is slippery, and forced pole climbing operation has a high safety risk, and the repair time cannot be controlled; 2. There are metal objects in some bird nests, and during the operation of pole climbing and poking bird nests, there are risks of falling objects and improper placement of metal objects.

[0005] The problems of live working vehicle operation are as follows: there are many live working vehicles that cannot reach the complex operation environment in rural areas, and the traditional live working method cannot cover the scene, and the "zero perception" high-quality service capability is limited.

[0006] In the environment of safety production and high-quality service, the "small, micro, fine and real" problems are gradually highlighted and magnified, becoming the "stumbling block" and "roadblock" that restricts the healthy development of distribution network maintenance, and drives the digitalization iteration and upgrading of distribution network operation and maintenance equipment. It is urgent to develop an intelligent remote maintenance operation equipment to eliminate the widespread safety operation risks in traditional distribution network maintenance operation and improve the level of high-quality service. SUMMARY

[0007] The purpose of the application is to overcome the shortcomings of the prior art, provide a distribution network defect elimination mechanical arm based on motion capture technology and an operation method, finely restore the arm movements of the operation personnel through the motion capture equipment, cooperate with the precise electronic control technology to realize the precise movement of the mechanical arm, and truly realize the remote "surgery" on the aerial power grid equipment, and promote the digitalization and upgrading of distribution network maintenance operation.

[0008] The technical scheme adopted by the application to solve the technical problems is:

[0009] The first aspect of the application provides a network distribution defect elimination mechanical arm based on motion capture technology, comprising: an aerial work equipment, a ground control terminal and a motion capture equipment, the aerial work equipment comprises a mobile auxiliary equipment, a fixed support and an intelligent mechanical arm, the mobile auxiliary equipment takes a drone as a carrier, the fixed support is hung on the top of a power distribution pole, and the intelligent mechanical arm is assisted to change the hanging position; the front end of the intelligent mechanical arm is provided with an aerial work equipment master 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 master control chip is connected with 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 the ground control terminal to realize instruction transmission; the radar obstacle avoidance module detects live wires and power grid equipment to realize automatic obstacle avoidance; the high-definition camera module collects pictures around the intelligent mechanical arm in real time and feeds back to the ground control terminal to assist operation; the front-end operation module executes instructions sent by the aerial work equipment master control chip; the ground control terminal comprises a ground control terminal master control chip, a motion capture data acquisition module, a 5G communication module and a visual screen, the ground control terminal master control chip is connected with the motion capture data acquisition module, the 5G communication module and the visual screen respectively, and the motion capture data acquisition module collects 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 simultaneously receives 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 work equipment; the visual screen monitors the operation state of the intelligent mechanical arm in real time; the motion capture equipment is worn on the arm of an operator, and the operator observes the motion state of the intelligent mechanical arm through the visual screen of the ground control terminal during operation, and the motion information of the motion trajectory of the arm of the operator 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 mechanical arm to carry out fine operation in real time.

[0010] Further, the model of the aerial work equipment master control chip and the ground control terminal master control chip is Stm32.

[0011] Further, the front-end operation module is provided with a screw wrench or a metal adsorption clamp according to different operation types.

[0012] Further, the fixed support comprises a cross-shaped insulating support, a top ring, a self-locking hoop and four connecting frames, one end of the four connecting frames is connected with four intersection points of the cross-shaped insulating support, and the other end is connected with the self-locking hoop, and the top ring is located above the self-locking hoop and connected with the connecting frames.

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

[0014] Further, the ground control terminal can switch between motion capture control and manual control according to operation requirements.

[0015] The second aspect of the present invention provides a method for operating a power distribution network fault-clearing robotic arm based on motion capture technology, comprising: before 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 to place the fixed bracket and the intelligent robotic arm on the top of the power distribution tower in sequence and fix them, the operator starts the ground control terminal and wears the motion capture equipment; during operation, the operator observes the location of the intelligent robotic arm through the visualization screen of the ground control terminal and controls the intelligent robotic arm to move and operate according to the operation requirements.

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

[0017] This invention utilizes a drone equipped with mobile auxiliary equipment to place a fixed support and an intelligent robotic arm on top of a power distribution tower, facilitating subsequent operations. Compared to pole climbing, this avoids the risks to workers, reduces safety hazards, and improves work efficiency. Furthermore, workers can observe the location of the intelligent robotic arm through a visual screen on a ground control terminal. Motion capture equipment precisely recreates the worker's arm movements, and combined with precision electronic control technology, enables accurate robotic arm movements. This solves the problem of live-line working vehicles not being able to cover all areas, truly enabling remote "surgery" on aerial power grid equipment and promoting the digital and intelligent upgrade of power distribution network maintenance operations. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the power distribution network defect elimination robotic arm based on motion capture technology according to the present invention;

[0019] Figure 2 This is a circuit block diagram of the power distribution network fault elimination robotic arm based on motion capture technology according to the present invention;

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

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

[0022] 1-Aerial work equipment; 2-Ground control terminal; 3-Motion capture equipment; 4-Grid insulating bracket; 5-Top ring; 6-Self-locking clamp; 7-Connecting frame. Detailed Implementation

[0023] The present invention will be further described in detail below through specific embodiments. The following embodiments are merely descriptive and not limiting, and should not be used to limit the scope of protection of the present invention.

[0024] like Figures 1-3 As shown, the present invention provides a power distribution network defect elimination robotic arm based on motion capture technology, including: aerial operation equipment 1, ground control terminal 2, and motion capture equipment 3.

[0025] As shown in Figure 1 , the aerial operation equipment 1 includes a mobile auxiliary equipment, a fixed support, and an intelligent mechanical arm. The mobile auxiliary equipment takes a drone as a carrier, hangs a fixed support to the top end of a power distribution pole tower, and assists the intelligent mechanical arm in changing the hanging position. Before operation, a set of fixed supports are hung by the drone to the top end of the power distribution pole tower, and after being fixed, the intelligent mechanical arm is hung by the drone to the fixed support at the top end of the power distribution pole tower. The intelligent mechanical arm can be fixed on the fixed support at the top end of the power distribution pole tower by using a self-locking buckle.

[0026] As shown in Figure 2 , 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. The model of the aerial operation equipment main control chip is Stm 32. The aerial operation equipment main control chip is connected with 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 instruction transmission. The radar obstacle avoidance module detects live wires and power grid equipment to automatically avoid obstacles. The high-definition camera module collects pictures around the intelligent mechanical arm in real time and feeds back to the ground control terminal 2 to assist operation. The front-end operation module executes the instructions issued by the aerial operation equipment main control chip. The front-end operation module is equipped with a screw wrench or a metal adsorption clamp according to different operation types. Optionally, the intelligent mechanical arm is a three-axis mechanical arm, a five-axis mechanical arm, a six-axis mechanical arm, or a seven-axis mechanical arm, and the operation mode is more flexible.

[0027] As shown in Figure 3 , the fixed support includes a cross-shaped insulating support 4, a top ring 5, a self-locking hoop 6, and four connecting frames 7. One end of the four connecting frames 7 is connected with four intersection points of the cross-shaped insulating support 4, and the other end is connected with the self-locking hoop 6. The top ring 5 is located above the self-locking hoop 6 and is connected with the connecting frames 7. The diameter of the top ring 5 is smaller than that of the self-locking hoop 6, and the top ring 5 can be adapted to the top end of the power distribution pole tower. The fixed support has the cross-shaped insulating support 4, and the lower end is configured with the self-locking hoop 6, which can be fixed to the top end of the power distribution pole tower.

[0028] As shown in Figure 2As shown, the ground control terminal 2 comprises a ground control terminal master chip, a motion capture data acquisition module, a 5G communication module, and a visual screen. The ground control terminal master chip is of Stm 32. The ground control terminal master chip is connected with the motion capture data acquisition module, the 5G communication module, and the visual screen, respectively. The ground control terminal 2 can switch between motion capture control and manual control according to the operation requirements. The motion capture data acquisition module acquires 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 simultaneously 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 visual screen monitors the operation state of the intelligent mechanical arm in real time. The ground control terminal 2 can also be provided with fixed programs, such as cleaning metal obstacles in bird nests, to reduce the operation intensity of the operator.

[0029] The motion capture equipment 3 is a wearable equipment worn on the arm of the operator. During the operation, the operator observes the motion state of the intelligent mechanical arm through the visual screen of the ground control terminal. The motion information of the arm motion trajectory of the operator in the motion capture equipment 3 is acquired by the motion capture data acquisition module and transmitted to the aerial operation equipment 1 to control the intelligent mechanical arm to carry out fine operation in real time.

[0030] The operation method of the distribution network defect elimination mechanical arm based on the motion capture technology is as follows:

[0031] Before operation, the operator replaces the front end operation module of the intelligent mechanical arm according to the operation requirements, and then controls the unmanned aerial vehicle of the mobile auxiliary equipment in the aerial operation equipment 1 to place the fixed support and the intelligent mechanical arm on the top end of the distribution pole tower in sequence. The operator starts the ground control terminal 2 and wears the motion capture equipment 3. During operation, the operator observes the position of the intelligent mechanical arm through the visual screen of the ground control terminal 2, and controls the intelligent mechanical arm to move according to the operation requirements.

[0032] The unmanned aerial vehicle of the mobile auxiliary equipment places the fixed support and the intelligent mechanical arm on the top end of the distribution pole tower, which is convenient for subsequent operation, avoids the operation risk of the operator, reduces the safety hidden danger, and is conducive to improving the work efficiency compared with the pole climbing operation. Moreover, the operator observes the position of the intelligent mechanical arm through the visual screen of the ground control terminal 2, and finely restores the arm motion of the operator through the motion capture equipment 3, which is combined with the precise electronic control technology to realize the precise motion of the mechanical arm, solves the problem that the live working vehicle cannot fully cover the operation, truly realizes the remote "surgery" on the aerial power grid equipment, and promotes the digital and intelligent upgrading of the distribution network maintenance operation.

[0033] The above merely describes the preferred embodiments of the present application, and it should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the inventive concept, and these all belong to the protection scope of the present application.

Claims

1. A commissioning defect elimination robotic arm based on motion capture technology, characterized in that, The utility model provides an aerial work equipment (1), the aerial work equipment (1) includes mobile auxiliary equipment, fixed support, intelligent mechanical arm, mobile auxiliary equipment is with unmanned plane as carrier, links fixed support places to distribution electricity pole tower top end, and auxiliary intelligent mechanical arm changes the position of hanging and links, the front end of intelligent mechanical arm is equipped with aerial work equipment main control chip, 5G communication module, radar obstacle avoidance module, high definition camera module and front end operation module, aerial work equipment main control chip is connected with 5G communication module, radar obstacle avoidance module, high definition camera module and front end operation module respectively, 5G communication module carries out information interaction with ground control terminal (2), realizes instruction delivery, radar obstacle avoidance module detects live wire and power grid equipment, and carries out automatic obstacle avoidance, high definition camera module real -time collection intelligent mechanical arm around picture, and feedback to ground control terminal (2), auxiliary operation development, front end operation module executes the instruction that aerial work equipment main control chip sent, the fixed support includes cross insulating support (4), top ring (5), self -locking hoop (6) and four connecting frames (7), four connecting frames (7) one end connects four intersection points of cross insulating support (4), the other end connects self -locking hoop (6), top ring (5) is located above self -locking hoop (6) and is connected with connecting frame (7), 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 visual screen. The ground control terminal main control chip is connected with the motion capture data acquisition module, the 5G communication module, and the visual screen. The motion capture data acquisition module collects 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 work equipment (1), and simultaneously receives picture information collected by the high-definition camera module at the front end of the intelligent mechanical arm in the aerial work equipment (1). The visual screen monitors the working state of the intelligent mechanical arm in real time. The motion capture equipment (3) is worn on the arm of the operator. During the operation, the operator observes the motion state of the intelligent mechanical arm through the visual screen of the ground control terminal. The motion information of the motion trajectory of the arm of the operator 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 mechanical arm to carry out fine operation in real time. The model of the aerial work equipment main control chip and the ground control terminal main control chip is Stm 32.

2. The motion capture technology-based commissioning gap filling robotic arm of claim 1, wherein, The front end operation module installs a screw clamp or a metal adsorption clamp according to different operation types.

3. The motion capture technology-based commissioning gap filling robotic arm of claim 2, wherein, The intelligent mechanical arm is a three-axis mechanical arm, a five-axis mechanical arm, a six-axis mechanical arm, or a seven-axis mechanical arm.

4. The motion capture technology-based commissioning gap filling robotic arm of claim 3, wherein, The ground control terminal (2) can switch between motion capture control and manual control according to operation requirements.

5. The motion capture technology-based commissioning gap filling robotic arm of claim 4, wherein, ​ 6. The working method of the motion capture technology-based network commissioning defect elimination robotized arm according to any one of claims 1-5, characterized in that, ​ Before operation, the operator changes the front end operation module of the intelligent mechanical arm according to the operation requirement, and then controls the unmanned aerial vehicle of the mobile auxiliary equipment in the aerial operation equipment (1) to place the fixed support and the intelligent mechanical arm on the top end of the distribution pole tower in turn, the operator starts the ground control terminal (2) and wears the motion capture equipment (3); during operation, the operator observes the position of the intelligent mechanical arm through the visual screen of the ground control terminal (2), and controls the intelligent mechanical arm to move according to the operation requirement.

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