Teleoperation robot system for live-line dry ice cleaning of insulator and operation method

Abstract

The invention relates to a teleoperation robot system for live-line dry ice cleaning of an insulator and an operation method, and the system comprises a robot complete machine system and a crawler-type insulation bucket arm vehicle. The robot complete machine system comprises an RGB-D camera, a six-degree-of-freedom mechanical arm, a dry ice machine subsystem, a monitoring camera, an industrial personal computer, a dry ice cleaning tool, a teleoperation hand, a man-machine interaction platform and a power supply system, and the teleoperation hand is connected with the man-machine interaction platform through a USB and then communicates with the robot industrial personal computer through WIFI; the robot complete machine system is installed on the crawler-type insulation bucket arm vehicle, and the dry ice machine subsystem is installed at the end of the six-degree-of-freedom mechanical arm and used for conducting dry ice cleaning operation on an insulator. According to the invention, high-quality rapid cleaning operation of insulators with different diameters and non-uniform pollution degrees can be completed in an electrified environment.

Description

Technical Field

[0001] The present application relates to the field of live-working robots for distribution networks, and in particular to a remote-controlled robot system and operating method for live dry ice cleaning of insulators. Background Art

[0002] With the rapid development of my country's economy, people's demand for electricity is increasing, and the scale of the power grid has grown rapidly. As an important part of the power grid, the substation has related electrical equipment (especially busbar insulators) that are outdoors for a long time, which is prone to pollution accumulation and other situations, causing power grid equipment pollution flashover accidents, which seriously affect the safe and stable operation of the equipment. In order to reduce the number of power outages in the power grid and ensure the normal production of society and the normal life of people, it is necessary to carry out non-stop maintenance of such equipment. However, at present, the maintenance method of most equipment in substations is mainly manual maintenance, and it is necessary to work in a power outage environment, which will cause a lot of economic losses. At the same time, manual live-line work needs to be in a high-altitude working environment, which consumes a lot of physical strength, is difficult to work, and there is a risk of falling. In this case, the use of robot technology for live-line work is of great significance to the non-stop maintenance of substation-related equipment and personal safety.

[0003] There are two main methods for cleaning insulators in live high-altitude environments: one is to use a high-pressure water gun for spray cleaning by manual or robotic equipment. Since the operation requires power outage, it causes inconvenience to residents' electricity use, and it is difficult to perform high-quality cleaning of stubborn oil stains, salt stains and other dirt on insulators; the other is a dry ice cleaning robot, which sends dry ice into a rotating cleaning tool to perform ring cleaning on the insulator. Since the dry ice will vaporize and sublimate after entering the rotating nozzle, and the rotating nozzle cannot perform targeted cleaning on high-contamination areas, the effect is not good. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a remote-controlled robot system and an operating method for live dry ice cleaning of insulators, which can complete high-quality and rapid cleaning operations of insulators of different diameters and uneven degrees of contamination in a live environment.

[0005] To achieve the above objectives, this application provides the following technical solutions:

[0006] In the first aspect, an embodiment of the present application provides a remote-controlled robot system for live dry ice cleaning of insulators, comprising a robot system and a tracked insulated boom truck. The robot system comprises an RGB-D camera, a six-degree-of-freedom robotic arm, a dry ice machine subsystem, a surveillance camera, an industrial computer, a dry ice cleaning tooling, a remote operator, a human-computer interaction platform, and a power supply system. The remote operator is connected to the human-computer interaction platform via USB, and then communicates with the robot industrial computer via WIFI. Each joint of the tracked insulated boom truck is equipped with an encoder or a displacement measurement sensor, and has a wireless remote control function. At the same time, the spatial coordinates of the end of the boom truck can be obtained in real time.

[0007] The crawler-type insulating bucket arm vehicle is equipped with a robot complete machine system, and the dry ice machine subsystem is installed at the end of a six-degree-of-freedom robotic arm for performing dry ice cleaning operations on insulators.

[0008] In a second aspect, the present application provides a teleoperated robot operation method for live dry ice cleaning of insulators, comprising the following specific steps:

[0009] The crawler boom truck stops, remotely controls the insulated boom truck, and observes the distance from the position marked by the on-board laser to the reference object in real time, and gradually drives the insulated boom truck to the parking area below the insulator to be cleaned;

[0010] The platform is put into the work station, and the robot system is gradually transported to the insulator work station. At this time, the camera and dry ice cleaning tooling are facing the insulator;

[0011] Insulator weak texture target recognition and positioning, an insulator fusion recognition and positioning method based on RGB-D images, used to obtain high-precision spatial coordinate information of insulator sheds;

[0012] In the remote-operated dry ice cleaning of insulators, the operator controls the remote operator in real time according to the monitoring screen information, thereby realizing the adaptive dry ice cleaning operation of the insulator by the dry ice cleaning nozzle of the slave robot;

[0013] After the robot is reset and completes the live cleaning task of the insulator, the robotic arm retracts to its initial position and controls the retraction of the insulating lifting device.

[0014] The crawler boom truck parking method is specifically as follows: 4 single-line blue lasers are installed on the boom truck, which are divided into 2 groups. The first group A1 and A2 form two parallel line lasers for indicating the maximum and minimum parking distances for the front and rear positions of the boom truck; the second group B1 and B2 form two parallel line lasers for indicating the maximum and minimum parking distances for the left and right positions of the boom truck. The control personnel remotely controls the insulated boom truck in accordance with the operating specifications and observes the distance from the position marked by the on-board laser to the reference object in real time, and gradually drives the insulated boom truck to the parking area below the insulator to be cleaned.

[0015] Specifically, the upper platform entering the work station is to remotely control the boom truck through manual operation, and the robot system can be gradually transported to the insulator work station. At this time, the camera and the dry ice cleaning tooling are facing the insulator, and the nozzle of the dry ice cleaning tooling is directly connected to the dry ice tube. The high-speed dry ice particles in the dry ice tube come from the mixed high-pressure dry ice gas formed by the operation of the air compressor and the pneumatic dry ice machine on the crawler vehicle. The air compressor compressor is used to provide high-speed and high-pressure gas, which is controlled by the solenoid valve. After that, the high-pressure gas enters the pneumatic dry ice machine, driving the pneumatic motor to rotate and break the dry ice particles in the dry ice machine, and finally transported to the insulator dry ice cleaning tooling through high-speed gas to complete the cleaning operation.

[0016] The insulator weak texture target recognition and positioning is specifically as follows: after the upper platform arrives at the working station, the robotic arm subsystem carries an RGB-D camera to perform three-dimensional reconstruction of the target at different viewing angles, and splices the reconstruction results to finally obtain the color and depth information of the insulator. Thereafter, based on the obtained RGB-D image information of the insulator, high-precision spatial positioning of the insulator shed is achieved. The insulator fusion recognition and positioning method based on the RGB-D image has two modes: algorithm automatic recognition and manual selection recognition, which are used to obtain high-precision spatial coordinate information of the insulator shed.

[0017] The insulator fusion recognition and positioning method based on RGB-D images has two modes: algorithm automatic recognition and manual selection recognition, which are used to obtain high-precision spatial coordinate information of insulator sheds. Specifically, ① in the algorithm automatic recognition mode, to realize the insulator recognition and spatial positioning functions, the first step is to use the mechanical arm with RGB-D camera to rotate. The second step is to automatically complete the rough positioning of the insulator based on the prior information that the insulator is in the center area of ​​the camera and the distance-based bandpass filtering algorithm; the third step is to use the PCA principal component analysis method to complete the calculation and correction of the insulator inclination angle; the fourth step is to perform image 1. Perform horizontal integration to complete the horizontal projection of the insulator point cloud map and obtain the insulator depth gradient map; the fifth step is to use the gradient detection operator to complete the segmentation of the insulator shed and key point detection; the sixth step is to mark the key points on the color map, so that the automatic recognition and high-precision spatial positioning function of the insulator shed can be realized; 2. In the manual selection recognition mode, the operator clicks on the insulator target p (x, y) in the two-dimensional image in the human-computer interaction system, and the spatial 3D coordinates P (X, Y, Z) of the insulator shed to be cleaned can be obtained through the depth map and the pinhole imaging model. The specific formula for calculating the 3D coordinates is:

[0018]

[0019] In the above formula, f is the focal length of the color camera, dx and dy are the pixel sizes, and u0 and v0 are the coordinates of the camera optical center.

[0020] The insulator weak texture target recognition and positioning also includes setting up a virtual safety fence for the insulator, which is used for safety protection during subsequent robot teleoperation control. The specific calculation steps of the safety fence are as follows:

[0021] Coordinate acquisition: First, the key point coordinate set of the insulator shed is obtained through the RGB-D camera at the end of the six-degree-of-freedom robot arm. The coordinates of these key points in the robot's three-dimensional space are set to Pi = (xi, yi, zi), where i is the index of the key point;

[0022] Cylinder fitting: Using these key point coordinates, a best matching cylinder can be fitted. The center line of the cylinder can be considered as the center axis of the insulator, and the radius R of the cylinder can be half the width of the shed. Let the center coordinates of the cylinder be C = (xc, yc, zc). C and R can be solved by minimizing the sum of the squares of the distances from all key points to the center line.

[0023] The equation of a cylinder can be expressed as: (x-xc) 2 +(y-yc) 2 =R 2 , where (x, y) is the projection coordinate of any point on the cylinder on the horizontal plane;

[0024] Virtual safety fence setting: The virtual safety fence is formed based on the cylinder extending outward by a certain safety distance d. This safety distance is to ensure that the robot does not touch the insulator shed during operation, thereby avoiding damage or accidents.

[0025] The equation of the expanded virtual safety fence is: (x-xc) 2 +(y-yc) 2 ≤(R+d) 2 , where d is a value set according to operational safety requirements;

[0026] Safety protection implementation: When the robot is remotely controlled, the control system will monitor the position of the robot's end effector Probot = (xr, yr, zr) in real time. If Probot meets the following conditions, the robot operation is safe: (x-xc) 2 +(y-yc) 2 >(R+d) 2 , if the above conditions are not met, the control system will take measures to ensure the safety of operation.

[0027] The specific steps of remote-operated insulator dry ice cleaning are as follows: ① Real-time acquisition of the joint angles of the remote-operator hand ② Use the Monte Carlo method to solve the teleoperator motion space. The specific formula is as follows:

[0028] q i=q min i +(q max i -q min i )Rand(j) (1)

[0029] Where i is the serial number of each joint of the teleoperator (1, 2, 3…6); qmaxi and qmini are the maximum and minimum values ​​of the joint variables of the i-th joint, respectively; Rand() is a function for obtaining random numbers, ranging from 0 to 1, and j is the number of random numbers;

[0030] By automatically selecting 40,000 sets of random joint angles, based on the main kinematics model, the point cloud map of the teleoperator's workspace can be obtained, and then the minimum and maximum ranges of the teleoperator in the x, y, and z directions can be obtained, which are (xmMin, xmMax), (ymMin, ymMax), and (zmMin, zmMax) respectively; similarly, the motion range of the slave manipulator can be obtained: (xsMin, xsMax), (ysMin, ysMax), and (zsMin, zsMax);

[0031] In actual calculation, the position (xm, ym, zm) of the teleoperator in the Cartesian coordinate system can be obtained in real time based on the Monte Carlo method, and then the following spatial mapping function A is used:

[0032]

[0033] Among them, k rx ~k rz is the pose mapping coefficient from the teleoperator to the slave manipulator, x s ~rz s It is the target spatial position that the remote operator requires the slave robot to reach after the above spatial mapping function; then the slave robot can obtain the rotation angle of each joint based on the inverse solution algorithm of the robot arm kinematics The coordinates The signals are sent to the motors of each joint of the main body, ultimately realizing the joint movement and remote operation control of the slave robot.

[0034] The operator can control the remote operator in real time according to the monitoring screen information, thereby realizing the adaptive dry ice cleaning operation of the insulator by the dry ice cleaning nozzle of the slave robot.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Compared with the existing manual or robotic equipment using high-pressure water gun operation method, the power needs to be cut off during cleaning, which causes inconvenience to residents' electricity use, and it is difficult to clean stubborn stains. The sewage after cleaning will cause environmental pollution and still need purification. 2. Insulators have complex structures, variable sizes, unclear features in the middle area, and are difficult to accurately locate. This method uses an RGB-D camera to obtain high-precision point cloud information and design dry ice cleaning tooling for insulators. It is safer, more efficient, and more direct, so it has more practical application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 This is the hardware schematic diagram of the teleoperated robot system for live dry ice cleaning of insulators in this application;

[0038] Figure 2 The overall schematic diagram of the teleoperated robot system for live dry ice cleaning of insulators of the present application;

[0039] Figure 3 A flow chart of the teleoperated robot operation method for live dry ice cleaning of insulators according to the present application;

[0040] Figure 4 This is a schematic diagram of the vehicle-mounted laser assisted parking solution of this application;

[0041] Figure 5 This is a schematic diagram of the control structure of the dry ice machine of this application;

[0042] Figure 6 RGB-D image of the insulator for this application;

[0043] Figure 7 This is a flow chart of the insulator fusion identification and positioning method based on RGB-D images of the present application;

[0044] Figure 8 A schematic diagram of a virtual safety fence for an insulator of the present application;

[0045] Fig. 9 This is a schematic diagram of the insulator cleaning operation of this application;

[0046] Fig.10 This is a schematic diagram of the robot reset of this application;

[0047] Fig.11 This is a flow chart of the Monte Carlo method-based teleoperator control method of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0049] The terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0050] The terms "first", "second", etc. are only used to distinguish one entity or operation from another entity or operation, and should not be understood as indicating or implying relative importance, nor should they be understood as requiring or implying any such actual relationship or order between these entities or operations.

[0051] Reference Figure 1 and Figure 2 An embodiment of the present invention provides a remote-controlled robot system for live dry ice cleaning of insulators, comprising a robot system and a tracked insulating boom vehicle. The robot system comprises an RGB-D camera, a six-degree-of-freedom robotic arm, a dry ice machine subsystem, a surveillance camera, an industrial computer, a dry ice cleaning tool, a remote operator, a human-computer interaction platform, and a power supply system. The remote operator is connected to the human-computer interaction platform via USB, and then communicates with the robot industrial computer via WIFI. Each joint of the tracked insulating boom vehicle is provided with an encoder or a displacement measurement sensor, and has a wireless remote control function. At the same time, the spatial coordinates of the end of the boom vehicle can be obtained in real time.

[0052] The crawler-type insulating bucket arm vehicle is equipped with a robot complete machine system, and the dry ice machine subsystem is installed at the end of a six-degree-of-freedom robotic arm for performing dry ice cleaning operations on insulators.

[0053] like Figure 1-Figure 11 As shown,

[0054] The robot can perform dry ice cleaning of insulators through the following process. The dry ice cleaning method mainly includes six steps: (1) parking the crawler boom vehicle; (2) entering the work station on the platform; (3) identifying and locating the weak texture target of the insulator; (4) remote-operated dry ice cleaning of the insulator; (5) resetting the robot; (6) carrying out the next phase operation, such as Figure 3 As shown, Figure 3 Teleoperated robot system and operation method for live dry ice cleaning of insulators

[0055] The specific implementation of the present invention is as follows:

[0056] (1) Parking of crawler boom truck base. Before formal operation, the boom truck needs to be parked in a suitable area under the insulator.

[0057] In order to solve the problem that the parking position of the insulation carrier is difficult to estimate manually, this step adopts the solution of laser assisted positioning, which is as follows: 4 single-line blue lasers are installed on the boom truck, divided into 2 groups. The first group A1 and A2 form two parallel line lasers to indicate the maximum and minimum parking distances of the front and rear positions of the boom truck; the second group B1 and B2 form two parallel line lasers to indicate the maximum and minimum parking distances of the left and right positions of the boom truck. The effect diagram of the laser installation is as follows Figure 4 The schematic diagram of the vehicle-mounted laser assisted parking solution is shown.

[0058] In the above scheme, it is necessary to find fixed reference objects on site for positioning. Optional targets include curbs, insulators, electric poles, etc., which need to be flexibly selected according to the on-site environment. In practice, when the boom truck is parked, the control personnel remotely control the insulated boom truck according to the operating specifications and observe the distance from the position marked by the on-board laser to the reference object in real time, and then gradually drive the insulated boom truck to the parking area below the insulator to be cleaned.

[0059] (2) Go up to the platform and enter the work station. The robot system can be gradually transported to the insulator work station by manually operating the remote-controlled bucket truck. At this time, the camera and dry ice cleaning tooling are facing the insulator. The dry ice nozzle is a hollow cylinder, and the end is connected to a dry ice hose fixed along the robotic arm. Above it is a binocular camera for visual positioning.

[0060] The nozzle of the dry ice cleaning tool is directly connected to the dry ice tube. The high-speed dry ice particles in the dry ice tube come from the mixed high-pressure dry ice gas formed by the air compressor on the crawler and the pneumatic dry ice machine. The specific control method of the dry ice machine is as follows: Figure 5 shown.

[0061] First, the air compressor is used to provide high-speed and high-pressure gas (typical value: 1Mpa), which is controlled by the solenoid valve. Then the high-pressure gas enters the pneumatic dry ice machine, driving the pneumatic motor to rotate and break the dry ice particles in the dry ice machine, and finally transported to the insulator dry ice cleaning tooling through high-speed gas to complete the cleaning operation. The entire dry ice machine does not require power, and is low-cost and safer.

[0062] (3) Weak texture target recognition and positioning. After the upper platform arrives at the work station, the robotic arm subsystem with an RGB-D camera performs three-dimensional reconstruction of the target from different perspectives and splices the reconstruction results to finally obtain the color and depth information of the insulator. Figure 6 shown.

[0063] Then, based on the obtained RGB-D image information of the insulator, high-precision spatial positioning of the insulator shed is achieved. Specifically, the present invention proposes an insulator fusion recognition and positioning method based on RGB-D images, which has two modes: algorithm automatic recognition and manual selection recognition, which can be used in fusion to obtain high-precision spatial coordinate information of the insulator shed, as follows:

[0064] In the algorithm automatic recognition mode, to realize the insulator recognition and spatial positioning functions, it is necessary to first use the robotic arm with RGB-D camera (typically realsense D455) to rotate.

[0065] The second step is to automatically complete the rough positioning of the insulator based on the prior information that the insulator is in the center area of ​​the camera and the distance-based bandpass filtering algorithm; the third step is to use the PCA principal component analysis method to complete the calculation and correction of the insulator inclination angle; the fourth step is to perform horizontal integration of the image, complete the horizontal projection of the insulator point cloud map, and obtain the insulator depth gradient map; the fifth step is to use the gradient detection operator to complete the segmentation of the insulator shed and key point detection; the sixth step is to mark the key points on the color map, so that the automatic recognition and high-precision spatial positioning of the insulator shed can be realized. The specific steps are as follows:

[0066] 1) Rough positioning of insulators: The rough positioning of insulators is automatically completed by using prior information (the insulator is located in the center area of ​​the camera) and a distance-based bandpass filtering algorithm. By setting the distance threshold Dmin to Dmax, pixels outside this range are filtered out, leaving only the rough outline of the insulator.

[0067] 2) Insulator posture detection and correction: The principal component analysis (PCA) method is used to calculate the insulator inclination and perform image correction. PCA is used to analyze the edge contour of the insulator, calculate the principal component direction, that is, the insulator inclination direction θ, and then perform rotation correction on the image.

[0068] 3) Depth horizontal histogram acquisition: perform horizontal integration on the image, complete the horizontal projection of the insulator point cloud image, and obtain the insulator depth gradient map (DHH).

[0069] 4) Segmentation and key point detection of insulator shed: The gradient detection operator is used to complete the segmentation and key point detection of the insulator shed. Specific operation: Apply the gradient detection operator on the DHH to identify the peaks and troughs, which correspond to the left and right edges and the center point of the insulator shed.

[0070] 5) Key point marking: Mark the detected key points on the color map to achieve automatic recognition and high-precision spatial positioning of the insulator shed for subsequent positioning and operation guidance.

[0071] In the above steps, insulator posture detection and correction, depth level histogram acquisition, insulator shed segmentation and key point detection and key point marking are all innovations of the present invention, and insulator coarse positioning is an innovative application of the prior art.

[0072] In the manual selection and recognition mode, the operator clicks on the insulator target p(x, y) in the two-dimensional image in the human-computer interaction system, and then obtains the spatial 3D coordinates P(X, Y, Z) of the insulator shed to be cleaned through the depth map and the pinhole imaging model. The specific formula for calculating the 3D coordinates is:

[0073]

[0074] In the above formula, f is the focal length of the color camera, dx and dy are the pixel sizes, and u0 and v0 are the coordinates of the camera optical center.

[0075] Specifically, the insulator fusion identification and positioning method is as follows Figure 7 As shown:

[0076] In the above process, the automatic identification mode has the characteristics of fast and comprehensive identification. When deviations occur in the on-site positioning, it switches to the manual selection identification mode, which determines the target by manually clicking on the surface of the insulator. It has stronger environmental adaptability and higher positioning accuracy.

[0077] Finally, based on the acquired spatial coordinate information of the insulator, the virtual safety fence of the insulator can be set with the central axis of the insulator as the center and the width of the insulator skirt as the radius, which is used for safety protection during subsequent robot teleoperation control. The specific calculation steps of the safety fence are as follows:

[0078] Coordinate acquisition: First, the key point coordinate set of the insulator shed is obtained through the RGB-D camera at the end of the six-degree-of-freedom robot arm. Let the coordinates of these key points in the robot's three-dimensional space be Pi = (xi, yi, zi), where i is the index of the key point.

[0079] Cylinder fitting: Using these key point coordinates, a best-matching cylinder can be fitted. The center line of the cylinder can be considered as the center axis of the insulator, and the radius R of the cylinder can be half the width of the shed. Let the center coordinates of the cylinder be C = (xc, yc, zc), and C and R can be solved by minimizing the sum of the squares of the distances from all key points to the center line.

[0080] The equation of a cylinder can be expressed as: (x-xc) 2 +(y-yc) 2 =R 2 , where (x, y) is the projection coordinate of any point on the cylinder on the horizontal plane.

[0081] Virtual safety fence setting: The virtual safety fence is formed based on the cylinder extending outward by a certain safety distance d. This safety distance is to ensure that the robot does not touch the insulator shed during operation, thereby avoiding damage or accidents.

[0082] The equation of the expanded virtual safety fence is: (x-xc) 2 +(y-yc) 2 ≤(R+d) 2 , where d is a value set according to operational safety requirements.

[0083] Safety protection implementation: When the robot is remotely controlled, the control system will monitor the position of the robot's end effector Probot = (xr, yr, zr) in real time. If Probot meets the following conditions, the robot operation is safe: (x-xc) 2 +(y-yc) 2 >(R+d) 2 If the above conditions are not met, the control system will take measures (such as suspending operation, issuing alarms, automatically adjusting position, etc.) to ensure the safety of operation.

[0084] The insulator virtual safety fence is as follows Figure 8 As shown:

[0085] (4) Dry ice cleaning of insulators based on remote control. Due to the small space and complex lighting at the distribution network site, the quality of the RGB-D images obtained by the robot is easily disturbed. At this time, there is a certain probability that the robot will fail to position or have abnormal movement. In this case, the automatic operation mode of the human-computer interaction tablet can be manually switched to the remote control mode. After that, the ground control personnel grasp the ground remote operator and observe the remote monitoring camera in real time. According to the high-altitude site conditions, the dual robotic arms are remotely fine-tuned, and then the corresponding instructions are sent to complete the corresponding operation functions in a human-machine collaborative manner. Here, a remote operator control method based on the Monte Carlo method is proposed. The specific implementation process is as follows: Fig.11 :

[0086] like Fig.11 ,①Get the joint angle of the teleoperator in real time ② Use the Monte Carlo method to solve the teleoperator motion space. The specific formula is as follows:

[0087] q i =q min i +(q max i -q min i )Rand(j) (1)

[0088] Where i is the serial number of each joint of the teleoperator (1, 2, 3…6); qmaxi and qmini are the maximum and minimum values ​​of the joint variables of the i-th joint, respectively; Rand() is a function for obtaining random numbers in the range of 0 to 1; and j is the number of random numbers.

[0089] By automatically selecting 40,000 sets of random joint angles, based on the main kinematics model, the point cloud map of the teleoperator's workspace can be obtained, and then the minimum and maximum ranges of the teleoperator in the x, y, and z directions can be obtained, which are (xmMin, xmMax), (ymMin, ymMax), and (zmMin, zmMax) respectively; similarly, the motion range of the slave manipulator can be obtained: (xsMin, xsMax), (ysMin, ysMax), and (zsMin, zsMax);

[0090] In actual calculation, the position (xm, ym, zm) of the teleoperator in the Cartesian coordinate system can be obtained in real time based on the Monte Carlo method, and then the following spatial mapping function A is used:

[0091]

[0092] Among them, k rx ~k rz is the pose mapping coefficient from the teleoperator to the slave manipulator, x s ~rz s It is the target spatial position that the remote operator requires the slave robot to reach after the above spatial mapping function; then the slave robot can obtain the rotation angle of each joint based on the inverse solution algorithm of the robot arm kinematics The coordinates The signals are sent to the motors of each joint of the main body, ultimately realizing the joint movement and remote operation control of the slave robot.

[0093] The operator can control the teleoperator in real time according to the monitoring screen information, thereby realizing the adaptive dry ice cleaning operation of the insulator by the dry ice cleaning nozzle of the slave robot. The schematic diagram is shown as follows Fig. 9 shown.

[0094] After that, the robot arm drives the dry ice cleaning tool to move upward step by step and start cleaning the next level of sheds. Then continue to repeat the above steps until the sheds at the high-voltage end above the insulator are cleaned. After that, the boom truck is remotely controlled to transport the robot platform to the front of the next phase insulator to continue the dry ice cleaning operation.

[0095] (6) Robot reset. After completing the live cleaning task of the insulator, the robot arm retracts to the initial position and controls the retraction of the insulation lifting device. Fig.10 shown.

[0096] (7) Exit the work station. The upper platform of the boom truck is manually controlled to exit the work station and return the boom truck to the origin.

[0097] The present invention designs a remote-controlled robot system for live dry ice cleaning of insulators, which includes a robot and a crawler-type insulating bucket arm vehicle. The robot system includes a mechanical arm, a binocular camera, a remote operator, a power supply and other subsystems to form a whole operation system; by setting a virtual fence, the robot can be controlled to avoid hitting the operation target during the remote operation process to ensure safety.

[0098] The present invention designs an insulator dry ice cleaning tool and operation method, the tool includes a straight nozzle and a dry ice hose; the nozzle is driven by a robotic arm to move forward and backward, up and down, and rotate, so as to complete all-round and dead-angle cleaning of the front of the insulator. Compared with the traditional high-pressure water gun cleaning method, the present invention proposes the use of dry ice cleaning, which can be operated during the live process, and has better cleaning effect and higher efficiency for stubborn stains; in addition, compared with the existing robot ring dry ice cleaning method, the dry ice straight tube cleaning proposed by the present invention has the advantages of low dry ice loss, larger flow rate, and higher cleaning quality;

[0099] The present invention proposes to use a pure pneumatic dry ice machine for insulator dry ice cleaning, reducing the power load required by the electric drive dry ice machine. The dry ice machine only needs 1MPA (1.5m3 / min) high-pressure gas to drive, and the operation of the dry ice machine is controlled by the on-off of the gas circuit, which has the characteristics of low cost and greater safety;

[0100] The present invention proposes a robot insulator dry ice cleaning method, which mainly includes six steps: (1) parking the crawler boom vehicle; (2) entering the work station on the platform; (3) identifying and locating the weak texture target of the insulator; (4) cleaning the insulator with dry ice based on remote operation; (5) resetting the robot; and (6) carrying out the next phase operation. The method can effectively ensure the personal safety of the operators and efficiently realize the live dry ice cleaning operation of the insulator.

[0101] The present invention further proposes an insulator fusion recognition and positioning method based on RGB-D images, which has two modes: automatic recognition and manually selected recognition. The automatic recognition mode has the characteristics of fast recognition and comprehensive recognition; the manually selected recognition mode has stronger environmental adaptability and higher positioning accuracy.

[0102] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A teleoperated robot system for live dry ice cleaning of insulators, characterized in that: It consists of two parts: a robot system and a crawler-type insulated boom truck. The robot system includes an RGB-D camera, a six-degree-of-freedom robotic arm, a dry ice machine subsystem, a surveillance camera, an industrial computer, dry ice cleaning tooling, a remote operator, a human-computer interaction platform, and a power supply system. The remote operator is connected to the human-computer interaction platform via USB, and then communicates with the robot's industrial computer via WIFI. Each joint of the crawler-type insulated boom truck is equipped with an encoder or a displacement measurement sensor, and has a wireless remote control function. At the same time, the spatial coordinates of the end of the boom truck can be obtained in real time.

2. A teleoperated robot system for live dry ice cleaning of insulators according to claim 1, characterized in that: The crawler-type insulating bucket arm vehicle is equipped with a robot complete machine system, and the dry ice machine subsystem is installed at the end of a six-degree-of-freedom robotic arm for performing dry ice cleaning operations on insulators.

3. A teleoperated robot operation method for live dry ice cleaning of insulators, characterized in that: The specific steps include: The crawler boom truck stops, remotely controls the insulated boom truck, and observes the distance from the position marked by the on-board laser to the reference object in real time, and gradually drives the insulated boom truck to the parking area below the insulator to be cleaned; The platform is put into the work station, and the robot system is gradually transported to the insulator work station. At this time, the camera and dry ice cleaning tooling are facing the insulator; Insulator weak texture target recognition and positioning, an insulator fusion recognition and positioning method based on RGB-D images, used to obtain high-precision spatial coordinate information of insulator sheds; In the remote-operated dry ice cleaning of insulators, the operator controls the remote operator in real time according to the monitoring screen information, thereby realizing the adaptive dry ice cleaning operation of the insulator by the dry ice cleaning nozzle of the slave robot; After the robot is reset and completes the live cleaning task of the insulator, the robotic arm retracts to its initial position and controls the retraction of the insulating lifting device.

4. A teleoperated robot operation method for live dry ice cleaning of insulators according to claim 3, characterized in that: The crawler boom truck parking method is specifically as follows: 4 single-line blue lasers are installed on the boom truck, which are divided into 2 groups. The first group A1 and A2 form two parallel line lasers for indicating the maximum and minimum parking distances for the front and rear positions of the boom truck; the second group B1 and B2 form two parallel line lasers for indicating the maximum and minimum parking distances for the left and right positions of the boom truck. The control personnel remotely controls the insulated boom truck in accordance with the operating specifications and observes the distance from the position marked by the on-board laser to the reference object in real time, and gradually drives the insulated boom truck to the parking area below the insulator to be cleaned.

5. The teleoperated robot operation method for live dry ice cleaning of insulators according to claim 3 is characterized in that: Specifically, the upper platform entering the work station is to remotely control the boom truck through manual operation, and the robot system can be gradually transported to the insulator work station. At this time, the camera and the dry ice cleaning tooling are facing the insulator, and the nozzle of the dry ice cleaning tooling is directly connected to the dry ice tube. The high-speed dry ice particles in the dry ice tube come from the mixed high-pressure dry ice gas formed by the operation of the air compressor and the pneumatic dry ice machine on the crawler vehicle. The air compressor compressor is used to provide high-speed and high-pressure gas, which is controlled by the solenoid valve. After that, the high-pressure gas enters the pneumatic dry ice machine, driving the pneumatic motor to rotate and break the dry ice particles in the dry ice machine, and finally transported to the insulator dry ice cleaning tooling through high-speed gas to complete the cleaning operation.

6. The teleoperated robot operation method for live dry ice cleaning of insulators according to claim 3 is characterized in that: The insulator weak texture target recognition and positioning is specifically as follows: after the upper platform arrives at the working station, the robotic arm subsystem carries an RGB-D camera to perform three-dimensional reconstruction of the target at different viewing angles, and splices the reconstruction results to finally obtain the color and depth information of the insulator. Thereafter, based on the obtained RGB-D image information of the insulator, high-precision spatial positioning of the insulator shed is achieved. The insulator fusion recognition and positioning method based on the RGB-D image has two modes: algorithm automatic recognition and manual selection recognition, which are used to obtain high-precision spatial coordinate information of the insulator shed.

7. A teleoperated robot operation method for live dry ice cleaning of insulators according to claim 6, characterized in that: The insulator fusion recognition and positioning method based on RGB-D images has two modes: algorithm automatic recognition and manual selection recognition, which are used to obtain high-precision spatial coordinate information of insulator sheds. Specifically, ① in the algorithm automatic recognition mode, to realize the insulator recognition and spatial positioning functions, the first step is to use the mechanical arm with RGB-D camera to rotate. The second step is to automatically complete the rough positioning of the insulator based on the prior information that the insulator is in the center area of ​​the camera and the distance-based bandpass filtering algorithm; the third step is to use the PCA principal component analysis method to complete the calculation and correction of the insulator inclination angle; the fourth step is to perform horizontal integration of the image, complete the horizontal projection of the insulator point cloud map, and obtain the insulator depth gradient map; The fifth step is to use the gradient detection operator to complete the segmentation and key point detection of the insulator shed. The sixth step is to mark the key points on the color map, so that the automatic recognition and high-precision spatial positioning of the insulator shed can be realized. ② In the manual selection recognition mode, the operator clicks on the insulator target p (x, y) in the two-dimensional image in the human-computer interaction system, and the spatial 3D coordinates P (X, Y, Z) of the insulator shed to be cleaned can be obtained through the depth map and the pinhole imaging model. The specific formula for calculating the 3D coordinates is: In the above formula, f is the focal length of the color camera, dx and dy are the pixel sizes, and u0 and v0 are the coordinates of the camera optical center.

8. A teleoperated robot operation method for live dry ice cleaning of insulators according to claim 7, characterized in that: The insulator weak texture target recognition and positioning also includes setting up a virtual safety fence for the insulator, which is used for safety protection during subsequent robot teleoperation control. The specific calculation steps of the safety fence are as follows: Coordinate acquisition: First, the key point coordinate set of the insulator shed is obtained through the RGB-D camera at the end of the six-degree-of-freedom robot arm. The coordinates of these key points in the robot's three-dimensional space are set to Pi = (xi, yi, zi), where i is the index of the key point; Cylinder fitting: Using these key point coordinates, a best matching cylinder can be fitted. The center line of the cylinder can be considered as the center axis of the insulator, and the radius R of the cylinder can be half the width of the shed. Let the center coordinates of the cylinder be C = (xc, yc, zc). C and R can be solved by minimizing the sum of the squares of the distances from all key points to the center line. The equation of a cylinder can be expressed as: (x-xc) 2 +(y-yc) 2 =R 2 , where (x, y) is the projection coordinate of any point on the cylinder on the horizontal plane; Virtual safety fence setting: The virtual safety fence is formed based on the cylinder extending outward by a certain safety distance d. This safety distance is to ensure that the robot does not touch the insulator shed during operation, thereby avoiding damage or accidents. The equation of the expanded virtual safety fence is: (x-xc) 2 +(y-yc) 2 ≤(R+d) 2 , where d is a value set according to operational safety requirements; Safety protection implementation: When the robot is remotely controlled, the control system will monitor the position of the robot's end effector Probot = (xr, yr, zr) in real time. If Probot meets the following conditions, the robot operation is safe: (x-xc) 2 +(y-yc) 2 >(R+d) 2 , if the above conditions are not met, the control system will take measures to ensure the safety of operation.

9. The teleoperated robot operation method for live dry ice cleaning of insulators according to claim 3 is characterized in that: The specific steps of remote-controlled insulator dry ice cleaning are as follows: ① Real-time acquisition of the joint angles of the remote-controlled hand ② Use the Monte Carlo method to solve the teleoperator motion space. The specific formula is as follows: q i =q mini +(q maxi -q mini )Rand(j) (1) Where i is the serial number of each joint of the teleoperator (1, 2, 3…6); qmaxi and qmini are the maximum and minimum values ​​of the joint variables of the i-th joint, respectively; Rand() is a function for obtaining random numbers, ranging from 0 to 1, and j is the number of random numbers; By automatically selecting 40,000 sets of random joint angles, based on the main kinematics model, the point cloud map of the teleoperator's workspace can be obtained, and then the minimum and maximum ranges of the teleoperator in the x, y, and z directions can be obtained, which are (xmMin, xmMax), (ymMin, ymMax), and (zmMin, zmMax) respectively; similarly, the motion range of the slave manipulator can be obtained: (xsMin, xsMax), (ysMin, ysMax), and (zsMin, zsMax); In actual calculation, the position (xm, ym, zm) of the teleoperator in the Cartesian coordinate system can be obtained in real time based on the Monte Carlo method, and then the following spatial mapping function A is used: Among them, k rx ~k rz is the pose mapping coefficient from the teleoperator to the slave manipulator, x s ~rz s It is the target spatial position that the remote operator requires the slave robot to reach after the above spatial mapping function; then the slave robot can obtain the rotation angle of each joint based on the inverse solution algorithm of the manipulator kinematics The coordinates The signals are sent to the motors of each joint of the main body, ultimately realizing the joint movement and remote operation control of the slave robot. The operator can control the remote operator in real time according to the monitoring screen information, thereby realizing the adaptive dry ice cleaning operation of the insulator by the dry ice cleaning nozzle of the slave robot.

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