Accurate positioning system for automatic fire disconnection and connection hot-line work robot

Abstract

The invention relates to the technical field of mechanical arm positioning, and discloses a precise positioning system of an automatic fire-disconnection live working robot, which comprises a mechanical arm, a visual identification system and an auxiliary positioning mechanism fixed on an operation table at the tail end of the mechanical arm, and the auxiliary positioning mechanism comprises a positioning ring, the visual recognition system comprises a visual camera, the visual camera can recognize the plane relative position of the positioning ring and the guide rod, the whole positioning ring is lifted and fixed through a connecting piece, the laser positioner and the visual camera are matched with the mechanical arm, the positioning ring is fixed to the tail end execution position of the mechanical arm, and a guide wheel is arranged on the positioning ring. The connecting sleeve assembly at the tail end of the mechanical arm can quickly and accurately reach the doubling hook through the guide wheel on the positioning ring, the working efficiency of fire disconnection and connection can be effectively improved, and the positioning precision of the tail end of the mechanical arm and the positioning rod during fire connection operation is improved through mutual cooperation of the positioning ring and the guide rod.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm positioning, and in particular to a precise positioning system for an automated live-fire operation robot. Background Art

[0002] Fire-de-connection operation refers to the process of connecting wires or dismantling the wiring on wires. The wires are energized during this process, so the operation is also very dangerous. Initially, fire-de-connection operations were done manually, which was prone to major safety accidents. With the development of technology, robots have gradually replaced manual labor to complete fire-de-connection operations, which can bring great safety protection to operators. At present, fire-de-connection robots basically use multi-degree-of-freedom manipulators to replace human hands to complete the operation.

[0003] At present, the process of connecting the lines (connecting the lines) and disassembling the connected lines (untying the lines) during the fire-breaking operation is usually achieved by using a connecting hook. The connecting hook can greatly facilitate the fire-breaking operation. The connecting hook for the fire-breaking robot needs to be designed with a guide rod on the connecting hook. The guide rod can facilitate the robot to complete the grasping and fixing of the connecting hook. The automatic positioning of the manipulator basically needs to rely on visual recognition and cooperate with sensors to complete. The fire-breaking operation is basically in an outdoor environment. The equipment shaking caused by wind and strong light interference will cause the positioning operation of the manipulator to be wrong, which greatly increases the difficulty of positioning the manipulator and increases the difficulty of operating the manipulator, while also further reducing the efficiency of the fire-breaking operation. Summary of the invention

[0004] The purpose of the present invention is to provide an automated fire-breaking and live-line working robot precise positioning system, to enhance the positioning system's resistance to environmental interference, and to solve the problem of the existing fire-breaking robot being difficult to operate.

[0005] The present invention is achieved through the following technical solutions:

[0006] A precise positioning system for an automated live-wire operation robot comprises a robotic arm, a visual recognition system and an auxiliary positioning mechanism fixed to an operating table at the end of the robotic arm, wherein the auxiliary positioning mechanism comprises a positioning ring, the visual recognition system comprises a visual camera, and the visual camera can identify the planar relative position of the positioning ring and a guide rod, and the positioning ring as a whole is lifted and fixed by a connecting piece.

[0007] The relative position of the positioning circle and the guide rod is quickly determined by the visual camera, and the robotic arm is controlled to make rapid adjustments based on the relative position information, so that the guide rod position observed on the visual recognition system is in the positioning circle. This can significantly reduce the impact of strong outdoor light and ensure the accuracy of visual recognition. By raising and fixing the positioning circle, the robotic arm can effectively avoid blocking the visual camera in the visual recognition system during positioning, effectively reducing the visual blind spot of the visual recognition system.

[0008] In a possible design, a laser positioning rangefinder is also included, and the laser positioning rangefinder is used to measure the distance of the guide rod. The laser positioning rangefinder can measure the approximate position of the guide rod and is used to control the movement speed of the robotic arm.

[0009] In a possible design, the auxiliary positioning mechanism also includes a guide wheel, which is rotatably arranged on the guide wheel frame, and the guide wheel frame is fixedly connected to the positioning ring. The guide wheel frame and the connecting plate are respectively located in two opposite directions on the positioning ring. The robotic arm is controlled to place the guide wheel on the wire. After the guide wheel is placed on the wire, the guide ring can quickly and accurately reach the guide rod through the push of the robotic arm. At the same time, through the cooperation between the guide wheel and the wire, the front end of the robotic arm can be regarded as being in a state of hanging on the wire. In this state, the swing of the front end of the robotic arm due to wind force can be greatly reduced, thereby improving the overall stability of the robotic arm.

[0010] In a possible design, the auxiliary positioning mechanism also includes a connecting sleeve assembly, which includes a first sleeve and a second sleeve, the first sleeve is located in the second sleeve, the first sleeve and the second sleeve are slidably matched, one end of the first sleeve is a trumpet-shaped docking port, the first sleeve is used for the guide rod to be sleeved, and finally the guide rod is connected and fixed, the other end of the first sleeve is provided with an exhaust hole, and a second chamber is provided between the second sleeve and the first sleeve, and the position state between the first sleeve and the second sleeve can be controlled by pumping gas into or out of the second chamber.

[0011] In one possible design, there are two visual cameras in the visual recognition system, and the two visual cameras are symmetrical. The visual recognition system also includes an image processing system, and the image processing system performs overlap analysis on the images observed by the two visual cameras. A vibration sensor is fixed at the end of the robotic arm, and the vibration sensor is jointly judged with the visual recognition system to accurately identify the position status.

[0012] In a possible design, when the lower end of the guide wheel contacts the electric wire, the distance from the electric wire there to the center of the positioning ring is the same as the distance from the electric wire on the parallel hook to the axis of the guide rod.

[0013] In a possible design, the end operating platform is divided into a first operating platform and a second operating platform, the connecting sleeve assembly is fixed on the first operating platform, the auxiliary positioning mechanism is fixed on the second operating platform, the first operating platform and the second operating platform are rotatably matched, and a rotating cylinder is provided between the first operating platform and the second operating platform.

[0014] In a possible design, the guide wheel, the positioning ring, the connecting plate and the guide wheel frame are all made of insulating material.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0016] 1. The present invention cooperates with a laser locator, a visual camera and a mechanical arm. A positioning ring is fixed at the end execution point of the mechanical arm, and a guide wheel is provided on the positioning ring. The guide wheel on the positioning ring can enable the connecting sleeve assembly at the end of the mechanical arm to quickly and accurately reach the merging hook, which can effectively improve the efficiency of the fire-breaking operation. The guide rods on the positioning ring and the merging hook are painted with bright colors that are not often found in the natural environment. When the positioning coil reaches the guide rod, the relative position state between the guide rod and the positioning ring can be clearly observed through the visual camera. The mutual cooperation between the positioning ring and the guide rod improves the positioning accuracy of the end of the mechanical arm and the positioning rod during the fire-breaking operation. The positioning ring is then lifted and fixed as a whole through the connecting piece, which can effectively prevent the visual obstruction of the mechanical arm and avoid visual blind spots.

[0017] 2. The visual camera of the present invention only needs to control the mechanical arm to adjust the position between the positioning ring and the guide rod by observing the relative position state of the positioning ring and the guide rod. The visual camera can easily complete the relative position of the positioning ring and the guide rod. External interference will not cause significant interference to the normal operation of the visual camera. Overall, the anti-interference ability of the entire positioning system to the external environment is improved, and the positioning system can work normally under strong external light, ensuring that the positioning system can operate stably under strong light. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 The figure is a schematic diagram of the operation of the fire-unlocking robot of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the auxiliary positioning mechanism in the present invention;

[0022] Figure 4 It is a partial half-section schematic diagram of the structure of the end execution part of the robot arm in the present invention;

[0023] Figure 5 It is a schematic diagram of the position coordination of the positioning ring and the guide rod under the observation of two visual cameras in the present invention.

[0024] The reference numerals represent: 1-walking robot, 2-visual camera, 3-laser positioning rangefinder, 4-mechanical arm, 5-end operating platform, 501-first operating platform, 502-second operating platform, 6-auxiliary positioning mechanism, 601-positioning ring, 602-guide wheel, 603-connecting plate, 604-guide wheel frame, 7-guide rod, 8-connecting sleeve assembly, 801-first sleeve, 802-second sleeve, 9-sleeve fixing plate. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0026] Examples, such as Figures 1 to 5 As shown, this embodiment includes a mechanical arm 4, a visual recognition system, a laser positioning rangefinder 3, and an auxiliary positioning mechanism 6 fixed on an operating table 5 at the end of the mechanical arm 4. The mechanical arm 4 is fixed on a walking robot 1. The auxiliary positioning mechanism 6 includes a positioning ring 601. The visual recognition system includes a visual camera 2. The visual camera 2 can identify the planar relative position of the positioning ring 601 and the guide rod 7. The relative position of the positioning ring 601 and the guide rod 7 is quickly determined by the visual camera 2, and the mechanical arm 4 is controlled to make a rapid adjustment according to the relative position information, so that the position of the guide rod 7 observed by the visual recognition system is in the positioning ring 601, and the guide rod 7 is kept in the positioning ring 601. In the middle position state of the circle 601, the robot arm 4 is controlled to drive the positioning circle 601 to approach the guide rod 7. The positioning circle 601 is lifted and fixed as a whole by the connecting piece 603. By lifting and fixing the positioning circle 601, it is possible to effectively avoid the robot arm 4 from blocking the visual camera 2 in the visual recognition system during positioning, thereby effectively reducing the visual blind spot of the visual recognition system. In actual use, the head of the guide rod 7 is painted with a color that is easy to identify, such as red, and the positioning circle 601 is also dyed with the same color as the head of the guide rod 7. After dyeing, the visual recognition system can easily identify the head of the guide rod 7 and the positioning circle 601, which can significantly reduce the influence of strong outdoor light and ensure the accuracy of visual recognition.

[0027] The laser positioning rangefinder 3 is used to measure the distance of the guide rod 7. The relative position of the positioning circle 601 and the guide rod 7 is identified by the plane position recognition system. After the distance of the guide rod 7 is identified by the laser positioning rangefinder 3, the relative distance from the positioning circle 601 to the guide rod 7 can be further calculated. The speed of movement of the end of the robotic arm 4 is controlled according to the different relative distances from the positioning circle 601 to the guide rod 7. When the relative distance between the positioning circle 601 and the guide rod 7 is far, the robotic arm 4 is controlled to move faster. When the relative distance between the positioning circle 601 and the guide rod 7 is close, the movement speed of the robotic arm 4 is reduced so as to accurately adjust the relative position between the two, thereby quickly completing the fast and accurate positioning between the positioning circle 601 and the guide rod 7.

[0028] The auxiliary positioning mechanism 6 also includes a guide wheel 602, which is rotatably arranged on a guide wheel frame 604, and the guide wheel frame 604 is fixedly connected to the positioning ring 601. The guide wheel frame 604 and the connecting piece 603 are respectively located in two opposite directions on the positioning ring 601. During the fire-removal operation, the robot arm 4 is first controlled to place the guide wheel 602 on the wire. After the guide wheel 602 is placed on the wire, the guide ring 601 can be pushed by the robot arm 4 to quickly and accurately reach the guide rod 7. At the same time, through the cooperation of the guide wheel 602 and the wire, the front end of the robot arm 4 can be regarded as being in a state of hanging on the wire. In this state, the robot arm can be greatly reduced. 4 The front end is affected by the swing of wind force, which improves the overall stability of the robot 4. In addition, the robot 4 is suspended from the guide wheel 602 and the wire on the side close to the walking robot 1. Here, the guide wheel 602 is close to the visual camera 2, and the visual camera 2 can clearly observe the suspension operation of the guide wheel 602, and the operation difficulty is also low. Moreover, at this time, the overall force arm of the robot 4 is small and can carry a large load, and can complete high-load operations. After suspension, when the end of the robot 4 gradually moves along the wire to the guide rod 7, although the force arm of the robot 4 increases, the cooperation between the guide wheel 602 and the wire can share the load on the robot 4, and can also make the load that the robot 4 can bear higher.

[0029] Advantageously, the guide wheel 602 , the positioning ring 601 , the connecting plate and the guide wheel frame 604 are all made of insulating materials to prevent the current on the wire from flowing into the robot arm 4 from there during live work and causing damage to the robot arm 4 .

[0030] The auxiliary positioning mechanism 6 also includes a connecting sleeve assembly 8, which includes a first sleeve 801 and a second sleeve 802. The first sleeve 801 is located in the second sleeve 802, and the first sleeve 801 and the second sleeve 802 are slidably matched. One end of the first sleeve 801 is a trumpet-shaped docking port, and the first sleeve 801 is used for the guide rod 7 to be sleeved, and finally the guide rod 7 is connected and fixed. The other end of the first sleeve 801 is provided with an exhaust hole, through which the gas in the first sleeve 801 is continuously exhausted to form a negative pressure in the first sleeve 801, and the negative pressure facilitates rapid and The guide rod 7 is accurately sleeved with the first sleeve 801, and a second chamber is provided between the second sleeve 802 and the first sleeve 801. The position state between the first sleeve 801 and the second sleeve 802 can be controlled by pumping gas into or out of the second chamber. For example, when the gas is filled into the second chamber, the first sleeve 801 extends from the second sleeve 802, and the extended sleeve gradually completes the sleeve connection with the guide rod 7. After the sleeve connection is completed, the guide rod 7 and the first sleeve 801 are fixed. During the fire-fighting operation, the state at this time indicates that the manipulator has completed the connection and fixation of the entire line-dividing hook, and the manipulator can be operated to remove the line-dividing hook to complete the fire-fighting operation.

[0031] Furthermore, when the lower end of the guide wheel 602 contacts the electric wire, the distance from the electric wire there to the center of the positioning circle 601 is the same as the distance from the electric wire on the parallel hook to the axis of the guide rod 7. In this case, when the bell mouth of the first sleeve 801 faces the center of the positioning circle 601, the bell mouth of the first sleeve 801 can be accurately aligned with the head of the guide rod 7, thereby realizing accurate positioning of the connecting sleeve assembly 8 and the guide rod 7.

[0032] In this embodiment, a vibration sensor is fixed to the end of the robot arm 4, and the vibration sensor is used to complete the detection of the position of the guide wheel 602. When the outer skin of the wire is stripped at the junction of the wires, when the guide wheel 602 moves to the stripped position, the guide wheel 602 will vibrate due to the sudden step-down collision. The position of the guide wheel 602 can be further judged by the vibration combined with the visual recognition system, so that the position of the end of the robot arm 4 can be accurately identified and positioned, and precise positioning can be achieved. During the fire-releasing operation, the guide wheel 602 will also vibrate when it moves and collides with the junction hook on the wire. After the movement is captured by the vibration sensor, it can also accurately complete the positioning operation in combination with the visual recognition system. The positioning operation can be effectively and accurately completed through the cooperation between the vibration sensor and the visual recognition system. The vibration sensor can prevent the visual recognition system from making misjudgments, and the visual recognition system can also confirm whether the vibration on the vibration sensor is in-place vibration. The two complement each other. There are two visual cameras 2 in the visual recognition system, and the two visual cameras 2 are symmetrical. The visual recognition system also includes an image processing system, and the image processing system performs overlap analysis on the images observed by the two visual cameras 2, so that the visual recognition can be accurate.

[0033] Advantageously, in order to prevent the connecting sleeve assembly from blocking the observation of the positioning ring 601 by the visual camera 2, the end operating platform 5 is divided into a first operating platform 501 and a second operating platform 502, the connecting sleeve assembly 8 is fixed on the first operating platform 501, the auxiliary positioning mechanism 6 is fixed on the second operating platform 502, the first operating platform 501 and the second operating platform 502 are rotationally matched, a rotating cylinder is provided between the first operating platform 501 and the second operating platform 502, and the rotation between the first operating platform 501 and the second operating platform 502 is controlled by the rotating cylinder. When the visual camera 2 performs positioning observation of the positioning ring 601 and the guide rod 7, the first operating platform 501 is controlled by the rotating cylinder to rotate to the side opposite to the positioning ring 601, thereby preventing the connecting positioning assembly from blocking the line of sight of the visual camera 2.

[0034] Advantageously, the connecting sleeve assembly 8 is connected and fixed to the first operating platform 501 via a sleeve fixing plate 9, and the sleeve fixing plate 9 can make the central axis of the connecting sleeve assembly 8 coaxial with the central axis of the positioning ring 601, thereby maintaining the relative position of the connecting sleeve assembly 8 and the positioning ring 601.

[0035] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automated hot-wired live-work robot precision positioning system, comprising a robot arm (4), a visual recognition system, and an auxiliary positioning mechanism (6) fixed on an operating table (5) at the end of the robot arm (4); The auxiliary positioning mechanism (6) includes a positioning ring (601), and the visual recognition system includes a visual camera (2). The visual camera (2) can identify the planar relative position of the positioning ring (601) and the guide rod (7), and the positioning ring (601) is lifted and fixed as a whole by a connecting piece (603).

2. According to claim 1, the automatic fire-breaking and live-line working robot precise positioning system is characterized in that: It also comprises a laser positioning distance meter (3), wherein the laser positioning distance meter (3) is used to measure the distance of the guide rod (7).

3. The precise positioning system for an automated fire-disconnection live-line operation robot according to claim 1, characterized in that: The auxiliary positioning mechanism (6) further comprises a guide wheel (602), wherein the guide wheel (602) is rotatably mounted on a guide wheel frame (604), wherein the guide wheel frame (604) is fixedly connected to the positioning ring (601), and wherein the guide wheel frame (604) and the connecting piece (603) are respectively located in two opposite directions on the positioning ring (601).

4. The automatic fire-disconnection and live-line operation robot precise positioning system according to claim 3 is characterized in that: The auxiliary positioning mechanism (6) also includes a connecting sleeve assembly (8), and the connecting sleeve assembly (8) includes a first sleeve (801) and a second sleeve (802). The first sleeve (801) is located in the second sleeve (802), and the first sleeve (801) and the second sleeve (802) are slidably matched. One end of the first sleeve (801) is a trumpet-shaped docking port, and the first sleeve (801) is used for sleeve connection with the guide rod (7). The other end of the first sleeve (801) is provided with an exhaust hole, and a second chamber is provided between the second sleeve (802) and the first sleeve (801). The position state between the first sleeve (801) and the second sleeve (802) can be controlled by pumping gas into or out of the second chamber.

5. The automatic fire-disconnection and live-line operation robot precise positioning system according to claim 1 is characterized in that: The visual recognition system comprises two visual cameras (2), the two visual cameras (2) are symmetrical with each other, and the visual recognition system further comprises an image processing system, the image processing system performs overlap analysis on the images observed by the two visual cameras (2), and a vibration sensor is fixed to the end of the mechanical arm (4).

6. The automatic fire-disconnection and live-line operation robot precise positioning system according to claim 4 is characterized in that: When the lower end of the guide wheel (602) contacts the electric wire, the distance from the electric wire at that location to the center of the positioning ring (601) is the same as the distance from the electric wire on the parallel hook to the axis of the guide rod (7).

7. The automatic fire-disconnection and live-line operation robot precise positioning system according to claim 1 is characterized in that: The end operating platform (5) is divided into a first operating platform (501) and a second operating platform (502); the connecting sleeve assembly (8) is fixed on the first operating platform (501), and the auxiliary positioning mechanism (6) is fixed on the second operating platform (502); the first operating platform (501) and the second operating platform (502) are rotatably matched, and a rotating cylinder is provided between the first operating platform (501) and the second operating platform (502).

8. The automatic fire-disconnection and live-line operation robot precise positioning system according to claim 3 is characterized in that: The guide wheel (602), the positioning ring (601), the connecting plate and the guide wheel frame (604) are all made of insulating materials.

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