Power line hanging visual guidance automation system and control method

Abstract

The invention relates to the technical field of electric power hanging line visual guidance, in particular to an electric power hanging line visual guidance automation system which comprises an operation table-display panel, a ground-display panel, a mechanical arm, an end effector, a first visual feedback module and a second visual feedback module. The operation table-display panel and an existing screen can be arranged side by side and used for controlling equipment, the ground-display panel can be held by ground personnel for operation, and the mechanical arm is used for autonomous operation. The industrial personal computer is used for calculating the motion trail of the mechanical arm after receiving picture information, the end effector is used for executing motion of the mechanical arm, the first visual feedback module is used for observing images, and the second visual feedback module is used for observing the images. And a relatively large error is easily generated by manual operation in an experiment process.

Description

Technical Field

[0001] The present invention relates to the technical field of visual guidance for electric power line hanging, and in particular to an automatic system and control method for visual guidance for electric power line hanging. Background Art

[0002] High-voltage cable is a type of power cable, which refers to the power cable used to transmit power between 1kv-1000kv. It is mostly used in power transmission and distribution. High-voltage cable visual positioning guidance refers to the use of visual positioning technology to accurately locate and navigate high-voltage cables.

[0003] In the existing technology, in the visual positioning and guidance scheme of high-voltage cables, considering that the parameter selection range in the experimental design may be relatively limited, it is necessary to carefully design a system that can work efficiently within the limited parameter range while ensuring safety and accuracy. To this end, we propose a visual guidance automation system and control method for power line hanging. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a vision-guided automation system and a control method for hanging electric lines. The vision-guided automation system for hanging electric lines solves the problem that the range of parameter selection in experimental design may be relatively limited.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An electric power line hanging visual guidance automation system, comprising an operation console-display panel, wherein the operation console-display panel can be placed side by side with an existing screen for controlling the equipment;

[0007] A ground-display tablet, which can be used by ground personnel to hold and operate;

[0008] A robotic arm, the robotic arm being used to perform autonomous operations;

[0009] An industrial computer, which is used to calculate the motion trajectory of the robot arm after receiving the image information;

[0010] An end effector, the end effector is used to perform motion execution of the robotic arm;

[0011] A visual feedback module 1, wherein the visual feedback module 1 is used to observe images;

[0012] The second visual feedback module is used to observe images.

[0013] Preferably, the visual feedback module 1 includes a 2D camera, a Raspberry Pi and a battery.

[0014] Preferably, the visual feedback module 2 includes a 3D laser and a 2D camera.

[0015] Preferably, the operating table-display panel, the floor-display panel, the industrial computer, the visual feedback module 1 and the visual feedback module 2 are all connected via a wireless network module.

[0016] An automatic system for visually guiding electric power line hanging also includes an automatic control method, wherein the specific steps of the automatic control method are as follows:

[0017] A1. Real-time observation screen display of the physical world;

[0018] A2. The robotic arm moves to the specified position;

[0019] A3. Observation information processing;

[0020] A4, real-time motion planning;

[0021] A5. Hardware execution;

[0022] A6. Complete the task.

[0023] A visual guidance method for a visual guidance automation system for electric power line hanging, the specific steps are as follows;

[0024] S1. Deep learning target detection, specifically using high-performance image processing algorithms to pre-process, extract features and identify the collected images. The algorithm should be able to accurately identify the position, shape and status of the cable, providing a reliable basis for subsequent guidance and control;

[0025] S2. Data collection, specifically collecting high-quality and clear cable images, making the imaging effect more diverse as much as possible under different conditions such as near and far distances, different weather and lighting, different cable environments, and different cable backgrounds, and taking more than 10,000 target images;

[0026] S3. Data annotation: Specifically, LabelStudio annotation platform is used to annotate target images with polygon annotation for all images, and a small part of image data is annotated with rectangle (more than 6,000 images), and the annotated data is exported in YOLO file format;

[0027] S4. Visual system image acquisition: Use high-resolution, high-sensitivity industrial cameras with appropriate optical lenses to capture clear images of high-voltage cables.

[0028] In summary, the present invention includes an operating table-display panel, a ground-display panel, a robotic arm, an industrial computer, and an end effector. The end effector is used to perform the motion execution of the robotic arm, and the visual feedback module 1 and the visual feedback module 2 cooperate with each other, thereby providing a function of automatic guidance of high-voltage cable visual positioning, and can be freely combined according to usage requirements to improve its positioning accuracy and reduce errors.

[0029] In the present invention, the robotic arm is equipped with a binocular camera (visual feedback module) to detect the high-voltage cable in front of the end, visually locate the cable, calculate the target X, Y, and Z coordinate points in the robot coordinate system, and send the coordinate information to the robotic arm to guide the robotic arm to perform motion planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of installing a visual feedback module at the end of the robot arm of the present invention;

[0031] Figure 2 A schematic diagram of installing a visual feedback module on the base of the robot arm of the present invention;

[0032] Figure 3 It is a structural schematic diagram of the control method of the present invention;

[0033] Figure 4 It is a structural schematic diagram of the guiding method of the present invention. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0035] Example 1

[0036] Reference Figure 1 , a visual guidance automation system for electric power line hanging, including an operation table-display panel, which can be placed side by side with the existing screen for controlling the equipment;

[0037] Ground-display tablet, the ground-display tablet can be used by ground personnel to hold and operate;

[0038] Robotic arm, which is used to perform autonomous operations;

[0039] Industrial computer, which is used to calculate the motion trajectory of the robot arm after receiving the image information;

[0040] End effector, which is used to execute the motion of the robot arm;

[0041] Visual feedback module 1, the visual feedback module 1 is used to observe images, and the visual feedback module 1 includes a 2D camera, a Raspberry Pi and a battery;

[0042] The operating table-display panel, the ground-display panel, the industrial computer, the visual feedback module 1 and the visual feedback module 2 are all connected and arranged through a wireless network module.

[0043] In this embodiment, the visual feedback module observes the image, and the industrial computer calculates the movement trajectory of the robotic arm after receiving the image information, controls the robotic arm to perform autonomous operations, and displays the image on the display tablet for reference by operators and ground personnel. The operating table-display tablet can be placed side by side with the existing screen, and the ground-display tablet can be held by ground personnel.

[0044] It should be noted that the 2D camera model is Hikvision: MV-CS200-10GC color version;

[0045] The battery model is 12v powered;

[0046] Lens model Hikvision: MVL KF1228-12MP.

[0047] Example 2

[0048] Reference Figure 1 , a visual guidance automation system for electric power line hanging, including an operation table-display panel, which can be placed side by side with the existing screen for controlling the equipment;

[0049] Ground-display tablet, the ground-display tablet can be used by ground personnel to hold and operate;

[0050] Robotic arm, which is used to perform autonomous operations;

[0051] Industrial computer, which is used to calculate the motion trajectory of the robot arm after receiving the image information;

[0052] End effector, which is used to execute the motion of the robot arm;

[0053] Visual feedback module 2, the visual feedback module 1 is used to observe the image, and the visual feedback module 2 includes a 2D camera and a 3D laser;

[0054] The operating table-display panel, the ground-display panel, the industrial computer, the visual feedback module 1 and the visual feedback module 2 are all connected and arranged through a wireless network module.

[0055] In this embodiment, the visual feedback module observes the image, and the industrial computer calculates the movement trajectory of the robotic arm after receiving the image information, controls the robotic arm to perform autonomous operations, and displays the image on the display tablet for reference by operators and ground personnel. The operating table-display tablet can be placed side by side with the existing screen, and the ground-display tablet can be held by ground personnel.

[0056] The 3D laser uses the Sagitar: RS-LiDAR-M1P.

[0057] In a 10kv high-voltage environment, considering environmental interference and breakdown risks, the feedback device needs to be at least 60cm away from the wires in a high-voltage environment. Therefore, the visual feedback module needs to be fixed on the base of the robotic arm.

[0058] The difference between Example 1 and Example 2 lies in the different selection and installation positions of the visual feedback module.

[0059] An electric power line hanging visual guidance automation system also includes an automatic control method, and the specific steps of the automatic control method are as follows:

[0060] A1. Real-time observation screen display of the physical world;

[0061] A2. The robotic arm moves to the specified position;

[0062] A3. Observation information processing;

[0063] A4, real-time motion planning;

[0064] A5. Hardware execution;

[0065] A6. Complete the task.

[0066] A visual guidance method for a visual guidance automation system for electric power line hanging, the specific steps are as follows;

[0067] S1. Deep learning target detection, specifically using high-performance image processing algorithms to pre-process, extract features and identify the collected images. The algorithm should be able to accurately identify the position, shape and status of the cable, providing a reliable basis for subsequent guidance and control;

[0068] S2. Data collection, specifically collecting high-quality and clear cable images, making the imaging effect more diverse as much as possible under different conditions such as near and far distances, different weather and lighting, different cable environments, and different cable backgrounds, and taking more than 10,000 target images;

[0069] S3. Data annotation: Specifically, LabelStudio annotation platform is used to annotate target images with polygon annotation for all images, and a small part of image data is annotated with rectangle (more than 6,000 images), and the annotated data is exported in YOLO file format;

[0070] S4. Visual system image acquisition: Use high-resolution, high-sensitivity industrial cameras with appropriate optical lenses to capture clear images of high-voltage cables.

[0071] S5. The image acquisition of the visual system is fed back to the industrial computer, and the industrial computer controls the robot arm to move along an adaptive motion trajectory.

[0072] The binocular camera (wired transmission) used in the visual system image acquisition can be installed near the end of the robotic arm. During operation, the distance between the outer surface of the target cable and the surface of the camera lens should be as large as 300 mm or more, so that the cable can be clearly imaged in real time.

[0073] The camera's exterior needs to be designed with an electromagnetic interference-proof metal shielding shell, and the camera's data transmission cable should be equipped with an additional metal shielding layer.

[0074] The specific thickness of the metal shielding shell and cable anti-shielding layer as well as their appearance and structural design need to match the actual working environment.

[0075] The robotic arm is equipped with a binocular camera (visual feedback module) to detect the high-voltage cables in front of the end, visually locate the cables, calculate the target X, Y, and Z coordinate points in the robot coordinate system, and send the coordinate information to the robotic arm to guide the robotic arm for motion planning.

[0076] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A visual guidance automation system for electric power line hanging, characterized in that: It includes an operation console-display flat panel, which can be placed side by side with the existing screen for operating the device; A ground-display tablet, which can be used by ground personnel to hold and operate; A robotic arm, the robotic arm being used to perform autonomous operations; An industrial computer, which is used to calculate the motion trajectory of the robot arm after receiving the image information; An end effector, the end effector is used to perform motion execution of the robotic arm; A visual feedback module 1, wherein the visual feedback module 1 is used to observe images; The second visual feedback module is used to observe images.

2. The visual guidance automation system for hanging electric power lines according to claim 1 is characterized in that: The visual feedback module 1 includes a 2D camera, a Raspberry Pi and a battery.

3. The visual guidance automation system for hanging electric power lines according to claim 1 is characterized in that: The visual feedback module 2 includes a 3D laser and a 2D camera.

4. The visual guidance automation system for hanging electric power lines according to claim 1 is characterized in that: The operating table-display panel, the ground-display panel, the industrial computer, the visual feedback module 1 and the visual feedback module 2 are all connected via a wireless network module.

5. A visual guidance automation system for hanging electric power lines according to any one of claims 1 to 4, characterized in that: It also includes an automatic control method, wherein the specific steps of the automatic control method are as follows: A1. Real-time observation screen display of the physical world; A2. The robotic arm moves to the specified position; A3. Observation information processing; A4, real-time motion planning; A5. Hardware execution; A6. Complete the task.

6. A visual guidance method for a visual guidance automation system for hanging electric wires according to any one of claims 1 to 4, characterized in that: The specific steps are as follows; S1, deep learning target detection; S2, data collection; S3, data annotation; S4, visual system image acquisition.

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