Spacer mounting robot with wire adjusting mechanism and control method thereof

Abstract

The invention discloses a spacer installation robot with a wire adjusting mechanism and a control method of the spacer installation robot. The robot comprises a base, a walking arm frame, a conveying mechanism, an operation table and an operation mechanism, and is characterized in that the operation mechanism is provided with a wire adjusting mechanism, the wire adjusting mechanism comprises a supporting structure, the supporting structure is slidably connected with two catch wheel mechanisms, and the two catch wheel mechanisms are used for abutting against two wires respectively and are oppositely arranged; the catch wheel mechanism slides to drive the two wires to get close to or away from each other. The supporting structure is further provided with a driving assembly used for driving the catch wheel mechanism to slide. The method comprises the following steps: lifting an operation table to a certain height; identifying a gap between the walking arm support and the wire through an on-line gap identification module; enabling the robot to land on the power transmission conductor; driving the spacer to reach a set position through a conveying mechanism; the gap is recognized through the spacer gap recognition module, the gap is adjusted through the wire adjusting mechanism, and installation is completed; according to the invention, through the arrangement of the wire adjusting structure and the spacer gap module, the robot can adjust the distance between wires before the spacer is installed, so that the installation of the spacer is smoother; meanwhile, through the arrangement of the wire feeding gap module, it is ensured that the walking arm frame can be erected on the wire better and more smoothly, and safety is improved.

Description

Technical Field

[0001] The invention relates to the technical field of electric power maintenance, and in particular to a spacer rod installation robot with a conductor adjustment mechanism and a control method thereof. Background Art

[0002] During the installation of power transmission lines, in order to control the impact of wind swing on split conductors, it is necessary to install spacers for the transmission lines. In existing spacer installation robots, such as the one with publication number CN117498216A, when installing the spacers, the line is affected by the robot's own weight or wind, causing the wire spacing to change, which is not equal to the spacing of the spacer wire grooves, making it impossible to install the spacers smoothly. Therefore, it is necessary to improve the robot structure and control method so that it can control the spacing of the wires while installing the spacers, so that the robot can install the spacers more accurately and efficiently.

[0003] At the same time, during the online process of the operating robot of the above-mentioned public number, it is necessary to first be towed to a certain height by a traction rope, and then four walking arms are set up on the conductor, and then the traction rope is removed; however, in this process, it cannot be guaranteed that the walking wheels on the walking arm exactly match the conductor, so it is possible that the traction rope will be removed when the walking arm is not set up on the conductor; there is a certain safety risk. Summary of the invention

[0004] In order to make the robot's online process more robust and safe, and at the same time not be affected by the wire spacing when installing the spacer bar, so that the installation is smoother, the present application provides a spacer bar installation robot with a wire adjustment mechanism and a control method thereof.

[0005] The present application provides a spacer rod installation robot with a wire adjustment mechanism, which adopts the following technical solution:

[0006] A spacer rod installation robot with a wire adjustment mechanism comprises a base, a walking arm, a transmission mechanism, an operating table, and an operating mechanism. The operating mechanism is provided with a wire adjustment mechanism, and the wire adjustment mechanism comprises a supporting structure. Two blocking wheel mechanisms are slidably connected to the supporting structure. The two blocking wheel mechanisms are used to respectively abut against two wires and are arranged oppositely; the blocking wheel mechanism slides to drive the two wires to approach or move away from each other; and a driving component for driving the blocking wheel mechanism to slide is also provided on the supporting structure.

[0007] Optionally, the wheel-blocking mechanism includes a sliding seat and a blocking wheel, the sliding seat is slidably connected to the support structure in a horizontal direction, the blocking wheel is rotatably connected to the sliding seat, and the rotation axis of the blocking wheel is arranged in a vertical direction.

[0008] Optionally, the drive assembly is provided with two groups, and the two groups of drive assemblies respectively drive the two blocking wheel mechanisms to slide; the drive assembly includes a screw rod and a motor, the screw rod is rotatably connected to the support structure, the rotation axis of the screw rod is arranged in the horizontal direction, the sliding seat is connected to the screw rod through a screw rod nut, and the motor is used to drive the screw rod to rotate.

[0009] Optionally, the traveling arm is provided with an upper line gap recognition module for detecting the gap between the conductor and the traveling arm; the supporting structure is provided with a spacer bar gap recognition module for identifying the gap between the spacer bar and the conductor.

[0010] In a second aspect, the present application also provides a control method for a spacer bar installation robot having a wire adjustment mechanism, which adopts the following technical solution:

[0011] A control method for a spacer bar installation robot having a wire adjustment mechanism comprises the following steps:

[0012] S1. Lift the operating table to a certain height;

[0013] S2, identifying the gap between the walking arm and the conductor through the upper line gap identification module;

[0014] S3, the robot is lowered to the transmission line by lifting the robot and closing the walking arm, thereby completing the online process;

[0015] S4, driving the spacer rod to move on the base through the transmission mechanism and reach the set position;

[0016] S5, identifying the gap between the spacer and the conductor through the spacer gap identification module, and adjusting the gap between the spacer and the conductor through the conductor adjustment mechanism, so that the fixing hook of the spacer is completely fitted with the transmission conductor;

[0017] S6. Complete the installation of the spacer rods through the operating mechanism.

[0018] Optionally, the upper line gap recognition module and the spacer bar gap recognition module perform real-time segmentation through the deeplabV3+ segmentation algorithm, convert the obtained segmented image from the BGR color space to the HSV color space, then generate a mask using a preset color threshold, and use a contour detection method to extract the target area in the obtained image, and finally use Green's formula to calculate the area of ​​the region to obtain the gap size.

[0019] Optionally, the specific algorithm for generating the mask is as follows:

[0020]

[0021] Among them, G x is the horizontal gradient component, G yis the vertical gradient component, I(i,j) is the pixel value of the image at position (i,j), S x It is a Sobel filter used to calculate the gradient in the horizontal direction. y It is a Sobel filter used to calculate the gradient in the vertical direction;

[0022]

[0023] The magnitude G and direction θ of the gradient can be calculated by the following formula:

[0024]

[0025] Optionally, the specific formula for calculating the area using Green's formula is as follows:

[0026]

[0027] where x j ,y j is the coordinate of the jth point on the contour, N is the number of points on the contour, M is the number of points on each contour, and the calculated area is the gap area between the conductor and the walking arm.

[0028] In summary, this application includes the following beneficial technical effects:

[0029] The present application sets up a conductor adjustment structure and a spacer bar gap module, so that the robot can adjust the conductor spacing before installing the spacer bar, fix the gap between the two conductors, and make it unaffected by factors such as wind force; thereby making the installation of the spacer bar smoother.

[0030] The present application, through the setting of the online gap module, can ensure that the walking arm can be better and more smoothly erected on the conductor during the online process of the robot, avoiding the situation where the traction rope is withdrawn before the walking arm is erected, thereby improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is an overall structural diagram of a spacer rod installation robot with a wire adjustment mechanism of the present application;

[0032] Figure 2 yes Figure 1 The overall structural diagram of the center wire adjustment mechanism.

[0033] Description of reference numerals:

[0034] 1. Base; 2. Traveling arm; 3. Conveying mechanism; 4. Operating table; 5. Operating mechanism; 6. Wire adjustment mechanism; 61. Support structure; 62. Stop wheel mechanism; 621. Motor; 622. Screw rod; 623. Sliding seat; 624. Stop wheel; 7. Spacer rod; 8. Wire. DETAILED DESCRIPTION

[0035] The following is combined with Figure 1-2 This application is described in further detail.

[0036] An embodiment of the present application discloses a spacer bar 7 installation robot with a conductor 8 adjustment mechanism 6, and the robot is an improvement based on a power transmission line spacer bar 7 installation robot disclosed in publication number CN117498216A, and comprises a base 1, a walking arm 2, a conveying mechanism 3, an operating table 4, and an operating mechanism 5; the relevant functions and working principles of these structures can refer to the above-mentioned public documents; the present application takes into account that there are certain requirements for the distance between the two conductors 8 during the installation of the spacer bar 7, but in the actual operation process, the distance between the conductors 8 will be affected by factors such as wind force and become unstable, which will cause a certain impact on the installation of the spacer bar 7; therefore, the present application also provides an additional conductor 8 adjustment mechanism 6 on the operating mechanism 5.

[0037] The wire 8 adjustment mechanism 6 includes a supporting structure 61, on which two blocking wheel mechanisms 62 are slidably connected, and the two blocking wheel mechanisms 62 are used to respectively abut the two wires 8 and are arranged opposite to each other; the blocking wheel mechanism 62 slides to drive the two wires 8 to move closer to or away from each other; the supporting structure 61 is also provided with a driving component for driving the blocking wheel mechanism 62 to slide; the blocking wheel mechanism 62 includes a sliding seat 623 and a blocking wheel 624, the sliding seat 623 is slidably connected to the supporting structure 61 in the horizontal direction, and the blocking wheel 624 is rotatably connected to the sliding seat 623, and the rotation axis of the blocking wheel 624 is arranged in the vertical direction.

[0038] Each set of wheel-blocking mechanisms 62 is equipped with a driving assembly, and the two driving assemblies respectively drive the two wheel-blocking mechanisms 62 to slide; the driving assembly includes a screw rod 622 and a motor 621, the screw rod 622 is rotatably connected to the support structure 61, the rotation axis of the screw rod 622 is arranged in the horizontal direction, the sliding seat 623 is connected to the screw rod 622 through the screw rod 622 nut, and the motor 621 is used to drive the screw rod 622 to rotate.

[0039] Before installing the spacer bar 7, the motor 621 drives the screw rod 622 to rotate, thereby driving the two wheel assemblies to move closer to or farther away from each other to change the spacing between the two conductors 8, so that the spacing meets the requirements for installing the spacer bar 7; at the same time, in order to more accurately control the motor 621 to meet the gap requirements; the present application also provides a spacer bar 7 gap recognition module on the support structure 61 for identifying the gap between the spacer bar 7 and the conductor 8; the basic working principle of the spacer bar 7 gap recognition module is: real-time segmentation is performed through the deeplabV3+ segmentation algorithm, and the resulting segmented image is converted from the BGR color space to the HSV color space, then, a mask is generated using a preset color threshold, and a contour detection method is used to extract the target area in the resulting image, and finally, the Green's formula is used to calculate the area of ​​the region to obtain the gap size.

[0040] The specific algorithm for generating the mask is as follows:

[0041]

[0042] Among them, G x is the horizontal gradient component, G y is the vertical gradient component, I(i,j) is the pixel value of the image at position (i,j), S x It is a Sobel filter used to calculate the gradient in the horizontal direction, and Sy is a Sobel filter used to calculate the gradient in the vertical direction;

[0043]

[0044] The magnitude G and direction θ of the gradient can be calculated by the following formula:

[0045]

[0046] The mask can be generated by the gradient magnitude G and direction θ.

[0047] Finally, the specific formula for calculating the area using Green's formula is as follows:

[0048]

[0049] where x j ,y j is the coordinate of the jth point on the contour, N is the number of points on the contour, M is the number of points on each contour, and the calculated area is the gap area between the conductor and the walking arm.

[0050] Similarly, the present application also takes into account that during the online process of the operating robot of the above-mentioned publication number, it is impossible to ensure that the walking wheels on the walking arm frame exactly match the conducting wires, which poses a certain safety risk; therefore, an online gap recognition module is also provided on the walking arm frame, and the working principle of the online gap recognition module is the same as that of the above-mentioned spacer gap recognition module, and the algorithm is also the same.

[0051] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A spacer rod installation robot with a wire adjustment mechanism, comprising a base, a walking arm, a transmission mechanism, an operating table, and an operating mechanism, characterized in that: The operating mechanism is provided with a wire adjustment mechanism, which includes a supporting structure, on which two blocking wheel mechanisms are slidably connected, and the two blocking wheel mechanisms are used to respectively abut against two wires and are arranged oppositely; the blocking wheel mechanism slides to drive the two wires to approach or move away from each other; the supporting structure is also provided with a driving component for driving the blocking wheel mechanism to slide.

2. A spacer bar installation robot with a wire adjustment mechanism according to claim 1, characterized in that: The wheel blocking mechanism comprises a sliding seat and a blocking wheel. The sliding seat is slidably connected to the support structure in a horizontal direction, and the blocking wheel is rotatably connected to the sliding seat. The rotation axis of the blocking wheel is arranged in a vertical direction.

3. A spacer bar installation robot with a wire adjustment mechanism according to claim 2, characterized in that: The driving assembly is provided with two groups, and the two groups of driving assemblies respectively drive the two blocking wheel mechanisms to slide; the driving assembly includes a screw rod and a motor, the screw rod is rotatably connected to the supporting structure, the rotation axis of the screw rod is arranged in the horizontal direction, the sliding seat is connected to the screw rod through a screw rod nut, and the motor is used to drive the screw rod to rotate.

4. A spacer bar installation robot with a wire adjustment mechanism according to claim 2, characterized in that: The traveling arm frame is provided with an upper line gap recognition module for detecting the gap between the conductor and the traveling arm frame; the supporting structure is provided with a spacer bar gap recognition module for identifying the gap between the spacer bar and the conductor.

5. A control method for a spacer bar installation robot with a wire adjustment mechanism, used to control the spacer bar installation robot with a wire adjustment mechanism as claimed in claim 4, characterized in that The steps include: S1. Lift the operating table to a certain height; S2, identifying the gap between the walking arm and the conductor through the upper line gap identification module; S3, the robot is lowered to the transmission line by lifting the robot and closing the walking arm, thereby completing the online process; S4, driving the spacer rod to move on the base through the transmission mechanism and reach the set position; S5, identifying the gap between the spacer bar and the conductor through the spacer bar gap identification module, and adjusting the gap between the two through the conductor adjustment mechanism, so that the fixing hook of the spacer bar is completely fitted with the transmission conductor; S6. Complete the installation of the spacer rods through the operating mechanism.

6. The control method of a spacer bar installation robot with a wire adjustment mechanism according to claim 5, characterized in that: The upper line gap recognition module and the spacer gap recognition module perform real-time segmentation through the deeplabV3+ segmentation algorithm, convert the obtained segmented image from the BGR color space to the HSV color space, then generate a mask using a preset color threshold, and use the contour detection method to extract the target area in the obtained image, and finally use the Green's formula to calculate the area of ​​the region to obtain the gap size.

7. The control method of a spacer bar installation robot with a wire adjustment mechanism according to claim 6, characterized in that: The specific algorithm for generating the mask is as follows: Among them, G x is the horizontal gradient component, G y is the vertical gradient component, I(i,j) is the pixel value of the image at position (i,j), S x It is a Sobel filter used to calculate the gradient in the horizontal direction. y It is a Sobel filter used to calculate the gradient in the vertical direction; The magnitude G and direction θ of the gradient can be calculated by the following formula: The mask can be generated by the gradient magnitude G and direction θ.

8. The control method of a spacer bar installation robot with a wire adjustment mechanism according to claim 7, characterized in that: The specific formula for calculating the area using Green's formula is as follows: where x j ,y j is the coordinate of the jth point on the contour, N is the number of points on the contour, M is the number of points on each contour, and the calculated area is the gap area between the conductor and the walking arm.

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