A spacer bar mounting robot having a wire adjusting mechanism and a control method thereof

Abstract

The application discloses a spacer rod mounting robot with a wire adjusting mechanism and a control method thereof; 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 the wire adjusting mechanism; the wire adjusting mechanism comprises a supporting structure, and two blocking wheel mechanisms are slidably connected to the supporting structure; the two blocking wheel mechanisms are used for abutting against two wires respectively and are oppositely arranged; the blocking wheel mechanisms slide to drive the two wires to approach or move away from each other; the supporting structure is further provided with a driving assembly used for driving the blocking wheel mechanisms to slide; the method comprises the following steps: lifting the operation table to a certain height; identifying the gap between the walking arm frame and the wire through an upper wire gap identification module; making the robot land on the power transmission wire; driving the spacer rod to reach a set position through the conveying mechanism; identifying the gap through a spacer rod gap identification module, adjusting the gap through the wire adjusting mechanism, and completing the installation; through the arrangement of the wire adjusting structure and the spacer rod gap module, the robot can adjust the wire spacing before installing the spacer rod, so that the installation of the spacer rod is more smooth; meanwhile, through the arrangement of the upper wire gap module, the walking arm frame can be better and more smoothly erected on the wire, and the safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power maintenance, in particular to a spacer bar installation robot with a conductor adjusting mechanism and a control method thereof. BACKGROUND

[0002] In the process of erecting a power transmission line, in order to control the influence of wind sway on split conductors, a spacer bar needs to be installed for the power transmission line. The existing spacer bar installation robot, such as the one disclosed in CN117498216A, when installing a spacer bar, the line is affected by the weight of the robot or the wind, resulting in a change in the distance between the conductors, which is not equal to the distance between the conductor slots of the spacer bar, so that the spacer bar cannot be installed smoothly. Therefore, the robot structure and control method need to be improved so that the distance between the conductors can be controlled while the spacer bar is being installed, making it easier for the robot to install the spacer bar more accurately and efficiently.

[0003] At the same time, the above-mentioned work robot needs to be pulled to a certain height by a traction rope during the process of going online, and then four walking arm supports are set up on the conductors, and then the traction rope is removed. However, during this process, it is not guaranteed that the walking wheels on the walking arm supports will match the conductors exactly, so it is possible that the traction rope will be removed before the walking arm supports are set up on the conductors. This poses a certain safety risk. SUMMARY

[0004] In order to make the online process of the robot more stable and safe, and at the same time not to be affected by the distance between the conductors during the installation of the spacer bar, the installation is more smooth, the present application provides a spacer bar installation robot with a conductor adjusting mechanism and a control method thereof.

[0005] The present application provides a spacer bar installation robot with a conductor adjusting mechanism, which adopts the following technical solution:

[0006] A spacer bar installation robot with a conductor adjusting mechanism, comprising a base, a walking arm support, a conveying mechanism, an operation table, and an operation mechanism, the operation mechanism is provided with a conductor adjusting mechanism, the conductor adjusting mechanism comprises a support structure, two stop wheel mechanisms are slidingly connected to the support structure, the two stop wheel mechanisms are used for abutting against two conductors respectively and are oppositely arranged; the stop wheel mechanisms slide to drive the two conductors to approach or move away from each other; the support structure is further provided with a driving assembly for driving the stop wheel mechanisms to slide.

[0007] Optionally, the stop wheel mechanism comprises a sliding seat and a stop wheel, the sliding seat is slidingly connected to the support structure in the horizontal direction, and the stop wheel is rotationally connected to the sliding seat, and the rotation axis of the stop wheel is arranged in the vertical direction.

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

[0009] Optionally, the walking arm frame is provided with an upper line gap identification module for detecting the gap between the conductor and the walking arm frame; and the support structure is provided with a spacer rod gap identification module for identifying the gap between the spacer rod and the conductor.

[0010] In a second aspect, the application further provides a control method of a spacer rod installation robot with a conductor adjusting mechanism, which adopts the following technical scheme:

[0011] A control method of a spacer rod installation robot with a conductor adjusting mechanism, comprising the following steps:

[0012] S1, lifting the operation platform to a certain height;

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

[0014] S3, lowering the robot to the power transmission conductor through the robot lifting and the walking arm frame closing, so as to complete the upper line process;

[0015] S4, driving the spacer rod to move on the base to a set position through the conveying mechanism;

[0016] S5, identifying the gap between the spacer rod and the conductor through the spacer rod gap identification module, and adjusting the gap between the two through the conductor adjusting mechanism, so that the fixed hook of the spacer rod completely adheres to the power transmission conductor;

[0017] S6, completing the installation of the spacer rod through the operation mechanism.

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

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

[0020]

[0021] wherein G x is a horizontal direction gradient component, G yis the Sobel filter used for calculating the gradient in the horizontal direction, S x is the Sobel filter used for calculating the gradient in the horizontal direction, S y is the Sobel filter used for calculating the gradient in the vertical direction;

[0022]

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

[0024]

[0025] The specific formula of the Green formula for calculating the area 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 of the contour, M is the number of each contour point, and the area of the calculated area is the gap area of the conductor and the walking arm.

[0028] In summary, the present application has the following beneficial technical effects:

[0029] The present application adjusts the distance between the conductors before the spacer rod is installed, fixes the gap between the two conductors, and makes the installation of the spacer rod more smooth.

[0030] The present application sets the online gap module, so that the robot can ensure that the walking arm can be better and more smoothly erected on the conductor during the process of erecting the conductor, avoid the situation that the walking arm is not erected and the traction rope is withdrawn, and improve the safety. DETAILED DESCRIPTION

[0031] Figure 1 is the overall structure diagram of the spacer rod installation robot with the conductor adjusting mechanism;

[0032] Figure 2 is Figure 1 the overall structure diagram of the conductor adjusting mechanism.

[0033] BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 1, base; 2, walking arm; 3, conveying mechanism; 4, operation table; 5, operation mechanism; 6, conductor adjusting mechanism; 61, support structure; 62, wheel blocking mechanism; 621, motor; 622, screw rod; 623, sliding seat; 624, wheel blocking; 7, spacer rod; 8, conductor. DETAILED DESCRIPTION

[0035] The following description will be made in conjunction with the accompanying drawings Figures 1-2 The application is further described in detail.

[0036] The embodiment of the application discloses a spacer rod 7 mounting robot with conductor 8 adjusting mechanism 6, which is improved based on the power transmission line spacer rod 7 mounting robot disclosed in the publication No. CN117498216A, and comprises a base 1, a walking arm frame 2, a conveying mechanism 3, an operation table 4 and an operation mechanism 5. The related functions and working principles of the structures can be referred to the above-mentioned publication. The application considers that the distance between the two conductors 8 has certain requirements in the spacer rod 7 mounting process, but in the actual operation process, the distance between the conductors 8 is unstable due to the influence of wind and other factors, thus causing certain influence on the installation of the spacer rod 7. Therefore, the conductor 8 adjusting mechanism 6 is additionally arranged on the operation mechanism 5.

[0037] The conductor 8 adjusting mechanism 6 comprises a support structure 61, two block wheel mechanisms 62 are slidably connected to the support structure 61, and the two block wheel mechanisms 62 are used for abutting against the two conductors 8 and are oppositely arranged; the block wheel mechanism 62 slides to drive the two conductors 8 to approach or move away from each other; the support structure 61 is further provided with a driving assembly used for driving the block wheel mechanism 62 to slide; the block wheel mechanism 62 comprises a sliding seat 623 and a block wheel 624, the sliding seat 623 is slidably connected to the support structure 61 along the horizontal direction, and the block wheel 624 is rotatably connected to the sliding seat 623, and the rotating axis of the block wheel 624 is arranged along the vertical direction.

[0038] Each group of block wheel mechanisms 62 is provided with one driving assembly, and the two driving assemblies drive the two block wheel mechanisms 62 to slide, respectively; the driving assembly comprises a lead screw 622 and a motor 621, the lead screw 622 is rotatably connected to the support structure 61, the rotating axis of the lead screw 622 is arranged along the horizontal direction, the sliding seat 623 is connected with the lead screw 622 through a lead screw 622 nut, and the motor 621 is used for driving the lead screw 622 to rotate.

[0039] Before the installation of the spacer rod 7, the screw rod 622 is driven to rotate by the motor 621, so as to drive the two blocking wheel assemblies to move close to or away from each other to change the distance between the two wires 8, so that the distance meets the installation requirements of the spacer rod 7; at the same time, in order to control the motor 621 more accurately to meet the gap requirements; the spacer rod 7 gap identification module for identifying the gap between the spacer rod 7 and the wire 8 is also arranged on the support structure 61; the basic working principle of the spacer rod 7 gap identification module is: through the deeplabV3+ segmentation algorithm for real-time segmentation, the obtained segmentation image is converted from the BGR color space to the HSV color space, then a mask is generated by using a preset color threshold, and a target region in the obtained image is extracted by using a contour detection method, finally, the area of the region is calculated by using the Green formula, and the gap size is obtained.

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

[0041]

[0042] wherein G x is a horizontal direction gradient component, G y is a vertical direction gradient component, I(i,j) is a pixel value of the image at position (i,j), S x is a Sobel filter for calculating the gradient in the horizontal direction, and Sy is a Sobel filter for calculating the gradient in the vertical direction.

[0043]

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

[0045]

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

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

[0048]

[0049] wherein x j ,y j are the coordinates of the jth point on the contour, N is the number of points of the contour, and M is the number of each contour point.

[0050] Similarly, the application also considers that the work robot with the above publication number cannot guarantee that the walking wheels on the walking arm frame are matched with the guide wire during the online process, and there is a certain safety risk; therefore, an online gap identification module is also arranged on the walking arm frame, and the working principle and algorithm of the online gap identification module are the same as those of the above-mentioned spacer gap identification module.

[0051] The above are preferred embodiments of the application, and do not limit the protection scope of the application, so: any equivalent changes made according to the structure, shape, principle of the application should be covered within the protection scope of the application.

Claims

1. A control method of a spacer bar mounting robot having a wire adjusting mechanism, characterized by: The robot comprises a base, a walking arm frame, a conveying mechanism, an operating table, and an operating mechanism, wherein the operating mechanism is provided with a wire adjusting mechanism, the wire adjusting mechanism comprises a support structure, two stop wheel mechanisms are slidably connected to the support structure, and the two stop wheel mechanisms are arranged opposite to each other and used for abutting against two wires respectively; the stop wheel mechanisms are slid to drive the two wires to approach or move away from each other; the support structure is further provided with a driving assembly used for driving the stop wheel mechanisms to slide; The stop wheel mechanism comprises a sliding seat and a stop wheel, the sliding seat is slidably connected to the support structure in a horizontal direction, and the stop wheel is rotatably connected to the sliding seat, wherein the rotation axis of the stop wheel is arranged in a vertical direction; The walking arm frame is provided with an upper wire gap identification module used for detecting the gap between the wire and the walking arm frame; and the support structure is provided with a spacer rod gap identification module used for identifying the gap between the spacer rod and the wire; The control steps are as follows: S1, lifting the operating table to a certain height; S2, identifying the gap between the walking arm frame and the wire through the upper wire gap identification module; The upper wire gap identification module and the spacer rod gap identification module are subjected to real-time segmentation through a deeplabV3+ segmentation algorithm, the obtained segmentation image is converted from a BGR color space to an HSV color space, then a mask is generated by using a preset color threshold, a target region in the obtained image is extracted by using a contour detection method, and finally the area of the region is calculated by using the Green formula to obtain the gap size; S3, lowering the robot to the power transmission wire by lifting the robot and closing the walking arm frame, thereby completing the wire mounting process; S4, moving the spacer rod to a set position on the base by driving the conveying mechanism; S5, identifying the gap between the spacer rod and the wire by the spacer rod gap identification module, and adjusting the gap between the two by the wire adjusting mechanism, so that the fixed hook of the spacer rod is completely attached to the power transmission wire; S6, completing the installation of the spacer rod by the operating mechanism.

2. The control method of the spacer bar mounting robot having a wire adjusting mechanism according to claim 1, characterized by: The driving assembly is provided with two groups, and the two groups of driving assemblies drive the two stop wheel mechanisms to slide respectively; the driving assembly comprises 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 a horizontal direction, the sliding seat is connected to the screw rod through a screw nut, and the motor is used for driving the screw rod to rotate.

3. The control method of the spacer bar mounting robot having a wire adjusting mechanism according to claim 2, characterized by: The specific algorithm for generating the mask is as follows: Among them, among them, Horizontal gradient component, Vertical gradient component Is the image in position pixel values, It is a Sobel filter used to calculate gradients in the horizontal direction. It is a Sobel filter used to calculate gradients in the vertical direction; The magnitude G and direction of the gradient This can be calculated by the following equation: By the magnitude G and the direction of the gradient A mask can be generated.

4. The control method of the spacer bar mounting robot having the wire adjusting mechanism according to claim 3, characterized by: The specific formula for calculating the area by using the Green formula is as follows: in , It is the first in the outline The coordinates of the points It is the number of points in the outline. It is the number of each contour point, and the calculated area is the gap area between the guide wire and the traveling boom.

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