Operation control method and related device of insulated boom truck

Abstract

The invention provides an operation control method of an insulated boom truck. The method comprises the following steps: constructing an environment three-dimensional model of a working site; obstacle recognition is carried out based on the environment three-dimensional model, and the movement track of the insulated boom type aerial vehicle is determined; on the basis of the motion trail and configuration parameters of the insulated boom type aerial vehicle, the motion posture of the insulated boom type aerial vehicle is obtained; and determining the motion state of the insulated boom truck based on the motion posture. According to the method and the device, the image data of the live working environment site is acquired to obtain the three-dimensional model of the live working site environment, obstacle recognition is performed through the environment three-dimensional model, the movement track capable of realizing obstacle avoidance is planned, and the rotation amount and the expansion amount of each joint during movement along the movement track are solved based on the movement track. Therefore, the speed and the accelerated speed in the movement process are optimized, automatic control movement of the bucket arm of the insulated bucket arm vehicle is achieved, and the insulated bucket arm vehicle can be controlled to move to a set target point position without collision in the operation process.

Description

Technical Field

[0001] The present disclosure relates to the technical field of operation and maintenance of a substation, and in particular to an operation control method and related devices of an insulated boom truck. Background Art

[0002] Live working is usually carried out by using an insulated boom truck in combination with insulated gloves. The operator needs to operate the insulated boom truck while disassembling and connecting the equipment. It is of great practical significance to modify the operation and control of the boom truck and develop a motion control system suitable for the intelligent planning of the motion route of the insulated boom truck to improve the work efficiency, reduce labor costs, and ensure the life safety of the operators when the insulated boom truck is working. However, at present, the live working operation of the insulated boom truck is difficult, which leads to unreasonable motion trajectory planning of the insulated boom truck, which easily causes the insulated boom truck to collide with obstacles at the work site. Summary of the invention

[0003] The present disclosure aims to at least solve the technical problem in the prior art that the motion trajectory planning of the insulated boom truck is unreasonable, which easily leads to the insulated boom truck colliding with obstacles at the work site.

[0004] To this end, an object of the present disclosure is to provide an operation control method for an insulated boom truck, the operation control method for an insulated boom truck comprising:

[0005] Construct a 3D model of the work site environment;

[0006] Obstacle identification is performed based on the three-dimensional model of the environment to determine the motion trajectory of the insulated boom truck;

[0007] Based on the motion trajectory and the configuration parameters of the insulated bucket arm vehicle, obtaining the motion posture of the insulated bucket arm vehicle;

[0008] Based on the motion posture, the motion state of the insulated boom truck is determined.

[0009] In some embodiments, constructing a three-dimensional model of the environment of the work site includes:

[0010] Obtain environmental image information of the work site;

[0011] Based on the environmental image information, construct a point cloud data set of the work site environment;

[0012] Based on the point cloud data set, a three-dimensional model of the environment of the work site is constructed.

[0013] In some embodiments, the environmental image information of the work site is acquired through drone oblique photography technology based on a preset route.

[0014] In some embodiments, obstacle identification is performed based on the three-dimensional model of the environment to determine the motion trajectory of the insulated boom vehicle, including:

[0015] Based on the point cloud data set of the three-dimensional model of the environment, obtaining a coordinate set of obstacles;

[0016] Based on the length of the swing arm of the insulated bucket arm vehicle, obtaining a coordinate set of the insulated bucket arm vehicle in multiple postures;

[0017] Based on the coordinate set of the obstacle and the coordinate set of the insulated bucket arm vehicle in multiple postures, determining whether the insulated bucket arm vehicle will collide with the obstacle;

[0018] Based on the judgment result, the motion trajectory of the insulated boom truck is obtained.

[0019] In some embodiments, obtaining a coordinate set of an obstacle based on a point cloud data set of the three-dimensional model of the environment includes:

[0020] Based on the point cloud dimensional features and spatial geometric distribution features, the non-ground point cloud data is classified into obstacles and non-obstacles;

[0021] Based on the classification result, a coordinate set of the obstacle is obtained.

[0022] In some embodiments, based on the motion trajectory and the configuration parameters of the insulated bucket arm vehicle, obtaining the motion posture of the insulated bucket arm vehicle includes:

[0023] Based on the motion trajectory and the configuration parameters of the insulated boom truck, a rotation transformation matrix between two adjacent joints of the insulated boom truck is obtained;

[0024] Determine the DH equation of the motion parameters of the insulated bucket arm vehicle based on the rotation transformation matrix;

[0025] Based on the DH equation, the motion posture of the insulated boom truck is obtained.

[0026] In some embodiments, the motion posture at least includes the rotation amount and / or extension amount of each joint of the insulated boom truck;

[0027] The motion state at least includes the motion speed and / or motion acceleration of each joint of the insulated boom truck.

[0028] In some embodiments, based on the motion posture, determining the motion state of the insulated boom vehicle includes:

[0029] Based on the motion posture, determining a motion state equation;

[0030] Based on the motion state equation, the motion state of the insulated boom truck is determined.

[0031] Another object of the present disclosure is to provide an operation control device for an insulated boom truck, comprising:

[0032] A construction module is used to construct a three-dimensional model of the environment at the work site;

[0033] A motion trajectory determination module, used to identify obstacles based on the three-dimensional model of the environment and determine the motion trajectory of the insulated bucket arm vehicle;

[0034] A motion posture acquisition module, used to acquire the motion posture of the insulated bucket arm vehicle based on the motion trajectory and the configuration parameters of the insulated bucket arm vehicle;

[0035] A motion state determination module is used to determine the motion state of the insulated bucket arm vehicle based on the motion posture.

[0036] Another object of the present disclosure is to provide a storage medium storing a computer program, wherein the computer program implements the steps of the above method when executed by a processor.

[0037] Another object of the present disclosure is to provide an electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above method when executing the computer program in the memory.

[0038] The operation control method and related device of an insulated boom truck provided by the embodiment of the present disclosure have the following beneficial effects:

[0039] The present invention discloses an operation control method for the bucket arm of an insulated bucket truck taking environmental obstacle avoidance into consideration. By collecting image data of the live working environment on site, a three-dimensional model of the live working environment on site is obtained. Obstacles are identified through the three-dimensional environmental model, and a motion trajectory that can achieve obstacle avoidance is planned. Based on the motion trajectory, the rotation and extension amounts of each joint when moving along the motion trajectory are solved, and the speed and acceleration of the motion process are optimized to achieve automatic control of the bucket arm of the insulated bucket truck, which is beneficial to controlling the collision-free movement of the insulated bucket truck to the set target point during the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0041] Figure 1It is a schematic diagram of the steps of the operation control method of the insulated bucket arm vehicle in the embodiment of the present disclosure;

[0042] Figure 2 It is a schematic diagram of the steps of an operation control method of an insulated bucket arm vehicle in an embodiment of the present disclosure;

[0043] Figure 3 It is a schematic diagram of the steps of the operation control method of the insulated bucket arm vehicle in the embodiment of the present disclosure;

[0044] Figure 4 It is a schematic diagram of the steps of the operation control method of the insulated bucket arm vehicle in the embodiment of the present disclosure;

[0045] Figure 5 It is a schematic diagram of the steps of the operation control method of the insulated bucket arm vehicle in the embodiment of the present disclosure;

[0046] Figure 6 is a schematic structural diagram of an insulated bucket arm vehicle in an embodiment of the present disclosure;

[0047] Figure 7 is a schematic diagram of the planning of the UAV route in the embodiment of the present disclosure;

[0048] Figure 8 is a schematic diagram of an obstacle environment and a position of an insulated bucket arm vehicle in an embodiment of the present disclosure;

[0049] Fig. 9 It is a schematic diagram of the motion path planning of the insulated bucket truck in the embodiment of the present disclosure.

[0050] Reference numerals:

[0051] 1. Rotating base; 2. Lower arm; 3. Upper arm; 4. Extension arm; 5. Connecting device; 6. Working bucket. DETAILED DESCRIPTION

[0052] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0053] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0054] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0055] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0056] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0057] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0058] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0059] like Figure 6 As shown, the insulated bucket arm vehicle comprises a rotating base 1, a lower arm 2, an upper arm 3, an extension arm 4, a connecting device 5 and a working bucket 6 which are connected in sequence. The rotating base 1 can drive the lower arm 2 and the upper arm 3 to realize the movement of 6 degrees of freedom, and the extension arm 4 is arranged between the upper arm 3 and the connecting device 5, and can only realize the reciprocating movement along the upper arm 3.

[0060] The first embodiment of the present disclosure provides an operation control method of an insulated boom truck, such as Figure 1-Figure 5 As shown, the control method includes:

[0061] S1: Construct a 3D model of the work site environment.

[0062] Specifically include:

[0063] S101: Acquire environmental image information of the work site.

[0064] Specifically, the environmental image information of the work site is obtained through the UAV oblique photography technology. Among them, the UAV will determine the route based on the aerial survey path planning system. The route can choose the system preset route or the custom route. The appropriate UAV flight route must be selected according to the on-site environment. The UAV aerial survey path planning system can be divided into three parts: map operation module, UAV path planning and data management. The map operation module includes a series of operations such as opening, zooming in, zooming out, and roaming on the map. The path planning includes two-dimensional path planning and three-dimensional path planning UAV path planning. The data management module is mainly for the aerial survey path planning software information data storage, query, deletion, addition and modification functions. The environmental image information here is obtained based on the preset route, such as Figure 7 As shown. By obtaining environmental image information of the work site through the preset route, a certain work area in the work site is selected in a targeted manner, and the motion posture and motion state of the insulated boom truck determined subsequently meet the work requirements. By obtaining environmental image information through drone oblique photography technology, image information in a large range can be quickly obtained.

[0065] Drones can obtain the layout of power facilities and environmental terrain conditions at the live working site through lidar or oblique photography, and use 3D modeling software to accurately restore the spatial position distance and orientation relationship of each equipment on site in real time to confirm whether it is suitable for live working, thereby replacing manual on-site inspections.

[0066] S102: Based on the environmental image information, a point cloud data set of the work site environment is constructed. Specifically, the work site has multiple points, and the point cloud data collected by scanning different points need to be spliced ​​to obtain complete distribution network line point cloud data in a unified coordinate system.

[0067] Specifically, it includes:

[0068] S1021: Select one of the points as the first site, and the points adjacent to the first site as the sites to be matched. Select points with the same name between the two points for marking. After selecting enough pairs of points with the same name, the registration of the two sites is completed.

[0069] S1022: After the above operations, the point cloud data of all points are spliced ​​to generate complete original distribution network line point cloud data.

[0070] S1023: performing noise reduction and thinning processing on the stitched point cloud data.

[0071] S1024: Using polygons to clip the chaotic surrounding environment point cloud data to obtain the final required point cloud data, and export the point cloud data in the form of a project point cloud in rcp format.

[0072] S103: Constructing a three-dimensional model of the environment of the work site based on the point cloud data set.

[0073] Here, a point cloud dataset is used to quickly build a three-dimensional digital twin scene that depicts the line structure and channel environment characteristics of real wires.

[0074] S2: Obstacle identification is performed based on the three-dimensional model of the environment to determine the motion trajectory of the insulated boom truck.

[0075] The motion track here refers to the motion path of the insulated bucket arm vehicle at the operation site. In this motion track, the insulated bucket arm vehicle can avoid obstacles during the operation.

[0076] Specifically include:

[0077] S201: Based on the point cloud data set of the environmental three-dimensional model, obtain a coordinate set of obstacles.

[0078] S2011: Based on the point cloud dimensional features and spatial geometric distribution features, non-ground point cloud data are classified into obstacles and non-obstacles.

[0079] In non-ground point cloud data, the position and shape outline of each marker in the work site concerned by safety distance diagnosis, such as wire points, pole tower points, forest vegetation, and buildings, are determined from non-ground points based on the point cloud dimensional characteristics and spatial geometric distribution characteristics. Point cloud dimensional characteristics can describe the point cloud shape distribution. Forests are natural objects, and buildings are artificial structures. The corresponding laser point cloud data have great differences in spatial geometric distribution characteristics. Therefore, point cloud dimensional characteristics can be used for classification, for example: forest vegetation and buildings are obstacles, and wire points and pole tower points are non-obstacles.

[0080] S2012: Based on the classification result, obtain a coordinate set of the obstacle.

[0081] Here, after the obstacles are determined by the classification results, the coordinate set of all obstacles is obtained by reading the boundary coordinates of the obstacles.

[0082] S202: Based on the length of the swing arm of the insulated boom truck, a coordinate set of the insulated boom truck in multiple postures is obtained.

[0083] like Figure 6 As shown, taking the insulating bucket arm vehicle including a rotating seat 1, a lower arm 2, an upper arm 3, an extension arm 4, a connecting device 5 and a working bucket 6 as an example, the joints of the insulating bucket arm vehicle here refer to the rotating seat 1, the lower arm 2, the upper arm 3, the extension arm 4, the connecting device 5 and the working bucket 6, and the swing arm here refers to the lower arm 2, the upper arm 3 and the extension arm 4. Specifically, the length of the lower arm 2 is taken as a first extension step length Delta1, and the total length of the maximum extension of the upper arm 3 and the extension arm 4 is taken as a second extension step length Delta2. In the space of the work site, the rotating base 1 is taken as the origin to expand to any sampling point with a step length Delta1 to obtain the posture position of the lower arm 2, and the posture position of the upper arm 3 and the extension arm 4 is reversely expanded from the breakpoint at the end of the lower arm 2 with a step length Delta2. Further, the length of the swing arm of the insulating bucket arm vehicle is interpolated according to a certain step length to obtain a coordinate set in multiple cases, and the coordinate set in multiple cases is the coordinate set of the insulating bucket arm vehicle in multiple postures. In this way, multiple coordinate sets of each swing arm of the insulated boom truck at different extension lengths can be obtained, thereby improving the accuracy of subsequent determination of the motion trajectory.

[0084] S203: Based on the coordinate set of the obstacle and the coordinate set of the insulated boom truck in multiple postures, it is determined whether the insulated boom truck will collide with the obstacle. If the coordinate set of the posture position of the swing arm intersects with the coordinate set of the obstacle, it is determined that the insulated boom truck will collide with the obstacle; if the coordinate set of the posture position of the swing arm does not intersect with the coordinate set of the obstacle, it is determined that the insulated boom truck will not collide with the obstacle.

[0085] S204: Based on the judgment result, the motion trajectory of the insulated boom truck is obtained. This means that after multiple interpolations, the coordinate set where collisions may occur is removed, and a suitable motion trajectory is determined in the coordinate set of the posture position of the remaining swing arms of the insulated boom trucks. When determining the motion trajectory here, the starting point and target point of the insulated boom truck are first set based on the operation requirements, which provides a basis for determining the motion trajectory. Then, based on the starting potential, the target point and the judgment result, the placement position of the rotating base 1 of the insulated boom truck is determined, and then the motion trajectory of the insulated boom truck for collision-free operation is determined. The starting point and target point here refer to the starting point and target point of the working bucket 6 of the insulated boom truck.

[0086] Among them, the three-dimensional environment model, the configuration position of the rotating base 1 and the motion trajectory of the insulating bucket arm vehicle are as follows: Figure 8 and Fig. 9 shown.

[0087] S3: Based on the motion trajectory and the configuration parameters of the insulated boom truck, the motion posture of the insulated boom truck is obtained.

[0088] The motion posture here at least includes the rotation amount and / or extension amount of each joint of the insulated bucket arm truck. Specifically, the rotation amount of each joint refers to the rotation amount of the rotating base 1, the lower arm 2, the upper arm 3, the connecting device 4 and the working bucket 5, and the extension amount refers to the extension amount of the extension arm.

[0089] Specifically include:

[0090] S301: Based on the motion trajectory and the configuration parameters of the insulated boom truck, a rotation transformation matrix between two adjacent joints of the insulated boom truck is obtained.

[0091] like Figure 6 As shown, the configuration parameter here refers to the joint length a i-1 , joint torsion angle a i-1 , joint offset d i and the joint angle θ i Among them, the joint length a i-1 Refers to Z i-1 Axis and Z i The length of the common normal of the axis is the length of the connecting rod of joint i; the joint torsion angle a i-1 Refers to X i-1Axis is the rotation axis, joint axis Z i-1 to Z i The angle of rotation; joint offset d i Refers to X i-1 Axis and X i The signed distance between the common normals of the axes; the joint angle θ i Refers to Z i The axis is the rotation axis, axis X i-1 To X i The corner between.

[0092] The rotation transformation matrix here refers to T(i-1,i), specifically:

[0093]

[0094] Among them, θ i is the joint rotation angle; a i-1 is the joint length, d i is the joint offset, and i is the serial number of each joint.

[0095] Among them, i=1 corresponds to the rotating base 1, i=2 corresponds to the lower arm 2, i=3 corresponds to the upper arm 3, i=4 corresponds to the extension arm 4, i=5 corresponds to the connecting device 5, and i=6 corresponds to the working bucket 6.

[0096] So:

[0097] T(0,6)=T(0,1)×T(1,2)×T(2,3)×T(3,4)×T(4,5)×T(5,6).

[0098] For the insulated bucket arm vehicle in this embodiment:

[0099]

[0100] S302: Determine the DH equation of the motion parameters of the insulated boom truck based on the rotation transformation matrix.

[0101] Specifically,

[0102]

[0103] S303: Based on the DH equation, the motion posture of the insulated boom truck is obtained.

[0104] Solve the DH equation:

[0105] available:

[0106]

[0107] in, is the state matrix.

[0108] Based on the above formulas, the motion posture of the insulated bucket truck can be solved, such as the rotating base angle, the lower arm rotation angle, the upper arm rotation angle, the extension arm extension and the connecting device rotation angle. Here, the extension arm only realizes telescopic operation and does not perform rotation operation, so its rotation angle is 0.

[0109] S4: Determine the motion state of the insulated boom truck based on the motion posture.

[0110] The motion state here at least includes the motion speed and motion acceleration of each joint of the insulated boom truck.

[0111] Specifically include:

[0112] S401: Determine a motion state equation based on the rotation amount of the motion posture;

[0113] The state equation of motion here is an interpolation polynomial:

[0114]

[0115] Among them, m0, m1, m2, m3, m4, and m5 are the coefficients of the interpolation polynomial, θ(t) is the joint angle, θ'(t) is the joint velocity, and θ"(t) is the joint acceleration.

[0116] S402: Determine the motion state of the insulated boom truck based on the motion state equation.

[0117] Here, the motion state equation is solved by setting the initial angle of any joint movement to θ0, and the joint velocity and joint acceleration at the initial moment to 0.

[0118] For example, suppose the initial angle of any joint during motion is θ0, and the joint velocity and joint acceleration at the initial moment are both 0;

[0119] Then at the initial time t=0, θ(0)=0, θ'(t)=θ"(t)=0, and based on the motion state equation in S401, m0=θ0, m1=m2=0,

[0120] Then there is the formula:

[0121] θ(t)=m3t 3 +m4t 4 +m5t 5 +θ0

[0122] θ'(t)=3m3t 2 +4m4t 3 +5m5t 4 ;

[0123] θ”(t)=6m3t+12m4t2 +20m5t 3

[0124] The solution is:

[0125]

[0126] After solving m3, m4, and m5, the movement speed and acceleration of the joints of the insulated boom truck can be obtained based on the motion state equation.

[0127] In step S3 and step S4, the motion posture and motion state of the insulated boom truck are determined respectively, which can realize automatic control in the motion trajectory of avoiding obstacles, which is conducive to realizing intelligent operation.

[0128] Based on the same inventive concept as the first embodiment, the second embodiment of the present disclosure provides an operation control device for an insulated boom truck, comprising:

[0129] A construction module is used to construct a three-dimensional model of the environment at the work site;

[0130] The motion trajectory determination module is used to identify obstacles based on the three-dimensional model of the environment and determine the motion trajectory of the insulated bucket truck;

[0131] A motion posture acquisition module, used to acquire the motion posture of the insulated bucket arm vehicle based on the motion trajectory and the configuration parameters of the insulated bucket arm vehicle;

[0132] The motion state determination module is used to determine the motion state of the insulated bucket arm vehicle based on the motion posture.

[0133] Furthermore, the building blocks include:

[0134] An image information acquisition unit, used to acquire environmental image information of the work site;

[0135] A point cloud data set construction unit, used to construct a point cloud data set of a work site environment based on environmental image information;

[0136] The 3D model building unit is used to build a 3D model of the environment of the work site based on the point cloud data set.

[0137] Furthermore, environmental image information of the work site is acquired through drone oblique photography technology based on a preset route.

[0138] Furthermore, the motion trajectory determination module includes:

[0139] A first acquisition subunit is used to acquire a coordinate set of obstacles based on a point cloud data set of an environment three-dimensional model;

[0140] A second acquisition subunit is used to acquire a coordinate set of the insulated bucket arm vehicle in multiple postures based on the length of the swing arm of the insulated bucket arm vehicle;

[0141] A judgment subunit is used to judge whether the insulated bucket arm vehicle will collide with the obstacle based on the coordinate set of the obstacle and the coordinate set of the insulated bucket arm vehicle in multiple postures;

[0142] The motion trajectory determination subunit is used to obtain the motion trajectory of the insulated bucket arm vehicle based on the judgment result.

[0143] Furthermore, the motion posture acquisition module includes:

[0144] A matrix acquisition unit, used for acquiring a rotation transformation matrix between two adjacent joints of the insulated bucket arm vehicle based on the motion trajectory and the configuration parameters of the insulated bucket arm vehicle;

[0145] An equation determination unit, used for determining the DH equation of the motion parameters of the insulated bucket truck based on the rotation transformation matrix;

[0146] The motion posture acquisition unit is used to obtain the motion posture of the insulated bucket truck based on the DH equation.

[0147] Furthermore, the motion state determination module includes:

[0148] A state equation determination unit, used for determining a motion state equation based on the rotation amount of the motion posture;

[0149] The motion state determination unit is used to determine the motion state of the insulated bucket arm vehicle based on the motion state equation.

[0150] In this embodiment, image data of the live working environment is collected to obtain a three-dimensional model of the live working environment. Obstacles are identified through the three-dimensional model of the environment, and a motion trajectory that can avoid obstacles is planned. The rotation and extension amounts of each joint when moving along the motion trajectory are solved based on the motion trajectory, and the speed and acceleration of the motion process are optimized to achieve automatic control of the arm of the insulated boom truck, which is beneficial to controlling the collision-free movement of the insulated boom truck to the set target point during the operation process.

[0151] A third embodiment of the present disclosure provides a storage medium storing a computer program. When the computer program is executed by a processor, the steps of implementing the above method include:

[0152] S11: Constructing a three-dimensional model of the environment at the work site;

[0153] S12: Obstacle identification is performed based on the three-dimensional model of the environment to determine the motion trajectory of the insulated bucket arm vehicle;

[0154] S13: based on the motion trajectory and the configuration parameters of the insulated bucket arm vehicle, obtaining the motion posture of the insulated bucket arm vehicle;

[0155] S14: Determine the motion state of the insulated boom truck based on the motion posture.

[0156] Of course, other steps of the control method can also be used to implement the above embodiment.

[0157] In this embodiment, image data of the live working environment is collected to obtain a three-dimensional model of the live working environment. Obstacles are identified through the three-dimensional model of the environment, and a motion trajectory that can avoid obstacles is planned. The rotation and extension amounts of each joint when moving along the motion trajectory are solved based on the motion trajectory, and the speed and acceleration of the motion process are optimized to achieve automatic control of the arm of the insulated boom truck, which is beneficial to controlling the collision-free movement of the insulated boom truck to the set target point during the operation process.

[0158] A fourth embodiment of the present disclosure provides an electronic device, the electronic device comprising at least a memory and a processor, the memory storing a computer program, the processor implementing the steps of the above method when executing the computer program on the memory, specifically comprising:

[0159] S21: Constructing a three-dimensional model of the environment at the work site;

[0160] S22: Obstacle identification is performed based on the three-dimensional model of the environment to determine the motion trajectory of the insulated bucket arm vehicle;

[0161] S23: based on the motion trajectory and the configuration parameters of the insulated bucket arm vehicle, obtaining the motion posture of the insulated bucket arm vehicle;

[0162] S24: Based on the motion posture, determine the motion state of the insulated boom truck.

[0163] Of course, other steps of the control method can also be used to implement the above embodiment.

[0164] In this embodiment, image data of the live working environment is collected to obtain a three-dimensional model of the live working environment. Obstacles are identified through the three-dimensional model of the environment, and a motion trajectory that can avoid obstacles is planned. The rotation and extension amounts of each joint when moving along the motion trajectory are solved based on the motion trajectory, and the speed and acceleration of the motion process are optimized to achieve automatic control of the arm of the insulated boom truck, which is beneficial to controlling the collision-free movement of the insulated boom truck to the set target point during the operation process.

[0165] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0166] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0167] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0168] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0169] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0170] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0171] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned motor torque control method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0172] In addition, the features of the embodiments shown in the drawings of the present application or the various embodiments mentioned in this specification are not necessarily understood as independent embodiments. Instead, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

[0173] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An operation control method for an insulated boom truck, characterized in that: include: Construct a 3D model of the work site environment; Obstacle identification is performed based on the three-dimensional model of the environment to determine the motion trajectory of the insulated boom truck; Based on the motion trajectory and the configuration parameters of the insulated bucket arm vehicle, obtaining the motion posture of the insulated bucket arm vehicle; Based on the motion posture, the motion state of the insulated boom truck is determined.

2. The operation control method of the insulated boom truck according to claim 1, characterized in that: The construction of the 3D model of the work site environment includes: Obtain environmental image information of the work site; Based on the environmental image information, construct a point cloud data set of the work site environment; Based on the point cloud data set, a three-dimensional model of the environment of the work site is constructed.

3. The operation control method of the insulated boom truck according to claim 2, characterized in that: The environmental image information of the work site is obtained through unmanned aerial vehicle oblique photography technology based on a preset route.

4. The operation control method of the insulated boom truck according to claim 2, characterized in that: Obstacle identification is performed based on the three-dimensional model of the environment to determine the motion trajectory of the insulated boom vehicle, including: Based on the point cloud data set of the three-dimensional model of the environment, obtaining a coordinate set of obstacles; Based on the length of the swing arm of the insulated bucket arm vehicle, obtaining a coordinate set of the insulated bucket arm vehicle in multiple postures; Based on the coordinate set of the obstacle and the coordinate set of the insulated bucket arm vehicle in multiple postures, determining whether the insulated bucket arm vehicle will collide with the obstacle; Based on the judgment result, the motion trajectory of the insulated boom truck is obtained.

5. The operation control method of the insulated boom truck according to claim 4, characterized in that: Based on the point cloud data set of the three-dimensional model of the environment, obtaining a coordinate set of obstacles includes: Based on the point cloud dimensional features and spatial geometric distribution features, the non-ground point cloud data is classified into obstacles and non-obstacles; Based on the classification result, a coordinate set of the obstacle is obtained.

6. The operation control method of the insulated boom truck according to claim 1, characterized in that: Based on the motion trajectory and the configuration parameters of the insulated bucket arm vehicle, obtaining the motion posture of the insulated bucket arm vehicle includes: Based on the motion trajectory and the configuration parameters of the insulated boom truck, a rotation transformation matrix between two adjacent joints of the insulated boom truck is obtained; Determine the DH equation of the motion parameters of the insulated bucket arm vehicle based on the rotation transformation matrix; Based on the DH equation, the motion posture of the insulated boom truck is obtained.

7. The operation control method of the insulated boom truck according to claim 1, characterized in that: The movement posture at least includes the rotation amount and / or extension amount of each joint of the insulated boom truck; The motion state at least includes the motion speed and / or motion acceleration of each joint of the insulated boom truck.

8. The operation control method of the insulated boom truck according to claim 7, characterized in that: Based on the motion posture, determining the motion state of the insulated boom vehicle includes: Based on the motion posture, determining a motion state equation; Based on the motion state equation, the motion state of the insulated boom truck is determined.

9. An operation control device for an insulated boom truck, characterized in that: include: A construction module is used to construct a three-dimensional model of the environment at the work site; A motion trajectory determination module, used to identify obstacles based on the three-dimensional model of the environment and determine the motion trajectory of the insulated bucket arm vehicle; A motion posture acquisition module, used to acquire the motion posture of the insulated bucket arm vehicle based on the motion trajectory and the configuration parameters of the insulated bucket arm vehicle; A motion state determination module is used to determine the motion state of the insulated bucket arm vehicle based on the motion posture.

10. An electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, wherein: The processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program on the memory.

Images