Balance control method for soft waist platform of electric power inspection robot

Abstract

The invention relates to the technical field of robots, and discloses a balance control method for a soft waist platform of an electric power inspection robot. Comprising the steps of obtaining comprehensive balance parameters of the electric power inspection robot, calculating an inspection balance index, judging whether to send out a balance early warning prompt or not, dividing a balance danger level on the basis of a balance difference value, making a balance control instruction, marking a first target air bag, and controlling the first target air bag to execute the instruction. The second target airbag is controlled to execute the instruction until the balance early warning prompt is not sent out; compared with the prior art, the method can accurately collect the data influencing the balance state of the electric power inspection robot in a multi-dimensional manner, can accurately evaluate the current unbalance degree of the electric power inspection robot in combination with the inspection balance index, and formulates a targeted balance control instruction. The balance posture of the soft waist platform is actively optimized and improved, and the phenomenon that the electric power inspection robot shakes violently when encountering bumpy terrains is avoided.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically, to a balance control method for a soft waist platform of an electric power inspection robot. Background Art

[0002] Power inspection robots are often used in substations. When inspecting narrow indoor aisles, they can use video imaging equipment installed on the soft waist platform to inspect ground cabinets and other screen cabinets. Due to the complex indoor environment of the substation, when the cables of various electrical equipment are crossed and gathered on the indoor floor, and the power inspection robot touches the cables, it will cause the power inspection robot to shake and become unbalanced, which will cause fluctuations in the video image data. Therefore, it is necessary to balance the soft waist platform to ensure that the power inspection robot remains balanced, thereby providing stability for the power inspection robot.

[0003] The patent application with reference publication number CN111805506A discloses a balance control method for an electric inspection robot and a soft waist platform. The balance control method for the soft waist platform flexibly drives the fluid medium to adjust the fluid pressure required for each soft driver in the belonging drive unit in the soft drive group of each layer according to the state information of the motion inertia and the state information of the fluid pressure, so that the drive unit and the sensing unit in each layer can jointly provide the motion opposite to the motion inertia, balance the spatial posture of the top plate in the soft waist platform by motion compensation, further enhance the flexibility and stability of the robot arm operation process, and have high application value. The prior art has the following deficiencies: The existing robot balance control method determines whether the power inspection robot is unbalanced by collecting changes in single-dimensional vibration data or height data during the inspection process, which leads to limitations in the evaluation and analysis of the balance state of the power inspection robot. The lack of analysis and calculation process of multi-dimensional data such as pressure data and vibration data reduces the accuracy of the balance state assessment, resulting in the power inspection robot being unable to formulate reasonable balance control measures to change the posture of the soft waist platform according to the actual balance state, which in turn causes the power inspection robot to be unbalanced and reduces the stability of the power inspection.

[0004] In view of this, the present invention proposes a balance control method for a soft waist platform of an electric power inspection robot to solve the above-mentioned problem. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art and to achieve the above-mentioned purpose, the present invention provides the following technical solution: a balance control method for a soft waist platform of an electric power inspection robot, applied to a balance controller, comprising: S1: Obtain the comprehensive balance parameters of the power inspection robot, and calculate the inspection balance index based on the comprehensive balance parameters. The comprehensive balance parameters include height drop value, platform inclination, vibration climbing value and pressure stability; S2: Compare the inspection balance index with the preset inspection balance threshold, generate a balance difference, and determine whether to issue a balance warning prompt; if a balance warning prompt is issued, execute S3; if no balance warning prompt is issued, repeat S1-S2; S3: Based on the balance difference, the balance risk level is divided and balance control instructions are formulated; the balance control instructions include the height increase or decrease instruction of the control software waist platform on one side and the height increase or decrease instruction of the control software waist platform on both sides; S4: Mark the first target airbag, and control the first target airbag to execute the height increase or decrease command of the waist platform of the control software until no balance warning prompt is issued; S5: Mark the second target airbag, and control the second target airbag to execute the height increase or decrease command of the waist platform on both sides of the control software until no balance warning prompt is issued.

[0006] Furthermore, the method for obtaining the height difference value includes: The distances between the left side and the right side of the top of the soft waist platform and the inspection ground are measured by a laser sensor to obtain a first height value and a second height value; The height difference value is obtained by taking the absolute value of the difference between the first height value and the second height value; The expression of the height difference is: ; In the formula, is the height difference value, is the first height value, The second height value.

[0007] Furthermore, the method for obtaining the platform inclination includes: Measure the height difference of the soft waist platform at time T1, which is recorded as the first difference; Check the length of the software waist platform from the technical parameter table and record it as the platform length value; After comparing the first difference value with the platform length value, a first inclination is generated; The expression of the first inclination is: ; In the formula, is the first inclination, is the first difference, is the platform length value; Measure the height difference of the soft waist platform at time T2, which is recorded as the second difference; After comparing the second difference with the platform length value, a second inclination is generated; The expression of the second inclination is: ; In the formula, is the second inclination, is the second difference; The first inclination and the second inclination are added and averaged to obtain the platform inclination; The expression of platform inclination is: ; In the formula, is the platform inclination.

[0008] Furthermore, the method for obtaining the vibration rise value includes: The vibration sensor is used to detect the vibration amplitude of the power inspection robot in real time to obtain the real-time amplitude value; The moment when the real-time amplitude value reaches the standard amplitude value for the first time is recorded as the starting moment, and the period from the starting moment to the current moment is recorded as the vibration period; The corresponding moments when the real-time amplitude value is greater than the standard amplitude value during the vibration period are counted sequentially to obtain a vibration moment; Measure the interval duration between two adjacent vibration moments one by one, and record the minimum value of the interval duration as the standard interval value; The duration corresponding to one third of the standard interval value is the vibration unit duration. Taking the vibration moment as the base point, we extend forward and backward by one vibration unit time, and obtain The starting time and an ending moment; The first From the start time to the The period between the end times is recorded as a sub-period, and the sub-period; Count the software waist platform in sequence The number of vibrations in a sub-period and The vibration times in each sub-period are compared with the duration of the sub-period in turn to obtain Vibration frequency; The expression of vibration frequency is: ; In the formula, For the The vibration frequency, For the The number of vibrations in a sub-period, is the duration corresponding to the sub-period; The first The vibration frequency and After subtracting the vibration frequencies, we get The climbing value of the child; The expression of the sub-climb value is: ; In the formula, For the The climbing value of the child, For the Vibration frequency; After removing the maximum and minimum values ​​of the sub-climb value, the remaining The individual climbing values ​​are accumulated and averaged to obtain the vibration climbing value; The expression of vibration rise value is: ; In the formula, is the vibration rise value, For the The value of climbing.

[0009] Furthermore, the method for obtaining the pressure stability includes: The impact force received by the power inspection robot during the vibration period is detected in real time by the pressure sensor, recorded as the real-time pressure value, and the number of the real-time pressure values ​​is counted; Record the real-time pressure value that is less than the safety pressure value as the effective pressure value, and obtain k effective pressure values; According to the chronological order, k valid pressure values ​​are sorted in sequence, and the detection moments corresponding to the k valid pressure values ​​are marked to obtain k detection moments; The two valid pressure values ​​corresponding to the time length between two adjacent detection moments being less than the preset impact period are recorded as target pressure values, and the number of target pressure values ​​is counted; Compare the number of target pressure values ​​with the number of real-time pressure values ​​to obtain pressure stability; The expression of pressure stability is: : In the formula, is the pressure stability, is the number of target pressure values, is the number of real-time pressure values.

[0010] Furthermore, the expression of the inspection balance index is: ; In the formula, is the inspection balance index, , , , is the weight coefficient, and , , , All are greater than 0; The methods for determining whether to issue a balance warning prompt include: Subtract the inspection balance index from the preset inspection balance threshold to obtain a balance difference; The expression of the balance difference is: ; In the formula, is the balance difference, It is the preset inspection balance threshold; when When it is less than or equal to 0, it is determined that no balance warning prompt will be issued; when When it is greater than 0, a balance warning prompt is issued.

[0011] Furthermore, the balanced risk level includes a medium risk level and a high risk level; The classification methods for medium and high risk levels include: Balance the difference Balance difference threshold Compare; when Less than or equal to When the risk is too high, it is classified as medium risk level; when Greater than It is classified as a high-risk level. The method for formulating the command for raising or lowering the height of one side of the control software waist platform and the command for raising or lowering the height of both sides of the control software waist platform includes: When the balance risk level is medium risk level, formulate the height raising or lowering instruction of one side of the waist platform of the control software; When the balance risk level is a high risk level, instructions are issued to control the height increase or decrease of both sides of the waist platform of the software.

[0012] Furthermore, the marking method of the first target airbag includes: When the power inspection robot is in a static and balanced state, measure the height of the soft waist platform from the ground to obtain the standard height value; Subtract the first height value and the second height value from the standard height value and take their absolute values ​​to obtain a first standard deviation value and a second standard deviation value; The expression of the first standard deviation value is: ; In the formula, is the first standard deviation, is the standard height value; The expression for the second standard deviation is: ; In the formula, is the second standard deviation value; When the first standard deviation value is greater than the second standard deviation value, the height of the left side of the soft waist platform is higher, and the airbag on the left side of the soft waist platform is recorded as the first target airbag; When the first standard deviation value is less than the second standard deviation value, the height of the right side of the soft waist platform is higher, and the airbag on the right side of the soft waist platform is recorded as the first target airbag.

[0013] Furthermore, the control method for executing the command of raising or lowering the height of one side of the waist platform of the control software includes: If the first target airbag is the airbag on the left side of the soft waist platform, and when the first height value is less than the standard height value, the air pump introduces gas to the airbag on the left side of the soft waist platform through the gas pipeline, forcing the height of the left side of the soft waist platform to rise until no balance warning prompt is issued, and then the introduction of gas is stopped; When the first height value is greater than the standard height value, the air pump draws gas from the air bag on the left side of the soft waist platform through the gas pipeline, forcing the left side of the soft waist platform to lower its height until no balance warning prompt is issued, and then stops drawing gas; If the first target airbag is the airbag on the right side of the soft waist platform, and when the second height value is less than the standard height value, the air pump introduces gas to the airbag on the right side of the soft waist platform through the gas pipeline, forcing the height of the right side of the soft waist platform to rise until no balance warning prompt is issued, and then the introduction of gas is stopped; When the second height value is greater than the standard height value, the air pump draws gas from the air bag on the right side of the soft waist platform through the gas pipeline, forcing the height of the right side of the soft waist platform to decrease until no balance warning prompt is issued, and then stops drawing gas.

[0014] Further, the second target airbag includes an airbag on the left side of the soft waist platform and an airbag on the right side of the soft waist platform; The control method for executing the command of raising or lowering the height of both sides of the waist platform of the control software includes: When the power inspection robot is in a static and balanced state, measure the height of the soft waist platform from the ground to obtain the standard height value; If both the first height value and the second height value are smaller than the standard height value, and when the first height value is greater than the second height value, the air pump introduces gas through the gas pipeline to the airbag on the left side of the soft waist platform at a rate lower than the rate of introducing gas to the airbag on the right side of the soft waist platform, forcing the increase in the height of the left side of the soft waist platform to be smaller than the increase in the height of the right side of the soft waist platform, until no balance warning prompt is issued, and then the introduction of gas is stopped; When the first height value is less than the second height value, the air pump introduces gas to the airbag on the left side of the soft waist platform through the gas pipeline at a rate greater than the rate of introducing gas to the airbag on the right side of the soft waist platform, forcing the increase in the height of the left side of the soft waist platform to be greater than the increase in the height of the right side of the soft waist platform, until no balance warning prompt is issued, and then the gas introduction is stopped; If both the first height value and the second height value are greater than the standard height value, and when the first height value is greater than the second height value, the air pump extracts gas from the airbag on the left side of the soft waist platform through the gas pipeline at a rate greater than the rate at which the airbag on the right side of the soft waist platform is extracted, forcing the height of the left side of the soft waist platform to decrease by a greater margin than the height of the right side of the soft waist platform, until no balance warning prompt is issued, and then the gas introduction is stopped; When the first height value is less than the second height value, the rate at which the air pump extracts gas from the airbag on the left side of the soft waist platform through the gas pipeline is lower than the rate at which the air pump extracts gas from the airbag on the right side of the soft waist platform, forcing the height of the left side of the soft waist platform to decrease less than the height of the right side of the soft waist platform, until the balance warning prompt is no longer issued, and then the gas extraction is stopped.

[0015] The technical effects and advantages of the balance control method of the soft waist platform of the power inspection robot of the present invention are as follows: The present invention obtains the comprehensive balance parameters of the power inspection robot, and based on the comprehensive balance parameters, calculates the inspection balance index, compares the inspection balance index with a preset inspection balance threshold, generates a balance difference, and determines whether to issue a balance warning prompt. Based on the balance difference, the balance danger level is divided, and a balance control instruction is formulated, a first target airbag is marked, and the first target airbag is controlled to execute an instruction to increase or decrease the height of one side of the waist platform of the control software until no balance warning prompt is issued, and a second target airbag is marked, and the second target airbag is controlled to execute an instruction to increase or decrease the height of both sides of the waist platform of the control software until no balance warning prompt is issued. Compared with the prior art, by obtaining the comprehensive balance parameters of the power inspection robot, the inspection balance index is compared with the preset inspection balance threshold, a balance difference is generated, and a balance danger level is divided based on the balance difference, and a balance control instruction is formulated, and a first target airbag is marked, and the first target airbag is controlled to execute an instruction to increase or decrease the height of one side of the waist platform of the control software until no balance warning prompt is issued. By taking the comprehensive balance parameters, we can accurately collect data that affects the balance state of the power inspection robot in multiple dimensions, realize accurate analysis of the degree of influence of multi-dimensional balance influencing data on the balance state, and combine with the inspection balance index for judgment and comparison. We can accurately evaluate the current imbalance degree of the power inspection robot, and formulate targeted balance control instructions according to the actual imbalance degree, so as to timely and accurately control the software waist platform to execute the corresponding balance control instructions, actively optimize and improve the balance posture of the software waist platform, and thus avoid the power inspection robot from shaking violently when encountering bumpy terrain, further improving the stability of the power inspection robot during power inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic flow chart of a balance control method for a soft waist platform of a power inspection robot provided in Example 1 of the present invention; Figure 2 A schematic diagram of the structure of the power inspection robot provided in Example 1 of the present invention; Figure 3 A schematic diagram of a balance control system for a soft waist platform of a power inspection robot provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Example 1: Please refer to Figure 1 and Figure 2 As shown, the balance control method of the soft waist platform of the power inspection robot described in this embodiment is applied to the balance controller, including: S1: Obtain comprehensive balance parameters of the power inspection robot, and calculate the inspection balance index based on the comprehensive balance parameters; The comprehensive balance parameter refers to the data that can represent the change of the balance posture of the power inspection robot due to the influence of external obstacles during the inspection of power equipment. By obtaining the comprehensive balance parameter, it can provide a data basis for the calculation of the subsequent inspection balance index, so as to accurately balance the soft waist platform of the power inspection robot; Comprehensive balance parameters include height difference, platform inclination, vibration climbing value and pressure stability; The height difference value refers to the height difference between the left and right sides of the soft waist platform of the power inspection robot during the power inspection process. When the power inspection robot touches a raised obstacle or a sunken terrain during the power inspection process, the impact force during the touch process will cause the power inspection robot to become unbalanced, making the heights of the left and right sides of the soft waist platform inconsistent. The larger the height difference value, the larger the height difference between the left and right sides of the soft waist platform, the worse the balance state of the power inspection robot, and the larger the inspection balance index; Methods for obtaining the height difference value include: The distances between the left side and the right side of the top of the soft waist platform and the inspection ground are measured by a laser sensor to obtain a first height value and a second height value; The height difference value is obtained by taking the absolute value of the difference between the first height value and the second height value; The expression of the height difference is: ; In the formula, is the height difference value, is the first height value, The second height value.

[0019] The platform inclination refers to the inclination of the soft waist platform of the power inspection robot relative to the horizontal plane during the power inspection process. When the power inspection robot touches a raised obstacle or a sunken terrain during the power inspection process, the level of the soft waist platform will change. The greater the platform inclination, the greater the inclination of the soft waist platform relative to the horizontal plane, the worse the balance state of the power inspection robot, and the greater the inspection balance index; Methods for obtaining the platform inclination include: Measure the height difference of the soft waist platform at time T1, which is recorded as the first difference; Check the length of the software waist platform from the technical parameter table and record it as the platform length value; After comparing the first difference value with the platform length value, a first inclination is generated; The expression of the first inclination is: ; In the formula, is the first inclination, is the first difference, is the platform length value; The height difference of the soft waist platform at time T2 is measured and recorded as the second difference; time T2 is the next time of time T1, and the time between time T2 and time T1 is long enough for the height difference of the soft waist platform to change, so as to ensure that the height difference values ​​collected at time T2 and time T1 are different; After comparing the second difference with the platform length value, a second inclination is generated; The expression of the second inclination is: ; In the formula, is the second inclination, is the second difference; The first inclination and the second inclination are added and averaged to obtain the platform inclination; The expression of platform inclination is: ; In the formula, is the platform inclination.

[0020] The vibration climbing value refers to the increase in the vibration frequency of the power inspection robot per unit time from the moment when the real-time vibration amplitude of the power inspection robot exceeds the standard vibration amplitude to the detection moment. When the power inspection robot touches a raised obstacle or a sunken terrain during the power inspection process, the vibration frequency of the power inspection robot will change. The larger the vibration climbing value, the greater the increase in the vibration frequency of the power inspection robot, the worse the balance state of the power inspection robot, and the greater the inspection balance index; Methods for obtaining vibration rise values ​​include: The vibration sensor is used to detect the vibration amplitude of the power inspection robot in real time to obtain the real-time amplitude value; The moment when the real-time amplitude value reaches the standard amplitude value for the first time is recorded as the starting moment, and the period from the starting moment to the current moment is recorded as the vibration period; the standard amplitude value refers to the minimum vibration amplitude that can negatively affect the balance state of the power inspection robot, so that the size of the vibration amplitude corresponding to the vibration frequency can be limited, avoiding the burden brought by the collection of a large amount of low-amplitude vibration data and reducing the subsequent calculation amount; the standard amplitude value is obtained by collecting a large number of historical minimum vibration amplitudes that can negatively affect the balance state of the power inspection robot and calculating their average value; The corresponding moments when the real-time amplitude value is greater than the standard amplitude value during the vibration period are counted sequentially to obtain a vibration moment; Measure the interval duration between two adjacent vibration moments one by one, and record the minimum value of the interval duration as the standard interval value; The duration corresponding to one third of the standard interval value is the vibration unit duration. Taking the vibration moment as the base point, we extend forward and backward by one vibration unit time, and obtain The starting time and end time; by setting the vibration unit duration, you can extend the vibration time forward and backward for a certain time, so as to expand the time when the real-time amplitude value is greater than the standard amplitude value, and give the adjacent time period when the real-time amplitude value is greater than the standard amplitude value, so as to improve the effectiveness of the vibration frequency collection time; The first From the start time to the The period between the end times is recorded as a sub-period, and the sub-period; Count the software waist platform in sequence The number of vibrations in a sub-period and The vibration times in each sub-period are compared with the duration of the sub-period in turn to obtain Vibration frequency; The expression of vibration frequency is: ; In the formula, For the The vibration frequency, For the The number of vibrations in a sub-period, is the duration corresponding to the sub-period; The first The vibration frequency and After subtracting the vibration frequencies, we get The climbing value of the child; The expression of the sub-climb value is: ; In the formula, For the The climbing value of the child, For the Vibration frequency; After removing the maximum and minimum values ​​of the sub-climb value, the remaining The individual climbing values ​​are accumulated and averaged to obtain the vibration climbing value; The expression of vibration rise value is: ; In the formula, is the vibration rise value, For the The value of climbing.

[0021] Pressure stability refers to the stability of the power inspection robot when it is subjected to impact force during the power inspection process. When the power inspection robot touches a raised obstacle or a sunken terrain during the power inspection process, the impact force on the power inspection robot varies in size. The greater the pressure stability, the more stable the power inspection robot is when it is subjected to impact force, the better the balance state of the power inspection robot, and the smaller the inspection balance index. Methods for obtaining pressure stability include: The impact force received by the power inspection robot during the vibration period is detected in real time by the pressure sensor, recorded as the real-time pressure value, and the number of the real-time pressure values ​​is counted; The real-time pressure value that is less than the safety pressure value is recorded as the effective pressure value, and k effective pressure values ​​are obtained; the safety pressure value refers to the minimum pressure value that can have a negative impact on the balance state of the power inspection robot, which can effectively distinguish the size of the real-time pressure value; the safety pressure value is obtained by collecting a large number of historical minimum pressure values ​​that can have a negative impact on the balance state of the power inspection robot and calculating their average value; According to the chronological order, k valid pressure values ​​are sorted in sequence, and the detection moments corresponding to the k valid pressure values ​​are marked to obtain k detection moments; The two valid pressure values ​​corresponding to the time length between two adjacent detection moments that is less than the preset impact period are recorded as target pressure values, and the number of target pressure values ​​is counted; the preset impact period refers to the minimum interval time length between two adjacent target pressure values, which can accurately limit the span time length of the target pressure value appearance time and obtain a sufficient number of target pressure values; Compare the number of target pressure values ​​with the number of real-time pressure values ​​to obtain pressure stability; The expression of pressure stability is: : In the formula, is the pressure stability, is the number of target pressure values, is the number of real-time pressure values.

[0022] The inspection balance index is used to numerically represent the balance state of the power inspection robot, which can quantitatively represent the specific balance value of the power inspection robot and serve as the numerical basis for subsequent balance control analysis and processing of the software waist platform; The expression of the inspection balance index is: ; In the formula, is the inspection balance index, , , , is the weight coefficient, and , , , All are greater than 0; in, , exemplary, is 0.32, is 0.22, is 0.26, is 0.20.

[0023] S2: Compare the inspection balance index with the preset inspection balance threshold, generate a balance difference, and determine whether to issue a balance warning prompt; After the inspection balance index is obtained, the balance state of the power inspection robot can be specifically expressed in numerical form, and the balance state of the power inspection robot can be judged according to the size of the inspection balance index to determine whether there is any abnormality in the balance state of the power inspection robot. When there is an abnormality in the balance state, a balance warning prompt can be issued in time, thereby achieving the effect of imbalance warning of the power inspection robot. The methods for determining whether to issue a balance warning prompt include: The inspection balance index is subtracted from the preset inspection balance threshold to obtain the balance difference; the preset inspection balance threshold refers to the maximum value of the inspection balance index of the power inspection robot without issuing a balance warning prompt, which can distinguish the balance state of the power inspection robot, thereby judging the size of the inspection balance index; the preset inspection balance threshold is obtained by collecting a large number of historical maximum values ​​of the inspection balance index without issuing a balance warning prompt, and then calculating the average value; The expression of the balance difference is: ; In the formula, is the balance difference, It is the preset inspection balance threshold; when When it is less than or equal to 0, it means that the inspection balance index is less than or equal to the preset inspection balance threshold. At this time, the inspection balance index does not exceed the corresponding maximum value under the condition that no balance warning prompt is issued, and it is determined that no balance warning prompt is issued; when When it is greater than 0, it means that the inspection balance index is greater than the preset inspection balance threshold. At this time, the inspection balance index exceeds the corresponding maximum value without issuing a balance warning prompt, and it is determined to issue a balance warning prompt.

[0024] S3: Based on the balance difference, the balance risk level is divided and balance control instructions are formulated; When it is determined that a balance warning prompt is issued, the balance difference at this time is greater than 0, and the danger level corresponding to the current balance state of the power inspection robot needs to be indicated according to the specific size of the balance difference, and the balance danger level can specifically indicate the danger level corresponding to the current balance state of the power inspection robot; The balance danger level includes a medium danger level and a high danger level; the medium danger level corresponds to a current balance state of the power inspection robot having a medium danger, and the high danger level corresponds to a current balance state of the power inspection robot having a high danger; The classification methods for medium and high risk levels include: Balance the difference Balance difference threshold Comparison; The preset balance difference threshold refers to the critical value of the balance difference corresponding to the medium danger level and the high danger level when the power inspection robot is issued, so as to distinguish the size of the balance difference to achieve the effect of distinguishing different danger levels; The preset balance difference threshold is obtained by collecting a large number of critical values ​​of the balance difference corresponding to the medium danger level and the high danger level in history, and then calculating the average value; when Less than or equal to When , it indicates that the current balance state of the power inspection robot is of medium risk. At this time, the imbalance degree of the power inspection robot is medium, and it is classified as medium risk level; when Greater than It indicates that the current balance state of the electric power inspection robot is highly dangerous. At this time, the imbalance degree of the electric power inspection robot is serious and it is classified as a high-risk level.

[0025] After the balance danger level is generated, it is necessary to formulate corresponding balance control instructions for different danger levels of the power inspection robot, so that when the balance state of the power inspection robot changes to different degrees of danger, the balance control response measures can be given according to the degree of danger change of the actual balance state, so as to serve as the subsequent power inspection robot's instructions for balance control of the soft waist platform, ensuring that the soft waist platform can perform reasonable balance control, preventing the power inspection robot from shaking and losing balance during the inspection operation, and improving the stability of the power inspection; The balance control instructions include an instruction to control the height increase or decrease of one side of the software waist platform and an instruction to control the height increase or decrease of both sides of the software waist platform; The method for formulating the command for raising or lowering the height of one side of the control software waist platform and the command for raising or lowering the height of both sides of the control software waist platform includes: When the balance danger level is a medium danger level, the balance control measures corresponding to the soft waist platform are relatively simple, and an instruction to control the height increase or decrease of one side of the soft waist platform is formulated; When the balance danger level is a high danger level, the balance control measures corresponding to the soft waist platform are relatively complex, and instructions for controlling the height increase or decrease of both sides of the soft waist platform are formulated.

[0026] S4: Mark the first target airbag, and control the first target airbag to execute the instruction until no balance warning prompt is issued; After the balance control instruction is formulated, the balance controller on the power inspection robot needs to send the balance control instruction to the corresponding execution airbag, so that the execution airbag can execute the corresponding balance control instruction, causing the balance posture of the soft waist platform to change, thereby ensuring that the power inspection robot is in a balanced state; The first target airbag refers to an airbag that can perform balancing measures to execute the height increase or decrease command of the waist platform of the control software, and enables the first target airbag to efficiently and accurately execute the height increase or decrease command of the waist platform of the control software under the control of the balance controller, so as to achieve the balance control effect of the power inspection robot; The marking method of the first target airbag includes: When the power inspection robot is in a static and balanced state, measure the height of the soft waist platform from the ground to obtain the standard height value; Subtract the first height value and the second height value from the standard height value and take their absolute values ​​to obtain a first standard deviation value and a second standard deviation value; The expression of the first standard deviation value is: ; In the formula, is the first standard deviation, is the standard height value; The expression for the second standard deviation is: ; In the formula, is the second standard deviation value; When the first standard deviation value is greater than the second standard deviation value, the height of the left side of the soft waist platform is higher, and the airbag on the left side of the soft waist platform is recorded as the first target airbag; When the first standard deviation value is less than the second standard deviation value, the height of the right side of the soft waist platform is higher, and the airbag on the right side of the soft waist platform is recorded as the first target airbag.

[0027] The control method for executing the command of raising or lowering the height of one side of the waist platform of the control software includes: If the first target airbag is the airbag on the left side of the soft waist platform, the first height value is compared with the standard height value; When the first height value is less than the standard height value, it means that the height of the left side of the soft waist platform is lower than the height in the static balance state. At this time, the balance controller sends a working instruction to the air pump and the solenoid valve to control the air pump and the solenoid valve to be in the open state, and the solenoid valve conducts the gas pipeline connected to the air bag on the left side of the soft waist platform; The air pump introduces gas to the air bag on the left side of the soft waist platform through the gas pipeline, forcing the left side of the soft waist platform to rise in height until the balance warning prompt is no longer issued, and then the gas introduction is stopped; When the first height value is greater than the standard height value, it means that the height of the left side of the soft waist platform is higher than the height in the static balance state. At this time, the balance controller sends a working instruction to the air pump and the solenoid valve to control the air pump and the solenoid valve to be in the open state, and the solenoid valve conducts the gas pipeline connected to the air bag on the left side of the soft waist platform; The air pump draws out gas from the air bag on the left side of the soft waist platform through the gas pipeline, forcing the height of the left side of the soft waist platform to decrease until the balance warning prompt is no longer issued, and then stops drawing out gas; If the first target airbag is the airbag on the right side of the soft waist platform, the second height value is compared with the standard height value; When the second height value is less than the standard height value, it means that the height of the right side of the soft waist platform is lower than the height in the static balance state. At this time, the balance controller sends a working instruction to the air pump and the solenoid valve to control the air pump and the solenoid valve to be in the open state, and the solenoid valve conducts the gas pipeline connected to the air bag on the right side of the soft waist platform; The air pump introduces gas to the air bag on the right side of the soft waist platform through the gas pipeline, forcing the right side of the soft waist platform to rise in height until the balance warning prompt is no longer issued, and then the introduction of gas is stopped; When the second height value is greater than the standard height value, it means that the height of the right side of the soft waist platform is higher than the height in the static balance state. At this time, the balance controller sends a working instruction to the air pump and the solenoid valve to control the air pump and the solenoid valve to be in the open state, and the solenoid valve conducts the gas pipeline connected to the air bag on the right side of the soft waist platform; The air pump draws out gas from the air bag on the right side of the soft waist platform through the gas pipeline, forcing the height of the right side of the soft waist platform to decrease until the balance warning prompt is no longer issued, and then stops drawing out gas.

[0028] Please participate in the structure of the power inspection robot Figure 2 As shown in the figure, A is an air pump, B is an air bag on the left side of the soft waist platform, C is an air bag on the right side of the soft waist platform, D is a gas pipeline, E is a solenoid valve, F is a support plate, and B, C, and F constitute the soft waist platform.

[0029] S5: Mark the second target airbag and control the second target airbag to execute the instruction until no balance warning prompt is issued; The second target airbag refers to an airbag that can perform balancing measures on the height increase or decrease instructions of the waist platform of the control software, and enables the second target airbag to efficiently and accurately execute the height increase or decrease instructions of the waist platform of the control software under the control of the balance controller, so as to achieve the balance control effect of the power inspection robot; When the command to control the height increase or decrease of both sides of the soft waist platform is formulated, it indicates that the balance state at this time is at a high risk level. At this time, corresponding measures need to be taken on the airbags on the left and right sides of the soft waist platform, so as to achieve the balance control effect of the combined soft waist platform; The second target airbag includes an airbag on the left side of the soft waist platform and an airbag on the right side of the soft waist platform.

[0030] The control method for executing the command of raising or lowering the height of both sides of the waist platform of the control software includes: When the power inspection robot is in a static and balanced state, measure the height of the soft waist platform from the ground to obtain the standard height value; Compare the first height value and the second height value with the standard height value respectively; If the first height value and the second height value are both less than the standard height value, it means that the heights of the left and right sides of the soft waist platform are both lower than the heights in the static equilibrium state. At this time, the balance controller sends a working instruction to the air pump and the solenoid valve, and the solenoid valve conducts the gas pipelines connected to the airbags on the left side of the soft waist platform and the airbags on the right side of the soft waist platform; When the first height value is greater than the second height value, it means that the height of the left side of the soft waist platform is higher than the height of the right side of the soft waist platform. At this time, the rate at which the air pump introduces gas to the airbag on the left side of the soft waist platform through the gas pipeline is lower than the rate at which the air pump introduces gas to the airbag on the right side of the soft waist platform, forcing the increase in the height of the left side of the soft waist platform to be lower than the increase in the height of the right side of the soft waist platform, until no balance warning prompt is issued, and then the gas introduction is stopped; When the first height value is less than the second height value, it means that the height of the left side of the soft waist platform is lower than the height of the right side of the soft waist platform. At this time, the air pump introduces gas through the gas pipeline to the airbag on the left side of the soft waist platform at a rate greater than the rate of introducing gas to the airbag on the right side of the soft waist platform, forcing the increase in the height of the left side of the soft waist platform to be greater than the increase in the height of the right side of the soft waist platform, until no balance warning prompt is issued, and then the introduction of gas is stopped; If the first height value and the second height value are both greater than the standard height value, it means that the heights of the left and right sides of the measuring soft waist platform are higher than the heights in the static equilibrium state. At this time, the balance controller sends a working instruction to the air pump and the solenoid valve, and the solenoid valve conducts the gas pipeline connected to the airbag on the left side of the soft waist platform and the airbag on the right side of the soft waist platform; When the first height value is greater than the second height value, it means that the height of the left side of the soft waist platform is higher than the height of the right side of the soft waist platform. At this time, the air pump extracts gas from the airbag on the left side of the soft waist platform through the gas pipeline at a rate greater than the rate of extracting gas from the airbag on the right side of the soft waist platform, forcing the height of the left side of the soft waist platform to decrease more than the height of the right side of the soft waist platform, until no balance warning prompt is issued, and then the introduction of gas is stopped; When the first height value is less than the second height value, it means that the height of the left side of the soft waist platform is lower than the height of the right side of the soft waist platform. At this time, the rate at which the air pump extracts gas from the airbag on the left side of the soft waist platform through the gas pipeline is lower than the rate at which the air pump extracts gas from the airbag on the right side of the soft waist platform, forcing the height of the left side of the soft waist platform to decrease less than the height of the right side of the soft waist platform, until the balance warning prompt is no longer issued, and the gas extraction is stopped.

[0031] In this embodiment, by obtaining the comprehensive balance parameters of the power inspection robot, and based on the comprehensive balance parameters, calculating the inspection balance index, the inspection balance index is compared with the preset inspection balance threshold, generating a balance difference, and determining whether to issue a balance warning prompt, based on the balance difference, dividing the balance danger level, and formulating a balance control instruction, marking the first target airbag, and controlling the first target airbag to execute the height increase or decrease instruction of the waist platform of the control software until no balance warning prompt is issued, marking the second target airbag, and controlling the second target airbag to execute the height increase or decrease instruction of the waist platform of the control software on both sides until no balance warning prompt is issued; Compared with the prior art, by By obtaining comprehensive balance parameters, it is possible to accurately collect data that affects the balance state of the power inspection robot in multiple dimensions, thereby realizing an accurate analysis of the degree of influence of multi-dimensional balance influencing data on the balance state. By combining the inspection balance index for judgment and comparison, it is possible to accurately assess the current imbalance degree of the power inspection robot, and formulate targeted balance control instructions based on the actual imbalance degree, thereby timely and accurately controlling the software waist platform to execute corresponding balance control instructions, actively optimizing and improving the balance posture of the software waist platform, thereby avoiding the phenomenon of violent shaking of the power inspection robot when encountering bumpy terrain, and further improving the stability of the power inspection robot during power inspection.

[0032] Example 2: Please refer to Figure 3 As shown, the part not described in detail in this embodiment is described in Example 1, which provides a balance control system for a power inspection robot software waist platform, which is applied to a balance controller and is used to implement a balance control method for a power inspection robot software waist platform, including a data acquisition and calculation module, a balance early warning prompt module, a control instruction formulation module, a first execution module and a second execution module, wherein each module is connected via a wired or wireless network; The data acquisition and calculation module is used to obtain the comprehensive balance parameters of the power inspection robot and calculate the inspection balance index based on the comprehensive balance parameters. The comprehensive balance parameters include height drop value, platform inclination, vibration climbing value and pressure stability; A balance warning prompt module is used to compare the inspection balance index with the preset inspection balance threshold, generate a balance difference, and determine whether to issue a balance warning prompt; A control instruction formulation module is used to divide the balance risk level based on the balance difference and formulate balance control instructions; the balance control instructions include an instruction to increase or decrease the height of one side of the waist platform of the control software and an instruction to increase or decrease the height of both sides of the waist platform of the control software; A first execution module is used to mark a first target airbag and control the first target airbag to execute a height increase or decrease instruction of a side of the waist platform of the control software until no balance warning prompt is issued; The second execution module is used to mark the second target airbag and control the second target airbag to execute the height increase or decrease command of the waist platform on both sides of the control software until no balance warning prompt is issued.

[0033] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A balance control method for a soft waist platform of an electric power inspection robot, applied to a balance controller, characterized in that: include: S1: Obtain the comprehensive balance parameters of the power inspection robot, and calculate the inspection balance index based on the comprehensive balance parameters. The comprehensive balance parameters include height drop value, platform inclination, vibration climbing value and pressure stability; S2: Compare the inspection balance index with the preset inspection balance threshold, generate a balance difference, and determine whether to issue a balance warning prompt; if a balance warning prompt is issued, execute S3; if no balance warning prompt is issued, repeat S1-S2; S3: Based on the balance difference, the balance risk level is divided and balance control instructions are formulated; the balance control instructions include the height increase or decrease instruction of the control software waist platform on one side and the height increase or decrease instruction of the control software waist platform on both sides; S4: Mark the first target airbag, and control the first target airbag to execute the height increase or decrease command of the waist platform of the control software until no balance warning prompt is issued; S5: Mark the second target airbag, and control the second target airbag to execute the height increase or decrease command of the waist platform on both sides of the control software until no balance warning prompt is issued.

2. The balance control method of the soft waist platform of a power inspection robot according to claim 1, characterized in that: The method for obtaining the height difference value includes: The distances between the left side and the right side of the top of the soft waist platform and the inspection ground are measured by a laser sensor to obtain a first height value and a second height value; The height difference value is obtained by taking the absolute value of the difference between the first height value and the second height value; The expression of the height difference is: ； In the formula, is the height difference value, is the first height value, The second height value.

3. The balance control method of the soft waist platform of a power inspection robot according to claim 2, characterized in that: The method for obtaining the platform inclination includes: Measure the height difference of the soft waist platform at time T1, which is recorded as the first difference; Check the length of the software waist platform from the technical parameter table and record it as the platform length value; After comparing the first difference value with the platform length value, a first inclination is generated; The expression of the first inclination is: ； In the formula, is the first inclination, is the first difference, is the platform length value; Measure the height difference of the soft waist platform at time T2, which is recorded as the second difference; After comparing the second difference with the platform length value, a second inclination is generated; The expression of the second inclination is: ； In the formula, is the second inclination, is the second difference; The first inclination and the second inclination are added and averaged to obtain the platform inclination; The expression of platform inclination is: ； In the formula, is the platform inclination.

4. The balance control method of the soft waist platform of a power inspection robot according to claim 3 is characterized in that: The method for obtaining the vibration rise value comprises: The vibration sensor is used to detect the vibration amplitude of the power inspection robot in real time to obtain the real-time amplitude value; The moment when the real-time amplitude value reaches the standard amplitude value for the first time is recorded as the starting moment, and the period from the starting moment to the current moment is recorded as the vibration period; The corresponding moments when the real-time amplitude value is greater than the standard amplitude value during the vibration period are counted sequentially to obtain a vibration moment; Measure the interval duration between two adjacent vibration moments one by one, and record the minimum value of the interval duration as the standard interval value; The duration corresponding to one third of the standard interval value is the vibration unit duration. Taking the vibration moment as the base point, we extend forward and backward by one vibration unit time, and obtain The starting time and an ending moment; The first From the start time to the The period between the end times is recorded as a sub-period, and the sub-period; Count the software waist platform in sequence The number of vibrations in a sub-period and The vibration times in each sub-period are compared with the duration of the sub-period in turn to obtain Vibration frequency; The expression of vibration frequency is: ； In the formula, For the The vibration frequency, For the The number of vibrations in a sub-period, is the duration corresponding to the sub-period; The first The vibration frequency and After subtracting the vibration frequencies, we get The climbing value of the child; The expression of the sub-climb value is: ； In the formula, For the The climbing value of the child, For the Vibration frequency; After removing the maximum and minimum values ​​of the sub-climb value, the remaining The individual climbing values ​​are accumulated and averaged to obtain the vibration climbing value; The expression of vibration rise value is: ； In the formula, is the vibration rise value, For the The value of climbing.

5. The balance control method of the soft waist platform of the power inspection robot according to claim 4 is characterized in that: The method for obtaining the pressure stability comprises: The impact force received by the power inspection robot during the vibration period is detected in real time by the pressure sensor, recorded as the real-time pressure value, and the number of the real-time pressure values ​​is counted; Record the real-time pressure value that is less than the safety pressure value as the effective pressure value, and obtain k effective pressure values; According to the chronological order, k valid pressure values ​​are sorted in sequence, and the detection moments corresponding to the k valid pressure values ​​are marked to obtain k detection moments; The two valid pressure values ​​corresponding to the time length between two adjacent detection moments being less than the preset impact period are recorded as target pressure values, and the number of target pressure values ​​is counted; Compare the number of target pressure values ​​with the number of real-time pressure values ​​to obtain pressure stability; The expression of pressure stability is: ： In the formula, is the pressure stability, is the number of target pressure values, is the number of real-time pressure values.

6. The balance control method of the soft waist platform of the power inspection robot according to claim 5 is characterized in that: The expression of the inspection balance index is: ； In the formula, is the inspection balance index, , , , is the weight coefficient, and , , , All are greater than 0; The methods for determining whether to issue a balance warning prompt include: Subtract the inspection balance index from the preset inspection balance threshold to obtain a balance difference; The expression of the balance difference is: ； In the formula, is the balance difference, It is the preset inspection balance threshold; when When it is less than or equal to 0, it is determined that no balance warning prompt will be issued; when When it is greater than 0, a balance warning prompt is issued.

7. The method for balancing the soft waist platform of a power inspection robot according to claim 6, characterized in that: The balance risk level includes a medium risk level and a high risk level; The classification methods for medium and high risk levels include: Balance the difference Balance difference threshold Compare; when Less than or equal to When the risk is too high, it is classified as medium risk level; when Greater than It is classified as a high-risk level. The method for formulating the command for raising or lowering the height of one side of the control software waist platform and the command for raising or lowering the height of both sides of the control software waist platform includes: When the balance risk level is medium risk level, formulate the height raising or lowering instruction of one side of the waist platform of the control software; When the balance risk level is a high risk level, instructions are issued to control the height increase or decrease of both sides of the waist platform of the software.

8. The balance control method of the soft waist platform of the power inspection robot according to claim 7 is characterized in that: The marking method of the first target airbag includes: When the power inspection robot is in a static and balanced state, measure the height of the soft waist platform from the ground to obtain the standard height value; Subtract the first height value and the second height value from the standard height value and take their absolute values ​​to obtain a first standard deviation value and a second standard deviation value; The expression of the first standard deviation value is: ； In the formula, is the first standard deviation, is the standard height value; The expression for the second standard deviation is: ； In the formula, is the second standard deviation value; When the first standard deviation value is greater than the second standard deviation value, the height of the left side of the soft waist platform is higher, and the airbag on the left side of the soft waist platform is recorded as the first target airbag; When the first standard deviation value is less than the second standard deviation value, the height of the right side of the soft waist platform is higher, and the airbag on the right side of the soft waist platform is recorded as the first target airbag.

9. The balance control method of the soft waist platform of the power inspection robot according to claim 8, characterized in that: The control method for executing the command of raising or lowering the height of one side of the waist platform of the control software comprises: If the first target airbag is the airbag on the left side of the soft waist platform, and when the first height value is less than the standard height value, the air pump introduces gas to the airbag on the left side of the soft waist platform through the gas pipeline, forcing the height of the left side of the soft waist platform to rise until no balance warning prompt is issued, and then the introduction of gas is stopped; When the first height value is greater than the standard height value, the air pump draws gas from the air bag on the left side of the soft waist platform through the gas pipeline, forcing the left side of the soft waist platform to lower its height until no balance warning prompt is issued, and then stops drawing gas; If the first target airbag is the airbag on the right side of the soft waist platform, and when the second height value is less than the standard height value, the air pump introduces gas to the airbag on the right side of the soft waist platform through the gas pipeline, forcing the height of the right side of the soft waist platform to rise until no balance warning prompt is issued, and then the introduction of gas is stopped; When the second height value is greater than the standard height value, the air pump draws gas from the air bag on the right side of the soft waist platform through the gas pipeline, forcing the height of the right side of the soft waist platform to decrease until no balance warning prompt is issued, and then stops drawing gas.

10. The balance control method of the soft waist platform of the power inspection robot according to claim 9, characterized in that: The second target airbags include an airbag on the left side of the soft waist platform and an airbag on the right side of the soft waist platform; The control method for executing the command of raising or lowering the height of both sides of the waist platform of the control software includes: When the power inspection robot is in a static and balanced state, measure the height of the soft waist platform from the ground to obtain the standard height value; If both the first height value and the second height value are smaller than the standard height value, and when the first height value is greater than the second height value, the air pump introduces gas through the gas pipeline to the airbag on the left side of the soft waist platform at a rate lower than the rate of introducing gas to the airbag on the right side of the soft waist platform, forcing the increase in the height of the left side of the soft waist platform to be smaller than the increase in the height of the right side of the soft waist platform, until no balance warning prompt is issued, and then the introduction of gas is stopped; When the first height value is less than the second height value, the air pump introduces gas to the airbag on the left side of the soft waist platform through the gas pipeline at a rate greater than the rate of introducing gas to the airbag on the right side of the soft waist platform, forcing the increase in the height of the left side of the soft waist platform to be greater than the increase in the height of the right side of the soft waist platform, until no balance warning prompt is issued, and then the gas introduction is stopped; If both the first height value and the second height value are greater than the standard height value, and when the first height value is greater than the second height value, the air pump extracts gas from the airbag on the left side of the soft waist platform through the gas pipeline at a rate greater than the rate at which the airbag on the right side of the soft waist platform is extracted, forcing the height of the left side of the soft waist platform to decrease by a greater margin than the height of the right side of the soft waist platform, until no balance warning prompt is issued, and then the gas introduction is stopped; When the first height value is less than the second height value, the rate at which the air pump extracts gas from the airbag on the left side of the soft waist platform through the gas pipeline is lower than the rate at which the air pump extracts gas from the airbag on the right side of the soft waist platform, forcing the height of the left side of the soft waist platform to decrease less than the height of the right side of the soft waist platform, until the balance warning prompt is no longer issued, and then the gas extraction is stopped.

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