Method for stably controlling flaw detection imaging robot to swing along line and related device

Abstract

The invention provides a stable control method for a flaw detection imaging robot to swing along a line and a related device, and belongs to the field of robot control. An X-ray imaging system and a multi-split conductor strain clamp are aligned through a tail end execution mechanical arm of a flaw detection imaging robot; acquiring real-time line-following swinging data on the mechanical arm controlled by the degree-of-freedom rotating joint of the middle node; on the basis of the real-time line-following swinging data, line-following swinging parameters of the mechanical arm controlled by the degree-of-freedom rotating joint of the middle node during line-following swinging on the high-voltage line are obtained; a stable control signal of the tail end execution mechanical arm is generated based on the line-following swing parameter; and performing stable control processing on a tail end execution mechanical arm of the flaw detection imaging robot based on the stable control signal. According to the invention, the flaw detection imaging robot can be kept in a stable state when performing a flaw detection imaging task, the detection accuracy of the strain clamp is improved, the time required by detection is shortened, and the detection efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot control, and particularly relates to a stable control method and related device for the swing of a flaw detection imaging robot along a wire. Background Art

[0002] In a power transmission system, high-voltage lines, as key power transmission components, undertake the important mission of long-distance and large-capacity power transmission. To achieve effective power transmission and avoid affecting the ground environment, high-voltage lines are usually set at a relatively high position and have a large span.

[0003] However, high-voltage lines themselves are flexible structures. In the natural environment, such as affected by factors like wind force and temperature changes, they are prone to swing with a certain amplitude. As a device for detecting key components of high-voltage lines (such as multi-split conductor strain clamps), after the flaw detection imaging robot is connected to the high-voltage line, it will inevitably swing along with the high-voltage line.

[0004] The flaw detection imaging robot usually carries an X-ray imaging system to perform flaw detection imaging operations on multi-split conductor strain clamps. The imaging system needs to be stable during operation to achieve high imaging accuracy. However, the swing of the flaw detection imaging robot along the wire makes it difficult for the X-ray imaging system to be stable during operation, resulting in a decrease in imaging accuracy, inability to ensure the detection accuracy of multi-split conductor strain clamps, and possibly increasing the detection time and reducing the detection efficiency. Summary of the Invention

[0005] In view of this, the present invention aims to provide a stable control method and related device for the swing of a flaw detection imaging robot along a wire, which can ensure the stability of the flaw detection imaging robot during flaw detection imaging operations, and thus improve the detection accuracy and efficiency of multi-split conductor strain clamps.

[0006] To achieve the above object, the technical solutions provided by the present invention are as follows:

[0007] In a first aspect, the present invention provides a stable control method for the swing of a flaw detection imaging robot along a wire, which is applied to a flaw detection imaging robot for multi-split conductor strain clamp flaw detection operations. The flaw detection imaging robot has a plurality of degrees of freedom rotary joints, where the first-degree-of-freedom rotary joint is used to connect to the high-voltage line, and the last-degree-of-freedom rotary joint is used to control the end effector manipulator of the flaw detection imaging robot;

[0008] The method includes:

[0009] After the flaw detection imaging robot completes the operation of connecting to the high-voltage line and getting on the line, through the end effector manipulator, the X-ray imaging system is aligned with the multi-split conductor strain clamp;

[0010] Obtain the real-time swing data along the line on the middle robotic arm of the flaw detection imaging robot; the middle robotic arm is controlled by the rotational joint of the middle node degree of freedom of the flaw detection imaging robot;

[0011] Based on the real-time swing data along the line, obtain the swing parameters along the line when the middle robotic arm swings along the line on the high-voltage line;

[0012] Generate a stable control signal for the end effector robotic arm based on the swing parameters along the line;

[0013] Perform stable control processing on the end effector robotic arm based on the stable control signal.

[0014] Furthermore, the flaw detection imaging robot has four rotational joints of degrees of freedom, where the first rotational joint of the degree of freedom is the head-end degree of freedom rotational joint, the second and third rotational joints of the degrees of freedom are the middle node degree of freedom rotational joints, and the fourth rotational joint of the degree of freedom is the end-end degree of freedom rotational joint;

[0015] Through the end effector robotic arm, align the X-ray imaging system with the multi-split conductor strain clamp, including:

[0016] Locate the multi-split conductor strain clamp through the flaw detection imaging robot to obtain the positioning position;

[0017] Based on the positioning position, use the end effector robotic arm controlled by the fourth rotational joint of the degree of freedom to align the X-ray imaging system with the multi-split conductor strain clamp.

[0018] Furthermore, a first swing sensor is provided on the robotic arm controlled by the middle node degree of freedom rotational joint;

[0019] Obtain the real-time swing data along the line on the middle robotic arm of the flaw detection imaging robot, including:

[0020] Start the first swing sensor and perform real-time acquisition and processing on the swing data along the line of the middle robotic arm to obtain the real-time swing data along the line on the middle robotic arm.

[0021] Furthermore, based on the real-time swing data along the line, obtain the swing parameters along the line when the middle robotic arm swings along the line on the high-voltage line, including:

[0022] Calculate and obtain the swing frequency, swing amplitude data, and swing direction along the line when the middle robotic arm swings along the line on the high-voltage line based on the real-time swing data along the line.

[0023] Furthermore, generate a stable control signal for the end effector robotic arm based on the swing parameters along the line, including:

[0024] Obtain the included angle data between the middle robotic arm and the end effector robotic arm;

[0025] Generate a stable control signal for the end - effector robotic arm based on the frequency of swinging along the wire, the amplitude data of swinging along the wire, the direction of swinging along the wire, and the included - angle data.

[0026] Furthermore, generating a stable control signal for the end - effector robotic arm based on the frequency of swinging along the wire, the amplitude data of swinging along the wire, the direction of swinging along the wire, and the included - angle data includes:

[0027] Generate a suppressing swing frequency that is opposite to the direction of swinging along the wire and used to suppress the frequency of swinging along the wire based on the frequency of swinging along the wire and the direction of swinging along the wire;

[0028] Determine the vibration feedback position information of the intermediate robotic arm based on the amplitude data of swinging along the wire;

[0029] Input the suppressing swing frequency, the vibration feedback position information, and the included - angle data into a PID controller to generate a stable control signal for the end - effector robotic arm for controlling the rotation joint of the end degree of freedom.

[0030] Furthermore, a second swing sensor is provided on the end - effector robotic arm;

[0031] Stable control processing of the end - effector robotic arm based on the stable control signal includes:

[0032] After performing stable control processing on the end - effector robotic arm using the stable control signal, start the second swing sensor to collect swing data of the end - effector robotic arm to obtain the collected swing data;

[0033] When the collected swing data is greater than a preset value, confirm the relative relationship between the collected swing data and the real - time swing data of the high - voltage wire, and the relative relationship is the same or opposite;

[0034] When the relative relationship is the same, perform a linear - increase fitting optimization process on the stable control signal to obtain the corresponding optimized stable control signal;

[0035] When the relative relationship is opposite, perform a linear - decrease fitting optimization process on the stable control signal to obtain the corresponding optimized stable control signal;

[0036] Use the optimized stable control signal to perform stable control processing on the end - effector robotic arm until the collected swing data corresponding to the end - effector robotic arm is not greater than the preset value.

[0037] In a second aspect, the present invention provides a stable control device for the swing - along - wire of a flaw - detection imaging robot, which is applied to a flaw - detection imaging robot for the flaw - detection operation of a multi - split conductor strain clamp. The flaw - detection imaging robot has several degrees - of - freedom rotation joints, where the first - end degree - of - freedom rotation joint is used to dock with the high - voltage wire, and the end - degree - of - freedom rotation joint is used to control the end - effector robotic arm of the flaw - detection imaging robot;

[0038] The device includes:

[0039] An alignment module, configured to, after the flaw detection imaging robot completes the online operation by docking with the high-voltage line, use the end effector robotic arm to perform alignment operation between the X-ray imaging system and the multi-split conductor strain clamp;

[0040] A data acquisition module, configured to obtain real-time line-swinging data on the intermediate robotic arm of the flaw detection imaging robot; the intermediate robotic arm is controlled by the rotational joint of the intermediate node degree of freedom of the flaw detection imaging robot;

[0041] An obtaining module, configured to obtain line-swinging parameters during the line-swinging of the intermediate robotic arm on the high-voltage line based on the real-time line-swinging data;

[0042] A control signal generation module, configured to generate a stable control signal for the end effector robotic arm based on the line-swinging parameters;

[0043] A stable control module, configured to perform stable control processing on the end effector robotic arm based on the stable control signal.

[0044] In a third aspect, the present invention provides a flaw detection imaging robot, including a processor and a memory. The processor runs a computer program or code stored in the memory to implement the stable control method for the line-swinging of the flaw detection imaging robot as in the first aspect.

[0045] In a fourth aspect, the present invention provides a computer-readable storage medium, configured to store a computer program or code, which, when executed by a processor, implements the stable control method for the line-swinging of the flaw detection imaging robot as in the first aspect.

[0046] In summary, the present invention provides a stable control method and related device for the swing - along - wire of a flaw - detection imaging robot. Through the end - effector manipulator of the flaw - detection imaging robot controlled by the end - degree - of - freedom rotating joint, the X - ray imaging system is aligned with the multi - split conductor strain clamp for operation; real - time swing - along - wire data of the robot on the manipulator controlled by the middle - node degree - of - freedom rotating joint is obtained; swing - along - wire parameters of the manipulator controlled by the middle - node degree - of - freedom rotating joint during swing - along - wire on the high - voltage line are obtained based on the real - time swing - along - wire data; a stable control signal for the end - effector manipulator controlled by the end - degree - of - freedom rotating joint is generated based on the swing - along - wire parameters; the end - effector manipulator of the flaw - detection imaging robot is stably controlled based on the stable control signal; the stable control of the end - effector manipulator of the detection imaging robot is realized, ensuring that during the swing - along - wire process of the robot, its end - effector manipulator can stably maintain the relative position with the multi - split conductor strain clamp unchanged. In this way, the flaw - detection imaging robot can maintain a stable state during the flaw - detection imaging task, thereby ensuring the imaging quality when performing X - ray imaging detection on the multi - split conductor strain clamp, improving the detection accuracy of the strain clamp, shortening the detection time required, and enhancing the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0048] Figure 1 It is a flowchart of a stable control method for the swing - along - wire of a flaw - detection imaging robot provided by an embodiment of the present invention;

[0049] Figure 2 It is a schematic flowchart of a stable control method for the swing - along - wire of a flaw - detection imaging robot provided by another embodiment of the present invention;

[0050] Figure 3 It is a block diagram of the composition of a stable control device for the swing - along - wire of a flaw - detection imaging robot provided by an embodiment of the present invention;

[0051] Figure 4 It is a schematic diagram of the structural composition of a flaw - detection imaging robot provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] To make the objectives, features, and advantages of the present invention more obvious and understandable, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0053] The following first explains some technical terms related to the present invention:

[0054] (1) Flaw detection imaging robot: A robot specifically used for flaw detection operations, which can carry flaw detection equipment (such as an X-ray imaging system) and complete the flaw detection imaging task of the target object (such as a multi-split conductor strain clamp) through its own mechanical structure and control system. It has multiple degrees of freedom rotating joints, which can achieve flexible movement and posture adjustment.

[0055] (2) Degree of freedom rotating joint: A rotatable joint in the robot's mechanical structure. Each joint has a certain degree of freedom and can rotate around a specific axis. Through the coordinated movement of multiple degrees of freedom rotating joints, the end effector manipulator of the robot can reach different positions and postures to adapt to different operation requirements.

[0056] (3) Multi-split conductor strain clamp: A fitting used to fix and connect multi-split conductors, usually used in high-voltage transmission lines. The strain clamp needs to bear the tension of the conductor and ensure the electrical connection performance between the conductors. The task of the flaw detection imaging robot is to perform flaw detection operations on the multi-split conductor strain clamp to detect whether there are internal defects or damages.

[0057] (4) X-ray imaging system: A device that uses X-rays to penetrate an object and forms an image based on the difference in the absorption degree of X-rays by different substances. In flaw detection operations, the X-ray imaging system is aligned with the multi-split conductor strain clamp. By emitting and receiving X-rays, the internal structure information of the strain clamp can be obtained, thereby detecting possible defects such as cracks and pores.

[0058] (5) PID controller: That is, a proportional-integral-derivative controller, which is a commonly used feedback controller. It generates a control signal through the operations of the proportional, integral, and derivative links according to the deviation between the given value and the actual output value, so as to adjust the output of the control system to make it as close as possible to the given value.

[0059] Please refer to Figure 1, embodiments of the present invention first provide a stable control method for the swing of a flaw detection imaging robot along a wire, which is applied to a flaw detection imaging robot for the flaw detection operation of a multi-split conductor strain clamp. The flaw detection imaging robot has several degrees of freedom rotating joints, where the first-degree-of-freedom rotating joint is used to dock with the high-voltage wire, and the last-degree-of-freedom rotating joint is used to control the end effector manipulator of the flaw detection imaging robot;

[0060] The method includes:

[0061] S100: After the flaw detection imaging robot completes the on-line operation by docking with the high-voltage wire, use the end effector manipulator to perform alignment operation between the X-ray imaging system and the multi-split conductor strain clamp.

[0062] Through the precise control of the last-degree-of-freedom rotating joint of the robot, the flexible movement of the end effector manipulator is realized, so as to drive the X-ray imaging system to the designated position and prepare for the subsequent flaw detection operation.

[0063] S200: Obtain the real-time swing data along the wire on the middle manipulator of the flaw detection imaging robot; the middle manipulator is controlled by the middle-node degree-of-freedom rotating joint of the flaw detection imaging robot.

[0064] Sensors can be set on the manipulator controlled by the middle-node degree-of-freedom rotating joint. By the sensors, the situation of the manipulator swinging along with the high-voltage wire is monitored in real time, and the swing information of the manipulator is converted into processable data forms such as electrical signals or digital signals, so as to obtain the real-time swing data along the wire.

[0065] S300: Based on the real-time swing data along the wire, obtain the swing parameters along the wire when the middle manipulator swings along the high-voltage wire.

[0066] Analyze and process the real-time swing data along the wire. For example, through signal processing algorithms, key parameters such as the swing frequency along the wire, the swing amplitude data along the wire, and the swing direction along the wire are extracted from the data.

[0067] S400: Generate a stable control signal for the end effector manipulator based on the swing parameters along the wire.

[0068] First, analyze the relationship between the swing parameters along the wire and the movement of the end effector manipulator, considering factors such as the included angle data between the manipulator controlled by the middle-node degree-of-freedom rotating joint and the end effector manipulator controlled by the last-degree-of-freedom rotating joint. Then, according to these relationships and parameters, use control algorithms (such as algorithms based on PID controllers) to generate a stable control signal, which can adjust the movement of the end effector manipulator according to the swing situation of the manipulator to achieve the purpose of stable control.

[0069] S500: Perform stable control processing on the end effector manipulator based on the stable control signal.

[0070] Transmit the stable control signal to the driving device of the end-degree-of-freedom rotating joint, and adjust the posture and position of the end effector manipulator by controlling the movement of the joint. The stable control signal is dynamically adjusted according to the real-time swing data along the line and related parameters, so that the end effector manipulator can perform corresponding motion compensation following the swing of the high-voltage line, thereby maintaining stability.

[0071] The stable control method provided in this embodiment realizes the stable control of the end effector manipulator through the coordinated control of the rotating joints of each degree of freedom of the flaw detection imaging robot, as well as the real-time monitoring and analysis of the swing data of the manipulator along the line. First, position the X-ray imaging system at the target position through precise alignment operations. Then, use sensors to obtain the swing data of the manipulator along the line, process it to obtain the swing parameters, generate a stable control signal based on these parameters, and finally control the movement of the end effector manipulator to compensate for the influence caused by the swing of the high-voltage line, ensuring the stability and accuracy of the flaw detection operation.

[0072] In one embodiment, the flaw detection imaging robot has four degrees of freedom rotating joints, where the first degree of freedom rotating joint is the head-degree-of-freedom rotating joint, the second and third degree of freedom rotating joints are the intermediate node degree-of-freedom rotating joints, and the fourth degree of freedom rotating joint is the end-degree-of-freedom rotating joint;

[0073] Through the end effector manipulator controlled by the flaw detection imaging robot based on the end-degree-of-freedom rotating joint, perform alignment operations between the X-ray imaging system and the multi-split conductor strain clamp, including:

[0074] S101: Perform positioning processing on the multi-split conductor strain clamp through the flaw detection imaging robot to obtain the positioning position;

[0075] S102: Based on the positioning position, use the end effector manipulator controlled by the fourth degree of freedom rotating joint to perform alignment operations between the X-ray imaging system and the multi-split conductor strain clamp.

[0076] Specifically, the flaw detection imaging robot involved in this technical solution is mainly applied to the flaw detection operation of the multi-split conductor strain clamp, and there are four degrees of freedom rotating joints on this flaw detection imaging robot, so as to meet the adjustment of each position at the end of the flaw detection imaging robot, making it have more flaw detection angles; and a docking base is provided on the first degree of freedom rotating joint among its four degrees of freedom rotating joints, which is mainly used for docking with the high-voltage line, so that the flaw detection imaging robot can get on the high-voltage line and move or keep its position fixed on the high-voltage line; the fourth degree of freedom rotating joint is used to control the end effector manipulator, and an X-ray imaging system is integrated on the end effector manipulator, and this X-ray imaging system is an imaging device for the flaw detection operation of the multi-split conductor strain clamp.

[0077] After the flaw detection imaging robot is docked with the high-voltage line and starts the online operation, that is, after the flaw detection imaging robot completes the online high-voltage line operation, the positioning device carried by the flaw detection imaging robot will be used to position the multi-split conductor strain clamp to obtain the positioning position; then, based on this positioning position, the position that needs to be flaw-detected will be analyzed and obtained. Then, the end effector manipulator controlled by the four-degree-of-freedom rotary joint will align the X-ray imaging system with the corresponding position of the multi-split conductor strain clamp, thus entering the process of waiting for imaging; at this time, since the flaw detection imaging robot is on the high-voltage line and is a flexible object with a relatively large span, and at the same time is at a high altitude, it may swing to a certain extent due to other reasons; at this time, the flaw detection imaging robot will also swing along with the line, so it is necessary to suppress the situation that the end effector manipulator follows the flaw detection imaging robot and swings along with the line, so as to ensure the stability of the X-ray imaging system and enable high-precision imaging.

[0078] At the same time, the relative position relationship formed between the end effector manipulator controlled by the fourth-degree-of-freedom rotary joint and the manipulator controlled by the third-degree-of-freedom rotary joint can also be obtained, which is convenient for generating stable control signals in the follow-up; the end effector manipulator and the manipulator controlled by the third-degree-of-freedom rotary joint are mechanically connected through the fourth-degree-of-freedom rotary joint, and a docking base is provided on the first-degree-of-freedom rotary joint of the four-degree-of-freedom rotary joints, and the docking base is used to dock with the high-voltage line.

[0079] In one embodiment, a first swing sensor is provided on the manipulator controlled by the intermediate node degree-of-freedom rotary joint;

[0080] Obtain the real-time line-following swing data of the flaw detection imaging robot on the manipulator controlled by the intermediate node degree-of-freedom rotary joint, including:

[0081] Start the first swing sensor and perform real-time acquisition and processing on the line-following swing data of the manipulator controlled by the intermediate node degree-of-freedom rotary joint to obtain the real-time line-following swing data on the manipulator controlled by the intermediate node degree-of-freedom rotary joint.

[0082] Specifically, a first swing sensor is provided on the manipulator controlled by the third-degree-of-freedom rotary joint of the flaw detection imaging machine, which is used to collect the line-following swing data when the manipulator swings. That is, first, the flaw detection imaging robot starts the first swing sensor provided on the manipulator controlled by the third-degree-of-freedom rotary joint, and then the first swing sensor will perform real-time acquisition and processing on the line-following swing data of the manipulator controlled by the third-degree-of-freedom rotary joint, so as to obtain the corresponding real-time line-following swing data of the manipulator controlled by the third-degree-of-freedom rotary joint.

[0083] In one embodiment, the following follow-the-wire swing parameters of the robotic arm with intermediate node degree-of-freedom rotational joint control during follow-the-wire swing on a high-voltage line are obtained based on real-time follow-the-wire swing data, including:

[0084] Based on the real-time follow-the-wire swing data, calculate the follow-the-wire swing frequency, follow-the-wire swing amplitude data, and follow-the-wire swing direction of the robotic arm with intermediate node degree-of-freedom rotational joint control during follow-the-wire swing on a high-voltage line.

[0085] Specifically, after obtaining the real-time follow-the-wire swing data, these data need to be analyzed to extract the corresponding follow-the-wire swing frequency and follow-the-wire swing amplitude data. Here, the real-time follow-the-wire swing data is analyzed by using time-domain and frequency-domain analysis methods to obtain the follow-the-wire swing frequency and follow-the-wire swing amplitude data of the robotic arm with third-degree-of-freedom rotational joint control during follow-the-wire swing on a high-voltage line. At the same time, the real-time follow-the-wire swing data is marked with the time series of the first swing sensor during acquisition.

[0086] In one embodiment, generating a stable control signal for the end effector robotic arm with end-degree-of-freedom rotational joint control based on the follow-the-wire swing parameters includes:

[0087] S401: Obtain the included angle data between the robotic arm with intermediate node degree-of-freedom rotational joint control and the end effector robotic arm with end-degree-of-freedom rotational joint control;

[0088] S402: Generate a stable control signal for the end effector robotic arm with end-degree-of-freedom rotational joint control based on the follow-the-wire swing frequency, follow-the-wire swing amplitude data, follow-the-wire swing direction, and the included angle data.

[0089] Specifically, obtain the follow-the-wire swing frequency, follow-the-wire swing amplitude data, and follow-the-wire swing direction in the follow-the-wire swing parameters through the follow-the-wire swing parameters, and obtain the included angle data formed between the robotic arm with third-degree-of-freedom rotational joint control and the end effector robotic arm with fourth-degree-of-freedom rotational joint control by obtaining the relative position relationship formed between the end effector robotic arm with fourth-degree-of-freedom rotational joint control and the robotic arm with third-degree-of-freedom rotational joint control; then generate a stable control signal for the end effector robotic arm with fourth-degree-of-freedom rotational joint control according to the follow-the-wire swing frequency, follow-the-wire swing amplitude data, follow-the-wire swing direction, and the included angle data.

[0090] In one embodiment, generating a stable control signal for the end effector robotic arm with end-degree-of-freedom rotational joint control based on the follow-the-wire swing frequency, follow-the-wire swing amplitude data, follow-the-wire swing direction, and the included angle data includes:

[0091] S402-1: Generate a suppression swing frequency that is opposite to the follow-the-wire swing direction and used to suppress the follow-the-wire swing frequency based on the follow-the-wire swing frequency and the follow-the-wire swing direction;

[0092] S402-2: Determine the robotic arm vibration feedback position information of the intermediate node freedom rotating joint based on the data of the amplitude of the swing along the wire;

[0093] S402-3: Input the swing suppression frequency, the robotic arm vibration feedback position information, and the included angle data into the PID controller to generate a stable control signal for the end effector robotic arm of the end freedom rotating joint control.

[0094] The detailed process of generating the stable control signal is as follows: First, generate a swing suppression frequency that is opposite to the swing direction along the wire and used to suppress the swing frequency along the wire through the swing frequency along the wire and the swing direction along the wire; then, determine the robotic arm vibration feedback position information of the robotic arm of the third freedom rotating joint through the data of the amplitude of the swing along the wire; and then input the swing suppression frequency, the robotic arm vibration feedback position information, and the included angle data into the PID controller to generate a stable control signal for the end effector robotic arm of the fourth freedom rotating joint control.

[0095] In one embodiment, a second swing sensor is provided on the end effector robotic arm;

[0096] Perform stable control processing on the end effector robotic arm of the flaw detection imaging robot based on the stable control signal, including:

[0097] After performing stable control processing on the end effector robotic arm of the flaw detection imaging robot using the stable control signal, start the second swing sensor to collect swing data of the end effector robotic arm to obtain the collected swing data;

[0098] When the collected swing data is greater than the preset value, confirm the relative relationship between the collected swing data and the real-time swing data of the high-voltage wire, and the relative relationship is the same or opposite;

[0099] When the relative relationship is the same, perform a linear increase fitting optimization process on the stable control signal to obtain the corresponding optimized stable control signal;

[0100] When the relative relationship is opposite, perform a linear decrease fitting optimization process on the stable control signal to obtain the corresponding optimized stable control signal;

[0101] Perform stable control processing on the end effector robotic arm of the flaw detection imaging robot using the optimized stable control signal until the collected swing data corresponding to the end effector robotic arm is not greater than the preset value.

[0102] Specifically, after performing stable control processing on the end - effector manipulator of the fourth - degree - of - freedom control in the detection and imaging robot using a stable control signal, it is necessary to confirm whether the end - effector manipulator is stable. That is, it is necessary to activate the second swing sensor set on the end - effector manipulator to collect swing data of the end - effector manipulator, obtaining the collected swing data; and it is necessary to determine whether to correct the stable control signal by judging whether the collected swing data is greater than a preset value. That is, when the collected swing data is greater than the preset value, the relative relationship between the collected swing data and the real - time object swing data is confirmed, and the relative relationship is the same or opposite; and when the relative relationship is opposite, a linear decrease fitting optimization process is performed on the stable control signal to obtain the corresponding optimized stable control signal; when the relative relationship is the same, a linear increase fitting optimization process is performed on the stable control signal to obtain the corresponding optimized stable control signal; thereby realizing the optimization of the stable control signal and ensuring the stability of the end - effector manipulator of the flaw - detection imaging robot; then return to perform stable control processing on the end - effector manipulator of the fourth - degree - of - freedom control in the detection and imaging robot using the optimized stable control signal until the collected swing data corresponding to the end - effector manipulator is less than or equal to the preset value.

[0103] In an embodiment of the present invention, the end of the manipulator controlled by a rotary joint with four degrees of freedom is used to achieve the precise alignment of the X - ray imaging system and the multi - split conductor strain clamp; through the first swing sensor on the flaw - detection imaging robot, the data of the swing along the line is captured in real time; based on these data, the swing parameters of the manipulator when swinging along the high - voltage line are calculated, and these parameters are related to the control of the third - degree - of - freedom rotary joint; according to the swing parameters, a stable control signal for controlling the end - effector manipulator of the fourth - degree - of - freedom rotary joint is generated; using this stable control signal, precise stable control is performed on the end - effector manipulator in the detection and imaging robot; realizing the stable control of the end - effector manipulator, ensuring that during the swinging process along the line, the manipulator and the multi - split conductor strain clamp remain relatively stationary, thereby ensuring the stability of the flaw - detection imaging robot when performing the flaw - detection imaging task, ensuring the imaging quality when performing X - ray imaging detection on the multi - split conductor strain clamp, improving the detection accuracy, reducing the detection time required at the same time, and enhancing the detection efficiency.

[0104] Please refer to Figure 2 , an embodiment of the present invention also provides a stable control method for the swing - along - line of a flaw - detection imaging robot, which is applied to a flaw - detection imaging robot for the flaw - detection operation of a multi - split conductor strain clamp, and the flaw - detection robot has four - degree - of - freedom rotary joints; the method includes:

[0105] S201: After the flaw - detection imaging robot is docked with the high - voltage line and starts the online operation, the end - effector manipulator of the flaw - detection imaging robot controlled by four - degree - of - freedom rotary joints performs an alignment operation on the X - ray imaging system and the multi - split conductor strain clamp;

[0106] S202: Obtain real-time along-line swing data through the first swing sensor on the flaw detection imaging robot, where the first swing sensor is arranged on the robotic arm controlled by the third-degree-of-freedom rotating joint;

[0107] S203: Obtain the along-line swing parameters of the robotic arm controlled by the third-degree-of-freedom rotating joint during along-line swing on the high-voltage line based on the real-time along-line swing data;

[0108] S204: Obtain the along-line swing frequency, along-line swing amplitude data, along-line swing direction in the along-line swing parameters, and the included angle data formed between the robotic arm controlled by the third-degree-of-freedom rotating joint and the end-executing robotic arm controlled by the fourth-degree-of-freedom rotating joint;

[0109] S205: Generate a suppression swing frequency that is opposite to the along-line swing direction and used to suppress the along-line swing frequency based on the along-line swing frequency and the along-line swing direction;

[0110] S206: Determine the robotic arm vibration feedback position information of the robotic arm of the third-degree-of-freedom rotating joint based on the along-line swing amplitude data;

[0111] S207: Input the suppression swing frequency, robotic arm vibration feedback position information, and included angle data into the PID controller to generate a stable control signal for the end-executing robotic arm controlled by the fourth-degree-of-freedom rotating joint;

[0112] S208: Perform stable control processing on the end-executing robotic arm controlled by the fourth-degree-of-freedom in the flaw detection imaging robot based on the stable control signal.

[0113] For the specific implementation manners of this embodiment, reference may be made to the above embodiments, and details are not described herein again.

[0114] Based on the same inventive concept, an embodiment of the present application further provides a stable control device for along-line swing of a flaw detection imaging robot for implementing the stable control method for along-line swing of the flaw detection imaging robot involved above. The implementation solutions provided by this system to solve problems are similar to those recorded in the above method. Therefore, the specific limitations in the embodiment of the stable control device for along-line swing of the flaw detection imaging robot provided below may refer to the limitations on the stable control method for along-line swing of the flaw detection imaging robot in the above text, and details are not described herein again.

[0115] Please refer to Figure 3 , an embodiment of the present invention further provides a stable control device for along-line swing of a flaw detection imaging robot, which is applied to a flaw detection imaging robot for multi-split conductor strain clamp flaw detection operations. The flaw detection imaging robot has several degrees-of-freedom rotating joints, where the first-degree-of-freedom rotating joint at the head is used to dock with the high-voltage line, and the last-degree-of-freedom rotating joint is used to control the end-executing robotic arm;

[0116] The device includes:

[0117] An alignment module 301, which is used to, after the flaw detection imaging robot completes the on-line operation by docking with the high-voltage line, use the end effector manipulator controlled by the end-degree-of-freedom rotating joint of the flaw detection imaging robot to perform an alignment operation between the X-ray imaging system and the multi-split conductor strain clamp.

[0118] A data acquisition module 302, which is used to obtain the real-time swing data along the line on the manipulator controlled by the intermediate-node-degree-of-freedom rotating joint of the flaw detection imaging robot;

[0119] An obtaining module 303, which is used to obtain the swing parameters along the line when the manipulator controlled by the intermediate-node-degree-of-freedom rotating joint swings along the high-voltage line based on the real-time swing data along the line;

[0120] A control signal generation module 304, which is used to generate a stable control signal for the end effector manipulator controlled by the end-degree-of-freedom rotating joint based on the swing parameters along the line;

[0121] A stable control module 305, which is used to perform stable control processing on the end effector manipulator of the flaw detection imaging robot based on the stable control signal.

[0122] Furthermore, the flaw detection imaging robot has four degrees-of-freedom rotating joints, where the first degree-of-freedom rotating joint is the head-end degree-of-freedom rotating joint, the second and third degree-of-freedom rotating joints are the intermediate-node degree-of-freedom rotating joints, and the fourth degree-of-freedom rotating joint is the end-degree-of-freedom rotating joint;

[0123] Performing an alignment operation between the X-ray imaging system and the multi-split conductor strain clamp by using the end effector manipulator controlled by the end-degree-of-freedom rotating joint of the flaw detection imaging robot includes:

[0124] Locating the multi-split conductor strain clamp by the flaw detection imaging robot to obtain the positioning position;

[0125] Based on the positioning position, using the end effector manipulator controlled by the fourth degree-of-freedom rotating joint to perform an alignment operation between the X-ray imaging system and the multi-split conductor strain clamp.

[0126] Furthermore, a first swing sensor is arranged on the manipulator controlled by the intermediate-node degree-of-freedom rotating joint;

[0127] Obtaining the real-time swing data along the line on the manipulator controlled by the intermediate-node degree-of-freedom rotating joint of the flaw detection imaging robot includes:

[0128] Start the first swing sensor and perform real-time acquisition and processing on the wire-swinging data of the robotic arm controlled by the intermediate node degree-of-freedom rotating joint to obtain the real-time wire-swinging data on the robotic arm controlled by the intermediate node degree-of-freedom rotating joint.

[0129] Furthermore, based on the real-time wire-swinging data, obtain the wire-swinging parameters of the robotic arm controlled by the intermediate node degree-of-freedom rotating joint during wire-swinging on the high-voltage line, including:

[0130] Calculate based on the real-time wire-swinging data to obtain the wire-swinging frequency, wire-swinging amplitude data, and wire-swinging direction of the robotic arm controlled by the intermediate node degree-of-freedom rotating joint during wire-swinging on the high-voltage line.

[0131] Furthermore, generate a stable control signal for the end effector robotic arm controlled by the end degree-of-freedom rotating joint based on the wire-swinging parameters, including:

[0132] Obtain the included angle data between the robotic arm controlled by the intermediate node degree-of-freedom rotating joint and the end effector robotic arm controlled by the end degree-of-freedom rotating joint;

[0133] Generate a stable control signal for the end effector robotic arm controlled by the end degree-of-freedom rotating joint based on the wire-swinging frequency, wire-swinging amplitude data, wire-swinging direction, and included angle data.

[0134] Furthermore, generate a stable control signal for the end effector robotic arm controlled by the end degree-of-freedom rotating joint based on the wire-swinging frequency, wire-swinging amplitude data, wire-swinging direction, and included angle data, including:

[0135] Generate a suppression swing frequency that is opposite to the wire-swinging direction and used to suppress the wire-swinging frequency based on the wire-swinging frequency and the wire-swinging direction;

[0136] Determine the mechanical arm vibration feedback position information of the intermediate node degree-of-freedom rotating joint based on the wire-swinging amplitude data;

[0137] Input the suppression swing frequency, mechanical arm vibration feedback position information, and included angle data into the PID controller to generate a stable control signal for the end effector robotic arm controlled by the end degree-of-freedom rotating joint.

[0138] Furthermore, a second swing sensor is provided on the end effector robotic arm;

[0139] Perform stable control processing on the end effector robotic arm of the flaw detection imaging robot based on the stable control signal, including:

[0140] After performing stable control processing on the end - effector manipulator of the flaw - detection imaging robot using a stable control signal, start the second swing sensor to collect swing data of the end - effector manipulator, and obtain the collected swing data;

[0141] When the collected swing data is greater than a preset value, confirm the relative relationship between the collected swing data and the real - time swing data of the high - voltage line, and the relative relationship is the same or opposite;

[0142] When the relative relationship is the same, perform linear increase fitting optimization processing on the stable control signal to obtain the corresponding optimized stable control signal;

[0143] When the relative relationship is opposite, perform linear decrease fitting optimization processing on the stable control signal to obtain the corresponding optimized stable control signal;

[0144] Use the optimized stable control signal to perform stable control processing on the end - effector manipulator of the flaw - detection imaging robot until the collected swing data corresponding to the end - effector manipulator is not greater than the preset value.

[0145] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above - mentioned division of each functional unit and module is used as an example. In practical applications, the above - mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above - mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope 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 foregoing method embodiment and will not be elaborated here.

[0146] A computer-readable storage medium provided by an embodiment of the present invention stores a computer program thereon. When the program is executed by a processor, it implements the stability control method of any one of the above embodiments. Among them, the computer-readable storage medium includes, but is not limited to, any type of disk (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic cards, or optical fiber cards. That is, the storage device includes any medium that can store or transmit information in a readable form by a device (such as a computer or a mobile phone), and can be a read-only memory, a magnetic disk, an optical disk, etc.

[0147] An embodiment of the present invention also provides a computer application program that runs on a computer and is used to execute the stability control method of any one of the above embodiments.

[0148] In addition, Figure 4 is a schematic diagram of the structural composition of the flaw detection imaging robot in an embodiment of the present invention.

[0149] An embodiment of the present invention also provides a flaw detection imaging robot, as Figure 4 shown. The flaw detection imaging robot includes devices such as a processor 402, a memory 403, an input unit 404, and a display unit 405. Those skilled in the art can understand that Figure 4 the structural devices of the flaw detection imaging robot shown do not constitute a limitation on all devices, and may include more or fewer components than those shown, or combine some components. The memory 403 can be used to store the application program 401 and each functional module. The processor 402 runs the application program 401 stored in the memory 403, thereby executing various functional applications and data processing of the device. The memory can be an internal memory or an external memory, or include both an internal memory and an external memory. The internal memory can include a read-only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), flash memory, or a random access memory. The external memory can include a hard disk, a floppy disk, a ZIP disk, a USB flash drive, a magnetic tape, etc. The memory disclosed in the present invention includes, but is not limited to, these types of memories. The memory disclosed in the present invention is only an example and not a limitation.

[0150] The input unit 404 is used to receive the input of signals and the keywords input by the user. The input unit 404 may include a touch panel and other input devices. The touch panel can collect the touch operations of the user on or near it (such as the operations of the user using any suitable object or accessory such as a finger, a stylus, etc. on or near the touch panel), and drive the corresponding connection device according to a preset program; the other input devices may include, but are not limited to, one or more of a physical keyboard, function keys (such as play control keys, switch keys, etc.), a trackball, a mouse, a joystick, etc. The display unit 405 can be used to display the information input by the user or the information provided to the user and various menus of the terminal device. The display unit 405 can adopt forms such as a liquid crystal display, an organic light-emitting diode, etc. The processor 402 is the control center of the terminal device, connects various parts of the entire device by using various interfaces and lines, and executes various functions and processes data by running or executing the software programs and / or modules stored in the memory 403, and calling the data stored in the memory.

[0151] As an embodiment, the flaw detection imaging robot includes: one or more processors 402, a memory 403, and one or more application programs 401, wherein the one or more application programs 401 are stored in the memory 403 and are configured to be executed by the one or more processors 402, and the one or more application programs 401 are configured to execute the corresponding stable control method in any one of the above embodiments.

[0152] In the embodiment of the present invention, the end effector manipulator controlled by four degrees of freedom rotating joints aligns the X-ray imaging system with the multi-split conductor strain clamp; the real-time swing data along the line is obtained through the first swing sensor on the flaw detection imaging robot; based on the real-time swing data along the line, the swing parameters along the line of the manipulator controlled by the third degree of freedom rotating joint on the high-voltage line are obtained; based on the swing parameters along the line, a stable control signal for the end effector manipulator controlled by the fourth degree of freedom rotating joint is generated; based on the stable control signal, stable control processing is performed on the end effector manipulator controlled by the fourth degree of freedom in the detection imaging robot; realizing the stable control of the end effector manipulator of the detection imaging robot, that is, it can ensure that when the detection imaging robot swings along the line, the end effector manipulator remains relatively stationary with respect to the multi-split conductor strain clamp, and can ensure the stability of the flaw detection imaging robot during the flaw detection imaging operation, thereby ensuring the imaging accuracy when performing X-ray imaging detection on the multi-split conductor strain clamp, thus ensuring the detection accuracy of the multi-split conductor strain clamp, and reducing the detection time and improving the detection efficiency.

[0153] In addition, the above has introduced in detail a stable control method and related devices for the swing of a flaw detection imaging robot along a line. In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. A stable control method for the linear swing of a flaw detection imaging robot, characterized in that: A flaw detection imaging robot applied to the flaw detection of multi-split conductor tension clamps, the flaw detection imaging robot having a plurality of degree-of-freedom rotation joints, wherein the first-end degree-of-freedom rotation joint is used for docking with the high-voltage line, and the terminal degree-of-freedom rotation joint is used for controlling the terminal execution mechanical arm of the flaw detection imaging robot; The method comprises: After the flaw detection imaging robot is docked with the high-voltage line and the on-line operation is completed, the X-ray imaging system and the multi-split conductor tension clamp are aligned by the end execution mechanical arm; Acquire real-time online swing data on the middle mechanical arm of the flaw detection imaging robot; the middle mechanical arm is controlled by the middle node degree of freedom rotation joint of the flaw detection imaging robot; Based on the real-time line swing data, obtaining the line swing parameters of the intermediate mechanical arm when it swings along the high-voltage line; Generating a stable control signal of the end effector robot based on the on-line swing parameter; A stabilization control process is performed on the end effector robot based on the stabilization control signal.

2. The stable control method for the linear swing of the flaw detection imaging robot according to claim 1 is characterized in that: The flaw detection imaging robot has four degrees of freedom rotation joints, wherein the first degree of freedom rotation joint is the head end degree of freedom rotation joint, the second and third degree of freedom rotation joints are the intermediate node degree of freedom rotation joints, and the fourth degree of freedom rotation joint is the end degree of freedom rotation joint; The X-ray imaging system and the multi-split conductor tension clamp are aligned by the end-actuating mechanical arm, including: Positioning the multi-split conductor tension clamp by using the flaw detection imaging robot to obtain a positioning position; Based on the positioning position, the end-effector robot controlled by the fourth degree of freedom rotation joint is used to align the X-ray imaging system with the multi-split conductor tension clamp.

3. The stable control method for the linear swing of the flaw detection imaging robot according to claim 1 is characterized in that: A first swing sensor is provided on the mechanical arm controlled by the intermediate node degree of freedom rotation joint; Acquiring real-time on-line swing data on the middle mechanical arm of the flaw detection imaging robot includes: The first swing sensor is started to collect and process the on-line swing data of the intermediate robot arm in real time to obtain the real-time on-line swing data of the intermediate robot arm.

4. The stable control method for the linear swing of the flaw detection imaging robot according to claim 1 is characterized in that: Based on the real-time line swing data, obtaining the line swing parameters of the intermediate mechanical arm when the intermediate mechanical arm swings along the high-voltage line, including: The line swing frequency, line swing amplitude data and line swing direction of the intermediate mechanical arm when it swings along the high-voltage line are calculated based on the real-time line swing data.

5. The stable control method for the linear swing of the flaw detection imaging robot according to claim 4 is characterized in that: Generating a stable control signal of the end effector robot based on the on-line swing parameter includes: Obtaining angle data between the intermediate robot arm and the end-effector robot arm; A stable control signal of the end effector robot is generated based on the on-line swing frequency, the on-line swing amplitude data, the on-line swing direction and the angle data.

6. The stable control method for the linear swing of the flaw detection imaging robot according to claim 5 is characterized in that: Generating a stable control signal of the end effector robot based on the on-line swing frequency, the on-line swing amplitude data, the on-line swing direction and the angle data includes: generating a suppression swing frequency which is opposite to the direction of the on-line swing and is used to suppress the on-line swing frequency based on the on-line swing frequency and the on-line swing direction; Determining vibration feedback position information of the intermediate robot arm based on the on-line swing amplitude data; The suppressed swing frequency, the vibration feedback position information and the angle data are input into a PID controller to generate a stable control signal for the end effector robot controlled by the end degree of freedom rotation joint.

7. The stable control method for the linear swing of the flaw detection imaging robot according to claim 1 is characterized in that: A second swing sensor is provided on the end-actuating mechanical arm; The method further comprises: performing stable control processing on the end effector robot arm based on the stable control signal, comprising: After the end effector robot is subjected to stable control processing by using the stable control signal, the second swing sensor is started to collect swing data of the end effector robot to obtain the collected swing data; When the collected swing data is greater than a preset value, confirming the relative relationship between the collected swing data and the real-time swing data of the high-voltage line, and the relative relationship is the same or opposite; When the relative relationship is the same, a linear increase fitting optimization process is performed on the stable control signal to obtain a corresponding optimized stable control signal; When the relative relationship is opposite, a linear reduction fitting optimization process is performed on the stable control signal to obtain a corresponding optimized stable control signal; The optimized stable control signal is used to perform stable control processing on the end-effector mechanical arm until the collected swing data corresponding to the end-effector mechanical arm is no greater than the preset value.

8. A stable control device for the linear swing of a flaw detection imaging robot, characterized in that: A flaw detection imaging robot applied to the flaw detection of multi-split conductor tension clamps, the flaw detection imaging robot having a plurality of degree-of-freedom rotation joints, wherein the first-end degree-of-freedom rotation joint is used for docking with the high-voltage line, and the terminal degree-of-freedom rotation joint is used for controlling the terminal execution mechanical arm of the flaw detection imaging robot; The device comprises: An alignment module is used to align the X-ray imaging system with the multi-split conductor tension clamp through the end execution mechanical arm after the flaw detection imaging robot is docked with the high-voltage line and the on-line operation is completed; A data acquisition module, used to obtain real-time online swing data on the intermediate mechanical arm of the flaw detection imaging robot; the intermediate mechanical arm is controlled by the intermediate node degree of freedom rotation joint of the flaw detection imaging robot; An acquisition module, used for acquiring the line swing parameters of the intermediate mechanical arm when the intermediate mechanical arm swings along the high-voltage line based on the real-time line swing data; A control signal generating module, used for generating a stable control signal of the end effector robot based on the on-line swing parameter; A stabilization control module is used to perform stabilization control processing on the end-effector robot arm based on the stabilization control signal.

9. A flaw detection imaging robot, comprising a processor and a memory, characterized in that: The processor runs the computer program or code stored in the memory to implement the stable control method for the on-line swing of the flaw detection imaging robot according to any one of claims 1 to 7.

10. A computer-readable storage medium for storing a computer program or code, characterized in that: When the computer program or code is executed by a processor, the stable control method for the on-line swing of the flaw detection imaging robot according to any one of claims 1 to 7 is implemented.

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