Strain clamp detection method, device and system based on automatic imaging robot

Abstract

The invention discloses a strain clamp detection method, device and system based on an automatic imaging robot, and relates to the technical field of line detection.The method comprises the steps that the automatic imaging robot is moved to the position above a to-be-detected strain clamp according to coordinates of the to-be-detected strain clamp; collecting a line image sequence of a power transmission line to which the strain clamp to be detected belongs; the automatic imaging robot is moved to be in butt joint with the power transmission line according to a follow-up swing control signal determined according to the line image sequence, and swing data of the power transmission line are collected in real time; and after multi-degree-of-freedom cooperative control adjustment is performed on the automatic imaging robot according to a feedback control signal determined by the shaking data, a detection image of the strain clamp to be detected is acquired through the automatic imaging robot. Based on the scheme, the automatic imaging robot is regulated and controlled through the follow-up swing control signal and the feedback control signal, so that the imaging precision of the detection image is improved, and the detection accuracy of the strain clamp is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of line detection, and particularly to a detection method, device, and system for strain clamps based on an automatic imaging robot. Background Art

[0002] In the power system, high-voltage transmission lines undertake the important task of transmitting electrical energy from power stations to user terminals, and strain clamps are one of the key components connecting high-voltage transmission lines and power transmission towers. Strain clamps are greatly affected by construction quality, environmental factors, and power supply loads, and are prone to problems such as core strand breakage, incorrect crimping areas, water ingress into the cavity, and fatigue damage. As a result, defects or damages may occur in the internal structure of the strain clamps, and even power system failures or conductor breakage accidents may be caused. Especially in urban areas and areas with three crossings and two proximities (crossing railways, highways, and important transmission channels, as well as being close to densely populated areas and important infrastructure), secondary disasters may occur, thus having a serious impact on power supply and social stability. Therefore, it is necessary to detect strain clamps in order to timely grasp the quality of strain clamps.

[0003] X-ray imaging technology is a non-invasive detection method widely used in industries such as industry and medical treatment, which can penetrate metal and insulating materials to obtain internal structure information of target objects. Existing technologies consider combining X-ray imaging technology with a robot to obtain an imaging robot, and use the imaging robot to perform high-altitude operations to perform high-resolution imaging of the internal structure of strain clamps in order to detect small defects and hidden problems. However, the imaging robot is prone to sway left and right under the influence of factors such as wind force at high altitudes, and the detection results obtained by directly performing X-ray imaging detection have low detection accuracy. Summary of the Invention

[0004] The present invention provides a detection method, device, and system for strain clamps based on an automatic imaging robot, which are used to solve the technical problem of low detection accuracy when the existing technology uses an imaging robot to perform high-altitude detection of strain clamps.

[0005] A detection method for strain clamps based on an automatic imaging robot provided in the first aspect of the present invention includes:

[0006] Obtain the coordinates of the strain clamp to be detected, move the automatic imaging robot to above the strain clamp to be detected according to the coordinates, and collect a sequence of line images of the transmission line to which the strain clamp to be detected belongs;

[0007] Determine a follow-up swing control signal based on the sequence of line images, move the automatic imaging robot to dock with the transmission line according to the follow-up swing control signal, and collect the sway data of the transmission line in real time;

[0008] Determine a feedback control signal based on the shaking data, and after performing multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal, collect a detection image of the tension clamp to be detected through the automatic imaging robot.

[0009] Further, determining a follow-up swing control signal based on the line image sequence includes:

[0010] Perform line contour extraction on each frame of the line image sequence through a contour extraction algorithm, and output multiple line contour data;

[0011] Successively calculate the contour displacement using the line contour data of adjacent frames to determine the displacement change data of the line image sequence;

[0012] Determine the swing frequency according to the displacement change data and the imaging exposure rate corresponding to the line image sequence;

[0013] Generate a follow-up swing control signal based on the swing frequency.

[0014] Further, generating a follow-up swing control signal based on the swing frequency includes:

[0015] Input the swing frequency into a preset active swing follow-up controller to output a follow-up swing control signal.

[0016] Further, determining a feedback control signal according to the shaking data includes:

[0017] Output a feedback control signal based on the shaking data through a preset robust controller.

[0018] Further, performing multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal includes:

[0019] Perform multi-degree-of-freedom collaborative control adjustment on the positions and angles of the digital imaging plate and the X-ray device set in the X-ray imaging system in the automatic imaging robot according to the feedback control signal.

[0020] A tension clamp detection device based on an automatic imaging robot provided in the second aspect of the present invention includes:

[0021] A mobile acquisition module, configured to obtain the coordinates of the tension clamp to be detected, move the automatic imaging robot to above the tension clamp to be detected according to the coordinates, and collect a line image sequence of the transmission line to which the tension clamp to be detected belongs;

[0022] The docking acquisition module is used to determine a follow-up swing control signal based on the line image sequence, move the automatic imaging robot to dock with the transmission line according to the follow-up swing control signal, and collect the sway data of the transmission line in real time;

[0023] The imaging acquisition module is used to determine a feedback control signal according to the sway data, and after performing multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal, collect the detection image of the tension clamp to be detected through the automatic imaging robot.

[0024] A tension clamp detection system based on an automatic imaging robot provided in the third aspect of the present invention includes: a drone and a host computer;

[0025] The drone is equipped with a detection control device, an automatic imaging robot and a high-speed camera, and a sway detection sensor is arranged on the automatic imaging robot;

[0026] The high-speed camera is used to collect a line image sequence of the transmission line to which the tension clamp to be detected belongs;

[0027] The automatic imaging robot is used to collect the detection image of the tension clamp to be detected;

[0028] The sway detection sensor is used to collect the sway data of the transmission line in real time;

[0029] The detection control device is used to control the drone to move the automatic imaging robot above the tension clamp to be detected according to the coordinates of the tension clamp to be detected, determine a follow-up swing control signal based on the line image sequence, control the drone to move the automatic imaging robot to dock with the transmission line according to the follow-up swing control signal, determine a feedback control signal according to the sway data, and perform multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal;

[0030] The host computer is used to determine the coordinates of the tension clamp to be detected and receive the detection image.

[0031] A control method for a tension clamp detection system based on an automatic imaging robot provided in the fourth aspect of the present invention includes:

[0032] When the detection control device receives the coordinates of the tension clamp to be detected sent by the host computer, send the coordinates to the drone, and after the drone carries the automatic imaging robot to move to above the tension clamp to be detected according to the coordinates, control the high-speed camera to collect the line image sequence of the transmission line to which the tension clamp to be detected belongs and send it to the detection control device;

[0033] When the detection control device receives the line image sequence, it determines a follow-up swing control signal based on the line image sequence and sends it to the drone. The drone carries an automatic imaging robot and moves to dock with the transmission line according to the follow-up swing control signal. After docking, the sway detection sensor of the automatic imaging robot is controlled to collect the sway data of the transmission line and send it to the detection control device;

[0034] When the detection control device receives the sway data, it determines a feedback control signal according to the sway data and sends it to the automatic imaging robot. After the automatic imaging robot performs multi-degree-of-freedom collaborative control adjustment according to the feedback control signal, the automatic imaging robot is controlled to collect the detection image of the tension clamp to be detected and send it to the detection control device;

[0035] When the detection control device receives the detection image, it sends the detection image to the host computer.

[0036] A computer device provided in the fifth aspect of the present invention includes a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of the tension clamp detection method based on an automatic imaging robot as described in any one of the above.

[0037] A computer-readable storage medium provided in the sixth aspect of the present invention stores a computer program thereon. When the computer program is executed, it implements the tension clamp detection method based on an automatic imaging robot as described in any one of the above.

[0038] From the above technical solutions, it can be seen that the present invention has the following advantages:

[0039] The above solution of the present invention provides a tension clamp detection method based on an automatic imaging robot, including: obtaining the coordinates of the tension clamp to be detected, moving the automatic imaging robot to above the tension clamp to be detected according to the coordinates, and collecting a line image sequence of the transmission line to which the tension clamp to be detected belongs; determining a follow-up swing control signal based on the line image sequence, moving the automatic imaging robot to dock with the transmission line according to the follow-up swing control signal, and collecting the sway data of the transmission line in real time; determining a feedback control signal according to the sway data, and after performing multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal, collecting the detection image of the tension clamp to be detected by the automatic imaging robot. Based on the above solution, a stable connection between the automatic imaging robot and the transmission line is achieved through the follow-up swing control signal, and further, based on the feedback control signal, the automatic imaging robot can better cope with the sway interference to complete the imaging detection of the tension clamp, which helps to improve the imaging accuracy of the detection image and thus improve the detection accuracy of the tension clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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 the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 It is a step flowchart of a detection method for strain clamps based on an automatic imaging robot provided in Embodiment 1 of the present invention;

[0042] Figure 2 It is a schematic diagram of the control principle of a robust controller provided in Embodiment 1 of the present invention;

[0043] Figure 3 It is a structural block diagram of a detection device for strain clamps based on an automatic imaging robot provided in Embodiment 2 of the present invention;

[0044] Figure 4 It is a structural block diagram of a detection system for strain clamps based on an automatic imaging robot provided in Embodiment 3 of the present invention;

[0045] Figure 5 It is a structural schematic diagram of a detection control device provided in Embodiment 3 of the present invention;

[0046] Figure 6 It is a step flowchart of a control method for a detection system for strain clamps based on an automatic imaging robot provided in Embodiment 4 of the present invention;

[0047] In the figure: 1, unmanned aerial vehicle; 2, detection control device; 21, detection processor; 22, detection memory; 23, input device; 24, display; 25, application program; 3, automatic imaging robot; 4, high-speed camera; 5, shaking detection sensor; 6, host computer. Detailed implementation manners

[0048] The embodiments of the present invention provide a detection method, device and system for strain clamps based on an automatic imaging robot, which are used to solve the technical problem of low detection accuracy when the prior art detects strain clamps at high altitude through an imaging robot.

[0049] In order to make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below 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 embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0050] Please refer to Figure 1 , Figure 1 which is a flowchart of the steps of a method for detecting strain clamps based on an automatic imaging robot provided in Embodiment 1 of the present invention.

[0051] A method for detecting strain clamps based on an automatic imaging robot provided in this embodiment includes:

[0052] Step 101: Obtain the coordinates of the strain clamp to be detected, move the automatic imaging robot above the strain clamp to be detected according to the coordinates, and collect a sequence of line images of the transmission line to which the strain clamp to be detected belongs.

[0053] The strain clamp to be detected refers to the strain clamp to be subjected to the flaw detection task.

[0054] Coordinates refer to the parameters describing the spatial position of the target object.

[0055] The sequence of line images refers to a sequence of images composed of multiple frames of line images related to a specific transmission line obtained by continuous shooting and arranged in chronological order.

[0056] It should be noted that the automatic imaging robot in this embodiment can be applied to detect flaws in strain clamps of single-split or multi-split conductors, and at least integrates an imaging system and a robot body. The imaging system is used to generate detection images of the strain clamps, and the robot body is used to adjust the angle and position of the imaging system. The robot provides the ability of movement and positioning for the imaging system to facilitate adjusting the angle and position of the imaging system to ensure the imaging effect;

[0057] In specific implementation, after determining the tension clamp to be detected, according to the coordinates of the tension clamp to be detected, the automatic imaging robot is moved above the tension clamp to be detected. Here, "above" means there is a certain interval between the automatic imaging robot and the tension clamp to be detected. To reduce the influence of factors such as the shaking of the automatic imaging robot itself and external interference on the imaging effect of the tension clamp, it is considered to hang the automatic imaging robot on the transmission line. Since the transmission line is prone to swing during high-altitude operation, in this embodiment, it is considered to complete the online installation of the automatic imaging robot according to the swinging situation of the transmission line. Therefore, after the automatic imaging robot is in the specified altitude airspace, image acquisition is performed on the transmission line where the tension clamp to be detected is located, and thus a sequence of line images corresponding to the swinging of the transmission line is obtained. This sequence of line images can map the swinging situation of the transmission line.

[0058] Step 102: Determine the follow-up swing control signal based on the sequence of line images, move the automatic imaging robot to dock with the transmission line according to the follow-up swing control signal, and collect the swaying data of the transmission line in real time.

[0059] The follow-up swing control signal refers to an instruction signal used to control an object to perform corresponding swinging actions following the change of a specific target.

[0060] The swaying data refers to the parameter data of the swaying state of the transmission line after the automatic imaging robot is hung on the transmission line.

[0061] It should be noted that in this embodiment, after determining the follow-up swing control signal according to the swinging state of the transmission line reflected by the sequence of line images, the automatic imaging robot is controlled to perform corresponding follow-up swinging to align with the transmission line according to the follow-up swing control signal, and further docking processing with the transmission line is completed to stably hang the automatic imaging robot on the transmission line. It can be understood that the automatic imaging robot can be specifically provided with a fixed structure, such as a fixed robotic arm, for fixing the automatic imaging robot on the transmission line. At this time, due to reasons such as changes in load, the automatic imaging robot itself, and possible changes in wind speed, the transmission line is prone to more intense swaying, which will bring a certain degree of shaking to the docked automatic imaging robot and may cause the automatic imaging robot to be unable to perform precise flaw detection imaging on the tension clamp to be detected. Therefore, corresponding control needs to be performed according to the swaying state of the transmission line to ensure the stability of the imaging system on the automatic imaging robot. For this reason, the swaying data of the transmission line where the automatic imaging robot is located is collected after the automatic imaging robot is online.

[0062] In a specific implementation manner of this embodiment, determining the follow-up swing control signal based on the sequence of line images includes:

[0063] Extract the line contour for each frame of the line image sequence through the contour extraction algorithm, and output multiple line contour data;

[0064] Successively calculate the contour displacement using the line contour data of adjacent frames to determine the displacement change data of the line image sequence;

[0065] Determine the swing frequency according to the displacement change data and the imaging exposure rate corresponding to the line image sequence;

[0066] Generate a follow-up swing control signal based on the swing frequency.

[0067] The line contour data refers to the data describing the geometric contour of the transmission line.

[0068] The contour displacement refers to the amount of position change that occurs to the contour points on the geometric contour of an object.

[0069] The displacement change data refers to the overall amount of position change of an object during its movement within a certain movement time range.

[0070] The imaging exposure rate refers to the number of effective exposure imaging times per unit time of an imaging device (such as a high-speed camera).

[0071] The swing frequency refers to the number of swings of an object within one cycle.

[0072] In a more specific implementation manner of this embodiment, generating a follow-up swing control signal based on the swing frequency includes:

[0073] Input the swing frequency into a preset active swing follow-up controller to output a follow-up swing control signal.

[0074] The active swing follow-up controller refers to a control system that generates a control signal for an object to actively follow the swing of a specific target to perform a swing action to cancel or follow these swings based on an internally preset algorithm. For the specific principle, reference can be made to the prior art and will not be elaborated here.

[0075] It should be noted that in this embodiment, the process of determining the follow-up swing control signal based on the line image sequence includes determining the swing frequency based on the line image sequence and determining the follow-up swing control signal according to the swing frequency. Among them, in the process of determining the swing frequency based on the line image sequence, first, the transmission line of each frame of line image in the line image sequence is subjected to contour extraction processing based on the contour extraction algorithm to obtain the line contour data of each frame of line image. Then, the displacement data of the line contour data corresponding to each frame of line image relative to the line contour data of the adjacent frame of line image in the image, that is, the contour displacement, is calculated. The displacement change data of the line image sequence is composed of synthesizing each contour displacement. Then, peak analysis is performed on the displacement change data to determine the number of cycle frames. The number of cycle frames refers to the number of image frames in a complete swing cycle. The frame interval is determined based on the imaging exposure rate corresponding to the line image sequence. The frame interval refers to the time interval between two adjacent frames of line images. The swing cycle is calculated using the number of cycle frames and the frame interval. The swing cycle refers to the time required to complete a complete swing motion. The reciprocal of the swing cycle is determined as the swing frequency. And to determine the follow-up swing control signal according to the swing frequency, in specific implementation, the swing frequency can be input into control models such as fuzzy logic control and neural network control, so as to output the follow-up swing control signal. The principles of relevant control models can refer to the prior art and will not be elaborated here. And in a preferred implementation manner, this embodiment considers using an active swing follow-up controller.

[0076] Step 103: Determine the feedback control signal according to the sway data. After performing multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal, the detection image of the tension clamp to be detected is collected by the automatic imaging robot.

[0077] The feedback control signal refers to an instruction signal for feedback adjustment control based on the difference between the current state of the object and the expected stable state, so that the object can maintain stability.

[0078] The detection image refers to an image that detects and reflects the internal structure state of the object.

[0079] It should be noted that in this embodiment, after determining the sway state of the transmission line based on the sway data and determining the feedback control signal, the multi-degree-of-freedom collaborative control adjustment of the automatic imaging robot is performed according to the feedback control signal to achieve the imaging stability control processing of the automatic imaging robot. It can be understood that the robot body of the automatic imaging robot is usually provided with a multi-degree-of-freedom motion structure, such as a multi-degree-of-freedom robotic arm. The degree of freedom refers to the number of dimensions in which an object can move or rotate independently. Each degree of freedom represents an independent motion direction or axis. For example, if it is set to four degrees of freedom, it includes 3 translational degrees of freedom + 1 rotational degree of freedom, so as to facilitate the adjustment of the angle and position of the imaging system. After that, the adjusted automatic imaging robot performs imaging detection processing on the tension clamp to be detected, and obtains the detection image of the tension clamp to be detected.

[0080] In a specific implementation manner of this embodiment, determining the feedback control signal according to the sway data includes:

[0081] Outputting a feedback control signal based on the sway data through a preset robust controller.

[0082] It should be noted that when determining the feedback control signal according to the sway data, in specific implementation, the sway data can be input into control models such as fuzzy logic control and neural network control to output the feedback control signal. The relevant principles can refer to the prior art and will not be elaborated here;

[0083] In a preferred implementation manner, this embodiment considers generating a feedback control signal based on the sway data in the robust controller, so as to perform robust control on the automatic imaging robot based on the robust multi-input multi-output terminal sliding mode control method; the robust controller refers to a controller with a fixed structure designed by the description parameters of uncertainty and the mathematical model of the nominal system, usually composed of a robust control law and a feedback control law. The robust control law usually adopts the Lyapunov theory, and the feedback control law is usually proportional-integral (PI) control, proportional-derivative (PD) control, PI and proportional-integral-derivative (PID) control, etc. The controller parameters and input signals can be adjusted online according to the control strategy, and finally the output signal is transmitted to achieve the control goal. The control principle of the robust controller can refer to Figure 2 As shown, when there is a model error between the stable imaging environment of the automatic imaging robot and the current imaging environment, the deviation between the actual trajectory and the desired trajectory is transmitted to the robust controller in the form of a vector based on the sway data to generate a feedback control signal, so that the automatic imaging robot can maintain relatively stable imaging.

[0084] In a specific implementation manner of this embodiment, performing multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal includes:

[0085] Perform multi - degree - of - freedom collaborative control adjustment on the positions and angles of the digital imaging plate and the X - ray device set in the X - ray imaging system in the automatic imaging robot according to the feedback control signal.

[0086] It should be noted that in specific implementation, the imaging system in the automatic imaging robot can adopt an X - ray imaging system, and the X - ray imaging system includes at least a digital imaging plate and an X - ray device. The X - ray device is used to generate X - rays, and the digital imaging plate is used to capture the X - rays passing through the object to be detected and convert them into detection images that can be processed and analyzed. Adjust the angles and positions of the digital imaging plate and the X - ray device, which are the structures for realizing imaging in the automatic imaging robot, through the feedback control signal, so as to achieve stable imaging.

[0087] In the embodiment of the present invention, a stable connection between the automatic imaging robot and the transmission line is achieved through the follow - up swing control signal, and further, based on the feedback control signal, the automatic imaging robot can better cope with the shaking interference to complete the imaging detection of the strain clamp. Without power outage, the live detection operation can be realized through the automatic imaging robot, reducing the detection cost and at the same time helping to improve the imaging accuracy of the detection image, thereby improving the detection accuracy of the strain clamp.

[0088] Please refer to Figure 3 , Figure 3 which is the structural block diagram of a strain clamp detection device based on an automatic imaging robot provided in the second embodiment of the present invention.

[0089] A strain clamp detection device based on an automatic imaging robot provided in this embodiment includes:

[0090] A mobile acquisition module 301, which is used to obtain the coordinates of the strain clamp to be detected, move the automatic imaging robot to above the strain clamp to be detected according to the coordinates, and acquire a sequence of line images of the transmission line to which the strain clamp to be detected belongs;

[0091] A docking acquisition module 302, which is used to determine the follow - up swing control signal based on the sequence of line images, move the automatic imaging robot to dock with the transmission line according to the follow - up swing control signal, and acquire the shaking data of the transmission line in real time;

[0092] An imaging acquisition module 303, which is used to determine the feedback control signal according to the shaking data, perform multi - degree - of - freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal, and then acquire the detection image of the strain clamp to be detected through the automatic imaging robot.

[0093] Further, determining the follow - up swing control signal based on the sequence of line images includes:

[0094] Perform line contour extraction on each frame of the sequence of line images through a contour extraction algorithm, and output multiple line contour data;

[0095] Calculate the contour displacement by successively using the line contour data of adjacent frames, and determine the displacement change data of the line image sequence;

[0096] Determine the swing frequency according to the displacement change data and the imaging exposure rate corresponding to the line image sequence;

[0097] Generate a follow-up swing control signal based on the swing frequency.

[0098] Further, generating a follow-up swing control signal based on the swing frequency includes:

[0099] Input the swing frequency into a preset active swing follower controller to output a follow-up swing control signal.

[0100] Further, determining a feedback control signal according to the shaking data includes:

[0101] Output a feedback control signal based on the shaking data through a preset robust controller.

[0102] Further, performing multi-degree-of-freedom cooperative control adjustment on the automatic imaging robot according to the feedback control signal, including:

[0103] Perform multi-degree-of-freedom cooperative control adjustment on the positions and angles of the digital imaging plate and the X-ray device set in the X-ray imaging system of the automatic imaging robot according to the feedback control signal.

[0104] Please refer to Figure 4 , Figure 4 which is the structural block diagram of a strain clamp detection system based on an automatic imaging robot provided in Embodiment 3 of the present invention.

[0105] A strain clamp detection system based on an automatic imaging robot provided in this embodiment includes: a drone 1 and a host computer 6;

[0106] A detection control device 2, an automatic imaging robot 3, and a high-speed camera 4 are carried on the drone 1, and a shaking detection sensor 5 is provided on the automatic imaging robot 3;

[0107] The high-speed camera 4 is used to collect a line image sequence of the transmission line to which the strain clamp to be detected belongs;

[0108] The automatic imaging robot 3 is used to collect detection images of the strain clamp to be detected;

[0109] The shaking detection sensor 5 is used to collect the shaking data of the transmission line in real time;

[0110] The detection control device 2 is used to control the drone 1 to move the automatic imaging robot 3 above the tension clamp to be detected according to the coordinates of the tension clamp to be detected, determine the follow-up swing control signal based on the line image sequence, control the drone 1 to move the automatic imaging robot 3 to dock with the transmission line according to the follow-up swing control signal, determine the feedback control signal according to the shaking data, and perform multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot 3 according to the feedback control signal;

[0111] The upper computer 6 is used to determine the coordinates of the tension clamp to be detected and receive the detection images.

[0112] It should be noted that in this embodiment, the detection control device 2 is communicatively connected to the upper computer 6. When the detection control device 2 receives the coordinates of the tension clamp to be detected sent by the upper computer, it controls the drone carrying the automatic imaging robot to fly above the tension clamp to be detected based on the coordinates. Then, the high-speed camera 4 carried on the drone 1 is started by the detection control device 2 to perform imaging processing on the transmission line where the tension clamp to be detected is located to obtain a line image sequence. The detection control device 2 generates a follow-up swing control signal according to the line image sequence and controls the drone 1 to align with the transmission line of the tension clamp to be detected and then control the automatic imaging robot 3 to dock with the transmission line. In specific implementation, a fixed structure such as a fixed robotic arm can be set on the automatic imaging robot 3 to achieve a stable connection with the transmission line. After docking, the shaking detection sensor 5 set on the automatic imaging robot 3 is started by the detection control device 2 to collect the shaking data of the transmission line in real time. The detection control device 2 determines the feedback control signal based on the shaking data and performs stable control processing on the automatic imaging robot 3 based on the feedback control signal. In specific implementation, a multi-degree-of-freedom motion structure such as a multi-degree-of-freedom robotic arm can be set on the automatic imaging robot 3 for multi-degree-of-freedom collaborative control. Then, the automatic imaging robot 3 performs imaging detection on the tension clamp to be detected, and the obtained detection images can be sent back to the upper computer 6 for analysis.

[0113] In a specific implementation manner of this embodiment, determining the follow-up swing control signal based on the line image sequence includes:

[0114] Perform line contour extraction on each frame of the line image sequence through a contour extraction algorithm, and output multiple line contour data;

[0115] Successively calculate the contour displacement using the line contour data of adjacent frames to determine the displacement change data of the line image sequence;

[0116] Determine the swing frequency according to the displacement change data and the imaging exposure rate corresponding to the line image sequence;

[0117] Generate a follow-up swing control signal based on the swing frequency.

[0118] In a more specific implementation manner of this embodiment, generating a follow-up swing control signal based on the swing frequency includes:

[0119] Input the swing frequency into a preset active swing follower controller to output a follow-up swing control signal.

[0120] In a specific implementation manner of this embodiment, determining a feedback control signal according to the shaking data includes:

[0121] Output a feedback control signal based on the shaking data through a preset robust controller.

[0122] In a more specific implementation manner of this embodiment, performing multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal includes:

[0123] Perform multi-degree-of-freedom collaborative control adjustment on the positions and angles of the digital imaging plate and the X-ray device provided in the X-ray imaging system of the automatic imaging robot according to the feedback control signal.

[0124] It should be noted that in specific implementation, the automatic imaging robot is provided with an X-ray imaging system. The X-ray imaging system includes a digital imaging plate and an X-ray device. The X-ray device is used to generate X-rays, and the digital imaging plate is used to capture the X-rays passing through the tension clamp to be detected and convert them into detection images. The imaging effect can be improved by adjusting the positions and angles of the digital imaging plate and the X-ray device.

[0125] In a specific implementation manner of this embodiment, such as Figure 5As shown, the detection control device 2 includes a detection processor 21, a detection memory 22, an input unit 23, and a display 24; the input unit 23 is used to receive signal inputs, including a control input module and a communication input module. The control input module is used to receive control signal inputs from the outside (such as users), and can be used to control drones, automatic imaging robots, etc. The control input module can include one or more of a touch panel, a physical keyboard, function keys (such as play control buttons, switch buttons, etc.), a trackball, a mouse, and a joystick, etc. The specific principle can refer to the prior art. For example, the touch panel can be used to receive the touch operations of users (such as the operations of users using their fingers, styli, or any suitable objects or accessories on or near the touch panel), and drive the corresponding connection structure according to a pre-set program. The communication input module can include a wired communication input unit or / and a wireless communication input unit, and is used to receive data inputs through communication, such as the coordinates of the tension clamp to be detected, the line image sequence, the shaking data, and the detection images, etc.; the display 24 is used to output signals, and can include an information display module and a communication output module. The information display module is used to display the information input from the outside or the information provided to the outside, and can be in the form of a liquid crystal display, an organic light-emitting diode, etc. The communication output module is used to output data through communication, such as the follow-up swing control signal, the feedback control signal, and the detection images, etc. The communication output module can include a wired communication output unit or / and a wireless communication output unit; the detection memory 22 is used to store application programs 25 or data. The detection 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), a flash memory, or a random access memory. The external memory can include a hard disk, a floppy disk, a ZIP disk (high-density disk), a USB flash drive, a magnetic tape, etc. The application program 25 is configured to perform the data processing and function control required by the detection control device 2. The detection processor 21 is the control center of the detection control device 2, and uses various interfaces and lines to connect to other parts of the detection control device 2, and is used to run or execute the application programs stored in the detection memory 22 and call the data stored in the detection memory 22, and perform various functions and process data. It can be understood that, Figure 5 The structural components of the shown detection control device do not limit all devices, and may include more or fewer components than shown, or combine certain components.

[0126] In a more specific implementation manner of this embodiment, there is one or more detection processors 21, and the detection memory 22 stores one or more application programs, and the one or more application programs are configured to be executed by the one or more detection processors 21.

[0127] Please refer to Figure 6 , Figure 6 which is a flowchart of the steps of a control method for a tension clamp detection system based on an automatic imaging robot provided in the fourth embodiment of the present invention.

[0128] A control method for a tension clamp detection system based on an automatic imaging robot provided in this embodiment includes:

[0129] 601. When the detection control device receives the coordinates of the tension clamp to be detected sent by the host computer, it sends the coordinates to the unmanned aerial vehicle (UAV). After the UAV carries the automatic imaging robot and moves to above the tension clamp to be detected according to the coordinates, it controls the high-speed camera to collect a sequence of line images of the transmission line to which the tension clamp to be detected belongs and sends them to the detection control device;

[0130] 602. When the detection control device receives the sequence of line images, it determines a follow-up swing control signal based on the sequence of line images and sends it to the UAV. After the UAV carries the automatic imaging robot and moves according to the follow-up swing control signal until the automatic imaging robot docks with the transmission line, it controls the sway detection sensor of the automatic imaging robot to collect the sway data of the transmission line and sends them to the detection control device;

[0131] 603. When the detection control device receives the sway data, it determines a feedback control signal according to the sway data and sends it to the automatic imaging robot. After the automatic imaging robot performs multi-degree-of-freedom cooperative control adjustment according to the feedback control signal, it controls the automatic imaging robot to collect the detection image of the tension clamp to be detected and sends it to the detection control device;

[0132] 604. When the detection control device receives the detection image, it sends the detection image to the host computer.

[0133] It should be noted that in this embodiment, when the detection control device receives the coordinates of the tension clamp to be detected sent by the host computer, it sends the coordinates to the unmanned aerial vehicle (UAV). The UAV carrying the automatic imaging robot flies to the position above the tension clamp to be detected according to the coordinates. Then, the detection control device controls the high-speed camera carried on the UAV to collect images of the transmission line to which the tension clamp to be detected belongs to obtain a sequence of line images. The high-speed camera sends the collected sequence of line images to the detection control device. The detection control device processes the received sequence of line images to generate a follow-up swing control signal and sends it to the UAV. The UAV moves in response to the received follow-up swing control signal to align with the transmission line of the tension clamp to be detected and realizes the docking of the automatic imaging robot with the transmission line. After the docking is completed, the detection control device activates the sway detection sensor set on the automatic imaging robot to collect the sway data of the transmission line in real time. The sway detection sensor sends the collected sway data to the detection control device. The detection control device determines the feedback control signal based on the received sway data and sends it to the automatic imaging robot. The automatic imaging robot performs multi-degree-of-freedom collaborative control adjustment in response to the received feedback control signal to achieve imaging stability control processing. Finally, the detection control device controls the automatic imaging robot to perform imaging detection on the tension clamp to be detected. After the obtained detection image is fed back to the detection control device, the detection control device sends the received detection image back to the host computer for analysis.

[0134] An embodiment of the present invention further provides a computer device, including a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of the method for detecting a tension clamp based on an automatic imaging robot as described in any of the above embodiments.

[0135] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program / instruction is stored. When the computer program / instruction is executed by the processor, the steps of the method for detecting a tension clamp based on an automatic imaging robot as described in any of the above embodiments are realized.

[0136] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and modules can refer to the corresponding processes in the foregoing method embodiments and will not be described herein again.

[0137] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0138] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0139] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0140] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0141] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A detection method for strain clamps based on an automatic imaging robot, characterized in that, Including: Obtain the coordinates of the tension clamp to be detected, move the automatic imaging robot above the tension clamp to be detected according to the coordinates, and collect a sequence of line images of the transmission line to which the tension clamp to be detected belongs; Determine a follow-up swing control signal based on the sequence of line images, move the automatic imaging robot to dock with the transmission line according to the follow-up swing control signal, and collect the sway data of the transmission line in real time; Determine a feedback control signal according to the sway data, perform multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal, and then collect the detection image of the tension clamp to be detected through the automatic imaging robot.

2. The detection method of the strain clamp based on the automatic imaging robot according to claim 1, wherein, The determining the follow-up swing control signal based on the sequence of line images includes: Perform line contour extraction on each frame of the sequence of line images through a contour extraction algorithm, and output a plurality of line contour data; Successively calculate the contour displacement using the line contour data of adjacent frames to determine the displacement change data of the sequence of line images; Determine the swing frequency according to the displacement change data and the imaging exposure rate corresponding to the sequence of line images; Generate a follow-up swing control signal based on the swing frequency.

3. The method for detecting strain clamps based on an automatic imaging robot according to claim 2, characterized in that, The generating the follow-up swing control signal based on the swing frequency includes: Input the swing frequency into a preset active swing follow-up controller to output a follow-up swing control signal.

4. The method for detecting strain clamps based on an automatic imaging robot according to claim 1, characterized in that, The determining the feedback control signal according to the sway data includes: Output a feedback control signal based on the sway data through a preset robust controller.

5. The method for detecting strain clamps based on an automatic imaging robot according to claim 1, wherein, The performing multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal includes: Perform multi-degree-of-freedom collaborative control adjustment on the positions and angles of the digital imaging plate and the X-ray device set in the X-ray imaging system in the automatic imaging robot according to the feedback control signal.

6. A tension clamp detection device based on an automatic imaging robot, characterized in that, Including: A mobile acquisition module, configured to obtain the coordinates of the tension clamp to be detected, move the automatic imaging robot above the tension clamp to be detected according to the coordinates, and collect a sequence of line images of the transmission line to which the tension clamp to be detected belongs; A docking acquisition module, configured to determine a follow-up swing control signal based on the sequence of line images, move the automatic imaging robot to dock with the transmission line according to the follow-up swing control signal, and collect the sway data of the transmission line in real time; An imaging acquisition module, configured to determine a feedback control signal according to the sway data, perform multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal, and then collect the detection image of the tension clamp to be detected through the automatic imaging robot.

7. A strain clamp detection system based on an automatic imaging robot, characterized in that, Including: An unmanned aerial vehicle and a host computer; The unmanned aerial vehicle is equipped with a detection control device, an automatic imaging robot, and a high-speed camera, and a sway detection sensor is arranged on the automatic imaging robot; The high-speed camera is configured to collect a sequence of line images of the transmission line to which the tension clamp to be detected belongs; The automatic imaging robot is configured to collect a detection image of the tension clamp to be detected; The sway detection sensor is configured to collect the sway data of the transmission line in real time; The detection control device is used to control the drone to move the automatic imaging robot above the tension clamp to be detected according to the coordinates of the tension clamp to be detected, determine the follow-up swing control signal based on the line image sequence, control the drone to move the automatic imaging robot to dock with the transmission line according to the follow-up swing control signal, determine the feedback control signal according to the sway data, and perform multi-degree-of-freedom collaborative control adjustment on the automatic imaging robot according to the feedback control signal; The upper computer is used to determine the coordinates of the tension clamp to be detected and receive the detection image.

8. A control method for a strain clamp detection system based on an automatic imaging robot, characterized in that, It includes: When the detection control device receives the coordinates of the tension clamp to be detected sent by the upper computer, it sends the coordinates to the drone. After the drone carries the automatic imaging robot and moves to above the tension clamp to be detected according to the coordinates, it controls the high-speed camera to collect the line image sequence of the transmission line to which the tension clamp to be detected belongs and sends it to the detection control device; When the detection control device receives the line image sequence, it determines the follow-up swing control signal based on the line image sequence and sends it to the drone. After the drone carries the automatic imaging robot and moves to dock the automatic imaging robot with the transmission line according to the follow-up swing control signal, it controls the sway detection sensor of the automatic imaging robot to collect the sway data of the transmission line and sends it to the detection control device; When the detection control device receives the sway data, it determines the feedback control signal according to the sway data and sends it to the automatic imaging robot. After the automatic imaging robot performs multi-degree-of-freedom collaborative control adjustment according to the feedback control signal, it controls the automatic imaging robot to collect the detection image of the tension clamp to be detected and sends it to the detection control device; When the detection control device receives the detection image, it sends the detection image to the upper computer.

9. A computer device, characterized in that, It includes a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of the method for detecting a tension clamp based on an automatic imaging robot according to any one of claims 1-5.

10. A computer-readable storage medium having computer programs / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, the steps of the method for detecting a tension clamp based on an automatic imaging robot according to any one of claims 1-5 are implemented.

Images