Method and device for compensating shaking error of platform during installation of wallboard of transformer substation

Abstract

The invention discloses a compensation method for a platform shake error during installation of a transformer substation wallboard, and relates to the field of wallboard installation. The technical problem that the installation position of a wallboard and a buckle deviates due to shaking of a platform during aerial work of a crane is solved. The method comprises the following steps: establishing a base coordinate system; installation data under one-time standard installation is obtained, so that the standard mechanical arm pose during wallboard installation is obtained; the three-dimensional coordinates of the buckle at the actual wallboard installation moment are obtained in real time, and the pose of the compensation mechanical arm is calculated through a homogeneous transformation matrix; and the compensation mechanical arm pose is converted into a mechanical arm control instruction, and the mechanical arm is driven to complete dynamic error compensation installation. According to the technical scheme, errors caused by shaking of the platform are effectively made up, the installation precision is improved, the position of the buckle is recognized in real time through the binocular camera, the position and posture of the mechanical arm at the current moment are calculated in combination with the coordinate transformation matrix, and therefore the movement track of the mechanical arm is dynamically adjusted, and offset errors caused by shaking of the platform in the air are made up.

Description

Technical Field

[0001] The present invention relates to the field of wall panel installation, and in particular to a method and device for compensating platform shaking errors during installation of substation wall panels. Background Art

[0002] The surface of a substation generally needs to be covered with wall panels. Currently, a wall panel installation robot uses a manipulator to grab a wall panel and install it on a pre-fixed clip on the wall. A crane is used to move the stacked wall panels, manipulator, and platform to the installation location. The manipulator then grabs the wall panel and installs it on the identified clip.

[0003] However, there will be slight shaking at the end of the crane, which may easily cause slight errors when placing the wall panels on the buckles, so manual visual adjustment is required, which not only affects the installation accuracy but also increases the burden of manual operation. Summary of the Invention

[0004] Purpose of the invention: The purpose of the present invention is to solve the technical problems in the prior art and to provide a method and device for compensating platform shaking errors during the installation of substation wall panels.

[0005] Technical solution: In a first aspect, the present application proposes a method for compensating platform shaking errors during the installation of substation wall panels, which is used to install the wall panels to be installed at the position of the buckles at high altitude, including the following steps: Establish a base coordinate system; Obtain installation data under a standard installation to obtain the standard robot arm posture when installing the wall panel; The 3D coordinates of the clips at the actual installation of the wall panels are acquired in real time, and the position of the robot arm is compensated through calculation of the homogeneous transformation matrix; The compensation robot arm posture is converted into robot arm control instructions, and the robot arm is driven to complete the dynamic error compensation installation.

[0006] This technical solution is specifically designed for high-altitude platform sway. It combines "one-shot teaching + real-time homogeneous transformation" to achieve dynamic compensation, simplifying calculations and improving accuracy. Specifically, by establishing a base coordinate system, it provides a unified benchmark for all subsequent coordinate calculations and posture adjustments. This ensures the consistency of data such as the robot arm's posture and clip positions within the same coordinate system, providing a prerequisite for accurate error compensation. Standard installation data only needs to be acquired once to determine the standard robot arm posture, eliminating the need for repeated calibration. This is suitable for batch installation of similar wall panels, reducing repetitive operations and improving work efficiency. By acquiring the three-dimensional coordinates of the clips at the actual installation moment in real time and combining them with a homogeneous transformation matrix to calculate the compensated robot arm posture, it can dynamically respond to positional offsets caused by platform sway, promptly adjusting the robot arm's motion trajectory, effectively compensating for sway errors, and ensuring installation accuracy. The compensated robot arm posture is converted into control commands to drive the robot arm's operation, eliminating the need for manual visual adjustment. This reduces the need for manual intervention during high-altitude operations, reducing the risk of manual operation while improving the automation and stability of the installation process.

[0007] Preferably, establishing a base coordinate system includes: Establish a base coordinate system with the base of the robotic arm as the origin; Establish the camera coordinate system with the left eye lens of the binocular camera as the origin; Generate a mapping matrix by establishing a mapping relationship between the camera coordinate system and the base coordinate system; Based on the mapping matrix, the three-dimensional coordinates of the target object recognized in real time by the binocular camera are mapped to the base coordinate system, so that the camera coordinate system is based on the base coordinate system.

[0008] By establishing a mapping relationship between the robot's base coordinate system and the camera coordinate system, the three-dimensional coordinates of the target recognized by the binocular camera are unified into the robot's base coordinate system, ensuring that the visual recognition data and the robot's control data are associated under the same reference, avoiding calculation deviations caused by inconsistent coordinate systems. The base coordinate system with the robot's base as the origin is used as the global reference, and the snap-on position recognized by the camera in real time is accurately mapped to this reference in combination with the mapping matrix, providing a consistent and accurate coordinate reference for subsequent standard installation data acquisition, pose calculation during actual installation, and error compensation, ensuring the reliability of coordinate data throughout the entire installation process. Through coordinate system mapping, the camera coordinate system is based on the base coordinate system, effectively eliminating the inherent deviation between the binocular camera's own coordinate system and the robot's working coordinate system, ensuring that the target position recognized by the visual recognition can directly serve the robot's motion control, and laying the foundation for the accuracy of subsequent dynamic error compensation.

[0009] Preferably, obtaining installation data under a standard installation to obtain a standard robot arm posture during wall panel installation includes: Obtain the 3D coordinates of the standard buckle obtained by the binocular camera; Obtain the standard robotic arm posture during a standard installation process performed by manually operating the robotic arm; The standard robot arm posture includes standard position and standard posture.

[0010] This technical solution provides a clear benchmark reference for subsequent actual installation by obtaining the three-dimensional coordinates of the standard clips and the standard robotic arm posture for manual operation, ensuring that the robotic arm movements have a unified comparison standard and laying an accurate "benchmark template" for error compensation. Only one manual operation is required to obtain the standard installation data, which can be applied to repeated installation scenarios of the same type of wall panels. There is no need for repeated benchmark calibration, which reduces repetitive operations and improves the efficiency of batch operations. The standard clip position identified by the binocular camera is directly associated with the standard posture of the robotic arm, and a corresponding relationship of "clip position → robotic arm posture" is established to ensure that the robotic arm movement can accurately match the target installation position. The standard robotic arm posture includes the standard position and standard posture, covering the spatial position and angle information required for the robotic arm installation, avoiding installation deviations caused by the lack of a single parameter, and improving the comprehensiveness of the benchmark data.

[0011] Preferably, the step of obtaining a standard robot arm posture during wall panel installation further comprises: transforming the standard posture into a 3×3 rotation matrix.

[0012] The 3×3 rotation matrix is ​​a standardized mathematical tool for describing spatial posture. It unambiguously represents the three-dimensional rotational state of a robotic arm, avoiding the potential singularities inherent in posture representations like Euler angles, ensuring a precise and unique description of the standard posture. The rotation matrix facilitates matrix operations and can be directly used for mathematical derivation when subsequently calculating and compensating the robotic arm's posture. This simplifies the posture transformation calculation process, improves the accuracy of posture adjustments during error compensation, and provides a reliable posture reference for dynamic adjustment of the robotic arm's posture.

[0013] Preferably, the three-dimensional coordinates of the buckle at the time of actual wall panel installation are obtained in real time, and the compensation robot arm posture is calculated by calculating the homogeneous transformation matrix, including: Obtain the three-dimensional coordinates of the buckles when the wall panels are actually installed; The homogeneous transformation matrix is ​​obtained by using the three-dimensional coordinates of the buckles at the time of actual wall panel installation and the three-dimensional coordinates of the standard buckles obtained by the binocular camera during standard installation; Obtain the translation vector and rotation matrix through the homogeneous transformation matrix; Calculate the compensated manipulator pose; The robot arm posture includes the position of the robot arm mounting wall plate and the buckle at any time t and the robot arm posture at any time t.

[0014] By acquiring the real-time 3D coordinates of the clips at the moment of installation, the system can capture dynamic changes in clip position due to platform shake, providing an up-to-date actual position reference for subsequent error compensation and ensuring the compensation mechanism's real-time alignment with platform shake. Calculating a homogeneous transformation matrix using the actual clip coordinates and the standard clip coordinates simultaneously accounts for both translational and rotational deviations in space (deriving the translation vector and rotation matrix through matrix decomposition). Compared to compensating only for positional offsets, this method more completely describes the 3D spatial errors caused by platform shake and avoids the limitations of single-dimensional compensation. Separating the translation vector (positional deviation) and rotation matrix (attitude deviation) from the homogeneous transformation matrix quantitatively decomposes platform shake errors, enabling the compensation process to specifically adjust the robot arm's position and attitude, ensuring accurate error correction. Compensating the robot arm's posture encompasses both its position and attitude at any given moment, ensuring that adjustments not only correct for positional alignment deviations with the clips but also for installation angle (attitude) deviations, ensuring the proper spatial alignment between the wallboard and clips, and avoiding installation failures or inaccuracies caused by posture misalignment.

[0015] Preferably, a homogeneous transformation matrix is ​​obtained by using the three-dimensional coordinates of the buckle at the time of actual wall panel installation and the three-dimensional coordinates of the standard buckle obtained by the binocular camera during standard installation. The translation vector and the robot arm posture are obtained by the homogeneous transformation matrix, including the following formula: ; Get the homogeneous transformation matrix: ; To get and ; Among them, P kt The three-dimensional coordinates of the buckles when the wall panels are actually installed; P k0 is the three-dimensional coordinate of the standard buckle; Indicates P k0 to P kt The translation vector of Indicates P k0 to P kt The rotation matrix of Indicates the mapping relationship from the initial record time 0 to any time t.

[0016] The homogeneous transformation matrix fully characterizes the combined transformation of translation and rotation in space, comprehensively capturing the position and attitude deviations of the clips caused by platform sway. Calculations based on measured standard and actual clip coordinates ensure objective and accurate transformation relationships, minimizing subjective errors. The decomposed translation vectors and rotation matrices quantify position offsets and attitude changes, respectively, providing a clear basis for targeted compensation. It covers mapping from the initial state to any moment, adapts to the dynamic characteristics of platform shaking, and supports real-time compensation.

[0017] Preferably, the compensated manipulator pose is calculated; the manipulator pose includes the position of the manipulator mounting wall plate and the buckle at any time t and the rotation matrix of the manipulator at any time t, including: The formula for calculating the position of the wall panel and the clip installed by the robot arm at any time t is as follows: ; The formula for calculating the rotation matrix of the robotic arm at any time t is as follows: ; Among them, R j0 Transform the standard posture into a 3x3 rotation matrix; By transforming the rotation matrix of the manipulator at any time t into the manipulator posture G jt .

[0018] The position calculation formula, based on a homogeneous transformation matrix, accurately maps position compensation under actual shake conditions, ensuring accurate alignment between the robot arm and the buckle. The rotation matrix is ​​calculated by superimposing the standard pose matrix with the shake rotation matrix, accurately integrating pose deviations and ensuring that pose compensation meets actual requirements. The rotation matrix is ​​converted into the robot arm pose Gjt, enabling a direct connection between mathematical calculations and control commands, ensuring that the compensation results can be executed by the robot arm.

[0019] In a second aspect, a device for compensating platform shaking errors during substation wall panel installation is provided, comprising a robotic arm, a binocular camera, and a control system for implementing any one of the technical solutions of the first aspect, characterized in that it includes: The robotic arm and the binocular camera are both electrically connected to a control system, and the binocular camera is arranged on the robotic arm.

[0020] In a third aspect, an electronic device is provided, comprising a processor and a memory. The memory is configured to store one or more computer programs; when the processor executes the one or more computer programs stored in the memory, the electronic device can implement any of the technical solutions of the first aspect.

[0021] In a fourth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, any one of the technical solutions of the first aspect is implemented.

[0022] In a fifth aspect, a computer program product is provided. When the computer program product is run on an electronic device, the electronic device executes any one of the technical solutions of the first aspect.

[0023] Beneficial effects: Significantly improve installation efficiency, using robotic arms to replace manual work to complete wall panel installation, reducing the need for repeated manual adjustments by workers working at heights, saving time and improving work efficiency; Significantly reduces the risk of high-altitude operations, freeing workers from the dangerous high-altitude environment. Only the robotic arm performs the high-altitude operations, which improves construction safety and meets safety production requirements. To effectively compensate for the error caused by platform shaking and improve installation accuracy, this method uses a binocular camera to identify the buckle position in real time and combines it with the coordinate transformation matrix to calculate the current position and posture of the robotic arm, thereby dynamically adjusting the motion trajectory of the robotic arm to compensate for the offset error caused by platform shaking in the air. It has strong repeatability and adaptability. Through a one-time "teaching" process, standard installation data is recorded and can be directly called up during repeated installations of the same type of wall panels. It is suitable for large-scale, highly repetitive industrial installation scenarios. Realize the integration of visual recognition and control algorithms, use binocular vision and coordinate transformation technology to realize closed-loop system design from visual recognition to motion control, improve automatic control capabilities, and have scalability.

[0024] This method supports various robot arm posture control methods. For different robot arm control systems, it provides a universal conversion method from rotation matrix to specific rotation angle, which improves the compatibility and engineering feasibility of the solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a flow chart of the present invention; Figure 2 Schematic diagram of the device framework of the present invention; Figure 3 Schematic diagram of the control system framework of the present invention. DETAILED DESCRIPTION

[0026] In order to make the technical solution of the present invention clearer, the present invention is further described in detail below with reference to the specific embodiments of the drawings.

[0027] Example 1 like Figure 1As shown, a method for compensating platform shaking errors during installation of substation wall panels is used to install the wall panels to be installed at the position of the buckles at high altitude, including the following steps: S101, establishing a base coordinate system; S102: Obtain installation data under a standard installation to obtain a standard robotic arm posture during wall panel installation; S103, obtaining the three-dimensional coordinates of the buckle at the time of actual wall panel installation in real time, and calculating the compensation robot arm posture through the homogeneous transformation matrix; S104: Convert the compensation robot arm posture into a robot arm control instruction, and drive the robot arm to complete the dynamic error compensation installation.

[0028] In some specific embodiments, establishing a base coordinate system includes: Establish a base coordinate system with the base of the robotic arm as the origin; Establish the camera coordinate system with the left eye lens of the binocular camera as the origin; Generate a mapping matrix by establishing a mapping relationship between the camera coordinate system and the base coordinate system; Based on the mapping matrix, the three-dimensional coordinates of the target object recognized in real time by the binocular camera are mapped to the base coordinate system, so that the camera coordinate system is based on the base coordinate system, realizing the unification of the camera field of view and the robotic arm control system; providing an accurate coordinate basis for subsequent target recognition and posture calculation; and eliminating the problem of visual deviation.

[0029] In some specific embodiments, obtaining installation data under a standard installation to obtain a standard robot arm posture during wall panel installation includes: Obtain the three-dimensional coordinates of the standard buckle obtained by the binocular camera, identify and record the reference marker (such as the buckle) of the target installation part through the binocular camera, and record the three-dimensional coordinates in the current base coordinate system as ; Obtain the standard robotic arm posture during a standard installation process performed by a manually operated robotic arm. The manually operated robotic arm completes a standard installation action and records the posture information of the wall panel installed at the end of the robotic arm at this time. The standard robotic arm posture includes the standard position and standard posture, including: Position vector:

[0030] Posture representation: .

[0031] In some specific embodiments, the standard posture Transformed into a 3x3 rotation matrix , used for subsequent position and posture transformation and comparison.

[0032] In some specific embodiments, the three-dimensional coordinates of the buckle at the time of actual wall panel installation are obtained in real time, and the compensation robot arm posture is calculated by calculating the homogeneous transformation matrix, including: Obtain the three-dimensional coordinates of the buckles when the wall panels are actually installed; The homogeneous transformation matrix is ​​obtained by using the three-dimensional coordinates of the buckles at the time of actual wall panel installation and the three-dimensional coordinates of the standard buckles obtained by the binocular camera during standard installation; Obtain the translation vector and rotation matrix through the homogeneous transformation matrix; Calculate the compensated manipulator pose; The robot arm posture includes the position of the robot arm mounting wall plate and the buckle at any time t and the robot arm posture at any time t.

[0033] Benchmark establishment: This step is used to establish a benchmark motion model for the installation system, providing a standard reference for all subsequent "actual posture → compensation correction" judgments; Data uniqueness: if the size and interface of the installation object (such as a wall panel) are consistent, the teaching action only needs to be performed once and can be used for the automatic installation process of all subsequent similar wall panels; The system memory, the recorded standard buckle position and the robot arm posture constitute a "sample-response" pair, similar to the vision-motion comparison table, which is the input basis of the entire compensation control algorithm.

[0034] In some specific embodiments, a homogeneous transformation matrix is ​​obtained by using the three-dimensional coordinates of the buckles at the time of actual wall panel installation and the three-dimensional coordinates of the standard buckles obtained by the binocular camera during standard installation. The translation vector and the robot arm posture are obtained by the homogeneous transformation matrix, including the following formula: ; Get the homogeneous transformation matrix: ; To get R 0→t and T 0→t ; Among them, P kt The 3D coordinates of the clips at the actual installation of the wall panel are recognized in real time at any installation time t, reflecting the actual target position after the platform shakes. P k0 The 3D coordinates of the standard buckle are the 3D coordinates of the buckle identified at the standard installation time (teaching phase), representing the reference target position. T 0→t Indicates P k0 to P kt The translation vector from the standard state to the current state describes the position offset; R 0→t Indicates Pk0 to P kt The rotation matrix from the standard state to the current state describes the posture change; W 0→t It represents the mapping relationship from the initial recording time 0 to any time t. The homogeneous coordinate transformation matrix can project any point from the teaching time to the current actual time. It is a spatial posture mapping relationship.

[0035] pass

[0036] The transformation matrix is ​​extracted as ; Homogeneous transformation matrix W 0→t The standard coordinate P k0 Mapped to the current coordinate P kt , represents the offset caused by platform shaking or other reasons in the actual environment. This is a rigid body transformation represented by a joint rotation + translation, which is widely used in robotics and computer vision; This step constructs the homogeneous transformation matrix W 0→t , the spatial deviation caused by the platform shaking is quantitatively expressed and used as the input core of the compensation calculation to ensure that the robotic arm automatically adjusts to the correct installation posture.

[0037] In some specific embodiments, the compensated manipulator pose is calculated; the manipulator pose includes the position of the manipulator mounting wall plate and the buckle at any time t and the rotation matrix of the manipulator at any time t, including: The formula for calculating the position of the wall panel and the clip installed by the robot arm at any time t is as follows: ; The formula for calculating the rotation matrix of the robotic arm at any time t is as follows: ; Among them, R j0 Transform the standard posture into a 3x3 rotation matrix; By transforming the rotation matrix of the manipulator at any time t into the manipulator posture G jt； ; P j0 : The standard position of the end of the robotic arm (wall panel + clip) recorded during the teaching phase; W 0→t : Homogeneous coordinate transformation matrix from the teaching moment to the current moment t; P jt : The position that the end of the robot arm should reach at the current moment (after taking into account the position of platform shaking compensation); By placing the standard position P j0Project it into the current coordinate system to achieve spatial position compensation; ; R j0 : The robot arm rotation matrix in standard installation; R 0→t : The rotation matrix between the standard snap coordinates and the current snap coordinates; R jt : The rotation matrix of the robot arm that should be executed at the current moment after compensation; By multiplying the original posture by the coordinate rotation compensation matrix, the automatic correction of the robot arm angle is achieved; R jt Converted into an attitude format recognizable by the actual control system (such as Euler angle), denoted as G jt； Different robotic arms use different control methods, and the control system may need to express rotation using Euler angles, quaternions, etc. Here, you only need to convert the rotation matrix into the corresponding control format to drive the robotic arm to perform the action.

[0038] In some specific embodiments, the compensation robot arm posture is converted into a robot arm control instruction, and the robot arm is driven to complete the dynamic error compensation installation; Rotation matrix posture command Different robotic arm control systems accept different posture formats, common ones are: Euler angles: angular rotation around the XYZ axis: α, β, γ; Quaternion: (x, y, z, w); Axis-Angle Take Euler angles as an example (if the system uses XYZ world coordinate rotation): ; By rotating the matrix R jt By solving trigonometric functions, we can find the three rotation angles (refer to the above formula), which are then converted into the posture instructions of the robotic arm.

[0039] Position and posture are combined into control instructions: Control command = MoveTo(x t ,y t ,z t ,α t ,β t ,γ t ); or in some control systems: MoveToPose(P jt ,G jt ); Indicates that the end effector of the robot arm moves to position P jt and in posture G jt Precisely align the buckles to complete the installation.

[0040] The target pose information of the manipulator obtained by error compensation calculation (including the position vector P jt and the rotation matrix R jt ) is converted into a control instruction format supported by the robotic arm control system (such as Euler angle or quaternion form) and sent to the robotic arm execution module, driving the robotic arm end effector to complete the precise installation operation of the wall panel and the clip according to the dynamically corrected posture, thereby realizing dynamic compensation control of the high-altitude platform shaking error.

[0041] Example 2 like Figure 2 As shown, a device for compensating platform shaking errors during substation wall panel installation includes a robotic arm 301, a binocular camera 303, and a control system 302 for implementing a method for compensating platform shaking errors during substation wall panel installation according to Example 1, including: The robotic arm 301 and the binocular camera are both electrically connected to the control system 302 , and the binocular camera 303 is disposed on the robotic arm 301 .

[0042] All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0043] Example 3 This embodiment discloses a control system 302, such as Figure 3 As shown, the electronic device may include: one or more processors 401; a memory 402; a display 403; one or more applications (not shown); and one or more computer programs 404. The above components may be connected via one or more communication buses 405. The one or more computer programs 404 are stored in the memory 402 and configured to be executed by the one or more processors 401. The one or more computer programs 404 include instructions, which may be used to execute the following: Figure 1 Each step in .

[0044] Through the description of the above embodiments, those skilled in the art will clearly understand that for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0045] The functional units in the embodiments of the present invention may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware or software functional units.

[0046] If the integrated unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored on a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product, stored on a storage medium, includes instructions for causing a computer device (such as a personal computer, server, or network device) or processor to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as flash memory, mobile hard disks, read-only memory, random access memory, magnetic disks, or optical disks.

[0047] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be covered by the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for compensating platform shaking errors during installation of substation wall panels, used for installing wall panels at a high altitude at the position of buckles, characterized in that: Including steps: Establish a base coordinate system; Obtain installation data under a standard installation to obtain the standard robot arm posture when installing the wall panel; The 3D coordinates of the clips at the actual installation of the wall panels are acquired in real time, and the position of the robot arm is compensated through calculation of the homogeneous transformation matrix; The compensation robot arm posture is converted into robot arm control instructions, and the robot arm is driven to complete the dynamic error compensation installation.

2. The method for compensating platform shaking error during installation of substation wall panels according to claim 1 is characterized in that: Establish a base coordinate system, including: Establish a base coordinate system with the base of the robotic arm as the origin; Establish the camera coordinate system with the left eye lens of the binocular camera as the origin; Generate a mapping matrix by establishing a mapping relationship between the camera coordinate system and the base coordinate system; Based on the mapping matrix, the three-dimensional coordinates of the target object recognized in real time by the binocular camera are mapped to the base coordinate system.

3. The method for compensating platform shaking error during installation of substation wall panels according to claim 1 is characterized in that: Obtain installation data for a standard installation to obtain the standard robot arm posture for wall panel installation, including: Obtain the 3D coordinates of the standard buckle obtained by the binocular camera; Obtain the standard robotic arm posture during a standard installation process performed by manually operating the robotic arm; The standard robotic arm posture includes a standard position and a standard posture.

4. The method for compensating platform shaking error during installation of substation wall panels according to claim 3 is characterized in that: The step of obtaining a standard robot arm posture when installing the wall panel also includes: transforming the standard posture into a 3×3 rotation matrix.

5. The method for compensating platform shaking error during installation of substation wall panels according to claim 1 is characterized in that: The 3D coordinates of the clips at the actual installation of the wall panel are obtained in real time, and the compensation robot arm posture is calculated by calculating the homogeneous transformation matrix, including: Obtain the three-dimensional coordinates of the buckles when the wall panels are actually installed; The homogeneous transformation matrix is ​​obtained by using the three-dimensional coordinates of the buckles at the time of actual wall panel installation and the three-dimensional coordinates of the standard buckles obtained by the binocular camera during standard installation; Obtain the translation vector and rotation matrix through the homogeneous transformation matrix; Calculate the compensated manipulator pose; The robot arm posture includes the position of the robot arm mounting wall plate and the buckle at any time t and the robot arm posture at any time t.

6. The method for compensating platform shaking error during installation of substation wall panels according to claim 5 is characterized in that: The homogeneous transformation matrix is ​​obtained by the three-dimensional coordinates of the clips at the time of actual wall panel installation and the three-dimensional coordinates of the standard clips obtained by the binocular camera during standard installation. The translation vector and the robot arm posture are obtained through the homogeneous transformation matrix, including the following formulas: ； Get the homogeneous transformation matrix: ； To get R 0→t and T 0→t ; Among them, P kt The three-dimensional coordinates of the buckles when the wall panels are actually installed; P k0 is the three-dimensional coordinate of the standard buckle; Indicates P k0 to P kt The translation vector of Indicates P k0 to P kt The rotation matrix of Indicates the mapping relationship from the initial record time 0 to any time t.

7. The method for compensating platform shaking error during installation of substation wall panels according to claim 5 is characterized in that: The compensated manipulator pose is calculated; the manipulator pose includes the position of the manipulator mounting wall plate and the buckle at any time t and the rotation matrix of the manipulator at any time t, including: The formula for calculating the position of the wall panel and the clip installed by the robot arm at any time t is as follows: ； The formula for calculating the rotation matrix of the robotic arm at any time t is as follows: ； Among them, R j0 Transform the standard posture into a 3×3 rotation matrix; By transforming the rotation matrix of the manipulator at any time t into the manipulator posture G jt .

8. A device for compensating platform shaking errors during installation of substation wall panels, characterized in that: The invention comprises a robotic arm, a binocular camera, and a control system for implementing a method for compensating platform shaking errors during installation of substation wall panels according to any one of claims 1 to 7, wherein the compensation device comprises: The robotic arm and the binocular camera are both electrically connected to a control system, and the binocular camera is arranged on the robotic arm.

9. A control system, characterized in that: It includes a memory and a processor, wherein the memory stores a computer program that can be run on the processor. When the computer program is executed by the processor, the processor implements a method for compensating platform shaking errors during substation wall panel installation as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored therein, characterized in that: When the computer program is executed by a processor, a method for compensating platform shaking errors during installation of substation wall panels according to any one of claims 1 to 7 is implemented.

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