Method and device for compensating for platform sway error during substation wallboard installation

Abstract

The application discloses a compensation method for platform swing error during substation wallboard installation, and relates to the field of wallboard installation; and aims to solve the technical problem of wallboard and buckle installation position deviation caused by platform swing during crane aerial work; the application comprises the following steps: establishing a base coordinate system; obtaining installation data under primary standard installation to obtain standard mechanical arm pose during wallboard installation; obtaining three-dimensional coordinates of the buckle at the moment of actual wallboard installation in real time, and calculating compensation mechanical arm pose through a homogeneous transformation matrix; converting the compensation mechanical arm pose into mechanical arm control instructions to drive the mechanical arm to complete dynamic error compensation installation; the technical scheme effectively compensates for the error caused by platform swing, and improves installation precision; the method identifies the buckle position in real time through a binocular camera, and calculates the current mechanical arm position and posture in combination with a coordinate transformation matrix, so that the motion track of the mechanical arm is dynamically adjusted to compensate for the deviation error caused by platform swing in the air.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wallboard installation, and particularly relates to a method and device for compensating for platform swing error during wallboard installation of a substation. BACKGROUND

[0002] The surface of a substation generally needs to be covered with wallboards. Currently, when a wallboard installation robot installs wallboards on the fixed buckles on the wall surface through a mechanical hand, the crane moves the stacked wallboards, the mechanical hand and the platform to the installation position, and then the mechanical hand installs the wallboards on the identified buckles.

[0003] However, the end of the crane may slightly swing, and slight errors may occur when the wallboard is placed on the buckle, so manual visual adjustment is required, which not only affects the installation accuracy, but also increases the manual operation burden. SUMMARY

[0004] The purpose of the present application is to solve the technical problems in the prior art and provide a method and device for compensating for platform swing error during wallboard installation of a substation.

[0005] TECHNICAL SOLUTION

[0006] In a first aspect, the present application provides a method for compensating for platform swing error during wallboard installation of a substation, which is used to install wallboards on the buckle position in the air, and includes the following steps:

[0007] Establishing a base coordinate system;

[0008] Obtaining installation data under standard installation to obtain the standard mechanical arm pose during wallboard installation;

[0009] Real-time obtaining of three-dimensional coordinates of the buckle at the moment of actual wallboard installation, and compensation of the mechanical arm pose through a homogeneous transformation matrix;

[0010] Converting the compensated mechanical arm pose into a mechanical arm control instruction to drive the mechanical arm to complete dynamic error compensation installation.

[0011] The technical solution is designed for high-altitude platform shaking, and realizes dynamic compensation by combining "one-time teaching + real-time homogeneous transformation", simplifies calculation and improves accuracy. Specifically, by establishing a base coordinate system, a unified reference is provided for subsequent coordinate calculation and pose adjustment, ensuring the consistency of mechanical arm pose, buckle position and other data in the same coordinate system, providing a prerequisite for the accuracy of error compensation. Only once the standard installation data is obtained, the standard mechanical arm pose can be determined, without the need for repeated calibration, suitable for batch installation scenarios of the same type of wallboard, reducing repeated operations and improving work efficiency. By real-time acquisition of the three-dimensional coordinates of the buckle at the actual installation time, and combining the homogeneous transformation matrix to calculate the compensation mechanical arm pose, the position offset caused by platform shaking can be dynamically responded to, the mechanical arm motion trajectory can be adjusted in time, the shaking error can be effectively compensated, and the installation accuracy can be ensured. The compensation mechanical arm pose is converted into a control instruction to drive the mechanical arm operation, without the need for manual visual adjustment, reducing the need for manual intervention in high-altitude operation, reducing the risk of manual operation, and improving the automation and stability of the installation process.

[0012] Preferably, the base coordinate system is established, comprising:

[0013] establishing a base coordinate system with the mechanical arm base as the origin;

[0014] establishing a camera coordinate system with the left lens of the binocular camera as the origin;

[0015] generating a mapping matrix by establishing the mapping relationship between the camera coordinate system and the base coordinate system;

[0016] based on the mapping matrix, mapping the three-dimensional coordinates of the target object recognized by the binocular camera in real time to the base coordinate system, so that the camera coordinate system takes the base coordinate system as the reference.

[0017] By establishing the mapping relationship between the mechanical arm base coordinate system and the camera coordinate system, the target three-dimensional coordinates recognized by the binocular camera are unified under the base coordinate system of the mechanical arm, ensuring that the visual recognition data and the mechanical arm control data are associated under the same reference, avoiding calculation deviation caused by non-uniform coordinate systems. The base coordinate system with the mechanical arm base as the origin serves as a global reference, and the mapping matrix accurately maps the buckle position recognized by the camera in real time to the reference, providing consistent and accurate coordinate reference for subsequent standard installation data acquisition, pose calculation and error compensation during actual installation, ensuring the reliability of coordinate data throughout the installation process. Through coordinate system mapping, the camera coordinate system takes the base coordinate system as the reference, effectively eliminating the inherent deviation between the binocular camera coordinate system and the mechanical arm working coordinate system, ensuring that the target position recognized by the vision can directly serve the motion control of the mechanical arm, laying a foundation for the accuracy of subsequent dynamic error compensation.

[0018] Preferably, the installation data under the standard installation is obtained to obtain the standard robot pose when the wallboard is installed, including:

[0019] The three-dimensional coordinates of the standard buckle are obtained through the binocular camera.

[0020] The standard robot pose during the standard installation process operated by the manual robot is obtained.

[0021] The standard robot pose includes a standard position and a standard attitude.

[0022] The present technical solution provides a clear reference for subsequent actual installation by obtaining the three-dimensional coordinates of the standard buckle and the standard robot pose operated by the manual robot, ensures that the robot action has a unified comparison standard, and lays a foundation for accurate error compensation. Only one manual operation is required to obtain the standard installation data, which can be applied to repeated installation scenes of the same type of wallboard, without the need for repeated reference calibration, reducing repeated operations and improving the efficiency of batch operations. The standard buckle position recognized by the binocular camera is directly associated with the standard pose of the robot, establishing a corresponding relationship of "buckle position → robot pose to be reached", ensuring that the robot action can accurately match the target installation position. The standard robot pose includes a standard position and a standard attitude, covering the spatial position and angle information required for robot installation, avoiding installation deviation caused by the absence of a single parameter, and improving the comprehensiveness of the reference data.

[0023] Preferably, the step of obtaining the standard robot pose when the wallboard is installed further includes: transforming the standard attitude into a 3x3 rotation matrix.

[0024] The 3x3 rotation matrix is a standardized mathematical tool for describing spatial attitude, which can unambiguously represent the three-dimensional rotation state of the robot, avoiding the singularity that may exist in the Euler angle attitude representation, ensuring the accurate and unique description of the standard attitude. The rotation matrix is convenient for matrix operation, and subsequent calculation of the compensation robot attitude can be directly based on the matrix for mathematical derivation, simplifying the calculation process of attitude transformation and improving the accuracy of attitude adjustment in error compensation, providing a reliable attitude reference for dynamic adjustment of the robot pose.

[0025] Preferably, the three-dimensional coordinates of the buckle at the moment of actual installation of the wallboard are obtained in real time, and the compensation robot pose is calculated through the calculation of the homogeneous transformation matrix, including:

[0026] The three-dimensional coordinates of the buckle at the moment of actual installation of the wallboard are obtained.

[0027] The homogeneous transformation matrix is obtained through the three-dimensional coordinates of the buckle at the moment of actual installation of the wallboard and the three-dimensional coordinates of the standard buckle obtained through the binocular camera during the standard installation.

[0028] A translation vector and a rotation matrix are obtained through the homogeneous transformation matrix;

[0029] The compensation mechanical arm pose is calculated;

[0030] The mechanical arm pose includes the positions of the mechanical arm and the buckle at any time t and the mechanical arm attitude of the mechanical arm at any time t.

[0031] By obtaining the three-dimensional coordinates of the buckle at the actual installation time in real time, the dynamic change of the buckle position caused by platform shaking can be captured in time, the latest actual position reference is provided for subsequent error compensation, and the real-time matching of the compensation mechanism and the platform shaking is ensured. The actual buckle coordinates and the standard buckle coordinates are used to calculate the homogeneous transformation matrix, which can cover the translation and rotation deviation in space (the translation vector and the rotation matrix are obtained through matrix decomposition), compared with the method of only compensating for the position deviation, the three-dimensional space error caused by platform shaking can be more completely described, and the limitation of single-dimensional compensation is avoided. The translation vector (position deviation) and the rotation matrix (attitude deviation) are separated from the homogeneous transformation matrix, the quantitative disassembly of the platform shaking error is realized, the position and attitude of the mechanical arm can be adjusted in the compensation process, and the accuracy of error correction is ensured. The compensation mechanical arm pose includes the position and attitude at any time, which ensures that the mechanical arm can not only correct the position alignment deviation of the buckle, but also correct the installation angle (attitude) deviation when adjusting, meets the matching requirements of the wallboard and the buckle in space attitude, and avoids installation failure or insufficient precision caused by attitude misalignment.

[0032] Preferably, the homogeneous transformation matrix is obtained through the three-dimensional coordinates of the buckle at the actual installation wallboard time and the standard buckle three-dimensional coordinates obtained by the binocular camera at the standard installation time, the translation vector and the mechanical arm attitude are obtained through the homogeneous transformation matrix, and the following formulas are included:

[0033] ;

[0034] The homogeneous transformation matrix is obtained:

[0035] ;

[0036] To obtain and ;

[0037] Wherein, P kt is the three-dimensional coordinates of the buckle at the actual installation wallboard time;

[0038] P k0 is the standard buckle three-dimensional coordinates;

[0039] represents the translation vector of P k0 to P kt ;

[0040] P represents k0 the rotation matrix of P kt to P

[0041] represents the mapping relationship from the initial recording time 0 to any time t.

[0042] The homogeneous transformation matrix can fully characterize the comprehensive transformation of translation and rotation in space, and fully capture the position and attitude deviation of the buckle caused by platform shaking. Based on the measured standard and actual buckle coordinates, the transformation relationship is ensured to be objective and accurate, and subjective errors are reduced. The translation vector and rotation matrix obtained by decomposition can respectively quantify the position offset and attitude change, and provide clear basis for targeted compensation. Covering the mapping from the initial to any time, adapting to the dynamic characteristics of platform shaking, and supporting real-time compensation.

[0043] Preferably, the compensation mechanical arm pose is calculated; the mechanical arm pose includes the positions of the mechanical arm mounting wallboard and the buckle at any time t and the rotation matrix of the mechanical arm at any time t, including:

[0044] The position calculation formula of the mechanical arm mounting wallboard and the buckle at any time t is as follows:

[0045] ;

[0046] The rotation matrix calculation formula of the mechanical arm at any time t is as follows:

[0047] ;

[0048] Wherein, R j0 convert the standard attitude into a 3x3 rotation matrix;

[0049] The rotation matrix of the mechanical arm at any time t is transformed into the mechanical arm attitude G jt .

[0050] The position calculation formula is based on the homogeneous transformation matrix, which can accurately map the position compensation under actual shaking and ensure the accurate correspondence of the positions of the mechanical arm and the buckle. The rotation matrix is calculated by superimposing the standard attitude matrix and the shaking rotation matrix, which accurately integrates the attitude deviation and ensures that the attitude compensation meets the actual needs. The rotation matrix is converted into the mechanical arm attitude Gjt, realizing the direct connection from mathematical calculation to control instruction, and ensuring that the compensation result can be executed by the mechanical arm.

[0051] In the second aspect, a compensation device for platform shaking error during wallboard installation of a substation is provided, including a mechanical arm, a binocular camera, and a control system realizing any one of the technical solutions of the first aspect, characterized in that it comprises:

[0052] The mechanical arm and the binocular camera are electrically connected with the control system, and the binocular camera is arranged on the mechanical arm.

[0053] In a third aspect, an electronic device is provided, including a processor and a memory. The memory is configured to store one or more computer programs. When the one or more computer programs stored in the memory are executed by the processor, the electronic device is enabled to implement any of the technical solutions of the first aspect.

[0054] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, any of the technical solutions of the first aspect is implemented.

[0055] In a fifth aspect, a computer program product is provided. When the computer program product is run on an electronic device, the electronic device is enabled to implement any of the technical solutions of the first aspect.

[0056] Advantages:

[0057] The installation efficiency is significantly improved, the mechanical arm is used to replace manual work to complete the wallboard installation, the repeated manual adjustment of the high-altitude worker is reduced, time is saved, and work efficiency is improved.

[0058] The high-altitude operation risk is greatly reduced, the high-altitude worker is liberated from the dangerous high-altitude environment, only the mechanical arm is used for high-altitude operation, construction safety is improved, and safety production requirements are met.

[0059] The installation precision is improved, the method is used for real-time identification of the buckle position through the binocular camera, and the position and posture of the mechanical arm at the current time are calculated through the coordinate transformation matrix, so that the motion track of the mechanical arm is dynamically adjusted, and the offset error caused by the shaking of the platform in the air is compensated.

[0060] The method has strong repeatability and adaptability, standard installation data is recorded through one "teaching" process, the standard installation data can be directly called in the repeated installation process of the same type of wallboard, and the method is suitable for large quantities and high repeatability industrial installation scenes.

[0061] The integration of visual identification and control algorithm is realized, the binocular vision and coordinate transformation technology are used, the closed-loop system design from visual identification to motion control is realized, the automatic control capability is improved, and the method has expansibility.

[0062] The method supports posture control modes of multiple mechanical arms, for control systems of different mechanical arms, the method provides a general conversion mode from a rotation matrix to a specific rotation angle, and the compatibility and engineering implementability of the method are improved. BRIEF DESCRIPTION OF DRAWINGS

[0063] Figure 1 This is a flowchart of the present invention;

[0064] Figure 2 This is a schematic diagram of the device frame of the present invention;

[0065] Figure 3 This is a schematic diagram of the control system framework of the present invention. Detailed Implementation

[0066] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0067] Example 1

[0068] like Figure 1 As shown, a method for compensating for platform sway error during substation wall panel installation is used to install the wall panels to be installed at the snap-fit ​​position at a high altitude, including the following steps:

[0069] S101. Establish the base coordinate system;

[0070] S102. Obtain installation data under a standard installation to obtain the standard robotic arm pose during wall panel installation;

[0071] S103. Real-time acquisition of the three-dimensional coordinates of the latch at the actual installation moment of the wall panel, and calculation of the compensated robot arm pose through homogeneous transformation matrix;

[0072] S104. Convert the compensating robot arm pose into robot arm control commands to drive the robot arm to complete the dynamic error compensation installation.

[0073] In some specific embodiments, establishing a base coordinate system includes:

[0074] Establish a base coordinate system with the robotic arm base as the origin;

[0075] Establish a camera coordinate system with the left lens of the binocular camera as the origin;

[0076] A mapping matrix is ​​generated by establishing the mapping relationship between the camera coordinate system and the base coordinate system;

[0077] Based on the mapping matrix, the three-dimensional coordinates of the target object identified by the binocular camera in real time 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 pose calculation; and eliminating visual bias problems.

[0078] In some specific embodiments, acquiring installation data under a standard installation to obtain the standard robotic arm pose during wall panel installation includes:

[0079] Obtain the standard buckle's 3D coordinates using a binocular camera. Identify and record the reference markers (such as buckles) at the target installation location using the binocular camera, and denote their 3D coordinates in the current base coordinate system. ;

[0080] The standard robotic arm pose is obtained during a standard installation process performed manually. The robotic arm is manually operated to complete a standard installation action, and the pose information of the wall panel installed at the end of the robotic arm is recorded at this time. The standard robotic arm pose includes the standard position and standard posture, including:

[0081] Position vector:

[0082] Posture indication: .

[0083] In some specific embodiments, this includes: setting the standard pose. Transformation into a 3x3 rotation matrix It is used for subsequent position and attitude transformation and comparison.

[0084] In some specific embodiments, the three-dimensional coordinates of the latch at the actual moment of wall panel installation are acquired in real time, and the pose of the robotic arm is compensated by calculating the homogeneous transformation matrix, including:

[0085] Obtain the three-dimensional coordinates of the clips at the actual moment of wall panel installation;

[0086] The homogeneous transformation matrix is ​​obtained by using the three-dimensional coordinates of the clips at the actual installation moment of the wall panel and the three-dimensional coordinates of the standard clips obtained by the binocular camera during standard installation.

[0087] The translation vector and rotation matrix are obtained through the homogeneous transformation matrix;

[0088] The compensated robotic arm pose is calculated;

[0089] The robotic arm pose includes the position of the mounting plate and buckle of the robotic arm at any time t, and the robotic arm posture at any time t.

[0090] The baseline establishment step is used to establish a baseline motion model for the installation system, providing a standard reference for all subsequent judgments of "actual attitude → compensation correction".

[0091] 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 executed once and can be used for the automatic installation process of all subsequent similar wall panels;

[0092] The system memorizes the standard buckle positions and robotic arm poses, forming a "sample-response" pair, similar to a vision-motion lookup table, which serves as the input basis for the entire compensation control algorithm.

[0093] In some specific embodiments, the homogeneous transformation matrix is obtained by the three-dimensional coordinates of the buckle at the moment of actual installation of the wallboard and the three-dimensional coordinates of the standard buckle obtained by the binocular camera at the standard installation, the translation vector and the mechanical arm posture are obtained by the homogeneous transformation matrix, including the following formula:

[0094] ;

[0095] The homogeneous transformation matrix is obtained:

[0096] ;

[0097] To obtain R 0→t and T 0→t ;

[0098] Where P kt is the three-dimensional coordinates of the buckle at the moment of actual installation of the wallboard, the three-dimensional coordinates of the buckle identified in real time at any installation moment t, reflecting the actual target position after the platform shakes;

[0099] P k0 is the three-dimensional coordinates of the standard buckle, the three-dimensional coordinates of the buckle identified at the standard installation moment (teaching stage), representing the reference target position;

[0100] T 0→t represents the translation vector of P k0 to P kt , the translation vector from the standard state to the current state, describing the position offset;

[0101] R 0→t represents the rotation matrix of P k0 to P kt , the rotation matrix from the standard state to the current state, describing the posture change;

[0102] W 0→t represents the mapping relationship from the initial record 0 moment to any moment t, the homogeneous coordinate transformation matrix, which can project any point from the teaching moment to the current actual moment, and is a kind of spatial posture mapping relationship.

[0103] Through

[0104] The transformation matrix form is extracted as ;

[0105] The homogeneous transformation matrix W 0→t maps the standard coordinates P k0 to the current coordinates P kt, which represents the offset in the actual environment due to platform shaking or other reasons, and is a rigid body transformation represented by a combination of rotation and translation, which is widely used in robotics and computer vision;

[0106] This step constructs the homogeneous transformation matrix W 0→t Quantitatively express the spatial deviation caused by platform shaking and use it as the input core of compensation calculation to ensure that the robot arm automatically adjusts to the correct installation pose.

[0107] In some specific embodiments, the compensated robot arm pose is calculated; the robot arm pose includes the position of the robot arm mounting wallboard and buckle at any time t and the rotation matrix of the robot arm at any time t, including:

[0108] The position of the robot arm mounting wallboard and buckle at any time t is calculated as follows:

[0109] ;

[0110] The rotation matrix of the robot arm at any time t is calculated as follows:

[0111] ;

[0112] Where R j0 Convert the standard pose to a 3x3 rotation matrix;

[0113] By transforming the rotation matrix of the robot arm at any time t into the robot arm pose G jt；

[0114] ;

[0115] P j0 : The standard position of the robot arm end (wallboard + buckle) recorded in the teaching phase;

[0116] W 0→t : The homogeneous coordinate transformation matrix from the teaching time to the current time t;

[0117] P jt : The position that the robot arm end should reach at the current time (after considering platform shaking compensation);

[0118] By projecting the standard position P j0 into the current coordinate system, the spatial position compensation is realized;

[0119] ;

[0120] R j0 : The rotation matrix of the robot arm at the standard installation;

[0121] R 0→t: Rotation matrix between standard buckle coordinate and current buckle coordinate

[0122] R jt : Rotation matrix of mechanical arm after compensation

[0123] Automatic correction of mechanical arm angle by multiplying original pose with coordinate rotation compensation matrix

[0124] Convert R jt to actual control system recognizable pose format (such as Euler angles), denoted as G jt；

[0125] Different control methods are used for different mechanical arms, and the control system may need to express rotation in the form of Euler angles, quaternions, etc. Here, only the rotation matrix needs to be converted to the corresponding control format to drive the mechanical arm to perform actions.

[0126] In some specific embodiments, the compensated mechanical arm pose is converted into mechanical arm control instructions to drive the mechanical arm to complete dynamic error compensation installation

[0127] Rotation matrix to pose instruction

[0128] Different mechanical arm control systems accept different pose formats, such as:

[0129] Euler angles: angle rotation around XYZ axes: α, β, γ

[0130] Quaternion: (x, y, z, w)

[0131] Axis-angle

[0132] Take Euler angles as an example (such as system using XYZ world coordinate rotation):

[0133] ;

[0134] By solving the rotation matrix R jt , three rotation angles can be obtained (refer to the formula above), and then converted into the pose instruction of the mechanical arm.

[0135] Position and pose are combined into control instructions:

[0136] Control instruction = MoveTo(x t , y t , z t , α t , β t , γ t );

[0137] Or in some control systems:

[0138] MoveToPose(P jt ,G jt );

[0139] indicates that the end effector of the robot arm moves to the position P jt and the pose G jt precise docking buckle, complete the installation action.

[0140] The target pose information of the robot arm obtained by error compensation calculation (including position vector P jt and rotation matrix R jt ) is converted into the control instruction format supported by the robot arm control system (such as Euler angle or quaternion form), and is sent to the robot arm execution module, to drive the end effector of the robot arm to complete the precise installation of the wallboard and the buckle according to the dynamically corrected pose, and realize the dynamic compensation control of the high-altitude platform swing error.

[0141] Embodiment 2

[0142] As shown in Figure 2 , it is a compensation device for platform swing error during substation wallboard installation, which comprises a robot arm 301, a binocular camera 303, and a control system 302 for implementing the compensation method for platform swing error during substation wallboard installation according to embodiment 1, comprising:

[0143] The robot arm 301 and the binocular camera are electrically connected with the control system 302, and the binocular camera 303 is arranged on the robot arm 301.

[0144] All related contents of each step involved in the above method embodiment can be cited to the function description of the corresponding function module, which will not be repeated here.

[0145] Embodiment 3

[0146] This embodiment discloses a control system 302, as shown in Figure 3 , the electronic device can include: one or more processors 401; memory 402; display 403; one or more application programs (not shown); and one or more computer programs 404, the above-mentioned devices can be connected through one or more communication buses 405. Among them, the one or more computer programs 404 are stored in the above-mentioned memory 402 and are configured to be executed by the one or more processors 401, the one or more computer programs 404 include instructions, which can be used to execute each step as Figure 1 .

[0147] Those skilled in the art can clearly understand the technical solutions of the present application according to the above description of the embodiments, and the division of the functional modules is only used for description and simplification, and in actual application, the functions can be completed by different functional modules according to the needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0148] The functional units in the embodiments of the present application can be integrated in one processing unit, or each unit can exist alone physically, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0149] When the 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 such an understanding, the technical solutions of the embodiments of the present application essentially or partially, or all or part of the technical solutions can be embodied in the form of a software product. The 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.) or a processor to perform all or part of the steps of the methods described in the embodiments of the present application. The foregoing storage medium includes: a flash memory, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk, or an optical disk, and various other media that can store program codes.

[0150] The above description is only a specific implementation of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any change or replacement within the technical scope disclosed in the embodiments of the present application should be covered in the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be subject to the protection scope of the claims.

Claims

1. A method for compensating for platform sway error during substation wall panel installation, used for installing wall panels at snap-fit ​​positions at high altitudes, characterized in that... Including the following steps: Establish a base coordinate system; Obtain installation data under a standard installation to obtain the standard robotic arm pose during wall panel installation; The three-dimensional coordinates of the latch are obtained in real time at the moment of actual wall panel installation, and the pose of the robotic arm is compensated by calculating the homogeneous transformation matrix. The compensating robotic arm pose is converted into robotic arm control commands, which drive the robotic arm to complete the dynamic error compensation installation. Specifically, the homogeneous transformation matrix is ​​obtained by using the three-dimensional coordinates of the latches at the actual installation moment of the wall panel and the three-dimensional coordinates of the standard latches acquired 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: ； The homogeneous transformation matrix is ​​obtained as follows: ； To obtain R 0→t and T 0→t ; Among them, P kt The three-dimensional coordinates of the clips at the actual moment of wall panel installation; P k0 The standard snap-fit ​​three-dimensional coordinates; P represents k0 To P kt Translation vector; P represents k0 To P kt rotation matrix; This represents the mapping relationship from the initial record at time 0 to any time t; The compensated robotic arm pose is calculated; the robotic arm pose includes the positions of the robotic arm mounting plate and buckle at any time t, and the rotation matrix of the robotic arm at any time t, including: The formula for calculating the position of the robotic arm mounting wall panel and the buckle 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 pose into a 3×3 rotation matrix; By transforming the rotation matrix of the robotic arm at any time t into the robotic arm posture G jt .

2. The method for compensating for platform sway error during substation wall panel installation according to claim 1, characterized in that, Establishing a base coordinate system includes: Establish a base coordinate system with the robotic arm base as the origin; Establish a camera coordinate system with the left lens of the binocular camera as the origin; A mapping matrix is ​​generated by establishing the 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 identified by the binocular camera in real time are mapped to the base coordinate system.

3. The method for compensating for platform sway error during substation wall panel installation according to claim 1, characterized in that, Obtain installation data under a standard installation to obtain the standard robotic arm pose during wall panel installation, including: Obtain the standard clip's three-dimensional coordinates using a binocular camera; Obtain the standard robotic arm pose during a standard installation process performed manually. The standard robotic arm pose includes standard position and standard posture.

4. The method for compensating for platform sway error during substation wall panel installation according to claim 3, characterized in that, The steps to obtain the standard robotic arm pose during wall panel installation also include: transforming the standard pose into a 3×3 rotation matrix.

5. The method for compensating for platform sway error during substation wall panel installation according to claim 1, characterized in that, The system acquires the three-dimensional coordinates of the latch at the moment of actual wall panel installation and calculates the compensated robotic arm pose by calculating the homogeneous transformation matrix, including: Obtain the three-dimensional coordinates of the clips at the actual moment of wall panel installation; The homogeneous transformation matrix is ​​obtained by using the three-dimensional coordinates of the clips at the actual installation moment of the wall panel and the three-dimensional coordinates of the standard clips obtained by the binocular camera during standard installation. The translation vector and rotation matrix are obtained through the homogeneous transformation matrix; The compensated robotic arm pose is calculated; The robotic arm pose includes the position of the mounting plate and buckle of the robotic arm at any time t, and the robotic arm posture at any time t.

6. A compensation device for platform sway error during substation wall panel installation, characterized in that, The system includes a robotic arm, a binocular camera, and a control system for implementing a method for compensating for platform sway error during substation wall panel installation as described in any one of claims 1 to 5. The compensation device includes: The robotic arm and the binocular camera are both electrically connected to the control system, and the binocular camera is mounted on the robotic arm.

7. A control system, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can run on the processor, and when the computer program is executed by the processor, the processor causes the processor to implement a method for compensating for platform sway error during substation wall panel installation as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements a method for compensating for platform sway error during substation wall panel installation as described in any one of claims 1 to 5.

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