Heavy concrete pole butt joint robot control method
By acquiring posture information and making adjustments and verifications using a heavy-duty cement pole docking robot, the problem of error accumulation during the transportation and installation of heavy-duty cement poles was solved, achieving efficient and precise docking.
Patent Information
- Application Number
- CN202511403838.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-29
- Publication Date
- 2025-11-28
AI Technical Summary
The transportation and installation of heavy concrete poles face problems such as high costs, significant safety hazards, difficulty in controlling welding quality, and complex flange connections. Traditional methods are inefficient and accumulate serious errors.
A heavy-duty cement pole docking robot is used to generate adjustment commands by acquiring posture information, and to perform posture adjustment and verification to ensure that the two cement poles reach the appropriate relative position and angle.
This improved the precision of cement pole connection, reduced error accumulation, ensured the accuracy and safety of the connection, and reduced the time wasted on manual operations.
Smart Images
Figure CN121018575A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of power equipment installation, in particular to a control method of a heavy cement pole butt joint robot. BACKGROUND
[0002] With the continuous expansion of infrastructure construction scale, the height and weight requirements of cement poles (such as ultrahigh-voltage transmission poles and large communication tower poles) are increasingly improved. The overall transportation and installation of such heavy long poles face many challenges: the transportation cost increases significantly, and is strictly limited by road height and width regulations; the hoisting equipment requires high requirements and large investment, and the on-site operation risk is prominent. In addition, the current common welding method of cement poles relies on professional welders and high-altitude operation, and the welding quality is easily affected by environmental factors such as wind and rain and the level of manual operation, and the welding seam area often becomes a weak link of the structure, which has the risk of stress concentration and fatigue cracks, and at the same time, the efficiency is low and the safety hidden danger is large. If the flange connection method is used, the machining precision of the flange is extremely high, otherwise the butt joint eccentricity and the pole body inclination are prone to occur; the bolt pre-tightening force control is difficult, and the loosening problem may occur in long-term use; the flange itself also increases the local weight and wind resistance of the pole body, and the corrosion prevention treatment process of the connection node is complex, which further increases the engineering difficulty and maintenance cost. SUMMARY
[0003] The present application provides a control method of a heavy cement pole butt joint robot, which can quickly generate pose adjustment instructions and execute adjustment operations, and also can timely perform pose verification, avoiding the time waste caused by slow manual inspection and adjustment in the traditional method, and can accurately adjust the poses of two sections of cement poles to reach appropriate relative positions and angles, thereby improving the accuracy of cement pole butt joint.
[0004] The present application provides a control method of a heavy cement pole butt joint robot, which can quickly generate pose adjustment instructions and execute adjustment operations, and also can timely perform pose verification, avoiding the time waste caused by slow manual inspection and adjustment in the traditional method, and can accurately adjust the poses of two sections of cement poles to reach appropriate relative positions and angles, thereby improving the accuracy of cement pole butt joint. A lower section cement pole butt joint robot and an upper section cement pole butt joint robot are set, and a human-computer interaction system is set; Obtain the pose information of the lower section cement pole and the pose information of the upper section cement pole; Set the cement pole pose adjustment instructions according to the pose information of the lower section cement pole and the pose information of the upper section cement pole; Adjust the pose of the upper section cement pole according to the cement pole pose adjustment instructions, and adjust the pose of the lower section cement pole according to the cement pole pose adjustment instructions; Obtain the pose information of the lower section cement pole and the pose information of the upper section cement pole after completing the pose adjustment; Verify the poses of the lower section cement pole and the lower section cement pole according to the pose information of the lower section cement pole and the pose information of the upper section cement pole after completing the pose adjustment; The lower and upper sections of the cement pole, which have passed attitude verification, will be connected.
[0005] Furthermore, the lower cement pole docking robot includes a lower root attitude adjustment component and a lower tip attitude adjustment component.
[0006] Furthermore, the upper cement pole docking robot includes an upper root attitude adjustment component and an upper tip attitude adjustment component.
[0007] Furthermore, the human-computer interaction system includes a ruggedized laptop and a wireless access point (AP); the handheld controller includes a microcontroller, an HF-LPD130E module, a display screen, and a joystick.
[0008] Furthermore, obtaining the attitude information of the lower cement pole and the upper cement pole includes setting up a camera to acquire image data of the lower and upper cement poles, and setting up an RTK positioning module to acquire the position information of the lower and upper cement poles.
[0009] Furthermore, obtaining the attitude information of the lower section of the cement pole and the attitude information of the upper section of the cement pole includes the following steps: Acquire image and location data of the lower and upper sections of the concrete pole; The image data of the lower and upper sections of the cement pole are analyzed, as are the position data of the lower and upper sections of the cement pole. The parsed image data and location data will be sent.
[0010] Furthermore, the step of setting cement pole attitude adjustment commands based on the attitude information of the lower cement pole and the upper cement pole includes setting Z-direction displacement commands, X-direction displacement commands, and RX-direction rotation commands for the lower cement pole, and Z-direction displacement commands, Y-direction displacement commands, and RX-direction rotation commands for the upper cement pole.
[0011] A second aspect of the present invention provides a control system for a heavy-duty cement pole docking robot, including a first processing unit for acquiring the attitude information of the lower cement pole and acquiring the attitude information of the upper cement pole; The second processing unit is used to set the cement pole attitude adjustment command based on the attitude information of the lower cement pole and the attitude information of the upper cement pole. The third processing unit is used to adjust the attitude of the upper section of the cement pole according to the cement pole attitude adjustment command, and to adjust the attitude of the lower section of the cement pole according to the cement pole attitude adjustment command. The fourth processing unit is used to acquire the attitude information of the lower section of the cement pole and the attitude information of the upper section of the cement pole after the attitude adjustment is completed. The fifth processing unit is used to perform attitude verification on the lower cement pole and the upper cement pole based on the attitude information of the lower cement pole after attitude adjustment and the attitude information of the upper cement pole. The sixth processing unit is used to connect the lower and upper sections of the cement pole that have passed the attitude verification.
[0012] A third aspect of the present invention provides a computer device, comprising: Memory, transceiver, processor, and bus system; The memory is used to store programs; The processor is used to execute the program in the memory, including executing the above-described control method for a heavy-duty cement pole docking robot. The bus system is used to connect the memory and the processor to enable communication between the memory and the processor.
[0013] A fourth aspect of the present invention provides a readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the steps of the above-described control method for a heavy-duty cement pole docking robot.
[0014] As can be seen from the above technical solutions, the present invention has the following advantages: This invention, by acquiring the attitude information of the lower and upper sections of the cement pole, can quickly generate attitude adjustment commands and execute the adjustment operations. It also allows for timely attitude verification; if any discrepancies are found, rapid corrections can be made. This avoids the time wasted due to slow manual inspection and adjustment in traditional methods. It can precisely adjust the attitude of the two cement pole sections to achieve the appropriate relative position and angle, thereby improving the accuracy of cement pole docking. It avoids the error accumulation problem that may occur in traditional cement pole docking processes due to inaccurate manual operation. Through automated control and precise attitude adjustment, this error accumulation is effectively reduced, ensuring the accuracy of the docking.
[0015] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from an examination of the following, or may be learned from the practice of the invention. Attached Figure Description
[0016] Figure 1 The method flowchart provided by the present invention. Detailed Implementation
[0017] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “corresponding to,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0018] Example 1 The implementation method in this embodiment can be implemented in a system, on a server, or on a terminal; no specific limitation is made. The method in this application will be described from the perspective of system implementation below. As shown in the figure, a control method for a heavy-duty cement pole docking robot includes the following steps: Set up a lower cement pole docking robot and an upper cement pole docking robot, and set up a human-machine interaction system; Obtain the attitude information of the lower section of the cement pole and the attitude information of the upper section of the cement pole; Set the cement pole attitude adjustment command based on the attitude information of the lower cement pole and the upper cement pole; The posture of the upper section of the cement pole is adjusted according to the cement pole posture adjustment command, and the posture of the lower section of the cement pole is adjusted according to the cement pole posture adjustment command. Obtain the attitude information of the lower section of the cement pole and the upper section of the cement pole after attitude adjustment is completed; The attitude of the lower cement pole and the upper cement pole is verified based on the attitude information of the lower cement pole after attitude adjustment and the attitude information of the upper cement pole. The lower and upper sections of the cement pole, which have passed attitude verification, will be connected.
[0019] The control method for the heavy-duty cement pole docking robot can be implemented in a system that includes a lower cement pole docking robot, an upper cement pole docking robot, and a human-machine interface system. The human-machine interface system is used by operators to monitor the entire docking process and input commands.
[0020] During operation, the system acquires the attitude information of both the lower and upper concrete poles. Accurate acquisition of this information allows the system to determine the current spatial position and orientation of the two poles, providing a basis for subsequent precise docking. Based on the acquired attitude information, the system calculates and generates corresponding attitude adjustment commands. These commands are designed to ensure the two poles achieve a suitable relative position and attitude for successful docking.
[0021] Following the generated cement pole attitude adjustment instructions, the attitudes of the upper and lower cement pole sections are adjusted separately. This adjustment changes the position and orientation of the two sections in space, bringing them closer to the target attitude for docking. After the attitude adjustment is complete, the attitude information of the upper and lower cement pole sections is acquired again. Then, based on this new attitude information, the attitudes of the upper and lower cement pole sections are verified. The purpose of this verification is to ensure that the two cement pole sections have achieved the precise attitude required for docking after adjustment. If the verification fails, it may be necessary to repeat the attitude adjustment and verification until the docking conditions are met. Once the attitude verification is successful, it indicates that the upper and lower cement pole sections have achieved the appropriate attitude. At this point, they are docked to complete the assembly of the heavy-duty cement pole.
[0022] Example 2 The difference between this embodiment and Embodiment 1 is that the lower cement pole docking robot includes a lower root attitude adjustment component and a lower tip attitude adjustment component.
[0023] Example 2 and Example 1 share the same basic working principle, which includes steps such as setting up the relevant robot and human-computer interaction system, acquiring posture information, generating posture adjustment commands, executing posture adjustment, performing posture verification, and finally connecting the cement pole.
[0024] During attitude adjustment, the overall attitude of the lower concrete pole can be more precisely adjusted by controlling the attitude adjustment components at the root and tip of the lower section separately. For example, when adjusting the tilt angle of the lower concrete pole, the root or tip can be adjusted individually, or both can be adjusted simultaneously as needed to achieve better adjustment results. This helps improve the accuracy and reliability of concrete pole docking, better adapts to docking requirements under different conditions, and reduces docking failures or large errors caused by inaccurate attitude adjustment.
[0025] Example 3 The difference between this embodiment and Embodiment 2 is that the upper cement pole docking robot includes an upper root attitude adjustment component and an upper tip attitude adjustment component.
[0026] The upper root attitude adjustment component can adjust the position and angle of the root of the upper concrete pole, while the upper tip attitude adjustment component can adjust the tip of the upper concrete pole accordingly. During attitude adjustment, by controlling the upper root and upper tip attitude adjustment components separately, the overall attitude of the upper concrete pole can be adjusted more precisely. For example, when adjusting the tilt angle of the upper concrete pole, the root or tip can be adjusted individually, or both can be adjusted simultaneously as needed to achieve a better adjustment effect.
[0027] Example 4 The difference between this embodiment and embodiment three is that the human-computer interaction system includes a ruggedized laptop and a wireless AP; the handheld controller includes a microcontroller, an HF-LPD130E module, a display screen, and a joystick.
[0028] Ruggedized laptops offer high stability and reliability, enabling them to operate normally in complex industrial environments. Wireless access points (APs) allow operators to wirelessly connect to the system within a certain range, facilitating robot control and monitoring from different locations and improving operational flexibility and convenience.
[0029] The microcontroller in the handheld controller serves as the control core, capable of rapidly processing various control commands and data. The HF-LPD130E module may be used to implement wireless communication functions, enabling the handheld controller to interact with other devices in the system. The display screen can show real-time information such as the cement pole's posture and adjustment commands, allowing operators to easily understand the current working status. The joystick provides operators with an intuitive and convenient operating method, allowing for direct manual control of the robot's posture and other aspects.
[0030] Example 5 The difference between this embodiment and embodiment four is that obtaining the attitude information of the lower cement pole and the upper cement pole includes setting up a camera to obtain image data of the lower and upper cement poles and setting up an RTK positioning module to obtain the position information of the lower and upper cement poles.
[0031] The camera can capture real-time images of both the lower and upper sections of the concrete pole. Through image recognition and processing technology, it can obtain the pole's posture information, such as tilt angle and positional deviation. The image data can intuitively reflect the appearance and posture of the concrete pole, providing detailed visual information for posture adjustment.
[0032] RTK positioning module acquires location information: RTK (Real-Time Kinematic) positioning module is a high-precision satellite positioning technology that can acquire the precise location information of the lower and upper sections of the concrete pole in real time. Through the RTK positioning module, the coordinate position of the concrete pole in space can be accurately determined, providing a precise position reference for attitude adjustment.
[0033] Example 6 The difference between this embodiment and embodiment five is that obtaining the attitude information of the lower section of the cement pole and obtaining the attitude information of the upper section of the cement pole includes the following steps: Acquire image and location data of the lower and upper sections of the concrete pole; The image data of the lower and upper sections of the cement pole are analyzed, as are the position data of the lower and upper sections of the cement pole. The parsed image data and location data will be sent.
[0034] Image and position data of the lower and upper sections of the concrete pole are acquired using devices such as cameras and RTK positioning modules. The acquired data includes both the external image of the concrete pole and its precise position information. The acquired image data and position data of the lower and upper sections of the concrete pole are then parsed. Through parsing, the raw image and position data can be transformed into attitude information that the system can understand and process.
[0035] Example 7 The difference between this embodiment and embodiment six is that the setting of cement pole attitude adjustment commands based on the attitude information of the lower cement pole and the upper cement pole includes setting Z-direction displacement commands, X-direction displacement commands, and RX-direction rotation commands for the lower cement pole, and Z-direction displacement commands, Y-direction displacement commands, and RX-direction rotation commands for the upper cement pole.
[0036] The Z-direction displacement command controls the position adjustment of the lower cement pole in the Z direction (usually the vertical direction) to ensure that it can be correctly aligned with the upper cement pole in terms of height.
[0037] The X-direction displacement command controls the position adjustment of the lower cement pole in the X direction (usually the horizontal direction) to ensure that it can be correctly aligned with the upper cement pole in a horizontal position.
[0038] The RX rotation command controls the rotation of the lower cement pole around the X-axis to adjust its angle in the horizontal plane, ensuring that its angle matches that of the upper cement pole.
[0039] The Z-direction displacement command controls the position adjustment of the upper cement pole in the Z direction to ensure that it can be correctly aligned with the lower cement pole in terms of height.
[0040] The Y-direction displacement command controls the position adjustment of the upper cement pole in the Y direction (usually the horizontal direction, perpendicular to the X direction) to ensure that it can be correctly aligned with the lower cement pole in a horizontal position.
[0041] The RX rotation command controls the rotation of the upper cement pole around the X-axis to adjust its angle in the horizontal plane and ensure that its angle matches that of the lower cement pole.
[0042] Example 8 A control system for a heavy-duty cement pole docking robot includes a first processing unit for acquiring the attitude information of the lower cement pole and the attitude information of the upper cement pole. The second processing unit is used to set the cement pole attitude adjustment command based on the attitude information of the lower cement pole and the attitude information of the upper cement pole. The third processing unit is used to adjust the attitude of the upper section of the cement pole according to the cement pole attitude adjustment command, and to adjust the attitude of the lower section of the cement pole according to the cement pole attitude adjustment command. The fourth processing unit is used to acquire the attitude information of the lower section of the cement pole and the attitude information of the upper section of the cement pole after the attitude adjustment is completed. The fifth processing unit is used to perform attitude verification on the lower cement pole and the upper cement pole based on the attitude information of the lower cement pole after attitude adjustment and the attitude information of the upper cement pole. The sixth processing unit is used to connect the lower and upper sections of the cement pole that have passed the attitude verification.
[0043] Example 9 A computer device, comprising: Memory, transceiver, processor, and bus system; The memory is used to store programs; The processor is used to execute the program in the memory, including executing the above-described control method for a heavy-duty cement pole docking robot. The bus system is used to connect the memory and the processor to enable communication between the memory and the processor.
[0044] Example 10 A readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the steps of the above-described control method for a heavy-duty cement pole docking robot.
[0045] In summary, this invention, by acquiring the attitude information of the lower and upper cement pole sections, can quickly generate attitude adjustment commands and execute the adjustment operations. It also allows for timely attitude verification; if any discrepancies are found, rapid corrections can be made. This avoids the time wasted due to slow manual inspection and adjustment in traditional methods. It can precisely adjust the attitude of the two cement pole sections to achieve the appropriate relative position and angle, thereby improving the accuracy of cement pole docking. It avoids the error accumulation problem that may occur in traditional cement pole docking processes due to inaccurate manual operation. Through automated control and precise attitude adjustment, this error accumulation is effectively reduced, ensuring the accuracy of the docking.
[0046] It is understood that those skilled in the art can combine various implementation methods in the above embodiments under the guidance of the above examples to obtain technical solutions with multiple implementation methods.
[0047] Those skilled in the art will recognize that the units of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the invention.
[0048] In the embodiments provided by the present invention, it should be understood that the division of units is only a logical functional division. In actual implementation, there may be other division methods, such as multiple units can be combined into one unit, one unit can be split into multiple units, or some features can be ignored.
[0049] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0050] If the integrated unit is implemented as 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 the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.
[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A control method for a heavy-duty cement pole docking robot, characterized in that, Includes the following steps: Set up a lower cement pole docking robot and an upper cement pole docking robot, and set up a human-machine interaction system; Obtain the attitude information of the lower section of the cement pole and the attitude information of the upper section of the cement pole; Set the cement pole attitude adjustment command based on the attitude information of the lower cement pole and the upper cement pole; The posture of the upper section of the cement pole is adjusted according to the cement pole posture adjustment command, and the posture of the lower section of the cement pole is adjusted according to the cement pole posture adjustment command. Obtain the attitude information of the lower section of the cement pole and the upper section of the cement pole after attitude adjustment is completed; The attitude of the lower cement pole and the upper cement pole is verified based on the attitude information of the lower cement pole after attitude adjustment and the attitude information of the upper cement pole. The lower and upper sections of the cement pole, which have passed attitude verification, will be connected.
2. The control method for a heavy-duty cement pole docking robot according to claim 1, characterized in that, The lower section cement pole docking robot includes a lower section root attitude adjustment component and a lower section tip attitude adjustment component.
3. The control method for a heavy-duty cement pole docking robot according to claim 1, characterized in that, The upper cement pole docking robot includes an upper root attitude adjustment component and an upper tip attitude adjustment component.
4. The control method for a heavy-duty cement pole docking robot according to claim 1, characterized in that, The human-computer interaction system includes a ruggedized laptop and a wireless access point (AP); the handheld controller includes a microcontroller, an HF-LPD130E module, a display screen, and a joystick.
5. The control method for a heavy-duty cement pole docking robot according to claim 1, characterized in that, The process of obtaining the attitude information of the lower cement pole and the upper cement pole includes setting up a camera to acquire image data of the lower and upper cement poles, and setting up an RTK positioning module to acquire the position information of the lower and upper cement poles.
6. The control method for a heavy-duty cement pole docking robot according to claim 1, characterized in that, The process of obtaining the attitude information of the lower section of the cement pole and the attitude information of the upper section of the cement pole includes the following steps: Acquire image and location data of the lower and upper sections of the concrete pole; The image data of the lower and upper sections of the cement pole are analyzed, as are the position data of the lower and upper sections of the cement pole. The parsed image data and location data will be sent.
7. The control method for a heavy-duty cement pole docking robot according to claim 1, characterized in that, The method of setting cement pole attitude adjustment commands based on the attitude information of the lower cement pole and the upper cement pole includes setting Z-direction displacement commands, X-direction displacement commands, and RX-direction rotation commands for the lower cement pole, and Z-direction displacement commands, Y-direction displacement commands, and RX-direction rotation commands for the upper cement pole.
8. A control system for a heavy-duty cement pole docking robot, characterized in that, It includes a first processing unit, used to acquire the attitude information of the lower section of the cement pole and acquire the attitude information of the upper section of the cement pole; The second processing unit is used to set the cement pole attitude adjustment command based on the attitude information of the lower cement pole and the attitude information of the upper cement pole. The third processing unit is used to adjust the attitude of the upper section of the cement pole according to the cement pole attitude adjustment command, and to adjust the attitude of the lower section of the cement pole according to the cement pole attitude adjustment command. The fourth processing unit is used to acquire the attitude information of the lower section of the cement pole and the attitude information of the upper section of the cement pole after the attitude adjustment is completed. The fifth processing unit is used to perform attitude verification on the lower cement pole and the upper cement pole based on the attitude information of the lower cement pole after attitude adjustment and the attitude information of the upper cement pole. The sixth processing unit is used to connect the lower and upper sections of the cement pole that have passed the attitude verification.
9. A computer device, characterized in that, include: Memory, transceiver, processor, and bus system; The memory is used to store programs; The processor is used to execute programs in the memory, including executing a heavy-duty cement pole docking robot control method as described in any one of claims 1 to 7; The bus system is used to connect the memory and the processor to enable communication between the memory and the processor.
10. A readable storage medium storing computer-readable instructions, characterized in that, When the computer-readable instructions are executed by the processor, they implement the steps of the control method for a heavy-duty cement pole docking robot as described in any one of claims 1 to 7.