Insulator detection system and insulator detection method

Abstract

The invention belongs to the technical field of insulator detection, and discloses an insulator detection system and an insulator detection method.The insulator detection system comprises a flying robot, a shear fork type mechanical arm and a detection device; the flying robot is used for carrying the scissor-type mechanical arm and the detection device to fly to a hovering position, so that the detection device is placed on a target insulator through the scissor-type mechanical arm; the scissor type mechanical arm comprises a mechanical arm control module, a multi-stage scissor telescopic mechanism, a wrist joint pose compensation mechanism and a tail end executing mechanism. The scissor-type mechanical arm is used for driving the scissor-type mechanical arm to operate through the mechanical arm control module according to the mechanical arm kinematics model, so that the tail end executing mechanism conducts grabbing or placing, and meanwhile the grabbing operation or placing operation is compensated through the self-adaptive compensation function of the wrist joint pose compensation mechanism; according to the insulator detection system, the precision of placing operation and grabbing operation can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of insulator detection, in particular to an insulator detection system and an insulator detection method. BACKGROUND

[0002] With the rapid development of industrial and agricultural production, the demand for electricity in society is increasing, and the reliability of power supply of the power system is also increasing. In the field of high-voltage overhead transmission lines, inspection, maintenance and construction tasks are crucial to ensure the stable operation of the power system. However, traditional high-voltage transmission line operations face many challenges and problems, such as complex operating environment, high risk of manual operation, low work efficiency, etc.

[0003] In order to solve the challenges of traditional operations, using unmanned aerial vehicles as a tool for implementing field high-altitude maintenance has become an indispensable maintenance method for high-voltage overhead transmission lines, and has broad market application prospects. However, the existing detection system carried by the unmanned aerial vehicle often has the following problems when detecting the insulator: First, since the insulator is usually located at high altitude and the environment is complex, the unmanned aerial vehicle is easily disturbed by factors such as air flow disturbance and wind force when placing and grabbing the detection device at the hovering position, resulting in insufficient placement or grabbing precision, and even the insulator or the detection device may be damaged. Second, the existing detection system lacks effective pose compensation mechanisms when placing and grabbing the detection device, making it difficult to cope with impact loads that may occur during operation, thereby affecting the stability and safety of the operation. In addition, the existing detection system usually needs manual fine adjustment when placing and grabbing the detection device, which is low in operation efficiency and has high skill requirements for the operator. Therefore, how to improve the precision, stability and efficiency of the unmanned aerial vehicle-carrying insulator detection system in placing and grabbing the detection device in a complex environment is a technical problem that needs to be solved urgently.

[0004] In view of the above problems, the existing technology needs to be improved. SUMMARY

[0005] The purpose of the present application is to provide an insulator detection system and an insulator detection method. The detection device is carried by a flying robot and a scissor-type mechanical arm for flying. The mechanical arm control module of the scissor-type mechanical arm is used to drive the multi-stage scissor telescopic mechanism, the wrist joint pose compensation mechanism and the end execution mechanism to operate according to the preset mechanical arm kinematics model. The end execution mechanism grasps or places the detection device. At the same time, the adaptive compensation function of the wrist joint pose compensation mechanism is used to compensate the grasping operation or the placing operation of the end execution mechanism. Thus, the detection device is accurately placed on the target insulator for detection. The existing insulator detection system carried by the unmanned aerial vehicle for detection has the problems of insufficient placing or grasping precision, lack of effective pose compensation mechanism, difficulty in coping with impact load that may occur during operation and low operation efficiency. The mechanical arm kinematics model of the scissor-type mechanical arm and the adaptive compensation function of the wrist joint pose compensation mechanism can effectively cope with the pose deviation and impact load that may occur during the placing and grasping operation of the detection device in complex environments, thereby significantly improving the precision, stability and safety of the placing operation and the grasping operation.

[0006] In a first aspect, the present application provides an insulator detection system for detecting an insulator, comprising a flying robot, a scissor-type mechanical arm arranged below the flying robot, and a detection device clamped at the end of the scissor-type mechanical arm. The flying robot is used to carry the scissor-type mechanical arm and the detection device to fly to a hovering position, so as to place the detection device on a target insulator by the scissor-type mechanical arm. The detection device is used to detect the target insulator. The scissor-type mechanical arm comprises a mechanical arm control module, a multi-stage scissor telescopic mechanism, a wrist joint pose compensation mechanism and an end execution mechanism connected in turn from top to bottom. The scissor-type mechanical arm is used to drive the multi-stage scissor telescopic mechanism to operate by the mechanical arm control module according to the preset mechanical arm kinematics model, so as to drive the wrist joint pose compensation mechanism and the end execution mechanism to move. The end execution mechanism grasps or places the detection device. At the same time, the adaptive compensation function of the wrist joint pose compensation mechanism is used to compensate the grasping operation or the placing operation of the end execution mechanism.

[0007] The insulator detection system provided by the application can realize detection of insulators, flying of a detection device carried by a flying robot and a scissor type mechanical arm, driving of a multi-stage scissor type telescopic mechanism, a wrist joint pose compensation mechanism and an end execution mechanism by a mechanical arm control module of the scissor type mechanical arm according to a preset mechanical arm kinematics model, grabbing or placing of the detection device by the end execution mechanism, compensation of the grabbing operation or the placing operation of the end execution mechanism by the adaptive compensation function of the wrist joint pose compensation mechanism, and accurate placement of the detection device on a target insulator for detection, so as to solve the problems of insufficient placing or grabbing precision, lack of effective pose compensation mechanism, difficulty in coping with impact load that may occur in the operation process and low operation efficiency of the existing insulator detection system when the insulator detection system is carried by a UAV for detection, effectively cope with the pose deviation and impact load that may occur when the detection device is placed and grabbed in a complex environment by using the mechanical arm kinematics model of the scissor type mechanical arm and the adaptive compensation function of the wrist joint pose compensation mechanism, and significantly improve the precision, stability and safety of the placing operation and the grabbing operation.

[0008] Optionally, the wrist joint pose compensation mechanism comprises a wrist joint base, a wrist joint piston assembly, a mechanical claw connecting seat and a pressure sensor fixedly connected with the wrist joint base, and a laser distance sensor and a monocular vision sensor installed on the end execution mechanism; the pressure sensor, the laser distance sensor and the monocular vision sensor are in communication connection with the mechanical arm control module. The wrist joint base is used to fix the positions of the wrist joint piston assembly, the mechanical claw connecting seat and the pressure sensor. The wrist joint piston assembly is used to compensate the grabbing operation or the placing operation of the end execution mechanism according to the load signal fed back by the pressure sensor. The mechanical claw connecting seat is arranged between the wrist joint base and the end execution mechanism, and is used to connect the wrist joint base and the end execution mechanism. The pressure sensor is arranged between the wrist joint piston assembly and the wrist joint base, and is used to measure the total load size borne by the end execution mechanism and the detection device. The laser distance sensor is used to measure the distance from the laser distance sensor to the detection device. The monocular vision sensor is used to acquire image information of the detection device.

[0009] Optionally, the wrist joint piston assembly comprises a wrist joint piston cavity, a flange plunger and a spiral spring; the flange plunger is movably arranged inside the wrist joint piston cavity; one end of the flange plunger is fixedly connected with the mechanical claw connecting seat, and the other end is surrounded by the spiral spring and installed in the wrist joint piston cavity together with the spiral spring; the outer surface of the flange plunger not surrounded by the spiral spring is in engagement with the inner surface of the wrist joint piston cavity; The wrist joint piston cavity is used to limit the movement range of the flange plunger and the spiral spring; The flange plunger is used to move in the wrist joint piston cavity to compensate for the grasping operation or the placing operation of the end effector when the load signal fed back by the pressure sensor changes; The spiral spring is used to absorb impact load and assist in resetting when the end effector performs the grasping operation and the placing operation.

[0010] The insulator detection system provided by the application can detect the insulator, effectively absorb impact load and assist in resetting through the cooperation of the flange plunger and the spiral spring, thereby providing a more stable and safer compensation mechanism during the grasping and placing operations. This significantly enhances the stability of the system in response to sudden impact, reduces the risk of damage to the insulator or the detection device, and further improves the reliability of the grasping operation and the placing operation.

[0011] Optionally, the wrist joint piston assembly is further provided with a flange seat; The flange seat is arranged between the flange plunger and the wrist joint base, and is used to bear the axial tension applied to the flange plunger by external load.

[0012] Optionally, the multi-stage scissor telescopic mechanism is provided with at least one telescopic mechanism; the telescopic mechanism comprises a telescopic component base, a telescopic driving component and a moving telescopic component; the telescopic component base is fixedly connected with the moving telescopic component and the telescopic driving component respectively; the telescopic driving component is electrically connected with the mechanical arm control module and the moving telescopic component respectively; the telescopic mechanism is provided with at least two moving telescopic components, and each moving telescopic component is uniformly arranged in the telescopic component base; The telescopic component base is used to fix the positions of the moving telescopic component and the telescopic driving component; The telescopic driving component is used to drive the moving telescopic component; The moving telescopic component is used to adjust the length of the multi-stage scissor telescopic mechanism.

[0013] The insulator detection system provided by the application can detect insulators, drive the movable telescopic assembly through the telescopic driving assembly, and accurately adjust the length of the scissor arm. This enables the scissor arm to flexibly adjust its telescopic length according to different operation requirements and insulator positions, thereby expanding the operation range and improving the adaptability of the insulator detection system to different operation scenarios.

[0014] Optionally, the movable telescopic assembly comprises a slidingly connected linear movement mechanism and a scissor linkage mechanism; the linear movement mechanism comprises a fixed block, a linear slide rail and a sliding block; the linear slide rail and the sliding block are slidingly connected; the linear slide rail and the fixed block are fixedly connected with the telescopic assembly base; the sliding block and the fixed block are fixedly connected with the scissor linkage mechanism; the linear slide rail is provided with a limiting module at each end; the scissor linkage mechanism is composed of a plurality of cross linkages which are sequentially hingedly connected; the cross linkage comprises two link rods which are hingedly connected at the middle point; the linear movement mechanism is provided with two, which are arranged at the upper and lower ends of the scissor linkage mechanism, and are denoted as a first linear movement mechanism and a second linear movement mechanism; one end of the scissor linkage mechanism is connected with the fixed block and the sliding block of the first linear movement mechanism through the two link rods of the topmost cross linkage, and the other end is connected with the fixed block and the sliding block of the second linear movement mechanism through the two link rods of the bottommost cross linkage; The linear movement mechanism is used for driving the sliding block to move to drive the scissor linkage mechanism to perform elongation movement and retraction movement; The scissor linkage mechanism is used for performing elongation movement and retraction movement to adjust the length of the multi-stage scissor telescopic mechanism.

[0015] Optionally, the telescopic mechanism is provided with one, and the second linear movement mechanism is fixedly connected with the wrist joint base of the wrist joint pose compensation mechanism.

[0016] Optionally, the telescopic mechanism is provided with at least two, and each telescopic mechanism is sequentially connected through an elbow joint assembly; the elbow joint assembly comprises an elbow joint base, and an elbow joint driving assembly and an elbow joint transmission assembly which are fixedly connected with the elbow joint base; the elbow joint transmission assembly comprises an elbow joint upper bottom plate and an elbow joint lower bottom plate which are hingedly connected, the elbow joint upper bottom plate is fixedly connected with the elbow joint base, and the elbow joint lower bottom plate is fixedly connected with the telescopic assembly base of the next telescopic mechanism; the second linear movement mechanism of the last telescopic mechanism is fixedly connected with the wrist joint base of the wrist joint pose compensation mechanism. The elbow joint base is used for fixing the positions of the elbow joint driving assembly and the elbow joint transmission assembly; The elbow joint driving assembly is used for driving the elbow joint transmission assembly. The elbow joint transmission assembly is used to adjust the position of the next telescopic mechanism through the hinge connection of the elbow joint upper bottom plate and the elbow joint lower bottom plate, so as to adjust the movement angle of the multi-stage scissor telescopic mechanism.

[0017] Optionally, the end effector comprises a clamping manipulator and an end driving mechanism connected electrically. The clamping manipulator is used to grab and place the detection device. The end driving mechanism is used to drive the clamping manipulator.

[0018] In a second aspect, the application provides an insulator detection method, which is applied to the insulator detection system described above to detect insulators, and comprises the following steps: Obtaining position information of a target insulator; Based on the position information, generating an optimal flight trajectory of the insulator detection system; Controlling a flight robot of the insulator detection system to fly to a hovering position corresponding to the optimal flight trajectory; According to a preset kinematic model of a mechanical arm, and in combination with an adaptive compensation function of the wrist joint pose compensation mechanism, controlling the insulator detection system to drive the scissor-type mechanical arm to place the detection device to a target placement position at the hovering position; Controlling the detection device to detect the target insulator to obtain an insulator detection result.

[0019] The insulator detection method provided by the application can detect insulators, and through the preset kinematic model of the mechanical arm and the adaptive compensation function of the wrist joint pose compensation mechanism, the scissor-type mechanical arm is driven to accurately place the detection device on the target insulator for detection after the insulator detection system flies to the hovering position, effectively coping with the possible pose deviation and impact load when the detection device is placed and grabbed in a complex environment, thereby significantly improving the precision, stability and safety of the placement operation and the grabbing operation.

[0020] Beneficial effects: the insulator detection system provided by the application, through the flight robot and the scissor type mechanical arm carrying the detection device for flight, utilizes the mechanical arm control module of the scissor type mechanical arm, drives the multi-stage scissor telescopic mechanism, the wrist joint pose compensation mechanism and the end execution mechanism to operate according to the preset mechanical arm kinematics model, makes the end execution mechanism grasp or place the detection device, at the same time, utilizes the adaptive compensation function of the wrist joint pose compensation mechanism to compensate the grasping operation or the placing operation of the end execution mechanism, so as to accurately place the detection device on the target insulator for detection, solves the problems that the existing insulator detection system lacks effective pose compensation mechanism, is difficult to cope with the impact load that may appear in the operation process and has low operation efficiency when using the unmanned aerial vehicle to carry out the detection of the insulator, can utilize the mechanical arm kinematics model of the scissor type mechanical arm and the adaptive compensation function of the wrist joint pose compensation mechanism to effectively cope with the pose deviation and impact load that may appear when the detection device is placed and grasped in the complex environment, so as to significantly improve the precision, stability and safety of the placing operation and the grasping operation. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 The first structural schematic diagram of the insulator detection system provided by the embodiment of the application.

[0022] Figure 2 The second structural schematic diagram of the insulator detection system.

[0023] Figure 3 The structural schematic diagram of the scissor type mechanical arm.

[0024] Figure 4 The structural schematic diagram of the linear motion mechanism.

[0025] Figure 5 The structural schematic diagram of the wrist joint pose compensation mechanism.

[0026] Figure 6 The description schematic diagram of the mechanical arm kinematics model.

[0027] Figure 7 The flow schematic diagram of the insulator detection method provided by the embodiment of the application.

[0028] Label description: 1, flying robot; 2, scissor type mechanical arm; 3, detection device; 4, mechanical arm control module; 5, multi-stage scissor telescopic mechanism; 6, wrist joint pose compensation mechanism; 7, end execution mechanism; 8, wrist joint base; 9, wrist joint piston assembly; 10, mechanical claw connecting seat; 11, pressure sensor; 12, laser distance sensor; 13, monocular vision sensor; 14, wrist joint piston cavity; 15, flange plunger; 16, spiral spring; 17, telescopic mechanism; 18, telescopic assembly base; 19, telescopic drive assembly; 20, moving telescopic assembly; 21, linear motion mechanism; 22, scissor linkage mechanism; 23, fixed block; 24, linear slide rail; 25, slider; 26, elbow joint assembly; 27, elbow joint base; 28, elbow joint drive assembly; 29, elbow joint transmission assembly; 30, clamping manipulator; 31, end driving mechanism; 32, insulator to be detected. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0030] It should be noted that: similar labels and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used for differentiation description, and cannot be understood as indicating or implying relative importance.

[0031] Please refer to Figure 1 and Figure 2 , Figure 1 and Figure 2 is an insulator detection system in some embodiments of the present application, which is used for detecting insulators, comprising a flying robot 1, a scissor type mechanical arm 2 arranged below the flying robot 1, and a detection device 3 clamped at the end of the scissor type mechanical arm 2; The flying robot 1 is used to carry the scissor type mechanical arm 2 and the detection device 3 to fly to a hovering position, so as to place the detection device 3 on the target insulator (i.e. the insulator to be detected 32) through the scissor type mechanical arm 2; The detection device 3 is used to detect the target insulator; The scissor type mechanical arm 2 comprises, from top to bottom, a mechanical arm control module 4, a multi-stage scissor telescopic mechanism 5, a wrist joint pose compensation mechanism 6 and an end execution mechanism 7; the scissor type mechanical arm 2 is used to drive the multi-stage scissor telescopic mechanism 5 to operate by the mechanical arm control module 4 according to a preset mechanical arm kinematic model, so as to drive the wrist joint pose compensation mechanism 6 and the end execution mechanism 7 to move, so that the end execution mechanism 7 grasps or places the detection device 3, and at the same time, the adaptive compensation function of the wrist joint pose compensation mechanism 6 is used to compensate the grasping operation or the placing operation of the end execution mechanism 7.

[0032] In specific applications, as shown in Figure 1 and Figure 2 , the insulator detection system comprises a flying robot 1, a scissor type mechanical arm 2 arranged below the flying robot 1, and a detection device 3 arranged at the end of the scissor type mechanical arm 2.

[0033] In the insulator detection system, the flying robot 1 is an unmanned aerial vehicle platform capable of autonomous flight, for example, a multi-rotor unmanned aerial vehicle, and its main function is to carry the scissor type mechanical arm 2 and the detection device 3 to fly to a predetermined hovering position, so that the scissor type mechanical arm 2 can accurately place the detection device 3 on the target insulator. The hovering position refers to a high-altitude area above the target insulator, and the distance between the hovering position and the target insulator is generally set to 0.8-2m. The flying robot 1 has normal unmanned aerial vehicle functions, such as a sensing and perception module composed of visual sensors (high-definition cameras), distance sensors (laser, ultrasonic), IMU (inertial navigation elements), incremental / absolute encoders and other sensor components, a GNSS combined positioning module and a main control module with communication and control capabilities, and other modules capable of realizing unmanned aerial vehicle functions.

[0034] As shown in Figure 2 , Figure 3As shown, the scissor-type mechanical arm 2 is a mechanical arm with multi-stage telescopic capability, which has structural characteristics that enable it to achieve a larger telescopic range in a limited space, thereby achieving the placement and grabbing of the detection device 3. The scissor-type mechanical arm 2 includes, from top to bottom, a mechanical arm control module 4, a multi-stage scissor telescopic mechanism 5, a wrist joint pose compensation mechanism 6, and an end execution mechanism 7. The mechanical arm control module 4 can be an embedded controller, such as a microcontroller based on an ARM processor, which runs kinematics and dynamics algorithms for the mechanical arm inside. The module receives instructions from the flying robot 1 and calculates the motion trajectory and driving torque of each joint according to the preset kinematics model of the mechanical arm. The multi-stage scissor telescopic mechanism 5 can be composed of multiple scissor units connected in series, each driven by a motor or hydraulic cylinder to achieve independent telescoping. The wrist joint pose compensation mechanism 6 can be a passive or active flexible mechanism. For example, a spring damping system can be used to absorb impact loads through compression and extension of the spring, and to suppress vibrations through dampers. A hydraulic or pneumatic piston system can also be used to provide compensation force by controlling fluid pressure. The end execution mechanism 7 can be a two-finger or multi-finger mechanical gripper for grabbing and placing the detection device 3.

[0035] wherein the preset kinematics model of the mechanical arm is specifically: ; wherein, is the state quantity of the wrist joint of the mechanical arm (the connection between the wrist joint pose compensation mechanism 6 and the end execution mechanism 7, i.e., the mechanical gripper connecting seat 10) at time k; is the length of the scissor-type mechanical arm 2; is the sum of the horizontal velocities of each telescopic mechanism 17 of the multi-stage scissor telescopic mechanism 5 in the scissor-type mechanical arm 2; n is the total number of telescopic mechanisms 17 of the multi-stage scissor telescopic mechanism 5 in the scissor-type mechanical arm 2, n≥i, n, i are positive integers; is the length of the i-th telescopic mechanism 17 of the multi-stage scissor telescopic mechanism 5 in the scissor-type mechanical arm 2; is the horizontal velocity of the i-th telescopic mechanism 17 of the multi-stage scissor telescopic mechanism 5 in the scissor-type mechanical arm 2; is the sum of the lengths of the scissor linkage mechanisms of each telescopic mechanism 17 of the multi-stage scissor telescopic mechanism 5 in the scissor-type mechanical arm 2; is the sum of the position bias distances of the multi-stage scissor telescopic mechanism 5 in the scissor-type mechanical arm 2 (i.e., the fixed distances of each mechanism in the multi-stage scissor telescopic mechanism 5), The position offset distance of the i-th telescopic mechanism 17 in the multi-stage telescopic mechanism 5 includes the distance from the first linear motion mechanism in the i-th telescopic mechanism 17 (if the i-th telescopic mechanism is not the first telescopic mechanism 17, it is the hinge connection of the last elbow joint transmission assembly 29) to the intersection point of the corresponding slider 25 (or fixed block 23, the intersection point of the slider 25 and the cross link and the intersection point of the fixed block 23 and the cross link are located on the same horizontal line) and the uppermost cross link of the i-th telescopic mechanism 17 (the distance is a fixed distance), and the distance from the slider 25 of the second linear motion mechanism in the i-th telescopic mechanism 22 to the intersection point of the bottommost cross link to the hinge connection of the last elbow joint transmission assembly 29 (if the i-th telescopic mechanism 17 is the last telescopic mechanism 17, it is the intersection point of the slider 25 of the second linear motion mechanism in the i-th telescopic mechanism 22 to the bottommost cross link to the mechanical claw connecting seat 10) (the distance is a fixed distance); The sum of the derivatives of the movement distance of each telescopic mechanism 17 in the multi-stage telescopic mechanism 5 of the scissor type mechanical arm 2 in the horizontal direction with respect to time k, The derivative of the movement distance of the i-th telescopic mechanism 17 in the multi-stage telescopic mechanism 5 of the scissor type mechanical arm 2 in the horizontal direction with respect to time k.

[0036] The detection device 3 is a device for detecting the insulator, which can be a device integrating infrared thermal imager, visible light camera, ultraviolet imager and other equipment, and its function is to perform contact detection task of target object to obtain the state information of the insulator.

[0037] After the flying robot 1 reaches the hovering position, the scissor arm 2 starts working. The arm control module 4 calculates the optimal path and pose for placing the detection device 3 on the target insulator based on a pre-set kinematic model of the arm. This model takes into account the arm's geometry, joint limitations, and the target insulator's position information. Subsequently, the arm control module 4 drives the multi-stage scissor extension mechanism 5, the wrist joint pose compensation mechanism 6, and the end effector 7 to work collaboratively. The multi-stage scissor extension mechanism 5 adjusts the overall length of the arm to enable it to reach the target insulator. The end effector 7 is responsible for precise grasping or placing operations on the detection device 3. During this process, the wrist joint pose compensation mechanism 6 plays a crucial role. When the end effector 7 performs grasping or placing operations, due to factors such as air flow disturbance, wind influence, arm vibration, or operation errors, there may be deviations between the actual pose and the expected pose of the end effector 7, or even impact loads. The wrist joint pose compensation mechanism 6, through its adaptive compensation function, can sense these deviations and impacts in real time and automatically adjust. For example, when the end effector 7 is impacted upon contacting the insulator, the wrist joint pose compensation mechanism 6 absorbs the impact energy through internal flexible elements (such as springs, pistons, etc.) and fine-tunes the pose of the end effector 7, ensuring that the detection device 3 can be placed smoothly and accurately on the target insulator, or stably grasped when picking up the detection device 3. This adaptive compensation function significantly improves the precision and stability of the operation, effectively avoiding damage to the insulator or the detection device 3. After the detection device 3 is successfully placed on the target insulator, the detection device 3 begins to detect the insulator and obtain the required detection data. After the detection is complete, the end effector 7 will grasp the detection device 3 again, the scissor arm 2 will retract, and the flying robot 1 will return with the entire system.

[0038] The insulator detection system, through the flight robot and the scissor type mechanical arm carrying the detection device to fly, utilizes the mechanical arm control module of the scissor type mechanical arm, drives the multi-stage scissor telescopic mechanism, the wrist joint pose compensation mechanism and the end execution mechanism to operate according to the preset mechanical arm kinematics model, makes the end execution mechanism grasp or place the detection device, at the same time, utilizes the adaptive compensation function of the wrist joint pose compensation mechanism to compensate the grasping operation or the placing operation of the end execution mechanism, so as to accurately place the detection device on the target insulator for detection, solves the problems that the existing insulator detection system lacks effective pose compensation mechanism, is difficult to cope with the impact load that may appear in the operation process and has low operation efficiency when using the unmanned aerial vehicle to carry out the detection of the insulator, can utilize the mechanical arm kinematics model of the scissor type mechanical arm and the adaptive compensation function of the wrist joint pose compensation mechanism to effectively cope with the pose deviation and impact load that may appear when the detection device is placed and grasped in the complex environment, so as to significantly improve the precision, stability and safety of the placing operation and the grasping operation.

[0039] Specifically, as shown in the figure, Figure 5 The wrist joint pose compensation mechanism 6 includes a wrist joint base 8, a wrist joint piston assembly 9, a mechanical claw connecting seat 10 and a pressure sensor 11 fixedly connected with the wrist joint base 8, and a laser distance sensor 12 and a monocular vision sensor 13 installed on the end execution mechanism 7; the pressure sensor 11, the laser distance sensor 12 and the monocular vision sensor 13 are in communication connection with the mechanical arm control module 4; The wrist joint base 8 is used to fix the positions of the wrist joint piston assembly 9, the mechanical claw connecting seat 10 and the pressure sensor 11; The wrist joint piston assembly 9 is used to compensate the grasping operation or the placing operation of the end execution mechanism 7 according to the load signal fed back by the pressure sensor 11; The mechanical claw connecting seat 10 is arranged between the wrist joint base 8 and the end execution mechanism 7, and is used to connect the wrist joint base 8 and the end execution mechanism 7; The pressure sensor 11 is arranged between the wrist joint piston assembly 9 and the wrist joint base 8, and is used to measure the total load size borne by the end execution mechanism 7 and the detection device 3; The laser distance sensor 12 is used to measure the distance from the laser distance sensor 12 to the detection device 3; The monocular vision sensor 13 is used to acquire the image information of the detection device 3.

[0040] In a specific application, the wrist base 8 is designed as the structural body of the wrist pose compensation mechanism 6, which serves to provide a stable mounting and fixing position for the wrist piston assembly 9, the mechanical claw connecting seat 10 and the pressure sensor 11. The wrist piston assembly 9 is the core component for realizing pose compensation, which responds to the load signal fed back by the pressure sensor 11 through the internal mechanical structure, thereby dynamically adjusting and compensating the grasping or placing operation of the end effector 7. The mechanical claw connecting seat 10 serves as a transition component between the wrist base 8 and the end effector 7, ensuring stable connection and torque transmission between the two.

[0041] Among them, the pressure sensor 11 is strategically arranged between the wrist piston assembly 9 and the wrist base 8, and its main function is to monitor the total load size borne by the end effector 7 and the grasped detection device 3 in real time. This load information is crucial for determining whether there is abnormal contact or overload during the grasping or placing process. The laser distance sensor 12 is installed on the end effector 7, which is used to accurately measure the distance between the detection device 3 and the target insulator, providing data support for fine positioning. The monocular vision sensor 13 is also installed on the end effector 7, which serves to obtain image information of the detection device 3 and its surrounding environment, so as to perform visual recognition, target positioning and pose estimation. All these sensors, i.e. the pressure sensor 11, the laser distance sensor 12 and the monocular vision sensor 13, are in communication connection (such as electrical connection or wireless communication connection through wifi, Bluetooth, etc.) with the robot arm control module 4, to ensure real-time data transmission and reception of control instructions.

[0042] By integrating multiple sensors, the wrist pose compensation mechanism 6 can achieve more precise and comprehensive adaptive compensation. When the end effector 7 performs grasping or placing operation, the pressure sensor 11 monitors the load change in real time, and once it detects abnormal load or contact force, it will feed back the corresponding load signal to the robot arm control module 4. At the same time, the laser distance sensor 12 provides accurate distance information, while the monocular vision sensor 13 provides visual feedback, helping the robot arm control module 4 to judge the relative position and pose between the end effector 7 and the target insulator or the detection device 3. The robot arm control module 4 receives and processes these multi-source sensor data, and drives the wrist piston assembly 9 to make corresponding fine adjustment. In this way, the wrist piston assembly 9 can dynamically adjust the pose of the end effector 7 according to the actual force condition and spatial position information, thereby realizing adaptive compensation for grasping or placing operation.

[0043] Specifically, as Figure 4As shown, the wrist piston assembly 9 includes a wrist piston cavity 14, a flange plunger 15, and a helical spring 16; the flange plunger 15 is movably arranged inside the wrist piston cavity 14; one end of the flange plunger 15 is fixedly connected with the mechanical claw connecting seat 10, and the other end is surrounded by the helical spring 16 and is installed together with the helical spring 16 inside the wrist piston cavity 14; the outer surface of the flange plunger 15 that is not surrounded by the helical spring 16 is in meshing engagement with the inner surface of the wrist piston cavity 14; The wrist piston cavity 14 is used to limit the movement range of the flange plunger 15 and the helical spring 16. The flange plunger 15 is used to move inside the wrist piston cavity 14 when the load signal fed back by the pressure sensor 11 changes, so as to compensate for the grasping or placing operation of the end effector 7. The helical spring 16 is used to absorb impact load and assist in resetting when the end effector 7 performs grasping or placing operation.

[0044] In specific applications, the wrist piston cavity 14 is a structure with a specific internal space, and its main function is to provide a limited movement area for the flange plunger 15 and the helical spring 16, ensuring that they move within a predetermined path and range, thereby maintaining the structural integrity and functional stability of the entire compensation mechanism. The flange plunger 15 is the core component for realizing the compensation function. When the load signal fed back by the pressure sensor 11 changes, for example, due to the instantaneous force caused by contact or load change when the grasping or placing detection device 3 is detected, the flange plunger 15 will move axially inside the wrist piston cavity 14. This axial movement can dynamically adjust the relative position of the end effector 7, thereby adaptively compensating for the grasping or placing operation to absorb impact or fine-tune the pose. The outer surface of the flange plunger 15 that is not surrounded by the helical spring 16 is in meshing engagement with the inner surface of the wrist piston cavity 14 (for example, the outer surface of the flange plunger 15 and the inner surface of the wrist piston cavity 14 are provided with keys and grooves that cooperate with each other, or other structures that can constrain the redundant rotational degrees of freedom of the flange plunger 15), which constrains the redundant rotational degrees of freedom of the flange plunger 15 around its plunger center, preventing the end effector 7 from having a large angular deviation.

[0045] By movably arranging the flange plunger 15 inside the wrist piston cavity 14 and cooperating with the helical spring 16, dynamic compensation for the gripping or placing operation of the end effector 7 is achieved. When the end effector 7 contacts the target insulator or the detection device 3, the pressure sensor 11 can sense the change in load in real time. Changes in these load signals can cause the flange plunger 15 to move axially within the wrist piston cavity 14. It is precisely due to the mobility of the flange plunger 15 that the end effector 7 can make minor pose adjustments according to the actual contact force, thereby achieving flexible contact and precise compensation. At the same time, the helical spring 16 plays a buffering role during the movement of the flange plunger 15, absorbing the impact load that may occur during operation, avoiding damage to the system caused by hard collision. In addition, the elastic potential energy of the helical spring 16 can also assist the flange plunger 15 to quickly reset after the load is removed, preparing for the next operation, thereby ensuring the rapid response and continuous effectiveness of the compensation mechanism.

[0046] For example, during the placing process of the end effector 7, the external load is gradually unloaded and the load signal output by the pressure sensor 11 is also gradually reduced. Due to the base floating and centroid offset during the loading process, the placing process of the scissor-type manipulator 2 may be over-extended to produce reverse extrusion of the detection device 3. At this time, the flange plunger 15 moves upward, reducing the pressure difference between the upper and lower surfaces of the pressure sensor 11 to zero to achieve compensation effect. When the manipulator control module detects the compensation feedback of the load signal, it stops the movement of the scissor-type manipulator 2, opens the end effector 7, and releases the detection device 3 to achieve the placing operation.

[0047] Specifically, the wrist piston assembly 9 is also provided with a flange seat; The flange seat is arranged between the flange plunger 15 and the wrist base 8, and is used to bear the axial tension applied to the flange plunger 15 by the external load.

[0048] In specific applications, by arranging the flange seat between the flange plunger 15 and the wrist base 8, the structural stability problem of the wrist piston assembly 9 when bearing axial tension is effectively solved. When the end effector 7 performs gripping or placing operation and is subjected to outward axial tension, the tension is transmitted through the flange plunger 15. At this time, the flange seat, as an additional support structure, can directly contact the flange plunger 15 or its connecting parts and transmit part or all of the axial tension to the more solid wrist base 8. In this way, the flange seat shares the axial load borne by the flange plunger 15, avoiding the mating surface between the flange plunger 15 and the wrist piston cavity 14 from bearing excessive tensile stress, thereby reducing the risk of wear and deformation.

[0049] Specifically, as Figure 3As shown, the multi-stage scissor telescopic mechanism 5 is provided with at least one telescopic mechanism 17; the telescopic mechanism 17 includes a telescopic assembly base 18, a telescopic drive assembly 19 and a moving telescopic assembly 20; the telescopic assembly base 18 is fixedly connected with the moving telescopic assembly 20 and the telescopic drive assembly 19 respectively; the telescopic drive assembly 19 is electrically connected with the mechanical arm control module 4 and the moving telescopic assembly 20 respectively; the telescopic mechanism 17 is provided with at least two moving telescopic assemblies 20, and each moving telescopic assembly 20 is uniformly arranged in the telescopic assembly base 18; The telescopic assembly base 18 is used to fix the positions of the moving telescopic assembly 20 and the telescopic drive assembly 19. The telescopic drive assembly 19 is used to drive the moving telescopic assembly 20. The moving telescopic assembly 20 is used to adjust the length of the multi-stage scissor telescopic mechanism 5.

[0050] In specific applications, the telescopic mechanism 17 is the basic unit of the multi-stage scissor telescopic mechanism 5, and its number can be configured according to actual application requirements, for example, it can be one or more. Each telescopic mechanism 17 includes a telescopic assembly base 18, a telescopic drive assembly 19 and a moving telescopic assembly 20. Among them, the telescopic assembly base 18 serves as a support structure for stably mounting the moving telescopic assembly 20 and the telescopic drive assembly 19, ensuring their relative positional relationship during operation. The telescopic drive assembly 19 is the core component for realizing telescopic action, which receives control instructions through electrical connection with the mechanical arm control module 4 and drives the moving telescopic assembly 20 to move, thereby adjusting the length of the multi-stage scissor telescopic mechanism 5. The moving telescopic assembly 20 realizes the length adjustment function of the multi-stage scissor telescopic mechanism 5 under the action of the telescopic drive assembly 19. As a preferred embodiment, at least two moving telescopic assemblies 20 can be arranged in each telescopic mechanism 17, which are uniformly arranged in the telescopic assembly base 18 to ensure the stability of the telescopic process and the symmetry of the structure.

[0051] Specifically, when the mechanical arm control module 4 issues instructions according to the preset mechanical arm kinematic model, the telescopic drive assembly 19 drives the moving telescopic assembly 20 electrically connected thereto to move after receiving the instructions, which can change the overall length of the multi-stage scissor telescopic mechanism 5. Therefore, by controlling the action of the telescopic drive assembly 19, the telescopic amount of the multi-stage scissor telescopic mechanism 5 can be accurately controlled, and thus the end effector 7 can accurately place the detection device 3 on the target insulator or grasp the detection device 3 from the target insulator.

[0052] Specifically, the moving telescopic assembly 20 includes a linear motion mechanism 21 and a scissor linkage mechanism 22 connected in sliding manner; as Figure 4As shown, the linear movement mechanism 21 includes a fixed block 23, a linear slide rail 24, and a sliding block 25; the linear slide rail 24 and the sliding block 25 are slidingly connected; the linear slide rail 24 and the fixed block 23 are fixedly connected with the telescopic assembly base 18; the sliding block 25 and the fixed block 23 are fixedly connected with the scissor linkage mechanism 22; the linear slide rail 24 is provided with a limiting module at each end; the scissor linkage mechanism 22 is composed of a plurality of cross linkages connected by hinges in sequence, and each cross linkage includes two link rods connected by a hinge at the midpoint; the linear movement mechanism 21 is provided with two, which are respectively arranged at the upper and lower ends of the scissor linkage mechanism 22, and are denoted as a first linear movement mechanism and a second linear movement mechanism; one end of the scissor linkage mechanism 22 is connected with the fixed block 23 and the sliding block 25 of the first linear movement mechanism through the two link rods of the topmost cross linkage, and the other end is connected with the fixed block 23 and the sliding block 25 of the second linear movement mechanism through the two link rods of the bottommost cross linkage; The linear movement mechanism 21 is used to drive the sliding block 25 to move to drive the scissor linkage mechanism 22 to perform elongation and retraction movements. The scissor linkage mechanism 22 is used to perform elongation and retraction movements to adjust the length of the multi-stage scissor telescopic mechanism 5.

[0053] In specific applications, the linear movement mechanism 21 is the core component for realizing the linear motion of the telescopic assembly 20. Its fixed block 23 and linear slide rail 24 are firmly installed on the telescopic assembly base 18, providing stable support and guidance for the movement of the sliding block 25. The sliding block 25 and the linear slide rail 24 are connected by sliding, ensuring smooth movement. The limiting module is set to prevent the sliding block 25 from exceeding the preset movement range, thereby protecting the mechanism from damage and ensuring movement accuracy. The scissor linkage mechanism 22 is composed of a plurality of cross linkages connected by hinges, and each cross linkage is composed of two link rods connected by a hinge at the midpoint. This structure enables the scissor linkage mechanism 22 to change in length under the drive of the linear movement mechanism 21. Two linear movement mechanisms 21 are located at the two ends of the scissor linkage mechanism 22. One end of the scissor linkage mechanism 22 is connected with the fixed block 23 and the sliding block 25 of the first linear movement mechanism through the two link rods of the topmost cross linkage. Similarly, the other end of the scissor linkage mechanism 22 is connected with the fixed block 23 and the sliding block 25 of the second linear movement mechanism through the two link rods of the bottommost cross linkage. This connection ensures that the movement of the linear movement mechanism 21 can be effectively transmitted to the scissor linkage mechanism 22, enabling it to perform elongation or retraction movements synchronously.

[0054] By refining the mobile telescopic assembly 20 into a linear movement mechanism 21 and a scissor linkage mechanism 22, precise length adjustment of the multi-stage scissor telescopic mechanism 5 is achieved. When the telescopic drive assembly 19 drives the slider 25 in the linear movement mechanism 21 to move along the linear sliding rail 24, the movement of the slider 25 will drive the scissor linkage mechanism 22 to extend or retract due to the fixed connection between the slider 25 and the scissor linkage mechanism 22. The unique hinge connection structure of the scissor linkage mechanism 22 enables it to efficiently change the overall length when driven. By controlling the movement distance and direction of the linear movement mechanism 21, the telescoping amount of the scissor linkage mechanism 22 can be precisely controlled, thereby realizing the length adjustment function of the multi-stage scissor telescopic mechanism 5. The presence of the limiting module further ensures the safety and controllability of the movement.

[0055] Specifically, the telescopic mechanism 17 is provided with one, and the second linear movement mechanism is fixedly connected with the wrist joint base 8 of the wrist joint pose compensation mechanism 6.

[0056] In specific applications, when the multi-stage scissor telescopic mechanism 5 is provided with only one telescopic mechanism 17, by fixedly connecting the second linear movement mechanism of the telescopic mechanism 17 with the wrist joint base 8 of the wrist joint pose compensation mechanism 6 (arranged above the wrist joint base 8), the structural rigidity and stability of the end of the scissor-type manipulator 2 are significantly improved. Thus, when detecting the insulator, the placement accuracy and repeat positioning accuracy of the detection device 3 can be ensured, effectively avoiding detection errors caused by unstable connection, thereby improving the reliability and working efficiency of the entire insulator detection system.

[0057] Specifically, the telescopic mechanism 17 is provided with at least two, and each telescopic mechanism 17 is sequentially connected through an elbow joint assembly 26; as shown in Figure 3 The elbow joint assembly 26 includes an elbow joint base 27, an elbow joint drive assembly 28 fixedly connected with the elbow joint base 27, and an elbow joint transmission assembly 29 fixedly connected with the elbow joint base 27; the elbow joint transmission assembly 29 includes an elbow joint upper bottom plate and an elbow joint lower bottom plate connected by a hinge, the elbow joint upper bottom plate is fixedly connected with the elbow joint base, and the elbow joint lower bottom plate is fixedly connected with the telescopic assembly base 18 of the next telescopic mechanism 17; the second linear movement mechanism of the last telescopic mechanism 17 is fixedly connected with the wrist joint base 8 of the wrist joint pose compensation mechanism 6; The elbow joint base 27 is used to fix the positions of the elbow joint drive assembly 28 and the elbow joint transmission assembly 29; The elbow joint drive assembly 28 is used to drive the elbow joint transmission assembly; The elbow joint transmission assembly 29 is used to adjust the position of the next telescopic mechanism through the hinge connection of the elbow joint upper bottom plate and the elbow joint lower bottom plate, so as to adjust the movement angle of the multi-stage scissor telescopic mechanism 5.

[0058] In practical applications, the elbow joint assembly 26 is a key component for achieving angle adjustment of the multi-stage scissor lift mechanism 5. The elbow joint base 27 serves as a connection and support platform, ensuring the stable installation of the elbow joint drive assembly 28 and the elbow joint transmission assembly 29. The elbow joint drive assembly 28 can be understood as providing a power source, such as a motor, hydraulic cylinder, or pneumatic cylinder, and its function is to generate driving force according to control commands, causing relative movement of the elbow joint transmission assembly 29. The elbow joint transmission assembly 29, through its internal hinge connection structure, converts the driving force into angle changes, enabling relative rotation between adjacent telescopic mechanisms 17. The hinge connection between the upper and lower base plates of the elbow joint is the core of angle adjustment, allowing the posture of the next telescopic mechanism 17 relative to the current telescopic mechanism 17 to be changed while maintaining structural integrity.

[0059] By introducing the elbow joint assembly 26, the limitation of the multi-stage scissor telescopic mechanism 5, which can only perform linear telescopic movements when connected in multiple segments, is effectively solved. Specifically, when it is necessary to adjust the movement angle of the robotic arm, the robotic arm control module 4 sends a command to the corresponding elbow joint drive assembly 28. After receiving the command, the elbow joint drive assembly 28 drives the elbow joint transmission assembly 29. Since the upper and lower elbow joint base plates inside the elbow joint transmission assembly 29 are connected by hinges, they will rotate relative to each other under the action of driving force, thereby changing the connection angle of the next telescopic mechanism 17 relative to the previous telescopic mechanism 17. This angle adjustment allows the entire multi-stage scissor telescopic mechanism 5 to move beyond linear motion and achieve bending or articulated movements, greatly expanding the working space and flexibility of the robotic arm. Through the synergistic effect of multiple elbow joint assemblies 26, precise control of the overall posture of the robotic arm can be achieved, enabling it to adapt to various complex detection environments and the positional requirements of target insulators.

[0060] Furthermore, such as Figure 6 As shown (the meanings of the symbols in the figure are explained below), taking a multi-stage scissor telescopic mechanism 5 consisting of two-stage telescopic mechanisms 17 (one telescopic mechanism 17 is one stage) as an example, a base coordinate system is established with the fixed point of the robotic arm based on the kinematic relationship of the aerial robotic arm system. The X-axis is established by the direction of movement of the slider 25 in the linear motion mechanism 21 along the linear slide rail 24. Figure 6 X in w (The positive direction of the X-axis), with the direction of motion of the scissor linkage 22 as the Z-axis ( Figure 6 Z in w (with the positive direction of the Z-axis) Establish joint coordinate systems for the two-stage scissor lift robotic arms. . Assume that the angle of the linear slide 24 when the first-stage scissor mechanism driving motor (the extension driving assembly 19 of the first extension mechanism 17, the serial number of the stages is arranged from top to bottom) drives the linear slide 24 to rotate at the k moment and the angular velocity is expressed as , and the definition , is the angle of the linear slide 24, is the derivative of the angle of the extension driving assembly 19 of the first extension mechanism 17 with respect to time k, that is, the angular velocity when the linear slide 24 rotates; similarly, the rotation angle and angular velocity of the elbow joint transmission assembly 29, the state vector of the second-stage scissor mechanism driving motor are respectively expressed as , , is the state vector of the rotation angle and angular velocity of the elbow joint transmission assembly 29, is the rotation angle of the elbow joint transmission assembly 29, is the angular velocity of the elbow joint transmission assembly (that is, the derivative of the rotation angle of the elbow joint transmission assembly with respect to time k), is the state vector of the angle and angular velocity of the corresponding linear slide 24 when rotating in the extension driving assembly 19 of the second extension mechanism 17, is the angle of the corresponding linear slide 24 when rotating in the extension driving assembly 19 of the second extension mechanism 17, is the angular velocity of the corresponding linear slide 24 when rotating in the extension driving assembly 19 of the second extension mechanism 17 (that is, the derivative of the angular velocity of the corresponding linear slide 24 when rotating in the extension driving assembly 19 of the second extension mechanism 17 with respect to time k); therefore, for the 3-axis robot arm system (the multi-stage scissor extension mechanism 5 composed of two extension mechanisms 17), the generalized state vector at the k moment can be described as . For the multi-stage scissor extension mechanism 5 composed of i-stage extension mechanism 17, the generalized state vector at the k moment can be described as , wherein the single state vector (that is, , , ) is the state vector of the extension mechanism 17, and the double state vector (that is, , , ) is the state vector of the elbow joint transmission assembly 29 between the two extension mechanisms 17.

[0061] At any k moment, when the corresponding linear slide 24 in the extension driving assembly 19 of the extension mechanism 17 rotates at the angular velocity , the sliding block 25 connected thereto moves along the X-axis direction, at which time the angle of the linear slide 24 The position of the slider 25 in the moving telescopic assembly 20 is denoted as The moving speed of the slider 25 in the moving telescopic assembly 20 is denoted as Figure 6 The moving speed of the slider 25 in the first telescopic mechanism 17 is denoted as The moving speed of the slider 25 in the second telescopic mechanism 17 is denoted as At any time k during the movement of the telescopic driving assembly 19 of any telescopic mechanism 17, the kinematic relationship is satisfied: Wherein, is the position of the slider 25 in the moving telescopic assembly 20 of the i-th telescopic mechanism 17; is the speed of the slider 25 in the moving telescopic assembly 20 of the i-th telescopic mechanism 17; is the angle of the telescopic driving assembly 19 of the i-th telescopic mechanism 17; is the angular velocity of the telescopic driving assembly 19 of the i-th telescopic mechanism 17; is the linear function of the kinematic relationship between the telescopic driving assembly 19 and the elbow joint transmission assembly 29 of the i-th telescopic mechanism 17 (which can be obtained through experiments). Wherein, , , is the derivative of the position of the slider 25 in the moving telescopic assembly 20 of the i-th telescopic mechanism 17 with respect to time k, is the derivative of the angle of the telescopic driving assembly 19 of the i-th telescopic mechanism 17 with respect to time k, is the linear distance of the slider 25 along the linear slide rail 24 in the axial direction after the linear slide rail 24 rotates one revolution.

[0062] Assuming that each link in the scissor linkage mechanism 22 is equal in length and the length of a single link is , the projection length of the first and second stage scissor mechanism hinge points on the Z axis is , , Wherein, N represents the level number of the cross link in each stage of the scissor linkage mechanism 22, and N=2 in the figure, that is, both the upper and lower telescopic mechanisms 17 include 2 levels of scissor linkage mechanisms 22, is the length of a single link in the cross link (each cross link in the scissor linkage mechanism 22 is equal in length).

[0063] At this time, the length of the elbow joint rotation center of the mechanical arm (i.e., the hinge connection between the first linear moving mechanism in the first telescopic mechanism 17 and the nearest elbow joint transmission assembly 29) is Wherein, ​​The position offset distance in the first stage scissor linkage mechanism 22 includes the distance between the corresponding slider 25 of the first linear movement mechanism in the first stage telescopic mechanism 17 and the intersection point of the uppermost cross linkage of the first stage telescopic mechanism 17 (the distance is fixed), and the distance between the slider 25 of the second linear movement mechanism in the first stage scissor linkage mechanism 22 and the intersection point of the lowermost cross linkage to the hinge connection of the nearest elbow joint transmission assembly 29 (if there is only one telescopic mechanism 17, the slider 25 of the second linear movement mechanism in the first stage scissor linkage mechanism 22 and the intersection point of the lowermost cross linkage to the mechanical gripper connecting seat 10). Similarly, the extension length of the second stage scissor linkage mechanism 22 is , The position offset distance in the first stage scissor linkage mechanism 22 includes the distance between the corresponding slider 25 of the first linear movement mechanism in the first stage telescopic mechanism 17 and the intersection point of the uppermost cross linkage of the first stage telescopic mechanism 17 (the distance is fixed), and the distance between the slider 25 of the second linear movement mechanism in the first stage scissor linkage mechanism 22 and the intersection point of the lowermost cross linkage to the hinge connection of the nearest elbow joint transmission assembly 29 (if there is only one telescopic mechanism 17, the slider 25 of the second linear movement mechanism in the first stage scissor linkage mechanism 22 and the intersection point of the lowermost cross linkage to the mechanical gripper connecting seat 10). Similarly, the extension length of the second stage scissor linkage mechanism 22 is When the mechanical arm is working, the elbow joint remains in a vertical state, that is, .

[0064] It is assumed that during the extremely small time in the working process of the mechanical arm, the moving distance of the slider 25 of the i-th stage telescopic mechanism 17 is , wherein, is the moving distance of the slider 25 of the i-th stage telescopic mechanism 17 in the extremely small time, is the moving distance of the slider 25 of the i-th stage telescopic mechanism 17 in the time, is the angle of rotation of the linear slide rail 24 of the i-th stage telescopic mechanism 17 in the time (the position of the linear slide rail 24 and the telescopic driving assembly 19 is fixed, and the angle of rotation of the two is consistent).

[0065] The telescopic length change amount of the scissor linkage mechanism 22 of the i-th stage telescopic mechanism 17 : ; wherein, is the change of the telescopic length of the scissor linkage mechanism 22 of the i-th telescopic mechanism 17 in the time period , is the change of the telescopic length of the scissor linkage mechanism 22 of the i-th telescopic mechanism 17 in the time period .

[0066] The average speed of the scissor linkage mechanism 22 of the i-th telescopic mechanism 17 in the Z-axis direction is: ; wherein, is the average speed of the scissor linkage mechanism 22 of the i-th telescopic mechanism 17 in the Z-axis direction in the time period .

[0067] Since the first telescopic mechanism 17 and the second telescopic mechanism 17 are connected in series, the average speed of the mechanical arm wrist joint end (the intersection of the wrist joint pose compensation mechanism 6 and the end execution mechanism 7) in the time period can be expressed as .

[0068] The state quantity of the mechanical arm wrist joint at time k is : i.e. , wherein n is the total number of telescopic mechanisms 17, is a function of the length of the mechanical arm.

[0069] At this time, Figure 6 the length of the multi-stage scissor telescopic mechanism 5 composed of two telescopic mechanisms 17 corresponds to the length of the scissor type mechanical arm 2 is , wherein in order to ensure that the length of the elbow joint transmission assembly 29 is not affected by the elbow joint angle, it is necessary to maintain the elbow joint transmission assembly 29 in a vertical state, i.e. control the rotation angle of the elbow joint transmission assembly 29 to be 0° (0 =0), so as to ensure that the length of the elbow joint transmission assembly 29 is constant.

[0070] In summary, the preset kinematic model of the mechanical arm is specifically: .

[0071] Specifically, the end execution mechanism 7 includes a clamping manipulator 30 and an end driving mechanism 31 connected electrically; The clamping manipulator 30 is used to grasp and place the detection device 3; The end driving mechanism 31 is used to drive the clamping manipulator 30.

[0072] In a specific application, by refining the end executing mechanism 7 into the clamping manipulator 30 and the end driving mechanism 31, the grabbing and placing operation of the detection device 3 is realized. Specifically, when the detection device 3 needs to be grabbed, the mechanical arm control module 4 sends an instruction to the end driving mechanism 31, and after receiving the instruction, the end driving mechanism 31 drives the claw fingers or the suction cup of the clamping manipulator 30 to open, so that it can cover or adsorb the detection device 3. Once the detection device 3 is firmly grabbed, the end driving mechanism 31 drives the clamping manipulator 30 to close or maintain the adsorption state, thereby ensuring the stability of the detection device 3 during flight and movement. When the detection device 3 needs to be placed, the end driving mechanism 31 drives the clamping manipulator 30 to release the detection device 3, so that it can be smoothly placed on the target insulator. This clear division of structure design ensures that the end executing mechanism 7 can efficiently and reliably complete its core function.

[0073] As can be seen from the above, the insulator detection system carries the detection device by the flying robot and the scissor-type mechanical arm to fly, so as to use the mechanical arm control module of the scissor-type mechanical arm to drive the multi-stage scissor telescopic mechanism, the wrist joint pose compensation mechanism and the end executing mechanism to operate according to the preset mechanical arm kinematic model, so that the end executing mechanism grabs or places the detection device, and at the same time, the wrist joint pose compensation mechanism compensates the grabbing operation or the placing operation of the end executing mechanism by using the adaptive compensation function, so as to accurately place the detection device on the target insulator for detection. The insulator detection system solves the problems of the existing insulator detection system, such as insufficient placing or grabbing precision, lack of effective pose compensation mechanism, difficulty in coping with impact load that may occur during operation, and low operation efficiency when using a drone to carry out detection of insulators. By using the mechanical arm kinematic model of the scissor-type mechanical arm and the adaptive compensation function of the wrist joint pose compensation mechanism, the insulator detection system can effectively cope with the pose deviation and impact load that may occur during the placing and grabbing operation of the detection device in a complex environment, thereby significantly improving the precision, stability and safety of the placing operation and the grabbing operation.

[0074] Please refer to Figure 7 , Figure 7 The insulator detection method in some embodiments of the present application is applied to the insulator detection system described above to detect insulators, which comprises the following steps: Step S1, acquiring the position information of the target insulator; Step S2, generating the optimal flight trajectory of the insulator detection system based on the position information; Step S3, controlling the flying robot of the insulator detection system to fly to the hovering position corresponding to the optimal flight trajectory; In step S4, according to the preset kinematic model of the mechanical arm and in combination with the adaptive compensation function of the wrist joint pose compensation mechanism, the insulator detection system is controlled to drive the scissor-type mechanical arm to place the detection device to the target placement position at the hovering position. In step S5, the detection device is controlled to detect the target insulator, and an insulator detection result is obtained.

[0075] The insulator detection method provided in the application can detect insulators. Through the preset kinematic model of the mechanical arm and the adaptive compensation function of the wrist joint pose compensation mechanism, the insulator detection system is controlled to fly to the hovering position, and then the scissor-type mechanical arm is driven to accurately place the detection device on the target insulator for detection. The pose deviation and impact load that may occur when the detection device is placed and grabbed in a complex environment are effectively addressed, thereby significantly improving the accuracy, stability and safety of the placement operation and the grabbing operation.

[0076] In step S1, the precise spatial coordinates of the insulator to be detected are obtained through various means. For example, the three-dimensional position of the target insulator can be determined by using a global positioning system (GPS), a high-precision inertial navigation system (INS), a laser radar scan, or in combination with pre-mapped power line geographic information system (GIS) data. In addition, the target area can also be preliminarily scanned by the vision sensor carried by the flying robot 1 or other vision sensors, and the position of the target insulator can be identified and determined through image recognition and positioning algorithms. The purpose is to provide accurate positioning basis for subsequent flight trajectory planning and mechanical arm operation.

[0077] In step S2, after obtaining the position information of the target insulator, an existing path planning algorithm (such as Dijkstra algorithm or A* algorithm) is used to calculate a shortest, safest and most energy-saving flight path from the current position to the hovering position of the target insulator, considering the performance parameters (such as endurance, maximum flight speed) of the flying robot 1, environmental factors (such as wind speed, obstacle distribution), and detection task requirements (such as detection range, detection sequence). The optimal flight trajectory can include multiple waypoints and flight attitude instructions to ensure that the flying robot 1 can efficiently and safely reach the predetermined work area.

[0078] In step S3, the flight control system of the flying robot 1 drives the propulsion system of the flying robot 1 according to the generated optimal flight trajectory, so that the flying robot 1 flies along the predetermined path. When the flying robot 1 reaches the preset hovering position above the target insulator, the flight control system starts the high-precision hovering mode, fuses the sensor data such as GPS, visual positioning and inertial measurement unit (IMU) for positioning, and stably keeps the flying robot 1 at the hovering position to ensure the stability of the subsequent mechanical arm operation.

[0079] In step S4, after the flying robot 1 stabilizes hovering, the mechanical arm control module 4 calculates the joint angles and extension amounts of the multi-stage scissor extension mechanism 5, the wrist joint pose compensation mechanism 6 and the end effector 7 of the scissor mechanical arm 2 according to the preset mechanical arm kinematics model and the distance from the detection device 3 to the surface of the target insulator detected by the visual sensor and distance sensor of the flying robot 1, so that the end effector 7 can accurately grasp and place the detection device 3 from below the flying robot 1 to the surface of the target insulator (the surface position is the target placement position). During this process, the wrist joint pose compensation mechanism 6 uses its adaptive compensation function to adjust the pose and position of the end effector 7 in real time according to the data feedback from the pressure sensor 11, laser distance sensor 12 and monocular visual sensor 13, to compensate for errors caused by slight shaking of the flying robot 1 or unevenness of the insulator surface, etc., to ensure that the detection device 3 can stably and accurately contact or approach the target insulator, avoiding damage to the insulator.

[0080] In step S5, after the detection device 3 is successfully placed or positioned, the mechanical arm control module 4 sends a detection instruction to the detection device 3 to start its internal detection function. The detection device 3 collects data on the target insulator according to its type (e.g. infrared thermal imager, ultraviolet imager, visible light camera, ultrasonic detector, etc.) and transmits the collected data back to the ground control station or the flying robot 1 for processing and analysis, finally generating insulator detection results such as insulator surface defect images, temperature distribution maps, partial discharge signals, etc.

[0081] As can be seen from the above, the insulator detection method obtains the position information of the target insulator, generates an optimal flight trajectory of the insulator detection system based on the position information, controls the flying robot of the insulator detection system to fly to the hovering position corresponding to the optimal flight trajectory, controls the insulator detection system to drive the scissor mechanical arm to place the detection device to the target placement position at the hovering position according to the preset mechanical arm kinematics model and the adaptive compensation function of the wrist joint pose compensation mechanism, controls the detection device to detect the target insulator to obtain the insulator detection result; thereby, through the preset mechanical arm kinematics model and the adaptive compensation function of the wrist joint pose compensation mechanism, the insulator detection system is controlled to fly to the hovering position, and the scissor mechanical arm is driven to accurately place the detection device on the target insulator for detection, effectively dealing with the pose deviation and impact load that may occur when placing and grasping the detection device in a complex environment, thereby significantly improving the precision, stability and safety of the placement and grasping operations.

[0082] In this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

[0083] The above description is merely illustrative of the application and not in limitation of the principles of the application. Numerous modifications and adaptations thereof will be readily apparent to those skilled in the art without departing from the spirit and scope of the application as defined in the following claims.

Claims

1. An insulator testing system for testing insulators, characterized in that, It includes a flying robot (1), a scissor-type robotic arm (2) located below the flying robot (1), and a detection device (3) clamped at the end of the scissor-type robotic arm (2); The flying robot (1) is used to carry the scissor-arm (2) and the detection device (3) to a hovering position so that the detection device (3) can be placed on the target insulator by the scissor-arm (2); The detection device (3) is used to detect the target insulator; The scissor-type robotic arm (2) includes a robotic arm control module (4), a multi-stage scissor telescopic mechanism (5), a wrist joint posture compensation mechanism (6), and an end effector (7) connected sequentially from top to bottom. The scissor-type robotic arm (2) is used to drive the multi-stage scissor telescopic mechanism (5) to operate according to the preset robotic arm kinematic model through the robotic arm control module (4), so as to drive the wrist joint posture compensation mechanism (6) and the end effector (7) to move. At the same time, the end effector (7) grasps or places the detection device (3), and the adaptive compensation function of the wrist joint posture compensation mechanism (6) compensates for the grasping or placing operation of the end effector (7).

2. The insulator testing system according to claim 1, characterized in that, The wrist joint posture compensation mechanism (6) includes a wrist joint base (8), a wrist joint piston assembly (9), a mechanical claw connector (10), and a pressure sensor (11) fixedly connected to the wrist joint base (8), as well as a laser distance sensor (12) and a monocular vision sensor (13) installed on the end effector (7); the pressure sensor (11), the laser distance sensor (12), and the monocular vision sensor (13) are communicatively connected to the robotic arm control module (4); The wrist joint base (8) is used to fix the position of the wrist joint piston assembly (9), the mechanical claw connector (10) and the pressure sensor (11); The wrist joint piston assembly (9) is used to compensate for the gripping or placing operation of the end effector (7) based on the load signal fed back by the pressure sensor (11). The mechanical claw connector (10) is disposed between the wrist joint base (8) and the end effector (7), and the mechanical claw connector (10) is used to connect the wrist joint base (8) and the end effector (7). The pressure sensor (11) is disposed between the wrist joint piston assembly (9) and the wrist joint base (8), and the pressure sensor (11) is used to measure the total load borne by the end effector (7) and the detection device (3); The laser distance sensor (12) is used to measure the distance from the laser distance sensor (12) to the detection device (3); The monocular vision sensor (13) is used to acquire image information from the detection device (3).

3. The insulator detection system according to claim 2, characterized in that, The wrist joint piston assembly (9) includes a wrist joint piston cavity (14), a flange plunger (15), and a coil spring (16); the flange plunger (15) is movably disposed inside the wrist joint piston cavity (14); one end of the flange plunger (15) is fixedly connected to the mechanical claw connecting seat (10), and the other end is surrounded by the coil spring (16) and installed together with the coil spring (16) inside the wrist joint piston cavity (14); the outer surface of the flange plunger (15) not surrounded by the coil spring (16) meshes with the inner surface of the wrist joint piston cavity (14); The wrist joint piston cavity (14) is used to limit the range of motion of the flange plunger (15) and the coil spring (16); The flange plunger (15) is used to move within the wrist joint piston cavity (14) when the load signal fed back by the pressure sensor (11) changes, in order to compensate for the gripping or placing operation of the end effector (7). The helical spring (16) is used to absorb impact loads and assist in reset when the end effector (7) performs gripping and placement operations.

4. The insulator detection system according to claim 3, characterized in that, The wrist joint piston assembly (9) is also provided with a flange seat; The flange seat is disposed between the flange plunger (15) and the wrist joint base (8), and the flange seat is used to bear the axial tensile force applied to the flange plunger (15) by the external load.

5. The insulator testing system according to claim 4, characterized in that, The multi-stage scissor telescopic mechanism (5) is provided with at least one telescopic mechanism (17); the telescopic mechanism (17) includes a telescopic component base (18), a telescopic drive component (19), and a movable telescopic component (20); the telescopic component base (18) is fixedly connected to the movable telescopic component (20) and the telescopic drive component (19) respectively; the telescopic drive component (19) is electrically connected to the robotic arm control module (4) and the movable telescopic component (20) respectively; the telescopic mechanism (17) is provided with at least two movable telescopic components (20), and each movable telescopic component (20) is evenly disposed in the telescopic component base (18); The telescopic component base (18) is used to fix the positions of the movable telescopic component (20) and the telescopic drive component (19); The telescopic drive assembly (19) is used to drive the movable telescopic assembly (20). The movable telescopic component (20) is used to adjust the length of the multi-stage scissor telescopic mechanism (5).

6. The insulator testing system according to claim 5, characterized in that, The movable telescopic assembly (20) includes a linear moving mechanism (21) and a scissor linkage mechanism (22) that are slidably connected; the linear moving mechanism (21) includes a fixed block (23), a linear slide rail (24), and a slider (25); the linear slide rail (24) and the slider (25) are slidably connected; the linear slide rail (24) and the fixed block (23) are both fixedly connected to the telescopic assembly base (18); the slider (25) and the fixed block (23) are both fixedly connected to the scissor linkage mechanism (22); limit modules are respectively provided at both ends of the linear slide rail (24); the scissor linkage mechanism (22) consists of multiple The scissor linkage mechanism (22) is composed of two cross links that are hinged together in sequence. The cross links include two links that are hinged together at their midpoints. There are two linear movement mechanisms (21), which are respectively located at the upper and lower ends of the scissor linkage mechanism (22) and are referred to as the first linear movement mechanism and the second linear movement mechanism. One end of the scissor linkage mechanism (22) is connected to the fixed block (23) and the slider (25) of the first linear movement mechanism through the two links of the topmost cross link, and the other end is connected to the fixed block (23) and the slider (25) of the second linear movement mechanism through the two links of the bottommost cross link. The linear motion mechanism (21) is used to drive the slider (25) to move so as to drive the scissor linkage mechanism (22) to perform extension and retraction movements; The scissor linkage mechanism (22) is used to perform extension and retraction movements to adjust the length of the multi-stage scissor telescopic mechanism (5).

7. The insulator testing system according to claim 6, characterized in that, One telescopic mechanism (17) is provided, and the second linear movement mechanism is fixedly connected to the wrist joint base (8) of the wrist joint posture compensation mechanism (6).

8. The insulator testing system according to claim 6, characterized in that, At least two telescopic mechanisms (17) are provided, and each telescopic mechanism (17) is connected in sequence through an elbow joint assembly (26). The elbow joint assembly (26) includes an elbow joint base (27), an elbow joint drive assembly (28) and an elbow joint transmission assembly (29) fixedly connected to the elbow joint base (27). The elbow joint transmission assembly (29) includes an upper elbow joint base plate and a lower elbow joint base plate that are hinged together. The upper elbow joint base plate is fixedly connected to the elbow joint base, and the lower elbow joint base plate is fixedly connected to the telescopic assembly base (18) of the next telescopic mechanism (17). The second linear movement mechanism of the last telescopic mechanism (17) is fixedly connected to the wrist joint base (8) of the wrist joint posture compensation mechanism (6). The elbow joint base (27) is used to fix the position of the elbow joint drive assembly (28) and the elbow joint transmission assembly (29); The elbow joint drive assembly (28) is used to drive the elbow joint transmission assembly; The elbow joint transmission assembly (29) is used to adjust the position of the next telescopic mechanism through the hinge connection between the upper base plate of the elbow joint and the lower base plate of the elbow joint, so as to adjust the movement angle of the multi-stage scissor telescopic mechanism (5).

9. The insulator detection system according to claim 7 or 8, characterized in that, The end effector (7) includes an electrically connected gripper (30) and an end drive mechanism (31). The gripping manipulator (30) is used to grasp and place the detection device (3); The end effector (31) is used to drive the gripper (30).

10. A method for testing insulators, characterized in that, The insulator testing system of claim 9 is used to test insulators, comprising: Obtain the position information of the target insulator; Based on the location information, the optimal flight trajectory of the insulator detection system is generated; Control the flying robot of the insulator detection system to fly to the hovering position corresponding to the optimal flight trajectory; Based on the preset kinematic model of the robotic arm, and combined with the adaptive compensation function of the wrist joint posture compensation mechanism, the insulator detection system is controlled to drive the scissor-type robotic arm to place the detection device to the target placement position at the hovering position. The detection device is controlled to detect the target insulator, and the insulator detection result is obtained.

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