Network distribution live working arm vehicle end platform pose compensation method and system

Abstract

The application discloses a kind of network live working bucket car end platform pose compensation method, comprising: real-time acquisition work car chassis inclination angle data and car hopper attitude data;According to chassis inclination angle data, the kinematic model of the first three axes of manipulator is used, the first three axes position compensation joint angle required to make car hopper restore to preset work point is calculated;According to car hopper attitude data, the end attitude compensation joint angle required to make car hopper keep level is calculated;According to the first three axes position compensation joint angle, position compensation instruction is sent to corresponding position compensation motor to drive the first three axes of manipulator to act, according to end attitude compensation joint angle, state compensation instruction is sent to corresponding attitude compensation motor to drive the fifth axis and the sixth axis of manipulator to act, so that car hopper position reset and level attitude keep. When chassis is inclined, through car hopper position compensation and attitude compensation, car hopper position reset and level attitude keep, improve work safety.

Description

Technical Field

[0001] This invention belongs to the field of power distribution network live-line working control technology, specifically relating to a power distribution network live-line working boom truck, its end-platform posture compensation method, system, equipment and medium. Background Technology

[0002] With the continuous development of power grid construction and operation, the demand for special operations such as live-line maintenance and line erection in complex terrains such as mountainous areas, hills, and muddy terrain is increasing. As core equipment supporting such operations, the operational stability, safety, and environmental adaptability of power grid operation vehicles have become key development directions. Currently, most power grid operation vehicles in the industry are equipped with folding / telescopic hydraulic robotic arms and personnel-carrying work beds to support personnel operations at heights and in complex conditions. However, existing systems mostly focus only on the working stroke and load-bearing capacity of the robotic arm, lacking targeted closed-loop compensation solutions for the positional displacement and posture imbalance of the work bed caused by vehicle tilting on uneven terrain, and thus cannot fully meet the safety and accuracy requirements of complex field conditions.

[0003] Currently, the existing technical solutions in the industry for addressing the tilting problem of work vehicles can be mainly divided into three categories:

[0004] Vehicle leveling solutions: The entire chassis of the work vehicle is supported and leveled using hydraulic outriggers and leveling cylinders to ensure the vehicle body is level. This solution is only suitable for static working conditions and cannot cope with dynamic tilting during driving or temporary parking; leveling is time-consuming, relies on manual operation of the outriggers, and the leveling range is limited by the outrigger travel, making it difficult to adapt to steep slopes and undulating terrain.

[0005] Purely mechanical leveling solutions: A parallelogram linkage mechanism is set between the end of the robotic arm and the truck bed. Through passive mechanical linkage, the horizontal attitude of the truck bed is maintained. Its drawbacks are that it can only maintain the horizontal attitude of the truck bed and cannot compensate for spatial displacement caused by chassis tilt, making the truck bed prone to deviating from the preset working point. Furthermore, the mechanical linkage suffers from gaps, wear and aging issues, leading to a decrease in leveling accuracy over long-term use. It lacks active error correction capabilities and cannot dynamically adjust the leveling strategy according to working conditions, resulting in high maintenance costs.

[0006] The six-axis robotic arm overall compensation scheme uses a six-axis robotic arm to carry a truck bed, and achieves position and attitude compensation of the truck bed through overall inverse kinematics calculation. This scheme requires simultaneous inverse kinematics calculation for all six axes, resulting in high computational complexity and poor real-time performance. Multi-axis linkage is prone to motion coupling, which can lead to instability phenomena such as singularities, control jitter, and motion stuttering. Furthermore, it does not have safety optimizations for manned operation scenarios, and the position and attitude are not decoupled, making debugging difficult and failing to guarantee the safety of high-altitude manned operations.

[0007] In summary, existing technologies generally suffer from problems such as inability to compensate for dynamic tilt, lack of position correction with only attitude leveling, large computational load and poor real-time performance, easy instability due to multi-axis coupling, reliance on manual operation, and poor adaptability to complex terrain in the field. Summary of the Invention

[0009] This invention provides a bucket truck for live-line working in power distribution networks, a method, system, equipment, and medium for compensating the position and posture of its end platform, which solves the technical problems existing in the prior art.

[0010] According to a first aspect of the present invention, a method for compensating the position and orientation of the end platform of a live-line working bucket truck in a power distribution network is provided, comprising:

[0011] Real-time acquisition of chassis tilt angle data and bucket posture data of the work vehicle;

[0012] Based on the chassis tilt angle data, the kinematic model of the front three axes of the robotic arm is used to calculate the joint angles required to restore the truck bed to the preset working point.

[0013] Based on the truck bed posture data, calculate the end-effector posture compensation joint angle required to keep the truck bed horizontal.

[0014] Based on the position compensation joint angles of the first three axes, position compensation commands are sent to the corresponding position compensation motors to drive the first three axes of the robotic arm to move. Based on the end attitude compensation joint angles, state compensation commands are sent to the corresponding attitude compensation motors to drive the fifth and sixth axes of the robotic arm to move, so that the position of the truck bed returns to its original position and the horizontal attitude is maintained.

[0015] Furthermore, the method also includes controlling the fourth axis of the robotic arm to maintain its current angle during the compensation process.

[0016] Furthermore, the calculation of the joint angles required to restore the truck bed to the preset working point using the kinematic model of the front three axes of the robotic arm specifically includes: establishing a kinematic model of the front three axes of the robotic arm based on standard DH parameters;

[0017] With the chassis of the work vehicle not tilted, the joint angles of the front three axes of the robotic arm are obtained as follows: , The preset position coordinates of the front three axes of the robotic arm under the base coordinate system during normal operation are obtained by forward kinematics calculation; when the chassis tilts, the base coordinate system after tilting is established based on the collected chassis tilt angle.

[0018] Transform the preset position coordinates to the tilted base coordinate system, and use inverse kinematics to solve for the new joint angles required for the robot arm's front three axes to achieve the preset position coordinates. , and ; Calculate the difference between the new joint angle and the joint angle when it is not tilted, and obtain the position compensation joint angles of the front three axes of the robotic arm.

[0019] Furthermore, the front three axes of the robotic arm include:

[0020] The first joint is used to determine the orientation of the robotic arm in the horizontal plane;

[0021] The second joint is used to determine the angle at which the upper arm is raised or lowered.

[0022] The third joint is used to determine the relative pitch angle of the forearm relative to the upper arm.

[0023] Further, the calculation of the end-effector attitude compensation joint angles required to keep the bucket level specifically includes: taking the bucket level as the target attitude; calculating the current pitch and roll angles of the bucket based on the collected bucket attitude data; calculating the deviation angles between the current pitch and roll angles of the bucket and the target values ​​of the level state, respectively, to obtain the compensation angles for the fifth and sixth axes of the robotic arm. Secondly, another embodiment of the present invention provides an end-effector platform pose compensation system for a live-line working bucket truck, used to implement the method described in the first embodiment above, including:

[0024] The data acquisition module is used to acquire real-time data on the chassis tilt angle and the truck bed posture of the work vehicle.

[0025] The position compensation calculation module is used to calculate the position compensation joint angles of the front three axes required to restore the truck bed to the preset working point based on the chassis tilt angle data and the kinematic model of the front three axes of the robotic arm.

[0026] The attitude compensation calculation module is used to calculate the end attitude compensation joint angle required to keep the truck bed horizontal based on the truck bed attitude data.

[0027] The motion control module is used to send position compensation commands to the corresponding position compensation motors according to the position compensation joint angles of the first three axes to drive the first three axes of the robotic arm to move, and to send state compensation commands to the corresponding attitude compensation motors according to the end attitude compensation joint angles to drive the fifth and sixth axes of the robotic arm to move, so that the position of the truck bed returns to the original position and the horizontal attitude is maintained.

[0028] Furthermore, the motion control module also includes: controlling the fourth axis of the robotic arm to maintain its current angle during the compensation process.

[0029] The third invention, another embodiment of the present invention, provides a power distribution network live-line working boom truck, including the end platform posture compensation system of the power distribution network live-line working boom truck described in the second embodiment.

[0030] Fourthly, another embodiment of the present invention provides an electronic device including a processor, an input device, an output device, and a memory, wherein the processor, input device, output device, and memory are interconnected, the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to invoke the program instructions to execute the method described in the first embodiment of the present invention.

[0031] Fifthly, another embodiment of the present invention provides a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method described in the first embodiment of the present invention.

[0032] The beneficial effects of this invention are:

[0033] The present invention provides a live-line working boom truck for power distribution networks, its end-platform posture compensation method, system, equipment, and medium, which have the following beneficial effects:

[0034] 1. Significantly improved safety performance, addressing core pain points in manned operations.

[0035] In response to the high-risk scenarios of field operations involving personnel on power grid vehicles, this invention, through its vehicle bed posture compensation function, can maintain the level of the personnel-carrying work platform in real time when the chassis is tilted. This completely eliminates the safety hazards of personnel losing balance, slipping, or falling due to vehicle tilt, significantly improving operational safety and solving the problem that existing technologies cannot dynamically ensure the level of the vehicle bed.

[0036] 2. Dual compensation for position and attitude significantly improves operational accuracy and efficiency.

[0037] This invention achieves vehicle bed position compensation through the front three axes of the robotic arm, which can automatically correct the vehicle bed back to the preset work point when the chassis is tilted, without the need for repeated manual adjustments. This not only solves the problem of work point offset caused by vehicle tilt, but also avoids the defects of traditional outrigger leveling that is time-consuming and inefficient, and greatly improves the positioning accuracy and work efficiency of power grid field maintenance and erection operations.

[0038] 3. Decoupled control design results in fast system response and strong stability.

[0039] By adopting a control logic that decouples position compensation and attitude compensation, the compensation task is assigned to different axes of the robotic arm (the first three axes are responsible for position, the last two axes are responsible for attitude, and the fourth axis does not participate in compensation). This avoids the high computational complexity, multi-axis coupling, and singularity and jitter problems of traditional six-axis overall linkage compensation, significantly reduces the computational load of the algorithm, improves the system response speed and control stability, and is suitable for dynamic tilting conditions in the field.

[0040] 4. No additional vehicle leveling required, making it more adaptable to different environments.

[0041] The embodiments of the present invention can achieve dynamic compensation without relying on vehicle body outriggers for leveling. This solves the limitations of traditional vehicle body leveling solutions, which can only perform static leveling and cannot cope with dynamic driving / temporary parking conditions. It also overcomes the defects of mechanical passive leveling mechanisms, which can only maintain posture and cannot correct position. It can be adapted to various uneven field terrains such as mountains, hills, potholes, and mud, greatly expanding the applicable scenarios of power grid operation vehicles. Attached Figure Description

[0042] Figure 1 This is a flowchart of a method for compensating the position and posture of the end platform of a bucket truck used for live-line work in power distribution networks, provided in the first embodiment of the present invention.

[0043] Figure 2 A schematic diagram of the mechanical arm assembly for a bucket truck used for live-line working on power distribution networks;

[0044] Figure 3 This is a schematic diagram of the three-axis coordinate system of the robotic arm;

[0045] Figure 4 This is a schematic diagram of the rotation angle of the first joint of the robotic arm;

[0046] Figure 5 This is a schematic diagram of the coordinate system for the second and third joints of the robotic arm;

[0047] Figure 6 To solve A schematic diagram of the coordinate system;

[0048] Figure 7 To solve A schematic diagram of the coordinate system;

[0049] Figure 8 To solve A schematic diagram of the coordinate system;

[0050] Figure 9 A schematic diagram of the coordinate system for attitude adjustment axes;

[0051] Figure 10 The diagram below shows a structural block diagram of a position and posture compensation system for the end platform of a bucket truck used for live-line work in a power distribution network, provided as another embodiment of the present invention. Detailed Implementation

[0052] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, and to make the above-mentioned objectives, features and advantages of the embodiments of the present invention more apparent and understandable, the technical solutions in the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0053] In the description of this invention, unless otherwise specified and limited, it should be noted that the term "connection" should be interpreted broadly. For example, it can be a mechanical connection or an electrical connection, or it can be a connection between two internal components. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above term according to the specific circumstances.

[0054] See Figure 1 The first embodiment of the present invention provides a method for compensating the position and orientation of the end platform of a bucket truck used for live-line working in power distribution networks, comprising:

[0055] Real-time acquisition of chassis tilt angle data and bucket posture data of the work vehicle;

[0056] Based on the chassis tilt angle data, the kinematic model of the front three axes of the robotic arm is used to calculate the joint angles required to restore the truck bed to the preset working point.

[0057] Based on the truck bed posture data, calculate the end-effector posture compensation joint angle required to keep the truck bed horizontal.

[0058] Based on the position compensation joint angle of the first three axes, position compensation commands are sent to the corresponding position compensation motors to drive the first three axes of the robotic arm to move. Based on the end attitude compensation joint angle, state compensation commands are sent to the corresponding attitude compensation motors to drive the fifth and sixth axes of the robotic arm to move, so that the position of the truck bed returns to the original position and the horizontal attitude is maintained.

[0059] The fourth axis of the control robot arm is kept at its current angle during the compensation process.

[0060] like Figure 2 The diagram shows the assembly schematic of the robotic arm of a live-line working bucket truck. The first axis of the robotic arm is the first joint 1, which determines the orientation of the robotic arm in the horizontal plane. The second axis is the second joint 2, which determines the raising or lowering angle of the boom. The third axis is the third joint 3, which determines the relative pitch angle of the forearm relative to the boom. The fourth axis is the fourth joint 4, which maintains the current angle during compensation. The fifth axis is the fifth joint 5, and the sixth axis is the sixth joint 6. The fifth and sixth joints 5 and 6 are used to control the bucket's posture. The first joint 1, second joint 2, third joint 3, fourth joint 4, fifth joint 5, and sixth joint 6 are connected sequentially.

[0061] like Figure 3As shown, a coordinate system is established with the first three rotation axes of the robotic arm and its end effector as the origin. L1 is the base, L2 is the length of the upper arm, and L3 is the length of the lower arm. Coordinate system {0} is the base coordinate system; coordinate system {1} is the first joint coordinate system, rotating around the Z1 axis; coordinate system {2} is the second joint coordinate system, rotating around the Z2 axis; coordinate system {3} is the third joint coordinate system, rotating around the Z3 axis; and coordinate system {4} is the end effector coordinate system of the third joint (the end effector coordinate system of the upper arm L2).

[0062] according to Figure 3 The coordinate system is established using the DH table, as shown in Table 1:

[0063]

[0064] In Table 1, θ represents the angle between the rotations of adjacent coordinate systems around the Z-axis, d represents the distance between the two X-axis of adjacent coordinate systems, a represents the distance between the two Z-axis of adjacent coordinate systems, and α represents the angle between the rotations of adjacent coordinate systems around the X-axis.

[0065] set up Let be the homogeneous coordinate transformation matrix for translation and rotation from coordinate system a to b. Let (x, y, z) represent the set of translation vectors of b relative to joint a. This indicates that the crane has a joint angle of... When i is 1, 2, 3, or 4, the rotation transformation of the end effector attitude is as follows:

[0066] = (1)

[0067] Then the parameters can be obtained from the DH parameter table. , , , Then we have:

[0068] = * * * = (2)

[0069] First, after the worker manipulates the robotic arm to raise it to a certain height and fixes it to start working, the initial joint angles of the first three axes of the robotic arm are determined. , , At this point, calculate the coordinates of the endpoints of the three axes, i.e., the position of the origin of coordinate system {4}. This is denoted as {A} or {0}:

[0070] in, Rotation angle (azimuth angle) of the first joint 1

[0071] Definition: The angle between the X0 axis of the base coordinate system and the projection of the robotic arm onto the horizontal plane.

[0072] Essentially, the rotation angle around the Z0 axis of the base coordinate system determines the orientation of the robotic arm in the horizontal plane.

[0073] The cos in formula (3) sin This involves decomposing the projection components of the robotic arm on the horizontal plane onto the X0 and Y0 axes of the base coordinate system, such as... Figure 4 As shown.

[0074] Pitch angle (upper arm angle) of the second joint 2

[0075] Definition: The angle between the upper arm (bar L2) and the horizontal plane (X0−Y0 plane).

[0076] Essentially, the rotation angle around the horizontal axis Z2 of the second joint 2 determines the raising / lowering angle of the upper arm.

[0077] In formula (3), L2cos It is the projected length of the robotic arm's upper arm L2 on the horizontal plane, L2sin It is the height component of the robotic arm's upper arm L2 in the Z-axis direction.

[0078] The relative pitch angle (forearm angle) of the third joint 3.

[0079] Definition: The angle between the forearm (bar L3) and the upper arm (bar L2).

[0080] Essentially, the rotation angle around the horizontal axis Z3 of the third joint is the relative angle of the forearm with respect to the upper arm. Therefore, the absolute angle of the forearm relative to the horizontal plane is... + L3 cos( + L3sin( + It is based on this absolute angle that the horizontal plane projection and the Z-axis height component are decomposed, such as Figure 5 As shown, the formula for calculating the end-effector position of the robotic arm under normal operating conditions is as follows:

[0081]

[0082] (3)

[0083]

[0084] in, It is positive when it is located on the upper side of the extension line of L2, and negative otherwise.

[0085] When the chassis tilts, the tilt angle of the chassis is obtained through the chassis sensor (i.e., the coordinate system {0} tilts). At this time, let the base coordinate system be {B}: : The coordinate vector of point P in coordinate system B; : The coordinate vector of point P in coordinate system A; The homogeneous transformation matrix from coordinate system A to coordinate system B; : The rotation matrix from coordinate system A to coordinate system B (the 3×3 part in the upper left corner of the homogeneous matrix); Translation vector (the formula here assumes that the origins of the two coordinate systems A and B coincide, so the translation is 0);

[0086] (4)

[0087] (5)

[0088] Assuming the angles measured by the chassis sensors are respectively From formula (5), we can obtain:

[0089] (6)

[0090] From formula (4), the coordinates of point P in the base coordinate system {B} are:

[0091] (7)

[0092] At this point, we can solve for P in coordinate system {B} using inverse kinematics. , and .

[0093] according to Figure 6 beg The formula is

[0094] (8)

[0095] according to Figure 7 beg Calculate the horizontal distance *r* from the target point to the Z-axis in the XY plane, and the height *h* of the target point, using the following formula:

[0096] (9)

[0097] Where r is the horizontal distance from the target point to the Z-axis in the XY plane; h is the height of the target point (Z-axis coordinate).

[0098] Angle of elevation of the target point relative to the origin :

[0099] (10)

[0100] Solving for the additional angle of the upper arm using the cosine theorem :

[0101] (11)

[0102] in, An angle is positive when it lies above the angle formed by the target point, the origin, and the horizontal axis; otherwise, it is negative.

[0103] Finally, the values ​​calculated by formula (11) and formula (12) are added together to obtain the result. .

[0104] (12)

[0105] like Figure 8 As shown, the cosine theorem is used to solve for the angle β between the forearms:

[0106] (13)

[0107] From formula (13), we can obtain :

[0108] (14)

[0110] The rotation angles of each joint were obtained in summary. , and .

[0111] The difference between the rotation angle of each joint and the joint angle when it is not tilted is the joint angle compensation for the front three axes of the robotic arm. The formula is:

[0112] (15)

[0113] (16)

[0114] (17)

[0115] in, To compensate for the joint angle at the position of the first axis of the robotic arm. To compensate for the joint angle at the position of the second axis of the robotic arm. The joint angle is compensated for the position of the first axis of the robotic arm.

[0116] The above is the algorithm for automatically compensating the front three axes of the robotic arm to return to their original positions after the chassis tilts.

[0117] like Figure 9 As shown, the two rear axes of the robotic arm are attitude adjustment axes, which can adjust the bucket according to the attitude sensors in the bucket to keep it level. Coordinate systems {5} and {6} are the attitude adjustment axes, and coordinate system {7} is the attitude coordinate system of the bucket.

[0118] The pitch angle is obtained from the data measured by the attitude sensors inside the truck bed. Roll angle The compensation angles for the fifth and sixth axes of the robotic arm are obtained based on the deviation angles between the pitch and roll angles and the target values ​​in the horizontal state.

[0119] (18)

[0120] (19)

[0121] in, This is the compensation angle for the fifth axis of the robotic arm. This is the compensation angle for the sixth axis of the robotic arm.

[0122] Based on the compensation angles of the first, second, third, fifth, and sixth axes of the robotic arm obtained above, control commands are generated and issued to each joint. The motors of each joint rotate according to the control commands to the corresponding compensation angle, thereby completing the position and attitude correction.

[0123] The present invention provides a method for compensating the position and orientation of the end platform of a bucket truck used for live-line working in power distribution networks, which has the following beneficial effects:

[0124] 1. Significantly improved safety performance, addressing core pain points in manned operations.

[0125] In response to the high-risk scenarios of field operations involving personnel on power grid vehicles, this invention, through its vehicle bed posture compensation function, can maintain the level of the personnel-carrying work platform in real time when the chassis is tilted. This completely eliminates the safety hazards of personnel losing balance, slipping, or falling due to vehicle tilt, significantly improving operational safety and solving the problem that existing technologies cannot dynamically ensure the level of the vehicle bed.

[0126] 2. Dual compensation for position and attitude significantly improves operational accuracy and efficiency.

[0127] This invention achieves vehicle bed position compensation through the front three axes of the robotic arm, which can automatically correct the vehicle bed back to the preset work point when the chassis is tilted, without the need for repeated manual adjustments. This not only solves the problem of work point offset caused by vehicle tilt, but also avoids the defects of traditional outrigger leveling that is time-consuming and inefficient, and greatly improves the positioning accuracy and work efficiency of power grid field maintenance and erection operations.

[0128] 3. Decoupled control design results in fast system response and strong stability.

[0129] By adopting a control logic that decouples position compensation and attitude compensation, the compensation task is assigned to different axes of the robotic arm (the first three axes are responsible for position, the last two axes are responsible for attitude, and the fourth axis does not participate in compensation). This avoids the high computational complexity, multi-axis coupling, and singularity and jitter problems of traditional six-axis overall linkage compensation, significantly reduces the computational load of the algorithm, improves the system response speed and control stability, and is suitable for dynamic tilting conditions in the field.

[0130] 4. No additional vehicle leveling required, making it more adaptable to different environments.

[0131] The embodiments of the present invention can achieve dynamic compensation without relying on vehicle body outriggers for leveling. This solves the limitations of traditional vehicle body leveling solutions, which can only perform static leveling and cannot cope with dynamic driving / temporary parking conditions. It also overcomes the defects of mechanical passive leveling mechanisms, which can only maintain posture and cannot correct position. It can be adapted to various uneven field terrains such as mountains, hills, potholes, and mud, greatly expanding the applicable scenarios of power grid operation vehicles.

[0132] like Figure 10 As shown, another embodiment of the present invention provides a position and posture compensation system for the end platform of a live-line working bucket truck, comprising:

[0133] The data acquisition module is used to acquire real-time data on the chassis tilt angle and the truck bed posture of the work vehicle.

[0134] The position compensation calculation module is used to calculate the position compensation joint angles of the front three axes required to restore the truck bed to the preset working point based on the chassis tilt angle data and the kinematic model of the front three axes of the robotic arm.

[0135] The attitude compensation calculation module is used to calculate the end attitude compensation joint angle required to keep the truck bed horizontal based on the truck bed attitude data.

[0136] The motion control module is used to send position compensation commands to the corresponding position compensation motors according to the position compensation joint angles of the first three axes to drive the first three axes of the robotic arm to move, and to send state compensation commands to the corresponding attitude compensation motors according to the end attitude compensation joint angles to drive the fifth and sixth axes of the robotic arm to move, so that the position of the truck bed returns to the original position and the horizontal attitude is maintained. The motion control module also includes: controlling the fourth axis of the robotic arm to keep the current angle unchanged during the compensation process.

[0137] The end-platform posture compensation system for live-line working bucket trucks provided in this embodiment of the invention is based on the same inventive concept and has the same beneficial effects as the end-platform posture compensation method for live-line working bucket trucks provided in the first embodiment above, and will not be repeated here. Furthermore, the position compensation calculation module and posture compensation calculation module of this embodiment are independent of each other, and can be debugged, optimized, and maintained separately. Fault location is simple, and the control logic is clear. This avoids the problems of complex structure, easy wear, and high maintenance costs of traditional mechanical leveling mechanisms, and also solves the defects of difficult debugging and strong parameter coupling in the overall linkage scheme. It is convenient for modification and widespread application on existing power grid working vehicles.

[0138] Another embodiment of the present invention provides a power distribution network live-line working bucket truck, including a data acquisition module, a power distribution network live-line working bucket truck end platform posture compensation system, and an actuator. The data acquisition module includes a chassis tilt angle sensor and a bucket posture sensor. The actuator includes a position compensation motor and a posture motor. The data acquisition module is used to collect chassis tilt angle data and bucket posture data. The power distribution network live-line working bucket truck end platform posture compensation system is used to process the collected data to obtain the front three-axis position compensation joint angles required for the bucket to return to the preset working point and the end posture compensation joint angles required to keep the bucket horizontal. It generates corresponding control commands and sends them to the position compensation motor and the posture motor. The position compensation motor and the posture motor control the action according to the corresponding control commands to ensure that the bucket position returns and the horizontal posture is maintained.

[0139] Through closed-loop control involving real-time sensor data acquisition, real-time system calculation, and real-time actuator drive, fully automated compensation of the truck bed's position and attitude is achieved without manual intervention. This reduces the operational difficulty and labor intensity for workers, minimizes errors and safety risks associated with manual adjustments, and enhances the convenience and reliability of the operation process.

[0140] Another embodiment of the present invention provides an electronic device, which includes a processor, an input device, an output device, and a memory. The processor, the input device, the output device, and the memory are interconnected. The memory is used to store a computer program, which includes program instructions. The processor is configured to call the program instructions to execute the method described in the first embodiment above.

[0141] It should be understood that, in the embodiments of the present invention, the processor may be a Central Processing Unit (CPU), but it may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0142] Input devices may include touchpads, microphones, etc., and output devices may include displays (LCDs, etc.), speakers, etc.

[0143] The memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store information about the device type.

[0144] In specific implementations, the processor, input device, and output device described in the embodiments of the present invention can execute the implementation methods described in the method embodiments of the present invention, or they can execute the implementation methods described in the system embodiments of the present invention, which will not be repeated here.

[0145] The present invention also provides an embodiment of a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the methods described in the above embodiments.

[0146] The computer-readable storage medium can be an internal storage unit of the terminal described in the foregoing embodiments, such as the terminal's hard drive or memory. The computer-readable storage medium can also be an external storage device of the terminal, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the terminal. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices of the terminal. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0147] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction 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 and steps 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 this invention.

[0148] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the terminals and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0149] In the several embodiments provided in this application, it should be understood that the disclosed terminals and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, or may be electrical, mechanical or other forms of connection.

[0150] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A method for compensating the position and posture of the end platform of a bucket truck used for live-line working in power distribution networks, characterized in that, include: Real-time acquisition of chassis tilt angle data and bucket posture data of the work vehicle; Based on the chassis tilt angle data, the kinematic model of the front three axes of the robotic arm is used to calculate the joint angles required to restore the truck bed to the preset working point. Based on the truck bed posture data, calculate the end-effector posture compensation joint angle required to keep the truck bed horizontal. Based on the position compensation joint angles of the first three axes, position compensation commands are sent to the corresponding position compensation motors to drive the first three axes of the robotic arm to move. Based on the end attitude compensation joint angles, state compensation commands are sent to the corresponding attitude compensation motors to drive the fifth and sixth axes of the robotic arm to move, so that the position of the truck bed returns to its original position and the horizontal attitude is maintained.

2. The method for compensating the position and posture of the end platform of a bucket truck used for live-line working in power distribution networks according to claim 1, characterized in that, Also includes: The fourth axis of the control robot arm is kept at its current angle during the compensation process.

3. The method for compensating the position and posture of the end platform of a bucket truck used for live-line working in power distribution networks according to claim 1, characterized in that, The calculation of the joint angles required to restore the truck bed to the preset working point using the kinematic model of the front three axes of the robotic arm specifically includes: establishing a kinematic model of the front three axes of the robotic arm based on standard DH parameters; With the chassis of the work vehicle not tilted, the joint angles of the front three axes of the robotic arm are obtained as follows: , and The preset position coordinates of the front three axes of the robotic arm under the base coordinate system during normal operation are obtained by forward kinematics calculation; when the chassis tilts, the base coordinate system after tilting is established based on the collected chassis tilt angle. Transform the preset position coordinates to the tilted base coordinate system, and use inverse kinematics to solve for the new joint angles required for the robot arm's front three axes to achieve the preset position coordinates. , and ; Calculate the difference between the new joint angle and the joint angle when it is not tilted, and obtain the position compensation joint angles of the front three axes of the robotic arm.

4. The method for compensating the position and posture of the end platform of a bucket truck used for live-line working in power distribution networks according to claim 3, characterized in that, The robotic arm's front three axes include: The first joint is used to determine the orientation of the robotic arm in the horizontal plane; The second joint is used to determine the angle at which the upper arm is raised or lowered. The third joint is used to determine the relative pitch angle of the forearm relative to the upper arm.

5. The method for compensating the position and posture of the end platform of a bucket truck used for live-line working in power distribution networks according to claim 1, characterized in that, The calculation of the end-effector angles required to keep the truck bed horizontal specifically includes: taking the horizontal state of the truck bed as the target attitude; calculating the current pitch angle and roll angle of the truck bed based on the collected truck bed attitude data; calculating the deviation angles between the current pitch angle and roll angle of the truck bed and the target value of the horizontal state, respectively, to obtain the compensation angles of the fifth and sixth axes of the robotic arm.

6. A position and posture compensation system for the end platform of a live-line working bucket truck, characterized in that, For implementing the method as described in any one of claims 1 to 5, comprising: The data acquisition module is used to acquire real-time data on the chassis tilt angle and the truck bed posture of the work vehicle. The position compensation calculation module is used to calculate the position compensation joint angles of the front three axes required to restore the truck bed to the preset working point based on the chassis tilt angle data and the kinematic model of the front three axes of the robotic arm. The attitude compensation calculation module is used to calculate the end attitude compensation joint angle required to keep the truck bed horizontal based on the truck bed attitude data. The motion control module is used to send position compensation commands to the corresponding position compensation motors according to the position compensation joint angles of the first three axes to drive the first three axes of the robotic arm to move, and to send state compensation commands to the corresponding attitude compensation motors according to the end attitude compensation joint angles to drive the fifth and sixth axes of the robotic arm to move, so that the position of the truck bed returns to the original position and the horizontal attitude is maintained.

7. The position and posture compensation system for the end platform of the live-line working bucket truck according to claim 6, characterized in that, The motion control module also includes: controlling the fourth axis of the robotic arm to maintain its current angle during the compensation process.

8. A bucket truck for live-line working in power distribution networks, characterized in that, Includes the end platform position and posture compensation system for live-line working bucket trucks as described in any one of claims 6 to 7.

9. An electronic device comprising a processor, an input device, an output device, and a memory, wherein the processor, input device, output device, and memory are interconnected, and the memory is used to store a computer program, the computer program comprising program instructions, characterized in that, The processor is configured to invoke the program instructions to perform the method as described in any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-5.

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