CN103085084B - Visual system and working method for high-voltage hot-line operating robot - Google Patents
Visual system and working method for high-voltage hot-line operating robot Download PDFInfo
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Abstract
The invention discloses a visual system and a working method for a high-voltage hot-line operating robot. The visual system for the high-voltage hot-line operating robot comprises an operation end. The operation end comprises a left mechanical arm and a right mechanical arm. The left mechanical arm and the right mechanical arm are both installed on an insulation bucket. A left stereoscopic video camera and a left stereoscopic camera are installed on the left mechanical arm. A right stereoscopic video camera and a right stereoscopic camera are installed on the right mechanical arm. A visible light video camera I is arranged on the front side of the insulation bucket. A video camera support is arranged on the back side of the insulation bucket. A visible light video camera II is arranged at the top end of the support. A ground remote end is connected with the left stereoscopic video camera, the right stereoscopic video camera, the left stereoscopic camera, the right stereoscopic camera, the visible light video camera I and the visible light video camera II. The invention further discloses a working method for the high-voltage hot-line operating robot. Operation staff can be thoroughly free from a high-altitude high-risk working environment, labor intensity is lowered, operation safety is greatly improved, automatic identification of the position and the posture of an operated object is achieved, and automation level and intelligent level of operation are improved.
Description
Technical field
The present invention relates to a kind of vision system and method for work, particularly relate to a kind of vision system for robot for high-voltage hot-line work and method of work.
Background technology
Along with social digitlization, informationalized development, the continuity of supply of electric power and reliability seem particularly important.High-voltage hot-line work, as a kind of operational method of carrying out overhauling, test under high voltage electric equipment not power-off condition, is avoid maintenance to have a power failure, ensures the effective measures of normal power supply.
Traditional high-voltage hot-line work can be divided into three kinds: equipotential live line work, earth potential working, medial potential working etc.In equipotential live line work, operator directly contacts electrification in high voltage part, by the safety of insulation clothing, insulation footgear, operating personnel such as guarantee such as insulation cap and insulating glove etc.; During earth potential working, on the shaft tower that human body is in ground connection or framework, realize livewire work by insulating tool; Medial potential working system enters a certain region in high voltage electric field by instruments such as insulating bars, but does not also directly contact high-voltage charged body, is the intermediate condition of first two operation.No matter that operating type, operating personnel is in high voltage, high altitude environment, has the operation amount of labour large, inclement condition, the dangerous shortcoming such as large of operation.
Along with the development of Robotics, robot is used to replace people to complete the study hotspot that high-voltage hot-line work business becomes each research institution.
Comparatively early, Japan started the research of robot for high-voltage hot-line work in 1984, and obtained on-the-spot application in area, nine divisions of China in remote antiquity in the external research starting in this field.Spain, the U.S., France and the state such as Canadian also 20th century the eighties start to carry out corresponding research mid-term, and achieve some scientific achievements.
Relative to abroad, domestic starting late at high-voltage hot-line work, 20th century, the nineties just started the technical research in corresponding field latter stage, wherein with " a kind of high-voltage hot-line work master & slave control robot manipulating task platform " of the patent No. 201210095860 of Shandong Research Inst. of Electric Power's invention for main representative.The robot operating system be positioned in insulation bucket is promoted to operation height by hydraulic elevating platform by this invention, and operating personnel stand in insulation bucket, manipulates main hand robot arm clamping specific purpose tool contact circuit and completes various high-voltage hot-line work.
Above-mentioned research all achieves beneficial effect to a certain extent, but the technical requirement of this invention to operating personnel is higher, operating personnel skillfully must grasp correlation theory and the technology of robotic arm manipulation, training difficulty is larger, operating personnel still need operation in high altitude environment in addition, still there is certain operating risk.
Summary of the invention
Object of the present invention is exactly that provide a kind of vision system for robot for high-voltage hot-line work and method of work, it has makes operating personnel can facilitate, complete efficiently the advantage of livewire work business at ground remote control end in order to solve the problem.
To achieve these goals, the present invention adopts following technical scheme:
A kind of vision system for robot for high-voltage hot-line work, it comprises operating side, described operating side comprises left mechanical arm and right mechanical arm, left mechanical arm and right mechanical arm are installed on insulation bucket, left mechanical arm is provided with left stereo camera, above left stereo camera, left stereoscopic camera is installed, right mechanical arm is provided with right stereo camera, above right stereo camera, right stereoscopic camera is installed; Be provided with visible light camera I in the front side of the insulation left mechanical arm of bucket and right mechanical arm, be provided with video camera pillar at the rear side of the insulation left mechanical arm of bucket and right mechanical arm, be provided with visible light camera II on the top of pillar; Left stereo camera, right stereo camera, left stereoscopic camera, right stereoscopic camera, visible light camera I are all connected with ground remote control end with visible light camera II.
Described ground remote control end comprises robot control system, video processor and man-machine interface; Operating side is connected with robot control system by optical fiber, video processor connects by RJ45 and left stereo camera, right stereo camera, left stereoscopic camera, right stereoscopic camera, visible light camera I and visible light camera II, and video processor is connected with man-machine interface, robot control system respectively.
Described operating side is arranged on hydraulic elevating platform.
Described visible light camera I and visible light camera II adopts high-definition digital ccd video camera, is connected with video processor by RJ45 line.
Described left stereo camera and right stereo camera adopt full HD bore hole stereo camera, are all connected with video processor by RJ45 line.
Described left stereoscopic camera is connected with video processor by kilomega network with right stereoscopic camera, by analyzing left stereoscopic camera and right stereoscopic camera video, realizing the identification of the spatial information of observed objects, comprising three-dimensional coordinate and the attitude in space.
Described video processor adopts graphics workstation, is connected, for robot control system provides servo-control signal by RS232 with robot control system.
Described man-machine interface adopts VGA line to be connected with video processor, for operating personnel provide video during operation to instruct.
Robot described in " a kind of high-voltage hot-line work master & slave control robot manipulating task platform " of the patent No. 201210095860 that described robot for high-voltage hot-line work is invented for Shandong Research Inst. of Electric Power, this robot comprises robot manipulating task platform supports frame, hydraulic elevating platform control integration, robot operating system and insulation bucket.
Its main feature of a kind of vision system for robot for high-voltage hot-line work be by described binocular solid camera, described video processor, described robot control system and described robot for high-voltage hot-line work by video processnig algorithms organically combine be a vision servo system.Described video processor accepts the video information of described binocular solid collected by camera, the three-dimensional information of object is obtained by video processnig algorithms, this three-dimensional information and target three-dimensional information are compared, obtain robot controlling amount information, described robot control system accepts this control information, realize the SERVO CONTROL of robot, and then realize the AUTONOMOUS TASK of robot for high-voltage hot-line work.
The left images obtained binocular camera utilizes above-mentioned algorithm to calculate the three-dimensional information of target respectively, if both result of calculations unanimously, illustrates that this information is for information accurately, otherwise thinks that this information is invalid, like this can robustness to ensure that the method.
Based on a kind of method of work of the vision system for robot for high-voltage hot-line work, concrete steps are:
Step one: robot for high-voltage hot-line work delivers to operation height by hydraulic elevating platform by robot operating system;
Step 2: under the information guiding that the visible light camera I installed by operating side, visible light camera II, left stereo camera and right stereo camera that ground handling operator shows at man-machine interface return, Artificial Control robot, to suitable observation place, ensures to be arranged in the left stereoscopic camera of operating side and the visual field of right stereoscopic camera by operating equipment;
Step 3: switch to automatic control mode, the video of video processor to left stereoscopic camera and the passback of right stereoscopic camera processes, and is realized by the identification of the spatial information of operating equipment by visual servo method;
Step 4: the information of video processor process is sent to robot operating system by serial ports, realizes the SERVO CONTROL of robot, independently completes livewire work business.
The concrete steps of described step 3 are:
(3-1) according to true form and the size of target, in three-dimensional drawing software, the threedimensional model of target is set up;
(3-2) centered by target three-dimensional, with R be radius sphere on longitude be P, latitude arranges virtual camera for Q place, threedimensional model is observed, obtains the two dimensional model of objective;
(3-3) through row marginal information, edge extracting is carried out to the two-dimensional image sequence obtained in the foundation of target three-dimensional, generate the shape with vector (R, P, Q) target image one to one, thus set up shape storehouse;
(3-4) edge is extracted to the image information that right stereoscopic camera and left stereoscopic camera obtain, image edge information is mated with all templates in shape storehouse, in shape storehouse, utilizes template matching algorithm to search for the marginal information of mating the most with this image edge information; Corresponding to the shape searched by radius R, the vector of longitude P, latitude Q composition and the three-dimensional information of target.
In described step (3-2), the minimum of a value of radius R is the external radius of sphericity of target, and be 5 times of the extraneous radius of sphericity of target to the maximum, the sampling interval is 1/2nd of smallest sphere radius, and the sampling interval of longitude P and latitude Q is 5 degree.
Edge in described step (3-3) refers to that two dimensional image surrounding pixel gray scale has the pixel set of Spline smoothing, the sharp keen degree at edge is determined by the gradient of gradation of image, choosing the information that its sharp keen degree is greater than given threshold value is the edge of two dimensional image, the computing formula of image gradient is as follows, wherein f is image function
for the first derivative in abscissa direction,
for the first derivative in ordinate direction, x is the abscissa of each pixel, and y is the ordinate of each pixel,
Template matching algorithm in described step (3-4), formula is as follows:
Wherein, f is image function, and T is template image function, M is the width of template image, N is the height of template image, and i, m are image abscissa variable, and j, n are ordinate variable, T (m, n) for template image is at the gray value at (m, n) coordinate place, D (i, j) in image f in the tolerance of the similarity of (i, j) coordinate place and template T.
The left images obtained binocular camera utilizes template matching algorithm to calculate the three-dimensional information of target respectively, if both result of calculations unanimously, illustrates that this information is for information accurately, otherwise thinks that this information is invalid, like this can robustness to ensure that the method.
Beneficial effect of the present invention: 1, adopt this vision system that operating personnel can be made thoroughly to break away from high-altitude, high-risk working environment, reduces labour intensity, greatly improves job security.
2, adopt binocular solid camera, realize, to by the automatic identification of operation object position and attitude, utilizing the motion of this position and attitude information driving machine mechanical arm, automatically realizing high-voltage hot-line work business, improve the automation of operation, intelligent level.
3, by being installed on multiple ccd video cameras of different fixed position, realize the video monitor of robot for high-voltage hot-line work operation, and provide video to instruct to operating process.
4, adopt full HD bore hole stereo camera, make operator have good stereoscopic visual effect, handled easily person operates, and improves operating efficiency.
Accompanying drawing explanation
Fig. 1 is a kind of vision system the general frame for robot for high-voltage hot-line work;
Fig. 2 is a kind of vision system operating side structure chart for robot for high-voltage hot-line work;
Fig. 3 is a kind of vision system vision servo system schematic diagram for robot for high-voltage hot-line work.
Fig. 4 is a kind of vision system workflow diagram for robot for high-voltage hot-line work.
Wherein, 1. operating side, 2. ground remote control end, 3. video processor, 4. man-machine interface, 5. robot control system, 6. hydraulic elevating platform, 7. video camera pillar, 8. visible light camera II, 9. visible light camera I, 10. left mechanical arm, 11. right mechanical arms, 12. right stereoscopic cameras, 13. right stereo cameras, 14. left stereoscopic cameras, 15. left stereo cameras, 16. insulation buckets.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1 and Figure 2, a kind of vision system for robot for high-voltage hot-line work, comprise the visible light camera II8 and visible light camera I9, left stereo camera 15 and right stereo camera 13, left stereoscopic camera 14 and right stereoscopic camera 12 that are positioned at operating side 1, be positioned at the high performance video processor 3 of ground remote control end 2 and man-machine interface 4, robot control system 5.
Robot described in " a kind of high-voltage hot-line work master & slave control robot manipulating task platform " of the patent No. 201210095860 that described robot for high-voltage hot-line work is invented for Shandong Research Inst. of Electric Power, this robot comprises hydraulic elevating platform 6, robot control system 5 and insulation bucket 16.
Described visible light camera II8 and visible light camera I9 adopts high-definition digital ccd video camera, it is connected with video processor 3 by RJ45 line, the present invention uses 2 visible light cameras, be installed on the bottom of the insulation bucket 16 described in described electrification in high voltage robot, top respectively, wherein the visible light camera II8 at top is installed on above video camera pillar 7.
Described right stereo camera 13 and left stereo camera 15 adopt full HD bore hole stereo camera, right stereo camera 13 and left stereo camera 15 are installed on the arm end of right mechanical arm 11 end of described robot for high-voltage hot-line work and the arm end of left mechanical arm 10 end respectively, are connected with video processor 3 by RJ45 line.
Described left stereoscopic camera 14 is connected with video processor 3 by RJ45 with right stereoscopic camera 12, left stereoscopic camera 14 and right stereoscopic camera 12 are installed on the arm end of left mechanical arm 10 end described in described robot for high-voltage hot-line work and the arm end of right mechanical arm 11 end respectively, on left stereo camera 15 and right stereo camera 13, by analyzing the parallax of left stereoscopic camera 14 and right stereoscopic camera 12 video, realize the identification of the spatial information of observed objects, comprise three-dimensional coordinate and the attitude in space.
Described video processor 3 adopts high performance graphics work station, and it is connected with robot control system 5 by R232, for it provides servo-control signal.
Described man-machine interface 4 adopts VGA line to be connected with video processor 3, for operating personnel provide video during operation to instruct.
As shown in Figure 3, its main feature of a kind of vision system for robot for high-voltage hot-line work be by described binocular solid camera, described video processor 3, described robot control system 5 and described robot for high-voltage hot-line work by video processnig algorithms organically combine be a vision servo system.Described video processor 3 accepts the video information of described binocular solid collected by camera, the three-dimensional information of object is obtained by video processnig algorithms, this three-dimensional information and target three-dimensional information are compared, obtain robot controlling amount information, described robot control system 5 accepts this control information, realize the SERVO CONTROL of robot, and then realize the AUTONOMOUS TASK of robot for high-voltage hot-line work.
Described video processnig algorithms, it mainly comprises three steps: the acquisition of the foundation of target three-dimensional, the foundation in shape storehouse, target three-dimensional information.
1, the foundation of target three-dimensional
First the foundation of described target three-dimensional be by three-dimensional drawing software, threedimensional model is accurately set up to target, secondly centered by target's center, with R be radius sphere on longitude be P, latitude observes threedimensional model for Q place arranges virtual camera, obtains the two dimensional model of objective, this two dimensional model and radius R, longitude P, vector (R, P, the Q) one_to_one corresponding that latitude Q forms.Travel through different radius Rs, longitude P and latitude Q, wherein the minimum of a value of R is the external radius of sphericity of target, be 5 times of the extraneous radius of sphericity of target to the maximum, sampling interval is 1/2nd of smallest sphere radius, and the sampling interval of longitude P and latitude Q is 5 degree, can obtain a two-dimensional image sequence like this.
2, the foundation in shape storehouse
The two-dimensional image sequence obtained in the foundation being established as described target three-dimensional in described shape storehouse, through the extraction of row marginal information, carrys out the identification of realize target as the shape information of image using this marginal information.
Described edge refers to that image peripheral pixel grey scale has the pixel set of Spline smoothing, and the edge of image is seldom jump to the such ideal state of another gray scale from a gray scale, and the edge of true picture usually all has limited width and presents precipitous ramped shaped.The sharp keen degree at edge is determined by the gradient of gradation of image, and choosing the information that its sharp keen degree is greater than certain given threshold value is image border, and wherein the computing formula of image gradient is as follows, and wherein f is image function,
for the first derivative in abscissa direction,
for the first derivative in ordinate direction, x is the abscissa of each pixel, and y is the ordinate of each pixel,
Respectively edge extracting is done to the two-dimensional image sequence that previous step obtains, the shape with vector (R, P, Q) a series of target one to one can be generated, thus complete the foundation of target shape model library.
3, the acquisition of target three-dimensional information
Extract edge to the image information that binocular camera obtains, the marginal information that search and this image edge information mate the most in shape storehouse, this matching algorithm adopts template matching algorithm, and its formula is as follows.
Wherein f is image function, T is template image function, and M is the width of template image, and N is the height of template image, i, m are image abscissa variable, j, n are ordinate variable, and T (m, n) is for template image is at (m, n) gray value at coordinate place, D (i, j) in image f in the tolerance of the similarity of (i, j) coordinate place and template T.
Mated with all templates in shape storehouse by image, search wherein has maximum similarity to be shape with it, corresponding to this shape by radius R, the vector of longitude P, latitude Q composition and the three-dimensional information of target.
The left images obtained binocular camera utilizes above-mentioned algorithm to calculate the three-dimensional information of target respectively, if both result of calculations unanimously, illustrates that this information is for information accurately, otherwise thinks that this information is invalid, like this can robustness to ensure that the method.
Fig. 4 is a kind of vision system workflow diagram for robot for high-voltage hot-line work, described robot for high-voltage hot-line work delivers to operation height by hydraulic elevating platform 6 by robot operating system, the visible light camera I9 installed by operating side 1 that ground handling operator shows in man-machine interface 4, visible light camera II8, under the guidance of the information that the left stereo camera of full HD bore hole 15 and right stereo camera 13 return, Artificial Control robot is to suitable observation place, ensure to be arranged in the left stereoscopic camera 14 of operating side 1 and the visual field of right stereoscopic camera 12 by operating equipment, now switch to automatic control mode, video processor 3 processes the video that left stereoscopic camera 14 and right stereoscopic camera 12 return, by analyzing the parallax of left stereoscopic camera 14 and right stereoscopic camera 12, realize by the identification of the spatial information of operating equipment, this information is sent to robot operating system by serial ports, realize the SERVO CONTROL of robot, independently complete livewire work business.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (4)
1., based on a method of work for the vision system of robot for high-voltage hot-line work, it is characterized in that,
The described vision system based on robot for high-voltage hot-line work, it comprises operating side, described operating side comprises left mechanical arm and right mechanical arm, left mechanical arm and right mechanical arm are installed on insulation bucket, left mechanical arm is provided with left stereo camera, above left stereo camera, left stereoscopic camera is installed, right mechanical arm is provided with right stereo camera, above right stereo camera, right stereoscopic camera is installed; Be provided with visible light camera I in the front side of the insulation left mechanical arm of bucket and right mechanical arm, be provided with video camera pillar at the rear side of the insulation left mechanical arm of bucket and right mechanical arm, be provided with visible light camera II on the top of pillar; Left stereo camera, right stereo camera, left stereoscopic camera, right stereoscopic camera, visible light camera I are all connected with ground remote control end with visible light camera II;
The concrete steps of described method of work are:
Step one: robot for high-voltage hot-line work delivers to operation height by hydraulic elevating platform by robot operating system;
Step 2: under the information guiding that the visible light camera I installed by operating side, visible light camera II, left stereo camera and right stereo camera that ground handling operator shows at man-machine interface return, Artificial Control robot, to suitable observation place, ensures to be arranged in the left stereoscopic camera of operating side and the visual field of right stereoscopic camera by operating equipment;
Step 3: switch to automatic control mode, the video of video processor to left stereoscopic camera and the passback of right stereoscopic camera processes, and by analyzing the video of left stereoscopic camera and right stereoscopic camera, realizes by the identification of the spatial information of operating equipment;
Step 4: the information of video processor process is sent to robot operating system by serial ports, realizes the SERVO CONTROL of robot, independently completes livewire work business.
2. as claimed in claim 1 based on the method for work of the vision system of robot for high-voltage hot-line work, it is characterized in that, the concrete steps of described step 3 are:
(3-1) according to true form and the size of target, in three-dimensional drawing software, the threedimensional model of target is set up;
(3-2) centered by target three-dimensional, with R be radius sphere on longitude be P, latitude arranges virtual camera for Q place, threedimensional model is observed, obtain the two dimensional model of objective, the minimum of a value of radius R is the external radius of sphericity of target, be 5 times of the extraneous radius of sphericity of target to the maximum, the sampling interval is 1/2nd of smallest sphere radius, and the sampling interval of longitude P and latitude Q is 5 degree;
(3-3) through row marginal information, edge extracting is carried out to the two-dimensional image sequence obtained in the foundation of target three-dimensional, generate the shape with vector (R, P, Q) target image one to one, thus set up shape storehouse;
(3-4) edge is extracted to the image information that right stereoscopic camera and left stereoscopic camera obtain, image edge information is mated with all templates in shape storehouse, in shape storehouse, utilizes template matching algorithm to search for the marginal information of mating the most with this image edge information; Corresponding to the shape searched by radius R, the vector of longitude P, latitude Q composition and the three-dimensional information of target.
3. as claimed in claim 2 based on the method for work of the vision system of robot for high-voltage hot-line work, it is characterized in that, edge in described step (3-3) refers to that two dimensional image surrounding pixel gray scale has the pixel set of Spline smoothing, the sharp keen degree at edge is determined by the gradient of gradation of image, choosing the information that its sharp keen degree is greater than given threshold value is the edge of two dimensional image, the computing formula of image gradient is as follows, is wherein f image function
for the first derivative in abscissa direction,
for the first derivative in ordinate direction, x is the abscissa of each pixel, and y is the ordinate of each pixel,
4. as claimed in claim 2 based on the method for work of the vision system of robot for high-voltage hot-line work, it is characterized in that, template matching algorithm in described step (3-4), formula is as follows:
Wherein, f is image function, and T is template image function, M is the width of template image, N is the height of template image, and i, m are image abscissa variable, and j, n are ordinate variable, T (m, n) for template image is at the gray value at (m, n) coordinate place, D (i, j) in image f in the tolerance of the similarity of (i, j) coordinate place and template T.
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