CN106965147A - A kind of hot line robot isolation switch detection method - Google Patents
A kind of hot line robot isolation switch detection method Download PDFInfo
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- CN106965147A CN106965147A CN201611129445.5A CN201611129445A CN106965147A CN 106965147 A CN106965147 A CN 106965147A CN 201611129445 A CN201611129445 A CN 201611129445A CN 106965147 A CN106965147 A CN 106965147A
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- mechanical arm
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- arm
- isolation switch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes a kind of hot line robot isolation switch detection method.The mechanical arm of robot carries high-definition camera, electronics ultraviolet crack inspection instrument and thermal infrared imager and moved around isolation switch and Data Detection in response to control data；Data processing is handled the detection data of each detection device with control system, and the index of correlation numerical value of acquisition and regime values in database are contrasted, with the working condition of detection and isolation disconnecting link, so as to form examining report.In the present invention, the mechanical arm of hot line robot carries out live detection by way of shaking operation or AUTONOMOUS TASK to isolation switch, operating personnel's danger that operation is brought near live high voltage circuit is avoided, job step is simplified, improves accuracy of detection.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot isolation switch detection method.
Background technology
Isolation switch is that, using a kind of most electrical equipment in high-voltage switch electric appliance, the principles and structure of itself compares
Simply, but be due to that usage amount is big, functional reliability requires high, to the shadow of electric substation, the design of power plant, foundation and safe operation
Sound is larger.
With the longtime running of power distribution network, isolation switch is likely to occur nut loosening, and porcelain vase, which is burst, to come off, and superstructure loosening is old
Change variety of problems, it is necessary to be detected or changed to it.Traditional detection method is artificial progress walkaround inspection and the inspection that has a power failure
Repair, if power failure area is larger, can cause an immeasurable loss, have a strong impact on the economic benefit and social benefit of power supply enterprise.
Present numerous researchers are also in the method for the actively on-line monitoring of research isolation switch, but this method needs transformation circuit, nothing
Method is applied to old circuit.
The content of the invention
Present invention solves the technical problem that be to propose a kind of hot line robot isolation switch live detection method, should
Method can carry out live detection in the case where not powering off to isolation switch, it is to avoid operating personnel is in live high voltage circuit
The danger that neighbouring operation is brought, simplifies job step, and testing result is accurate relative to artificial detection more science.
In order to solve the above-mentioned technical problem, the present invention provides a kind of hot line robot isolation switch detection method, band
Electric Work robot has the mechanical arm being arranged on robot platform, including first mechanical arm, second mechanical arm and auxiliary
Mechanical arm, first mechanical arm, second mechanical arm and auxiliary mechanical arm complete following work in response to control data：
First mechanical arm, second mechanical arm and auxiliary mechanical arm end are respectively mounted high-definition camera, electronics ultraviolet
Defectoscope and thermal infrared imager, and high-definition camera, electronics ultraviolet crack inspection instrument and thermal infrared imager are driven in isolation switch
Move about, high-definition image, ultraviolet crack inspection figure and the Infrared Thermogram of isolation switch are obtained respectively；High-definition camera, electricity
The view data each gathered is sent to powered work by communication system by sub- ultraviolet crack inspection instrument and thermal infrared imager in real time
Earlier figures picture is sent display to show by the data processing of industry robot and control system, data processing with control system；Or, number
Earlier figures picture is handled with control system according to processing, acquisition coherent detection data, and by coherent detection data and database
Middle regime values is contrasted, with the working condition of detection and isolation disconnecting link.
Further, before operation, clamping device is installed in first mechanical arm and second mechanical arm end, is clamped with clamping device
The masking material that insulate carries out insulation masking to the electrical body of mark；After operation is finished, first mechanical arm and second mechanical arm end
Clamping device is installed in portion, and the insulation masking material being covered on electrical body is removed with clamping device.
Further, the data processing is obtaining high-definition image, ultraviolet crack inspection figure and infrared thermal imagery with control system
After figure, according to the result that regime values is contrasted in index of correlation numerical value and database, initial analysis is first carried out；For abnormal index
Test point corresponding to numerical value, first mechanical arm, second mechanical arm and auxiliary mechanical arm carry corresponding detection device and entered again
Row detection；Data processing is with control system according to the index of correlation numerical value obtained again, the working condition of detection and isolation disconnecting link.
Further, the control data is the angle desired value that each joint of mechanical arm is moved, and the angle desired value is by powered
Work robot data processing and control system change number according to each joint angles of the in-car main manipulator of insulation bucket arm are arranged at
Obtained according to resolving；Main manipulator includes the first main manipulator, the second main manipulator and auxiliary main manipulator；First main manipulator,
Second main manipulator and auxiliary main manipulator are corresponding with first mechanical arm, second mechanical arm and auxiliary mechanical arm respectively, constitute master
From operative relationship.
Further, control room is provided with the aerial lift device with insulated arm, the data processing and control system include the first work
Control machine, the second industrial computer, display screen and main manipulator, the second industrial computer Built-in Image processor, display screen and main manipulator position
In in control room；The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is to working scene
The 3D dummy activity scenes that image is obtained after being handled, and send display to show.
Further, the control data is the angle desired value that each joint of mechanical arm is moved；Hot line robot data
Processing and control systems use Descartes according to the relative position and job task action sequence of each mechanical arm and manipulating object
Space path planing method cooks up the space path of each mechanical arm, and then calculating each joint of mechanical arm according to space path transports
Dynamic angle desired value.
Further, the hot line robot, including aerial lift device with insulated arm, the robot being mounted on aerial lift device with insulated arm is put down
Platform, the mechanical arm on robot platform；The mechanical arm includes first mechanical arm, second mechanical arm and Aided Machine
Arm, the video camera includes binocular camera, is equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm double
Mesh camera, the first mechanical arm, second mechanical arm and auxiliary mechanical arm, which coordinate, completes livewire work, wherein, Aided Machine
Arm is used for clamping operation object, and first mechanical arm and second mechanical arm carry out Job Operations using power tool；At the data
Reason and control system include the first industrial computer, the second industrial computer, the second industrial computer Built-in Image processor and livewire work action
The corresponding action sequence data of every livewire work are previously stored with sequence library, the livewire work action sequence storehouse；It is described
The working scene image of camera acquisition is sent to the second industrial computer, and image processor is obtained after handling working scene image
Mechanical arm and manipulating object between relative position relation, the second industrial computer is according to the relative position relation and specific band
Action sequence corresponding to electric operation plans the space path of mechanical arm, and the space path data of the mechanical arm are sent to
First industrial computer；First industrial computer calculates the control data according to the space path of the mechanical arm.
Further, the mechanical arm or main manipulator are mechanism in six degree of freedom, including pedestal, rotation direction of principal axis and pedestal
The vertical waist joint of plane, the shoulder joint being connected with waist joint, the large arm being connected with shoulder joint, the elbow joint being connected with large arm,
The forearm being connected with elbow joint, the wrist joint being connected with forearm, wrist joint is made up of three rotary joints, and respectively wrist pitching is closed
Section, wrist swinging joint and wrist rotary joint；Each joint is respectively provided with corresponding orthogonal rotary coding in the mechanism in six degree of freedom
Device and servo drive motor, orthogonal rotary encoder are used for the angle-data for gathering each joint, and servo drive motor is used to control
Make the motion in each joint；First industrial computer is according to the desired values of each joint angles of mechanical arm, by controlling servo drive motor control
System presses each joint motions of mechanical arm.
Compared with prior art, its remarkable advantage is the present invention：(1) present invention can not power off the feelings without load
Live detection is carried out to isolation switch by the mechanical arm of hot line robot under condition, it is to avoid the negative shadow brought that has a power failure
Ring, power off time is greatly reduced, improve power supply reliability, alleviate electricity consumption and complain contradiction；(2) present invention uses livewire work machine
Device people detects disconnecting switch, and more detailed information, detection more science can be found relative to observation hair is maked an inspection tour；(3) it is of the invention
Using hot line robot compared to need closely insulating glove operation isolation switch detection method can from consider electricity
Burning and Danger Electric shock risk, falling from high altitude problem to human body when arc is produced；(4) present invention uses hot line robot by operating
Personnel's rocking bar is controlled, and is required small for operating personnel's labor intensity, is reduced that operation intensity is big the situation of human error occurs, greatly
The big security improved in operation process, can reduce the generation of accident to a certain extent.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention.
Fig. 2 is the block diagram of system of aerial lift device with insulated arm in the present invention.
Fig. 3 is the structural representation of robot platform in the present invention.
Fig. 4 is the structural representation of mechanical arm in the present invention.
Fig. 5 is the inventive method flow chart.
Fig. 6 is hot line robot live detection isolation switch operating environment schematic diagram of the present invention.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, this area
Those skilled in the art can imagine a variety of embodiment party of hot line robot isolation switch live detection method of the present invention
Formula.Therefore, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as
The whole of the present invention is considered as limitation or restriction to technical solution of the present invention.
With reference to accompanying drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1, the end of telescopic arm 3 connection robot platform 4, robot platform 4 with
Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 is available for operating personnel to drive, so that robot platform 4 is transported into operation field.Insulation bucket arm
Supporting leg is housed, supporting leg can deploy on car 1, so that aerial lift device with insulated arm 1 and ground are consolidated into support.On aerial lift device with insulated arm 1
Equipped with generator, so as to be powered to control room 2 and telescopic arm 3.
Telescopic arm 3 is provided with the drive device along telescopic direction, and operating personnel can be by controlling drive device, so that by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made up of insulating materials, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or the replacement of other mechanisms.
As a kind of embodiment, the second industrial computer, display screen, the first main manipulator, the second master are provided with control room 2
Manipulator, auxiliary main manipulator and communication module etc..
As a kind of embodiment, robot platform 4 includes insulator 46, first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, it is the first industrial computer 48, binocular camera 45, full-view camera 41, depth camera 410, battery 49, special
Tool box 47, communication module.
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms is insulated with robot platform 4.
Battery 49 is the first industrial computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As first 41, binocular camera 45, depth camera 410, communication module are powered.
As a kind of embodiment, binocular camera 45 1 has three, is separately mounted to first mechanical arm 43, the second machine
On the wrist joint 437 of tool arm 44 and auxiliary mechanical arm 42, it is responsible for the view data of Collecting operation scene, and view data is sent
To the second industrial computer.Binocular camera 45 is made up of two parallel industrial cameras of optical axis, and the distance between parallel optical axis is fixed.
Depth camera 410 is arranged on side of the robot platform 4 just to working scene, is responsible for the scape of Collecting operation scene
Deep data, the second industrial computer is sent to by depth of field data.
Full-view camera 41 is arranged on the top of robot platform 4 by support, is responsible for the panorama sketch of Collecting operation scene
As data, view data is sent to the second industrial computer, and show that operating personnel can be supervised by panoramic picture over the display
Control working scene.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is provided with instrument quick change
Device.Mechanical arm obtains power tool into tool box special 47 according to the type of job task using instrument fast replacing device.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of are used for manually remotely in control room 2
The operation device of operating robotic arm, they constitute principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relation.Mechanical arm and main manipulator have identical structure, and simply main manipulator dimensions is smaller than mechanical arm, in order to grasp
Make human users.Mechanical arm and main manipulator possess six joints, and there are photoelectric encoder acquisition angles data in each joint, respectively
The angle-data in six joints is sent to the second industrial computer by the microcontroller of main manipulator by serial ports.
As one embodiment of the invention, the mechanical arm is mechanism in six degree of freedom, including pedestal 431 rotates direction of principal axis
The waist joint 432 vertical with base plane, the shoulder joint 433 being connected with waist joint 432, the large arm being connected with shoulder joint 433
434, the elbow joint 435 being connected with large arm 434, the forearm 436 being connected with elbow joint 435, the wrist joint being connected with forearm 436
437, wrist joint 437 is made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；It is described
The joint of each in mechanism in six degree of freedom is respectively provided with corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding
Device 31 is used for the angle-data for gathering each joint, and servo drive motor is used for the motion for controlling each joint；First industrial computer root
The movement angle in each joint is calculated according to the space path of the mechanical arm, control servo drive motor is according to the movement angle
Each joint motions of control machinery arm.
As a kind of embodiment, the data transfer between robot platform 4 and control room 2 by optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is used to realize light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, so as to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, the optical signal that fiber optical transceiver is used to realize in optical fiber with
The mutual conversion of electric signal in twisted-pair feeder, so as to realize the electrical isolation of robot platform 4 and control room 2 in communication.
As a kind of embodiment, the second industrial computer can complete following task：
Set up action sequence storehouse.It is in advance acting sequences by every livewire work Task-decomposing, composition action sequence storehouse is deposited
Storage is in the second industrial computer, for robotic arm path planning.
Set up manipulating object model library.The threedimensional model of manipulating object involved by pre-production items livewire work task
And Model of Target Recognition, for example, according to devices such as power tower bar, electric wire, metal oxide arrester, isolation switch, arresters
Material object, makes threedimensional model and Model of Target Recognition, for hot line robot automatic identification manipulating object, builds operation
Scape three-dimensional virtual scene.
Set up mechanical arm and specific purpose tool model library.The threedimensional model and target of pre-production mechanical arm and specific purpose tool are known
Other model, for example, spanner etc., working scene three-dimensional virtual scene is built for hot line robot automatically, plans mechanical arm
Space path.
Obtain view data.Obtain the data message of panoramic picture, depth image and binocular image.
Operative goals is recognized and tracked according to view data.
Angle, angular speed and the angular acceleration data of main manipulator are obtained, angle, angular speed and the angle for obtaining mechanical arm add
Speed data.
Dependent image data is handled and calculated, mechanical arm position is obtained, the position of manipulating object is obtained, machine is obtained
Relative position between tool arm and manipulating object, and according to relative position and the space path of job task planning mechanical arm.
Manipulating object three-dimensional scenic is built according to view data, according to arm angle information and manipulating object three-dimensional scenic
The relative position of mechanical arm and manipulating object is obtained, and according to relative position and the space path of job task planning mechanical arm.
Dependent image data is handled and calculated, 3D dummy activity scenes is built, send display to show, operating personnel
According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activities scene is integrated and depth image letter
Breath and binocular image information, to the phase between robotic arm and manipulating object, between mechanical arm, between manipulating object and operating environment
Judgement to position is more accurate, and is not in visual dead angle.Therefore, operating personnel carry out operation by 3D dummy activities scene
Monitoring, performance accuracy is higher, can prevent collision, improve security.Meanwhile, 3D dummy activity scenes are shown in control
On display in room 2, away from mechanical arm operation field, the personal safety of people operating personnel is improved.
As a kind of embodiment, the first industrial computer can complete following task：
The angle information in each joint of main manipulator sent according to the second industrial computer, the motion in each joint of control machinery arm.
The space path data of the mechanical arm of the second industrial computer transmission are obtained, according to the action sequence of job task, are resolved
Go out the angle-data amount of exercise in each joint of mechanical arm, and each joint motions of control machinery arm.
In the present invention, first mechanical arm and second mechanical arm cooperate, can be with the sequence of operation of apish two hands
Complete livewire work.In view of flexibility, a strong auxiliary mechanical arm can be further added by, now, auxiliary mechanical arm is specially taken charge of
The actions of power greatly such as device clamping, first mechanical arm and second mechanical arm then carry out related service operation.
The combination of the different task completed according to the second industrial computer and the first industrial computer, hot line robot of the present invention was both
Long-range shake can be carried out by operating personnel to operate to complete livewire work, and autonomous livewire work can be carried out again.It is powered in progress
Before operation, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved near manipulating object.
It is virtual according to number of images and depth image structure 3D by the second industrial computer if selection manually remotely shakes operation
Working scene simultaneously send display to show, operating personnel is manual by main operation by 3D dummy activity scene monitoring operating process
The action of mechanical arm processed, to complete livewire work.In the process, operating personnel changes after main manipulator posture, main manipulator
In the photoelectric encoder in each joint gather each joint angles, the microcontroller of each main manipulator is by serial ports by the angle in each joint
Degrees of data is sent to the second industrial computer.Second industrial computer regard the angle-data in each joint of main manipulator as each joint angle of mechanical arm
The desired value of degree is sent to the first industrial computer, and the first industrial computer is respectively closed according to angle desired value by servomotor controller tool arm
The motion of section, has completed livewire work.
If selecting AUTONOMOUS TASK, calculated by the second industrial computer according to number of images and depth image and obtain manipulating object
Relative position relation between mechanical arm, then carries out mechanical arm space path according to the action sequence corresponding to job task
Planning, and space path is sent to the first industrial computer, the first industrial computer calculates the angle that each joint of mechanical arm needs to rotate
Data, by the motion in each joint of servomotor controller tool arm, have completed band as the desired value of each joint angles of mechanical arm
Electric operation.
The process detected using above-mentioned hot line robot to isolation switch is：
First, the preparatory stage
The operation that staff carries out hot line robot detection isolation switch prepares, and checks meteorological condition, verification bar
Tower number, safety barrier, working signal and related warning mark are set in working site.
Aerial lift device with insulated arm 1 is driven into the neighbouring position of shaft tower 100 and arranges scene by aerial lift device with insulated arm driver.Job position has
Body is to treat the neighbouring position of operation shaft tower 100 and avoid nearby power line and barrier, it is to avoid is parked on raceway groove cover plate, insulate
The supporting leg of bucket arm vehicle 1 order is first to stretch out horizontal support legs, then stretches out vertical leg, and it is in all around level to support to place rear vehicle.
Operating personnel are according to the real scene image shown on display, operation operation rocking bar control telescopic arm 3, by robot in control room 2
Platform 4 is moved near job position.The reality that operating personnel return according to binocular camera on mechanical arm 45 in control room 2
Electrical body in job area in insulating safety distances is marked scape image.
2nd, sessions
First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 complete following work in response to control data：
Clamping device is installed in first mechanical arm 43 and the end of second mechanical arm 44, with clamping device clamping insulation masking material
To the electrical body of mark, such as wire, insulator chain, cross-arm 103 carries out insulation masking.Insulation masking material such as insulating sheath,
Epoxy glass fabric etc..
First mechanical arm 43 and second mechanical arm 44 and auxiliary mechanical arm 42 are moved on mechanical arm tool box special 47
Side, the high-definition camera 105 that changes the outfit respectively, electronics ultraviolet crack inspection instrument 131 and thermal infrared imager 106, and drive high-definition camera
105th, electronics ultraviolet crack inspection instrument 131 and thermal infrared imager 106 are moved about in isolation switch 191, and isolation knife is obtained respectively
High-definition image, ultraviolet crack inspection figure and the Infrared Thermogram of lock 191；High-definition camera 105, electronics ultraviolet crack inspection instrument 131
And the view data each gathered is sent to the number of hot line robot by thermal infrared imager 106 in real time by communication system
According to processing and control system, for example, it is returned to the second industry control on robot platform 4 the first industrial computer 48 or control room 2
Machine.Earlier figures picture can also be sent display to show by data processing with control system.High-definition image mainly checks isolation switch 191
The mechanical parts such as working condition disconnecting switch body, connecting rod and rotating shaft whether there is deformation, and Infrared Thermogram mainly checks isolation switch
Heat condition under 191 working conditions, ultraviolet crack inspection figure mainly checks the working condition lower surface shelf depreciation of isolation switch 191
With phenomenon and the insulator breakage of deteriorating.These are detected data and normal number in database by data processing with control system
Value is contrasted, with the working condition of detection and isolation disconnecting link, so as to form detection and analysis report.Or directly there are operating personnel to lead to
Cross display reading and first close view data.Working condition to isolation switch is judged.
For the accuracy of detection, isolation switch can be implemented twice or repeated detection, for example：The data processing with
Control system is after high-definition image, ultraviolet crack inspection figure and Infrared Thermogram is obtained, according to index of correlation numerical value and database
The result of middle regime values contrast, first carries out initial analysis；For the test point corresponding to abnormal index numerical value, first mechanical arm
43rd, second mechanical arm 44 and auxiliary mechanical arm 42 carry corresponding detection device and detected again；Data processing and control system
System is according to the index of correlation numerical value obtained again, the working condition of detection and isolation disconnecting link.There can also be operating personnel directly to operate
First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 carry corresponding detection device and detected again；At data
Reason is with control system according to the index of correlation numerical value obtained again, the working condition of detection and isolation disconnecting link.
After detection is finished, first mechanical arm 43 is moved to the top of mechanical arm tool box special 47 with second mechanical arm 44, and
Clamping device is installed.First mechanical arm 43 and the clamping insulation masking material of second mechanical arm 44, insulate to mark electrical body
Masking is removed.
The inventive method can be in the case where not powering off, and the controllers in operating room are by controlling isomorphism mechanical arm to grasp
Make the mechanical arm of hot line robot live detection is carried out to isolation switch, it is to avoid operating personnel is attached in live high voltage circuit
The danger that early work industry is brought, job step is simplified relative to artificial live detection operation.Carry a variety of specialty detection sensings
Device, testing result is accurate relative to artificial detection more science.
The present invention carries out the on-line checking of isolation switch using hot line robot, largely avoids circuit and stops
The negative effect that electricity is brought, is greatly reduced power off time, improves power supply reliability, alleviates electricity consumption and complains contradiction.
The present invention replaces people to carry out detection operation using hot line robot, compared to the detection method of distant surveillance
With more abundant function；Compared to need closely insulating glove operation isolation switch detection method can from consider electricity
Burning and Danger Electric shock risk, falling from high altitude problem to human body when arc is produced, does not have that operation intensity is big human error occurs more
Situation, substantially increase the security in operation process, the generation of accident can be reduced to a certain extent.
Claims (8)
1. a kind of hot line robot isolation switch detection method, it is characterised in that hot line robot, which has, to be arranged on
Mechanical arm on robot platform, including first mechanical arm, second mechanical arm and auxiliary mechanical arm, first mechanical arm, second
Mechanical arm and auxiliary mechanical arm complete following work in response to control data：
First mechanical arm, second mechanical arm and auxiliary mechanical arm end are respectively mounted high-definition camera, electronics ultraviolet crack inspection
Instrument and thermal infrared imager, and high-definition camera, electronics ultraviolet crack inspection instrument and thermal infrared imager are driven near isolation switch
It is mobile, high-definition image, ultraviolet crack inspection figure and the Infrared Thermogram of isolation switch are obtained respectively；High-definition camera, electronics are purple
The view data each gathered is sent to livewire work machine by communication system by outside line defectoscope and thermal infrared imager in real time
Earlier figures picture is sent display to show by the data processing of device people and control system, data processing with control system；Or, at data
Reason is handled earlier figures picture with control system, obtains coherent detection data, and by coherent detection data and database just
Constant value is contrasted, with the working condition of detection and isolation disconnecting link.
2. isolation switch detection method as claimed in claim 1, it is characterised in that before operation, first mechanical arm and the second machine
Clamping device is installed in tool arm end, and insulation masking is carried out to the electrical body of mark with clamping device clamping insulation masking material；
After operation is finished, clamping device is installed in first mechanical arm and second mechanical arm end, is removed with clamping device and is covered in electrical body
On insulation masking material.
3. isolation switch detection method as claimed in claim 1, it is characterised in that the data processing is being obtained with control system
After high-definition image, ultraviolet crack inspection figure and Infrared Thermogram, contrasted according to regime values in index of correlation numerical value and database
Result, first carry out initial analysis；For the test point corresponding to abnormal index numerical value, first mechanical arm, second mechanical arm with
And auxiliary mechanical arm carries corresponding detection device and detected again；Data processing is related according to what is obtained again to control system
Index value, the working condition of detection and isolation disconnecting link.
4. isolation switch detection method as claimed in claim 1, it is characterised in that the control data is transported for each joint of mechanical arm
Dynamic angle desired value, the angle desired value is struggled against by hot line robot data processing and control system according to insulation is arranged at
Each joint angles delta data of the in-car main manipulator of arm, which is resolved, to be obtained；Main manipulator includes the first main manipulator, the second main behaviour
Make hand and auxiliary main manipulator；First main manipulator, the second main manipulator and auxiliary main manipulator respectively with first mechanical arm, the
Two mechanical arms are corresponding with auxiliary mechanical arm, constitute master-slave operation relation.
5. isolation switch detection method as claimed in claim 4, it is characterised in that control is provided with the aerial lift device with insulated arm
Room, the data processing and control system include the first industrial computer, the second industrial computer, display screen and main manipulator, the second industry control
Machine Built-in Image processor, display screen and main manipulator are located in control room；The working scene image hair of the camera acquisition
The second industrial computer, the 3D dummy activity scenes that image processor is obtained after handling working scene image are given, and send display
Device is shown.
6. isolation switch detection method as claimed in claim 1, it is characterised in that the control data is transported for each joint of mechanical arm
Dynamic angle desired value；Hot line robot data processing and control system are according to the relative position of each mechanical arm and manipulating object
Put and job task action sequence, the space path of each mechanical arm is cooked up using cartesian space paths planning method, so
The angle desired value that each joint of mechanical arm is moved is calculated according to space path afterwards.
7. isolation switch detection method as claimed in claim 6, it is characterised in that the hot line robot, including insulation
Bucket arm vehicle, is mounted in the robot platform on aerial lift device with insulated arm, the mechanical arm on robot platform；
The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes binocular camera,
Binocular camera, the first mechanical arm, second are equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm
Mechanical arm and auxiliary mechanical arm, which coordinate, completes livewire work, wherein, auxiliary mechanical arm is used for clamping operation object, first mechanical arm
With second mechanical arm Job Operations are carried out using power tool；
The data processing and control system include the first industrial computer, the second industrial computer, the second industrial computer Built-in Image processor
With livewire work action sequence storehouse,
The corresponding action sequence data of every livewire work are previously stored with the livewire work action sequence storehouse；
The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is carried out to working scene image
Relative position relation between the mechanical arm and manipulating object that are obtained after processing, the second industrial computer according to the relative position relation with
And the action sequence corresponding to specific livewire work plans the space path of mechanical arm, and by the space path number of the mechanical arm
According to being sent to the first industrial computer；
First industrial computer calculates the control data according to the space path of the mechanical arm.
8. the isolation switch detection method as described in claim 1 to 7, it is characterised in that the mechanical arm or main manipulator are
Mechanism in six degree of freedom, including pedestal, the rotation direction of principal axis waist joint vertical with base plane, the shoulder joint being connected with waist joint,
The large arm being connected with shoulder joint, the elbow joint being connected with large arm, the forearm being connected with elbow joint, the wrist joint being connected with forearm,
Wrist joint is made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；The six degree of freedom
The joint of each in mechanism is respectively provided with corresponding orthogonal rotary encoder and servo drive motor, and orthogonal rotary encoder is used to gather
The angle-data in each joint, servo drive motor is used for the motion for controlling each joint；First industrial computer is respectively closed according to mechanical arm
The desired value of angle is saved, by controlling servo drive motor control by each joint motions of mechanical arm.
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