CN111300415A - Optimal operation position determination method used in live working robot scene - Google Patents

Optimal operation position determination method used in live working robot scene Download PDF

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CN111300415A
CN111300415A CN202010150313.0A CN202010150313A CN111300415A CN 111300415 A CN111300415 A CN 111300415A CN 202010150313 A CN202010150313 A CN 202010150313A CN 111300415 A CN111300415 A CN 111300415A
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point
hanging
mechanical arm
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wire
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CN111300415B (en
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程敏
林欢
毛成林
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Yijiahe Technology Co Ltd
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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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a method for determining an optimal operation position in a live working robot scene, which comprises the following steps: (1) establishing a coordinate system by taking the position of the root of the branch as an original point, and marking the original point as A; (2) calculating a candidate range of the hanging point according to known parameters; (3) calculating the working space of the mechanical arm according to the tail end position of the branch line and each candidate wire hanging point; (4) taking the working space center of the mechanical arm corresponding to each candidate wire hanging point as the optimal working position of the mechanical arm corresponding to the wire hanging point; (5) and forming a new working space of the mechanical arm by using the optimal working positions of the mechanical arms of all the candidate wire hanging points, and selecting the center of the working space as the optimal working position of the mechanical arm. The invention can calculate the available working space, and because the optimal working position is positioned at the center of the working space, the position of the robot is convenient to adjust, the adjustment error is allowed to the maximum extent, the subsequent working operation is convenient, and the failure rate of the working is reduced.

Description

Optimal operation position determination method used in live working robot scene
Technical Field
The invention relates to the field of live working robots, in particular to a method for determining an optimal working position in a live working robot scene.
Background
An electric working robot is an emerging industry. The hot-line work robot aims to complete main branch lapping operation of cables in high altitude by using a mechanical arm. The basic action is to use a mechanical arm to approach and grab the branch line, then lift the branch line to approach the main line, and finally hang the tail end of the branch line on the main line.
When the live working robot is used for completing the task, a proper working position needs to be found for the robot, so that the mechanical arm of the live working robot can conveniently execute the series of actions, the condition that certain actions cannot be executed cannot occur, and the actions cannot be executed and collided simultaneously. The current problems with this job site selection are not yet studied.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a method for determining an optimal working position in a scene of an electric working robot, aiming at the defects, so that the optimal working position of the electric working robot during main branch lapping operation can be obtained.
The technical scheme is as follows:
a method for determining an optimal working position in a live working robot scene comprises the following steps:
(1) establishing a coordinate system by taking the position of the root of the branch line as an original point, marking the original point as A, taking a parallel line which passes through the original point and is parallel to the main line as an x axis, taking a vertical line which passes through the original point and is intersected with the main line as a z axis, and determining a y axis according to a right-hand rule;
(2) calculating all possible space positions of the wire hanging points after the branch wires are hung according to the known length s from the root of the branch wire to the tail end of the branch wire, the height difference h between the root of the branch wire and the main wire and the projection distance l from the root of the branch wire to the main wire on the xy plane, thereby calculating the candidate range of the wire hanging points;
(3) calculating the working space of the mechanical arm according to the tail end position of the branch line and each candidate wire hanging point calculated in the step (2);
(4) taking the working space center of the mechanical arm corresponding to each candidate wire hanging point obtained in the step (3) as the optimal working position of the mechanical arm corresponding to the wire hanging point;
(5) and (4) forming the optimal working positions of the mechanical arms of all the candidate wire hanging points obtained in the step (4) into a new working space of the mechanical arms, and selecting the center of the working space as the optimal working position of the mechanical arms.
The candidate range of the hanging point is calculated as follows:
using the parabolic equation y-ax2+ bx + c, performing curve fitting of the hanging line, determining coordinates of hanging line points, and recording the hanging line points as B; when the origin a is a point on the parabola, c is 0, and the parabola equation y is ax2+bx；
Setting the distance from the projection point B' of the hanging line point B on the xy plane to the point A as w, the coordinate of the hanging line point B is (v, l, aw)2+ bw), the coordinates of the hanging line point B obtained from the geometrical relationship are:
Figure BDA0002402194070000021
wherein v is the distance from B 'to the y-axis and l is the distance from B' to the x-axis, then
Figure BDA0002402194070000022
According to the known parabolic arc length s between A and B, the
Figure BDA0002402194070000023
Figure BDA0002402194070000024
The indefinite integral is obtained
Figure BDA0002402194070000025
Substituting formula (1) into formula (2), wherein B and w are variables, and different B can obtain different w, thereby obtaining a hanging line point set { B1，B2，B3，…，Bn}。
In step (2), any two candidates { B }i，BjDistance D (B) betweeni，Bj)>5cm。
Wherein D is the Euclidean distance.
And (3) completing a branch wire hanging task by using one mechanical arm, wherein the working space of the mechanical arm corresponding to each candidate wire hanging point is calculated as follows:
and (3) if the position of the mechanical arm of the hot-line work robot in the coordinate system is O, establishing distance condition constraint according to the length of the mechanical arm:
αA<D(O，A)<βA
αB<D(O，Bn)<βB
for any hanging wire point BnThe position set of the robot satisfying the conditions is
Figure BDA0002402194070000026
Collection
Figure BDA0002402194070000031
Namely the hanging line point BnαAAnd βAMinimum and maximum values representing the position between the arm position and the spur root, α respectivelyBAnd βBRespectively representing the minimum value and the maximum value of the position between the mechanical arm position and the wire hanging point;
then, the sets are collected
Figure BDA0002402194070000032
Taking the center as the wire hanging point BnOptimum working position of (2):
Figure BDA0002402194070000033
further, for all BnThe set of the optimal working positions of all the wire hanging points is recorded as:
Figure BDA0002402194070000034
forming machineTaking the center of a new working space of the mechanical arm as the optimal working position of the mechanical arm:
Figure BDA0002402194070000035
any two candidates
Figure BDA0002402194070000036
The distance between
Figure BDA0002402194070000037
αA＝αB＝1.0m，βA＝βB＝1.7m。
The method comprises the following steps that two mechanical arms are used for cooperatively completing a branch wire hanging task, wherein the mechanical arm 1 is used for grabbing a wire, and the mechanical arm 2 is used for hanging the wire; and then obtaining the position of the mechanical arm 1 in the coordinate system to be O and the position of the mechanical arm 2 in the coordinate system to be O' according to the position relation of the two mechanical arms, and establishing distance condition constraint according to the length of the mechanical arms:
αA<D(O，A)<βA
αB<D(O′，Bn)<βB
the rest is the same as the task of completing branch line hanging by using one mechanical arm.
Has the advantages that: the invention can calculate the available working space of the mechanical arm, and because the optimal working position is positioned at the center of the working space, the position of the robot is convenient to adjust, the adjustment error is allowed to the maximum extent, the subsequent working operation is convenient, and the failure rate of the working is reduced.
Drawings
Fig. 1 is a diagram showing the positional relationship between the branch line and the main line after the hooking of the branch line and the main line is completed.
Fig. 2 is a geometric relationship diagram after the hooking of the branch line and the main line is completed in the present invention.
FIG. 3 is a flow chart of the algorithm of the present invention.
Wherein 101 is a main line, 102 is a branch line, 103 is a telegraph pole, and 104 is a branch line frame.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments. Fig. 1 is a diagram showing the positional relationship between the branch lines and the main line after the hooking of the branch lines and the main line is completed, as shown in fig. 1, the main line 101 is vertically fixed on two utility poles 103, one end of the branch line 102 is fixed on the branch line frame 104, the other end is connected with the main line 101, and the shape of the hooked branch line 102 is similar to a parabola.
FIG. 3 is a flow chart of the algorithm of the present invention. As shown in fig. 3, the method for determining the optimal working position in the scene of the live working robot of the present invention includes the following steps:
(1) knowing the length s from the root of the branch line to the tail end of the branch line, the height difference h between the root of the branch line and the main line, and the projection distance l from the root of the branch line to the main line on the horizontal plane; because the position of the branch root is fixed, a robot coordinate system xyz is established by taking the position of the branch root as an origin, and the origin is marked with a position A. Determining a y-axis according to a right-hand rule by taking a parallel line passing through the origin and parallel to the main line as an x-axis and a perpendicular line passing through the origin and intersecting the main line as a z-axis; as shown in fig. 2.
(2) Calculating all possible spatial positions of the wire hanging points after the branch wires are hung according to the known parameters in the step (1), thereby calculating the candidate range of the wire hanging points; the method specifically comprises the following steps:
using the parabolic equation y-ax2+ bx + c, determining coordinates of the hanging line point, recording the hanging line point as B, and the original point A as a point on the parabola, wherein c is 0, and the parabola equation y is ax2+ bx. The hanging line point B is also a point on the parabola;
a is taken as an origin, the projection extension line of the main line on the xy plane is taken as an x ' axis, and a perpendicular line which is perpendicular to the x ' axis and passes through the point A is taken as a y ' axis to establish a coordinate system x ' y '. If the distance from the projection B ' of the hanging line point B on the XY plane to the point A is w, the coordinate of the hanging line point B on the branch line coordinate system x ' y ' is (w, aw)2+ bw). Given that the distance from B 'to the x-axis is l and the distance from B' to the Y-axis is v, the coordinates of the hanging line point B in the xyz coordinate system are (v, l, h) and the coordinates of the hanging line point B in the x 'Y' coordinate system are (w, h). From the geometric relationship, the robotIn the coordinate system xyz, the coordinates of the hanging line point B are
Figure BDA0002402194070000041
Wherein
Figure BDA0002402194070000042
At this time, knowing that the parabolic arc length between A and B is s, and s is the length from the root of the branch to the end of the branch, then
Figure BDA0002402194070000043
Figure BDA0002402194070000044
The indefinite integral is obtained
Figure BDA0002402194070000057
Formula (1) is substituted for formula (2), wherein B and w are variables, and different w can be obtained by different B, so that a hanging line point set { B1，B2，B3，…，Bn}. Since two candidate points are considered to be similar if the distance between the two candidate points is too close, the processing effect is approximately the same, and in order to reduce the amount of calculation and therefore the size of the set, any two candidates { B } are required for the approximately same point combination calculationi，BjDistance D (B) betweeni，Bj)>5cm, D can use Euclidean distance;
(3) calculating the working space of the mechanical arm according to the tail end position of the branch line and each candidate wire hanging point calculated in the step (2); the method specifically comprises the following steps:
use a arm to accomplish branch line task, the arm of establishing electrified operation robot is the O in the coordinate system position, because the structure of arm, its connecting rod has physical length, if the overlength then can't reach, if too short then the arm need be folded very seriously also can't carry out the operation, then establish the distance condition according to arm length and retrain:
αA<D(O，A)<βA
αB<D(O，Bn)<βB
for any hanging wire point BnThe position set of the robot satisfying the conditions is
Figure BDA0002402194070000051
Similarly, in order to prevent the effect of the close points from being approximately the same, and also to prevent the working positions of different robots from overlapping, any two candidates are required
Figure BDA0002402194070000052
The distance between
Figure BDA0002402194070000053
D may be the Euclidean distance; collection
Figure BDA0002402194070000054
Namely the hanging line point BnαAAnd βAMinimum and maximum values representing the position between the arm position and the spur root, α respectivelyBAnd βBRespectively representing the minimum and maximum values of the position between the position of the robot arm and the point of wire hanging, the determination of which is related to the physical parameter of the robot arm selected, in this case αA＝αB＝1.0m，βA＝βB＝1.7m；
(4) Taking the working space center of the mechanical arm corresponding to each candidate wire hanging point obtained in the step (3) as the optimal working position of the mechanical arm corresponding to the wire hanging point; namely:
to the collection
Figure BDA0002402194070000055
Taking the center as the wire hanging point BnAt the optimum working position
Figure BDA0002402194070000056
(5) Forming the optimal working positions of the mechanical arms of all the candidate wire hanging points obtained in the step (4) into a new working space of the mechanical arms, and selecting the center of the working space as the optimal working position of the mechanical arms;
the method specifically comprises the following steps:
for all BnThe set of the optimal working positions of all the wire hanging points is recorded as
Figure BDA0002402194070000061
A new complete working space is formed, and the center of the working space is taken as the optimal working position of the mechanical arm:
Figure BDA0002402194070000062
in the invention, two mechanical arms can be used for cooperatively completing a branch wire hanging task, wherein the mechanical arm 1 is used for grabbing a wire, and the mechanical arm 2 is used for hanging the wire; assuming that two mechanical arms are used to cooperatively complete the task, the position of the mechanical arm 1 in the coordinate system is still O, the position of the mechanical arm 2 in the coordinate system is O ', and the relative position relationship between O and O' is fixed (pre-established), the distance condition constraint of step (4) is changed into
αA<D(O，A)<βA
αB<D(O′，Bn)<βB
The rest is the same as the task of completing branch line hanging by using one mechanical arm.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and the equivalents are protected by the present invention.

Claims (8)

1. A method for determining an optimal operation position in a live working robot scene is characterized by comprising the following steps: the method comprises the following steps:
(1) establishing a coordinate system by taking the position of the root of the branch line as an original point, marking the original point as A, taking a parallel line which passes through the original point and is parallel to the main line as an x axis, taking a vertical line which passes through the original point and is intersected with the main line as a z axis, and determining a y axis according to a right-hand rule;
(2) calculating all possible space positions of the wire hanging points after the branch wires are hung according to the known length s from the root of the branch wire to the tail end of the branch wire, the height difference h between the root of the branch wire and the main wire and the projection distance l from the root of the branch wire to the main wire on the xy plane, thereby calculating the candidate range of the wire hanging points;
(3) calculating the working space of the mechanical arm according to the tail end position of the branch line and each candidate wire hanging point calculated in the step (2);
(4) taking the working space center of the mechanical arm corresponding to each candidate wire hanging point obtained in the step (3) as the optimal working position of the mechanical arm corresponding to the wire hanging point;
(5) and (4) forming the optimal working positions of the mechanical arms of all the candidate wire hanging points obtained in the step (4) into a new working space of the mechanical arms, and selecting the center of the working space as the optimal working position of the mechanical arms.
2. The method for determining the optimal working position in the scene of a live working robot according to claim 1, characterized in that: the candidate range of the hanging point is calculated as follows:
using the parabolic equation y-ax2+ bx + c, performing curve fitting of the hanging line, determining coordinates of hanging line points, and recording the hanging line points as B; when the origin a is a point on the parabola, c is 0, and the parabola equation y is ax2+bx；
Setting the distance from the projection point B' of the hanging line point B on the xy plane to the point A as w, the coordinate of the hanging line point B is (v, l, aw)2+ bw), the coordinates of the hanging line point B obtained from the geometrical relationship are:
Figure FDA0002402194060000011
wherein v is the distance from B 'to the y-axis and l is the distance from B' to the x-axis, then
Figure FDA0002402194060000012
According to the known parabolic arc length s between A and B, the
Figure FDA0002402194060000013
Figure FDA0002402194060000014
The indefinite integral is obtained
Figure FDA0002402194060000015
Substituting formula (1) into formula (2), wherein B and w are variables, and different B can obtain different w, thereby obtaining a hanging line point set { B1，B2，B3，…，Bn}。
3. The method for determining the optimal working position in the scene of a live working robot according to claim 2, characterized in that: in step (2), any two candidates { B }i，BjDistance D (B) betweeni，Bj)>5cm。
4. The method for determining the optimal working position in the scene of a live working robot according to claim 3, characterized in that: d is the Euclidean distance.
5. The method for determining the optimal working position in the scene of a live working robot according to claim 1, characterized in that: and (3) completing a branch wire hanging task by using one mechanical arm, wherein the working space of the mechanical arm corresponding to each candidate wire hanging point is calculated as follows:
and (3) if the position of the mechanical arm of the hot-line work robot in the coordinate system is O, establishing distance condition constraint according to the length of the mechanical arm:
αA<D(O，A)<βA
αB<D(O，Bn)<βB
for any hanging wire point BnThe position set of the robot satisfying the conditions is
Figure FDA0002402194060000021
Collection
Figure FDA0002402194060000022
Namely the hanging line point BnαAAnd βAMinimum and maximum values representing the position between the arm position and the spur root, α respectivelyBAnd βBRespectively representing the minimum value and the maximum value of the position between the mechanical arm position and the wire hanging point;
then, the sets are collected
Figure FDA0002402194060000023
Taking the center as the wire hanging point BnOptimum working position of (2):
Figure FDA0002402194060000024
further, for all BnThe set of the optimal working positions of all the wire hanging points is recorded as:
Figure FDA0002402194060000025
forming a new working space of the mechanical arm, taking the center of the working space as the optimal working position of the mechanical arm:
Figure FDA0002402194060000026
6. the method for determining the optimal working position in the scene of a live working robot according to claim 5, characterized in that: at willTwo candidates
Figure FDA0002402194060000027
The distance between
Figure FDA0002402194060000028
7. The method for determining the optimal working position in the scene of an electrified working robot as claimed in claim 5, wherein αA＝αB＝1.0m，βA＝βB＝1.7m。
8. The method for determining the optimal working position in the scene of a live working robot according to claim 1, characterized in that: the method comprises the following steps that two mechanical arms are used for cooperatively completing a branch wire hanging task, wherein the mechanical arm 1 is used for grabbing a wire, and the mechanical arm 2 is used for hanging the wire; then the position of the mechanical arm 1 in the coordinate system is O and the position of the mechanical arm 2 in the coordinate system is O according to the position relationship of the two mechanical arms′And then establishing distance condition constraint according to the length of the mechanical arm:
αA<D(O，A)<βA
αB<D(O′，Bn)<βB
the rest is the same as the task of completing branch line hanging by using one mechanical arm.
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WO2021174798A1 (en) * 2020-03-06 2021-09-10 亿嘉和科技股份有限公司 Working position determination method for live-current robot scenario
CN112366615A (en) * 2020-09-22 2021-02-12 亿嘉和科技股份有限公司 Non-bucket-moving line lapping method for scene with vertical distance of 1m
CN112366615B (en) * 2020-09-22 2022-04-22 亿嘉和科技股份有限公司 Non-bucket-moving line lapping method for scene with vertical distance of 1m

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