CN113671527A - Accurate operation method and device for improving distribution network live working robot - Google Patents

Accurate operation method and device for improving distribution network live working robot Download PDF

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Publication number
CN113671527A
CN113671527A CN202110836724.XA CN202110836724A CN113671527A CN 113671527 A CN113671527 A CN 113671527A CN 202110836724 A CN202110836724 A CN 202110836724A CN 113671527 A CN113671527 A CN 113671527A
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bucket
axis
coordinate system
environment
distribution network
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黄国方
甘志坚
汤济民
张静
刘晓铭
单超
陈向志
许茂洲
钟亮民
王文政
郝永奇
廖志勇
谢永麟
周兴俊
杨明鑫
彭奕
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Nari Technology Co Ltd
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Nari Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

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  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Life Sciences & Earth Sciences (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a method and a device for improving accurate operation of a distribution network live working robot, wherein the method comprises the following steps: scanning a working environment to obtain initial working environment point cloud data; calculating the initial pose of the insulating bucket in the scanning operation environment; adjusting the position and posture of the insulating bucket to enable the distribution network live working robot to reach the optimal working space, and calculating the target position and posture of the insulating bucket at the moment; calculating an error matrix between the initial pose and the target pose of the insulating bucket; and correcting the initial operating environment point cloud data according to the error matrix so that the distribution network live working robot operates based on the corrected operating environment point cloud data. According to the invention, only one time of laser point cloud data acquisition is needed for the operating environment, and the point cloud data of the operating environment is corrected in real time, so that the operating precision is improved, the scanning and acquisition times of the laser radar on the operating environment are reduced, and the live working time of the distribution network is greatly shortened.

Description

Accurate operation method and device for improving distribution network live working robot
Technical Field
The invention belongs to the technical field of electric power engineering, and particularly relates to a method for improving the accurate operation of a distribution network live working robot, and further relates to an accurate operation device for improving the distribution network live working robot.
Background
Along with the continuous development of economy, the requirement on the stability of power supply is higher and higher, and distribution network live working becomes an important link in power overhaul. In the continuous development of sensor and robot intelligent technology, the robot replaces the manual work to accomplish high-risk operation and becomes a development trend. The distribution network live working robot is a new choice to replace people to finish the maintenance task of the power system. The distribution network live working robot generally uses an insulating bucket arm vehicle to lift and send to a proper position away from a row line to operate when operating, and an insulating arm is influenced by wind power and self shaking in the air, so that a cloud point diagram of an environment and actual environment data obtained by a laser radar have deviation, and the accurate operation of the robot is a key condition for smoothly completing an operation task of the distribution network live working robot.
The existing distribution network live working robot operation method is that an insulating bucket arm vehicle is used for moving a distribution network live working robot to a corresponding row line operation position at high altitude, a laser scanning tool is used for scanning an operation environment, and the robot is controlled to complete distribution network operation. The insulating bucket needs to be moved for many times in the operation process, the operation environment needs to be scanned again when the pose of the insulating bucket changes every time, the operation process time is long, and the operation flow is complex. The insulating bucket is influenced by the rigidity of the insulating bucket arm vehicle and the wind environment in high altitude to shake, so that deviation exists between the actual environment and point cloud data, and the operation precision is low.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for improving the precision of a distribution network live working robot.
In order to solve the technical problem, the invention provides a method for improving the accurate operation of a distribution network live working robot, which comprises the following steps:
scanning a working environment to obtain initial working environment point cloud data;
calculating the initial pose of the insulating bucket in the scanning operation environment;
adjusting the position and posture of the insulating bucket to enable the distribution network live working robot to reach the optimal working space, and calculating the target position and posture of the insulating bucket at the moment;
calculating an error matrix between the initial pose and the target pose of the insulating bucket;
and correcting the initial operating environment point cloud data according to the error matrix so that the distribution network live working robot operates based on the corrected operating environment point cloud data.
Optionally, the calculating an initial pose of the insulation bucket when scanning the working environment includes:
measuring the position of the insulating bucket coordinate relative to a working environment coordinate system when the working environment is scanned;
measuring the rotation arc angle of the insulation bucket around the Z axis relative to the operation environment coordinate system when scanning the operation environment, and calculating the rotation matrix of the insulation bucket coordinate relative to the operation environment coordinate system;
and calculating to obtain the initial pose of the insulation bucket in the process of scanning the working environment based on the position of the insulation bucket coordinate relative to the working environment coordinate system and the rotation matrix.
Optionally, the measuring the position of the insulation bucket coordinate relative to the working environment coordinate system includes:
adjusting the vertical laser radar rotary table to rotate to a specified angle thetaHREnabling the tower to be swept to the position of the tower, and obtaining the coordinates of the tower under a vertical laser radar coordinate system;
according to the relation between the vertical laser radar coordinate system and the insulation bucket coordinate system, the X-axis and Y-axis coordinates of the tower under the insulation bucket coordinate system, namely the X-axis and Y-axis coordinates of the insulation bucket relative to the environment coordinate system, are obtained and are respectively marked as X0，Y0；
Adjusting the rotation of the horizontal laser radar rotary table to thetaVRPI is a circumferential angle, PI/2 radian; measuring to obtain Z-axis coordinate Z of the column line under the horizontal laser radar coordinate system0And also the height distance Z of the downlink of the coordinate system of the insulating bucket0Obtaining the position of the insulating bucket coordinate relative to the operating environment coordinate system as
Figure RE-GDA0003307820880000031
Optionally, the measuring and scanning an arc angle of the insulation bucket rotating around the Z axis relative to the operating environment coordinate system in the operating environment, and calculating to obtain an initial pose of the insulation bucket in the operating environment, includes:
controlling the horizontal laser radar rotary table to rotate to thetaVRThe distance between two points of a far edge line and a near edge line of a row line connected into a straight line AB is recorded as L1The included angle between the line AB and the column line is marked as theta1；
Controlling the horizontal laser radar rotary table to rotate to thetaVRRecording the distance between a far edge line and a near edge line of a row line which are connected into a straight line CD as L2The angle between the line CD and the column line is marked as theta2；
Comparison L1And L2The magnitude of the value;
if L is1>L2When the insulation bucket rotates counterclockwise around the Z-axis, the arc Angle of the insulation bucket rotates counterclockwise around the Z-axis is equal to θZ3X 3 rotation matrix denoted RZ0(θZ)，
According to the geometric principle, the relation is obtained: l ═ L1*sin(PI-θ1)，θ1＝θ2+2*θ， L＝L2*sin(θ2). Derived from this:
Figure RE-GDA0003307820880000041
the distance L between the far edge and the near edge is L1*sin(PI-θ1) The insulation bucket rotates anticlockwise by an arc angle theta around a Z axisZ＝θ1- θ -PI/2; deducing theta from the above1The distance L and the arc angle theta of the insulating bucket are obtained by substituting the formulaZAn expression for the angle θ; then obtaining the rotation matrix RZ of the insulation bucket coordinate relative to the working environment coordinate system at the moment0(θZ)；
If L is1<L2When the insulation bucket rotates clockwise around the Z-axis, the arc Angle of the insulation bucket rotating clockwise around the Z-axis is recorded as Angle ═ θZ3 x 3 rotation matrixIs denoted as RZ0(-θZ)；
According to the geometric principle, the relation is obtained: l ═ L1*sin(θ1)，θ1＝θ2+2*θ， L＝L2*sin(θ2) (ii) a Derived from this:
Figure RE-GDA0003307820880000042
the actual distance L between the far edge line and the near edge line is L1*sin(PI-θ1) The insulation bucket rotates clockwise around the Z axis by an arc Angle ═ thetaZ＝(θ1- θ) -PI/2; then obtaining the rotation matrix RZ of the insulation bucket coordinate relative to the working environment coordinate system at the moment0(-θZ)；
If L is1＝L2When the insulation bucket does not rotate around the Z axis, the arc Angle of the insulation bucket rotating around the Z axis is zero, and Angle is 0 and is recorded as RZ0(0) (ii) a Then obtaining the rotation matrix RZ of the insulation bucket coordinate relative to the working environment coordinate system at the moment0(0)。
Optionally, the calculating the target pose of the insulation bucket includes:
controlling rotation angle theta of horizontal laser radar rotary tableVRPI/2, making the horizontal laser radar scanning surface perpendicular to the line, recording the distance between the near line and the far line as LCRow line height distance of ZC；
Controlling a vertical laser radar to obtain the real-time distance between the X axis and the Y axis of the tower relative to an insulation bucket coordinate system in real time, namely recording the X axis coordinate and the Y axis coordinate of the insulation bucket relative to an environment coordinate system as X respectivelyC，YC(ii) a The position of the coordinates of the insulating bucket relative to the coordinate system of the working environment is obtained
Figure RE-GDA0003307820880000051
Judgment of LCAnd L is equal; wherein L is the actual distance between the near edge line and the far edge line;
if L isCNot equal to L, controlling the horizontal laser radar rotary table to rotate reversely or clockwise on the basis of the current position until the near line and the far line are obtained through measurementSide line distance LCTAnd (3) reading an angle sensor value theta of the horizontal laser radar rotary table at the moment when the scanning surface of the horizontal laser radar is vertical to the row lineVRSThen the insulation bucket rotates anticlockwise by a real-time value theta of the arc angle around the Z axisCZ＝PI/2-θVRSObtaining a rotation matrix RZ of the coordinates of the insulation bucket relative to the coordinate system of the working environment at the moment0(θCZ) With object pose as
Figure RE-GDA0003307820880000052
Optionally, the calculating an error matrix between the initial pose and the target pose of the insulation bucket includes:
calculating to obtain an error matrix T between the initial pose and the target pose based on the initial pose and the target pose of the insulating bucketE＝inv(M0) M, where inv () represents the inversion operation of the matrix, M0The initial pose of the insulation bucket is M, and the target pose of the insulation bucket is M.
Optionally, the calculation formula for correcting the initial operating environment point cloud data according to the error matrix is as follows:
C＝C0·TE；
wherein C is corrected operating environment point cloud data, C0For initial working environment point cloud data, TEIs an error matrix.
In a second aspect, the present invention provides a precision operation device for improving distribution network live working robots, including:
the initial data acquisition module is used for scanning the working environment to obtain initial working environment point cloud data;
the initial pose calculation module is used for calculating the initial pose of the insulation bucket in the process of scanning the working environment;
the target pose calculation module is used for adjusting the pose of the insulating bucket to enable the distribution network live working robot to reach the optimal working space and calculating the target pose of the insulating bucket at the moment;
the data error calculation module is used for calculating an error matrix between the initial pose and the target pose of the insulation bucket;
and the target data correction module is used for correcting the initial operating environment point cloud data according to the error matrix so as to enable the distribution network live working robot to operate based on the corrected operating environment point cloud data.
The specific implementation scheme of each module in the device refers to the processing process of each step in the method.
Compared with the prior art, the invention has the following beneficial effects: the real-time error matrix between the operating environment and the operating environment point cloud is quickly established, only one-time laser point cloud data acquisition is needed to be carried out on the operating environment, the operating environment point cloud data is corrected in real time, the problem that deviation exists between the actual operating environment and the operating environment point cloud data due to movement of an insulating bucket is solved, the operating precision is low, the operating precision is improved, the number of times of scanning and acquiring the operating environment by a laser radar is reduced, the distribution network live working time is greatly shortened, convenience is brought to power consumption of residential enterprises, the inconvenience influence caused in the operating process is reduced, and the high economic use value is achieved.
Drawings
Fig. 1 is a flowchart of a method for improving accurate operation of a distribution network live working robot according to an embodiment of the present invention;
fig. 2 is a top view of an operation scene in which the insulating bucket rotates clockwise around the Z axis relative to the operation environment coordinate system according to an embodiment of the present invention;
fig. 3 is a top view of an operation scene in which the insulating bucket rotates counterclockwise around the Z axis with respect to the operation environment coordinate system according to an embodiment of the present invention;
fig. 4 is a top view of an operation scene in which an arc angle of rotation of the insulating bucket around the Z axis with respect to an operation environment coordinate system is zero according to an embodiment of the present invention;
FIG. 5 is a schematic view of horizontal and vertical lidar scans provided by embodiments of the present invention;
fig. 6 is a schematic view of an operation scene of a distribution network live working robot provided by an embodiment of the present invention.
Reference numerals:
1. an insulating bucket 2, a horizontal laser radar 3, a vertical laser radar 4 and a tower;
21. horizontal laserRadar turntable rotated to thetaVRScanning the surface when the radian is PI/2+ theta;
22. the horizontal laser radar rotary table rotates to thetaVRScanning surface at the radian of PI/2;
23. the horizontal laser radar rotary table rotates to thetaVRScanning the surface at the radian of PI/2-theta;
51. a near border line, 52, a middle border line, 53, a far border line;
61. a point corresponding to a near edge line in the horizontal laser radar scanning surface, 62 a point corresponding to a middle line in the horizontal laser radar scanning surface, 63 a point corresponding to a far edge line in the horizontal laser radar scanning surface;
7. a point corresponding to a pole tower in a vertical laser radar scanning surface;
81. an insulating bucket coordinate system, 82, a working environment coordinate system.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
The invention discloses a method for improving the accurate operation of a distribution network live working robot, which is shown in figure 1 and comprises the following steps:
the first step is as follows: and the insulating bucket moves to the optimal position of the scanning operation environment which is not blocked by obstacles of the horizontal laser radar and the vertical laser radar. Scanning the working environment by adopting horizontal and vertical laser radars to obtain corresponding working environment point cloud data, converting the coordinate systems of the working environment point cloud data scanned by the two laser radars into the coordinate system of the insulating bucket, and recording the working environment point cloud data as C0。
In the prior art, as shown in fig. 2-6, a distribution network live working robot is fixedly installed in an insulating bucket, and a coordinate system 81 of the insulating bucket is defined to coincide with a coordinate system of a base of the distribution network live working robot. Horizontal laser radar 2 is installed in joining in marriage net live working robot base top, and perpendicular laser radar 3 is installed in joining in marriage net live working robot base dead ahead. Wherein, the scanning range of the horizontal laser radar 2 is the range right above the base; the vertical lidar 3 scanning range is the range directly in front of the base.
And controlling the insulating bucket to move to an initial pose position, namely the optimal pose of the horizontal laser radar and the vertical laser radar for shielding the scanning working environment without obstacles. The plane of the insulating bucket is kept horizontal all the time, so that the horizontal and vertical laser radars installed on the base of the robot can scan the complete operation environment, mainly scan a row line, a lead and a tower 4, and additionally, barriers such as branches around the tower can be generated. There are three row lines, which are a near line 51, a middle line 52, and a far line 53 in the order of the direction right in front of the robot base. Obtaining corresponding operating environment point cloud data after scanning,
a schematic of a horizontal lidar and vertical lidar scanning environment is shown in fig. 5, wherein the horizontal lidar scanning plane includes: the point 61 that the nearly sideline corresponds in the horizontal laser radar scanning face, the point 62 that the intermediate line corresponds in the horizontal laser radar scanning face, the point 63 that the far side line corresponds in the horizontal laser radar scanning face, the perpendicular laser radar scanning face includes: and (7) a point 7 corresponding to the tower in the vertical laser radar scanning plane.
The point cloud data is mainly point coordinates of the surface of an object and is based on respective laser radar coordinate systems. The horizontal laser radar coordinate system takes the center of the installation position of the rotary table as an original point, the rotary shaft of the rotary table is a Z axis (right above the base), the right side direction of the base is an X axis direction, and the direction right in front of the base is a Y axis direction. The vertical laser radar coordinate system takes the center of the installation position of the rotary table as an original point, the rotary shaft of the rotary table is a Z axis (right in front of the base), the right side direction of the base is an X axis direction, and the direction right below the base is a Y axis direction. The point clouds of two different coordinate systems are merged into a unified coordinate system and merged into one point cloud.
The present invention relates to a working environment coordinate system 82 and an insulation bucket coordinate system 81, and the specific directions thereof are schematically shown in fig. 6. The specific definition of the coordinate system is:
the operating environment coordinate system 82 is defined as: the intersection point of the far side line and the near side line of the tower and the row line forming plane is used as the origin of a coordinate system of the working environment, the Z-axis direction faces upwards along the tower, the Y-axis direction is parallel to the near side line, and the X-axis direction faces the far side line from the near side line. The working environment coordinate system is fixed and acts as a world coordinate system.
Defining the insulating bucket coordinate system 81 as: the center of the designated mechanical arm mounting position is used as an original point, a Z axis is arranged right above the base, an X axis forward direction is arranged right ahead the base, and a Y axis forward direction is arranged in the left side direction of the base.
The second step is that: primary measurement of the pose of the insulating bucket: insulating bucket pose M in process of recording and collecting point cloud data of operation environment0。
Perpendicular laser radar revolving stage turned angle, this angle is the rotation angle of revolving stage self, and the definition of revolving stage angle 0 scale is with the base right-hand (that is to say the coordinate system X axle positive direction that corresponds laser radar, with X axle positive angle), anticlockwise increase, clockwise reduction.
Horizontal laser radar revolving stage turned angle, this angle is the rotation angle of revolving stage self, and the definition of revolving stage angle 0 scale is with the base right-hand (that is to say the coordinate system X axle positive direction that corresponds laser radar, with X axle positive angle), anticlockwise increase, clockwise reduction.
The position and posture measurement of the insulating bucket comprises the following steps:
1) controlling the vertical laser radar rotary table to rotate to a specified angle thetaHRThe position of the tower can be swept to obtain the coordinates of the tower under a vertical laser radar coordinate system, and the X-axis coordinates and the Y-axis coordinates of the tower under an insulation bucket coordinate system, namely the X-axis coordinates and the Y-axis coordinates of the insulation bucket relative to an environment coordinate system, are further obtained according to the relation between the vertical laser radar coordinate system and the insulation bucket coordinate system and are respectively marked as X0，Y0。
2) Controlling the horizontal laser radar rotary table to rotate to thetaVRPI/2 radians, where PI is the circumferential angle.
Measuring to obtain Z-axis coordinate Z of the column line under the horizontal laser radar coordinate system0And the height distance Z between the downlink of the coordinate system of the insulating bucket and the base of the robot0Obtaining the position of the insulating bucket coordinate relative to the operating environment coordinate system as
Figure RE-GDA0003307820880000101
3) And controlling the horizontal laser radar rotary table to rotate, and measuring the distance between the far side line and the near side line at a specified angle.
Controlling the horizontal laser radar rotary table to rotate to thetaVRPI/2+ theta radian, wherein theta is an empirical value, and the distance between a far edge line and a near edge line of a row line connected into a straight line AB is recorded as L1The included angle between the line AB and the column line is marked as theta1；
Controlling the horizontal laser radar rotary table to rotate to thetaVRRecording the distance between a far edge line and a near edge line of a row line which are connected into a straight line CD as L2. The included angle between the linear CD and the row line is marked as theta2。
4) And calculating the rotation angle of the current insulation bucket so as to obtain the posture of the insulation bucket.
Comparison L1And L2The magnitude of the value.
If L is1>L2When the insulation bucket rotates counterclockwise around the Z-axis, the arc Angle of the insulation bucket rotates counterclockwise around the Z-axis is equal to θZ 3X 3 rotation matrix denoted RZ0(θZ) Wherein RZ0() Representing a rotation matrix around the Z-axis, wherein the rotation matrix is embodied as
Figure RE-GDA0003307820880000111
A top view of a working scene of the insulation bucket rotating counterclockwise around the Z axis relative to the working environment coordinate system is shown in fig. 3. Reference numeral 21 in the figure denotes the rotation of the horizontal lidar turntable to θVRScanning surface at radian of PI/2+ theta, 22 rotating horizontal laser radar rotary table to thetaVRScanning surface at PI/2 radian, 23 rotating horizontal laser radar rotary table to thetaVRScanning plane at PI/2-theta radians, theta1For horizontal lidar turret to rotate to thetaVRAngle between the scanning plane 21 and the near-edge line 51 of the working environment at PI/2+ θ radian, θ2For horizontal lidar turret to rotate to thetaVRThe angle between the scanning surface 22 and the near-edge line 51 of the work environment is PI/2- θ radian.
Through L1、L2Theta are solved for L and theta1. The specific calculation process is as follows: according to the geometric principle, the relation is obtained: l ═ L1*sin(PI-θ1)，θ1＝θ2+2*θ，L＝L2*sin(θ2). Derived from this:
Figure RE-GDA0003307820880000112
the distance L between the far edge and the near edge is L1*sin(PI-θ1) The insulation bucket rotates anticlockwise by an arc angle theta around a Z axisZ＝θ1-theta-PI/2. Deducing theta from the above1The distance L and the insulation bucket arc angle theta can be obtained by substituting the formulaZAn expression for the angle theta.
Then obtaining the rotation matrix RZ of the insulation bucket coordinate relative to the working environment coordinate system at the moment0(θZ) Position and pose as
Figure RE-GDA0003307820880000121
Where E is a 3 × 3 identity matrix.
If L is1<L2When the insulation bucket rotates clockwise around the Z-axis, the arc Angle of the insulation bucket rotating clockwise around the Z-axis is recorded as Angle ═ θZ 3X 3 rotation matrix denoted RZ0(-θZ)。
The top view of the working scene of the insulation bucket rotating clockwise around the Z axis relative to the working environment coordinate system is shown in figure 2.
According to the geometric principle, the relation is obtained: l ═ L1*sin(θ1)，θ1＝θ2+2*θ， L＝L2*sin(θ2). Derived from this:
Figure RE-GDA0003307820880000122
the actual distance L between the far edge line and the near edge line is L1*sin(PI-θ1) The insulation bucket rotates clockwise around the Z axis by an arc Angle ═ thetaZ＝(θ1-θ)-PI/2。
Then obtaining the rotation moment of the insulation bucket coordinate relative to the working environment coordinate system at the momentArray is RZ0(-θZ) Position and pose as
Figure RE-GDA0003307820880000123
Where E is a 3 × 3 identity matrix.
If L is1＝L2Namely, the distances between the far and near sidelines are equal when the radian of the rotary table rotates by the same angle theta in the left and right directions of PI/2, which shows that the scanning surface of the radian of the rotary table at the PI/2 is vertical to the row line, and the front surface of the insulating bucket is parallel to the row line because the scanning surface at the position is vertical to the front surface of the insulating bucket. When the insulation bucket does not rotate around the Z axis, the arc Angle of the insulation bucket rotating around the Z axis is zero, and Angle is 0 and is marked as RZ0(0). Then obtaining the rotation matrix RZ of the insulation bucket coordinate relative to the working environment coordinate system at the moment0(0) Position and pose as
Figure RE-GDA0003307820880000131
Where E is a 3 × 3 identity matrix.
A top view of an operation scene in which the arc angle of the insulation bucket rotating around the Z axis is zero relative to the operation environment coordinate system is shown in fig. 4. According to the geometric principle, the actual distance between the far edge line and the near edge line is obtained: l ═ L1*cos(θ)。
The third step: the insulating bucket is moved to reach the working target pose, so that the distribution network live working robot can work on a row line or a lead line directly in the optimal working space. Controlling rotation angle theta of horizontal laser radar rotary tableVRRecording the distance between the near edge line and the far edge line obtained in real time as L (proportion of integral) PI/2CThe real-time height distance between the row line and the robot base is ZC. The method comprises the steps of obtaining the real-time distance between an X axis and a Y axis of a tower relative to an insulation bucket coordinate system in real time through a vertical laser radar, namely recording the X axis coordinates and the Y axis coordinates of the insulation bucket relative to an environment coordinate system as X respectivelyC，YC(ii) a The position of the coordinates of the insulating bucket relative to the coordinate system of the working environment is obtained
Figure RE-GDA0003307820880000132
The distance between the near edge line and the far edge line is obtained by the Euler distance according to the far edge line coordinate (XYZ) and the near edge line coordinate (XYZ).
The fourth step: and measuring the pose M of the insulating bucket target in real time.
Judgment of LCAnd L is equal.
If L isCAnd L, the scanning plane of the horizontal laser radar is perpendicular to the row line at the moment, and the value theta of the angle sensor of the horizontal laser radar rotary table at the moment is readVRSThen the insulation bucket rotates anticlockwise by a real-time value theta of the arc angle around the Z axisCZ＝PI/2-θVRSObtaining a rotation matrix RZ of the coordinates of the insulation bucket relative to the coordinate system of the working environment at the moment0(θCZ) With object pose as
Figure RE-GDA0003307820880000133
Where E is a 3 × 3 identity matrix.
If L isCNot equal to L, controlling the horizontal laser radar rotary table to rotate counterclockwise by a test angle theta on the basis of the current positionTZAnd recording the distance L between the near edge line and the far edge line obtained at the momentCTWherein thetaTZFor the turret angle test, this value is determined empirically (smaller values). If L isCTL or less, continuously controlling the horizontal laser radar rotary table to rotate counterclockwise by the test angle theta on the basis of the current positionTZIf L isCT>L, continuously controlling the horizontal laser radar rotary table to rotate clockwise by the test angle theta on the basis of the current positionTZUntil the distance L between the near edge line and the far edge line is obtained by measurementCTL, the scanning surface of the horizontal laser radar is perpendicular to the line, and the value theta of the angle sensor of the horizontal laser radar rotary table at the moment is readVRSThen the insulation bucket rotates anticlockwise by a real-time value theta of the arc angle around the Z axisCZ＝PI/2-θVRSObtaining a rotation matrix RZ of the coordinates of the insulation bucket relative to the coordinate system of the working environment at the moment0(θCZ) With object pose as
Figure RE-GDA0003307820880000141
Where E is a 3 × 3 identity matrix.
The fifth step: and solving a point cloud data error matrix, and correcting the point cloud data of the operating environment in real time.
Solving an error matrix T between the initial pose of the insulating bucket and the current real-time target pose of the insulating bucket according to the point cloud data of the operation environmentE＝inv(M0) M, where inv () represents the inversion operation of the matrix. An error matrix between the poses of the insulating bucket, namely initial point cloud data C0And an error matrix exists between the error matrix and the point cloud data in the actual working environment.
And performing error correction on the operating environment point cloud data by using the error matrix, wherein the formula for correcting the operating environment point cloud data in real time is C ═ C0·TE。
And a sixth step: and selecting an operation point from the corrected point cloud data, and continuing to complete the distribution network live working task.
Due to vibration or movement of the insulating bucket, the position or posture of the insulating bucket relative to a coordinate system of the working environment changes, and position data between the point cloud of the working environment and the working environment changes. And the current target pose of the insulating bucket is repeatedly measured subsequently, and the error matrix is utilized to correct the errors of the point cloud data of the operating environment, so that the accurate operation of the robot is improved, the acquisition times of the point cloud data of the operating environment by the laser radar are reduced, and the operating time is shortened.
The invention can quickly establish a real-time error matrix between the operating environment and the operating environment point cloud data according to the position and the current real-time position of the insulating bucket when the operating environment point cloud data is acquired, only one laser point cloud data acquisition is needed to be carried out on the operating environment initially, and the operating environment point cloud data can be corrected in real time according to the error matrix, so that the problems of deviation between the actual operating environment and the operating environment point cloud data and low operating precision caused by the movement of the insulating bucket are solved, the operating precision is improved, the scanning and acquisition times of the operating environment by a laser radar are reduced, the live working time of a distribution network is greatly shortened, convenience is brought to power consumption of residential enterprises, the inconvenience brought in the operating process is reduced, and the device has higher economic use value.
Example 2
Based on the same inventive concept as embodiment 1, the invention provides a precise operation device for improving distribution network live working robots, which comprises:
the initial data acquisition module is used for scanning the working environment to obtain initial working environment point cloud data;
the initial pose calculation module is used for calculating the initial pose of the insulation bucket in the process of scanning the working environment;
the target pose calculation module is used for adjusting the pose of the insulating bucket to enable the distribution network live working robot to reach the optimal working space and calculating the target pose of the insulating bucket at the moment;
the data error calculation module is used for calculating an error matrix between the initial pose and the target pose of the insulation bucket;
and the target data correction module is used for correcting the initial operating environment point cloud data according to the error matrix so as to enable the distribution network live working robot to operate based on the corrected operating environment point cloud data.
The specific implementation scheme of each module in the device refers to the processing process of each step in the method.
Accordingly, the present invention also provides the following terminal based on the same inventive concept as embodiment 1.
A terminal, comprising a processor, and a memory coupled to the processor, wherein the memory stores program instructions for executing the method for improving the precision operation of the distribution network live working robot;
the processor is used for executing the program instructions stored in the memory to control and execute the method for improving the precision operation of the distribution network live working robot.
A storage medium stores program instructions executable by a processor, and the program instructions are used for executing the method for improving the accurate operation of the distribution network live working robot.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as falling within the protection scope of the present invention.

Claims (9)

1. The method for improving the precision operation of the distribution network live working robot is characterized by comprising the following steps of:
scanning a working environment to obtain initial working environment point cloud data;
calculating the initial pose of the insulating bucket in the scanning operation environment;
adjusting the position and posture of the insulating bucket to enable the distribution network live working robot to reach the optimal working space, and calculating the target position and posture of the insulating bucket at the moment;
calculating an error matrix between the initial pose and the target pose of the insulating bucket;
and correcting the initial operating environment point cloud data according to the error matrix so that the distribution network live working robot operates based on the corrected operating environment point cloud data.
2. The method for improving the precision operation of the distribution network live working robot according to claim 1, wherein the calculating of the initial pose of the insulating bucket in the process of scanning the operation environment comprises:
measuring the position of the insulating bucket coordinate relative to a working environment coordinate system when the working environment is scanned;
measuring the rotation arc angle of the insulation bucket around the Z axis relative to the operation environment coordinate system when scanning the operation environment, and calculating the rotation matrix of the insulation bucket coordinate relative to the operation environment coordinate system;
and calculating to obtain the initial pose of the insulation bucket in the process of scanning the working environment based on the position of the insulation bucket coordinate relative to the working environment coordinate system and the rotation matrix.
3. The method for improving the precision operation of the distribution network live working robot according to claim 2, wherein the measuring the position of the insulating bucket coordinate relative to the operation environment coordinate system comprises:
adjusting the vertical laser radar rotary table to rotate to a specified angle thetaHREnabling the tower to be swept to the position of the tower, and obtaining the coordinates of the tower under a vertical laser radar coordinate system;
according to the relation between the vertical laser radar coordinate system and the insulation bucket coordinate system, the X-axis and Y-axis coordinates of the tower under the insulation bucket coordinate system, namely the X-axis and Y-axis coordinates of the insulation bucket relative to the environment coordinate system, are obtained and are respectively marked as X0，Y0；
Adjusting the rotation of the horizontal laser radar rotary table to thetaVRPI is a circumferential angle, PI/2 radian; measuring to obtain Z-axis coordinate Z of the column line under the horizontal laser radar coordinate system0And also the height distance Z of the downlink of the coordinate system of the insulating bucket0Obtaining the position of the insulating bucket coordinate relative to the operating environment coordinate system as
Figure FDA0003177504670000021
4. The method for improving the precision operation of the distribution network live working robot according to claim 2, wherein the step of measuring the rotation arc angle of the insulating bucket around the Z axis relative to the working environment coordinate system in the scanning working environment and calculating to obtain the initial pose of the insulating bucket in the scanning working environment comprises the following steps:
controlling the horizontal laser radar rotary table to rotate to thetaVRThe distance between two points of a far edge line and a near edge line of a row line connected into a straight line AB is recorded as L1The included angle between the line AB and the column line is marked as theta1；
Controlling the horizontal laser radar rotary table to rotate to thetaVRRecording the distance between a far edge line and a near edge line of a row line which are connected into a straight line CD as L2The angle between the line CD and the column line is marked as theta2；
According to the distance L between the far edge line and the near edge line1、L2And calculating to obtain the rotation arc angle of the insulating bucket around the Z axis and the initial pose of the insulating bucket in the process of scanning the working environment.
5. The method for improving the precision operation of the distribution network live working robot according to claim 4, wherein the distance is determined according to the far edgeDistance L between line and near edge line1、L2And rotating radian theta, calculating to obtain the initial pose of the insulating hopper when the insulating hopper rotates around the Z-axis arc angle and scans the working environment, and comprising the following steps of:
comparison L1And L2The magnitude of the value;
if L is1>L2When the insulation bucket rotates counterclockwise around the Z-axis, the arc Angle of the insulation bucket rotates counterclockwise around the Z-axis is equal to θZ3X 3 rotation matrix denoted RZ0(θZ)，
According to the geometric principle, the relation is obtained: l ═ L1*sin(PI-θ1)，θ1＝θ2+2*θ，L＝L2*sin(θ2). Derived from this:
Figure FDA0003177504670000031
the distance L between the far edge and the near edge is L1*sin(PI-θ1) The insulation bucket rotates anticlockwise by an arc angle theta around a Z axisZ＝θ1- θ -PI/2; deducing theta from the above1The distance L and the arc angle theta of the insulating bucket are obtained by substituting the formulaZAn expression for the angle θ; then obtaining the rotation matrix RZ of the insulation bucket coordinate relative to the working environment coordinate system at the moment0(θZ)；
If L is1<L2When the insulation bucket rotates clockwise around the Z-axis, the arc Angle of the insulation bucket rotating clockwise around the Z-axis is recorded as Angle ═ θZ3X 3 rotation matrix denoted RZ0(-θZ)；
According to the geometric principle, the relation is obtained: l ═ L1*sin(θ1)，θ1＝θ2+2*θ，L＝L2*sin(θ2) (ii) a Derived from this:
Figure FDA0003177504670000032
the actual distance L between the far edge line and the near edge line is L1*sin(PI-θ1) The insulation bucket rotates clockwise around the Z axis by an arc Angle ═ thetaZ＝(θ1- θ) -PI/2; then obtainThe rotation matrix of the insulation bucket coordinate relative to the working environment coordinate system is RZ at the moment0(-θZ)；
If L is1＝L2When the insulation bucket does not rotate around the Z axis, the arc Angle of the insulation bucket rotating around the Z axis is zero, and Angle is 0 and is recorded as RZ0(0) (ii) a Then obtaining the rotation matrix RZ of the insulation bucket coordinate relative to the working environment coordinate system at the moment0(0)。
6. The method for improving the accurate operation of the distribution network live working robot according to claim 1, wherein the calculating the target pose of the insulating bucket comprises:
controlling rotation angle theta of horizontal laser radar rotary tableVRAnd (3) recording the distance between a near edge line and a far edge line as L by taking the Angle as an arc Angle of the insulation bucket rotating around the Z axis anticlockwise so that the scanning surface of the horizontal laser radar is vertical to the lineCRow line height distance of ZC；
Controlling a vertical laser radar to obtain the real-time distance between the X axis and the Y axis of the tower relative to an insulation bucket coordinate system in real time, namely recording the X axis coordinate and the Y axis coordinate of the insulation bucket relative to an environment coordinate system as X respectivelyC，YC(ii) a The position of the coordinates of the insulating bucket relative to the coordinate system of the working environment is obtained
Figure FDA0003177504670000041
Judgment of LCAnd L is equal; wherein L is the actual distance between the near edge line and the far edge line;
if L isCNot equal to L, controlling the horizontal laser radar rotary table to rotate reversely or clockwise on the basis of the current position until the distance L between the near side line and the far side line is obtained through measurementCTAnd (3) reading an angle sensor value theta of the horizontal laser radar rotary table at the moment when the scanning surface of the horizontal laser radar is vertical to the row lineVRSThen the insulation bucket rotates anticlockwise by a real-time value theta of the arc angle around the Z axisCZ＝PI/2-θVRSObtaining a rotation matrix RZ of the coordinates of the insulation bucket relative to the coordinate system of the working environment at the moment0(θCZ) Target positionIs in the posture of
Figure FDA0003177504670000042
7. The method for improving the precision operation of the distribution network live working robot according to claim 1, wherein the calculating of the error matrix between the initial pose and the target pose of the insulation bucket comprises:
calculating to obtain an error matrix T between the initial pose and the target pose based on the initial pose and the target pose of the insulating bucketE＝inv(M0) M, where inv () represents the inversion operation of the matrix, M0The initial pose of the insulation bucket is M, and the target pose of the insulation bucket is M.
8. The method for improving the precision operation of the distribution network live working robot according to claim 1, wherein the calculation formula for correcting the initial operation environment point cloud data according to the error matrix is as follows:
C＝C0·TE；
wherein C is corrected operating environment point cloud data, C0For initial working environment point cloud data, TEIs an error matrix.
9. The utility model provides an improve and join in marriage net live working robot's accurate operation device which characterized in that includes:
the initial data acquisition module is used for scanning the working environment to obtain initial working environment point cloud data;
the initial pose calculation module is used for calculating the initial pose of the insulation bucket in the process of scanning the working environment;
the target pose calculation module is used for adjusting the pose of the insulating bucket to enable the distribution network live working robot to reach the optimal working space and calculating the target pose of the insulating bucket at the moment;
the data error calculation module is used for calculating an error matrix between the initial pose and the target pose of the insulation bucket;
and the target data correction module is used for correcting the initial operating environment point cloud data according to the error matrix so as to enable the distribution network live working robot to operate based on the corrected operating environment point cloud data.
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