CN106737862A - A kind of hot line robot data communication system - Google Patents
A kind of hot line robot data communication system Download PDFInfo
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- CN106737862A CN106737862A CN201611128971.XA CN201611128971A CN106737862A CN 106737862 A CN106737862 A CN 106737862A CN 201611128971 A CN201611128971 A CN 201611128971A CN 106737862 A CN106737862 A CN 106737862A
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- mechanical arm
- industrial computer
- control cabinet
- optical switch
- joint
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Multimedia (AREA)
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Abstract
The present invention proposes a kind of hot line robot data communication system.Including hot line robot, multiway images transmission subsystem, instruction data optical fiber transmission subsystem and instruction data redundant wireless subsystems；The multiway images transmission subsystem include binocular camera, depth camera, full-view camera, control cabinet optical switch, from control cabinet optical switch and the first industrial computer；The instruction data optical fiber transmission subsystem include the first industrial computer, control cabinet optical switch, from control cabinet optical switch and the second industrial computer；The instruction data redundant wireless subsystem include the first industrial computer, full-view camera, from control cabinet wireless bridge, control cabinet wireless bridge and the second industrial computer.The present invention provides a set of communication system for hot line robot, improves the automaticity of hot line robot and the real-time of control.
Description
Technical field
Invention belongs to technical field of electric power, and in particular to a kind of hot line robot data communication system.
Background technology
At present, China's high-voltage hot-line work mainly uses manual work.Even if having there is the machine for replacing manual work
People, its security can not be protected, it is still desirable to manually its operation is monitored.Because transmission power line robot is general
Using work high above the ground, operating personnel cannot timely and effectively have found what is occurred during robot manipulating task by visual observation on the ground
Failure.To avoid or reducing the security incident of robot manipulating task initiation, it is necessary to design for hot line maintenance robot
Special monitoring system.
China's hot line robot is started late, at present still not for the prison of hot line maintenance robot
Prosecutor case, the safety of power network, robot and operating personnel can not be protected.
The content of the invention
Present invention solves the technical problem that being, for hot line robot provides a set of communication system, to improve powered work
The automaticity of industry robot and the real-time of control.
In order to solve the above-mentioned technical problem, the present invention provides a kind of hot line robot data communication system, including band
Electric Work robot, multiway images transmission subsystem, instruction data optical fiber transmission subsystem and instruction data redundant wireless
System；
The multiway images transmission subsystem, including binocular camera, depth camera, full-view camera, control cabinet light
Interchanger, from control cabinet optical switch and the first industrial computer；Binocular camera, depth camera, full-view camera pass through netting twine
It is connected with the twisted-pair Ethernet mouthful from control cabinet optical switch, using the taken image of Ethernet interface transmission；It is described from control
Cabinet optical switch is used alone from control cabinet light and is handed over using giga industry level Ethernet switch, each video camera and the first industrial computer
The VLAN interface changed planes；Lead to three optical ports from control cabinet optical switch to be connected with control cabinet optical switch, for being exchanged from control cabinet light
Machine sends data to control cabinet optical switch；Control cabinet optical switch by the other three optical port with from control cabinet optical switch phase
Even, data are sent to from control cabinet optical switch for control cabinet optical switch；Control cabinet optical switch by three twisted-pair feeders with
Too network interface is connected with the 3rd industrial computer；
The instruction data optical fiber transmission subsystems, including the first industrial computer, control cabinet optical switch, handed over from control cabinet light
Change planes and the second industrial computer；The joint of mechanical arm angle information that first industrial computer will be collected is transferred to from control cabinet light by network interface
Interchanger；It is connected with an optical port of control cabinet optical switch by an optical port from control cabinet optical switch, control cabinet optical switch leads to
Twisted-pair Ethernet mouthful is crossed to be connected with the second industrial computer；Second industrial computer by control cabinet optical switch and from control cabinet optical switch
Mechanical arm space path data are transferred to the first industrial computer；
The instruction data redundant wireless subsystem include the first industrial computer, full-view camera, from control cabinet wireless bridge,
Control cabinet wireless bridge and the second industrial computer；The view data of full-view camera and the first industrial computer are adopted from control cabinet wireless bridge
The joint of mechanical arm angle information for collecting is sent to control cabinet wireless bridge；The data is activation that control cabinet wireless bridge will be received
To the second industrial computer；Similarly, the second industrial computer sends control instruction to the first industrial computer by the link.
Further, the hot line robot includes aerial lift device with insulated arm, and the robot being mounted on aerial lift device with insulated arm puts down
Platform, the mechanical arm on robot platform, data collecting system and data processing and control system；The data acquisition
System be arranged on robot platform the binocular camera for collection machinery arm working scene image, depth camera,
Full-view camera；The data processing and control system generate 3D dummy activities scene or rule according to the working scene image
Mark mechanical arm space path；The data processing and control system include the first industrial computer, the second industrial computer, the 3rd industry control
Machine, the second industrial computer Built-in Image processor and livewire work action sequence storehouse, in the livewire work action sequence storehouse in advance
The corresponding action sequence data of every livewire work that is stored with；The working scene image of the camera acquisition is sent to the second work
Relative position between control machine, mechanical arm that image processor is obtained after processing working scene image and manipulating object is closed
System, action sequence planning mechanical arm of the 3rd industrial computer according to corresponding to the relative position relation and specific livewire work
Space path, and give the first industrial computer by the space path data is activation of the mechanical arm；First industrial computer is according to the machinery
The space path control machinery arm action of arm.
Further, the mechanical arm includes first mechanical arm and second mechanical arm, the first mechanical arm and the second machinery
Binocular camera is equipped with arm, the first mechanical arm and second mechanical arm are cooperated using power tool and complete powered
Operation.
Further, the mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, first machinery
Binocular camera, the first mechanical arm, second mechanical arm and auxiliary are equipped with arm, second mechanical arm and auxiliary mechanical arm
Mechanical arm coordinates completion livewire work, wherein, auxiliary mechanical arm is used for clamping operation object, first mechanical arm and second mechanical arm
Job Operations are carried out using power tool.
Further, control room is provided with the aerial lift device with insulated arm, the data processing and control system also include display
Screen and main manipulator, the second industrial computer Built-in Image processor, display screen and main manipulator are located in control room；Main manipulator with
Mechanical arm is principal and subordinate's operative relationship, by the gesture stability manipulator motion for changing main manipulator；The work of the camera acquisition
Industry scene image is sent to the second industrial computer, the 3D dummy activities that image processor is obtained after processing working scene image
Scape, and send display to show.
Further, the mechanical arm includes first mechanical arm and second mechanical arm, the first mechanical arm and the second machinery
Binocular camera is equipped with arm；The main manipulator includes the first main manipulator and the second main manipulator, the first main operation
Hand and the second main manipulator are respectively used to control first mechanical arm and second mechanical arm.
Further, the mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, first machinery
It is equipped with binocular camera on arm, second mechanical arm and auxiliary mechanical arm, the main manipulator includes the first main manipulator, the
Two main manipulators, auxiliary main manipulator；First main manipulator, the second main manipulator and auxiliary main manipulator are respectively used to control
First mechanical arm, second mechanical arm and auxiliary mechanical arm.
Further, the mechanical arm or main manipulator are mechanism in six degree of freedom, including pedestal, rotate 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 to gather the angle-data in each joint, and servo drive motor is used to control
Make the motion in each joint；First industrial computer according to the desired value 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 that communication system of the present invention can ensure multichannel high-resolution to the present invention
Rate monitoring image and real-time control signal simultaneous transmission, possess stronger data throughput capabilities；View data is adopted with control signal
With different transmission channels, the time delay of hot line robot real-time control is reduced；It is hard that communication system is equipped with wireless channel
Part redundancy, makes hot line robot still have certain controllability in failure.
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 communication system principle block diagram of the present invention；
Fig. 6 is communication system topology figure of the present invention.
Specific embodiment
It is readily appreciated that, according to technical scheme, in the case where connotation of the invention is not changed, this area
Those skilled in the art can imagine the numerous embodiments of hot line robot data communication system of the present invention.Therefore,
Detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as of the invention
Whole 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, on aerial lift device with insulated arm 1 set up control room 2 and telescopic arm 3, 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 as to robot platform 4 is transported into operation field.Insulation bucket arm
Supporting leg is housed, supporting leg can launch on car 1, so as to 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 along the drive device of telescopic direction, and operating personnel can be by controlling drive device, so as to 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 and be replaced by scissor-type lifting mechanism or other mechanisms.
As a kind of implementation method, the second industrial computer, the 3rd industrial computer, display screen, the first main behaviour are provided with control room 2
Make hand, the second main manipulator, auxiliary main manipulator and communication module etc..
Used as a kind of implementation method, robot platform 4 includes insulator 46, first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, 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.
Used as a kind of implementation method, 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 are fixed.
Depth camera 410 is arranged on robot platform 4 just to the side of 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 according in the type of job task to tool box special 47 using instrument fast replacing device.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range 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.
Used 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
Each joint is respectively provided with corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding in mechanism in six degree of freedom
Device 31 is used to gather the angle-data in each joint, and servo drive motor is used to control the motion in 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.
The main manipulator 22 and first mechanical arm 43, the isomorphism of second mechanical arm 44.Main manipulator 22 is by by mechanical arm etc.
The connecting rod 30 of scale smaller, orthogonal rotary encoder 31, control button 32 and microcontroller 33 are constituted.Orthogonal rotary encoder 31
It is connected on each joint of main manipulator 22, detects each joint angles, and would indicate that the analog signal transmission of joint angles
To microcontroller 33.Control button 32 is connected on the input port of microcontroller 33, is controlled for being sent to microcontroller 33
Instruction.Microcontroller gathers the analog signal of orthogonal rotary encoder 31 and control cabinet is sent to after being digitized, collection control
Control signal that button processed 32 is sent simultaneously is sent to control cabinet.
Used as a kind of implementation method, 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 planned in the second industrial computer for robotic arm path.
Set up manipulating object model library.The threedimensional model of the manipulating object involved by pre-production items livewire work task
And Model of Target Recognition, for example, system in kind according to devices such as power tower bar, electric wire, strain insulator, isolation switch, arresters
Make threedimensional model and Model of Target Recognition, for hot line robot automatic identification manipulating object, build working scene 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.
Recognized according to view data and tracking operative goals.
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 processed and is calculated, obtained mechanical arm position, obtained the position of manipulating object, obtained machine
Relative position between tool arm and manipulating object,；
Manipulating object three-dimensional scenic is built according to view data, according to arm angle information and manipulating object three-dimensional scenic
Obtain the relative position of mechanical arm and manipulating object；
Dependent image data is processed and is calculated, built 3D dummy activity scenes, send display to show, operating personnel
According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activities scene is comprehensive and depth image is believed
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 from occurring, and improves security.Meanwhile, 3D dummy activity scenes are displayed in control
On display in room 2, away from mechanical arm operation field, the personal safety of people operating personnel is improve.
Used as a kind of implementation method, the 3rd industrial computer can complete following task：Advised according to relative position and job task
Draw the space path of mechanical arm.
Used as a kind of implementation method, 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, is 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 big actions of power 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, the second industrial computer and the first industrial computer, the present invention is powered
Work robot both can remotely shake operation to complete livewire work by operating personnel, and autonomous powered work can be carried out again
Industry.Before livewire work is carried out, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved into manipulating object
Near.
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, after operating personnel changes main manipulator attitude, 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 is using 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 selection AUTONOMOUS TASK, calculated according to number of images and depth image by the second industrial computer and obtain manipulating object
Relative position relation and mechanical arm between, the 3rd industrial computer is according to the action sequence corresponding to relative position relation and job task
Row carry out mechanical arm space path planning, and space path is sent into the first industrial computer, and the first industrial computer calculates mechanical arm
Each joint needs the angle-data of rotation as the desired value of each joint angles of mechanical arm, each by servomotor controller tool arm
The motion in joint, has completed livewire work.
Used as a kind of implementation method, the data transfer between robot platform 4 and control room 2 passes through 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 the electric signal in twisted-pair feeder, so as to realize the electrical isolation of robot platform 4 and control room 2 in communication.
Data communication system concrete structure is as follows：
Control cabinet 20 is provided with aerial lift device with insulated arm 1, is provided with robot platform 4 from control cabinet 40.Wherein, main manipulator
Output connect control cabinet 20 and be input into, the output of main control cabinet 20 connects the input of display 21.Control cabinet 20 includes the second industrial computer
26th, the 3rd industrial computer 23, control cabinet optical switch 27 and control cabinet wireless bridge 28.
Second industrial computer 26 receive and process multiple cameras by Optical Fiber Transmission come image, and result is sent
To the 3rd industrial computer 23.In remote operating working method, the second industrial computer 26 times reads the control signal of main manipulator 22 and passes through
Wireless bridge 28 is transferred to from the first industrial computer in control cabinet 40.In AUTONOMOUS TASK, the 3rd industrial computer 23 receives the second industry control
The information that the image procossing of machine 23 is obtained, with reference to the action sequence to be performed, completes cartesian space path planning and joint space
Motion planning, and control information is transferred to from control cabinet 40.
From control cabinet 40 include the first industrial computer 52, voltage-stabilized power supply 53, motor servo driver 55, motion controller 54, from
Control cabinet optical switch 50 and from control cabinet wireless bridge 51.Voltage-stabilized power supply 53 gives the first industrial computer 52, motor servo driver respectively
55th, motion controller 54, optical switch 50 and wireless bridge 51 are powered.Motor servo driver 55 receives motion controller 54
Control signal, converts thereof into the servomotor rotation that drive signal drives mechanical arm.The industrial computer of motion controller 54 and first
52 are connected, and receive the first industrial computer 52 and send joint position control signal, and convert thereof into motor control signal and be sent to and watch
Take motor driver 55.
The hot line robot communication system is by multiway images transmission subsystem, instruction data Optical Fiber Transmission subsystems
System and instruction the part of data redundant wireless subsystem three composition.
The multiway images transmission subsystem, including two groups of binocular cameras 45 and full-view camera 41 on double mechanical arms
5 cameras altogether, control cabinet optical switch 27, from control cabinet optical switch 50 and the 3rd industrial computer 23.Two groups of binocular cameras
45 and full-view camera 41 amount to 5 cameras all using the image that Ethernet interface transmission is taken, 5 cameras draw 5
Bar netting twine is connected on from 5 twisted-pair Ethernets mouthful of control cabinet optical switch 50.It is described to use gigabit from control cabinet optical switch 50
Technical grade Ethernet switch, the transmission bandwidth of its single port is 1Gbps.Because the camera is machine vision phase
Machine, its transmitted data amount is larger, only cannot transmit whole view data, therefore multiway images transmission with a transmission channel
System has divided multiple VLAN, has transmitted view data using a plurality of transmission channel.Every group of the two of binocular camera 45 shootings
Head connects port and is divided into same VLAN, respectively VLAN2 and VLAN3.Panorama camera connects port and is divided VLAN4.
It is connected with control cabinet optical switch 27 by 3 optical ports from control cabinet optical switch 50, these three ports are divided in respectively
In VLAN2, VLAN3 and VLAN4.Similarly, control cabinet optical switch 27 by 3 optical ports with from controlling the phase of cabinet optical switch 50
Even, these three ports are divided in VLAN2, VLAN3 and VLAN4 respectively.Control cabinet optical switch 27 by 3 twisted-pair feeders with
Too network interface is connected with the 3rd industrial computer 23, and these three ports are divided in VLAN2, VLAN3 and VLAN4 respectively.3rd industry control
Machine 23 extends out multiple Ethernet cards, and the data that different VLAN send can be gathered by different network interface cards and be sent to the 3rd industry control
The different process treatment of machine 23.
The instruction data optical fiber transmission subsystems, including the first industrial computer 52, control cabinet optical switch 27, from control cabinet
The industrial computer 26 of optical switch 50 and second.Double mechanical arms posture information and real-time control parameter that first industrial computer 52 will be collected
It is transferred to from control cabinet optical switch 50 by network interface.From control cabinet optical switch 50 by optical port and the light of control cabinet optical switch 27
Mouth is connected, and (conversion between image, electric signal, optical signal) control cabinet optical switch 27 is by twisted-pair Ethernet mouthful and second
Industrial computer 26 is connected.Similarly, control instruction is passed through the link transmission to the first industrial computer 52, i.e., second by the second industrial computer 26
The industrial computer 52 of industrial computer 26 and second passes through the transmission path data.Port on this link is all divided into VLAN5
In, to realize isolating for control signal and view data, so as to ensure the real-time of control signal transmission.
The instruction data redundant wireless subsystems, are the hard redundancies for instructing data optical fiber transmission subsystems, work as ether
When Netcom's news break down, stopped using the subsystem controls double mechanical arms system emergency.Instruction data redundant wireless subsystem
Including the second industrial computer 52, full-view camera 41, from control the cabinet wireless bridge 51, industrial computer of control cabinet wireless bridge 28 and second
26.When ether net system breaks down, by from control cabinet wireless bridge 51 by the view data of full-view camera 41 and the
The real-time control information of one industrial computer 52 is sent to control cabinet wireless bridge 28.The data hair that control cabinet wireless bridge 28 will be received
Give the second industrial computer 26.Similarly, the second industrial computer sends control instruction to the first industrial computer, i.e. the second work by the link
The industrial computer 52 of control machine 26 and first passes through the transmission path data.
Claims (8)
1. a kind of hot line robot data communication system, it is characterised in that passed including hot line robot, multiway images
Defeated subsystem, instruction data optical fiber transmission subsystem and instruction data redundant wireless subsystems；
The multiway images transmission subsystem, including binocular camera, depth camera, full-view camera, control cabinet light are exchanged
Machine, from control cabinet optical switch and the first industrial computer；Binocular camera, depth camera, full-view camera by netting twine with from
The twisted-pair Ethernet mouthful connection of cabinet optical switch is controlled, using the taken image of Ethernet interface transmission；It is described from control cabinet light
Interchanger is used alone from control cabinet optical switch using giga industry level Ethernet switch, each video camera and the first industrial computer
VLAN interface；Lead to three optical ports from control cabinet optical switch to be connected with control cabinet optical switch, for from control cabinet optical switch to
Control cabinet optical switch sends data；Control cabinet optical switch is connected by the other three optical port with from control cabinet optical switch, is used
In control cabinet optical switch data are sent to from control cabinet optical switch；Control cabinet optical switch is by three twisted-pair Ethernets mouthful
It is connected with the 3rd industrial computer；
The instruction data optical fiber transmission subsystems, including the second industrial computer, control cabinet optical switch, from control cabinet optical switch
With the first industrial computer；The joint of mechanical arm angle information that first industrial computer will be collected is transferred to from control cabinet light by network interface and exchanged
Machine；It is connected with an optical port of control cabinet optical switch by an optical port from control cabinet optical switch, control cabinet optical switch is by double
Twisted wire Ethernet interface is connected with the first industrial computer；First industrial computer is by control cabinet optical switch and from control cabinet optical switch by machine
Tool arm space path data are transferred to the first industrial computer；
The instruction data redundant wireless subsystem include the first industrial computer, full-view camera, from control cabinet wireless bridge, master control
Cabinet wireless bridge and the second industrial computer；The view data of full-view camera and the first industrial computer are collected from control cabinet wireless bridge
Joint of mechanical arm angle information be sent to control cabinet wireless bridge；The data is activation that control cabinet wireless bridge will be received is to the
Two industrial computers；Similarly, the second industrial computer sends control instruction to the first industrial computer by the link.
2. hot line robot data communication system as claimed in claim 1, it is characterised in that the hot line robot
Including aerial lift device with insulated arm, the robot platform on aerial lift device with insulated arm is mounted in, the mechanical arm on robot platform, data
Acquisition system and data processing and control system；The data collecting system be arranged on robot platform for gathering
Binocular camera, depth camera, the full-view camera of mechanical arm working scene image；The data processing and control system root
3D dummy activities scene is generated according to the working scene image or cook up mechanical arm space path；
The data processing and control system include the first industrial computer, the second industrial computer, the 3rd industrial computer, and the second industrial computer is built-in
Image processor and livewire work action sequence storehouse, every livewire work is previously stored with the livewire work action sequence storehouse
Corresponding action sequence data；The working scene image of the camera acquisition is sent to the second industrial computer, image processor pair
Relative position relation between mechanical arm that working scene image is obtained after being processed and manipulating object, the 3rd industrial computer is according to institute
State relative position relation and the action sequence corresponding to specific livewire work plans the space path of mechanical arm, and by the machine
The space path data of tool arm are sent to the first industrial computer by control cabinet optical switch；First industrial computer is according to the mechanical arm
Space path control machinery arm action.
3. hot line robot as claimed in claim 2, it is characterised in that the mechanical arm includes first mechanical arm and second
Mechanical arm, is equipped with binocular camera, the first mechanical arm and the second machine in the first mechanical arm and second mechanical arm
Tool arm is cooperated using power tool and completes livewire work.
4. hot line robot as claimed in claim 2, it is characterised in that the mechanical arm includes first mechanical arm, second
Mechanical arm and auxiliary mechanical arm, binocular camera is equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm,
The first mechanical arm, second mechanical arm and auxiliary mechanical arm coordinate completion livewire work, wherein, auxiliary mechanical arm is used to clamp
Manipulating object, first mechanical arm and second mechanical arm carry out Job Operations using power tool.
5. hot line robot as claimed in claim 2, it is characterised in that be provided with control room on the aerial lift device with insulated arm,
The data processing and control system also include display screen and main manipulator, the second industrial computer Built-in Image processor, display screen
It is located in control room with main manipulator；Main manipulator is principal and subordinate's operative relationship with mechanical arm, by the attitude for changing main manipulator
Control machinery arm is moved；The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is to operation
The 3D dummy activity scenes that scene image is obtained after being processed, and send display to show.
6. hot line robot as claimed in claim 5, it is characterised in that the mechanical arm includes first mechanical arm and second
Mechanical arm, binocular camera is equipped with the first mechanical arm and second mechanical arm；The main manipulator includes the first master
Manipulator and the second main manipulator, the first main manipulator and the second main manipulator are respectively used to control first mechanical arm and the second machine
Tool arm.
7. hot line robot as claimed in claim 5, it is characterised in that the mechanical arm includes first mechanical arm, second
Mechanical arm and auxiliary mechanical arm, binocular camera is equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm,
The main manipulator includes the first main manipulator, the second main manipulator, auxiliary main manipulator；First main manipulator, the second main behaviour
Make hand and auxiliary main manipulator is respectively used to control first mechanical arm, second mechanical arm and auxiliary mechanical arm.
8. the hot line robot as described in claim 1 to 7, it is characterised in that the mechanical arm or main manipulator are six
Free degree mechanism, including pedestal, the rotation direction of principal axis waist joint vertical with base plane, the shoulder joint being connected with waist joint, with
The large arm of shoulder joint connection, 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；
Each joint is respectively provided with corresponding orthogonal rotary encoder and servo drive motor, orthogonal rotation in the mechanism in six degree of freedom
Turn encoder is used to control the motion in each joint for gathering the angle-data in each joint, servo drive motor；
First industrial computer is each by mechanical arm by controlling servo drive motor to control according to the desired value of each joint angles of mechanical arm
Joint motions.
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| CN201611128971.XA CN106737862B (en) | 2016-12-09 | 2016-12-09 | Data communication system of live working robot |
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| CN201611128971.XA CN106737862B (en) | 2016-12-09 | 2016-12-09 | Data communication system of live working robot |
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| CN109434826A (en) * | 2018-09-13 | 2019-03-08 | 南京理工大学 | A kind of hot line robot control system |
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