Rapid reconstruction method for drain wire electrified lap joint operation site

Abstract

The invention provides a rapid reconstruction method for a drain wire electrified lap joint operation site. According to the rapid reconstruction method for the drain wire electrified lap joint operation site, firstly, a parameter database of the drain wire electrified lap joint operation site is established; with an original point coordinate system of cross arms, a tower, wire clamps, drop-out type fuses, guy insulators, a lightning arrester and a hoop as reference, standard three-dimensional model data of all the elements are established; a drain wire electrified lap joint standard operationsite is set up; a visual measuring coordinate system of the cross arms and the wire clamps in the drain wire electrified lap joint operation scene is established, and a homogeneous transformation moment of the original point coordinate system relative to the visual measuring coordinate system is obtained; a binocular camera attached to the tail end of a mechanical arm is utilized to reconstruct 3D models of drain wires of the drop-out type fuses and power transmission lines, the actual positions and postures of each cross arm and each wire clamp in the drain wire electrified lap joint operation site are measured, the established drain wire electrified lap joint standard operation scene model is corrected and completed, and then a reconstructed scene coinciding to the actual site is obtained. The drain wire electrified lap joint operation scene constructed by the adoption of the reconstruction method coincides with the actual site, and a robot can conveniently perform relevant operations.

Description

technical field [0001] The invention belongs to the technical field of computers, and in particular relates to a rapid reconstruction method for a live connection and tap drainage line operation site. Background technique [0002] At present, the work tasks of live connection and drainage lines in my country are mainly manual operations, and there are problems of high risk, low efficiency and high training costs. Relying on on-site reconstruction technology, remote teleoperation operations and robot autonomous operations can be well avoided. The shortcomings of manual live connection and taping of drainage lines are also one of the research hotspots in the field of robot live work. How to provide real-time and reliable connection and drainage lines for remote operators and robot autonomous operation control platforms The three-dimensional environmental data of the job site is one of the difficulties that needs to be solved urgently. [0003] At present, the 3D scene reconstr...

AI Technical Summary

Problems solved by technology

However, in the live work site, due to problems such as the bending of the wires and the deviation of the installation position of the parts, there is often a certain gap between the fixed virtual reality scene constructed and the actual site. For the process of assembling the hole and shaft of the drainage line, this error is likely to cause the failure of the job

Due to the lack of data interaction with the actual scene, the virtual reality scene cannot be directly used as a reliable reconstruction scene

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