CN115026837A - A kind of aerial work robot and its remote control method and remote control system - Google Patents

Abstract

The invention provides an overhead working robot, a remote control method and a remote control system thereof, which can remotely hang/pick ground wires and the like on a transportation line or large-scale equipment, thereby greatly reducing the potential safety hazard of operation; the modules are in communication connection through the control box, respective functions are achieved, a core control system is designed to manage the subsystems, and the robot is enabled to cooperate with the modules to operate efficiently according to task flows. In addition, the high-altitude operation robot adopts an arm teleoperation mode, surface electromyographic signals and joint motion information of the arm surface are collected by utilizing a surface electromyographic arm ring and motion capture equipment, real-time flexible control of the arm to the mechanical arm is achieved, a person is used as a decision layer to control the mechanical arm and a tail end ground wire hanging/picking tool, the hanging/picking accuracy rate can be improved by matching with skilled operation of an operator when wind power exceeds three levels, and compared with full-automatic hanging, the high-altitude operation robot has higher flexibility and strainability, and the ground wire hanging/picking accuracy and stability are improved.

Description

A kind of aerial work robot and its remote control method and remote control system

technical field

The invention relates to the technical field of power maintenance of substations, in particular to an aerial work robot and its remote control method and remote control system.

Background technique

With the development of artificial intelligence and robotics, some heavy, repetitive and dangerous jobs in the power industry are also rapidly developing towards automation, intelligence and efficiency.

At present, the task of hanging/removing the ground wire in the substation is heavy, repetitive, has many tasks, and is dangerous, and there is a certain risk of missed inspection. At present, most of the substation hanging/removing the ground wire is still carried out in the traditional way of hand-holding the hanging pole or by using the elevator to lift the maintenance workers, which requires high physical fitness and technical proficiency of the maintenance workers, and there is a large number of problems. security risks. In particular, when some transportation lines or large equipment are operated under the condition of electrification, safety accidents are likely to occur.

In view of the above problems, the present invention proposes an aerial work robot, a remote control method and a remote control system for remote control of the aerial work robot, so as to solve the problem of hanging/removing the ground wire of the power transmission line or the live equipment of the large substation. security risks. Through operator remote control, direct contact between operators and transportation lines or large equipment is avoided, thereby greatly reducing the incidence of safety incidents.

SUMMARY OF THE INVENTION

The present invention provides an aerial work robot, a remote control method and a remote control system thereof, which are used to solve the defects of potential safety hazards in the prior art in the way of manually holding a wire hanger or by using an elevator to lift maintenance workers.

The present invention provides an aerial work robot, comprising:

control box;

a mobile chassis, the control box can control the mobile chassis to move;

a lifting operation platform, the control box is fixed on the lifting operation platform, and the control box can control the lifting and lowering of the lifting operation platform;

a mechanical arm fixed on the lifting working platform, and the control box can control the mechanical arm to move;

an end hanging/grounding wire tool fixed on the joint link at the end of the mechanical arm, and the control box can control the end hanging/grounding wire tool to perform actions;

a remote control handle for sending control instructions for the mobile chassis and the lifting work platform to the control box;

A panoramic camera fixed at the end position of the robotic arm, used to transmit the end operation scene to the VR glasses;

VR glasses, used to provide operators with real-time 3D scenes of hanging/unloading operations;

an inertial motion capture device for measuring the motion information of each joint of the operator to control the motion of the robotic arm;

The surface EMG arm ring is used to measure the surface EMG signal of the operator's forearm to control the action of the end hanging/ground wire tool.

The aerial work robot provided according to the present invention further comprises: connecting firmware, a panorama camera head and a tool bracket for hanging/earthing wire at the end;

Wherein, the connection firmware is used to connect the mobile chassis, the lifting work platform, the mechanical arm, the control box, and the panoramic camera into a whole; the panoramic camera pan/tilt is used to connect the panoramic camera The camera is fixed on the mechanical arm; the end hanging/ground wire removal tool bracket is used for hanging the end hanging/ground wire removal tool on the lifting work platform.

The present invention also provides a remote control method for controlling any of the above-mentioned aerial work robots, including:

Obtain the remote control handle command, and control the movement of the mobile chassis and adjust the height of the lifting work platform according to the remote control handle command;

Acquire the 3D information of the operation scene at the end of the robotic arm, and transmit the 3D information of the operation scene to the VR glasses in real time, so as to provide the operator with a real-time operation scene;

Acquire the arm joint motion information obtained by the inertial motion capture device, and transmit the arm joint motion information to the control box in real time to control the motion of the robotic arm;

Acquire the surface electromyography signal obtained by the surface electromyography armband, and transmit the surface electromyography signal to the control box in real time, so as to control the action of the end hanging/grounding wire tool.

According to a remote control method provided by the present invention, the acquiring a remote control handle command, and controlling the movement of the mobile chassis and adjusting the height of the lifting work platform according to the remote control handle command, specifically includes:

When the command of the remote control handle is forward, backward, left turn or right turn, control the mobile chassis to move forward, backward, left turn or right turn through the control box;

When the command of the remote control handle is to ascend or descend, the control box controls the ascending or descending of the lifting work platform at a constant speed.

According to a remote control method provided by the present invention, the arm joint motion information acquired by the inertial motion capture device is acquired, and the arm joint motion information is transmitted to the control box in real time to control the motion of the robotic arm , including:

acquiring arm joint motion information captured by the inertial motion capture device worn on each joint of the operator's arm;

Real-time transmission of the arm joint motion information to the control box through a local area network;

The control box converts the arm joint motion information into a robotic arm motion instruction according to a motion mapping algorithm, and controls the robotic arm motion based on the robotic arm motion instruction.

According to a remote control method provided by the present invention, the surface electromyography signal obtained by the surface electromyography armband is acquired, and the surface electromyography signal is transmitted to the control box in real time, so as to control the end hanging /Ground wire tool actions, including:

acquiring the surface electromyography signal of the operator's arm collected by the surface electromyography armband worn on the operator's forearm;

The surface EMG signal is transmitted to the control box in real time through the Bluetooth module;

The control box converts the surface EMG signal into a hooking and picking action instruction according to a preset hand motion classification algorithm, and controls the action of the end hooking/grounding wire tool based on the hooking and picking action instruction.

The present invention also provides a remote control system for controlling any of the above-mentioned aerial work robots, including:

The mobile chassis and the lifting operation platform control unit are used to obtain remote control handle instructions, and control the movement of the mobile chassis and adjust the height of the lifting operation platform according to the remote control handle instructions;

The 3D work scene information acquisition and display unit is used to obtain the work scene 3D information at the end of the manipulator, and transmit the work scene 3D information to the VR glasses in real time, so as to provide the operator with a real-time operation scene;

a robotic arm control unit, configured to acquire arm joint motion information acquired by the inertial motion capture device, and transmit the arm joint motion information to the control box in real time to control the robotic arm motion;

A terminal tool control unit, configured to acquire the surface electromyography signal obtained by the surface electromyography armband, and transmit the surface electromyography signal to the control box in real time, so as to control the action of the terminal hooking/grounding wire tool .

According to a remote control system provided by the present invention, the robotic arm control unit is specifically used for:

acquiring arm joint motion information captured by the inertial motion capture device worn on each joint of the operator's arm;

Real-time transmission of the arm joint motion information to the control box through a local area network;

The control box converts the arm joint motion information into a robotic arm motion instruction according to a motion mapping algorithm, and controls the robotic arm motion based on the robotic arm motion instruction.

According to a remote control system provided by the present invention, the end tool control unit is specifically used for:

acquiring the surface electromyography signal of the operator's arm collected by the surface electromyography armband worn on the operator's forearm;

The surface EMG signal is transmitted to the control box in real time through the Bluetooth module;

The control box converts the surface EMG signal into a hooking and picking action instruction according to a preset hand motion classification algorithm, and controls the action of the end hooking/grounding wire tool based on the hooking and picking action instruction.

A remote control system provided according to the present invention further includes a fault alarm system; the fault alarm system includes:

a working state obtaining unit, used for obtaining the working state of the aerial work robot;

The working failure alarm unit is used for prompting the robot failure and giving an alarm according to the working state.

The aerial work robot and its remote control method and remote control system provided by the present invention can remotely perform work such as hanging/removing the ground wire on the transportation line or large equipment, avoiding the direct contact between the staff and the transportation line or the large equipment, and greatly reducing the The hidden dangers of operation safety are avoided; each module is connected through the control box to realize their respective functions. At the same time, a core control system is designed to manage each subsystem to ensure that the robot cooperates with each module efficiently according to the task process. In addition, the aerial work robot adopts the remote operation mode of the human arm, and uses the surface EMG arm ring and motion capture device to collect the surface EMG signal of the human arm and the motion information of each joint and send it to the control box to realize the real-time compliant control of the human arm to the mechanical arm. , with people as the decision-making level, to control the robotic arm and the end hanging/ground wire tools. When the wind exceeds the third level, it can cooperate with the operator's skilled operation to improve the hanging/removing accuracy. Compared with fully automatic hooking, it has higher accuracy. Flexibility and adaptability are improved in terms of ground wire hooking/removing accuracy and stability.

Description of drawings

In order to explain the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of an aerial work robot provided by the present invention;

2 is a schematic flowchart of a remote control method provided by the present invention;

3 is a schematic diagram of the implementation steps of the remote control method provided by the present invention;

Fig. 4 is the structural representation of the remote control system provided by the present invention;

Reference number:

1: Mobile chassis; 2: Lifting work platform; 3: Control box;

4: Robot arm; 5: End hanging/grounding wire 6: End hanging/grounding wire tool;

tool holder;

7: Panorama camera; 8: Panorama camera head; 9: Connect firmware;

10: Remote control handle; 11: VR glasses; 12: Inertial motion capture device;

13: Surface EMG armband.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

At present, most of the substation hanging/removing the ground wire is still carried out in the traditional way of hand-holding the hanging pole or by using the elevator to lift the maintenance workers, which requires high physical fitness and technical proficiency of the maintenance workers, and there is a large number of problems. security risks.

In this regard, the present invention provides an aerial work robot and its remote control method and remote control system. Fig. 1 is a schematic structural diagram of an aerial work robot provided by the present invention. As shown in Fig. 1 , the aerial work robot mainly includes: a mobile chassis 1, a lifting working platform 2, a control box 3, a mechanical arm 4, and an end hanging/grounding wire Tool 6 , remote control handle 10 , panoramic camera 7 , VR glasses 11 , inertial motion capture device 12 and surface EMG armband 13 .

Among them, the control box 3 is fixed on the lifting work platform 2 and can control the movements of the mobile chassis 1, the lifting work platform 2 and the mechanical arm 4; the mechanical arm 4 is fixed on the lifting work platform 2, and the control box 3 can control the mechanical arm 4 actions; the end hanging/grounding wire tool 6 is fixed on the end joint link of the robotic arm 4, and the control box 3 can control the end hanging/grounding wire tool 6 to move; the remote control handle 10 is used to move the chassis 1 and lift the The control command of the work platform 2 is sent to the control box 3, and the movements of the moving chassis 1 and the lifting work platform 2 are controlled by the control box 3; the panoramic camera 7 is fixed at the end position of the mechanical arm 4, and the panoramic camera 7 is used to display the end work scene. It is transmitted to the VR glasses 11; the VR glasses 11 are worn by the operator and provide the operator with a real-time 3D scene of hanging/unloading operations; the inertial motion capture device 12 is worn on each joint of the operator's arm to measure the movement information of each joint of the operator , to control the movement of the robotic arm 4 ; the surface EMG arm ring 13 is worn on the operator's forearm to measure the surface EMG signal of the operator's forearm to control the movement of the end hanging/ground wire tool 6 . Among them, the control box 3 is respectively connected with the mobile chassis 1 , the lifting work platform 2 , the mechanical arm 4 , the end hanging/ground wire tool 6 , the panoramic camera 7 , the inertial motion capture device 12 and the surface EMG arm ring 13 .

Here, the remote control handle 10 can send a control command for controlling the mobile chassis 1 to the control box 3, and the control box 3 controls the mobile chassis 1 to move and approach the area that needs to be operated. The remote control handle 10 can also send the control command for controlling the lifting operation platform 2 to the control box 3, and the control box 3 controls the lifting operation platform 2 to rise and fall close to the transportation line or equipment that needs to hang/drop the ground wire. The panoramic camera 7 can obtain the operation scene information at the end of the robotic arm 4 and transmit it to the VR glasses 11 in real time, so as to provide the operator with the operation scene. The operator moves the arm according to the operation scene in the VR glasses 11, and the control box 3 controls the movement of the robotic arm 4 according to the motion information of each joint of the operator's arm captured by the inertial motion capture device 12 to approach the transportation line or large equipment. In addition, according to the operation scene in the VR glasses 11, the operator can also control the end hanging/grounding wire according to the surface EMG signals of different hand movements captured by the surface EMG arm ring 13 through hand movements. Tool 6 acts, and performs the task of hanging/removing the ground wire on the transportation line or large equipment.

The aerial work robot provided by the embodiment of the present invention can remotely perform work such as hanging/removing the ground wire on the transportation line or large equipment, avoiding the direct contact between the staff and the transportation line or the large equipment, and greatly reducing the hidden danger of operation safety; each module Through the communication connection of the control box, the respective functions are realized, and a core control system is designed to manage each subsystem to ensure that the robot cooperates with each module efficiently according to the task process. In addition, the aerial work robot adopts the remote operation mode of the human arm, and uses the surface EMG arm ring and motion capture device to collect the surface EMG signal of the human arm and the motion information of each joint and send it to the control box to realize the real-time compliant control of the human arm to the mechanical arm. , with people as the decision-making level, to control the robotic arm and the end hanging/ground wire tools. When the wind exceeds the third level, it can cooperate with the operator's skilled operation to improve the hanging/removing accuracy. Compared with fully automatic hooking, it has higher accuracy. Flexibility and adaptability are improved in terms of ground wire hooking/removing accuracy and stability.

Based on the above-mentioned embodiment, the above-mentioned aerial work robot further includes: connecting firmware 9 , a panorama camera head 8 , and an end hanging/ground wire tool bracket 5 . The connection firmware 9 is used to connect the mobile chassis 1 , the lifting and lowering work platform 2 , the mechanical arm 4 , the control box 3 , the panoramic camera 7 and the like into a whole. The lifting operation platform 2 is fixed on the top of the mobile chassis 1, the control box 3 is fixed on the end of the lifting operation platform 2, the panoramic camera pan-tilt fixes the panoramic camera 7 on the mechanical arm 4, and the end hanging/ground wire tool bracket 5 connects the end hanging/ The ground wire removal tool 6 is mounted on the lifting operation platform 2 , and the mechanical arm 4 , the panoramic camera 7 , the panoramic camera head 8 , and the end hanging/ground wire removal tool bracket 5 are fixed on the control box 3 .

In addition, in practical applications, the body of the aerial work robot provided by the embodiment of the present invention can be made of high-strength steel or carbon steel material, and has a stable structure, which can effectively reduce the accuracy of wind power when hanging/removing the ground wire. When the wind power exceeds level 3, it can cooperate with the operator's skillful control of the robotic arm 4 and the end hooking/grounding wire tool 6 to improve the hooking/removing accuracy. Compared with the fully automatic hooking, it has higher flexibility flexibility and resilience.

Based on any of the above embodiments, FIG. 2 is a schematic flowchart of a remote control method provided by the present invention, and the remote control method is used to remotely control the aerial work robot provided by any of the above embodiments. As shown in Figure 2, the method includes:

Step 210, obtaining a remote control handle command, and controlling the movement of the mobile chassis and adjusting the height of the lifting work platform according to the remote control handle command;

Step 220, acquiring the 3D information of the operation scene at the end of the robotic arm, and transmitting the 3D information of the operation scene to the VR glasses in real time, so as to provide the operator with a real-time operation scene;

Step 230, acquiring arm joint motion information obtained by the inertial motion capture device, and transmitting the arm joint motion information to the control box in real time to control the motion of the robotic arm;

Step 240: Acquire the surface electromyography signal obtained by the surface electromyography armband, and transmit the surface electromyography signal to the control box in real time, so as to control the action of the end-hanging/grounding wire tool.

Specifically, first, the mobile chassis 1 is controlled by the remote control handle 10 to reach the required operation area, and then the lifting work platform 2 is controlled to be raised to a suitable working height by the remote control handle 10. After the lifting work platform 2 reaches the work space of the transportation line, the panoramic view The camera 7 transmits the video of the scene to be operated to the VR glasses 11 for display in real time, and provides the operator with a 3D scene of the work area. The operator refers to the 3D scene in the VR glasses 11 through the inertial motion capture device 12 and the surface EMG arm worn by the operator. The ring 13 and the control box 3 are used to control the action of the manipulator 4 and the end tool 6 for hanging/removing the ground wire, so as to realize tasks such as hanging/removing the ground wire on the transportation line and large equipment. The specific implementation steps are shown in Figure 3, including:

The operator sends out remote control handle commands through the joystick on the remote control handle 10 that controls the mobile chassis 1 . The control box 3 controls the mobile chassis 1 to move until the robot reaches the required operation area after receiving the remote control handle command issued by the remote control handle 10 for the mobile chassis 1 . Wherein, the command of the remote control handle can be forward, backward, left turn or right turn, so that the control box 3 controls the mobile chassis 1 to move forward, backward, left turn or right turn accordingly.

After the robot arrives at the area to be operated, the operator sends the remote control handle command again through the button on the remote control handle 10 to control the lifting and lowering work platform 2 . After the control box 3 receives the remote control handle command issued by the remote control handle 10 for the lifting operation platform 2, it controls the lifting operation platform 2 to rise and fall until the remote control of the aerial work hanging/ground line robot reaches the appropriate working height. Wherein, the command of the remote control handle can be ascending or descending, so as to control the ascending or descending operation platform 2 at a constant speed through the control box 3 .

After the robot reaches a suitable working height, the panoramic camera 7 obtains the 3D information of the working scene at the end of the robotic arm 4 and transmits it to the VR glasses 11 in real time, so as to provide the operator with a real-time operation scene.

After the operator obtains the 3D information of the operation scene, he controls the movement of his own arm. The inertial motion capture device 12 captures the arm joint motion information of each joint of the operator's arm and sends it to the control box 3 , and the control box 3 controls the movement of the robotic arm 4 to approach the transportation line or large equipment.

After the robotic arm 4 approaches the transportation line or large equipment, the operator refers to the 3D information of the operation scene in the VR glasses 11 to control his own hand movements. The surface EMG armband 13 captures the surface EMG signals of different hand movements and sends it to the control box 3, and the control box 3 controls the end hanging/grounding wire tool 6 to make corresponding actions, so as to facilitate the transportation line or large equipment. Carry out the task of hanging/removing the ground wire.

Based on any of the above embodiments, the acquiring arm joint motion information acquired by the inertial motion capture device, and transmitting the arm joint motion information to the control box in real time to control the motion of the robotic arm, specifically includes:

acquiring arm joint motion information captured by the inertial motion capture device worn on each joint of the operator's arm;

Real-time transmission of the arm joint motion information to the control box through a local area network;

The control box converts the arm joint motion information into a robotic arm motion instruction according to a motion mapping algorithm, and controls the robotic arm motion based on the robotic arm motion instruction.

Specifically, after the inertial motion capture device 12 worn on each joint of the operator's arm captures the arm joint motion information, the above-mentioned arm joint motion information is transmitted to the control box 3 in real time through the local area network. The control box 3 converts the above-mentioned arm joint motion information into a robotic arm motion instruction according to a motion mapping algorithm, and controls the robotic arm 4 to move accordingly based on the robotic arm motion instruction. Among them, the motion mapping algorithm can accurately establish the mapping relationship between the motion mode of the arm joint and the motion mode of the mechanical arm, so as to accurately convert the motion information of the arm joint into the motion command of the mechanical arm.

Based on any of the above embodiments, the surface EMG signal obtained by the surface EMG armband is acquired, and the surface EMG signal is transmitted to the control box in real time, so as to control the end hanging/grounding wire Tool actions, including:

acquiring the surface electromyography signal of the operator's arm collected by the surface electromyography armband worn on the operator's forearm;

The surface EMG signal is transmitted to the control box in real time through the Bluetooth module;

The control box converts the surface EMG signal into a hooking and picking action instruction according to a preset hand motion classification algorithm, and controls the action of the end hooking/grounding wire tool based on the hooking and picking action instruction.

Specifically, the surface electromyography armband 13 worn on the operator's forearm collects surface electromyography signals of the operator's arm. Among them, the surface electromyography arm ring 13 can capture surface electromyography signals of different hand movements. Subsequently, the surface electromyography armband 13 transmits the collected surface electromyography signal to the control box 3 in real time through the Bluetooth module. The control box 3 judges the specific gesture of the operator according to the pre-trained hand motion classification model, and converts the gesture into the pick-and-place action of the end hanging/ground wire tool 6, generates corresponding hanging and picking action instructions, and based on the The hook-and-removal action instruction controls the end hooking/removing the ground wire tool 6 to perform corresponding actions, so as to perform the task of hooking/removing the ground wire to the transportation line or large equipment.

Based on any of the above embodiments, FIG. 4 is a schematic structural diagram of a remote control system provided by the present invention. The remote control system is used to remotely control the aerial work robot provided by any of the above embodiments. As shown in FIG. 4 , the remote control system includes: a mobile chassis and a lifting work platform control unit 410 , a 3D work scene information acquisition and display unit 420 , a robotic arm control unit 430 and an end tool control unit 440 .

Wherein, the mobile chassis and elevating operation platform control unit 410 is used to obtain remote control handle instructions, and control the movement of the mobile chassis and adjust the height of the elevating operation platform according to the remote control handle instructions;

The 3D work scene information acquisition and display unit 420 is used to acquire the work scene 3D information at the end of the manipulator, and transmit the work scene 3D information to the VR glasses in real time, so as to provide the operator with a real-time operation scene;

The robotic arm control unit 430 is configured to acquire the arm joint motion information acquired by the inertial motion capture device, and transmit the arm joint motion information to the control box in real time, so as to control the motion of the robotic arm;

The end tool control unit 440 is configured to acquire the surface EMG signal obtained by the surface EMG armband, and transmit the surface EMG signal to the control box in real time, so as to control the action of the end hooking/grounding wire tool .

Based on any of the above embodiments, the robotic arm control unit is specifically used for:

acquiring arm joint motion information captured by the inertial motion capture device worn on each joint of the operator's arm;

Real-time transmission of the arm joint motion information to the control box through a local area network;

The control box converts the arm joint motion information into a robotic arm motion instruction according to a motion mapping algorithm, and controls the robotic arm motion based on the robotic arm motion instruction.

Based on any of the above embodiments, the end tool control unit is specifically used for:

acquiring the surface electromyography signal of the operator's arm collected by the surface electromyography armband worn on the operator's forearm;

The surface EMG signal is transmitted to the control box in real time through the Bluetooth module;

The control box converts the surface EMG signal into a hooking and picking action instruction according to a preset hand motion classification algorithm, and controls the action of the end hooking/grounding wire tool based on the hooking and picking action instruction.

Based on any of the above embodiments, the system further includes a fault alarm system; the fault alarm system includes:

a working state obtaining unit, used for obtaining the working state of the aerial work robot;

The working failure alarm unit is used for prompting the robot failure and giving an alarm according to the working state.

Specifically, the fault alarm system includes a work state acquisition unit and a work fault alarm unit.

Among them, the working state acquisition unit is mainly used to query the working state of each working part in the aerial work robot, such as: whether the mobile chassis 1, the lifting work platform 2, and the mechanical arm 4 are in a normal operation state or a fault state. For example, for mobile chassis 1, the query status includes: the moving speed and acceleration of mobile chassis 1; for robot arm 4, the query status includes: the motion coordinate type of robot arm 4, the pose (coordinate position and attitude) of robot arm 4 ), the speed and acceleration of the robotic arm 4; for the lifting work platform 2, the query status includes: the height and speed of the lifting.

The working fault alarm unit is mainly used to judge whether the relevant components are in a fault state according to the above working states, and when the components are in a fault state, the corresponding alarm information is displayed through the VR glasses 11 to prompt the operator that the relevant equipment is faulty. The types of faults mainly include the following: low battery fault alarm, mobile chassis initialization failure alarm, lift platform fault alarm, each joint fault alarm of the manipulator, failure alarm of the connection between the end hanging/ground wire tool and the end of the manipulator, each sensor (remote control handle, panoramic camera, VR glasses, inertial motion capture device and surface EMG armband) connection failure alarm with the control box, etc.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. an aerial work robot, is characterized in that, comprises: control box; a mobile chassis, the control box can control the mobile chassis to move; a lifting operation platform, the control box is fixed on the lifting operation platform, and the control box can control the lifting and lowering of the lifting operation platform; a mechanical arm fixed on the lifting working platform, and the control box can control the mechanical arm to move; an end hanging/grounding wire tool fixed on the joint link at the end of the mechanical arm, and the control box can control the end hanging/grounding wire tool to perform actions; a remote control handle for sending control instructions for the mobile chassis and the lifting work platform to the control box; A panoramic camera fixed at the end position of the robotic arm, used to transmit the end operation scene to the VR glasses; VR glasses, used to provide operators with real-time 3D scenes of hanging/unloading operations; an inertial motion capture device for measuring the motion information of each joint of the operator to control the motion of the robotic arm; The surface EMG arm ring is used to measure the surface EMG signal of the operator's forearm to control the action of the end hanging/ground wire tool. 2. The aerial work robot according to claim 1, further comprising: a connection firmware, a panoramic camera head and a tool bracket for hanging/earthing wire at the end; Wherein, the connection firmware is used to connect the mobile chassis, the lifting work platform, the mechanical arm, the control box, and the panoramic camera into a whole; the panoramic camera pan/tilt is used to connect the panoramic camera The camera is fixed on the mechanical arm; the end hanging/ground wire removal tool bracket is used for hanging the end hanging/ground wire removal tool on the lifting work platform. 3. A remote control method for remotely controlling the aerial work robot as claimed in claim 1 or 2, characterized in that, comprising: Obtain the remote control handle command, and control the movement of the mobile chassis and adjust the height of the lifting work platform according to the remote control handle command; Acquire the 3D information of the operation scene at the end of the robotic arm, and transmit the 3D information of the operation scene to the VR glasses in real time, so as to provide the operator with a real-time operation scene; Acquire the arm joint motion information obtained by the inertial motion capture device, and transmit the arm joint motion information to the control box in real time to control the motion of the robotic arm; Acquire the surface electromyography signal obtained by the surface electromyography armband, and transmit the surface electromyography signal to the control box in real time, so as to control the action of the end hanging/grounding wire tool. 4. The remote control method according to claim 3, wherein the obtaining a remote control handle command, and controlling the movement of the mobile chassis and adjusting the height of the lifting work platform according to the remote control handle command, specifically comprises: When the command of the remote control handle is forward, backward, left turn or right turn, control the mobile chassis to move forward, backward, left turn or right turn through the control box; When the command of the remote control handle is to ascend or descend, the control box controls the ascending or descending of the lifting work platform at a constant speed. 5. The remote control method according to claim 3, wherein the arm joint motion information obtained by the inertial motion capture device is obtained, and the arm joint motion information is transmitted to the control box in real time to Controlling the movement of the robotic arm specifically includes: acquiring arm joint motion information captured by the inertial motion capture device worn on each joint of the operator's arm; Real-time transmission of the arm joint motion information to the control box through a local area network; The control box converts the arm joint motion information into a robotic arm motion instruction according to a motion mapping algorithm, and controls the robotic arm motion based on the robotic arm motion instruction. 6. The remote control method according to claim 3, characterized in that, acquiring the surface electromyography signal obtained by the surface electromyography armband, and transmitting the surface electromyography signal to the control box in real time, In order to control the action of the end hanging/ground wire tool, it specifically includes: acquiring the surface electromyography signal of the operator's arm collected by the surface electromyography armband worn on the operator's forearm; The surface EMG signal is transmitted to the control box in real time through the Bluetooth module; The control box converts the surface EMG signal into a hooking and picking action instruction according to a preset hand motion classification algorithm, and controls the action of the end hooking/grounding wire tool based on the hooking and picking action instruction. 7. A remote control system for remotely controlling the aerial work robot as claimed in claim 1 or 2, characterized in that, comprising: The mobile chassis and the lifting operation platform control unit are used to obtain remote control handle instructions, and control the movement of the mobile chassis and adjust the height of the lifting operation platform according to the remote control handle instructions; The 3D work scene information acquisition and display unit is used to obtain the work scene 3D information at the end of the manipulator, and transmit the work scene 3D information to the VR glasses in real time, so as to provide the operator with a real-time operation scene; a robotic arm control unit, configured to acquire arm joint motion information acquired by the inertial motion capture device, and transmit the arm joint motion information to the control box in real time to control the robotic arm motion; A terminal tool control unit, configured to acquire the surface electromyography signal obtained by the surface electromyography armband, and transmit the surface electromyography signal to the control box in real time, so as to control the action of the terminal hooking/grounding wire tool . 8. The remote control system according to claim 7, wherein the robotic arm control unit is specifically used for: acquiring arm joint motion information captured by the inertial motion capture device worn on each joint of the operator's arm; Real-time transmission of the arm joint motion information to the control box through a local area network; The control box converts the arm joint motion information into a robotic arm motion instruction according to a motion mapping algorithm, and controls the robotic arm motion based on the robotic arm motion instruction. 9. The remote control system according to claim 7, wherein the end tool control unit is specifically used for: acquiring the surface electromyography signal of the operator's arm collected by the surface electromyography armband worn on the operator's forearm; The surface EMG signal is transmitted to the control box in real time through the Bluetooth module; The control box converts the surface EMG signal into a hooking and picking action instruction according to a preset hand motion classification algorithm, and controls the action of the end hooking/grounding wire tool based on the hooking and picking action instruction. 10. The remote control system according to claim 7, further comprising a fault alarm system; the fault alarm system comprises: a working state obtaining unit, used for obtaining the working state of the aerial work robot; The working failure alarm unit is used for prompting the robot failure and giving an alarm according to the working state.

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