CN110253586B - Power misoperation prevention equipment and method - Google Patents
Power misoperation prevention equipment and method Download PDFInfo
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- CN110253586B CN110253586B CN201910631815.2A CN201910631815A CN110253586B CN 110253586 B CN110253586 B CN 110253586B CN 201910631815 A CN201910631815 A CN 201910631815A CN 110253586 B CN110253586 B CN 110253586B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000002265 prevention Effects 0.000 title claims description 16
- 238000013507 mapping Methods 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000003860 storage Methods 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 description 26
- 230000001276 controlling effect Effects 0.000 description 10
- 208000027418 Wounds and injury Diseases 0.000 description 8
- 230000006378 damage Effects 0.000 description 8
- 208000014674 injury Diseases 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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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
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- General Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Lock And Its Accessories (AREA)
Abstract
The invention provides a device and a method for preventing misoperation of electric power, comprising the following steps: the control module is arranged on the walking chassis, acquires a target operation task through the communication module, controls the walking chassis to move to a target position indicated by the target operation task, and the target operation task also carries first image information and a first identifier; the unlocking device is used for reading the electronic tag of the target anti-misoperation lockset so as to acquire a second identification of the target anti-misoperation lockset; the vision device is used for acquiring second image information of the target switch; the control module is also used for controlling the unlocking device to open or close the target anti-misoperation lockset under the condition that the first mark is determined to be consistent with the second mark, the first image information is determined to be consistent with the second image information, and the second mark and the second image information meet the preset mapping relation; and the operating device is used for operating the target switch.
Description
Technical Field
The invention relates to the field of communication, in particular to an electric power misoperation prevention device and method.
Background
During the daily operation of the electric power, if the control loop of the high-voltage switch cabinet is disconnected, remote control operation cannot be realized, and the switch must be disconnected in situ. Because the switch has load current, once the grounding or short-circuit fault occurs in the switch cabinet, accidents can occur, and therefore, the high risk exists that an operator can manually jump the switch in the near field.
In addition, when the switch vacuum bag breaks down or has a short circuit fault in the in-out operation of the switch cabinet trolley, operators have higher personal injury risks.
Most of the existing high-voltage switch cabinets, switch cabinet trolleys and other equipment are provided with anti-misoperation locksets, so that robots capable of unlocking and locking the on-site anti-misoperation locksets and automatically completing emergency brake opening operation of the switch cabinets are urgently needed in the transformer substation, reliability of equipment operation can be guaranteed, risk of personal injury can be avoided, and possibility of misoperation can be eliminated.
Aiming at the problems of misoperation caused by manual operation on a high-voltage switch cabinet and personal injury to operators in the related art, an effective solution does not exist at present.
Disclosure of Invention
The embodiment of the invention provides an electric power misoperation prevention device and an electric power misoperation prevention method, which at least solve the problems that in the related art, a high-voltage switch cabinet is required to be operated manually, misoperation is caused, and personal injury is caused to operators, and an effective solution is not available at present.
According to an embodiment of the present invention, there is provided a power anti-misoperation apparatus including: the control module is used for acquiring a target operation task through the communication module and controlling the walking chassis to move to a target position indicated by the target operation task, wherein the target operation task also carries first image information and a first identifier; the unlocking device is arranged at the tail end of the mechanical arm, a radio frequency reader-writer is arranged on the unlocking device and used for reading an electronic tag of a target anti-misoperation lockset after the walking chassis moves to the target position so as to obtain a second identification of the target anti-misoperation lockset, and the other end, far away from the unlocking device, of the mechanical arm is arranged on the walking chassis; the vision device is arranged on the walking chassis, is provided with an identification camera and is used for acquiring second image information of a target switch after the walking chassis moves to the target position; the control module is further configured to obtain the second identifier and the second image information, determine, according to a preset mapping relation table, whether the second identifier and the second image information satisfy a preset mapping relation when it is determined that the first identifier is consistent with the second identifier and the first image information is consistent with the second image information, and control the unlocking device to open or close the target anti-misoperation lock when the second identifier and the second image information satisfy the preset mapping relation; and the operating device is arranged at the tail end of the mechanical arm and is used for operating the target switch after the target anti-misoperation lockset is opened, and the other end of the mechanical arm, which is far away from the operating device, is arranged on the walking chassis.
Optionally, the control module is further configured to control the unlocking device to open or close the target anti-misoperation lock under the condition that a notification message sent by a target server is received, where the notification message is triggered to be sent under the condition that the target server determines that the first identifier is consistent with the second identifier, the first image information is consistent with the second image information, and the second identifier and the second image information meet a preset mapping relationship.
Optionally, the operation device comprises a rotating base, and at least one of a gripping device, a rotating device and a pressing device is arranged on the rotating base at intervals along the circumferential direction of the rotating base.
Optionally, the target switch is disposed on a high-voltage switch cabinet, and the target switch includes at least one of the following: the emergency switch cabinet comprises a switch cabinet trolley, a switch emergency switch-off locking handle, a switch tripping button, an air switch and a secondary pressing plate.
Optionally, the gripping device comprises a plurality of movable gripping jaws, and the plurality of movable gripping jaws are close to or separate from each other to achieve toggling of the air switch and/or the secondary platen; and/or the rotating device comprises a base body and a rotating mechanism which is pivotally connected with the base body, the base body is fixedly connected to the rotating base, and the extending end of the rotating mechanism is used as an operating end to operate the switch cabinet trolley and/or the switch cabinet emergency brake-separating locking handle; and/or the pressing device comprises a base and a pressing contact which is arranged on the base in a telescopic manner, the base is fixedly connected to the rotating base, and the extending end of the pressing contact is used as a trigger end to press the switch trip button.
Optionally, the vision device further comprises: the supporting mechanism is arranged on the walking chassis in a lifting manner; the obstacle avoidance camera is used for identifying obstacles in the target area, and the identification camera and/or the obstacle avoidance camera is arranged at the top end of the supporting mechanism.
Optionally, the apparatus further comprises: the positioning device is arranged on the walking chassis, and is provided with a laser positioning radar and an obstacle avoidance radar for providing first position information of the walking chassis and second position information of the obstacle in the target area; and/or a power supply device is arranged on the walking chassis and is used for providing power supply for the electric misoperation prevention equipment; and/or, a scram button is arranged on the walking chassis and used for controlling the walking chassis to stop moving under the condition of receiving the scram signal; and/or the storage device is arranged on the walking chassis and used for storing a preset relation mapping table.
Optionally, the communication module is further configured to obtain the relationship mapping table from the storage device or the target server.
Optionally, the arm includes a plurality of arm bodies of connecting in order, arm body junction is provided with drive module to make adjacent two angle between the arm body can be adjusted, swivel mount with the arm body is kept away from the one end position adjustable connection of walking chassis.
According to another embodiment of the present invention, there is provided a power anti-misoperation method applied to the above power anti-misoperation apparatus, including: acquiring a target operation task, and moving to a target position indicated by the target operation task, wherein the target operation task also carries first image information and a first identifier; reading an electronic tag of a target anti-misoperation lockset through a radio frequency reader-writer to obtain a second identification of the target anti-misoperation lockset; acquiring second image information of the target switch through the identification camera; when the first mark is consistent with the second mark and the first image information is consistent with the second image information, determining whether the second mark and the second image information meet a preset mapping relation according to a preset relation mapping table, and controlling to open or close the target anti-misoperation lockset under the condition that the first mark and the second mark are met; and operating the target switch after the target anti-misoperation lockset is opened.
According to the invention, as the operation task is acquired through the communication module, the control module controls the walking chassis to walk to the target position according to the target position indicated in the operation task, the radio frequency reader-writer arranged on the unlocking device reads the electronic tag used for reading the anti-misoperation lockset, the second identification of the anti-misoperation lockset is acquired, the identification camera is arranged on the vision device and used for acquiring the second image information of the target switch, the first identification and the second identification included in the operation task are consistent, the first image information and the second image information included in the operation task are consistent, and under the condition that the second identification and the second image information meet the preset mapping relation, the anti-misoperation lockset is controlled to be opened or closed, and then the operation is executed on the target switch. Therefore, the problem that the high-voltage switch cabinet needs to be manually operated, misoperation caused by the manual operation is solved, personal injury is caused to operators, and the effects of avoiding personal injury risks caused by manual operation and preventing misoperation are achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a schematic view of a power anti-misoperation device according to an embodiment of the present invention;
fig. 2 is a schematic view of the overall structure of an electric power anti-misoperation device according to another embodiment of the present invention;
FIG. 3 is a diagram of the connection of a control module and a second communication module to other devices according to an embodiment of the present invention;
fig. 4 is a schematic structural view of an operating device according to an embodiment of the present invention;
FIG. 5 is a flow chart of a power anti-misoperation method according to an embodiment of the present invention;
fig. 6 is a flowchart of a power anti-misoperation method according to another embodiment of the present invention.
Wherein the above figures include the following reference numerals:
10. A walking chassis; 20. a positioning device; 30. a vision device; 310. a support mechanism; 320. identifying a camera; 330. obstacle avoidance cameras; 40. a mechanical arm; 50. unlocking means; 60. an operating device; 610. a rotating base; 620. a gripping device; 630. a rotating device; 640. a pressing device; 70. and (3) driving wheels.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
Fig. 1 is a schematic structural view of a power anti-misoperation device according to an embodiment of the present application, and fig. 2 is a schematic structural view of an overall power anti-misoperation device according to another embodiment of the present application. The apparatus includes: the control module and the communication module are arranged on the walking chassis 10, and the control module is used for acquiring a target operation task through the communication module and controlling the walking chassis 10 to move to a target position indicated by the target operation task, wherein the target operation task also carries first image information and a first identifier; the unlocking device 50 is arranged at the tail end of the mechanical arm 40, a radio frequency reader is arranged on the unlocking device 50 and is used for reading an electronic tag of a target anti-misoperation lockset after the walking chassis 10 moves to the target position so as to acquire a second identifier of the target anti-misoperation lockset, and the other end, far away from the unlocking device 50, of the mechanical arm 40 is arranged on the walking chassis 10; a vision device 30, disposed on the walking chassis 10, where an identification camera 320 is installed on the vision device 30, and is configured to obtain second image information of a target switch after the walking chassis 10 moves to the target position; the control module is further configured to obtain the second identifier and the second image information, determine, according to a preset mapping relationship table, whether the second identifier and the second image information satisfy a preset mapping relationship when it is determined that the first identifier is consistent with the second identifier and the first image information is consistent with the second image information, and control the unlocking device 50 to open or close the target anti-misoperation lock when the second identifier and the second image information satisfy the preset mapping relationship; and an operating device 60, disposed at the end of the mechanical arm 40, for operating the target switch after unlocking the target anti-misoperation lock, wherein the other end of the mechanical arm 40, which is far away from the operating device 60, is disposed on the walking chassis 10. In this embodiment, a large number of various types of switches are provided on the high-voltage switchgear, each for controlling a corresponding device to perform a corresponding operation. Each switch or every few switches of the high-voltage switch cabinet are provided with an anti-misoperation lockset, and the anti-misoperation lockset is used for preventing accidental touch to the switch and error. An operator sends an operation task in the background, and an electric misoperation preventing device (hereinafter referred to as device or robot) obtains the operation task through a communication module, and a control module controls the walking chassis 10 of the robot to move to a target position according to the target position indicated in the operation task. The operation task also carries the identification (for the first identification) of the error-proof lock which the operator wants to unlock and the image information (corresponding to the first image information) of the target switch which the operator wants to unlock. After the robot moves to the target position, the identifier (corresponding to the second identifier) on the target anti-misoperation lockset in the area where the target position is located is read by a radio frequency reader-writer arranged on the unlocking device 50. In addition, a vision device 30 is further disposed on the robot, and after the robot moves to the target position, an identification camera 320 mounted on the vision device 30 acquires image information (corresponding to the second image information) of the target switch on the high-voltage switch cabinet in the area where the target position is located. After the above information is obtained, the control module determines whether the information carried in the operation task is consistent with the information collected by the robot, specifically, the control module determines whether the identification (corresponding to the first identification) of the anti-misoperation lock that the operator wants to unlock carried in the operation task is consistent with the identification (corresponding to the second identification) of the target anti-misoperation lock read by the robot unlocking device 50, and whether the first image information carried in the operation task is consistent with the second image information collected by the robot vision device 30, and if the identification and the image information are consistent, the control module determines whether the second identification and the second image information satisfy the preset mapping relation according to the preset relation mapping table. Specifically, a relation mapping table is established in advance for the switch covered by the anti-misoperation lockset, and the control module can determine whether the second identifier and the second image information meet a preset relation according to the mapping table. In addition, the unlocking device 50 is installed at the tail end of the mechanical arm 40, is provided with a contact type or non-contact type power supply module, is internally provided with a wired or wireless communication module, and can be connected with a locking lockset on a switch cabinet or a trolley cabinet to unlock and lock the mechanical arm. In the prior art, a person is usually required to open the anti-misoperation lock, and further, the corresponding equipment is controlled by opening or closing a switch on the high-voltage switch cabinet, so that the problem that misoperation can occur when the person performs the operation manually, for example, an operator opens other anti-misoperation locks by mistake and operates the switch in the anti-misoperation lock, and thus, misoperation can occur is solved. Instead, when the high-voltage switch cabinet is grounded or short-circuited, manual operation can bring personal injury risks to operators. The radio frequency reader of the unlocking device 50 on the power misoperation prevention equipment is used for reading the electronic tag of the misoperation prevention lockset to obtain the second identification on the misoperation prevention lockset, the identification camera 320 arranged on the vision device 30 is used for obtaining the second image information of the target switch on the high-voltage switch cabinet, and the conditions are confirmed to be met after comparison. The anti-misoperation lockset is operated through the equipment, so that the injury to operators is prevented, and the corresponding anti-misoperation lockset and the target switch are opened after information comparison, so that the technical effect of double authentication is achieved, and misoperation is prevented.
In an optional embodiment, the control module is further configured to control the unlocking device 50 to open or close the target anti-misoperation lock when receiving a notification message sent by a target server, where the notification message is triggered to be sent when the target server determines that the first identifier is consistent with the second identifier, the first image information is consistent with the second image information, and the second identifier and the second image information meet a preset mapping relationship. In this embodiment, the relationship mapping table is stored in a background server (corresponding to the target server), an operator sends an operation task to the robot through the background server, the operation task is also stored in the background server, after the robot obtains the second identifier and the second image information, the second identifier and the second image information are sent to the background server, the background server performs information comparison to determine whether the first identifier is consistent with the second identifier, whether the first image information is consistent with the second image information, and if the first identifier is consistent with the second image information, the background server determines whether the second identifier and the second image information meet a preset relationship according to the relationship mapping table, and if the second identifier is consistent with the second image information, a notification message is sent to a control module of the robot to control the unlocking device 50 to unlock or close the target anti-misoperation lock. Fig. 3 is a diagram showing connection relations between a control module and a second communication module and other devices according to an embodiment of the present invention.
In an alternative embodiment, the operating device 60 includes a rotating base 610, and at least one of a gripping device 620, a rotating device 630, and a pressing device 640 is disposed on the rotating base 610 at intervals along a circumferential direction along which the rotating base rotates. Specifically, fig. 4 is a schematic structural view of an operating device 60 according to an embodiment of the present invention. The operating device 60 is formed by combining a plurality of components and is installed at the tail end of the mechanical arm 40, and the operating mechanism comprises a rotating device 630 for controlling the breaker trolley and the emergency brake-separating locking handle of the switch cabinet, a pressing mechanism capable of pressing a switch button and a gripping mechanism for poking an air switch and a movable pressing plate. The three components are mounted on a rotatable base, the base is connected with the tail end of the mechanical arm 40, when the operation is performed, the operation is switched according to the type of equipment in the operation task, and the corresponding operation component is extended forwards through rotating the base 610, so that the purpose of contacting the equipment and performing corresponding actions is achieved.
In an alternative embodiment, the target switch is disposed on a high voltage switchgear, the target switch comprising at least one of: the emergency switch cabinet comprises a switch cabinet trolley, a switch emergency switch-off locking handle, a switch tripping button, an air switch and a secondary pressing plate.
In an alternative embodiment, the gripping device 620 includes a plurality of movable jaws that are moved toward and away from each other to effect toggling of the air switch and/or secondary platen; and/or the rotating device 630 comprises a base and a rotating mechanism pivotally connected with the base, wherein the base is fixedly connected on the rotating base 610, and the extending end of the rotating mechanism is used as an operating end to operate the switch cabinet trolley and/or the switch cabinet emergency brake-separating locking handle; and/or the pressing device 640 comprises a base and a pressing contact telescopically arranged on the base, wherein the base is fixedly connected to the rotating base 610, and the extending end of the pressing contact is used as a trigger end to press the switch tripping button.
In an alternative embodiment, the vision apparatus 30 further includes: a supporting mechanism 310, wherein the supporting mechanism 310 is arranged on the walking chassis 10 in a lifting manner; the obstacle avoidance camera 330 is configured to identify an obstacle in the target area, and the identification camera 320 and/or the obstacle avoidance camera 330 are disposed at the top end of the support mechanism 310. In this embodiment, the vision device 30 includes an intelligent recognition camera 320 and an obstacle avoidance camera 330, where the intelligent recognition camera 320 can recognize an operation device, provide accurate positioning for the walking chassis 10, and provide position coordinates for the mechanical arm 40, the unlocking mechanism, and the operation mechanism for operation. The obstacle avoidance camera 330 controls the braking of the mobile chassis and the mechanical arm 40 by analyzing the surrounding environment image, avoids the false touching of objects and personnel, and stops all actions of the robot when the personnel and the robot enter the preset distance range of the robot body so as to ensure the safety of the personnel.
In an alternative embodiment, the apparatus further comprises: the positioning device 20 is arranged on the walking chassis 10, and a laser positioning radar and an obstacle avoidance radar are arranged on the positioning device 20 and used for providing first position information of the walking chassis 10 and second position information of an obstacle in the target area; and/or a power supply device, which is arranged on the walking chassis 10 and is used for providing power supply for the power misoperation prevention equipment; and/or, a scram button, which is arranged on the walking chassis 10 and is used for controlling the walking chassis 10 to stop moving under the condition of receiving the scram signal; and/or a storage device, disposed on the walking chassis 10, for storing a preset relationship mapping table. In this embodiment, the walking chassis 10 includes two driving wheels 70, a plurality of auxiliary wheels, a set of laser positioning radars, a set of obstacle avoidance radars, a battery, a power module, a wireless communication module, and a control module. The walking chassis 10 is positioned by the laser radar, so that a plan view of the operation room can be automatically drawn, and corresponding equipment coordinates can be automatically walked according to an operation task after equipment position coordinate information is manually input. The chassis is also provided with an emergency stop button, and after the button is pressed, the robot stops all actions, so that the safety of personnel or equipment is ensured. The emergency stop instruction can also be sent by the control software and sent to the robot control module for execution through the wireless module.
In an alternative embodiment, the communication module is further configured to obtain the relationship mapping table from the storage device or the target server.
In an alternative embodiment, the mechanical arm 40 includes a plurality of arm bodies connected in sequence, a driving module is disposed at the connection position of the arm bodies, so that the angle between two adjacent arm bodies can be adjusted, and the rotating base 610 is adjustably connected with the end position of the arm body away from the walking chassis 10. In the present embodiment, the robot arm 40 is mounted on the upper portion of the traveling chassis 10. The walking device comprises a plurality of arm bodies, wherein a driving module consisting of a stepping motor and a speed reducing mechanism is arranged at the joints, a power supply and a control signal of the driving module are connected with a walking chassis 10, the power is supplied by the chassis, and the driving module receives control instruction actions of the control module.
Example 2
In this embodiment, there is provided a power anti-misoperation method running in the above power anti-misoperation device, and fig. 5 is a flowchart of the power anti-misoperation method according to an embodiment of the present invention, as shown in fig. 5, the flowchart includes the following steps:
step S502, a target operation task is obtained and moved to a target position indicated by the target operation task, wherein the target operation task also carries first image information and a first identifier;
Step S504, reading an electronic tag of the target anti-misoperation lockset through a radio frequency reader-writer to acquire a second identification of the target anti-misoperation lockset;
Step S506, acquiring second image information of the target switch through the identification camera 320;
Step S508, when it is determined that the first identifier is consistent with the second identifier and the first image information is consistent with the second image information, determining whether the second identifier and the second image information satisfy a preset mapping relationship according to a preset mapping relationship table, and controlling to open or close the target anti-misoperation lockset if the second identifier and the second image information satisfy the preset mapping relationship;
step S510, after the target anti-misoperation lock is opened, operating the target switch.
The application is illustrated by a specific example.
The workflow of the present robot (corresponding to the power misoperation prevention device) is approximately as follows:
The switch on the high-voltage switch cabinet can control the corresponding equipment, and the switch on the high-voltage switch cabinet is generally provided with a locking lock (corresponding to the anti-misoperation lock) for preventing misoperation, and an identity identification code (corresponding to a first identifier) is arranged in the locking lock and corresponds to the identifier of the switch covered by the locking lock.
Firstly, a worker inputs an operation instruction at a control software end, sets an operation task and an object, transmits the operation task and the object to a robot control module through a wireless communication module after error prevention verification, and a robot starts a vision module (corresponding to a vision device 30) to transmit an image back to the control software, so that the worker monitors at the control software end.
Meanwhile, the robot starts a laser positioning radar, the control module controls the walking chassis 10 to move to a corresponding device to be operated (corresponding to the position of the error-proof lock) according to radar positioning information, after a vision system identifies a corresponding target switch, the control module controls the mechanical arm 40 to move the unlocking device 50 to operate a locking lock of the corresponding device, the lock code is identified, whether the information of the device is error-free or not is confirmed, and after the information is confirmed, unlocking operation is executed.
Then the machine rotates the terminal operating module base of arm 40, according to the difference of target switch shape (switch, dolly, switch, clamp plate etc.), switches over to corresponding subassembly for the subassembly stretches forward, then moves arm 40 operating device and corresponding equipment and is connected, operates corresponding equipment, after the operation finishes, moves arm 40, uses unlocking mechanism to lock the tool to lock, accomplishes the operation.
The confirmation of the equipment to be operated comprises two parts, wherein one part is based on video recognition and is completed by the vision device 30, the other part is based on the identification of the locking lockset (corresponding to the unlocking device 50) and is completed by the unlocking device 50, and the two parts are simultaneously and transversely checked with a database built in the control software, so that the equipment to be operated can be operated under the condition of complete consistency. Fig. 6 is a flowchart of a power anti-misoperation method according to another embodiment of the present invention.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
Example 3
An embodiment of the invention also provides a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
Alternatively, in the present embodiment, the above-described storage medium may be configured to store a computer program for performing the steps of:
S1, acquiring a target operation task, and moving to a target position indicated by the target operation task, wherein the target operation task also carries first image information and a first identifier;
s2, reading an electronic tag of the target anti-misoperation lockset through a radio frequency reader-writer to obtain a second identification of the target anti-misoperation lockset;
s3, acquiring second image information of the target switch through the identification camera 320;
S4, determining whether the second mark and the second image information meet a preset mapping relation according to a preset relation mapping table when the first mark is consistent with the second mark and the first image information is consistent with the second image information, and controlling to open or close the target anti-misoperation lockset when the second mark and the second image information meet the preset mapping relation;
S5, after the target anti-misoperation lockset is opened, operating the target switch.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.
An embodiment of the invention also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, where the transmission device is connected to the processor, and the input/output device is connected to the processor.
Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:
S1, acquiring a target operation task, and moving to a target position indicated by the target operation task, wherein the target operation task also carries first image information and a first identifier;
s2, reading an electronic tag of the target anti-misoperation lockset through a radio frequency reader-writer to obtain a second identification of the target anti-misoperation lockset;
s3, acquiring second image information of the target switch through the identification camera 320;
S4, determining whether the second mark and the second image information meet a preset mapping relation according to a preset relation mapping table when the first mark is consistent with the second mark and the first image information is consistent with the second image information, and controlling to open or close the target anti-misoperation lockset when the second mark and the second image information meet the preset mapping relation;
S5, after the target anti-misoperation lockset is opened, operating the target switch.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored in a memory device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An electric power misoperation prevention apparatus, characterized by comprising:
the control module is used for acquiring a target operation task through the communication module and controlling the walking chassis to move to a target position indicated by the target operation task, wherein the target operation task also carries first image information and a first identifier;
the unlocking device is arranged at the tail end of the mechanical arm, a radio frequency reader-writer is arranged on the unlocking device and used for reading an electronic tag of a target anti-misoperation lockset after the walking chassis moves to the target position so as to obtain a second identification of the target anti-misoperation lockset, and the other end, far away from the unlocking device, of the mechanical arm is arranged on the walking chassis;
The vision device is arranged on the walking chassis, is provided with an identification camera and is used for acquiring second image information of a target switch after the walking chassis moves to the target position; the control module is further configured to obtain the second identifier and the second image information, determine, according to a preset mapping relation table, whether the second identifier and the second image information satisfy a preset mapping relation when it is determined that the first identifier is consistent with the second identifier and the first image information is consistent with the second image information, and control the unlocking device to open or close the target anti-misoperation lock when the second identifier and the second image information satisfy the preset mapping relation;
And the operating device is arranged at the tail end of the mechanical arm and is used for operating the target switch after the target anti-misoperation lockset is opened, and the other end of the mechanical arm, which is far away from the operating device, is arranged on the walking chassis.
2. The apparatus of claim 1, wherein the control module is further configured to control the unlocking device to open or close the target anti-false lock when receiving a notification message sent by a target server, where the notification message is triggered to be sent when the target server determines that the first identifier is consistent with the second identifier, the first image information is consistent with the second image information, and the second identifier and the second image information satisfy a preset mapping relationship.
3. The apparatus according to claim 1 or 2, wherein the operating means comprises a rotating base on which at least one of a gripping means, a rotating means and a pressing means is provided at intervals along a circumference along which the rotating base rotates.
4. The apparatus of claim 3, wherein the target switch is disposed on a high voltage switchgear, the target switch comprising at least one of: the emergency switch cabinet comprises a switch cabinet trolley, a switch emergency switch-off locking handle, a switch tripping button, an air switch and a secondary pressing plate.
5. The apparatus of claim 4, wherein the device comprises a plurality of sensors,
The gripping device comprises a plurality of movable clamping jaws, and the plurality of movable clamping jaws are close to or separated from each other so as to realize poking of the air switch and/or the secondary pressing plate; and/or
The rotating device comprises a base body and a rotating mechanism which is pivotally connected with the base body, the base body is fixedly connected to the rotating base, and the extending end of the rotating mechanism is used as an operating end to operate the switch cabinet trolley and/or the switch cabinet emergency brake-separating locking handle; and/or
The pressing device comprises a base and a pressing contact which is arranged on the base in a telescopic mode, the base is fixedly connected to the rotating base, and the extending end of the pressing contact is used as a trigger end to press the switch tripping button.
6. The apparatus of claim 1, wherein the vision device further comprises:
The supporting mechanism is arranged on the walking chassis in a lifting manner;
The obstacle avoidance camera is used for identifying obstacles in the target area, and the identification camera and/or the obstacle avoidance camera is arranged at the top end of the supporting mechanism.
7. The apparatus of claim 6, wherein the apparatus further comprises: the positioning device is arranged on the walking chassis, and is provided with a laser positioning radar and an obstacle avoidance radar for providing first position information of the walking chassis and second position information of the obstacle in the target area; and/or the number of the groups of groups,
The power supply device is arranged on the walking chassis and is used for supplying power for the electric misoperation prevention equipment; and/or the number of the groups of groups,
The emergency stop button is arranged on the walking chassis and used for controlling the walking chassis to stop moving under the condition of receiving an emergency stop signal; and/or the number of the groups of groups,
And the storage device is arranged on the walking chassis and used for storing a preset relation mapping table.
8. The apparatus of claim 7, wherein the communication module is further configured to obtain the relationship mapping table from the storage device or a target server.
9. The apparatus of claim 3, wherein the device comprises a plurality of sensors,
The mechanical arm comprises a plurality of arm bodies which are connected in sequence, a driving module is arranged at the joint of the arm bodies, so that the angle between every two adjacent arm bodies can be adjusted, and the rotating base is adjustably connected with the arm body at one end position far away from the walking chassis.
10. A power misoperation prevention method applied to the power misoperation prevention apparatus of any one of the above claims 1 to 8, characterized by comprising:
Acquiring a target operation task, and moving to a target position indicated by the target operation task, wherein the target operation task also carries first image information and a first identifier;
Reading an electronic tag of a target anti-misoperation lockset through a radio frequency reader-writer to obtain a second identification of the target anti-misoperation lockset;
Acquiring second image information of the target switch through the identification camera;
When the first mark is consistent with the second mark and the first image information is consistent with the second image information, determining whether the second mark and the second image information meet a preset mapping relation according to a preset relation mapping table, and controlling to open or close the target anti-misoperation lockset under the condition that the first mark and the second mark are met;
and operating the target switch after the target anti-misoperation lockset is opened.
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| CN113059560B (en) * | 2021-03-03 | 2023-01-20 | 广东智源机器人科技有限公司 | Mechanical arm control method and device, electronic equipment and cooking system |
| CN113260211B (en) * | 2021-03-31 | 2023-03-14 | 深圳市智微智能科技股份有限公司 | Easily-maintained super high-rise server installation frame and maintenance method |
| CN114012694B (en) * | 2021-11-19 | 2023-04-07 | 国网上海市电力公司 | Trackless intelligent robot capable of automatically operating and maintaining and control method thereof |
| CN114393587B (en) * | 2021-12-31 | 2024-01-23 | 湖北甫安科技有限公司 | Twist lock disassembly robot and control method for disassembling twist lock of container |
| CN117081258B (en) * | 2023-08-30 | 2024-04-30 | 国网山东省电力公司莒南县供电公司 | Misoperation prevention alarm monitoring device for power grid secondary equipment and operation using method |
| CN117009188B (en) * | 2023-09-28 | 2024-02-13 | 中核国电漳州能源有限公司 | Computer system misoperation prevention system and method |
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