CN112327017B - Switching device and system of distribution automation equipment module - Google Patents
Switching device and system of distribution automation equipment module Download PDFInfo
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- CN112327017B CN112327017B CN202011231078.6A CN202011231078A CN112327017B CN 112327017 B CN112327017 B CN 112327017B CN 202011231078 A CN202011231078 A CN 202011231078A CN 112327017 B CN112327017 B CN 112327017B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
- G01R1/02—General constructional details
- G01R1/04—Housings; Supporting members; Arrangements of terminals
- G01R1/0408—Test fixtures or contact fields; Connectors or connecting adaptors; Test clips; Test sockets
- G01R1/0425—Test clips, e.g. for IC's
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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Abstract
The application discloses distribution automation equipment module's switching device and system, wherein the switching device includes: the device comprises a device main body, a clamping unit, a communication unit, a camera shooting unit, a height adjusting assembly and a horizontal moving assembly; the clamping unit is used for clamping the distribution automation equipment to be switched; the image pickup unit is used for shooting a first image at the clamping unit and a second image at the distribution automation equipment; the communication unit is used for sending the first image and the second image to the background processor, so that the background processor obtains a height adjusting signal corresponding to the height adjusting assembly and a horizontal distance adjusting signal corresponding to the horizontal moving assembly based on the first image and the second image; the horizontal moving assembly is used for adjusting the signal moving device main body according to the horizontal distance so that the clamping unit moves to the distribution automation equipment in the horizontal direction; the height adjustment assembly is used for adjusting the height of the device main body according to the height adjustment signal, so that the clamping unit and the distribution automation equipment are aligned in vertical height.
Description
Technical Field
The application relates to distribution automation equipment technical field especially relates to a switching device and system of distribution automation equipment module.
Background
With the popularization and construction of smart power grids, the requirement for power distribution automation construction is higher and higher. Distribution automation equipment is the basis of distribution automation system operation, control, management, in order to guarantee the smooth implementation of distribution automation transformation, must carry out performance detection to distribution automation equipment before the network entry, wherein there are many modular distribution automation equipment (distribution automation equipment module for short), for example load management terminal, distribution transformer monitoring measurement terminal, collection copy measurement terminal.
When the performance detection is carried out, different detection instruments carry out different performance tests on the distribution automation equipment. Therefore, the same distribution automation equipment needs to be switched on and off on different detection instruments to complete performance detection. The effective switching of distribution automation equipment on different detecting instrument can improve detection efficiency. However, the switching of the existing distribution automation equipment module depends on manual operation, and has the defects of low switching efficiency and high cost.
Disclosure of Invention
The application provides a switching device and system of distribution automation equipment module, has solved the switching of current distribution automation equipment module and has relied on the manual work to go on, has the technical problem of the defect of the switching inefficiency, with high costs.
In view of this, the present application provides, in a first aspect, a switching device for a distribution automation equipment module, including: the device comprises a device main body, a clamping unit, a communication unit, a camera shooting unit, a height adjusting assembly and a horizontal moving assembly;
the clamping unit is sleeved on the device main body and used for clamping the distribution automation equipment to be switched;
the image pickup unit is arranged at the top end of the device main body and is used for picking up a first image at the clamping unit and a second image at the distribution automation equipment;
the communication unit is assembled on the device main body and used for sending the first image and the second image to a background processor, so that the background processor obtains a height adjusting signal corresponding to the height adjusting component and a horizontal distance adjusting signal corresponding to the horizontal moving component based on the first image and the second image;
the horizontal moving component is assembled at the bottom of the device main body and used for moving the device main body according to the horizontal distance adjusting signal so that the clamping unit moves to the distribution automation equipment in the horizontal direction;
the height adjusting assembly is arranged on the device main body and used for adjusting the height of the device main body according to the height adjusting signal, so that the clamping unit and the distribution automation equipment are aligned in the vertical height.
Optionally, the background processor obtains a height adjustment signal corresponding to the height adjustment assembly and a horizontal distance adjustment signal corresponding to the horizontal movement assembly based on the first image and the second image, and specifically includes:
the background processor calculates a separation distance between the distribution automation device and the gripping unit based on the first image and the second image, the separation distance including: horizontal distance and height distance;
the background processor acquires a horizontal distance adjusting signal corresponding to the horizontal distance according to the horizontal distance;
and the background processor acquires a height adjusting signal corresponding to the height distance according to the height distance.
Optionally, the height adjustment signal comprises: the motor rotating angle is a rotating angle corresponding to a first motor in the height adjusting assembly;
the obtaining, by the background processor, a height adjustment signal corresponding to the height distance according to the height distance specifically includes:
and adjusting a proportional integral parameter for controlling the first motor to operate through a simulated annealing algorithm according to the height distance so as to calculate a motor rotation angle corresponding to the height distance.
Optionally, the device body comprises: a base and a connecting rod;
the connecting rod is arranged on the base;
the horizontal moving component is assembled at the bottom of the base;
the camera shooting unit is assembled at the top end of the connecting rod;
the communication unit, press from both sides and get the unit, the height adjustment subassembly from top to bottom set up in on the connecting rod.
Optionally, the height adjustment assembly comprises: a first motor and a lifting rod;
the first motor is assembled on the base, and an output shaft of the first motor is connected with the first end of the lifting rod;
the second end of the lifting rod is connected with the connecting rod.
Optionally, the horizontal movement assembly comprises: the universal wheel and the second motor;
the universal wheel is connected with the second motor;
the universal wheel is assembled on the base.
Optionally, the gripping unit includes: a mounting frame and a clamp;
the mounting frame is sleeved on the connecting rod;
the fixture is movably connected with the mounting frame.
Optionally, the clamp is specifically: the clamp can be replaced.
Optionally, the camera unit is specifically a binocular camera with an infrared function.
A second aspect of the present application provides a switching system for a distribution automation device module, including a background processor and a switching device of the distribution automation device module according to the first aspect;
the background processor is connected with the switching device.
According to the technical scheme, the embodiment of the application has the following advantages:
the application provides a switching device of distribution automation equipment module, include: the device comprises a device main body, a clamping unit, a communication unit, a camera shooting unit, a height adjusting assembly and a horizontal moving assembly; the clamping unit is sleeved on the device main body and used for clamping the distribution automation equipment to be switched; the image pickup unit is arranged at the top end of the device main body and is used for shooting a first image at the clamping unit and a second image at the distribution automation equipment; the communication unit is assembled on the device main body and used for sending the first image and the second image to the background processor, so that the background processor obtains a height adjusting signal corresponding to the height adjusting component and a horizontal distance adjusting signal corresponding to the horizontal moving component based on the first image and the second image; the horizontal moving assembly is assembled at the bottom of the device main body and used for adjusting the signal moving device main body according to the horizontal distance so that the clamping unit moves to the distribution automation equipment in the horizontal direction; the height adjusting assembly is arranged on the device main body and used for adjusting the height of the device main body according to the height adjusting signal, so that the clamping unit and the power distribution automation equipment are aligned in the vertical height.
The switching device of the distribution automation equipment module is provided with a camera unit, a first image at a clamping unit for clamping distribution automation equipment to be switched and a second image at the distribution automation equipment can be shot through the camera unit, then the communication unit sends the first image and the second image to a background processor, the background processor obtains a height adjusting signal of a height adjusting component and a horizontal distance adjusting signal of a horizontal moving component according to the first image and the second image, the horizontal moving component moves a device main body according to the horizontal distance adjusting signal, so that the automatic clamping unit on the device main body moves to the distribution automation equipment, the height adjusting component adjusts the height of the device main body according to the height adjusting signal, the clamping unit on the device main body is aligned with the distribution equipment in the height direction, and after the automatic clamping unit and the distribution equipment move in the height direction, the clamping unit is used for moving to the distribution automation equipment, the clamping unit is used for clamping the distribution automation equipment to realize switching of the distribution automation equipment module, the whole switching process does not need human participation, the problem that switching of the existing distribution automation equipment module depends on manual work is solved, and the technical problems of low switching efficiency and high cost are caused.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an embodiment of a switching device of a distribution automation equipment module in an embodiment of the present application;
wherein the reference numbers are as follows:
2. a gripping unit; 3. a communication unit; 4. an image pickup unit; 6. a horizontal movement assembly; 11. a base; 12. a connecting rod; 21. a mounting frame; 22. a clamp; 52. a lifting rod.
Detailed Description
The embodiment of the application provides a switching device and a system of distribution automation equipment module, and solves the technical problems that switching of the existing distribution automation equipment module depends on manual work, and the defects of low switching efficiency and high cost exist.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, a schematic structural diagram of a first embodiment of a switching device of a distribution automation equipment module in an embodiment of the present application is shown.
The switching device of the distribution automation equipment module in this embodiment includes: the method comprises the following steps: the device comprises a device main body, a clamping unit 2, a communication unit 3, a camera unit 4, a height adjusting assembly and a horizontal moving assembly 6; the clamping unit 2 is sleeved on the device main body and used for clamping the distribution automation equipment to be switched; the image pickup unit 4 is arranged at the top end of the device main body and is used for picking up a first image at the clamping unit 2 and a second image at the distribution automation equipment; the communication unit 3 is assembled on the device main body and used for sending the first image and the second image to the background processor, so that the background processor obtains a height adjusting signal corresponding to the height adjusting component and a horizontal distance adjusting signal corresponding to the horizontal moving component 6 based on the first image and the second image; the horizontal moving assembly 6 is assembled at the bottom of the device main body and used for adjusting the signal according to the horizontal distance to move the device main body, so that the clamping unit 2 moves to the distribution automation equipment in the horizontal direction; the height adjustment assembly is arranged on the device main body and used for adjusting the height of the device main body according to the height adjustment signal, so that the clamping unit 2 and the distribution automation equipment are aligned in the vertical height.
It can be understood that the gripping unit 2 is installed on the apparatus main body, so that when the height of the apparatus main body is adjusted by the height adjusting assembly, the ground height of the gripping unit 2 on the apparatus main body also changes, and thus when the height of the apparatus main body is adjusted according to the height adjusting signal, it is also substantially equivalent to that the ground height of the gripping unit 2 is adjusted by the height adjusting signal, so that the gripping unit 2 and the distribution automation equipment are aligned in the vertical height.
Similarly, the device main body is moved by the horizontal distance adjustment signal, which is also substantially equivalent to the horizontal position of the gripping unit 2 being adjusted by the horizontal adjustment signal, so that the gripping unit 2 and the distribution automation apparatus are aligned in vertical height.
The switching device of the distribution automation equipment module is provided with a camera unit 4, a first image at a clamping unit 2 for clamping distribution automation equipment to be switched and a second image at the distribution automation equipment can be shot through the camera unit 4, then the communication unit 3 sends the first image and the second image to a background processor, the background processor obtains a height adjusting signal of a height adjusting component and a horizontal distance adjusting signal of a horizontal moving component 6 according to the first image and the second image, the horizontal moving component 6 moves the device body according to the horizontal distance adjusting signal, so that the clamping unit 2 on the device body moves to the distribution automation equipment, the height adjusting component adjusts the height of the device body according to the height adjusting signal, so that the clamping unit 2 on the device body is aligned with the distribution automation equipment in the height direction, so remove the back, press from both sides and get unit 2 and just removed distribution automation equipment department, press from both sides through pressing from both sides and get unit 2 and press from both sides the switching that distribution automation equipment realized distribution automation equipment module, whole switching process does not need people's participation, has solved the switching of current distribution automation equipment module and has relied on the manual work to go on, has the technical problem of the defect of the switching inefficiency, with high costs.
The foregoing is a first embodiment of a switching device of a distribution automation equipment module provided in the embodiment of the present application, and the following is a second embodiment of a switching device of a distribution automation equipment module provided in the embodiment of the present application.
Referring to fig. 1, a schematic structural diagram of a second embodiment of a switching device of a distribution automation equipment module in an embodiment of the present application is shown.
In this application a switching device of distribution automation equipment module includes: the device comprises a device main body, a clamping unit 2, a communication unit 3, a camera unit 4, a height adjusting assembly and a horizontal moving assembly 6; the clamping unit 2 is sleeved on the device main body and used for clamping the distribution automation equipment to be switched; the image pickup unit 4 is arranged at the top end of the device main body and is used for picking up a first image at the clamping unit 2 and a second image at the distribution automation equipment; the communication unit 3 is assembled on the device main body and used for sending the first image and the second image to the background processor, so that the background processor obtains a height adjusting signal corresponding to the height adjusting component and a horizontal distance adjusting signal corresponding to the horizontal moving component 6 based on the first image and the second image; the horizontal moving assembly 6 is assembled at the bottom of the device main body and used for adjusting the signal according to the horizontal distance to move the device main body, so that the clamping unit 2 moves to the distribution automation equipment in the horizontal direction; the height adjustment assembly is arranged on the device main body and used for adjusting the height of the device main body according to the height adjustment signal, so that the clamping unit 2 and the distribution automation equipment are aligned in the vertical height.
Specifically, the background processor acquires a height adjustment signal corresponding to the height adjustment component and a horizontal distance adjustment signal corresponding to the horizontal movement component 6 based on the first image and the second image, and specifically includes:
the background processor calculates a separation distance between the distribution automation device and the gripping unit 2 based on the first image and the second image, the separation distance including: horizontal distance and height distance;
the background processor acquires a horizontal distance adjusting signal corresponding to the horizontal distance according to the horizontal distance;
and the background processor acquires a height adjusting signal corresponding to the height distance according to the height distance.
It is understood that the distance may be calculated by obtaining the distance between the distribution automation equipment and the gripping unit 2 by using the principle that the first image and the second image measure the depth by using a binocular camera and combining the SGBM stereo matching method. The calculation of the separation distance is merely an illustrative example, and those skilled in the art can also perform the calculation of the separation distance by referring to the existing image processing method.
Through the height distance adjustment and the horizontal distance adjustment, the clamping unit 2 is moved to the distribution automation equipment, so that the clamp 22 unit can clamp the distribution automation equipment, and switching is achieved.
Specifically, the height adjustment signal includes: the motor rotating angle is a rotating angle corresponding to a first motor in the height adjusting assembly;
the step of obtaining, by the background processor, a height adjustment signal corresponding to the height distance according to the height distance specifically includes:
according to the height distance, a proportional-integral parameter for controlling the operation of the first motor is adjusted through a simulated annealing algorithm to calculate the motor rotation angle corresponding to the height distance, and the method specifically comprises the following steps:
(1) specifically, the variable to be optimized is set to [ Kp, Ki]，KP、KiThe method comprises the following steps of respectively obtaining a motor proportional parameter and an integral parameter, wherein the corresponding upper limit of an optimization variable is as follows: HLimits [ Kp max, Ki max ]]The lower limit of the optimization variable is as follows: llimitits ═ kpmin, Ki min]。
(2) The method includes the steps of selecting precision L corresponding to a motor rotation angle (namely, when the motor rotation angle is obtained, a clamping unit 2 clamps clamping precision of distribution automation equipment, namely an error level, the error level is set to be several thousandth, so that L is 3), calculating the total number S of optimization variables, S is L multiplied by N, the dimension of an optimized PI parameter is N, and N is KP，KISo N equals 2 and S equals 6.
Note: the Simulated Annealing (SA) is a probability-based algorithm based on the solid Annealing principle, and the application converts the problem of parameter optimization by the Simulated Annealing method into a Traveling Salesman Problem (TSP) for optimization. To simplify the problem, a path is defined that starts from the first city, traverses one way to the end point, and the path between cities is only a path bar. And the number S of the cities is set as L multiplied by N, wherein L represents the precision of the parameter, and the dimension of the optimized parameter is N.
(3) And (5) initializing. Setting a sufficiently large T0 as the initial temperature, set to 10000 in this patent; randomly taking initial solution K1 ═ Kp1，Ki1]T is a process parameter of the simulated annealing algorithm, let T be T0.
(4) The simulated annealing algorithm consists of three parts, namely a heating process, an isothermal process and a cooling process. Setting the temperature of the algorithm to be T in the heating process, wherein T is a process parameter of the simulated annealing algorithm; the isothermal process corresponds to the Metropolis sampling process of the algorithm, and the cooling process ends corresponding to the T parameter drop. Here, the energy change is the objective function, i.e., ITAE in (7), and the optimal solution we want to obtain is the energy lowest state.
(5) And (4) repeating the steps (4) to (7) for the current temperature T.
(6) Randomly generating a disturbance (namely randomly generating random numbers uniformly distributed on a (-1,1) interval and ensuring that the K1 parameter is positive, and discarding the random numbers) for the current solution K1 to generate a new solution K2 ═ Kp2，Ki2]。
(7) The incremental df (K2) -f (K1) for K2 was calculated, where f (K1) controls the corresponding objective function ITAE1 for the K1 parameter, i.e., [ Kp ═ f (K2) — f (K1)1，Ki2]The motor rotation angle, f (K2) is an objective function ITAE2 of K2, wherein the smaller ITAE, the better the performance index.
Wherein f (K1) is:
t is a time variable, e1(t) is the actual value of the measured value of the motor rotation angle formed device coordinate position data (x1(t), y1(t)) under the K1 parameter and the position coordinate (x) of the distribution automation deviceoyAnd yoz) Of reference valuesThe difference value.
f (K2) is:
t is a time variable, e2(t) is the actual value of the measured value of the motor rotation angle formed device coordinate position data (x2(t), y2(t)) under the K2 parameter and the position coordinate (x) of the distribution automation deviceoyAnd yoz) Difference of reference values.
(8) If df <0, receiving S2 as the current solution of the solution, i.e., K1 — K2; otherwise, calculating the acceptance probability exp (-df/T) of K2, namely randomly generating a random number rand uniformly distributed on the (0, K1) interval, and if exp (-df/T) > rand, accepting S2 as a new current solution K1-K2, otherwise, keeping the current solution K1.
(9) And (5) stopping if the termination condition T is met, outputting the current solution K1 as the optimal solution, and ending the program, otherwise, returning to the step (2).
The termination condition is typically taken to terminate the algorithm or set an end temperature when no new solution K2 is accepted in consecutive Metropolis chains.
It is understood that the first motor in this embodiment is a servo motor.
It is understood that the apparatus main body includes: a base 11 and a connecting rod 12; the connecting rod 12 is arranged on the base 11; the horizontal moving component 6 is assembled at the bottom of the base 11; the camera unit 4 is assembled at the top end of the connecting rod 12; the communication unit 3, the clamping unit 2 and the height adjusting assembly are arranged on the connecting rod 12 from top to bottom.
It should be noted that the height adjustment assembly includes: a first motor and lifter 52; the first motor is assembled on the base 11, and an output shaft of the first motor is connected with a first end of the lifting rod 52; the second end of the lifting rod 52 is connected to the connecting rod 12.
When the first motor is driven, the output shaft of the first motor drives the lifting rod 52 to lift, the lifting linkage of the lifting rod 52 lifts the connecting rod 12 connected with the lifting rod, namely the clamping unit 2 arranged on the connecting rod 12 lifts, and the position change of the clamping unit 2 in the height direction is realized.
Specifically, the horizontal movement assembly 6 includes: the universal wheel and the second motor; the universal wheel is connected with the second motor; the universal wheels are mounted on the base 11.
The second motor drives the universal wheel to move in the horizontal direction, that is, the base 11 moves in the horizontal direction, and the clamping unit 2 is arranged on the base 11 through the connecting rod 12, that is, the clamping unit 2 moves in the horizontal direction, so that the position change of the clamping unit 2 in the horizontal direction is realized.
Specifically, the gripping unit 2 includes: a mounting frame 21 and a jig 22; the mounting frame 21 is sleeved on the connecting rod 12; the clamp 22 is movably connected with the mounting frame 21.
It is understood that the mounting frame 21 may be movably sleeved on the connecting rod 12, so that the mounting frame 21 may also rotate on the connecting rod 12, thereby realizing the position change of the gripping unit 2.
The jig 22 specifically includes: the gripper and the third motor control the gripper to loosen and grip through the third motor, so that the distribution automation equipment is clamped.
Specifically, the clamp 22 is specifically: the gripper 22 may be replaced. The switching of distribution automation equipment modules of different sizes, different types and different structures can be realized through the replaceable clamp 22, so that the switching device of the distribution automation equipment module in the application has wide adaptability.
Specifically, the camera unit 4 is specifically a binocular camera having an infrared function.
It is understood that the communication unit 3 in this embodiment may be a wireless transmission unit or a wired transmission unit, which is not specifically limited in this embodiment.
The operation process of the switching device of the distribution automation equipment module in this embodiment is as follows:
the camera unit 4 shoots a first image of the clamping unit 2 and a second image of the distribution automation equipment, obtains the distance between the clamping unit 2 and the distribution automation equipment based on a technology of measuring depth by using a binocular camera, converts the distance and the included angle into a control signal of a corresponding motor, transmits the control signal to a controller of the corresponding motor in real time, controls the motor to move, and reaches the position of the distribution automation equipment; and then a third motor in the clamp 22 is started to drive the mechanical claw to accurately switch the distribution automation equipment.
The switching device of the distribution automation equipment module is provided with a camera unit 4, a first image at a clamping unit 2 for clamping distribution automation equipment to be switched and a second image at the distribution automation equipment can be shot through the camera unit 4, then the communication unit 3 sends the first image and the second image to a background processor, the background processor obtains a height adjusting signal of a height adjusting component and a horizontal distance adjusting signal of a horizontal moving component 6 according to the first image and the second image, the horizontal moving component 6 moves the device body according to the horizontal distance adjusting signal, so that the clamping unit 2 on the device body moves to the distribution automation equipment, the height adjusting component adjusts the height of the device body according to the height adjusting signal, so that the clamping unit 2 on the device body is aligned with the distribution automation equipment in the height direction, so remove the back, press from both sides and get unit 2 and just removed distribution automation equipment department, press from both sides through pressing from both sides and get unit 2 and press from both sides the switching that distribution automation equipment realized distribution automation equipment module, whole switching process does not need people's participation, has solved the switching of current distribution automation equipment module and has relied on the manual work to go on, has the technical problem of the defect of the switching inefficiency, with high costs.
The embodiment of the application further provides an embodiment of a switching system of the distribution automation equipment module, which comprises a background processor and a switching device of the distribution automation equipment module as in the first embodiment or the second embodiment; the background processor is connected with the switching device.
It can be understood that the distribution automation equipment is accurately switched through the matching of the background processor and the switching device.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (8)
1. The utility model provides a switching device of distribution automation equipment module which characterized in that includes: the device comprises a device main body, a clamping unit, a communication unit, a camera shooting unit, a height adjusting assembly and a horizontal moving assembly;
the clamping unit is sleeved on the device main body and used for clamping the distribution automation equipment to be switched;
the image pickup unit is arranged at the top end of the device main body and is used for picking up a first image at the clamping unit and a second image at the distribution automation equipment;
the communication unit is assembled on the device main body and used for sending the first image and the second image to a background processor, so that the background processor obtains a height adjusting signal corresponding to the height adjusting component and a horizontal distance adjusting signal corresponding to the horizontal moving component based on the first image and the second image;
the horizontal moving component is assembled at the bottom of the device main body and used for moving the device main body according to the horizontal distance adjusting signal so that the clamping unit moves to the distribution automation equipment in the horizontal direction;
the height adjusting assembly is arranged on the device main body and used for adjusting the height of the device main body according to the height adjusting signal, so that the clamping unit and the power distribution automation equipment are aligned in the vertical height;
the background processor obtains a height adjustment signal corresponding to the height adjustment assembly and a horizontal distance adjustment signal corresponding to the horizontal movement assembly based on the first image and the second image, and specifically includes:
the background processor calculates a separation distance between the distribution automation device and the gripping unit based on the first image and the second image, the separation distance including: horizontal distance and height distance;
the background processor acquires a horizontal distance adjusting signal corresponding to the horizontal distance according to the horizontal distance;
the background processor acquires a height adjusting signal corresponding to the height distance according to the height distance;
the height adjustment signal includes: the motor rotating angle is a rotating angle corresponding to a first motor in the height adjusting assembly;
the obtaining, by the background processor, a height adjustment signal corresponding to the height distance according to the height distance specifically includes:
according to the height distance, adjusting a proportional-integral parameter for controlling the first motor to operate through a simulated annealing algorithm to calculate a motor rotation angle corresponding to the height distance;
adjusting a proportional integral parameter for controlling the first motor to operate through a simulated annealing algorithm according to the height distance to calculate a motor rotation angle corresponding to the height distance specifically comprises:
(1) setting a variable to be optimized to be [ KP，Ki]，KP、KiThe method comprises the following steps of respectively obtaining a motor proportional parameter and an integral parameter, wherein the corresponding upper limit of an optimization variable is as follows: HLimits ═ Kpmax，Kimax]The lower limit of the optimization variable is as follows: llimitits ═ Kpmin，Kimin]；
(2) Selecting the precision L corresponding to the rotation angle of the motor and the total number S of the optimization variables;
(3) setting a sufficiently large T0 as an initial temperature, and randomly taking an initial solution K1 ═ Kp1，Ki1]；
(4) Setting the temperature of the heating process of the simulated annealing algorithm as T, and enabling T to be T0;
(5) repeating the steps (6) to (8) for the current temperature T;
(6) randomly generating a perturbation for the current solution K1Moving to generate new solution K2 ═ Kp2，Ki2]；
(7) Calculating an increment df of K2, f (K2) -f (K1), wherein f (K1) is an objective function ITAE1 corresponding to the K1 parameter control, and f (K2) is an objective function ITAE2 of K2;
wherein f (K1) is:
t is a time variable, e1(t) is the actual value of the measured value of the motor rotation angle formed device coordinate position data (x1(t), y1(t)) under the K1 parameter and the position coordinate (x) of the distribution automation deviceoyAnd yoz) A difference in reference values;
f (K2) is:
t is a time variable, e2(t) is the actual value of the measured value of the motor rotation angle formed device coordinate position data (x2(t), y2(t)) under the K2 parameter and the position coordinate (x) of the distribution automation deviceoyAnd yoz) A difference in reference values;
(8) if df is less than 0, receiving K2 as a current solution of the solution, otherwise, calculating the acceptance probability exp (-df/T) of K2, if exp (-df/T) > rand, accepting K2 as a new current solution, and otherwise, keeping the current solution K1;
(9) and (5) stopping if the termination condition T is met, outputting the current solution K1 as the optimal solution, and ending the program, otherwise, returning to the step (2).
2. The switching device of the distribution automation equipment module of claim 1, the device body comprising: a base and a connecting rod;
the connecting rod is arranged on the base;
the horizontal moving component is assembled at the bottom of the base;
the camera shooting unit is assembled at the top end of the connecting rod;
the communication unit, press from both sides and get the unit and the height adjustment subassembly sets up from top to bottom on the connecting rod.
3. The switching device of a distribution automation equipment module of claim 2, where the height adjustment component comprises: a first motor and a lifting rod;
the first motor is assembled on the base, and an output shaft of the first motor is connected with the first end of the lifting rod;
the second end of the lifting rod is connected with the connecting rod.
4. The switching device of a distribution automation equipment module of claim 3 wherein the horizontal movement assembly comprises: the universal wheel and the second motor;
the universal wheel is connected with the second motor;
the universal wheel is assembled on the base.
5. The switching device of the distribution automation equipment module of claim 2, wherein the gripping unit comprises: a mounting frame and a clamp;
the mounting frame is sleeved on the connecting rod;
the fixture is movably connected with the mounting frame.
6. The switching device of the distribution automation equipment module of claim 5, wherein the fixture is specifically: the clamp can be replaced.
7. The switching device of a distribution automation equipment module of claim 1, where the camera unit is specifically a binocular camera with infrared function.
8. A switching system of a distribution automation device module, characterized by comprising a background processor and a switching device of a distribution automation device module according to any one of claims 1 to 7;
the background processor is connected with the switching device.
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