CN114165110B - Robot, power cabinet and method for unlocking power cabinet by robot - Google Patents

Abstract

The invention discloses a robot, a power cabinet and a method for unlocking the power cabinet by the robot, wherein the robot includes a machine body, a communication module, a navigation module, a vision module, a mechanical arm and a control module; wherein, the communication module, the navigation module, The vision module, the manipulator and the control module are all installed on the machine body, and the communication module, navigation module, vision module and manipulator are all connected to the control module by communication; the control module includes a memory, a processor and a control program of the robot stored in the memory, When the control program of the robot is running on the processor, the steps of the method for unlocking the power cabinet or the method for locking the power cabinet are executed, and the steps of the method for unlocking the cabinet lock by the robot or the method for locking the cabinet lock by the robot are executed. , Improve the efficiency of robot inspection of power cabinets.

Description

Robot, power cabinet and method for unlocking power cabinet by robot

technical field

The invention relates to the technical field of electric power inspection, in particular to a robot, a power cabinet and a method for unlocking and locking the power cabinet by the robot.

Background technique

The use of robots to complete daily inspections of substation indoor and outdoor equipment, infrared temperature measurement, and equipment status inspection has become an important auxiliary means for inspections of substation equipment. Existing robots operate autonomously along a set fixed route to detect equipment exposed to the environment inside and outside the substation.

At present, the unlocking and locking action of the cabinet door of the power cabinet needs to be realized by the grasping of the robot arm, but it is difficult for the robot to accurately grasp the cabinet door, and the position of the cabinet door often changes after the door is opened, which further increases the accuracy of the robot arm. The difficulty of grabbing the cabinet door affects the efficiency of the robot's inspection.

Contents of the invention

The main purpose of the present invention is to provide a robot, a power cabinet and a method for unlocking the power cabinet by the robot, aiming at improving the inspection efficiency of the robot to the power cabinet.

In order to achieve the above object, a method for unlocking a cabinet lock by a robot proposed in the present invention, the method for unlocking a power cabinet by a robot includes:

Step S110: Obtain an unlocking instruction through the communication module of the robot, the unlocking instruction includes the position information of the power cabinet to be unlocked and the identity of the power cabinet to be unlocked;

Step S120: Guide the robot to the position indicated by the position information of the power cabinet to be unlocked in the unlock instruction through the navigation module of the robot;

Step S130: Obtain the identity of the current power cabinet through the vision module of the robot to determine whether the current power cabinet is the power cabinet to be unlocked;

Step S140: When the current power cabinet is the power cabinet to be unlocked, obtain the position of the wake-up switch of the power cabinet to be unlocked through the vision module of the robot, and control the mechanical arm of the robot to trigger the wake-up switch , to wake up the control module of the power cabinet to be unlocked;

Step S150: Send an unlock signal to the control module of the power cabinet to be unlocked through the communication module of the robot, so that the control module of the power cabinet to be unlocked controls the electronic lock of the power cabinet to be unlocked to switch to an unlocked state;

Step S160: Send an instruction to open the door of the power cabinet to be unlocked through the communication module of the robot to the control module of the power cabinet to be unlocked, so that the control module of the power cabinet to be unlocked controls the drive mechanism of the power cabinet to be unlocked to drive the power cabinet to be unlocked The cabinet door opens to the preset opening angle.

In some embodiments of the present invention, the step S160 includes:

Step S161: Obtain the current opening angle of the cabinet door of the power cabinet to be unlocked sent by the control module of the power cabinet to be unlocked through the communication module;

Step S162: comparing the current opening angle of the cabinet door of the power cabinet to be unlocked with the preset opening angle of the cabinet door of the power cabinet to be unlocked;

Step S163: When the current opening angle of the cabinet door of the power cabinet to be unlocked is equal to the preset opening angle of the cabinet door of the power cabinet to be unlocked, send a message to the control module of the power cabinet to be unlocked through the communication module A stop working instruction, so that the control module of the power cabinet to be unlocked controls the driving mechanism of the power cabinet to be unlocked to stop working.

The present invention also provides a method for locking the power cabinet by the robot, the method for locking the power cabinet by the robot includes:

Step S210: Obtain the image of the power cabinet to be locked through the vision module of the robot, and determine the position information of the activation switch on the door of the power cabinet to be locked based on the image of the power cabinet to be locked;

Step S220: Based on the position of the activation switch of the power cabinet to be locked, control the mechanical arm of the robot to touch and activate the activation switch of the power cabinet to be locked;

Step S230: Send an instruction to close the door of the power cabinet to be locked through the communication module of the robot to the control module of the power cabinet to be locked, so that the control module of the power cabinet to be locked controls the driving mechanism of the power cabinet to be locked to drive the power cabinet to be locked. The door of the locked power cabinet is closed;

Step S240: Send a locking instruction to the control module of the power cabinet to be locked through the communication module of the robot, so that the control module of the power cabinet to be locked controls the electronic lock of the power cabinet to be locked to switch to lock state.

The present invention also provides a robot, the robot includes a machine body, a communication module, a navigation module, a vision module, a mechanical arm and a control module; wherein,

The communication module, the navigation module, the vision module, the mechanical arm and the control module are all installed on the machine body, the communication module, the navigation module, the vision module, the mechanical The arms are all communicatively connected to the control module;

The control module includes a memory, a processor, and a robot control program stored on the memory. When the robot control program runs on the processor, it executes the steps of the above-mentioned method for unlocking the power cabinet by the robot or the above-mentioned The steps of the method for locking the electric cabinet by the robot.

In some embodiments of the present invention, the mechanical arm includes a multi-degree-of-freedom mechanical arm and an unlocking head, the multi-degree-of-freedom mechanical arm includes a connection end and an operating end, and the connection end of the multi-degree-of-freedom mechanical arm is connected to the machine body connected, the unlocking head and the vision module are installed on the operating end of the multi-degree-of-freedom mechanical arm.

The present invention also provides a power cabinet, the power cabinet is suitable for the above-mentioned robot, and the power cabinet includes a cabinet body, a cabinet door, an identification mark, a wake-up switch, an electronic lock, an activation switch and a control module; wherein,

The cabinet body has an accommodating cavity open on one side for the installation of power equipment, and the cabinet door is rotatably connected with the cabinet body to open or close the accommodating cavity of the cabinet body;

The identity mark is set on the surface of the cabinet door or the outer surface of the cabinet body for acquisition by the vision module of the robot;

The electronic lock is installed on the cabinet body or the cabinet door, and the electronic lock is used to lock or unlock the cabinet door;

The control module is electrically connected to the electronic lock, and the control module is used to control the locking or unlocking of the electronic lock;

Both the wake-up switch and the activation switch are electrically connected to the control module, and both the wake-up switch and the activation switch are used to activate the control module.

In some embodiments of the present invention, the electronic lock is provided with a handle, and the wake-up switch is provided on the handle.

In some embodiments of the present invention, the power cabinet further includes a driving mechanism electrically connected to the control module, and the driving mechanism drives the cabinet door to move relative to the cabinet body after the cabinet door is unlocked, to open the accommodating chamber of the cabinet.

In some embodiments of the present invention, the drive mechanism includes a servo unit and a swing rod, the servo unit is installed in the accommodating chamber of the cabinet, one end of the swing rod is rotatably connected to the servo unit, the The other end of the swing rod is in transmission connection with the cabinet door, and the servo unit drives the swing rod to rotate to drive the cabinet door to open or close.

In some embodiments of the present invention, the sliding rail on the inner surface of the cabinet door, the extending direction of the sliding rail is set perpendicular to the rotation axis of the cabinet door, and the upper surface or the lower surface of the sliding rail is recessed Has a chute extending along its length;

The driving mechanism further includes a roller, which is rotatably connected to an end of the swing rod away from the servo unit, and the roller is in clearance fit with the chute and can slide along the extending direction of the chute.

In some embodiments of the present invention, the power cabinet further includes a position detection device electrically connected to the control module, and the position detection device is used to detect an opening angle of the cabinet door.

The technical scheme of the present invention transmits the locking or unlocking command to the control module through the communication signal of the robot, so as to realize the automatic locking or unlocking of the electronic lock, without relying on the mechanical arm to grab the cabinet door to open the door and re-adjust the lock according to the open state of the cabinet door. The switch on the cabinet door is locked, which simplifies the work process and improves the inspection efficiency of the robot.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative effort.

Fig. 1 is the structural representation of an embodiment of the robot of the present invention;

Fig. 2 is a schematic structural view of the closed state of the power cabinet of the present invention;

Fig. 3 is one of the structural schematic diagrams of the open state of the power cabinet of the present invention;

Fig. 4 is the second structural diagram of the open state of the power cabinet of the present invention

Fig. 5 is a structural schematic diagram of an embodiment of the electronic lock in the present invention;

Fig. 6 is a schematic structural view of an embodiment of the drive mechanism in the present invention;

Fig. 7 is one of the schematic diagrams of the fourth state in the process of unlocking the power cabinet by the robot in the present invention;

Fig. 8 is the second schematic diagram of the fourth state in the process of unlocking the power cabinet by the robot in the present invention;

Fig. 9 is a schematic diagram of the second state in the process of locking the power cabinet by the robot in the present invention;

Fig. 10 is a schematic flowchart of another embodiment of a method for unlocking a power cabinet by a robot in the present invention;

FIG. 11 is a schematic diagram of a detailed flow chart of step S160 in FIG. 10;

Fig. 12 is a schematic flowchart of an embodiment of a method for locking a power cabinet by a robot in the present invention.

Explanation of reference numbers:

label name label name 100 Power cabinet 125 wake up switch 110 Cabinet 130 Drive mechanism 111 activation switch 131 Servo unit 112 Position detection device 132 Pendulum 120 cabinet door 133 scroll wheel 121 Electronic locks 200 robot 122 control module 210 vision module 123 ID 220 robotic arm 124 slide rail 230 unlock head

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the figure). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

In addition, the descriptions involving "first", "second" and so on in the present invention are only for descriptive purposes, and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions Exist, also not within the scope of protection required by the present invention.

The present invention proposes a power cabinet 100, the power cabinet 100 is suitable for the robot 200, so that the robot 200 can send an unlocking or locking signal through a communication connection, thereby controlling the power cabinet to automatically perform unlocking and locking operations, which solves the problem that the existing robot 200 is difficult to Accurately locating the door lock of the power cabinet 100 reduces the difficulty of the robot's work, thereby greatly improving the inspection efficiency of the robot 200 .

2 and 4 , the power cabinet 100 includes a cabinet body 110 , a cabinet door 120 , an identification mark 123 , a wake-up switch 125 , an electronic lock 121 , an activation switch 111 and a control module 122 .

The cabinet body 110 has an accommodating chamber open on one side for the installation of power equipment. The cabinet door 120 is rotatably connected with the cabinet body 110 to open or close the accommodating chamber of the cabinet body 110. The cabinet door 120 can be opened for left and right sides. Alternatively, the upper and lower sides can be opened, and the specific opening direction of the cabinet door 120 can be set according to actual conditions, and is not specifically limited here.

Referring to accompanying drawing 2, identity mark 123 is arranged on the surface of cabinet door 120 or the outer surface of cabinet body 110, for the vision module 210 of robot 200 to obtain, wherein the identity mark 123 corresponding to each power cabinet 100 is provided with one-to-one correspondence The identification information is used for the robot 200 to identify the identity information of different power cabinets 100 .

It should be noted that the identification information of the identity mark 123 can be an identification code (such as a barcode, a two-dimensional code, etc.), a size feature (such as length, width), an identification image (such as a five-pointed star, a crosshair symbol, etc.), any It can be used as a feature to distinguish different types.

The electronic lock 121 is installed on the cabinet body 110 or the cabinet door 120, and the electronic lock 121 is used to lock or unlock the cabinet door 120; the control module 122 is electrically connected to the electronic lock 121, and the control module 122 is used to control the locking or For unlocking, the control module 122 can communicate with the external module, and transmit the locking or unlocking command to the control module 122 through the communication signal of the external module, so as to realize automatic locking or unlocking of the electronic lock 121 .

Both the wake-up switch 125 and the activation switch 111 are electrically connected to the control module 122, and the wake-up switch 125 and the activation switch 111 are both used to activate the control module 122; Only 122 can receive and transmit communication signals with the outside, enter the dormant state after receiving the external signals, and only when the wake-up switch 125 or the activation switch 111 is activated again, the control module 122 is activated again to realize the acceptance and transmission of external signals .

Wherein, the wake-up switch 125 and the activation switch 111 can be arranged on the cabinet door 120 and the cabinet body 110 respectively, so that in the locked state, the wake-up switch 125 or the activation switch 111 on the cabinet door 120 can be directly contacted to activate the control module. 122, the unlocking signal is transmitted; and after unlocking and opening the cabinet door 120, the activation switch 111 or the wake-up switch 125 on the cabinet body 110 can be directly contacted to realize reactivating the control module 122, and the transmission of the locking signal is not required. According to the open state of the cabinet door 120, the switch located on the cabinet door 120 is reactivated and woken up, which simplifies the work flow.

Further, the wake-up switch 125 is arranged on the handle of the electronic lock 121, and the activation of the control module 122 is realized by interactively operating the handle, so as to realize the reception and transmission of the control module 122 and external signals, thereby realizing the unlocking operation of the electronic lock 121; and In this embodiment, the activation switch 111 is arranged on the cabinet body 110, so that the activation switch 111 on the cabinet body 110 can be activated interactively after unlocking and opening the cabinet door 120, and there is no need to re-adjust the angle according to the actuation state of the cabinet door 120 , simplifies the work process and improves the work efficiency of the robot 200 .

Referring to accompanying drawing 5, it is worth noting that the control module 122 is integrated with the electronic lock 121, so that the electronic lock 121 is integrated with the function of transmitting external command signals, and the cabinet door 120 only needs to install the electronic lock 121 to realize external control The locking and unlocking function does not need to be additionally connected to redundant control devices for signal connection control, which reduces the installation space of the cabinet door 120 .

In order to facilitate the automatic opening and closing of the cabinet door 120, the power cabinet 100 also includes a drive mechanism 130 electrically connected to the control module 122. After the cabinet door 120 is unlocked, the drive mechanism 130 drives the cabinet door 120 to move relative to the cabinet body 110 to move the cabinet body. 110 is opened; and when the control module 122 receives the lock instruction, the drive mechanism 130 can also close the cabinet door 120 to realize the closing of the storage cavity of the cabinet body 110; After the lock command, the robot 200 does not need to open and close the cabinet door 120 , which further simplifies the working process of the robot 200 .

Referring to accompanying drawing 6, the driving mechanism 130 of this embodiment comprises servo unit 131 and fork 132, and servo unit 131 is installed in the accommodating chamber of cabinet body 110, and one end of fork 132 is connected with servo unit 131 in rotation, and fork 132 The other end is connected with the transmission of the cabinet door 120, and the servo unit 131 drives the swing rod 132 to rotate to drive the cabinet door 120 to open or close; the servo unit 131 drives one end of the swing rod 132 to rotate, and then drives the other end of the swing rod 132 Rotating around the servo unit 131, the other end of the swing rod 132 abuts against the cabinet door 120 through the rotation, so that the cabinet door 120 approaches or moves away from the cabinet body 110, so as to drive the cabinet door 120 to open or close.

In order to facilitate the swing rod 132 to drive the cabinet door 120 to open and close, the inner surface of the cabinet door 120 is provided with a slide rail 124, the extension direction of the slide rail 124 is perpendicular to the rotation axis of the cabinet door 120, and the upper surface or the lower surface of the slide rail 124 The surface is concavely provided with a chute extending along its length direction; the driving mechanism 130 also includes a roller, which is rotationally connected with the end of the pendulum 132 away from the servo unit 131, and the roller is in clearance fit with the chute and can slide along the extending direction of the chute When the swing rod 132 is driven by the servo unit 131, the roller can roll in the slide rail 124, and then drive the cabinet door 120 to open and close. Friction between 120.

The power cabinet 100 also includes a position detection device 112 electrically connected to the control module 122. The position detection device 112 is used to detect the opening angle of the cabinet door 120, which can be fed back to the robot 200 and recorded according to the detected angle.

Further, electrical signal connection can be made with the servo unit 131 through the position detection device 112, the preset angle can be set into the servo unit 131 through the position detection device 112, and the driving stroke of the servo unit 131 can be preset to set the fixed rotation of the pendulum 132 Angle, so as to realize the fixing of the opening angle of the cabinet door 120, so as to ensure that the cabinet door 120 can maintain an open state at a certain angle after the power cabinet 100 receives the unlocking command, so as to avoid the instability of the opening angle of the cabinet door 120 and cause the robot 200 to patrol Work is affected.

Referring to accompanying drawing 1, the present invention also proposes a robot 200 suitable for the above-mentioned power cabinet 100 for the above-mentioned power cabinet 100, the robot 200 includes a machine body, a communication module, a navigation module, a vision module 210, a mechanical arm 220 and a control module The communication module, the navigation module, the vision module 210, the manipulator 220 and the control module are all installed on the machine body, and the communication module, the navigation module, the vision module 210 and the manipulator 220 are all communicated with the control module.

The control module includes a memory, a processor, and a control program of the robot 200 stored in the memory. When the control program of the robot 200 runs on the processor, the robot 200 can be controlled to unlock or lock the power cabinet 100 .

In some embodiments of the present invention, the multi-degree-of-freedom robotic arm 220 includes a connecting end and an operating end, and the operating end of the multi-degree-of-freedom robotic arm can perform actions such as stretching and rotating. The unlocking head 230 and the vision module 210 are installed on the The operating end of the mechanical arm 220 with multiple degrees of freedom, the unlocking head 230 can apply force to the unlocking part and the force-receiving part under the drive of the multi-degree-of-freedom mechanical arm to complete the corresponding action.

It should be noted that there are many types of the above-mentioned multi-degree-of-freedom mechanical arm 220, and the multi-degree-of-freedom mechanical arm 220 can be a four-degree-of-freedom mechanical arm, a six-degree-of-freedom mechanical arm, or other types of mechanical arms 2, as long as it can realize telescopic, Rotation etc works.

The type of the unlocking head 230 is compatible with the wake-up switch 125 of the electronic lock 121. When the wake-up switch 125 is a hole-shaped switch, the unlocking head 230 can be a pin shaft; when the wake-up switch 125 is a handle, the unlocking head 230 is a handle. The interactive force-bearing structure realizes the interactive wake-up of the handle.

The vision module 210 is usually a camera capable of capturing images. The vision module 210 may also be composed of a camera and a data processing module. The vision module 210 may also be a binocular camera, or may be composed of a two-dimensional camera and a three-dimensional camera. Here, the specific type of the vision module 210 is not limited, as long as the vision module 210 at least has the functions of capturing images and image analysis and processing.

The vision module 210 can be directly installed on the machine body, and the vision module 210 can also be indirectly installed on the machine body, that is, the vision module 210 is installed on the machine body through the connection structure installed on the unlocking mechanical arm 220, preferably Specifically, the vision module 210 is installed on the unlocking robot arm 220, so that it is convenient to adjust the shooting position and shooting angle of the vision module 210.

The navigation module can adopt GPS global positioning system, Beidou positioning system and other positioning systems, which will not be listed here.

The walking module is installed on the machine body, and the walking module is used to drive the machine body to travel on the ground. The walking module can be composed of a driving motor and a walking wheel. The walking module can also be composed of a driving motor and a crawler structure. The walking module can also be composed of a driving motor and a walking joint. The walking module can also be composed of other structural parts. This will not list them one by one.

The control module can be a single-chip microcomputer, a PWM controller, a microcontroller and other devices, and the control module can be installed on the machine body, or it can be installed in a position other than the machine body, which is not specifically limited here.

The control module is installed on the machine body and is electrically connected with the unlocking robot arm 220 and the vision module 210. There are two ways of electrical connection, one is a wired connection, that is, the control module is connected to the vision module 210 and the unlocking robot arm 220 through wires. Electrical connection, the second is wireless connection, that is, the control module is electrically connected with the vision module 210 and the unlocking mechanical arm 220 through Bluetooth, WIFI and other means.

Please refer to FIG. 10 , which is a schematic flow chart of an embodiment of the method for unlocking the power cabinet 100 by the robot 200 in the present invention. The method for unlocking the power cabinet 100 by the robot 200 includes the following steps:

Step S110: Obtain an unlocking instruction through the communication module of the robot 200. The unlocking instruction includes the location information of the power cabinet 100 to be unlocked and the identity of the power cabinet 100 to be unlocked.

Each power cabinet 100 has its own corresponding location information and identity mark 123, and each power cabinet 100 corresponds to a specific identity feature, that is, the identity mark of each power cabinet is unique and different from each other; the communication module acquires The received information of the power cabinet 100 is sent to the control module, and the control module sends the position information of the corresponding power cabinet 100 to the navigation module of the robot 200 according to the received information of the power cabinet 100. The location information of 100 is used to plan the navigation route.

It should be noted that the unlocking instruction obtained by the communication module of the robot 200 comes from a terminal, which can be a computer, a remote control, an Ipad, a mobile phone, etc., and is not specifically limited here. The communication module of the robot 200 can be connected via WIFI, Infrared and other means to establish a communication connection with the terminal.

Step S120: Use the navigation module of the robot 200 to guide to the position indicated by the position information of the power cabinet 100 to be unlocked in the unlock command.

The navigation module plans the navigation path through the received position information of the power cabinet 100, and transmits the planned path information to the control module. The corresponding position of the cabinet 100.

Step S130: Obtain the identity 123 of the current power cabinet 100 through the vision module 210 of the robot 200 to determine whether the current power cabinet 100 is the power cabinet 100 to be unlocked.

The vision module 210 adopts a binocular camera. The binocular camera includes a two-dimensional camera and a three-dimensional camera. The two-dimensional camera takes two-dimensional images of the power cabinet 100 to be unlocked, and the three-dimensional camera takes three-dimensional images of the power cabinet 100 to be unlocked. The two-dimensional image taken by the two-dimensional camera and the three-dimensional image taken by the three-dimensional camera are processed, and the control module compares the position information actually confirmed by the vision module 210 with the position information of the power cabinet 100 that received the unlocking command, and confirms that the actual position of the robot 200 is consistent with the predicted position. Set whether the offsets of the positions are consistent, so as to determine whether the current power cabinet 100 is the power cabinet 100 receiving the instruction.

Referring to Figures 7 and 8, step S140: when the current power cabinet 100 is the power cabinet 100 to be unlocked, obtain the position of the wake-up switch 125 of the power cabinet 100 to be unlocked through the vision module 210 of the robot 200, and control the mechanical arm 220 of the robot 200 to trigger the wake-up The switch 125 is used to wake up the control module 122 of the power cabinet 100 to be unlocked.

The vision module 210 scans and recognizes the cabinet door 120. Specifically, the vision module 210 scans and recognizes the two-dimensional and three-dimensional graphics of the cabinet door 120 to confirm the actual positions of the electronic lock 121 and the wake-up switch 125. The control module recognizes the The position of the electronic lock 121 controls the mechanical arm 220, and the mechanical arm 220 moves the unlocking head 230 of the mechanical arm 220 to the corresponding position of the wake-up switch 125 to trigger the wake-up switch 125 by performing actions such as stretching and rotating under the control of the control module. The control module 122 of the power cabinet 100 is activated and woken up to realize the transmission of external signals between the control module 122 of the power cabinet 100 .

It is worth noting that the wake-up switch 125 of each type of power cabinet 100 can be different. For example, the wake-up switch 125 with a handle structure needs to be unlocked by rotating, or by pressing, or by toggling. , not listed here.

Step S150: Send an unlock signal to the control module 122 of the power cabinet 100 to be unlocked through the communication module of the robot 200, so that the control module 122 of the power cabinet 100 to be unlocked controls the electronic lock 121 of the power cabinet 100 to be unlocked to switch to an unlocked state.

After the control module 122 of the power cabinet 100 is activated, the communication module of the robot 200 establishes a connection with the control module 122 of the power cabinet 100, and the communication module sends the received unlocking information to the control module 122 of the power cabinet 100, and the control module 122 of the power cabinet 100 After receiving the unlocking information, an unlocking command is sent to the electronic lock 121 to realize the unlocking of the electronic lock 121 , so that the cabinet door 120 and the cabinet body 110 are in an unlocked state.

It should be noted that the transmission of instructions between the communication module and the control module 122 of the power cabinet 100 can be realized through Bluetooth connection, WIFI connection or infrared connection, etc., which are not listed here.

Step S160: Send an instruction to open the cabinet door 120 to the control module 122 of the power cabinet 100 to be unlocked through the communication module of the robot 200, so that the control module 122 of the power cabinet 100 to be unlocked controls the driving mechanism 130 of the power cabinet 100 to be unlocked to drive the power cabinet to be unlocked The cabinet door 120 of the power cabinet 100 is opened to a preset opening angle.

After the electronic lock 121 is unlocked, the control module 122 of the power cabinet 100 sends a cabinet opening command to the drive mechanism 130, realizing the opening of the cabinet door 120 by the drive mechanism 130 after the electronic lock 121 unlocks the cabinet door 120, avoiding the robot 200 from pairing the cabinet door 120 on.

Referring to FIG. 11, in some embodiments of the present invention, step S160 includes:

Step S161: Obtain the current opening angle of the cabinet door 120 of the power cabinet 100 to be unlocked sent by the control module 122 of the power cabinet 100 to be unlocked through the communication module.

The power cabinet 100 also includes a position detection device 112 electrically connected to the control module, the position detection device 112 is used to detect the opening angle of the cabinet door 120, and the position detection device 112 feeds back the detected angle of the cabinet door 120 to the control module of the power cabinet 100 122. The control module 122 of the power cabinet 100 feeds back the angle of the cabinet door 120 to the communication module of the robot 200

Step S162: Compare the current opening angle of the cabinet door 120 of the power cabinet 100 to be unlocked with the preset opening angle of the cabinet door 120 of the power cabinet 100 to be unlocked.

The communication module of the robot 200 sends the received opening angle of the door 120 of the current power cabinet 100 to the control module of the robot 200, and the control module of the robot 200 compares the opening angle of the current cabinet door 120 with the door 120 of the power cabinet 100 to be unlocked. preset opening angle.

Step S163: When the current opening angle of the cabinet door 120 of the power cabinet 100 to be unlocked is equal to the preset opening angle of the cabinet door 120 of the power cabinet 100 to be unlocked, send a stop working message to the control module 122 of the power cabinet 100 to be unlocked through the communication module command, so that the control module 122 of the power cabinet 100 to be unlocked controls the driving mechanism 130 of the power cabinet 100 to be unlocked to stop working.

The position detection device 112 is electrically connected to the drive mechanism 130 of the power cabinet 100 and the control module 122 of the power cabinet 100, the driving stroke of the drive mechanism 130 is preset by the position detection device 112 of the power cabinet 100, and the fixed opening angle of the cabinet door 120 is set. , so that when the drive mechanism 130 opens the cabinet door 120 to a preset angle, the control module of the door of the power cabinet 100 stops working control of the drive mechanism 130 .

Please refer to FIG. 12. FIG. 12 shows a schematic flowchart of an embodiment of a method for locking the power cabinet 100 by the robot 200 in the present invention. The method for locking the power cabinet 100 by the robot 200 includes the following steps:

Step S210: Obtain the image of the power cabinet 100 to be locked by the vision module 210 of the robot 200, and determine the position information of the activation switch 111 of the power cabinet 100 to be locked based on the image of the power cabinet 100 to be locked.

The vision module 210 adopts a binocular camera. The binocular camera includes a two-dimensional camera and a three-dimensional camera. The two-dimensional camera takes two-dimensional images of the power cabinet 100 to be unlocked, and the three-dimensional camera takes three-dimensional images of the power cabinet 100 to be unlocked. The two-dimensional image captured by the two-dimensional camera and the three-dimensional image captured by the three-dimensional camera are processed.

The vision module 210 scans and recognizes the cabinet body 110 . Specifically, the vision module 210 scans and recognizes two-dimensional and three-dimensional graphics of the cabinet door 120 to confirm the three-dimensional coordinate position of the activation switch 111 on the cabinet body 110 .

Referring to FIG. 9 , step S220 : based on the position of the activation switch 111 of the power cabinet 100 to be locked, control the mechanical arm 220 of the robot 200 to touch and activate the activation switch 111 of the power cabinet 100 to be locked.

The control module of the robot 200 controls the mechanical arm 220 according to the position of the activation switch 111 recognized by the vision module 210. Under the control of the control module, the mechanical arm 220 moves the unlocking head 230 of the mechanical arm 220 to The corresponding position of the activation switch 111 triggers the activation switch 111 to activate and wake up the control module 122 of the power cabinet 100 to realize the transmission of external signals between the control module 122 of the power cabinet 100 .

It is worth noting that the activation switch 111 is different for each type of power cabinet 100 , for example, it is unlocked by pressing, or it is explained by flipping, which will not be listed here.

Step S230: Send an instruction to close the cabinet door 120 to the control module 122 of the power cabinet 100 to be locked through the communication module of the robot 200, so that the control module 122 of the power cabinet 100 to be locked controls the driving mechanism of the power cabinet 100 to be locked 130 drives the cabinet door 120 of the power cabinet 100 to be locked to close.

After the control module 122 of the power cabinet 100 is activated, the communication module of the robot 200 establishes a connection with the control module 122 of the power cabinet 100, and the communication module sends the information of closing the cabinet door 120 to the control module 122 of the power cabinet 100, and the control module of the power cabinet 100 122 receives the locking information, and transmits the command to close the cabinet door 120 to the control module 122 of the power cabinet 100, and the control module controls the driving mechanism 130 to drive the cabinet door 120, so that the cabinet door 120 and the cabinet body 110 are in a closed state.

It should be noted that the transmission of instructions between the communication module and the control module 122 of the power cabinet 100 can be realized through Bluetooth connection, WIFI connection or infrared connection, etc., which are not listed here.

Step S240: Send a locking instruction to the control module 122 of the power cabinet 100 to be locked through the communication module of the robot 200, so that the control module 122 of the power cabinet 100 to be locked controls the electronic lock 121 of the power cabinet 100 to be locked to switch to the upper position. lock state.

After the drive mechanism 130 closes the cabinet door 120, after the position detection device 112 detects that the cabinet door 120 is in the closed state angle, the position detection device 112 sends the closed state of the cabinet door 120 to the communication module of the robot 200, and the control module of the robot 200 receives the closed state. After the command, send the lock command to the control module 122 of the power cabinet 100, the control module 122 of the power cabinet 100 controls the electronic lock 121 to realize the locking of the cabinet door 120 and the cabinet body 110, and feeds back the locking status of the power cabinet 100 to The robot 200 and logs to the terminal.

It should be noted that the terminal can be a computer, a remote control, an Ipad, a mobile phone, etc., which are not specifically limited here, and the communication module of the robot 200 can establish a communication connection with the terminal through WIFI, infrared, etc. methods.

The present invention realizes the automatic locking and unlocking of the power cabinet 100 through the communication connection between the robot 200 and the power cabinet 100 , which is beneficial to improve the inspection operation of the robot 200 on the power cabinet 100 .

To sum up, in the embodiment of the present invention, the terminal sends the operation instruction to the robot 200, and the robot 200 interprets the operation instruction to know the operation location and operation content. The robot 200 plans the path according to the operation location and moves to the operation location by relying on autonomous navigation technology. The robot 200 uses the vision module 210 at the front end of the robot arm 220 to scan the identification code on the cabinet door 120 to confirm the operation object and calculate the offset between the actual position of the robot 200 and the preset position; after confirming that the working position of the robot 200 is correct, the robot arm The camera module on the 220 takes pictures of the electronic lock 121, recognizes the actual position of the electronic lock 121, and the mechanical arm 220 touches the wake-up switch 125 of the electronic lock 121 of the cabinet, so that the lock of the cabinet door 120 is in a wake-up state; the communication module of the robot 200 and The control module 122 of the power cabinet 100 establishes a Bluetooth connection and sends an unlock command. After the power cabinet 100 receives the command, the electronic lock 121 completes unlocking; the electronic lock 121 sends the unlock status to the communication module of the robot 200, and the communication module reports the status to the robot. 200 control modules and terminals. At the same time, the control module 122 of the power cabinet 100 transmits the cabinet opening action command to the drive mechanism 130, and the drive mechanism 130 stops the action when the opening angle of the cabinet door 120 reaches the set value, and the cabinet door 120 is opened. The process proceeds to the next step; after the operation in the cabinet is completed, the robot 200 uses the vision module 210 on the mechanical arm 220 to take pictures of the activation switch 111, obtains the exact position of the key of the activation switch 111, and uses the mechanical arm 220 to trigger the activation switch 111, so that the electronic lock 121 is awakened again, and re-establishes connection with the communication module; the robot 200 sends a door-closing command to the control module of the electronic cabinet, and the control module 122 of the power cabinet 100 receives the command, and transmits a signal to the drive mechanism 130 to perform the door-closing action. When the position detection device When 112 detects that the cabinet door 120 has been closed, the drive mechanism 130 stops, the door closing action is completed, and the electronic lock 121 is further controlled to lock the cabinet door 120, and the control module 122 of the power cabinet 100 feeds back the status to the mobile robot 200 Complete the inspection operation with the business management system.

The above is only a preferred embodiment of the present invention, and does not therefore limit the patent scope of the present invention. Under the inventive concept of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or direct/indirect use All other relevant technical fields are included in the patent protection scope of the present invention.

Claims (10)

1. A robot unlocking method for an electric power cabinet is characterized by comprising the following steps:

step S110: acquiring an unlocking instruction through a communication module of the robot, wherein the unlocking instruction comprises position information of the electric cabinet to be unlocked and an identity of the electric cabinet to be unlocked;

step S120: guiding the robot to a position indicated by the position information of the electric power cabinet to be unlocked in the unlocking instruction through a navigation module of the robot;

step S130: acquiring an identity of a current electric cabinet through a vision module of the robot to judge whether the current electric cabinet is the electric cabinet to be unlocked;

step S140: when the current electric cabinet is the electric cabinet to be unlocked, acquiring the position of a wake-up switch on a cabinet door of the electric cabinet to be unlocked through a vision module of the robot, and controlling a mechanical arm of the robot to trigger the wake-up switch so as to wake up a control module of the electric cabinet to be unlocked;

step S150: sending an unlocking signal to a control module of the electric cabinet to be unlocked through a communication module of the robot, so that the control module of the electric cabinet to be unlocked controls an electronic lock of the electric cabinet to be unlocked to be switched to an unlocking state;

step S160: a cabinet opening door instruction is sent to an operation and control module of the electric cabinet to be unlocked through a communication module of the robot, so that the operation and control module of the electric cabinet to be unlocked controls a driving mechanism of the electric cabinet to be unlocked to drive a cabinet door of the electric cabinet to be unlocked to be opened; the driving mechanism comprises a servo unit, a swing rod and a roller, a slide rail is arranged on the inner surface of a cabinet door of the electric cabinet to be unlocked, the extending direction of the slide rail is perpendicular to the rotating axis of the cabinet door of the electric cabinet to be unlocked, a slide groove extending along the length direction of the slide rail is concavely arranged on the upper surface or the lower surface of the slide rail, the servo unit is installed in an accommodating cavity of the cabinet body of the electric cabinet to be unlocked, one end of the swing rod is rotatably connected with the servo unit, the other end of the swing rod is in transmission connection with the cabinet door, the roller is rotatably connected with one end, far away from the servo unit, of the swing rod, the roller is in clearance fit with the slide groove and can slide along the extending direction of the slide groove, and the control module controls the servo unit to drive the swing rod to rotate so as to drive the cabinet door to be opened;

step S161: acquiring a current opening angle of a cabinet door of the electric cabinet to be unlocked, which is sent by an operation module of the electric cabinet to be unlocked, through the communication module;

step S162: comparing the current opening angle of the cabinet door of the electric cabinet to be unlocked with the preset opening angle of the cabinet door of the electric cabinet to be unlocked;

step S163: when the current opening angle of the cabinet door of the electric cabinet to be unlocked is equal to the preset opening angle of the cabinet door of the electric cabinet to be unlocked, a work stopping instruction is sent to the control module of the electric cabinet to be unlocked through the communication module, so that the control module of the electric cabinet to be unlocked controls the driving mechanism of the electric cabinet to be unlocked to stop working.

2. A method for locking a power cabinet by a robot is characterized by comprising the following steps:

step S210: acquiring an image of an electric power cabinet to be locked through a vision module of the robot, and determining position information of an activation switch on a cabinet door of the electric power cabinet to be locked based on the image of the electric power cabinet to be locked;

step S220: controlling a mechanical arm of the robot to touch and activate an activation switch of the power cabinet to be locked based on the position of the activation switch of the power cabinet to be locked;

step S230: a door closing instruction is sent to a control module of the power cabinet to be locked through a communication module of the robot, so that the control module of the power cabinet to be locked controls a driving mechanism of the power cabinet to be locked to drive a door of the power cabinet to be locked to be closed; the driving mechanism comprises a servo unit, a swing rod and a roller, a slide rail is arranged on the inner surface of a cabinet door of the electric power cabinet to be locked, the extending direction of the slide rail is perpendicular to the rotating axis of the cabinet door, a sliding groove extending along the length direction of the slide rail is concavely arranged on the upper surface or the lower surface of the slide rail, the servo unit is installed in an accommodating cavity of a cabinet body of the electric power cabinet to be locked, one end of the swing rod is rotatably connected with the servo unit, the other end of the swing rod is in transmission connection with the cabinet door, the roller is rotatably connected with one end, far away from the servo unit, of the swing rod, the roller is in clearance fit with the sliding groove and can slide along the extending direction of the sliding groove, and the control module controls the servo unit to drive the swing rod to rotate so as to drive the cabinet door to be closed;

step S240: and sending a locking instruction to the control module of the electric power cabinet to be locked through the communication module of the robot, so that the control module of the electric power cabinet to be locked controls the electronic lock of the electric power cabinet to be locked to be switched to a locking state.

3. A robot is characterized by comprising a robot body, a communication module, a navigation module, a vision module, a mechanical arm and a control module; wherein,

the communication module, the navigation module, the vision module, the mechanical arm and the control module are all arranged on the machine body and are in communication connection with the control module;

the control module comprises a memory, a processor and a control program of the robot stored on the memory, which when run on the processor performs the steps of the robot-to-power cabinet unlocking method according to claim 1 or the robot-to-power cabinet locking method according to claim 2.

4. The robot of claim 3, wherein the robot arm comprises a multi-degree-of-freedom robot arm and an unlocking head, the multi-degree-of-freedom robot arm comprises a connecting end and an operating end, the connecting end of the multi-degree-of-freedom robot arm is connected with the robot body, and the unlocking head and the vision module are both mounted at the operating end of the multi-degree-of-freedom robot arm.

5. An electric power cabinet, characterized in that the electric power cabinet is suitable for the robot of any one of claims 3 to 4, and comprises a cabinet body, a cabinet door, an identification mark, a wake-up switch, an electronic lock, an activation switch and a control module; wherein,

the cabinet body is provided with an accommodating cavity with an opening at one side for installing power equipment, and the cabinet door is rotatably connected with the cabinet body so as to open or close the accommodating cavity of the cabinet body;

the identity mark is arranged on the surface of the cabinet door or the outer surface of the cabinet body, so that a vision module of the robot can acquire the identity mark of the electric power cabinet;

the electronic lock is arranged on the cabinet body or the cabinet door and used for locking or unlocking the cabinet door;

the control module is electrically connected with the electronic lock and used for controlling the locking or unlocking of the electronic lock;

the wake-up switch and the activation switch are both electrically connected with the control module and are both used for activating the control module.

6. An electric power cabinet according to claim 5, wherein the electronic lock is provided with a handle and the wake-up switch is provided on the handle.

7. The electric cabinet according to claim 5, further comprising a driving mechanism electrically connected to the control module, wherein the driving mechanism drives the cabinet door to move relative to the cabinet body after the cabinet door is unlocked, so as to open the accommodating cavity of the cabinet body.

8. The electric cabinet according to claim 7, wherein the driving mechanism comprises a servo unit and a swing link, the servo unit is installed in the accommodating cavity of the cabinet body, one end of the swing link is rotatably connected with the servo unit, the other end of the swing link is in transmission connection with the cabinet door, and the servo unit drives the swing link to rotate so as to drive the cabinet door to open or close.

9. The electric cabinet according to claim 8, wherein the inner surface of the cabinet door is provided with a slide rail, the extension direction of the slide rail is perpendicular to the rotation axis of the cabinet door, and the upper surface or the lower surface of the slide rail is concavely provided with a sliding groove extending along the length direction of the slide rail;

the driving mechanism further comprises a roller, the roller is rotatably connected with one end, far away from the servo unit, of the oscillating bar, and the roller is in clearance fit with the sliding groove and can slide along the extending direction of the sliding groove.

10. The electrical cabinet according to claim 7, further comprising a position detection device electrically connected to the control module, the position detection device being configured to detect an opening angle of the cabinet door.

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