CN115332988A

CN115332988A - One-key sequential control method based on linkage operation platform and operation platform

Info

Publication number: CN115332988A
Application number: CN202211008282.0A
Authority: CN
Inventors: 陈富国; 袁福祥; 孙鹏; 迟清; 蔡杰; 韩彦华; 牛博; 宋选锋; 万康鸿; 魏稼鹏; 李中旗; 仓韬; 陈亮; 杨卫国; 武月; 马慧珍; 王大伟; 孙瑞峰; 张兵杨; 张浩哲
Original assignee: Pinggao Group Co Ltd; Electric Power Research Institute of State Grid Shaanxi Electric Power Co Ltd
Current assignee: Pinggao Group Co Ltd; Electric Power Research Institute of State Grid Shaanxi Electric Power Co Ltd
Priority date: 2022-08-22
Filing date: 2022-08-22
Publication date: 2022-11-11

Abstract

The invention provides a linkage operation platform-based one-key sequence control method and an operation platform, and belongs to the technical field of switch cabinet one-key sequence control. The invention relates to a switch cabinet panel automatic calibration method, which solves the problem that a mechanical arm is difficult to accurately and timely operate a switch cabinet panel in a one-key sequential control process. In the one-key sequential control process, the position relation between the tool at the tail end of the mechanical arm and the operable component is obtained through the acquisition and processing of the characteristic block images, the position relation between the operable component and the tool at the tail end of the mechanical arm is further obtained through a position conversion mode, and the operation platform carries out motion planning on the mechanical arm according to the position relation, so that the mechanical arm can be controlled to be aligned to the operable component at one time, and the success rate of one-key sequential control is improved.

Description

One-key sequential control method based on linkage operation platform and operation platform

Technical Field

The invention provides a linkage operation platform-based one-key sequence control method and an operation platform, and belongs to the technical field of switch cabinet one-key sequence control.

Background

The safe and stable operation of the 10kV switch room is directly related to the personal safety of operators and the safety of a power grid. Along with the development of intelligent transformer substation, more and more intelligent patrolling robots appear and popularize and apply, and the intelligent degree of transformer substation's cubical switchboard room has had very big promotion. However, the intelligent robots have relatively single functions, can replace manual work to perform video monitoring on important parts and abnormal conditions of a power distribution room, and upload the data to a background system for users to look up after data analysis, but cannot give timely treatment when defects of equipment in a switch room are found; when receiving emergency opening operation and conventional switching operation instructions of a user, the intelligent robot cannot complete corresponding operation, and the improvement of the intelligent level is restricted. In order to realize transformer substation distribution room cubical switchboard equipment state monitoring, early warning of trouble, trouble intelligence study and judge, emergency operation, need utilize video monitoring, intelligent sensing, remove operation platform, ubiquitous technologies such as thing networking urgently, improve intelligent, automation, the unmanned of cubical switchboard, promote cubical switchboard operation maintenance efficiency, guarantee electric wire netting safety and stability operation.

For example, KYN28A type armored movable indoor alternating current metal closed switch equipment is mainly applied to a 10kV switch room in scenes such as a power plant, a power system substation and the like and is used as a complete set of power distribution equipment of a 3.6-12 kV three-phase alternating current 50Hz single bus and a single bus segmented system. The switch device has the functions of preventing a loaded push-pull circuit breaker handcart, preventing the circuit breaker from being mistakenly divided/closed, preventing the circuit breaker from being closed when the grounding switch is in a closed position, preventing the circuit breaker from being mistakenly inserted into a live interval and preventing the grounding switch from being mistakenly closed when the circuit breaker is electrified. A vacuum circuit breaker and other auxiliary equipment are mounted on a circuit breaker handcart of the switch equipment. When the handcart is pushed into the breaker chamber of the cabinet body, the handcart can be reliably locked at a disconnection/test position; the position of the cabinet body is displayed by the cabinet body position indicating lamp, and the handcart can be pushed to a working position by shaking the pushing mechanism only after the cabinet body position indicating lamp is completely locked. After the handcart is in the working position, the pushing handle is shaken still, and the position of the pushing handle is displayed by the corresponding position indicating lamp. The mechanical interlocking of the handcart can reliably ensure that the circuit breaker can be switched on only when the handcart is at a working position or a test position; the handcart can move only when the breaker is in the opening position. The circuit breaker handcart can be moved from the disconnection/test position to the working position only when the grounding switch is in the disconnection position; when the circuit breaker handcart is in the disconnection/test position, the grounding switch can be switched on, so that the grounding switch is prevented from being switched on by mistake in electrification and the circuit breaker is prevented from being switched on when the grounding switch is in the closing position.

Because KYN28A cubical switchboard has strict operation procedure when the divide-shut brake is operated, need two workers to arrive the site operation position, shake out according to the operation handcart of correct operating procedure operation. The hand truck needs to be shaken in and out according to the following steps: when the handcart is switched from the working position to the disconnection/test position, the circuit breaker needs to be opened firstly, then the crank is inserted into a handcart lock hole, the handcart can be cranked out by rotating the crank, and the grounding switch is closed after the handcart is cranked out to the disconnection/test position; when the handcart is shaken into the working position from the disconnection/test position, the grounding switch needs to be disconnected firstly, then the crank is inserted into the handcart lock hole, the handcart can be shaken into the handcart by rotating the crank, and the circuit breaker is switched on after the handcart is shaken into the working position. In order to avoid the influence on the power grid safety caused by casualties caused by human misoperation, a plurality of technologies for replacing operators to perform partial operations through intelligent linkage operation platforms and intelligent inspection robots appear.

For example, the chinese patent application publication No. CN114389191a discloses a switch cabinet handcart one-key sequential control switching operation device, which comprises a housing, a handcart rolling-in and rolling-out mechanism, a shooting mechanism, a moving mechanism, an intelligent measurement and control device and a power supply device, wherein the handcart rolling-in and rolling-out mechanism drives a switch cabinet handcart to roll in or out based on a rolling-in and rolling-out control signal, the shooting mechanism shoots the switch cabinet, the moving mechanism is used for driving the housing to move, the intelligent measurement and control device is used for performing power conversion and condition judgment and controlling the handcart rolling-in and rolling-out mechanism, the shooting mechanism and the moving mechanism to act, and the power supply device is used for supplying power to the moving mechanism and the intelligent measurement and control device.

However, in the prior art, when the intelligent linkage operation platform is used as an example of the device, in the one-key sequential control process, there may be a problem that the positional relationship between the end tool on the mechanical arm and the operable components such as the knob, the button, and the pressing plate on the switch cabinet are not accurately matched, for example, the handcart shaking-in and shaking-out mechanism cannot be accurately aligned with the handcart lock hole on the switch cabinet, so that when the intelligent linkage operation platform executes the operation of the one-key sequential control instruction, the operation success rate is affected, the work efficiency of the intelligent linkage operation platform is affected, and there may also be a problem that the switch room is dangerous due to the fact that the intelligent linkage operation platform cannot be operated in time.

Disclosure of Invention

The invention aims to provide a one-key sequence control method and an operation platform based on a linkage operation platform, which are used for solving the problem that the position relation between a tail end tool on a mechanical arm and operable components such as a knob, a button and a pressing plate on a switch cabinet is not accurately matched when the intelligent linkage operation platform executes the operation process of one-key sequence control in the prior art.

In order to achieve the above object, the present invention provides an operation platform, comprising: the handcart control system comprises a communication system, a moving system and a mechanical arm tail end tool, wherein the communication system is used for receiving a one-key sequence control operation instruction issued by a background control system, the moving system is used for moving an operation platform to an area where a switch cabinet is located according to the one-key sequence control operation instruction, and the mechanical arm tail end tool is used for operating a handcart;

the visual system is used for acquiring a switch cabinet panel image, judging whether the switch cabinet meets the operating condition of a one-key sequence control operating instruction or not through the switch cabinet panel image, identifying the switch cabinet panel with the characteristic block when the switch cabinet meets the operating condition of the one-key sequence control operating instruction to obtain the position relation between the tail end tool of the mechanical arm and the characteristic block, and then determining the position of the operating part relative to the tail end tool of the mechanical arm in the mechanical arm coordinate system and sending the position of the operating part relative to the tail end tool of the mechanical arm to the mechanical arm controller of the operating platform according to the position relation between the tail end tool of the mechanical arm and the characteristic block and the position relation between the characteristic block and the operating part which are calibrated in advance; the operation part is a part which needs to be operated on the corresponding switch cabinet in the one-key sequential control operation instruction; the tool at the tail end of the mechanical arm is a tool which is needed to be used by the tail end of the mechanical arm and corresponds to the one-key sequential control operation instruction;

the robot arm controller is configured to control the robot arm to move according to a position of the operating member relative to the robot arm end tool in the robot arm coordinate system, so that the robot arm end tool moves to the operating member position.

The beneficial effects are as follows: in the prior art, in the operation process that an operation platform reaches an area where a switch cabinet is located to execute one-key sequential control, when a mechanical arm executes one-key sequential control operation, and a tool at the tail end of the mechanical arm aligns to an operable component on a panel of the switch cabinet, the situation that the alignment is difficult exists, so that the mechanical arm cannot execute related operations in time, and the success rate of the one-key sequential control operation is low. Therefore, the switch cabinet is provided with the characteristic block, the characteristic block is used as an intermediate reference object, and the position relation between the component to be operated and the characteristic block is calibrated in advance to carry out one-key sequential control. In the one-key sequential control process, when the visual system judges that the switch cabinet meets the operation condition of the one-key sequential control, the position relation between the mechanical arm tail end tool and the characteristic block corresponding to the one-key sequential control operation can be obtained by identifying the switch cabinet panel image with the characteristic block, and then the position of the vehicle lock hole under the mechanical arm coordinate system relative to the mechanical arm tail end tool is determined and sent to the mechanical arm controller of the operation platform according to the position relation between the mechanical arm tail end tool and the characteristic block and the position relation between the characteristic block and the part needing to be operated, which are calibrated in advance; the mechanical arm controller carries out motion planning on the mechanical arm according to the position of the part needing to be operated relative to the mechanical arm under the mechanical arm coordinate system, so that a tool at the tail end of the mechanical arm can accurately reach the area where the part needing to be operated is located, the tool and the operation part are accurately combined, one-key sequential control operation is carried out, and the operation success rate of the one-key sequential control process of the operation platform is improved. Then the operating platform can control the tool at the tail end of the mechanical arm to perform corresponding actions according to the corresponding instruction received in the one-key sequence control process, so that the one-key sequence control instruction is performed.

Furthermore, the system also comprises a navigation system, wherein the navigation system stores an electronic map in advance, and the navigation system is used for automatically searching the way through the pre-stored electronic map, so that the movement of the mobile system is controlled to move the operation platform to the area where the switch cabinet is located.

Automatic navigation control is realized through an electronic map, so that the switch cabinet can accurately reach the area where the switch cabinet is located, and the success rate of one-key sequential control operation is higher.

Furthermore, the vision system is also used for acquiring a cabinet number and a two-dimensional code which are arranged on the switch cabinet, and determining whether the switch cabinet is an operation object corresponding to the one-key sequential control operation instruction or not according to the cabinet number and the two-dimensional code.

After the operation platform reaches the area where the switch cabinet is located, the switch cabinet is subjected to double confirmation through the cabinet number and the two-dimensional code arranged on the switch cabinet, the fact that the switch cabinet is an operation object corresponding to the one-key sequential control operation instruction is guaranteed, then parts needing to be operated corresponding to the operation instruction under the correct switch cabinet are matched, the matching accuracy is improved, and the success rate of the one-key sequential control operation process is further improved.

Further, if the visual system judges the switch cabinet panel image, the result is: and when the switch cabinet is in a remote control state, the visual system identifies a switch cabinet panel image with the characteristic block to obtain a position relation between the mechanical arm end tool and the characteristic block corresponding to the switching operation of the near-remote control switch, the mechanical arm end tool corresponding to the switching operation of the near-remote control switch is a near-remote control switch switching tool, then the position of the near-remote control switch relative to the near-remote control switch switching tool in the mechanical arm coordinate system is determined according to the position relation between the near-remote control switch switching tool and the characteristic block and the position relation between the characteristic block and the near-remote control switch which are calibrated in advance, and the position of the near-remote control switch relative to the near-remote control switch switching tool in the mechanical arm coordinate system is sent to the mechanical arm controller, and the mechanical arm controller controls the mechanical arm to move according to the position of the near-remote control switch relative to the near-remote control switch switching tool in the mechanical arm coordinate system, so that the near-remote control switch switching tool reaches an operation area of the near-remote control switch, and then the switch cabinet is switched to a near control state.

When the operating platform operates the switch cabinet, the switch cabinet needs to be in a near control state, and therefore when the visual system judges that the switch cabinet is in a far control state through the switch cabinet panel image, the operating platform needs to convert the near and far control state of the switch cabinet into the near control state. Similarly, in order to ensure that a near-far control switch switching tool at the tail end of the mechanical arm can accurately reach an operation area of the near-far control switch, a vision system identifies a switch cabinet panel image with a characteristic block, so that the position relation between a tool at the tail end of the mechanical arm and the characteristic block can be obtained, and then the position of the near-far control switch relative to the mechanical arm under a mechanical arm coordinate system is determined and sent to a mechanical arm controller according to the position relation between the tool at the tail end of the mechanical arm and the characteristic block and the position relation between the characteristic block and the near-far control switch which are calibrated in advance. The mechanical arm controller plans the motion of the mechanical arm according to the position of the near-far control switch relative to the mechanical arm under a mechanical arm coordinate system, so that a near-far control switch switching tool at the tail end of the mechanical arm can accurately reach an operation area capable of operating the near-far control switch to complete the switching of the near-far control switch.

Further, if the communication system receives a one-key sequential control operation instruction issued by the background control system, the following steps are performed: the one-key sequence control operation instruction is a handcart shaking-out instruction, a handcart shaking-in instruction or a ground switch closing instruction, and the result of image judgment of a switch cabinet panel by a vision system is as follows: the method comprises the steps that a switch cabinet is in a close control state, a breaker is in a closing state, a visual system identifies a switch cabinet panel image with a characteristic block to obtain a position relation between a mechanical arm tail end tool and the characteristic block corresponding to breaker opening operation, the mechanical arm tail end tool corresponding to the breaker opening operation is a breaker opening switch switching tool, then the position of the breaker opening switch relative to the breaker opening switch switching tool under a mechanical arm coordinate system is determined and sent to a mechanical arm controller according to the position relation between the breaker opening switch switching tool and the characteristic block and the position relation between a pre-calibrated characteristic block and the breaker opening switch, and the mechanical arm controller controls the mechanical arm to move according to the position of the breaker opening switch relative to the breaker opening switch switching tool under the mechanical arm coordinate system, so that the breaker opening switch switching tool reaches an operation area of the breaker opening switch, and then the breaker is switched to an opening state.

The handcart is shaken into and is shaken out and the ground switch is switched on, the switch cabinet is required to be in a close control state, the circuit breaker is required to be in a switching-off state, therefore, the visual system judges that the switch cabinet is in the close control state through the switch cabinet panel image, and when the circuit breaker is in the switching-on state, the operating platform is required to switch the circuit breaker to the switching-off state. Similarly, in order to ensure that a breaker opening switch switching tool at the tail end of the mechanical arm can accurately reach an operation area of the breaker opening switch, the vision system identifies a switch cabinet panel image with a characteristic block, so that the position relation between the tool at the tail end of the mechanical arm and the characteristic block can be obtained, and then the position of the breaker opening switch relative to the mechanical arm under a mechanical arm coordinate system is determined and sent to the mechanical arm controller according to the position relation between the tool at the tail end of the mechanical arm and the characteristic block and the position relation between the characteristic block and the breaker opening switch which are calibrated in advance. The mechanical arm controller plans the motion of the mechanical arm according to the position of the breaker opening switch relative to the mechanical arm under a mechanical arm coordinate system, so that a breaker opening switch switching tool at the tail end of the mechanical arm can accurately reach an operation area capable of operating the breaker opening switch to complete the opening operation of the breaker.

Further, if the communication system receives a one-key sequence control operation instruction issued by the background control system, the following steps are performed: the one-key sequential control operation instruction is a handcart shaking-in instruction, and the result of judging the image of the switch cabinet panel by the vision system is as follows: the switch cabinet is in the close control state, the circuit breaker is in the separating brake state and the ground switch is in the closed state, or the communication system receives a key sequence control operation instruction issued by the background control system as follows: the ground switch opening instruction and the result of judging the switch cabinet panel image by the vision system are as follows: the switch cabinet meets the operating condition of a one-key sequence control operating instruction, the visual system identifies a switch cabinet panel image with a feature block to obtain the position relation between the mechanical arm end tool and the feature block corresponding to the ground knife switching-off operation, the mechanical arm end tool corresponding to the ground knife switching-off operation is a ground knife switch switching tool, then the position of the ground knife switch relative to the ground knife switch switching tool in a mechanical arm coordinate system is determined and sent to the mechanical arm controller according to the position relation between the ground knife switch switching tool and the feature block and the position relation between the pre-calibrated feature block and the ground knife switch, the mechanical arm controller controls the mechanical arm to move according to the position of the ground knife switch relative to the ground knife switch switching tool in the mechanical arm coordinate system, so that the ground knife switch switching tool at the tail end of the mechanical arm reaches the operating area of the ground knife switch, and then the ground knife is switched to be in a disconnected state.

When the handcart is shaken, not only the switch cabinet is required to be in a close control state, the circuit breaker is in an opening state, but also the grounding switch is required to be in a breaking state, therefore, the visual system judges that the switch cabinet is in the close control state through the image of the panel of the switch cabinet, but when the circuit breaker is in the closing state, the operating platform is required to switch the circuit breaker to the opening state. Therefore, the vision system identifies the image of the panel of the switch cabinet with the characteristic block, can obtain the position relation between the tool at the tail end of the mechanical arm and the characteristic block, and then determines the position of the ground knife switch relative to the mechanical arm in a mechanical arm coordinate system according to the position relation between the tool at the tail end of the mechanical arm and the characteristic block and the position relation between the characteristic block and the ground knife switch which are calibrated in advance and sends the position to a mechanical arm controller. The mechanical arm controller carries out motion planning on the mechanical arm according to the position of the ground knife switch relative to the mechanical arm in a mechanical arm coordinate system, so that a ground knife switch switching tool at the tail end of the mechanical arm can accurately reach an operation area capable of operating the ground knife switch, and the operation success rate of the one-key sequential control process of the operation platform is improved. Like this, the cubical switchboard just satisfies the operating condition that the handcart shaken into, and operation platform just can carry out the handcart and shake into the process, has avoided needing artifical the switching because of waiting for, and lead to the problem that a key is in control operation inefficiency.

Further, if the communication system receives a one-key sequential control operation instruction issued by the background control system, the following steps are performed: the handcart is shaken into the instruction or the handcart is shaken out of the instruction, and the result of the vision system to the image judgment of the switch cabinet panel is as follows: the switch cabinet meets the operation condition of the one-key sequential control operation instruction, or the communication system receives the one-key sequential control operation instruction issued by the background control system as follows: the ground switch closes the floodgate instruction to the result that vision system judges cubical switchboard panel image is: the method comprises the steps that a switch cabinet is in a close control state, a breaker is in a brake-separating state, a handcart is in a non-test position, a switch cabinet panel image with a characteristic block is identified, a position relation between a mechanical arm terminal tool and the characteristic block corresponding to the operation of the movable handcart is obtained, the mechanical arm terminal tool corresponding to the operation of the movable handcart is a handcart shake-in and shake-out tool, then the position of a handcart lock hole in a mechanical arm coordinate system relative to the handcart shake-in and shake-out tool is determined and sent to a mechanical arm controller according to the position relation between the handcart shake-in and shake-out tool and the position relation between the characteristic block calibrated in advance and a handcart lock hole, the mechanical arm controller controls the movement of the mechanical arm according to the position of the handcart lock hole in the mechanical arm coordinate system relative to the handcart shake-in and shake-out tool, so that the handcart shake-in and shake-out tool at the tail end of the mechanical arm reaches an operation area of the handcart lock hole, and then the handcart is moved to a specified position.

When the handcart shake-in instruction operating condition or the handcart shake-out instruction operating condition is met, a handcart can be shaken in and out, the position relation between the handcart shake-in and shake-out tool and the position relation between the handcart shake-out tool and the handcart lock hole can be accurately determined through the position relation between the handcart shake-in and shake-out tool and the handcart lock hole, the mechanical arm is moved based on the position relation, the handcart shake-in and shake-out tool reaches the position of the handcart lock hole, the handcart is shaken in and out, and the operation success rate of the one-key sequential control process of the operation platform is improved. In addition, when the ground switch is switched on, the handcart needs to be shaken to a test position, and the handcart is automatically shaken in and out in the operating process, so that the problem of low one-key sequence control operating efficiency caused by manual switching during waiting is solved, and the ground switch switching-on operating efficiency is improved.

Further, in the process of moving the handcart to the designated position, the handcart is shaken into and shaken out to rotate the turns or the angle of the tool when the handcart is moved, and if the turns reach the preset turns or the angle reaches the preset angle, the handcart is moved in place.

When the handcart is shaken in or out, the mechanical arm needs to control the handcart shaking-in and shaking-out tool to rotate in the handcart lock hole, so that the number of turns or the angle related to rotation is set as a threshold value according to experience, and whether the handcart shaking-in and shaking-out tool rotates the right number of turns or the right angle is detected to judge whether the handcart is shaken in or out in place or not, and the scheme is simple and easy.

Further, in the process of moving the handcart to the designated position, the torque of the handcart shaking-in and shaking-out tool when the handcart is moved is detected, and if the torque reaches the set torque, the handcart is moved in place.

When the handcart is shaken in or out, whether the handcart is shaken in or out in place can be detected by detecting the torque, and the scheme is simple and easy to implement.

Further, if the communication system receives a one-key sequence control operation instruction issued by the background control system, the following steps are performed: the handcart is shaken into the instruction, when the handcart is judged to be moved in place, the vision system identifies a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm end tool and the feature block corresponding to near-far control switch switching operation, the mechanical arm end tool corresponding to the near-far control switch switching operation is a near-far control switch switching tool, then the position of the near-far control switch relative to the near-far control switch switching tool under a mechanical arm coordinate system is determined and sent to a mechanical arm controller according to the position relation between the near-far control switch switching tool and the feature block and the position relation between the feature block and the near-far control switch calibrated in advance, the mechanical arm controller controls the movement according to the position of the near-far control switch relative to the near-far control switch switching tool under the mechanical arm coordinate system, so that the near-far control mechanical arm switch switching tool reaches an operation area of the near-far control switch, and then the switch cabinet is switched to a far control state.

After the handcart is shaken out in place, the switch cabinet needs to be switched to a remote control state, and in order to ensure the success rate of operation, when the operation platform switches the near-remote control state of the switch cabinet, the switch cabinet is switched to the remote control state in a similar mode of switching the switch cabinet to the near-remote control state.

Further, if the communication system receives a one-key sequential control operation instruction issued by the background control system, the following steps are performed: the method comprises the steps that a handcart is shaken out to give an instruction, when the handcart is judged to be moved in place, a vision system identifies a switch cabinet panel image with a characteristic block to obtain a position relation between a mechanical arm tail end tool and the characteristic block corresponding to circuit breaker closing operation, the mechanical arm tail end tool corresponding to the circuit breaker closing operation is a circuit breaker closing switch switching tool, then the position of the circuit breaker closing switch relative to the circuit breaker closing switch switching tool under a mechanical arm coordinate system is determined and sent to a mechanical arm controller according to the position relation between the circuit breaker closing switch switching tool and the characteristic block and the position relation between the characteristic block and the circuit breaker closing switch which are calibrated in advance, the mechanical arm controller controls the mechanical arm to move according to the position of the circuit breaker closing switch relative to the circuit breaker closing switch switching tool under the mechanical arm coordinate system, so that the circuit breaker closing switch switching tool at the tail end of the mechanical arm reaches an operation area of the circuit breaker closing switch, and then the circuit breaker is switched to be in a closing state;

then, the visual system identifies a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm end tool and the feature block corresponding to the near-far control switch switching operation, the mechanical arm end tool corresponding to the near-far control switch switching operation is a near-far control switch switching tool, then the position of the near-far control switch relative to the near-far control switch switching tool under a mechanical arm coordinate system is determined according to the position relation between the near-far control switch switching tool and the feature block and the position relation between the feature block and the near-far control switch calibrated in advance, the position of the near-far control switch relative to the near-far control switch switching tool under the mechanical arm coordinate system is sent to a mechanical arm controller, the mechanical arm controller controls the mechanical arm to move according to the position of the near-far control switch relative to the near-far control switch switching tool under the mechanical arm coordinate system, so that the near-far control switch switching tool reaches an operation area of the near-far control switch, and then the switch cabinet is switched to a far control state.

After the handcart is shaken in place, the circuit breaker needs to be switched to a closing state, the switch cabinet needs to be switched to a remote control state, in order to guarantee the operation success rate, the operation platform adopts a mode that the circuit breaker is switched to a breaking state and the switch cabinet is switched to a near control state, the circuit breaker is closed firstly, and then the switch cabinet is switched to the remote control state.

In order to achieve the above-mentioned objects,

the invention also provides a one-key sequence control method based on the linkage operation platform, which comprises the following steps:

s1, a background control system issues a one-key sequence control operation instruction to an operation platform, and the operation platform receives the one-key sequence control instruction and moves to an area where a switch cabinet is located to execute the one-key sequence control operation instruction;

s2, after the operating platform reaches the area where the switch cabinet is located, acquiring a switch cabinet panel image through a camera of a vision system, and judging whether the switch cabinet meets the operating condition of a one-key sequential control operating instruction or not through the switch cabinet panel image;

s3, when the switch cabinet meets the operation condition of the manual-one-key sequential control operation instruction, the visual system identifies the switch cabinet panel image with the feature block to obtain the position relation between the tail end tool and the feature block of the mechanical arm, and then determines the position of the operation part relative to the tail end tool of the mechanical arm in the mechanical arm coordinate system and sends the position to the mechanical arm controller of the operation platform according to the position relation between the tail end tool and the feature block of the mechanical arm and the position relation between the pre-calibrated feature block and the operation part; the operation component is a component which needs to be operated on the corresponding switch cabinet in the one-key sequential control operation instruction; the tool at the tail end of the mechanical arm is a tool which is needed to be used by the tail end of the mechanical arm and corresponds to the one-key sequential control operation instruction;

and S4, the mechanical arm controller controls the mechanical arm to move according to the position of the operating part relative to the mechanical arm end tool under the mechanical arm coordinate system, so that the mechanical arm end tool moves to the position of the operating part, and then corresponding operation is carried out.

Further, in step S1, the navigation system of the operation platform automatically searches for a route through a pre-stored electronic map, so as to move to the area where the switch cabinet is located.

Further, after the operating platform moves to the area where the switch cabinet is located, the cabinet number and the two-dimensional code which are arranged on the switch cabinet are collected through a camera of the vision system, and whether the switch cabinet is an operating object corresponding to the one-key sequential control operating instruction is determined according to the cabinet number and the two-dimensional code.

After the operation platform reaches the area of the switch cabinet, the switch cabinet is doubly confirmed through the cabinet number and the two-dimensional code arranged on the switch cabinet, the fact that the switch cabinet is an operation object corresponding to the one-key sequential control operation instruction is guaranteed, then the operation parts needing to be operated corresponding to the operation instruction under the correct switch cabinet are matched, the matching accuracy is improved, and the success rate of the one-key sequential control operation process is further improved.

Further, in step S1, the one-touch sequence control operation instruction includes: one or more of a handcart shaking-out instruction, a handcart shaking-in instruction, a ground switch closing instruction, a ground switch opening instruction and a breaker emergency opening instruction; if the one-key sequence control operation instruction in the step S1 is a handcart shaking-out instruction, the operation conditions in the step S2 are as follows: the switch cabinet is in a close control state and the breaker is in an opening state; if the one-key sequence control operation instruction in the step S1 is a handcart shaking-in instruction, the operation conditions in the step S2 are as follows: the switch cabinet is in a close control state, the breaker is in an opening state and the ground switch is in an opening state; if the one-key sequence control instruction in the step S1 is a ground switch closing instruction, the operation conditions in the step S2 are as follows: the switch cabinet is in a close control state, the breaker is in a brake-off state and the handcart is in a test position; if the one-key sequence control operation instruction in the step S1 is a ground switch opening instruction, the operation conditions in the step S2 are: the switch cabinet is in a close control state and the switch cabinet door is closed; if the one-key sequence control instruction in the step S1 is a breaker emergency opening instruction, the operation conditions in the step S2 are as follows: the switch cabinet is in a near control state and the breaker is in a breaking and closing state and breaks down.

The handcart shaking-out instruction, the handcart shaking-in instruction, the grounding switch closing instruction, the grounding switch opening instruction and the circuit breaker emergency opening instruction are used as one-key sequential control operation instructions, and corresponding operation conditions are set, so that the processes of handcart shaking-in and shaking-out, grounding switch closing and opening and circuit breaker emergency opening can be carried out under the condition that the conditions are met. Solve current manual work through above-mentioned process and carry out earthing switch and urgent separating brake operation time, operating procedure is loaded down with trivial details, and take place danger easily during the operation, cause unexpected casualties of personnel, cause equipment damage, and when meetting emergency, meet emergency and need the separating brake if the distribution room, secondary power also cuts off the power supply, electric operation can't be used, just must use urgent separating brake button, urgent separating brake makes the personal risk greatly reduced, make the fault circuit breaker obtain the isolation rapidly, reduce the power failure scope to minimumly, the power supply reliability is showing and is increasing.

Further, in step S2, if the result of judging the image of the switch cabinet panel is: the switch cabinet is in a remote control state, and then near and far control switch switching operation is carried out, wherein the near and far control switch switching operation is as follows: the method comprises the steps of identifying a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm end tool and the feature block corresponding to near-far switch switching operation, determining the position of a near-far switch relative to the near-far switch switching tool under a mechanical arm coordinate system according to the position relation between the near-far switch switching tool and the feature block and the position relation between a pre-calibrated feature block and a near-far switch, sending the position to a mechanical arm controller, and controlling the mechanical arm to move according to the position of the near-far switch relative to the near-far switch switching tool under the mechanical arm coordinate system by the mechanical arm controller, so that the near-far switch switching tool reaches an operation area of the near-far switch, and then switching the switch cabinet to a near-far state.

When the operating platform operates the switch cabinet, the switch cabinet needs to be in a near control state, and therefore when the visual system judges that the switch cabinet is in a far control state through the switch cabinet panel image, the operating platform needs to convert the near and far control state of the switch cabinet into the near control state. Similarly, in order to ensure that a near-far control switch switching tool at the tail end of the mechanical arm can accurately reach an operation area of the near-far control switch, a vision system identifies a switch cabinet panel image with a characteristic block, so that the position relation between a tool at the tail end of the mechanical arm and the characteristic block can be obtained, and then the position of the near-far control switch relative to the mechanical arm under a mechanical arm coordinate system is determined and sent to a mechanical arm controller according to the position relation between the tool at the tail end of the mechanical arm and the characteristic block and the position relation between the characteristic block and the near-far control switch which are calibrated in advance. The mechanical arm controller carries out motion planning on the mechanical arm according to the position of the near-far control switch relative to the mechanical arm under a mechanical arm coordinate system, so that a near-far control switch switching tool at the tail end of the mechanical arm can accurately reach an operation area capable of operating the near-far control switch, the switching of the near-far control switch is completed, the near-far control switch state meets the operation condition of a one-key sequential control operation instruction through the process of automatically switching the near-far control switch, the operation success rate of the one-key sequential control process of the operation platform is improved, and the problem of low one-key sequential control operation efficiency caused by the fact that manual switching is needed due to waiting is solved through the automatic switching process.

Further, if in step S1, the one-key sequence control operation instruction is a handcart shaking-out instruction, a handcart shaking-in instruction or a ground switch closing instruction, and in step S2, the result of judging the switch cabinet panel image is: the cubical switchboard is in near accuse state and the circuit breaker is in the combined floodgate state, then carries out circuit breaker opening operation, circuit breaker opening operation is: the method comprises the steps of identifying a switch cabinet panel image with a characteristic block to obtain a position relation between a mechanical arm tail end tool and the characteristic block corresponding to the circuit breaker opening operation, determining the position of a circuit breaker opening switch relative to the circuit breaker opening switch switching tool under a mechanical arm coordinate system according to the position relation between the circuit breaker opening switch switching tool and the characteristic block and the position relation between a pre-calibrated characteristic block and the circuit breaker opening switch, sending the position to a mechanical arm controller, and controlling the mechanical arm to move according to the position of the circuit breaker opening switch relative to the circuit breaker opening switch switching tool under the mechanical arm coordinate system by the mechanical arm controller, so that the circuit breaker opening switch switching tool at the tail end of the mechanical arm reaches an operation area of the circuit breaker opening switch, and then switching the circuit breaker into an opening state.

The handcart is shaken into and is shaken out and the ground switch is switched on, the switch cabinet is required to be in a close control state, the circuit breaker is required to be in a switching-off state, therefore, the visual system judges that the switch cabinet is in the close control state through the switch cabinet panel image, and when the circuit breaker is in the switching-on state, the operating platform is required to switch the circuit breaker to the switching-off state. Similarly, in order to ensure that a breaker opening switch switching tool at the tail end of the mechanical arm can accurately reach an operation area of the breaker opening switch, the vision system identifies a switch cabinet panel image with a characteristic block, so that the position relation between the tool at the tail end of the mechanical arm and the characteristic block can be obtained, and then the position of the breaker opening switch relative to the mechanical arm under a mechanical arm coordinate system is determined and sent to the mechanical arm controller according to the position relation between the tool at the tail end of the mechanical arm and the characteristic block and the position relation between the characteristic block and the breaker opening switch which are calibrated in advance. The mechanical arm controller carries out motion planning on the mechanical arm according to the position of the breaker opening switch relative to the mechanical arm under the mechanical arm coordinate system, so that a breaker opening switch switching tool at the tail end of the mechanical arm can accurately reach an operation area capable of operating the breaker opening switch, the opening operation of the breaker is completed, in the mode, the breaker opening switch switching tool can accurately reach the position of the breaker opening switch, the state of the breaker is converted into an operation condition meeting a one-key sequential control operation instruction, the operation success rate of the one-key sequential control process of the operation platform is improved, and the automatic switching process avoids the problem that the one-key sequential control operation efficiency is low due to the fact that manual switching is needed in waiting.

Further, if in step S1, the one-key sequence control operation instruction is a handcart shaking-in instruction, and in step S2, the result of judging the switch cabinet panel image is: the cubical switchboard is in close accuse state, the circuit breaker is in the separating brake state and the earthing switch is in the closure state, perhaps in step S1, a key is in the same direction as accuse operating command for earthing switch separating brake command, in step S2 simultaneously, satisfies operating condition, then carries out earthing switch separating brake operation, earthing switch separating brake operation is: the method comprises the steps of identifying a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm end tool and the feature block corresponding to the ground knife switching-off operation, determining the position of a ground knife switch relative to the ground knife switch switching tool in a mechanical arm coordinate system according to the position relation between the ground knife switch switching tool and the feature block and the position relation between a pre-calibrated feature block and the ground knife switch, sending the position to a mechanical arm controller, controlling the mechanical arm to move according to the position of the ground knife switch relative to the ground knife switch switching tool in the mechanical arm coordinate system by the mechanical arm controller, enabling the ground knife switch switching tool at the tail end of the mechanical arm to reach an operation area of the ground knife switch, and switching the ground knife to an off state.

When the handcart is shaken, the switch cabinet is required to be in a close control state, the circuit breaker is in an opening state, and the grounding switch is required to be in a breaking state. Therefore, the vision system identifies the switch cabinet panel image with the characteristic block, the position relation between the tool at the tail end of the mechanical arm and the characteristic block can be obtained, and then the position of the ground cutter switch relative to the mechanical arm in a mechanical arm coordinate system is determined and sent to the mechanical arm controller according to the position relation between the tool at the tail end of the mechanical arm and the characteristic block and the position relation between the characteristic block and the ground cutter switch which are calibrated in advance. The mechanical arm controller carries out motion planning on the mechanical arm according to the position of the ground knife switch relative to the mechanical arm in a mechanical arm coordinate system, so that a ground knife switch switching tool at the tail end of the mechanical arm can accurately reach an operation area capable of operating the ground knife switch, and the operation success rate of the one-key sequential control process of the operation platform is improved. Like this, the cubical switchboard just satisfies the operating condition that the handcart shaken into, and operation platform just can carry out the handcart and shake into the process, has avoided needing artifical the switching because of waiting for, and lead to the problem that a key is in control operation inefficiency.

Further, if in step S1, a key sequence control operation instruction is a handcart rolling-in instruction or a handcart rolling-out instruction, and in step S2, operation conditions are met, or in step S1, a key sequence control operation instruction is a ground switch closing instruction, and in step S2, a switch cabinet is in a close control state, a circuit breaker is in a brake separating state, and a handcart is in a non-test position, so that the handcart is moved, and the handcart is moved: the method comprises the steps of identifying a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm terminal tool and the feature block corresponding to a mobile handcart operation, determining a position of a mechanical arm locking hole relative to a handcart shake-in and shake-out tool under a mechanical arm coordinate system according to the position relation between the handcart shake-in and shake-out tool and the feature block and a position relation between a pre-calibrated feature block and a handcart locking hole, sending the position to a mechanical arm controller according to the position of the mechanical arm locking hole relative to the handcart shake-in and shake-out tool under the mechanical arm coordinate system, controlling the mechanical arm to move according to the position of the mechanical arm locking hole relative to the handcart shake-out tool under the mechanical arm coordinate system, enabling the handcart shake-in and shake-out tool at the tail end of the mechanical arm to reach an operation area of the handcart locking hole, and then moving the handcart to an appointed position.

When the handcart shake-in instruction operating condition is met or the handcart shake-out instruction operating condition is met, the handcart can be shaken in and out through the handcart, the handcart can be shaken in and out through the position relation between the tool and the characteristic block, the position relation between the characteristic block and the handcart lock hole can be calibrated in advance, the position relation between the handcart shake-out tool and the handcart lock hole can be accurately determined, the mechanical arm is moved based on the position relation, the handcart is shaken in and out to reach the position of the handcart lock hole, the handcart is shaken in and out, and the operation success rate of the one-key sequential control process of the operation platform is improved. In addition, when the earthing switch-on operation is carried out, the handcart needs to be shaken to a test position, and the handcart is automatically shaken in and out in the operation process, so that the problem of low one-key sequential control operation efficiency caused by manual switching during waiting is avoided, and the earthing switch-on operation efficiency is further improved.

Further, in the process of moving the handcart to a designated position, the number of turns or the angle of rotation of the handcart shaking-in and shaking-out tool during the movement of the handcart is detected, and if the number of turns reaches the preset number of turns or the angle reaches the preset angle, the handcart is moved in place.

Further, if the one-key sequential control operation instruction in the step S1 is a handcart shaking-out instruction, when it is determined that the handcart is moved in place, the near-far control switch switching operation is performed, and then the switch cabinet is switched to the far-control state.

Further, if the one-key sequence control operation instruction in the step S1 is a handcart shaking-in instruction, when it is determined that the handcart is moved in place, a breaker switching-on operation is performed first, and the breaker switching-on operation is performed as follows: the visual system acquires and identifies images of a switch cabinet panel with characteristic blocks through a camera to obtain the position relation between a mechanical arm tail end tool and the characteristic blocks corresponding to the circuit breaker closing operation, the mechanical arm tail end tool corresponding to the circuit breaker closing operation is a circuit breaker closing switch switching tool, then the position of the circuit breaker closing switch relative to the circuit breaker closing switch switching tool under a mechanical arm coordinate system is determined and sent to a mechanical arm controller according to the position relation between the circuit breaker closing switch switching tool and the characteristic blocks and the position relation between the characteristic blocks and the circuit breaker closing switch which are calibrated in advance, the mechanical arm controller controls the mechanical arm to move according to the position of the circuit breaker closing switch relative to the circuit breaker closing switch switching tool under the mechanical arm coordinate system, and therefore the circuit breaker closing switch switching tool at the tail end of the mechanical arm reaches an operation area of the circuit breaker closing switch, and then the circuit breaker is switched to a closing state; and after the closing operation of the circuit breaker is finished, switching operation of a near-far control switch is carried out, and the switch cabinet is switched into a far-control state.

Further, if the one-key sequence control operation instruction is a breaker emergency opening instruction in the step S1 and the operation condition is not satisfied in the step S2, or the one-key sequence control operation instruction is a ground switch opening instruction in the step S1 and the switch cabinet is in the close control state and the door of the switch cabinet is not closed in the step S2, the current state of the switch cabinet which does not satisfy the one-key sequence control operation instruction is uploaded.

The state information of the switch cabinet is uploaded when the operation condition of an emergency opening command is not met and the operation condition of closing the switch cabinet door is not met when a grounding switch closing command is met, namely when the state of the switch cabinet cannot be converted into the state meeting the operation condition, the information is uploaded, and the information of which the state of the switch cabinet does not meet the operation condition can be conveniently found manually.

Further, if the one-key sequence control operation instruction in the step S1 is a breaker emergency opening instruction, and the operation condition is satisfied in the step S2, performing breaker emergency opening operation, where the breaker emergency opening operation is: the method comprises the steps of identifying a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm tail end tool and the feature block corresponding to the emergency opening operation of the circuit breaker, wherein the mechanical arm tail end tool corresponding to the emergency opening operation of the circuit breaker is an emergency opening switch switching tool, determining the position of the emergency opening switch relative to the emergency opening switch switching tool under a mechanical arm coordinate system according to the position relation between the emergency opening switch switching tool and the feature block and the position relation between a pre-calibrated feature block and the emergency opening switch, sending the position to a mechanical arm controller, and controlling the mechanical arm to move according to the position of the emergency opening switch relative to the emergency opening switch switching tool under the mechanical arm coordinate system by the mechanical arm controller, so that the emergency opening switch switching tool at the tail end of the mechanical arm reaches an operation area of the emergency opening switch, and then switching the circuit breaker into an opening state.

When an emergency brake-separating instruction is met, the position of the emergency brake-separating switch relative to the emergency brake-separating switch switching tool is accurately obtained through the position relation between the emergency brake-separating switch switching tool and the characteristic block and the position relation between the pre-calibrated characteristic block and the emergency brake-separating switch, the emergency brake-separating switch switching tool is moved to the position of the emergency brake-separating switch, emergency brake separation is carried out, and the operation success rate of the one-key sequential control process of the operation platform is improved. And the problem that equipment is damaged due to accidental casualties caused by complex operation steps and danger easily caused by operation during emergency opening operation of the existing manual work is solved.

Further, if the one-key sequence control operation instruction in the step S1 is a ground switch closing instruction and the operation condition is satisfied in the step S2, performing a ground switch closing operation, where the ground switch closing operation is: the method comprises the steps of identifying a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm end tool and the feature block corresponding to the ground knife switching-on operation, determining the position of a ground knife switch relative to the ground knife switch switching tool in a mechanical arm coordinate system according to the position relation between the ground knife switch switching tool and the feature block and the position relation between a pre-calibrated feature block and the ground knife switch, sending the position to a mechanical arm controller, controlling the mechanical arm to move according to the position of the ground knife switch relative to the ground knife switch switching tool in the mechanical arm coordinate system by the mechanical arm controller, enabling the ground knife switch switching tool at the tail end of the mechanical arm to reach an operation area of the ground knife switch, and switching the ground knife to be in a closed state.

When the ground knife switch-on instruction is met, the position of the ground knife switch relative to the ground knife switch switching tool is accurately obtained through the position relation between the ground knife switch switching tool and the feature block and the position relation between the pre-calibrated feature block and the ground knife switch, the ground knife switch switching tool is moved to the position of the ground knife switch, the ground knife switch-on is carried out, and the operation success rate of the one-key sequential control process of the operation platform is improved. And the problem of current manual work when carrying out earthing switch-on operation, operating procedure is loaded down with trivial details, and takes place danger during the operation easily, causes unexpected injures and deaths of personnel, causes equipment to damage has been solved.

Drawings

FIG. 1 is a block diagram of a linkage operation platform according to the present invention;

FIG. 2 is a schematic view of the working position of the linkage operating platform in the switch room according to the present invention;

fig. 3 is a block diagram of a handcart shaking-out process in a one-key sequence control process according to the invention;

FIG. 4 is a block diagram of a handcart shaking-in process in a one-key sequence control process according to the present invention;

FIG. 5 is a block diagram of the ground knife closing process in the one-key sequence control process according to the present invention;

FIG. 6 is a block diagram of the ground knife switching off in the one-key sequence control process according to the present invention;

fig. 7 is a block diagram of the emergency opening process of the circuit breaker in the one-key sequence control process according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

The embodiment of the one-key sequence control method based on the linkage operation platform comprises the following steps:

in this embodiment, a linkage operation platform (hereinafter referred to as an operation platform) is shown in fig. 1 and 2, and includes an AGV moving system, a navigation control system, a robot arm system, a vision system, a power supply system, and a communication system. The power supply system is used for supplying power to the whole operation platform, and the communication system is used for performing communication interaction between the operation platform and the background control system so as to receive instructions or feedback information. The communication system is connected with the background control system in a wireless or wired mode, and the wireless communication adopts a WIFI6 communication mode and supports two frequency bands of 2.4GHz and 5 GHz; the wired communication adopts Ethernet communication and is connected through a super six-type shielding RJ45 network cable. Be provided with in the cubical switchboard and fill electric pile and satisfy operation platform's power supply demand, operation platform's operation object is KYN28A type armor and removes open-type indoor interchange metal-enclosed switchgear (hereinafter for short cubical switchboard), and the cubical switchboard sets up side by side in the cubical switchboard.

The AGV moving system is a moving mechanism of the whole operating platform and is positioned at the bottom of the operating platform body. The navigation system is also positioned at the bottom of the operating platform body and used for controlling the AGV moving system to act according to the pre-stored planned path after receiving the moving instruction of the operating platform, so that the operating platform moves in the switch chamber and reaches the designated position. In addition, the navigation system also has an obstacle avoidance function, detects whether an obstacle exists on a moving path of the operating platform through equipment such as a combined navigation control module of laser SLAM + inertial navigation, a laser radar or a proximity switch, judges the distance between the operating platform and the obstacle, and gives an alarm and performs emergency braking when the distance between the operating platform and the obstacle is smaller than a set alarm threshold or an emergency braking threshold. Meanwhile, emergency stop buttons are arranged on the periphery of the bottom of the AGV moving system, when the operating platform and the barrier are in accidental collision, the emergency stop buttons are pressed down, the power supply of the power supply system to the AGV moving system, the mechanical arm system and the visual system can be cut off emergently, and therefore serious accidents caused by the fact that the operating platform is out of control are avoided.

The mechanical arm system comprises a mechanical arm and a mechanical arm controller, wherein a tail end tool is arranged at the tail end of the mechanical arm and comprises an elastic electric sleeve, and the elastic electric sleeve consists of a motor, a flexible sleeve and an elastic coupling. The operation of the handcart in-out shaking mainly comprises the steps that the flexible sleeve is used as a handcart crank to be inserted into a handcart lock hole, torque is output through the motor, power is transmitted through the elastic coupling, and therefore the flexible sleeve is driven to rotate forward and backward to realize the in-out shaking of the circuit breaker handcart, and the on-off of a main loop is realized. The motor is also internally provided with an overrunning clutch which is used for protecting the end tool when the output torque exceeds the limit. The elastic coupling is not only used for automatically aligning the position and the posture of the tail end tool, but also can provide flexibility margin while transmitting power, so that the tail end tool can be operated at different angles, and the damage to a mechanical structure is avoided. The end tool further comprises: a ground knife operation tool, an emergency brake-separating tool and the like. The ground knife operation tool and the emergency brake-separating tool are mainly knob operation tools, and the knob operation tools mainly utilize the tools to clamp the knob for rotation, so that emergency brake-separating and switch cabinet state replacement are realized.

The visual system comprises a holder camera arranged at the top of the operation platform body and a 3D camera arranged at the tail end of the mechanical arm. The switch cabinet is provided with cabinet number and two-dimensional code information, the 3D camera at the tail end of the mechanical arm confirms whether the information of the switch cabinet is correct or not through collecting the cabinet number and the two-dimensional code information so as to confirm whether the switch cabinet is a corresponding operation object or not, the function of feeding back the information acquired by the visual system is achieved, and if the fact that the information of the switch cabinet is incorrect is recognized, the incorrect condition is fed back to the background system. The control panel of the switch cabinet is provided with an indicator lamp and an operable component, the operable component comprises a knob switch, a button switch, a pressing plate, a handcart lock hole and the like, the pan-tilt camera is mainly used for grabbing picture information of the switch cabinet to confirm the state of the switch cabinet, checking the related pressing plate and protecting whether the switch cabinet meets the operation condition or not, and feeding back the information to a background system when the operation condition is not met, namely the pan-tilt camera observes the surrounding environment of the operation platform, acquires the state in the switch chamber in real time, and provides feasibility for remote operation. In addition, a feature block is arranged on the switch cabinet panel, the position relation between the operable component and the feature block is relatively fixed, and the corresponding position relation is stored in the vision system in advance. The visual system collects images of the switch cabinet panel through the 3D camera, the collected images are sent to the background control system through the communication system, and the background control system judges whether the working state of each part meets the execution condition of one-key sequential control or not. If the operating platform does not meet the requirement, the operating platform needs to operate the operable component which does not meet the requirement so as to enable the operable component to meet the execution condition of the one-key sequence control, and the whole process of the one-key sequence control can be smoothly implemented.

The characteristic block can adopt a geometric figure or a character pattern with simple structure, and is distinguished from an indicator lamp and other operable components on the switch cabinet through color or shape, so as to be beneficial to visual system identification. The feature block can be arranged at a fixed position on the switch cabinet, such as the left side, the right side, the upper side, the lower side or the diagonal position of the switch cabinet, the position relation between the feature block and the operable component is embodied through the orientation and the distance between the feature block and the operable component, and the feature block is stored in the visual system in advance, so that the feature block can be conveniently called in the one-key sequence control process. As another embodiment, the position relationship between the feature block and the operable component may also be represented by establishing a coordinate system on the switch cabinet panel, for example, establishing a coordinate system with the feature block as an origin, and representing the position relationship between the feature block and the operable component by coordinates of the operable component in the coordinate system.

Because the 3D camera is fixedly connected to the end tool, the positional relationship between the 3D camera and the end tool can be calibrated, and this positional relationship can also be calibrated by a combination of orientation and distance, or by establishing a coordinate system on the operation platform. Considering that a plurality of operation platforms may be configured in the switch room, and the positional relationships between the 3D cameras of different operation platforms and the end tools may be different, the positional relationships between the 3D cameras on the operation platforms and the end tools may be stored in the vision system in combination with information of the operation platforms, which facilitates calling in the one-key sequential control process.

Based on the two corresponding position relationships (the position relationship between the feature block and the operable component and the position relationship between the 3D camera and the end tool), when the 3D camera acquires an image of the switch cabinet panel with the feature block, the vision system identifies the feature block so as to confirm the position relationship between the 3D camera and the feature block, and then the position relationship between the end tool and the operable component in the mechanical arm coordinate system can be obtained by combining the position relationship between the feature block and the operable component and the position relationship between the 3D camera and the end tool on the current operation platform. The vision system sends the position relation between the tail end tool and the corresponding operable component under the mechanical arm coordinate system to the mechanical arm controller, and the mechanical arm controller can plan the motion path of the mechanical arm according to the position relation, so that the tail end tool is accurately aligned to the corresponding operable component, and the operation accuracy in the one-key sequence control process is improved.

As another embodiment, the positional relationship between the feature block and the operable component is stored in the vision system in advance, and the positional relationship between the 3D camera and the end tool is fixed in the program for performing position conversion by the vision system, so that the calculation process is reduced, and the position of the operable component relative to the end tool in the determined robot arm coordinate system is more accurate.

In the one-key sequence control process, the operation platform not only needs to perform the operation corresponding to the one-key sequence control operation instruction when the operation condition is met, but also needs to operate other operable components when the states of other operable components do not meet the operation condition, so that the other operable components meet the operation condition corresponding to the one-key sequence control operation instruction. For this reason, the end tool of the robot arm should have not only a tool capable of serving as a command for designating one-touch operation, but also a gripping tool capable of gripping the knob switch to perform a rotational operation and a pressing tool for pressing the button switch.

As another embodiment, the end of the mechanical arm may adopt a manipulator or a mechanical clamp, and the manipulator or the mechanical clamp may take a crank or a pressing tool placed on the operation platform to operate the operable component, so as to change the working state of the operable component.

Based on the position relation stored in the operating platform and the background control system, the one-key sequence control method based on the intelligent linkage operating platform is implemented by the following steps:

the implementation method of the one-key sequence control operation instruction for the hand truck to shake out is shown in fig. 3, the implementation method of the one-key sequence control operation instruction for the hand truck to shake in is shown in fig. 4, and the specific hand truck shaking-in and shaking-out process is implemented through the following steps:

1. the background control system issues a one-key sequential control handcart operation instruction to the operation platform, namely when a 10kV switch cabinet disconnecting link is operated, the operation platform performs self-checking after receiving the one-key sequential control handcart operation instruction, judges whether the self state meets the operation condition or not, if the operation platform is in an idle state and the electric quantity is sufficient, the operation condition is considered to be met, and executes the one-key sequential control handcart operation instruction; or if the operating platform currently executes other preposed tasks and the electric quantity is sufficient after the preposed tasks are executed, the same tasks meet the operating conditions, and a one-key sequential control handcart operating instruction is executed after the preposed tasks are finished; otherwise, if the electric quantity is insufficient or the electric quantity is insufficient after other preposed tasks are executed, the operation condition is not met, and at the moment, the tasks are reported to the background control system to request the tasks to be cancelled or suspended.

2. When the operating platform executes a one-key sequential control handcart operating instruction, the AGV moving system automatically seeks a path according to an electronic map stored in the navigation control system, so that the AGV reaches a corresponding switch cabinet area. In the automatic road searching process, if an obstacle is touched, emergency obstacle avoidance or braking is carried out, and timely feedback is carried out to a background control system.

3. And after the operation platform reaches the corresponding switch cabinet operation area, identifying the cabinet number on the switch cabinet through the 3D camera, and determining whether the switch cabinet is an operation object corresponding to the one-key sequential control handcart operation instruction. If the confirmation is passed, the two-dimensional code on the switch cabinet is identified through the 3D camera, whether the switch cabinet is an operation object corresponding to the one-key sequence control handcart operation instruction is confirmed again, if the confirmation is passed again, the fact that the operation platform reaches a correct switch cabinet operation area is indicated, and otherwise, the operation platform feeds back the operation platform to the background control system.

4. After an operation object confirms that the operation object is correct, the cloud deck camera collects images of a switch cabinet panel, confirms the state of the switch cabinet, checks whether related pressing plates and protection have operation conditions or not, if the related pressing plates and the protection do not meet the operation conditions, feeds back the related pressing plates and the protection to a background system, suspends or ends a current task, if the related operation conditions exist, a visual system identifies the images of the switch cabinet panel, if the working states of the pressing plates, knobs, buttons and other operable components displayed in the images of the switch cabinet panel meet the operation conditions of a one-key sequential control handcart operation instruction, the images of the switch cabinet panel with the characteristic blocks are obtained and identified through a 3D camera arranged on a mechanical arm, the position relation between the tail end tool and the characteristic blocks is obtained, and then the mechanical arm controller of the operation platform is determined according to the position relation between the tail end tool (namely an electric sleeve) of the mechanical arm and the characteristic blocks corresponding to the hand truck swinging operation and the position relation between the pre-calibrated characteristic blocks and a handcart lock hole under a mechanical arm coordinate system. The mechanical arm controller carries out motion planning on the mechanical arm according to the position, and then controls the mechanical arm to move according to a planned motion path, so that the elastic electric sleeve on the tail end tool is accurately inserted into a handcart lock hole, and then the elastic electric sleeve is driven to rotate through the motor, so that a handcart is shaken in or out.

Certain conditions need to be met when the handcart is shaken in or out. Firstly, the switch cabinet can be operated by the operating platform only when the switch cabinet is in a close control state; secondly, as shown in fig. 3, the handcart needs to meet the conditions of circuit breaker disconnection when being shaken out, and as shown in fig. 4, the handcart needs to meet the conditions of circuit breaker disconnection and grounding switch disconnection when being shaken out. Therefore, when the operating platform executes a key sequential control handcart operating instruction, if the visual system judges that the switch cabinet is in a remote control state through comparison of switch cabinet panel images, the near and remote control switch switching operation is carried out: the method comprises the steps of obtaining images of a switch cabinet panel with a feature block through a 3D camera, identifying the images, obtaining the position relation between a mechanical arm end tool (namely a clamping tool) and the feature block corresponding to the switching operation of a near-far control switch, determining the position of the near-far control switch relative to a mechanical arm under a mechanical arm coordinate system according to the position relation between the mechanical arm end tool and the feature block and the position relation between the feature block and the near-far control switch calibrated in advance, and sending the position to a mechanical arm controller. The mechanical arm controller carries out motion planning on the mechanical arm according to the position relation, and then controls the mechanical arm to move according to a planned motion path, so that a clamping tool on the tail end tool accurately clamps the near-far control knob and carries out rotation operation, and the switch cabinet is switched from a far control state to a near control state.

When a key is in the same direction as accuse handcart operating command and is shaken out for the handcart, if the circuit breaker that vision system passes through the comparison of cubical switchboard panel image and judges in the cubical switchboard does not break off, then carry out the circuit breaker and divide the floodgate operation: the method comprises the steps of obtaining images of a switch cabinet panel with a feature block through a 3D camera and identifying the images to obtain the position relation between a mechanical arm tail end tool (namely a clamping tool) and the feature block corresponding to the opening operation of the circuit breaker, and then determining the position of the opening switch of the circuit breaker relative to the mechanical arm under a mechanical arm coordinate system and sending the position to a mechanical arm controller according to the position relation between the mechanical arm tail end tool and the feature block and the position relation between the feature block and the opening switch of the circuit breaker calibrated in advance. The mechanical arm controller carries out motion planning on the mechanical arm according to the relative position, and then controls the mechanical arm to move according to a planned motion path, so that a clamping tool on the tail end tool accurately clamps a knob of the circuit breaker and carries out rotation operation, and the circuit breaker in the switch cabinet is opened. At the moment, the operating conditions executed by the handcart shaking-out one-key sequential control operating instruction are met, and the handcart shaking-out operation can be executed by the operating platform.

When a key sequence control handcart operation instruction is that a handcart shakes, if a vision system judges that a circuit breaker and a ground knife in a switch cabinet are not disconnected through comparison of switch cabinet panel images, the switch cabinet panel images with feature blocks are obtained through a 3D camera and are identified, the position relation between a mechanical arm terminal tool (namely a clamping tool) and the feature blocks corresponding to circuit breaker opening operation is obtained, and then the position relation of the circuit breaker opening switch relative to the mechanical arm under a mechanical arm coordinate system is determined and sent to a mechanical arm controller according to the position relation between the mechanical arm terminal tool and the feature blocks and the position relation between the pre-calibrated feature blocks and the circuit breaker opening switch. And the mechanical arm controller controls the mechanical arm to move to the operation area of the circuit breaker knob according to the position, and then the circuit breaker is disconnected. Then, carrying out the switch-off operation of the grounding switch: and the vision system determines the position of the grounding switch cover plate relative to the mechanical arm under the mechanical arm coordinate system according to the position relation between the tool at the tail end of the mechanical arm and the characteristic block and the position relation between the pre-calibrated characteristic block and the ground switch and sends the position to the mechanical arm controller. The mechanical arm controller controls a mechanical arm corresponding to the pressing cover plate operation according to the position to align a tail end tool (namely, a pressing plate tool) with an earthing switch cover plate operation area, the earthing switch cover plate is pressed down, then the position of a right lower side hexagonal hole (namely, a ground knife change-over switch) of the middle door relative to the mechanical arm is determined and sent to the mechanical arm controller, the mechanical arm controller controls an earthing switch operation handle to reach the operation area of the ground knife change-over switch according to the position, the earthing switch operation handle is sent into the right lower side hexagonal hole of the middle door and rotates anticlockwise to enable the earthing switch to be in a brake separating position, the operation handle is taken out, an interlocking plate at the operation hole automatically rebounds to cover the operation hole, the mechanical arm automatically restores to a fixed position, the 3D camera judges whether the earthing switch is in a brake separating state or not, if the earthing switch is not in the brake separating state, brake separating operation is carried out again, if the earthing switch separating state is judged, and the operation is finished. And if the visual system judges that the circuit breaker in the switch cabinet is disconnected and the grounding switch is not disconnected through the comparison of the switch cabinet panel images, switching the grounding switch to a disconnected state through the step of the grounding switch opening operation. Through the above, when the switch cabinet operable part does not meet the operating condition of the one-key sequential control operating instruction, the operable part is converted into the state meeting the operating condition, so that the problem of low one-key sequential control operating efficiency caused by manual switching during waiting is avoided.

5. When the operating platform shakes out or in the handcart, in order to ensure the safety of the handcart in and out process, the operating platform stores the number of turns or the rotating angle of the elastic electric sleeve which should rotate when the handcart is shaken in or out in place in advance, and whether the handcart is shaken in or out in place is judged by monitoring the number of turns or the rotating angle of the elastic electric sleeve. When the handcart is shaken in or out, the mechanical arm needs to control the handcart shaking-in and shaking-out tool to rotate in the handcart lock hole, so that the number of turns or the angle related to rotation is set as a threshold value according to experience, and whether the handcart is shaken in or out in place or not is judged by detecting whether the handcart shaking-in and shaking-out tool rotates the right number of turns or the right angle when the handcart is shaken in or out, and the scheme is simple and feasible.

As another embodiment, a torque threshold or a range may be set through experience based on the torque that the motor should output when the handcart is shaken in place or shaken out of place, and when the handcart is shaken in or shaken out, whether the handcart is shaken in place or shaken out of place is determined by detecting the torque when the handcart is shaken in and shaken out of place by the handcart shaking-in and shaking-out tool. And if the torque reaches a set torque threshold value or range, the handcart is shaken in place or shaken out of place.

6. As shown in fig. 3, after the handcart is shaken out in place by the operating platform, the working state of the switch cabinet needs to be switched to a remote control state, and at this time, the switch cabinet is switched to the remote control state by the method for switching the near and remote control states of the switch cabinet.

As shown in fig. 4, after the handcart is shaken in place by the operating platform, the circuit breaker needs to be switched on, and the working process of the switch cabinet is switched to a remote control state, at this time, the circuit breaker is switched to the switch-on state and the switch cabinet is switched to the remote control state by the method for switching the working state of the circuit breaker and the near and remote control states of the switch cabinet.

When the operation platform operates the operable component through the mechanical arm every time, the 3D camera collects the state of the corresponding operable component in real time and sends the state to the background control system, the background control system confirms whether the operation is in place or not in place through an image comparison mode, and if the operation is not in place or fails, an alarm is given in time.

The implementation method of the one-key sequence control operation instruction for switching on and switching off the ground switch is shown in fig. 5, the implementation method of the one-key sequence control operation instruction for switching off and switching on the ground switch is shown in fig. 6, and the specific process of switching on and switching off the ground switch is implemented through the following steps:

1. and sequentially carrying out step 1, step 2 and step 3 in the process of shaking in and shaking out the handcart.

2. After the operation object confirms that no mistake is found, the cloud platform camera collects the switch cabinet panel image, confirm the state of the switch cabinet, check the relevant pressing plate, whether the protection possesses the operation condition, if not, feed back to the backstage system, suspend or end the current task, if possess the operation condition, then the visual system discerns the switch cabinet panel image, if the working condition of the pressing plate, knob and button that show in the switch cabinet panel image satisfies the operating condition of a key sequence control handcart operating instruction, then carry out the switch-off operation of the earthing knife or close the floodgate, the operation of the specific earthing knife switch-off is with the enough clarity introduced in the switch-off operation of the earthing knife in step 4 of the handcart shaking-in and shaking-out process, the description is omitted here, and the operation of the specific earthing knife switch-on is: and controlling the earthing switch operating handle to reach an operating area of the earthing switch changeover switch by the unloading ratio controller according to the position like the disconnecting link of the earthing switch, then sending the earthing switch operating handle into a hexagonal hole at the right lower side of the middle door, clockwise rotating to enable the earthing switch to be at a switching-on position, taking out the operating handle, automatically rebounding the interlocking plate at the operating hole, covering the operating hole, automatically recovering the mechanical arm to a fixed position, and finishing the operation.

Certain conditions need to be met when the ground knife is switched on or switched off. Firstly, the cubical switchboard is in close accuse state, just can be operated by operation platform, and secondly, as shown in fig. 5, the ground sword need satisfy the circuit breaker disconnection condition earlier when closing, then the handcart needs to satisfy and be in experimental position condition, as shown in fig. 6, needs to satisfy cabinet door and back shrouding and close and lock when the ground sword separating brake. Therefore, when the operating platform executes a one-key sequential control handcart operating instruction, if the visual system judges that the switch cabinet is in a remote control state through comparison of switch cabinet panel images, near-remote control switch switching operation is required, and the near-remote control switch switching operation is like the near-remote control switch switching operation in step 4 in the process of shaking in and shaking out the handcart, so that the switch cabinet is switched from the remote control state to the near control state through the operation.

When the one-key sequence control operation instruction is a ground switch closing instruction, if the visual system judges that the circuit breaker in the switch cabinet is not disconnected through comparison of images of a panel of the switch cabinet, the circuit breaker is required to be opened, and the circuit breaker is opened in the switch cabinet if the handcart is shaken in and out in the step 4.

When the one-key sequence control operation instruction is a ground switch opening instruction, if the visual system judges that the cabinet doors of the switch cabinets are not closed through comparison of the panel images of the switch cabinets, namely the operation condition of the ground switch opening instruction that all the cabinet doors of the switch cabinets and the rear sealing plate are closed and locked is not met, the current state of the switch cabinets without the operation condition is fed back to the background system, and the current task is suspended or finished. Through can't be with the cubical switchboard state conversion get under the operating condition when the state, with information upload, the artifical information that does not satisfy the operating condition of discovery cubical switchboard state of being convenient for.

Through the operation process of ground knife switching-on and switching-off, the tail end operation tool of the mechanical arm can accurately reach the designated operation position to perform one-key sequential control operation, the success rate of the one-key sequential control operation is improved, state conversion operation is performed on the operable part of the switch cabinet, which does not meet the operation conditions, the problem that one-key sequential control operation efficiency is low due to manual switching during waiting is avoided, and the operation efficiency of ground knife switching-on and switching-off is improved.

Fig. 7 shows a method for implementing emergency opening of a circuit breaker by using a key sequence control operation instruction, wherein a specific emergency opening process of the circuit breaker is implemented by the following steps:

2. After an operation object confirms that no fault exists, a cradle head camera collects images of a switch cabinet panel, confirms the state of the switch cabinet, checks whether related pressing plates and protection have operation conditions, if the related pressing plates and protection do not have the operation conditions, feeds the images back to a background system, suspends or finishes the current task, if the operation conditions are met, the images of the switch cabinet panel with characteristic blocks are obtained through a 3D camera and recognized, the position relation between a clamping tool and the characteristic blocks of one of mechanical arm end tools corresponding to the emergency brake-off operation of the circuit breaker is obtained, then the position relation of an emergency brake-off knob relative to the clamping tool under a mechanical arm coordinate system is determined according to the position relation between the clamping tool and the characteristic blocks and the position relation between the characteristic blocks calibrated in advance and the emergency brake-off knob, a mechanical arm controller plans the motion of the mechanical arm according to the position relation, then controls the mechanical arm to move according to the planned motion path, so that the clamping tool reaches an operation area of the emergency brake-off knob, the mechanical arm slowly stretches out to enable a tail end tool to approach the emergency brake-off knob, a motor controls a clamping jaw to clamp the emergency brake-off knob, then the mechanical arm drives a tail end tool to slowly rotate, and pushes an electric pushing cylinder to slowly push a brake-off button after the emergency brake-off button, and the emergency brake-off operation is slowly, and the emergency brake-off operation is finished. The handcart shaking-out instruction, the handcart shaking-in instruction, the grounding switch closing instruction, the grounding switch opening instruction and the breaker emergency opening instruction are used as one-key sequential control operation instructions, and corresponding operation conditions are set, so that the processes that the mechanical arm can be moved to an appointed position under the condition, the handcart shaking-in and shaking-out, the grounding switch closing and opening and the breaker emergency opening are carried out are achieved, and the operation success rate of the one-key sequential control process is improved. Solve current manual work through above-mentioned process and carry out earthing switch and urgent separating brake operation time, operating procedure is loaded down with trivial details, and take place danger during the operation easily, cause personnel's accident casualties, cause equipment to damage, and when meetting emergency, need the separating brake if the electricity distribution room meets emergency, secondary power source also cuts off the power supply, electric operation can't be done, just must use urgent separating brake button, urgent separating brake makes the personal risk greatly reduced, make the fault circuit breaker obtain the isolation rapidly, reduce to minimum limit with the power failure scope, the power supply reliability is showing and is increasing.

The embodiment of the operating platform comprises:

in this embodiment, the operation platform is used to implement the process of the one-key sequence control method based on the intelligent linkage operation platform, and the one-key sequence control method based on the intelligent linkage operation platform is sufficiently clear in the one-key sequence control method based on the intelligent linkage operation platform, and is not described here again.

Claims

1. An operating platform, comprising: the handcart control system comprises a communication system, a moving system and a mechanical arm tail end tool, wherein the communication system is used for receiving a one-key sequence control operation instruction issued by a background control system, the moving system is used for moving an operation platform to an area where a switch cabinet is located according to the one-key sequence control operation instruction, and the mechanical arm tail end tool is used for operating a handcart;

the visual system is used for acquiring a switch cabinet panel image, judging whether the switch cabinet meets the operating condition of a one-key sequence control operating instruction or not through the switch cabinet panel image, identifying the switch cabinet panel with the characteristic block when the switch cabinet meets the operating condition of the one-key sequence control operating instruction to obtain the position relation between the tail end tool of the mechanical arm and the characteristic block, and then determining the position of the operating part relative to the tail end tool of the mechanical arm in the mechanical arm coordinate system and sending the position of the operating part relative to the tail end tool of the mechanical arm to the mechanical arm controller of the operating platform according to the position relation between the tail end tool of the mechanical arm and the characteristic block and the position relation between the characteristic block and the operating part which are calibrated in advance; the operation component is a component which needs to be operated on the corresponding switch cabinet in the one-key sequential control operation instruction; the tool at the tail end of the mechanical arm is a tool which is needed to be used by the tail end of the mechanical arm and corresponds to the one-key sequential control operation instruction;

the robot arm controller is configured to control the robot arm to move according to a position of the operating member relative to the end-of-robot-arm tool in the robot arm coordinate system, so that the end-of-robot-arm tool is moved to the operating member position.

2. The operation platform according to claim 1, further comprising a navigation system, wherein the navigation system stores an electronic map in advance, and the navigation system is used for automatically searching a way through the electronic map stored in advance, so that the movement of the moving system is controlled to move the operation platform to an area where the switch cabinet is located.

3. The operation platform according to claim 2, wherein the vision system is further configured to collect a cabinet number and a two-dimensional code set on the switch cabinet, and determine whether the switch cabinet is an operation object corresponding to the one-key sequential control operation instruction according to the cabinet number and the two-dimensional code.

4. The operation platform according to claim 1, wherein if the result of the judgment of the switch cabinet panel image by the vision system is: and when the switch cabinet is in a remote control state, the visual system identifies a switch cabinet panel image with the characteristic block to obtain a position relation between the mechanical arm end tool and the characteristic block corresponding to the switching operation of the near-remote control switch, the mechanical arm end tool corresponding to the switching operation of the near-remote control switch is a near-remote control switch switching tool, then the position of the near-remote control switch relative to the near-remote control switch switching tool in the mechanical arm coordinate system is determined according to the position relation between the near-remote control switch switching tool and the characteristic block and the position relation between the characteristic block and the near-remote control switch which are calibrated in advance, and the position of the near-remote control switch relative to the near-remote control switch switching tool in the mechanical arm coordinate system is sent to the mechanical arm controller, and the mechanical arm controller controls the mechanical arm to move according to the position of the near-remote control switch relative to the near-remote control switch switching tool in the mechanical arm coordinate system, so that the near-remote control switch switching tool reaches an operation area of the near-remote control switch, and then the switch cabinet is switched to a near control state.

5. The operating platform according to claim 4, wherein if the communication system receives a key sequence control operation command issued by the background control system, the operation platform comprises: the one-key sequential control operation instruction is a handcart shaking-out instruction, a handcart shaking-in instruction or a ground switch closing instruction, and the result of judging the switch cabinet panel image by the vision system is as follows: the method comprises the steps that a switch cabinet is in a close control state, a breaker is in a closing state, a visual system identifies a switch cabinet panel image with a characteristic block to obtain a position relation between a mechanical arm tail end tool and the characteristic block corresponding to breaker opening operation, the mechanical arm tail end tool corresponding to the breaker opening operation is a breaker opening switch switching tool, then the position of the breaker opening switch relative to the breaker opening switch switching tool under a mechanical arm coordinate system is determined and sent to a mechanical arm controller according to the position relation between the breaker opening switch switching tool and the characteristic block and the position relation between a pre-calibrated characteristic block and the breaker opening switch, and the mechanical arm controller controls the mechanical arm to move according to the position of the breaker opening switch relative to the breaker opening switch switching tool under the mechanical arm coordinate system, so that the breaker opening switch switching tool reaches an operation area of the breaker opening switch, and then the breaker is switched to an opening state.

6. The operating platform of claim 5, wherein if the communication system receives a key sequence control operation command issued by the background control system, the operation platform comprises: the one-key sequence control operation instruction is a handcart shaking-in instruction, and the result of judging the image of the switch cabinet panel by the vision system is as follows: the switch cabinet is in close accuse state, the circuit breaker is in the separating brake state and the earthing switch is in the closure state, perhaps communication system receives a key sequence control operating command that backstage control system issued and is: the ground switch opening instruction and the result of judging the switch cabinet panel image by the vision system are as follows: the switch cabinet meets the operating condition of a one-key sequence control operating instruction, the visual system identifies a switch cabinet panel image with a feature block to obtain the position relation between the mechanical arm end tool and the feature block corresponding to the ground knife switching-off operation, the mechanical arm end tool corresponding to the ground knife switching-off operation is a ground knife switch switching tool, then the position of the ground knife switch relative to the ground knife switch switching tool in a mechanical arm coordinate system is determined and sent to the mechanical arm controller according to the position relation between the ground knife switch switching tool and the feature block and the position relation between the pre-calibrated feature block and the ground knife switch, the mechanical arm controller controls the mechanical arm to move according to the position of the ground knife switch relative to the ground knife switch switching tool in the mechanical arm coordinate system, so that the ground knife switch switching tool at the tail end of the mechanical arm reaches the operating area of the ground knife switch, and then the ground knife is switched to be in a disconnected state.

7. The operating platform according to claim 6, wherein if the communication system receives a key sequence control operation command issued by the background control system, the operation platform comprises: the handcart is shaken into the instruction or the handcart is shaken out of the instruction, and the result of judging the image of the switch cabinet panel by the vision system is as follows: the switch cabinet meets the operation condition of the one-key sequence control operation instruction, or the communication system receives the one-key sequence control operation instruction issued by the background control system as follows: the earth knife switching-on instruction, and the result of the visual system to the cubical switchboard panel image judgement is: the method comprises the steps that a switch cabinet is in a close control state, a breaker is in a brake-separating state, a handcart is in a non-test position, a switch cabinet panel image with a characteristic block is identified, a position relation between a mechanical arm terminal tool and the characteristic block corresponding to the operation of the movable handcart is obtained, the mechanical arm terminal tool corresponding to the operation of the movable handcart is a handcart shake-in and shake-out tool, then the position of a handcart lock hole in a mechanical arm coordinate system relative to the handcart shake-in and shake-out tool is determined and sent to a mechanical arm controller according to the position relation between the handcart shake-in and shake-out tool and the position relation between the characteristic block calibrated in advance and a handcart lock hole, the mechanical arm controller controls the movement of the mechanical arm according to the position of the handcart lock hole in the mechanical arm coordinate system relative to the handcart shake-in and shake-out tool, so that the handcart shake-in and shake-out tool at the tail end of the mechanical arm reaches an operation area of the handcart lock hole, and then the handcart is moved to a specified position.

8. The operation platform according to claim 7, wherein in the process of moving the handcart to the designated position, the number of turns or the angle of rotation of the handcart shaking-in and shaking-out tool when the handcart is moved is detected, and if the number of turns reaches the preset number of turns or the angle reaches the preset angle, the handcart is moved in place.

9. The operation platform according to claim 7, wherein in the process of moving the handcart to a designated position, the torque of the handcart shaking in and out of the tool when the handcart is moved is detected, and if the torque reaches the set torque, the handcart is moved in place.

10. The operation platform according to claim 8 or 9, wherein if the communication system receives a one-key sequence control operation command issued by the background control system, the operation platform comprises: the handcart shaking-in instruction is used, when the handcart is judged to be moved in place, the vision system identifies a switch cabinet panel image with a characteristic block to obtain a position relation between a mechanical arm end tool and the characteristic block corresponding to near-far switch switching operation, the mechanical arm end tool corresponding to the near-far switch switching operation is a near-far switch switching tool, then the position of the near-far switch relative to the near-far switch switching tool under a mechanical arm coordinate system is determined and sent to a mechanical arm controller according to the position relation between the near-far switch switching tool and the characteristic block and the position relation between the characteristic block and the near-far switch calibrated in advance, the mechanical arm controller controls the mechanical arm to move according to the position of the near-far switch relative to the near-far switch switching tool under the mechanical arm coordinate system, so that the near-far switch switching tool reaches an operation area of the near-far switch, and then the switch cabinet is switched to a far control state.

11. The operating platform according to claim 8 or 9, wherein if the communication system receives a one-touch sequence control operation instruction issued by the background control system, the one-touch sequence control operation instruction comprises: the method comprises the steps that a handcart is shaken out to give an instruction, when the handcart is judged to be moved in place, a vision system identifies a switch cabinet panel image with a characteristic block to obtain a position relation between a mechanical arm tail end tool and the characteristic block corresponding to circuit breaker closing operation, the mechanical arm tail end tool corresponding to the circuit breaker closing operation is a circuit breaker closing switch switching tool, then the position of the circuit breaker closing switch relative to the circuit breaker closing switch switching tool under a mechanical arm coordinate system is determined and sent to a mechanical arm controller according to the position relation between the circuit breaker closing switch switching tool and the characteristic block and the position relation between the characteristic block and the circuit breaker closing switch which are calibrated in advance, the mechanical arm controller controls the mechanical arm to move according to the position of the circuit breaker closing switch relative to the circuit breaker closing switch switching tool under the mechanical arm coordinate system, so that the circuit breaker closing switch switching tool at the tail end of the mechanical arm reaches an operation area of the circuit breaker closing switch, and then the circuit breaker is switched to be in a closing state;

then, the visual system identifies a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm end tool and the feature block corresponding to the switching operation of the near-far control switch, the mechanical arm end tool corresponding to the switching operation of the near-far control switch is a near-far control switch switching tool, then the position of the near-far control switch relative to the near-far control switch switching tool under a mechanical arm coordinate system is determined according to the position relation between the near-far control switch switching tool and the feature block and the position relation between the feature block and the near-far control switch which are calibrated in advance, the position of the near-far control switch relative to the near-far control switch switching tool under the mechanical arm coordinate system is sent to a mechanical arm controller, and the mechanical arm controller controls the mechanical arm to move according to the position of the near-far control switch relative to the near-far control switch switching tool under the mechanical arm coordinate system, so that the near-far control switch switching tool reaches an operation area of the near-far control switch, and then the switch cabinet is switched to a far control state.

12. A one-key sequential control method based on a linkage operation platform is characterized by comprising the following steps:

s3, when the switch cabinet meets the operating condition of the one-key sequential control operating instruction, the visual system identifies the switch cabinet panel image with the feature block to obtain the position relation between the end tool and the feature block of the mechanical arm, and then determines the position of the operating part relative to the end tool of the mechanical arm in the mechanical arm coordinate system and sends the position of the operating part relative to the end tool of the mechanical arm to the mechanical arm controller of the operating platform according to the position relation between the end tool and the feature block of the mechanical arm and the position relation between the pre-calibrated feature block and the operating part; the operation component is a component which needs to be operated on the corresponding switch cabinet in the one-key sequential control operation instruction; the tool at the tail end of the mechanical arm is a tool which is needed to be used by the tail end of the mechanical arm and corresponds to the one-key sequential control operation instruction;

13. The one-key sequence control method based on the linkage operation platform as claimed in claim 12, wherein in step S1, the navigation system of the operation platform automatically seeks a path through a pre-stored electronic map, so as to move to the area where the switch cabinet is located.

14. The linkage operation platform-based one-key sequence control method according to claim 13, wherein after the operation platform moves to the area where the switch cabinet is located, a cabinet number and a two-dimensional code set on the switch cabinet are collected through a camera of a vision system, and whether the switch cabinet is an operation object corresponding to the one-key sequence control operation instruction is determined according to the cabinet number and the two-dimensional code.

15. The linkage operation platform-based one-touch sequence control method according to claim 12, wherein in step S1, the one-touch sequence control operation command comprises: one or more of a handcart shaking-out instruction, a handcart shaking-in instruction, a ground switch closing instruction, a ground switch opening instruction and a breaker emergency opening instruction; if the one-key sequence control operation instruction in the step S1 is a handcart shaking-out instruction, the operation conditions in the step S2 are as follows: the switch cabinet is in a close control state and the breaker is in an opening state; if the one-key sequence control operation instruction in the step S1 is a handcart shaking-in instruction, the operation conditions in the step S2 are as follows: the switch cabinet is in a close control state, the breaker is in an opening state and the ground switch is in an opening state; if the one-key sequence control instruction in the step S1 is a ground switch closing instruction, the operation conditions in the step S2 are as follows: the switch cabinet is in a close control state, the breaker is in a brake-off state and the handcart is in a test position; if the one-key sequence control operation instruction in the step S1 is a ground switch opening instruction, the operation conditions in the step S2 are as follows: the switch cabinet is in a close control state, and the switch cabinet door is closed; if the one-key sequence control instruction in the step S1 is a breaker emergency opening instruction, the operation conditions in the step S2 are as follows: the switch cabinet is in a near control state and the breaker is in a breaking and closing state and breaks down.

16. The linkage operation platform-based one-key sequence control method according to claim 15, wherein in the step S2, if the result of judging the switch cabinet panel image is: the switch cabinet is in the remote control state, then carries out the near-remote control switch switching operation, the near-remote control switch switching operation is: the method comprises the steps of identifying a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm end tool and the feature block corresponding to near-far switch switching operation, determining the position of a near-far switch relative to the near-far switch switching tool under a mechanical arm coordinate system according to the position relation between the near-far switch switching tool and the feature block and the position relation between a pre-calibrated feature block and a near-far switch, sending the position to a mechanical arm controller, and controlling the mechanical arm to move according to the position of the near-far switch relative to the near-far switch switching tool under the mechanical arm coordinate system by the mechanical arm controller, so that the near-far switch switching tool reaches an operation area of the near-far switch, and then switching the switch cabinet to a near-far state.

17. The linkage operation platform-based one-key sequence control method according to claim 16, wherein if in step S1, the one-key sequence control operation instruction is a handcart shaking-out instruction, a handcart shaking-in instruction or a ground switch-on instruction, and in step S2, the result of judging the switch cabinet panel image is: the cubical switchboard is in near accuse state and the circuit breaker is in the combined floodgate state, then carries out circuit breaker opening operation, circuit breaker opening operation is: the method comprises the steps of identifying a switch cabinet panel image with a characteristic block to obtain a position relation between a mechanical arm tail end tool and the characteristic block corresponding to the circuit breaker opening operation, determining the position of a circuit breaker opening switch relative to the circuit breaker opening switch switching tool under a mechanical arm coordinate system and sending the position to a mechanical arm controller according to the position relation between the circuit breaker opening switch switching tool and the characteristic block and the position relation between a pre-calibrated characteristic block and the circuit breaker opening switch, and controlling the mechanical arm to move according to the position of the circuit breaker opening switch relative to the circuit breaker opening switch switching tool under the mechanical arm coordinate system by the mechanical arm controller, so that the circuit breaker opening switch switching tool reaches an operation area of the circuit breaker opening switch, and then switching the circuit breaker into an opening state.

18. The linkage operation platform-based one-key sequence control method according to claim 17, wherein if the one-key sequence control operation instruction is a handcart shaking-in instruction in step S1, and meanwhile, in step S2, the result of judging the image of the switch cabinet panel is as follows: the cubical switchboard is in close accuse state, the circuit breaker is in the separating brake state and the earthing switch is in the closure state, perhaps in step S1, a key is in the same direction as accuse operating command for earthing switch separating brake command, in step S2 simultaneously, satisfies operating condition, then carries out earthing switch separating brake operation, earthing switch separating brake operation is: the method comprises the steps of identifying a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm end tool and the feature block corresponding to the ground knife switching-off operation, determining the position of a ground knife switch relative to the ground knife switch switching tool in a mechanical arm coordinate system according to the position relation between the ground knife switch switching tool and the feature block and the position relation between a pre-calibrated feature block and the ground knife switch, sending the position to a mechanical arm controller, controlling the mechanical arm to move according to the position of the ground knife switch relative to the ground knife switch switching tool in the mechanical arm coordinate system by the mechanical arm controller, enabling the ground knife switch switching tool at the tail end of the mechanical arm to reach an operation area of the ground knife switch, and switching the ground knife to an off state.

19. The one-key sequence control method based on the linkage operation platform according to claim 18, wherein if in step S1, the one-key sequence control operation instruction is a handcart rolling-in instruction or a handcart rolling-out instruction, and in step S2, the operation condition is met, or in step S1, the one-key sequence control operation instruction is a ground switch closing instruction, and in step S2, the switch cabinet is in a close control state, the circuit breaker is in a switching-off state, and the handcart is in a non-test position, the handcart moving operation is performed, and the handcart moving operation is: the method comprises the steps of identifying a switch cabinet panel image with a feature block to obtain a position relation between a terminal tool and the feature block of a mechanical arm corresponding to the operation of a mobile handcart, determining the position of a handcart lock hole under a mechanical arm coordinate system relative to a handcart shake-in and shake-out tool according to the position relation between the handcart shake-in and shake-out tool and the feature block and the position relation between a pre-calibrated feature block and a handcart lock hole, and sending the position to a mechanical arm controller, wherein the mechanical arm controller controls the mechanical arm to move according to the position of the handcart lock hole under the mechanical arm coordinate system relative to the handcart shake-in and shake-out tool, so that the handcart shake-in and shake-out tool at the tail end of the mechanical arm reaches an operation area of the handcart lock hole, and then moves the handcart to an appointed position.

20. The linkage operation platform-based one-key sequence control method according to claim 19, wherein in the process of moving the handcart to a specified position, the number of turns or the angle of rotation of the handcart shaking-in and shaking-out tool when the handcart is moved is detected, and if the number of turns reaches a preset number of turns or the angle reaches a preset angle, the handcart is moved in place.

21. The linkage operation platform-based one-key sequence control method according to claim 19, wherein in the process of moving the handcart to a specified position, the torque of the handcart shaking in and out tool when the handcart is moved is detected, and if the torque reaches a set torque, the handcart is moved in place.

22. The one-key sequence control method based on the linkage operation platform according to claim 20 or 21, wherein if the one-key sequence control operation instruction is a handcart shaking-out instruction in step S1, when the handcart is judged to be moved in place, the near-far control switch switching operation is performed, and then the switch cabinet is switched to a far-control state.

23. The linkage operation platform-based one-key sequence control method according to claim 20 or 21, wherein if the one-key sequence control operation instruction in step S1 is a handcart shaking-in instruction, when it is determined that the handcart is moved in place, a breaker switching-on operation is performed first, and the breaker switching-on operation is: the visual system acquires images of a switch cabinet panel with characteristic blocks through a camera and identifies the images to obtain the position relation between a mechanical arm tail tool and the characteristic blocks corresponding to the circuit breaker closing operation, the mechanical arm tail tool corresponding to the circuit breaker closing operation is a circuit breaker closing switch switching tool, then the position of the circuit breaker closing switch relative to the circuit breaker closing switch switching tool under a mechanical arm coordinate system is determined according to the position relation between the circuit breaker closing switch switching tool and the characteristic blocks and the position relation between the characteristic blocks and the circuit breaker closing switch which are calibrated in advance, the position of the circuit breaker closing switch relative to the circuit breaker closing switch switching tool under the mechanical arm coordinate system is determined and sent to a mechanical arm controller, the mechanical arm controller controls the mechanical arm to move according to the position of the circuit breaker closing switch relative to the circuit breaker closing switch switching tool under the mechanical arm coordinate system, so that the circuit breaker closing switch switching tool at the tail end of the mechanical arm reaches an operation area of the circuit breaker closing switch, and then the circuit breaker is switched to a closing state; and after the closing operation of the circuit breaker is finished, switching operation of a near-far control switch is carried out, and the switch cabinet is switched into a far-control state.

24. The linkage operation platform-based one-key sequence control method according to claim 15, wherein if the one-key sequence control operation instruction is a breaker emergency opening instruction in step S1 and the operation condition is not satisfied in step S2, or if the one-key sequence control operation instruction is a ground switch opening instruction in step S1 and the switch cabinet is in a close control state in step S2 and the door of the switch cabinet is not closed, the current state of the switch cabinet which does not satisfy the one-key sequence control operation instruction is sent up.

25. The linkage operation platform-based one-key sequence control method according to claim 15, wherein if the one-key sequence control operation command in step S1 is a breaker emergency opening command and the operation condition is satisfied in step S2, an emergency opening operation of the breaker is performed, and the emergency opening operation of the breaker is that: the method comprises the steps of identifying a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm tail end tool and the feature block corresponding to the emergency opening operation of the circuit breaker, wherein the mechanical arm tail end tool corresponding to the emergency opening operation of the circuit breaker is an emergency opening switch switching tool, determining the position of the emergency opening switch relative to the emergency opening switch switching tool under a mechanical arm coordinate system according to the position relation between the emergency opening switch switching tool and the feature block and the position relation between a pre-calibrated feature block and the emergency opening switch, sending the position to a mechanical arm controller, and controlling the mechanical arm to move according to the position of the emergency opening switch relative to the emergency opening switch switching tool under the mechanical arm coordinate system by the mechanical arm controller, so that the emergency opening switch switching tool at the tail end of the mechanical arm reaches an operation area of the emergency opening switch, and then switching the circuit breaker into an opening state.

26. The one-key sequence control method based on the linkage operation platform according to claim 19, wherein if the one-key sequence control operation command in step S1 is a ground switch closing command and the operation condition is satisfied in step S2, the ground switch closing operation is performed, and the ground switch closing operation is: the method comprises the steps of identifying a switch cabinet panel image with a feature block to obtain a position relation between a mechanical arm end tool and the feature block corresponding to the ground knife switching-on operation, determining the position of a ground knife switch relative to the ground knife switch switching tool in a mechanical arm coordinate system according to the position relation between the ground knife switch switching tool and the feature block and the position relation between a pre-calibrated feature block and the ground knife switch, sending the position to a mechanical arm controller, controlling the mechanical arm to move according to the position of the ground knife switch relative to the ground knife switch switching tool in the mechanical arm coordinate system by the mechanical arm controller, enabling the ground knife switch switching tool at the tail end of the mechanical arm to reach an operation area of the ground knife switch, and switching the ground knife to be in a closed state.