CN117381777A

CN117381777A - Autonomous operation robot and method for switch cabinet

Info

Publication number: CN117381777A
Application number: CN202311390426.8A
Authority: CN
Inventors: 张峰; 郭锐; 贾娟; 李成林; 张斌; 孙志周; 司金保; 贾昭鑫; 白金辉; 王海磊; 王万国; 孟健; 李路; 刘海波; 张海龙; 刘丕玉
Original assignee: State Grid Intelligent Technology Co Ltd
Current assignee: State Grid Intelligent Technology Co Ltd
Priority date: 2023-10-24
Filing date: 2023-10-24
Publication date: 2024-01-12

Abstract

The invention provides a switch cabinet autonomous operation robot and a method, wherein a robot operation platform and a breaker placing platform are integrated, the robot operation platform comprises a ground knife operation platform and a mechanical arm operation platform, the mechanical arm operation platform is arranged at the upper end of the ground knife operation platform, and is detachably connected with an operation tool, the robot trajectory planning and autonomous navigation between the current position and a target switch cabinet are performed through ingenious structural design and position matching according to an operation task, a visual positioning system is utilized to acquire target images and point cloud data, key characteristics of an operation target in the operation task are extracted, the spatial pose of the operation target is determined, the operation position and visual guidance are provided for each operation platform, and the operation strategy planning is performed, so that the full autonomous operation of all operation elements of the switch cabinet can be realized.

Description

Autonomous operation robot and method for switch cabinet

Technical Field

The invention belongs to the technical field of switch cabinet robots, and relates to a switch cabinet autonomous operation robot and a method.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

With the increasing number of power grid devices and the increasing requirements for substation automation and safety, the demand of power grids on auxiliary operation robots is increasing. When the staff carries out fault detection and live working on the power equipment, certain potential safety hazards exist, and the life safety of the staff is threatened. Under the background, the intelligent auxiliary operation robot is adopted, so that the workload of workers can be greatly reduced, the equipment detection precision is improved, the manual operation can be reduced, and the risk of electric power accidents is reduced.

According to the knowledge of the inventor, the current switch cabinet operation robot can generally collect the running state data of the switch cabinet through a sensor and a mechanical arm, monitor the state of the switch cabinet, perform live working on the switch pair through binocular vision, timely find potential safety hazards of equipment, replace workers to perform dangerous operation when the switch cabinet fails, and guarantee life safety of electric workers.

However, the switch cabinet operation actually further comprises non-switch and button-type to-be-operated elements such as high-voltage switch cabinet circuit breaker maintenance operation and ground knife operation, and the existing switch cabinet operation robot cannot realize that all switch cabinet operations are completely free of manual operation.

On the other hand, the control of the current switch cabinet operation robot generally only focuses on how to ensure that the robot reaches a single target switch cabinet, so as to realize path planning, or how to control the pose and the movement of the robot, so as to ensure that the robot realizes a single maintenance action.

However, when a plurality of maintenance or operation tasks exist or a plurality of maintenance actions are included in the operation tasks, the switching control of different actions and the flexible control and optimal control of single actions are performed on the line planning among all target switch cabinets, but the switch cabinet operation robot has single function, cannot meet the use conditions of various actual sites on site, and cannot really realize unmanned and autonomous operation.

Disclosure of Invention

The invention provides a robot and a method for autonomously operating a switch cabinet, which can realize the switch/button type operation of the existing switch cabinet, the operation of a circuit breaker, a ground knife and the like, the autonomous operation of all components in the switch cabinet, and the switching, the flexibility and the accurate control of different operation platforms by the robot when the operation tasks of multiple operation actions are realized.

According to some embodiments, the present invention employs the following technical solutions:

The utility model provides a cubical switchboard autonomous operation robot, includes omnidirectional mobile platform to and robot operation platform, circuit breaker placing platform and the control system of setting on omnidirectional mobile platform, wherein:

the circuit breaker placing platform is arranged on the omnidirectional moving platform in a lifting manner, and the lifting space of the circuit breaker placing platform is not interfered with the operation space of the robot operation platform;

the circuit breaker placing platform is used for being in butt joint with the switch cabinet and keeping self-balance, and the circuit breaker is pulled out and moved to the circuit breaker placing platform;

the robot operation platform is used for opening and closing the ground knife, operating the mechanical arm or/and replacing an operation tool;

the control system is used for carrying out track planning and autonomous navigation between the current position and the target switch cabinet according to the operation task, carrying out operation strategy planning according to the position and the state of the operation target, and adjusting the pose of the robot operation platform or/and the breaker placing platform so as to realize autonomous operation.

According to the scheme, on one hand, the robot operation platform and the breaker placing platform can be integrated, through ingenious structural design and position matching, operation of conventional operation elements such as a switch and a button can be achieved, non-switch and button operation elements such as overhaul operation and ground knife operation of a high-voltage switch cabinet breaker can be achieved, and no-man operation of all operations and all parts in the switch cabinet can be achieved. On the other hand, by combining the image recognition and visual positioning results, track planning and global navigation between the current position and the target switch cabinet can be performed, and corresponding operation platforms can be automatically switched according to each maintenance action in the task, so that multi-action and multi-task operation is realized.

As an alternative implementation mode, one side of the omnidirectional mobile platform is provided with a robot operation platform, and the other side of the omnidirectional mobile platform is provided with the circuit breaker placing platform;

the robot operation platform comprises a ground knife operation platform and a mechanical arm operation platform, wherein the mechanical arm operation platform is arranged at the upper end of the ground knife operation platform, and the mechanical arm operation platform is detachably connected with an operation tool.

As an optional implementation manner, the robot operation platform is further provided with a visual positioning system, which is used for acquiring target images and point cloud data, extracting key features of an operation target in an operation task, determining a spatial pose of the operation target, and providing operation positions and visual guidance for each operation platform.

As an alternative embodiment, the control system includes a master control system and a job control system.

As an alternative embodiment, circuit breaker placing platform includes circuit breaker and gets and put subassembly and lift rotating assembly, set up lift rotating assembly on the omnidirectional moving platform, be provided with the lifting support on the lift rotating assembly, the fixed slewing support board in top of lifting support, assembly rotating platform in the slewing support board, rotating platform and circuit breaker get and put subassembly swivelling joint, circuit breaker gets and puts the subassembly and be used for the circuit breaker to pull out the cubical switchboard.

Further, the lifting support comprises a linear guide rail and a scissor support, one end of the bottom of the scissor support is fixed to the omnidirectional moving platform, the other end of the scissor support is fixed to a sliding block, the sliding block is in sliding connection with the linear guide rail, and the linear guide rail is arranged on the omnidirectional moving platform.

Further, the rotating platform comprises a ring rail sliding block, a rotating platform plate, a ring rail, a ring return motor, a speed reducer and a positioning pin;

the bottom of the rotating table plate is fixed with a circular rail sliding block, the circular rail sliding block is connected with a circular rail in a sliding manner, and the circular rail sliding block is fixed on the slewing bearing plate through the sliding connection circular rail; the bottom of the rotating table plate is provided with a locating pin, one end of the locating pin is connected with the speed reducer and the loop motor, the other end of the locating pin is connected to the breaker picking and placing assembly, and the speed reducer and the loop motor drive the rotating platform and the breaker picking and placing assembly to rotate.

As a further step, the breaker picking and placing assembly comprises an assembly supporting platform, two clamping pieces, a driving piece and a transmission assembly, wherein the two clamping pieces are symmetrically arranged on the assembly supporting platform, and the clamping pieces can horizontally move along the assembly supporting platform through the driving piece and the transmission assembly to adjust the relative distance;

The side of subassembly supporting platform still sets up locating pin and latch hook, and locating pin and the locating hole looks adaptation that target switch cabinet circuit breaker position department set up, the latch hook evagination in the side for lock the position between circuit breaker placing platform and the target switch cabinet.

Further, the side edge of the component supporting platform is further provided with a binocular camera, the binocular camera is used for identifying position characteristic information on the switch cabinet, providing relative position deviation between the circuit breaker placing platform and the switch cabinet, guiding the circuit breaker placing platform to adjust the relative position between the circuit breaker placing platform and the switch cabinet, and realizing automatic adjustment of the pose of the circuit breaker placing platform.

Above-mentioned technical scheme provides a circuit breaker placing platform, and it can realize self-balancing control, realizes circuit breaker placing platform's self-balancing control under vision positioning system's cooperation, carries out the accurate adjustment to its whole gesture to with the automatic, accurate butt joint of cubical switchboard handcart track, be convenient for drag out the circuit breaker on the platform voluntarily, get into the maintenance position. The problem of the maintenance of circuit breaker among the prior art all need the manpower with change is solved.

As an alternative embodiment, the mechanical arm operation platform comprises a multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm is arranged at the top end of the ground knife operation platform, and the operation range of the multi-degree-of-freedom mechanical arm can cover all operation spaces from the bottom to the top of the switch cabinet;

The tail end of the multi-degree-of-freedom mechanical arm is provided with a working tool butting device which is used for connecting a replaceable working tool;

the tail end of the multi-degree-of-freedom mechanical arm is also provided with a depth camera which is used for automatically identifying and positioning the accurate position and the gesture of the operation targets, and the autonomous operation aiming at each operation target is realized under the control of an operation control system.

Further, the mechanical arm operation platform is further provided with a tool rack, the tool rack is arranged on the omni-directional moving platform, and the tool rack is used for accommodating the replaceable working tool.

As an example, the exchangeable work tool may include several of a key operation tool, a knob switch operation tool, a cart operation tool, an emergency brake release operation tool, a platen operation tool, and a positioning test tool.

As an alternative embodiment, the omnidirectional mobile platform comprises a mobile platform and a plurality of travelling wheels arranged under the mobile platform, wherein each travelling wheel is provided with an independent driving piece and an independent steering mechanism;

the mobile platform is also provided with energy storage equipment and charging equipment connected with the energy storage equipment.

As an alternative embodiment, the visual positioning system is configured to: obtaining a target object picture;

Based on the target object picture, extracting a network by adopting a thermodynamic diagram, predicting to obtain a plurality of independent thermodynamic diagrams, wherein each thermodynamic diagram corresponds to a key point on the target object;

combining all independent thermodynamic diagrams, and returning to a network through the visual alignment posture to obtain the visual alignment posture of the mechanical arm;

the thermodynamic diagram extraction method comprises the following construction processes of thermodynamic diagrams adopted by network training: and generating a thermodynamic diagram for the label frame in the target object picture through Gaussian kernel processing.

Further, the thermodynamic diagram extraction network adopts a residual network to extract the characteristics of the target object picture, and after the characteristic diagram is obtained, the characteristic diagram is up-sampled for a plurality of times, and a plurality of independent thermodynamic diagrams are obtained through convolution adjustment.

As an alternative embodiment, the master control system is configured to: and acquiring a preconfigured indoor map of the distribution station/substation, acquiring attitude and position information of the robot, planning a global optimal path through global path planning, and driving the robot to move.

As a further aspect, the master control system is configured to introduce cable trench cover position information in an a-x algorithm for global path planning; for all nodes in an open list of an A-algorithm, sequentially selecting the nodes as nodes to be selected according to the moving cost from small to large; for a certain node to be selected, making a straight line connecting the node to be selected with a father node, solving all points with the abscissa between the node to be selected and the abscissa of the father node and on the straight line as storage points, and judging whether each storage point is positioned at the position of a cable trench cover plate or not by combining the position information of the cable trench cover plate; if all the reserve points are not positioned at the cable trench cover plate position, adding the node to be selected into the closed list, and once the node is added into the closed list, not selecting the node to be selected from the open list.

As an optional implementation manner, after the main control system is configured to plan the global optimal path, the local optimal path is obtained through local path planning, and the robot is driven to move according to the local optimal path.

As an alternative embodiment, the operation control system is configured to control corresponding driving mechanisms/driving pieces of the breaker placing platform, the ground knife operation platform and the mechanical arm operation platform to perform corresponding action control.

As an alternative embodiment, the system further comprises a chassis control module for controlling the omnidirectional mobile platform, wherein the chassis control module is used for controlling a driving mechanism of the omnidirectional mobile platform to perform motion control.

An operation method of a switch cabinet autonomous operation robot comprises the following steps:

responding to the operation task, determining the current position of the robot and the target switch cabinet by the main control system, and independently planning a global path to control the omnidirectional mobile platform to move to the position of the target switch cabinet;

according to the operation task, the robot operation control system controls the corresponding operation platform to operate;

the operation platform is controlled to aim at the appointed operation target, the operation target is identified and confirmed, and meanwhile the current state of the operation target is identified and confirmed to be consistent with the corresponding state in the instruction;

The visual positioning system performs pose recognition and positioning on the operation target, extracts key features of the operation target, recognizes the pose relation between the operation target and the robot, and adjusts the position of the omnidirectional mobile platform and the pose of the operation platform according to the current position relation so that the robot is in the optimal operation position;

the operation control system controls the operation platform to reach the designated operation position through track planning according to the operation steps and the operation strategies matched with the operation tasks, and performs corresponding operation.

As an alternative implementation mode, if the ground knife operation task is the ground knife operation task, the robot operation control system controls the ground knife operation platform to put into operation; if the operation platform is a breaker maintenance task, the robot operation control system controls the breaker operation platform to put into operation; if the mechanical arm acts, the robot operation control system controls the mechanical arm operation platform to put into operation, and the mechanical arm is automatically abutted to replace a corresponding operation tool.

If the maintenance task of the circuit breaker is carried out, the binocular camera is utilized to identify the position characteristic information on the switch cabinet, the relative position deviation between the circuit breaker placing platform and the switch cabinet is provided, the circuit breaker placing platform is guided to adjust the relative position between the circuit breaker placing platform and the switch cabinet, and the self-balancing adjustment of the pose of the circuit breaker placing platform is realized.

As an alternative implementation mode, the specific process for identifying and positioning the pose and extracting the key characteristics of the operation target comprises the following steps: obtaining a target object picture;

As an alternative implementation manner, the specific process of controlling the omnidirectional mobile platform to move to the target switch cabinet position comprises the steps of obtaining a pre-configured indoor map of the power distribution station/transformer substation, obtaining attitude and position information of the robot, planning a global optimal path through global path planning, and driving the robot to move.

As a further step, global path planning introduces cable trench cover plate position information in an a-algorithm; for all nodes in an open list of an A-algorithm, sequentially selecting the nodes as nodes to be selected according to the moving cost from small to large; for a certain node to be selected, making a straight line connecting the node to be selected with a father node, solving all points with the abscissa between the node to be selected and the abscissa of the father node and on the straight line as storage points, and judging whether each storage point is positioned at the position of a cable trench cover plate or not by combining the position information of the cable trench cover plate; if all the reserve points are not positioned at the cable trench cover plate position, adding the node to be selected into the closed list, and once the node is added into the closed list, not selecting the node to be selected from the open list.

As an alternative implementation manner, after the global optimal path is planned, the local optimal path is obtained through local path planning, and the robot is driven to move according to the local optimal path.

Compared with the prior art, the invention has the beneficial effects that:

the invention innovatively provides an autonomous and precise operation method for all parts of a switch cabinet operation robot, which subverts the current situation that the existing switch cabinet robot can only operate conventional to-be-operated elements such as a switch, a button and the like, utilizes the integration, flexible switching and motion control of a circuit breaker placing platform, a ground knife operation platform and a mechanical arm operation platform, truly realizes autonomous and precise operation of all parts in the switch cabinet, and creates a brand-new development direction of unmanned and intelligent operation of all the switch cabinets.

The invention innovatively provides a self-balancing control method for a breaker handling platform of a switch cabinet operation robot, which realizes the self-balancing control of a breaker placement platform under the cooperation of a visual positioning system, accurately adjusts the overall gesture of the self-balancing control, automatically and accurately butts against a handcart rail of the switch cabinet, is convenient for automatically dragging the breaker out of the platform and entering a maintenance position, solves the problem of unbalance between the parking gesture of a moving platform body and the switch cabinet body in the field use process, realizes the intellectualization and autonomy of the replacement and placement operation of the breaker, and improves the safety of operation.

The invention innovatively provides a mechanical arm visual alignment method based on key point regression, which is used for carrying out track planning and global navigation between a current position and a target switch cabinet according to an operation task by combining image recognition and visual navigation, and automatically switching corresponding operation platforms according to each maintenance action in the task, predicting the alignment gesture of the mechanical arm by using a key point thermodynamic diagram, carrying out accurate positioning of an operation position, improving the capability of a robot for facing a complex environment and a complex task, accurately deciding and accurately acting, realizing accurate mechanical arm alignment action without carrying out complex early calibration preparation and complex later point cloud processing procedures, improving the operation precision of autonomous operation of the mechanical arm, and solving the refined operation problem of the switch cabinet.

The invention creatively provides a robot global motion control method, which introduces the position information of a cable trench cover plate into a global planning algorithm, optimizes the strategy during robot track planning, enables planning path points to cover the cable trench cover plate area as few as possible, and reduces damage to the cable trench cover plate in the process that an operating robot reaches a target switch cabinet.

In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

FIG. 1 is a schematic view of a robot configuration according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a robot workflow according to an embodiment of the present invention;

fig. 3 is a schematic diagram of the overall structure of an electric placement platform of a handcart type circuit breaker of a high-voltage switch cabinet, which is provided by the embodiment of the invention;

fig. 4 is a schematic structural diagram of a picking and placing assembly of a handcart type circuit breaker according to an embodiment of the present invention;

fig. 5 is a partial enlarged view of a part of a structure of a picking and placing assembly of a handcart type circuit breaker, which is provided by the embodiment of the invention;

fig. 6 is a schematic diagram of a cart-type circuit breaker captured by a capturing and releasing assembly according to an embodiment of the present invention;

FIG. 7 is a schematic view of a lifting rotary assembly according to an embodiment of the present invention;

FIG. 8 is a schematic view of the bottom structure of a rotary platform according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a top structure of a rotary platform according to an embodiment of the present invention;

FIG. 10 is a schematic view of a swing support plate adjustment motor assembly according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a visual positioning system according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of a job control system according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of a master control system according to an embodiment of the present invention;

FIG. 14 is a schematic view of the ground blade operation platform structure according to an embodiment of the present invention;

FIG. 15 is a schematic view of a replacement work tool according to an embodiment of the present invention;

FIG. 16 is a schematic diagram of a fast switching device according to an embodiment of the present invention;

FIG. 17 is a schematic diagram showing details of the fast switching device according to an embodiment of the present invention;

FIG. 18 is a schematic view of a tool holder according to an embodiment of the invention;

FIG. 19 is a schematic view of the overall structure of a knob tool according to an embodiment of the present invention;

FIG. 20 is a schematic view of the overall structure of a handcart tool according to an embodiment of the present invention;

FIG. 21 is a schematic view of the overall structure of a button tool according to an embodiment of the present invention;

FIG. 22 is a schematic view of the general structure of a protective platen tool according to an embodiment of the present invention;

fig. 23 is a schematic view showing a partial structure of a protective platen tool according to an embodiment of the present invention.

The device comprises an A-mechanical arm working platform, a B-breaker placing platform, a C-replacement working tool, a D-ground knife operating platform, an E-omnidirectional moving platform, an F-visual positioning system and a G-working control system.

The device comprises a 1-handcart type breaker picking and placing component, a 2-lifting rotating component, a 3-bottom moving platform, a 111-hook, a 112-hook electric cylinder, a 113-hook sliding plate, a 114-supporting seat, a 115-first trapezoidal screw, a 116-first guide rail, a 117-X direction through type stepping motor, a 118-first screw bearing seat, a 119-slideway baffle, a 120-drawing sliding plate, a 121-second screw bearing seat, a 122-Y direction through type stepping motor, a 123-long trapezoidal screw, a 124-second guide rail, a 125-binocular camera, a 126-locating pin, a 127-component supporting platform, a 128-locking hook, a 129-locking hook motor, a 221-rotating platform, a 2211-circular rail sliding block, a 2212-rotating platen, a 2213-circular rail, a 2214-rotating motor, a 2215-second speed reducer, a 2226-locating pin, a 222-rotating support plate adjusting motor component, a 2221-adjusting support seat, a 2-adjusting telescopic shaft, a 3-base, a 2224-bearing support seat, a 2225-telescopic supporting seat, a rotating fork 223-supporting seat, a rotating support plate, a 222226-support frame, a 226-support frame, a 228-support frame, a 222233-support frame, a 222232-guide rail, a linear shear connecting plate, a sensor, a 222232-guide rail, a sensor-guide plate, a sensor, a 2222-rotating joint, a sensor, a 2223-rotating joint, a support frame, a sensor, a 2223, a support frame and a sensor, a support frame and a sensor, and a sensor;

The device comprises a D-1 ball screw ball spline shaft assembly, a D-2 angle rotating mechanism, a D-3 screwing operation mechanism, a D-4 front-back telescopic mechanism, a D-5 binocular camera, a D-6 lower base, a D-7 moving platform, a D-8 pressing plate and resetting device, a D-9 moving platform driving motor, a D-10 screwing sleeve, a D-11 ball spline shaft, a D-12 lifting mechanism, a D-13 supporting frame and a D-14 upper base.

401. The tool comprises a knob tool, 401-1, a knob tool holder, 401-2, a first tool control board, 401-3, a first knob driving motor, 401-4, a knob jaw, 402, a handcart tool, 402-1, a handcart tool holder, 402-2, a handcart driving motor, 402-3, a diaphragm connector, 402-4, a sleeve guide sleeve, 402-5, a handcart sleeve compression spring, 402-6, a rotary rod, 402-7, a sleeve fastener, 402-8, a handcart sleeve, 402-9, a second tool control board, 403, a button tool, 403-1, a probe guide sleeve, 403-2, a probe compression spring, 403-3, a probe, 404, a protective platen tool, 404-1, a fixed bracket, 404-2, a knob sleeve, 404-3, a protective platen jaw, 404-4, a protective platen rotating mechanism, 404-5, a knob fastener, 404-6, a knob compression spring, 404-7, a knob sleeve, 405, a tool holder, 405-1, a side rubber pad, 405-2, a rubber face, and 406 a tool holder base.

8. The device comprises a male quick-change disc 801, a male disc seat 802, a male disc spring needle 803, a guide post 804, a conical slotted hole 9, a female quick-change disc 901, a limiting pin 902, a handle 903, a rubber post 904, a female disc spring needle seat 905, a female disc seat 906, a waist-shaped hole 10 and a female disc connecting piece.

Detailed Description

The invention will be further described with reference to the drawings and examples.

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

Example 1

The utility model provides a cubical switchboard operation robot, as shown in fig. 1, includes omnidirectional moving platform, arm work platform, change formula work tool, ground sword operation platform, circuit breaker platform and vision positioning system and operation control system, and the design details of each part are described in detail below.

The omnidirectional mobile platform comprises a mobile platform and four travelling wheels arranged at the lower end of the mobile platform, each travelling wheel is independently driven to independently steer, translation in any direction, in-situ steering and the like can be realized, flexible movement and accurate stopping are facilitated in a compact environment between high-voltage indoor switch cabinets, the omnidirectional mobile platform can be better matched with an operation platform, and the optimal operation position can be flexibly adjusted. The omnidirectional mobile platform can realize the functions of path planning, autonomous navigation, autonomous obstacle avoidance, automatic charging and the like under the control of the operation control system.

The ground knife operation platform comprises: the four adjustment degrees of freedom such as horizontal translation, vertical lifting, angle rotation, front-back expansion and contraction and the like, and one screwing operation degree of freedom can be realized, and the four adjustment degrees of freedom are matched with the position rough phase of the mobile platform, so that the large-scale and fine positioning adjustment of the ground knife knob is realized. The depth camera is arranged at the tail end of the ground knife tool, so that the accurate position and the gesture of the ground knife knob can be automatically recognized and positioned, and the ground knife can be automatically opened and closed under the control of the operation control system.

The ground knife operating platform of the embodiment is shown in fig. 14, and comprises a ball screw ball spline shaft assembly D-1, an angle rotating mechanism D-2, a screwing operation mechanism D-3 front-back telescopic mechanism D-4, a binocular camera D-5, a lower base D-6, a moving platform D-7, a pressing plate and resetting device D-8, a moving platform driving motor D-9, a screwing sleeve D-10, a ball spline shaft D-11, an upper lifting mechanism D-12, a supporting frame D-13, an upper base D-14 and other structural members. The moving platform driving motor D-9 is connected with the moving platform D-7, and provides power to enable the ground knife operating platform to move back and forth, so that the position of the ground knife operating platform can be accurately adjusted. The angle rotating mechanism D-2 realizes the angle position adjustment of the ground knife operation platform through a rotating motor, a small synchronous pulley at the motor end, a synchronous belt and a large synchronous pulley fixedly connected with a ball screw nut of the ball screw ball spline assembly D-1. The vertical position of the ground knife operation platform is adjusted by the up-down lifting mechanism D-12 through a rotating motor, a small synchronous pulley at the motor end, a synchronous belt and a large synchronous pulley fixedly connected with a ball spline nut of the ball screw ball spline assembly D-1.

The screwing operation mechanism D-3 directly applies output torque to the screwing sleeve D-10 through the ball spline shaft D-11 by a torque motor, so as to realize screwing action. The front-back telescopic mechanism realizes the front-back telescopic action of the ground knife operating platform through a rotating motor, a small synchronous pulley at the motor end, a synchronous belt and a large synchronous pulley fixedly connected with a ball spline shaft D-11. The upper base D-14 and the lower base D-6 together fix the ball screw ball spline shaft assembly D-1 from both ends. The pressing plate and the reset component D-8 are used for pressing down the switch cabinet ground knife baffle plate, and the pressing plate can automatically recover to the initial position under the action of spring force. The supporting frame D-13 is connected with other structural members and bears external load, so that the overall rigidity of the device is ensured.

The mechanical arm operation platform is a six-degree-of-freedom mechanical arm, is arranged at the top end of the ground knife operation platform, and can cover the whole operation space such as keys at the top of the switch cabinet and handcart holes at the bottom. The end of the mechanical arm is provided with a working tool butting device which can automatically position the working tools and automatically butting with different working tools, including mechanical butting and electric connection. The tail end of the mechanical arm is provided with a depth camera, so that the accurate position and the gesture of the operation targets can be automatically recognized and positioned, and the autonomous operation aiming at each operation target is realized under the control of an operation control system.

The motion control of the mechanical arm with respect to precision and freedom degree can be selected from the existing methods, and will not be described herein.

Of course, the mechanical docking and electrical connection described above, work tools, and the like may all use the prior art.

As shown in fig. 15-23, the present embodiment provides a docking device, a platform base is disposed at the end of a six-degree-of-freedom mechanical arm, a plurality of tool holders 405 are fixed on the side of the platform base, and the front end of the mechanical arm is connected to a male quick-change disc 8 through a male disc connector 602.

The tool holder 405 is provided with a replacement type work tool including a plurality of kinds of work tools provided according to the work requirements, and the top end of each work tool is connected to the female quick-change tray 9 via a female tray connector 10.

The tool support 405 is in a C-shaped groove structure, a supporting structure of the female quick-change disc 9 is arranged on the inner side of the tool support and is used for supporting the working tool, two grooves are arranged on the supporting structure, one end of the female disc connecting piece is in a disc shape, symmetrical bulge structures are arranged on the outer edge of the disc shape, the grooves correspond to the bulge structures and are used for locking the tool, one end of the groove is fixed on the female quick-change disc, and the other end of the groove is fixed on the working tool so as to enable the working tool to be in butt joint with the tool support;

The inner side of the C-shaped groove structure is provided with a side rubber pad 405-1 and a bottom rubber surface 405-2, which are used for reducing the impact load when the six-degree-of-freedom mechanical arm is used for picking and placing tools.

The replacement work tool of the present embodiment includes a knob tool 401, a handcart tool 402, a button tool 403, and a protective platen tool 404.

The knob tool 401 comprises a knob tool support 401-1, a tool control board 401-2, a first knob driving motor 401-3 and knob clamping jaws 401-4, wherein the knob tool support 401-1 is of a C-shaped structure, the outer side of the knob tool support is covered by a shell, one end of the knob tool support is connected with a master disc connecting piece 10, the other end of the knob tool support is provided with the knob clamping jaws 401-4, the first tool control board 401-2 and the first knob driving motor 401-3 are internally provided with a steering engine, the first knob driving motor 401-3 is used for driving the knob clamping jaws 401-4, and the first tool control board 401-2 is used for communicating with an upper computer and controlling rotation and clamping movement of the knob clamping jaws.

In this embodiment, the knob clamping jaw 401-4 adopts a two-finger translation structure, so that the clamping jaw surface is large, the clamping force is sufficient, and the device can adapt to clamping rotation of various knobs.

The handcart tool 402 comprises a handcart tool bracket 402-1, a handcart driving motor 402-2, a diaphragm connector 402-3, a sleeve guide sleeve 402-4, a handcart sleeve pressure spring 402-5, a switching rod 402-6, a sleeve fastener 402-7, a handcart sleeve 402-5 and a second tool control plate 402-9.

The handcart tool support is also of a C-shaped structure, the outer side of the handcart tool support is wrapped by a shell, one end of the handcart tool support is connected with a master disc connecting piece 10, the other end of the handcart tool support is connected with a diaphragm connector 402-3, an internally mounted tool control board 401-2 and a handcart driving motor 402-2 are connected, the handcart driving motor 402-2 adopts a driving and controlling integrated motor, the handcart tool support is small in size, strong in function and large in output torque and is used for driving a handcart to rotate, a second tool control board 402-9 is used for communicating with an upper computer and controlling the rotation of the handcart driving motor 402-2, the rear end of a switching rod 402-6 is mounted on the diaphragm connector 402-3, the front end of the handcart tool support is of an outer square structure, the surface of the outer square structure is hard and smooth, a sleeve fastener 402-7 is mounted at the front end of the outer square structure, a sleeve guide sleeve 402-4 is fixedly mounted on the switching rod 402-6, the other end of the sleeve is of a round hole and is tightly attached to the outer wall of the handcart sleeve 402-5, the handcart sleeve 402-5 is internally provided with a handcart pressure spring 402-5, one end of the handcart sleeve 402-5 is propped against the switching rod 402-6, and the other end of the handcart sleeve 402-5 is propped against the handcart sleeve to the pressure spring to perform buffering operation during operation.

In this embodiment, the front end of the handcart sleeve 402-5 adopts a double inner square arc gap inner arm connection structure, the arc gap inner arm gap is large, the handcart is convenient to enter the outer square structure, and the front end adopts an inner cone structure to guide the outer square structure of the handcart. The rear end of the handcart sleeve adopts a square hole structure, is tightly attached to the outer square of the adapter rod, slides back and forth along the outer square of the adapter rod, and has a circular hole in the middle.

The button tool 403 comprises a probe guide sleeve 403-1, a probe pressure spring 403-2 and a probe 403-3, wherein one end of the probe guide sleeve 403-1 is connected with the master disc connecting piece 10, and the probe 403-3 and the probe pressure spring 403-2 are arranged inside the probe guide sleeve 403-1 and move inside, and the front end of the spring needle is slender and provided with an arc chamfer for pressing the button.

The protective platen tool 404 comprises a fixed bracket 404-1, a knob sleeve 404-2, a protective platen clamping jaw 404-3 and a protective platen rotating mechanism 404-4, wherein the fixed bracket 404-1 is fixed on the master disk connecting piece 10, one end is provided with a tool control adapter plate, the other end is provided with a rotating shaft and a track groove of the protective platen rotating mechanism 404-4, and a second knob driving motor of the knob sleeve 404-2 and a third rotation driving motor of the protective platen rotating mechanism 404-4 are arranged; the knob sleeve module 404-2 includes a second knob driving motor 401-3, a knob sleeve 404-7, a knob compression spring 404-6, and a knob fastener 404-5;

in this embodiment, the knob sleeve 404-7 adopts an inner circular arc structure, and the front end adopts an inner cone structure, so that the knob sleeve is convenient to accurately center the knob of the protection pressing plate, the knob compression spring 404-6 is arranged inside, and is connected to the output shaft of the second knob driving motor 401-3 through the knob fastener 404-5, and the elastic buffering function is achieved when the knob of the protection pressing plate is centered.

The protective pressing plate rotating mechanism 404-4 is fixed in the track groove of the fixed support, and is driven to move by the third rotary driving motor 401-3 through gear transmission, the protective pressing plate clamping jaw 404-3 is fixed on the protective pressing plate rotating mechanism 404-4, and the protective pressing plate clamping jaw adopts an electromagnet driving translational opening and closing structure, so that the clamping of the protective pressing plate is facilitated.

When in field operation, a plurality of required operation tools are equipped according to the operation requirement, each operation tool corresponds to one code, the mechanical arm can accurately grasp the operation tool according to the code instruction, and the operation robot system is in an initial state through the control screen.

In replacement, as shown in fig. 16, a quick switching device is adopted, and specifically comprises a switching control module, a male quick-change disc and a female quick-change disc, wherein the male quick-change disc is connected to the front end of the mechanical arm through a male disc connecting piece 602, and the male quick-change disc comprises a guide column 803; the female quick-change disc is secured to the work tool by a female disc connector 10, the female quick-change disc 9 including a kidney aperture 906;

the handover control module is configured to: according to the configuration instruction, the guide post 803 is controlled to be inserted into or pulled out of the waist-shaped hole 906 on the corresponding work tool, so that the work tool is switched.

The male quick-change disc 8 comprises a male disc seat 801, a male disc spring needle 802 and a guide column 803, wherein the male disc spring needle 802 is arranged in the middle of the male disc seat 801, and 4 conical slotted holes 804 are arranged around the male disc spring needle 802 outside the male disc seat 801; a guide post 803 is mounted on the outer edge side of one end of the male disk seat 801;

the female quick-change disc 9 comprises a limit pin 901, a handle 902, a rubber column 903, a female disc spring needle seat 904 and a female disc seat 905; the outer edge of the master disc seat 905 is provided with a waist-shaped hole 906 corresponding to the guide column 803 of the male and female quick-change discs and used for inserting and extracting the guide column, and the middle of the master disc seat 905 is provided with a master disc spring needle seat 904 which is matched with the male disc spring needle 802 to transmit communication signals.

The handle 902 is arranged on one side of the master disc seat 905, the handle 902 can rotate around the middle structure of the master disc seat, the guide column 803 is in a stepped shaft shape, the front end is a thick end and is provided with a conical guide structure, the thin end of the rear end is matched with the handle 902 of the master quick-change disc 9 and is used for locking a tool, when the handle is broken off to rotate, the waist-shaped hole comprises a thin end waist-shaped hole and a thick end waist-shaped hole, the thin end waist-shaped hole can firmly lock the thin end guide column of the male quick-change disc, and the function of quickly grabbing and releasing the tool is achieved.

The limiting pin 901 is arranged on the master disc seat 905 and used for limiting the rotation of the handle, the rubber column 903 is arranged on the master disc seat and surrounds the master disc spring needle seat to cooperate with the conical slotted hole 804 so as to play roles of reducing impact load and holding the male and female quick-change discs when the male and female quick-change discs are in butt joint.

In this embodiment, the male disk seat 801 and the female disk seat 905 are disc-shaped, the male disk spring needle 802 has 8 paths of spring needles, and the female disk spring needle seat 904 has 8 paths of spring needle seats, so that 8 paths of communication signals can be transmitted.

In this embodiment, the male disc comprises preferably 3 guide posts and the female disc 9 comprises preferably three conical grooves.

According to the received instruction for replacing the working tool, the mechanical arm is controlled to be aligned to the working tool to be grabbed through the code;

the guide post on the male quick-change disc is controlled to be aligned with the guide groove at the upper end of the female quick-change disc, then the guide post is vertically moved downwards, the guide post enters the guide groove, the male quick-change disc and the female quick-change disc are tightly locked together, two bulges on the female disc connecting piece are unlocked from the tool support, and the mechanical arm is controlled to move upwards to finish the grabbing action;

after the operation is completed, the mechanical arm is controlled to withdraw from the operation position, and the mechanical arm is controlled to put the work back to the tool support according to the reverse action, and the initial state is restored.

The embodiment adopts compact structural design, can carry on the terminal base of arm and have multiple operation instrument, adopts unified mechanical electric communication interface, and instrument compact structure, stable performance, convenient to carry has strengthened operation robot's function. And combining with a visual intelligent recognition technology, accurately determining the position and state of each working tool, and guiding the robot to complete the working flow. The passive mechanical locking structure of the male and female quick-change disc is adopted to be matched with the tool support, and the guide post on the male quick-change disc is controlled to be inserted into or pulled out of the waist-shaped hole of the female quick-change disc on the corresponding working tool by controlling the action of the mechanical arm, so that the switching of the working tools is carried out, multiple working tools are equipped, the quick automatic replacement of the multiple working tools can be carried out, and the problem of switching of a working tool system of a transformer substation switch cabinet working robot is solved.

The circuit breaker placing platform can be controlled to lift and rotate, can be automatically docked with the handcart rail of the switch cabinet under the cooperation of the omnidirectional moving platform and the visual positioning system, and automatically drags the circuit breaker out of the platform, so that the handcart enters a maintenance position. The circuit breaker placing platform has the advantages that the circuit breaker placing platform is high in bearing design and high in self-balancing function, the circuit breaker can be kept unchanged in height and always horizontal in the process of entering and exiting the platform, and the circuit breaker placing platform has high stability.

The operation area of the circuit breaker placing platform and the operation area of the mechanical arm operation platform are not interfered, namely, the circuit breaker placing platform needs to have a certain lifting and overturning operation space, and attention is needed when the position relation between the circuit breaker placing platform and the mechanical arm operation platform is designed.

As an embodiment, as shown in fig. 3, a lifting rotating assembly 2 is fixed on a mobile platform 3, and a handcart type breaker picking and placing assembly 1 is connected to the lifting rotating assembly 2.

As shown in fig. 7, the elevating rotation assembly 2 includes: rotary platform 221, slewing support plate adjustment motor assembly 222, slewing support plate 223, scissor bracket 224, bearing pedestal 225, bearing pedestal connection block 226, bottom plate 227, stop block 228, linear guide 229, detection sensor 230, slider 231, scissor connection plate 232, first speed reducer 233, lift motor 234, and motor connection seat 235.

The bottom plate 227 is fixed on the moving platform 3, a bearing seat connecting block 226 and a linear guide rail 229 are arranged on the bottom plate 227, one end of the bottom of the scissor bracket 224 is fixed on the bearing seat connecting block 226 through a bearing seat 225, the other end of the bottom of the scissor bracket is fixed on a sliding block 231 through the bearing seat 225, the sliding block 231 is in sliding connection with the linear guide rail 229, and two sliding sides of the linear guide rail 229 are fixed through a stop block 228;

thus, the scissor bracket 224, the bearing housing 225, the bearing housing connection block 226, the linear guide 229 and the slider 231 constitute a scissor lift mechanism.

The motor connecting seat 235 is arranged on the bottom plate 227, one end of the motor connecting seat 235 is connected with the lifting motor 234, the other end of the motor connecting seat 235 is connected with the first speed reducer 233, the first speed reducer 233 is fixed on the scissor connecting plate 232, the scissor connecting plate 232 is fixedly connected with the scissor bracket 224, and the lifting motor 234 and the first speed reducer 233 convert the linear reciprocating motion of the sliding block 231 into lifting motion of the scissor through the scissor connecting plate 232.

As shown in fig. 8-9, a slewing support plate 223 is fixed on top of the scissor bracket 224, a rotating platform 221 is assembled on the slewing support plate 223, and the rotating platform 221 includes a circular rail slide block 2211, a turntable plate 2212, a circular rail 2213, a circular motor 2214, a second speed reducer 2215 and a positioning pin 2216.

Wherein, the bottom of the turntable plate 2212 is fixed with a circular rail slide block 2211, the circular rail slide block 2211 is connected with a circular rail 2213 in a sliding way, and the circular rail 2213 is fixed on the slewing bearing plate 223; the bottom of the turntable plate 2212 is further provided with a positioning pin 2216, one end of the positioning pin 2216 is connected with the second speed reducer 2215 and the loop motor 2214, and the other end is connected to the handcart type breaker picking and placing assembly 1; the second speed reducer 2215 and the loop motor 2214 drive the rotary platform 221 and the handcart type breaker picking and placing assembly 1 to rotate.

Further, a detection sensor 230 is further disposed on the bottom plate 227, and the detection sensor 230 is used for detecting the limit positions of the two sides of the stroke of the slider 231.

Further, the top of the scissors bracket 224 is fixed with a rotation support plate 223, specifically: the scissors bracket 224 is connected to the support plate 223 at one side of the top thereof by a swing support plate adjustment motor assembly 222 and to the support plate 223 at the other side thereof by a scissors connection plate 232.

As shown in fig. 10, the slewing bearing plate adjusting motor assembly 222 includes an adjusting support base 2221, a telescopic shaft 2222, a base 2223, a bearing point 2224, and a telescopic motor 2225.

The bearing support point 2224 is connected to the top of the scissor bracket 224, the base 2223 is fixedly connected with the bearing support point 2224, a telescopic motor 2225 and a telescopic shaft 2222 are arranged on the base 2223, an adjusting support base 2221 is arranged on the telescopic shaft 2222, and the adjusting support base 2221 is fixedly connected to the support plate 223. The telescopic motor 222 drives the screw rod to rotate through a pair of bevel gears in the base 2223, and drives and adjusts the telescopic shaft 2222 to realize telescopic action through threaded fit inside the screw rod and the telescopic shaft 2222.

As shown in fig. 4 to 6, the cart type circuit breaker picking and placing assembly mainly comprises: the device comprises a hook 111, a hook electric cylinder 112, a hook sliding plate 113, a supporting seat 114, a first trapezoidal screw 115, a first guide rail 116, an X-direction through stepping motor 117, a first screw bearing seat 118, a slideway baffle 119, a drawing sliding plate 120, a second screw bearing seat 121, a Y-direction through stepping motor 122, a second trapezoidal screw 123, a second guide rail 124, a binocular camera 125, a positioning pin 126, a component supporting platform 127, a locking hook 128 and a locking hook motor 129.

The assembly support platform 127 is fixed to the rotating platform 221 through positioning pins 2216, the assembly support platform 127 is provided with a plurality of guide rails, the second guide rails 124 are symmetrically arranged on two sides of the assembly support platform 127, the first guide rails 116 are perpendicular to the second guide rails 124 and are arranged on one side of the assembly support platform 127, the second guide rails are provided with supporting seats 114, each first guide rail 116 is provided with an X-direction through stepping motor 117, each first guide rail 116 is provided with a supporting seat 114, each supporting seat 114 is matched with the corresponding through stepping motor 117, each pair of supporting seats 114 and each X-direction through stepping motor 117 are penetrated by a first trapezoidal screw 115, and the first trapezoidal screws 115 are fixed on the drawing sliding plate 120 through first screw bearing seats 118.

The finger 111, the finger cylinder 112 and the finger slide 113 are connected together by a pin and are assembled on the support base 114 and the X-direction through type stepping motor 117.

In this embodiment, the first guide rail 116 includes two guide rails, and the two guide rails are disposed in parallel. One first trapezoidal screw 115 sequentially passes through the supporting seat 114 and the X-direction through type stepping motor 117 on the first guide rail 116, and the other first trapezoidal screw 115 sequentially passes through the X-direction through type stepping motor 117 and the supporting seat 114 on the other first guide rail 116, so that the two groups of hooks 111 can respectively move along the X direction under the drive of the two groups of stepping motors.

The second guide rail 124 is provided with a long trapezoidal screw 123, a long screw bearing seat 121, a drawing slide plate 120 and a Y-direction through type stepping motor 122 which are assembled together.

Specifically, the second guide rail 124 is mounted on the assembly support platform 127, two second trapezoidal screw bearing blocks 121 are mounted on the assembly support platform 127 close to two sides of the second guide rail 124, the Y-direction through stepping motor 122 is slidably connected with the second guide rail 124 through a sliding mechanism, the second trapezoidal screw 123 is fixed between the second trapezoidal screw bearing blocks 121, one side of the drawing sliding plate 120 is fixed on the upper portion of the Y-direction through stepping motor, and the other side is connected with the second guide rail 124 on the side through the sliding mechanism.

The opposite side of the first guide rail 124 is provided with a positioning pin 126, a binocular camera 125 and a locking hook 128 on the side of the assembly supporting platform 127, the locking hook 128 is connected with a locking hook motor 129, the relative positions of the automatic placing platform and the switch cabinet are determined through the binocular camera 125 and the positioning pin 126, and after the positions are fixed, the locking hook 128 locks the positions between the placing platform and the switch cabinet under the driving of the locking hook motor 129.

The binocular camera is used for identifying position characteristic information on the switch cabinet, providing relative position deviation between the placing platform and the switch cabinet, guiding the placing platform to adjust the relative position between the placing platform and the switch cabinet, and realizing automatic adjustment of the pose of the placing platform.

In the process of completely fixing the handcart type circuit breaker on the handcart type circuit breaker picking and placing assembly 1 when the handcart type circuit breaker is contacted with the handcart type circuit breaker picking and placing assembly 1, the gesture of the handcart type circuit breaker picking and placing assembly 1 can be caused to be subjected to uncertain change due to the action of gravity, and then the problem of blocking in the extraction process of the handcart type circuit breaker is caused to cause extraction failure.

Therefore, the problem can be effectively solved by adding the real-time posture adjustment system of the handcart type breaker picking and placing assembly 1.

Wherein, the rotation support plate 223 is provided with a two-axis tilt sensor, the gesture of the handcart type breaker picking and placing component 1 is monitored in real time with a set detection period, for example, a detection period of 10ms, and the real-time output angles of the rotation motor 2214 and the telescopic motor 2225 are calculated by the following formula after receiving the data of the two-axis tilt sensor.

Ax＝g·sin(α)

Ay＝g·sin(β)

Wherein: ax is the input value of the given intersection angle of the rotary motor 2214; ay is an input value of a given angle of the telescopic motor 2225; g is gravity acceleration; alpha and beta are inclination angles.

The working principle of the invention is as follows:

step 1, automatically placing a switch cabinet handcart type circuit breaker of which the platform is close to a fault state.

And 2, identifying the relative positions of the switch cabinet and the placing platform by the binocular camera, controlling and adjusting the height of the scissor lifting device and the rotation angle of the rotating platform, and ensuring the alignment of the positioning pin 126 and the pin hole of the switch cabinet.

And 3, controlling the moving platform 3 to slowly approach the switch cabinet, so that the positioning pin 126 is inserted into the positioning pin hole, and the lock hook motor 129 drives the lock hook 128 to act, thereby ensuring that the placing platform and the switch cabinet are firmly locked.

And 4, the pulling slide plate 120 drives the hook 111 to advance to the handle position of the handcart type circuit breaker, the hook electric cylinder 112 acts to drive the hook 111 to hook the handle, the Y-direction through stepping motor 122 acts, and the handcart type circuit breaker is pulled out of the switch cabinet.

And 5, the latch hook motor 129 drives the latch hook 128 to unlock, the automatic placement platform drives the fault handcart type circuit breaker to reach the overhauling position, and the handcart type circuit breaker overhauling work is manually carried out.

The robot further includes:

As shown in fig. 12, the master control system is used for autonomous operation policy control functions such as command interaction and state feedback with the monitoring background, robot path planning and autonomous positioning navigation, operation step decomposition and sequence control, operation target identification and operation effect identification.

The visual positioning system, as shown in fig. 11, comprises algorithm modules for acquiring target images and point cloud data, processing the image data algorithm, accurately estimating the pose of the target, and the like, and realizes the functions of extracting key features of the operation target, estimating the plane of a cabinet body, automatically matching the operation target, accurately estimating the pose of the space, and the like by specific algorithms such as clustering and filtering the point cloud, detecting the target, dividing the target, matching the feature, finely detecting the target, estimating the alignment, and the like, so as to provide accurate operation positions and visual guidance for the mechanical arm and other operation platforms, thereby realizing autonomous operation.

The algorithm may be an existing algorithm.

And a work control system comprising a tool control board and the like of each work platform, and a mobile platform control system comprising a chassis motion controller, a navigation controller and the like, wherein the work control system is used for controlling functions of each module such as motion control of various work tools.

Of course, in some embodiments, the robot further comprises a detection assembly comprising a plurality of sensors for acquiring the working environment, environmental parameters and working parameters, such as several of a temperature and humidity sensor, a binocular camera, a monocular camera, a position sensor, a force torque sensor, a collision sensor, a laser sensor, a radar sensor, a force sensor, etc.

Of course, in some embodiments, some or all of the platforms may be provided, but in some tasks only some of the platforms are used.

In some embodiments, the visual positioning system is configured to: obtaining a target object picture;

In some embodiments, the thermodynamic diagram extracting network performs feature extraction on the target object picture by adopting the residual network, and after obtaining the feature diagram, the feature diagram is up-sampled for a plurality of times, and a plurality of independent thermodynamic diagrams are obtained through convolution adjustment.

In some embodiments, the master system is configured to: and acquiring a preconfigured indoor map of the distribution station/substation, acquiring attitude and position information of the robot, planning a global optimal path through global path planning, and driving the robot to move.

In some embodiments, the master control system is configured to introduce cable gland plate location information in an a-x algorithm for global path planning; for all nodes in an open list of an A-algorithm, sequentially selecting the nodes as nodes to be selected according to the moving cost from small to large; for a certain node to be selected, making a straight line connecting the node to be selected with a father node, solving all points with the abscissa between the node to be selected and the abscissa of the father node and on the straight line as storage points, and judging whether each storage point is positioned at the position of a cable trench cover plate or not by combining the position information of the cable trench cover plate; if all the reserve points are not positioned at the cable trench cover plate position, adding the node to be selected into the closed list, and once the node is added into the closed list, not selecting the node to be selected from the open list.

In some embodiments, the master control system is configured to plan a global optimal path, obtain a local optimal path through local path planning, and drive the robot to move according to the local optimal path.

As shown in fig. 13, the method for operating the robot includes the steps of:

Specifically, if the ground knife operation task is the ground knife operation task, the robot operation control system controls the ground knife operation platform to put into operation; if the operation platform is a breaker maintenance task, the robot operation control system controls the breaker operation platform to put into operation; if the mechanical arm acts, the robot operation control system controls the mechanical arm operation platform to put into operation, and the mechanical arm is automatically abutted to replace a corresponding operation tool.

As an embodiment, when the robot arm operation is required, the operation flow of the robot is as shown in fig. 2, and the method includes the following steps:

1. the background monitoring personnel issues a switch cabinet operation instruction;

2. the robot receives the operation instruction, the omnidirectional mobile platform automatically navigates to the target switch cabinet under the control of the operation control system, and in the navigation process, the obstacle is automatically detected, and the path is automatically planned aiming at the obstacle.

3. When the two-dimensional code reaches the designated position, the mechanical arm is controlled to align with the two-dimensional code of the switch cabinet, the two-dimensional code information is recognized and read through a depth camera at the tail end of the mechanical arm, and the switch cabinet is confirmed to be consistent with the target switch cabinet in the operation instruction.

4. According to the issued operation instruction, the robot operation control system controls the mechanical arm to automatically dock and replace the corresponding operation tool.

5. And controlling the mechanical arm to aim at the designated operation target, identifying and confirming the operation target, and simultaneously identifying and confirming that the current state of the target is consistent with the corresponding state in the instruction.

6. And (3) extracting key features of the operation target by visual positioning, and identifying the pose relation between the operation target and the robot. According to the current position relation, the position of the omnidirectional mobile platform and the gesture of the mechanical arm are adjusted, so that the robot is in an optimal operation position, and meanwhile, the mechanical arm is controlled to be opposite to the target position, so that the depth camera is in an optimal recognition position.

7. And carrying out accurate pose recognition and positioning on the operation target.

8. The operation control system controls the mechanical arm to reach the appointed operation position through track planning according to the established operation steps and operation strategies.

9. The job control system controls the working tool to complete the designated job function.

10. The visual camera performs identification verification on the operation effect to confirm that the established operation task is completed.

11. And according to the corresponding task links in the operation instruction, the operation control system repeats the steps 4-10 according to the corresponding operation steps to finish the operation tasks of other operation targets until the whole operation instruction is finished.

12. And video and state data in the operation process are fed back to the background monitoring system in real time. After the background confirms that the robot is error-free, the robot automatically returns to a stop point, is automatically charged according to the requirement and enters a standby state.

As an example, in step 2, the obstacle information comprises a cable trench cover. Namely, introducing cable trench cover plate position information in an algorithm A when planning a global path; for all nodes in an open list of an A-algorithm, sequentially selecting the nodes as nodes to be selected according to the moving cost from small to large; for a certain node to be selected, making a straight line connecting the node to be selected with a father node, solving all points with the abscissa between the node to be selected and the abscissa of the father node and on the straight line as storage points, and judging whether each storage point is positioned at the position of a cable trench cover plate or not by combining the position information of the cable trench cover plate; if all the reserve points are not positioned at the cable trench cover plate position, adding the node to be selected into the closed list, and once the node is added into the closed list, not selecting the node to be selected from the open list.

If all the nodes in the open list are selected as the nodes to be selected, no node is added into the closed list, and then the node with the minimum moving cost in the open list is selected to be added into the closed list.

The straight line connecting the node to be selected and its parent node is:

y＝k(x-x _n )+y _n

wherein,(x _n ,y _n ) Is the parent node coordinates, (x) _min ,y _min ) And the node coordinates to be selected.

When planning, a plurality of sensors including a laser radar, a depth camera and an inertial measurement unit are required to be utilized in advance, a distribution room map is constructed by utilizing an environment sensing algorithm adopting visual laser fusion, and robot gesture position information is obtained.

The visual laser fusion environment sensing algorithm performs joint optimization on the visual range, the laser range, the inertia measurement unit pre-integration and the closed-loop constraint in the factor graph.

As an embodiment, when the precise pose recognition and positioning are performed on the operation target in step 7, a target object picture is obtained, the target object is a key operation panel, and the key point is a key.

and combining all independent thermodynamic diagrams, and returning to a network through the visual alignment posture to obtain the visual alignment posture of the mechanical arm, wherein the visual alignment posture of the mechanical arm consists of three angles of yaw, pitch and roll.

In this embodiment, the thermodynamic diagram extraction process adopted in the network training is as follows: generating a thermodynamic diagram for a labeling frame in the target object picture through Gaussian kernel processing;

the value of each pixel point in the thermodynamic diagram, which is positioned in the labeling frame, is:

wherein (x, y) represents the coordinates of each pixel point in the labeling frame in the target object picture,representing the coordinates, sigma, of the marked frame after the center point of the marked frame is downsampled _p Is the standard deviation.

The thermodynamic diagram extracts the network loss function as:

in the method, in the process of the invention,is the value of the pixel point in the predicted thermodynamic diagram, c represents the c-th key point, x and Y are the abscissa and the ordinate of a certain pixel point in the c-th key point respectively, alpha and beta are taken as super parameters, N is the number of key points, Y _xyc Is the value of the pixel point in the thermodynamic diagram of the structure. The vision alignment pose regression network adopts a mean square error loss function.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.

Claims

1. The utility model provides a cubical switchboard independently operates robot, its characterized in that, includes omnidirectional mobile platform to and robot operation platform, circuit breaker placing platform and the control system of setting on omnidirectional mobile platform, wherein:

2. The autonomous operation robot of a switch cabinet according to claim 1, wherein the circuit breaker placing platform comprises a circuit breaker picking and placing assembly and a lifting rotating assembly, the lifting rotating assembly is arranged on the omnidirectional moving platform, a lifting support is arranged on the lifting rotating assembly, a rotary supporting plate is fixed at the top of the lifting support, the rotary platform is assembled on the rotary supporting plate and is in rotary connection with the circuit breaker picking and placing assembly, and the circuit breaker picking and placing assembly is used for pulling out the switch cabinet.

3. The autonomous operating robot of a switch cabinet according to claim 2, wherein the lifting bracket comprises a linear guide rail and a scissor bracket, one end of the bottom of the scissor bracket is fixed to the omnidirectional moving platform, the other end of the bottom of the scissor bracket is fixed to a sliding block, the sliding block is in sliding connection with the linear guide rail, and the linear guide rail is arranged on the omnidirectional moving platform.

4. The autonomous operating robot of a switch cabinet of claim 2, wherein the rotating platform comprises a looped rail slider, a rotating platen, a looped rail, a looped motor, a speed reducer, and a locating pin;

5. The autonomous operating robot of the switch cabinet according to claim 4, wherein the breaker picking and placing assembly comprises an assembly supporting platform, two clamping pieces, a driving piece and a transmission assembly, wherein the two clamping pieces are symmetrically arranged on the assembly supporting platform, and the clamping pieces can horizontally move along the assembly supporting platform through the driving piece and the transmission assembly to adjust the relative distance;

6. The autonomous operating robot of any of claims 2-5, wherein the component support platform side is further provided with a binocular camera for identifying position characteristic information on the switch cabinet, providing relative positional deviation between the circuit breaker placement platform and the switch cabinet, and guiding the circuit breaker placement platform to adjust the relative position between the two, so as to realize self-balancing adjustment of the pose of the circuit breaker placement platform.

7. The autonomous operating robot of a switch cabinet of claim 1, wherein a robot work platform is arranged on one side of the omnidirectional mobile platform, and the circuit breaker placement platform is arranged on the other side;

8. The autonomous operation robot for a switchgear according to claim 7, wherein the robot arm operation platform comprises a multi-degree-of-freedom robot arm, the multi-degree-of-freedom robot arm is installed at the top end of the ground knife operation platform, and the operation range of the multi-degree-of-freedom robot arm can cover all operation spaces from the bottom to the top of the switchgear;

9. The autonomous switch cabinet operation robot of claim 8, wherein the arm operation platform further comprises a tool rack, wherein the tool rack is disposed on the omni-directional movement platform, and wherein the tool rack is configured to receive a replaceable work tool.

10. A switch cabinet autonomous operating robot as claimed in claims 1-9, wherein the omnidirectional mobile platform includes a mobile platform and a plurality of road wheels disposed beneath the mobile platform, each road wheel having an independent drive and an independent steering mechanism;

11. The autonomous operation robot of any one of claims 1 to 9, wherein a visual positioning system is further provided on the robot work platform for acquiring target images and point cloud data, extracting key features of the work target in the operation task, determining a spatial pose of the work target, and providing a work position and visual guidance for each of the operation platforms.

12. The switch cabinet autonomous operating robot of claim 11, wherein the visual positioning system is configured to: obtaining a target object picture;

13. The autonomous operating robot of claim 12, wherein the thermodynamic diagram extraction network performs feature extraction on the target object picture by using a residual network, and after obtaining the feature diagram, performs up-sampling for a plurality of times, and performs convolution adjustment to obtain a plurality of independent thermodynamic diagrams.

14. The switch cabinet autonomous robot of claim 1, wherein the control system comprises a master control system configured to: and acquiring a preconfigured indoor map of the distribution station/substation, acquiring attitude and position information of the robot, planning a global optimal path through global path planning, and driving the robot to move.

15. The switchgear autonomous operation robot of claim 14 in which the master control system is configured to introduce cable pit cover plate position information in an a-algorithm for global path planning; for all nodes in an open list of an A-algorithm, sequentially selecting the nodes as nodes to be selected according to the moving cost from small to large; for a certain node to be selected, making a straight line connecting the node to be selected with a father node, solving all points with the abscissa between the node to be selected and the abscissa of the father node and on the straight line as storage points, and judging whether each storage point is positioned at the position of a cable trench cover plate or not by combining the position information of the cable trench cover plate; if all the reserve points are not positioned at the cable trench cover plate position, adding the node to be selected into the closed list, and once the node is added into the closed list, not selecting the node to be selected from the open list.

16. A switchgear autonomous operating robot as claimed in claim 1 or 14, wherein the control system further comprises a work control system configured to control respective actuation mechanisms/drives of the circuit breaker placement platform, the ground blade operation platform and the robotic arm operation platform for respective motion control.

17. A method of operating a switchgear autonomous robot as claimed in any of claims 1-16, comprising the steps of:

responding to the operation task, the control system determines the current robot position and the target switch cabinet, and autonomously performs global path planning so as to control the omnidirectional mobile platform to move to the target switch cabinet position;

according to the operation task, the control system controls the corresponding operation platform to operate;

based on pose recognition and positioning results of the operation targets, extracting key features of the operation targets, recognizing pose relation between the operation targets and the robot, and adjusting positions and/or poses of the omnidirectional mobile platform and/or corresponding operation platforms to enable the omnidirectional mobile platform and/or the corresponding operation platforms to be in optimal operation poses;

And the control system controls the operation platform to reach the designated operation position through track planning according to the operation steps and the operation strategies matched with the operation tasks, and performs corresponding operation.

18. The method of claim 17, wherein the robot operation control system controls the ground knife operation platform to operate if the robot is a ground knife operation task; if the operation platform is a breaker maintenance task, the robot operation control system controls the breaker operation platform to put into operation; if the mechanical arm acts, the robot operation control system controls the mechanical arm operation platform to put into operation, and the mechanical arm is automatically abutted to replace a corresponding operation tool.

19. The method of claim 18, wherein if the robot is a breaker maintenance task, the binocular camera is used to identify position characteristic information on the switch cabinet, provide a relative position deviation between the breaker placing platform and the switch cabinet, and guide the breaker placing platform to adjust the relative position between the two, so as to realize self-balancing adjustment of the pose of the breaker placing platform.

20. The method of claim 17, wherein the specific process of identifying and locating the pose and extracting the key features of the operation target comprises: obtaining a target object picture;

21. The method of claim 17, wherein the step of controlling the omnidirectional mobile platform to move to the target switchgear comprises obtaining a pre-configured substation/substation indoor map, obtaining robot attitude and position information, planning a global optimal path, and driving the robot to move.

22. A method of operating a switchgear autonomous robot as claimed in claim 21, wherein the global path plan incorporates cable gland plate position information in an a-algorithm; for all nodes in an open list of an A-algorithm, sequentially selecting the nodes as nodes to be selected according to the moving cost from small to large; for a certain node to be selected, making a straight line connecting the node to be selected with a father node, solving all points with the abscissa between the node to be selected and the abscissa of the father node and on the straight line as storage points, and judging whether each storage point is positioned at the position of a cable trench cover plate or not by combining the position information of the cable trench cover plate; if all the reserve points are not positioned at the cable trench cover plate position, adding the node to be selected into the closed list, and once the node is added into the closed list, not selecting the node to be selected from the open list.