CN117381777A - A kind of autonomous operation robot and method for switch cabinet - Google Patents

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

A kind of 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 technique

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

With the continuous increase of power grid equipment and the continuous improvement of substation automation and safety requirements, the demand for auxiliary work robots in the power grid continues to increase. When staff conduct fault detection and live work on power equipment, there are certain safety hazards that threaten the lives of staff. In this context, the use of intelligent auxiliary work robots can not only greatly reduce the workload of staff and improve the accuracy of equipment detection, but also reduce manual operations and reduce the risk of power accidents.

According to the inventor's understanding, current switch cabinet operating robots are generally able to collect operating status data of switch cabinets through sensors and robotic arms, monitor the status of switch cabinets, perform live operations on switch pairs through binocular vision, and promptly detect equipment malfunctions. Potential safety hazards are eliminated, and when the switch cabinet fails, it replaces workers in dangerous operations, ensuring the life safety of electric power workers.

However, switch cabinet operations actually include high-voltage switch cabinet circuit breaker maintenance operations, floor knife operations and other non-switch and push-button components to be operated. The current switch cabinet operating robot cannot achieve completely unmanned operation of all switch cabinet operations.

On the other hand, the current control of switch cabinet operating robots generally only focuses on how to ensure that the robot reaches a single target switch cabinet and implement path planning, or how to control the robot's posture and motion to ensure that the robot completes a single maintenance action.

However, when there are multiple maintenance or operation tasks, or the operation task contains multiple maintenance actions, the line planning between each target switch cabinet, the switching control of different actions and the flexible control and optimal control of a single action are difficult to achieve. There is little involvement, resulting in switch cabinet operating robots with single functions, unable to meet the usage conditions of various actual sites, and unable to truly realize unmanned and autonomous operations.

Contents of the invention

In order to solve the above problems, the present invention proposes a switch cabinet autonomous operation robot and a method. The present invention can not only realize the switch/button type operation of the existing switch cabinet, but also realize the operations of circuit breakers, floor cutters, etc., and realize all the operations in the switch cabinet. When the robot operates autonomously and can achieve multi-operation tasks, the robot can switch between different operating platforms and control it flexibly and accurately.

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

An autonomous operating robot for a switch cabinet, including an omnidirectional mobile platform, a robot operating platform, a circuit breaker placement platform and a control system arranged on the omnidirectional mobile platform, wherein:

The circuit breaker placement platform can be lifted and lowered on the omnidirectional mobile platform, and its lifting space does not interfere with the working space of the robot working platform;

The circuit breaker placement platform is used to dock with the switch cabinet and maintain self-balancing, and drag out and move the circuit breaker to the circuit breaker placement platform;

The robot operating platform is used for opening and closing floor knives, robotic arm operations, or/and replacement of work tools;

The control system is used to perform trajectory planning and autonomous navigation between the current position and the target switch cabinet according to the operation task, and to perform operation strategy planning and adjust the robot operation platform or/and circuit breaker placement according to the position and status of the operation target. The position and posture of the platform enable autonomous operation.

The above solution, on the one hand, can integrate a robot operating platform and a circuit breaker placement platform. Through clever structural design and positional coordination, it can not only realize the operation of conventional components such as switches and buttons, but also realize the operation of high-voltage switch cabinet circuit breakers. Non-switch and push-button components to be operated, such as maintenance operations and floor cutting operations, can realize completely unmanned operation of all operations and components in the switch cabinet. On the other hand, by combining the image recognition and visual positioning results, trajectory planning and global navigation between the current position and the target switch cabinet can be carried out, and the corresponding operating platform can be automatically switched according to each maintenance action in the task to achieve multi-action and multi-operation. Task assignment.

As an optional implementation, a robot working platform is provided on one side of the omnidirectional mobile platform, and the circuit breaker placement platform is provided on the other side;

The robot operating platform includes a ground knife operating platform and a robotic arm operating platform. The robotic arm operating platform is provided at the upper end of the ground knife operating platform, and working tools are detachably connected to the robotic arm operating platform.

As an optional implementation, the robot operating platform is also equipped with a visual positioning system for acquiring target images and point cloud data, extracting key features of the operating target in the operating task, determining the spatial pose of the operating target, and Each operating platform provides working position and visual guidance.

As an optional implementation manner, the control system includes a main control system and a job control system.

As an optional embodiment, the circuit breaker placement platform includes a circuit breaker pick-and-place assembly and a lifting and rotating assembly. The omnidirectional moving platform is provided with a lifting and rotating assembly, and the lifting and rotating assembly is provided with a lifting bracket. The top of the bracket is fixed with a rotary support plate, and the rotary support plate is equipped with a rotating platform. The rotating platform is rotatably connected to the circuit breaker pick-and-place assembly, and the circuit breaker pick-and-place assembly is used to drag the circuit breaker out of the switch cabinet.

As a further step, the lifting bracket includes a linear guide rail and a scissor bracket. One end of the bottom of the scissor bracket is fixed to the omnidirectional moving platform, and the other end is fixed to the slider. The slider and the linear guide rail are slidingly connected. The guide rail is installed on the omnidirectional moving platform.

As a further step, the rotating platform includes a ring rail slide block, a turntable plate, a ring rail, a loop motor, a reducer and a positioning pin;

The bottom of the turntable plate is fixed with a ring rail slider, and the ring rail slider is slidably connected to the ring rail, which is fixed to the rotary support plate by sliding the ring rail; the bottom of the turntable plate is provided with a positioning pin, and the positioning pin One end is connected to the reducer and the loop motor, and the other end is connected to the circuit breaker pick-and-place assembly. The reducer and loop motor drive the rotating platform and the circuit breaker pick-and-place assembly to rotate.

As a further step, the circuit breaker pick-and-place assembly includes a component support platform, a clamping piece, a driving piece and a transmission assembly. The clamping piece includes two, which are symmetrically arranged on the component support platform. The clamping piece Through the driving parts and transmission components, the relative distance can be adjusted by horizontal movement along the component support platform;

The side of the component support platform is also provided with positioning pins and locking hooks. The positioning pins match the positioning holes provided at the position of the target switch cabinet circuit breaker. The locking hooks protrude from the side and are used to place the circuit breaker on the platform and The position between the target switch cabinets is locked.

As a further step, a binocular camera is also provided on the side of the component support platform. The binocular camera is used to identify the position characteristic information on the switch cabinet, provide the relative position deviation between the circuit breaker placement platform and the switch cabinet, and guide circuit breaking. The relative position between the circuit breaker placement platform and the circuit breaker placement platform is adjusted to realize automatic adjustment of the posture of the circuit breaker placement platform.

The above technical solution proposes a circuit breaker placement platform that can achieve self-balancing control. With the cooperation of the visual positioning system, the self-balancing control of the circuit breaker placement platform is realized, and its overall posture is accurately adjusted to match the switch cabinet handcart. The tracks are automatically and accurately docked, making it easy to automatically drag the circuit breaker out to the platform and into the inspection position. It solves the problem in the existing technology that maintenance and replacement of circuit breakers require manpower.

As an optional implementation, the robotic arm operating platform includes a multi-degree-of-freedom robotic arm. The multi-degree-of-freedom robotic arm is installed on the top of the ground knife operating platform, and its operating range can cover all operating spaces from the bottom to the top of the switch cabinet. ;

The end of the multi-degree-of-freedom manipulator is equipped with a work tool docking device for connecting replaceable work tools;

A depth camera is also installed at the end of the multi-degree-of-freedom robotic arm, which is used to automatically identify and locate the accurate position and attitude of the operating target. Under the control of the operating control system, autonomous operations for each operating target can be achieved.

As a further step, the robot arm operation platform also has a tool rack, the tool rack is arranged on the omnidirectional mobile platform, and the tool rack is used to accommodate replaceable working tools.

As an embodiment, the replaceable working tools may include some of the key operating tools, knob switch operating tools, handcart operating tools, emergency opening operating tools, pressure plate operating tools and positioning testing tools.

As an optional embodiment, the omnidirectional mobile platform includes a mobile platform and multiple running wheels provided under the mobile platform, each running wheel has an independent driving member and an independent steering mechanism;

The mobile platform is also provided with an energy storage device and a charging device connected thereto.

As an optional implementation, the visual positioning system is configured to: obtain a target object picture;

Based on the target object picture, a heat map extraction network is used to predict several independent heat maps, each heat map corresponding to a key point on the target object;

After merging all independent heat maps, the visual alignment posture of the robotic arm is obtained through the visual alignment posture regression network;

Wherein, the construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object picture, perform Gaussian kernel processing to generate a heat map.

As a further step, the heat map extraction network uses a residual network to extract features from target object images. After obtaining the feature map, it undergoes multiple upsampling and convolution adjustments to obtain several independent heat maps.

As an optional implementation mode, the main control system is configured to: obtain the pre-configured power distribution station/substation indoor map, obtain the robot attitude position information, plan the global optimal path through global path planning, and then drive the robot to move .

As a further step, the main control system is configured for global path planning and introduces cable trench cover position information into the A* algorithm; for all nodes in the open list of the A* algorithm, select them in order from small to large according to the movement cost. As a candidate node; for a candidate node, make a straight line connecting the candidate node and its parent node, and find the abscissa between the candidate node and the abscissa of its parent node, and on the straight line All points are regarded as reserve points, and combined with the cable trench cover position information, it is judged whether each reserve point is at the cable trench cover position; if all reserve points are not at the cable trench cover position, then the candidate node is added Closed list, and once a node is added to the closed list, the candidate node will no longer be selected in the open list.

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

As an optional implementation, the operation control system is configured to control the corresponding driving mechanisms/driving parts of the circuit breaker placing platform, the ground knife operating platform and the robotic arm operating platform to perform corresponding action control.

As an optional implementation, it also includes a chassis control module for controlling the omnidirectional mobile platform, and the chassis control module is used to control the driving mechanism of the omnidirectional mobile platform for motion control.

An operating method for a switchgear autonomous operating robot, including the following steps:

In response to the operation task, the main control system determines the current robot position and the target switch cabinet, and independently performs global path planning to control the omnidirectional mobile platform to move to the target switch cabinet position;

According to the operation task, the robot operation control system controls the corresponding operation platform to perform operations;

Control the operating platform to aim at the designated operation target, identify and confirm the operation target, and at the same time identify and confirm that the current status of the target is consistent with the corresponding status in the instruction;

The visual positioning system performs pose recognition and positioning on the work target, extracts key features of the work target, and identifies the pose relationship between the work target and the robot. Based on the current position relationship, it adjusts the position of the omnidirectional mobile platform and the posture of the operating platform to keep the robot in optimal operating position;

According to the operation steps and operation strategies that match the operation tasks, the operation control system controls the operation platform to reach the designated operation position through trajectory planning and perform corresponding operations.

As an optional implementation, if it is a ground knife operation task, the robot operation control system controls the ground knife operation platform to put into operation; if it is a circuit breaker maintenance task, the robot operation control system controls the circuit breaker operation platform to put into operation; if it is a robot arm action , the robot operation control system controls the robotic arm operating platform to put into operation, and the robotic arm automatically docks and replaces the corresponding operating tools.

If it is a circuit breaker maintenance task, use a binocular camera to identify the position feature information on the switch cabinet, provide the relative position deviation between the circuit breaker placement platform and the switch cabinet, and guide the circuit breaker placement platform to adjust the relative position between the two to achieve Self-balancing adjustment of the position of the circuit breaker placement platform.

As an optional implementation, the specific process of performing pose recognition and positioning and extracting key features of the work target includes: obtaining a picture of the target object;

Based on the target object picture, a heat map extraction network is used to predict several independent heat maps, each heat map corresponding to a key point on the target object;

After merging all independent heat maps, the visual alignment posture of the robotic arm is obtained through the visual alignment posture regression network;

Wherein, the construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object picture, perform Gaussian kernel processing to generate a heat map.

As an optional implementation method, the specific process of controlling the omnidirectional mobile platform to move to the target switch cabinet location includes obtaining the pre-configured power distribution station/substation indoor map, obtaining the robot attitude position information, and planning the global optimal through global path planning. After the path, drive the robot to move.

As a further step, the global path planning introduces cable trench cover position information into the A* algorithm; for all nodes in the open list of the A* algorithm, they are selected as candidate nodes in order according to the movement cost from small to large; for a certain node to be selected, Select a node, make a straight line connecting the node to be selected and its parent node, and find all the points with the abscissa between the abscissa of the node to be selected and the abscissa of its parent node and on the straight line as reserve points, And combined with the cable trench cover position information, it is judged whether each reserve point is at the cable trench cover position; if all reserve points are not at the cable trench cover position, the candidate node is added to the closed list, and once a node is added If the list is closed, the node to be selected will no longer be selected in the open list.

As an optional implementation method, after planning 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.

Compared with the prior art, the beneficial effects of the present invention are:

The invention innovatively proposes a method for autonomous and precise operation of all parts of a switch cabinet operating robot, overturning the current situation that the existing switch cabinet robot can only operate switches, buttons and other conventional components to be operated. It uses circuit breakers to place platforms and floors. The integration, flexible switching and motion control of the knife operating platform and the robotic arm operating platform truly realize the independent and precise operation of all parts in the switch cabinet, creating a new development direction in which all operations of the switch cabinet are unmanned and intelligent.

The present invention innovatively proposes a self-balancing control method for a circuit breaker handling platform of a switch cabinet operating robot. With the cooperation of a visual positioning system, the self-balancing control of the circuit breaker placement platform is realized, and its overall posture is accurately adjusted to coordinate with the switch cabinet. The handcart track is automatically and accurately docked to facilitate the automatic dragging of the circuit breaker to the platform and into the maintenance position. It solves the problem of imbalance between the parking position of the mobile platform body and the switch cabinet body during on-site use, and realizes the circuit breaker The intelligent and autonomous replacement and placement operations improve the safety of the operation.

This invention innovatively proposes a robotic arm visual alignment method based on key point regression. According to the operation task, combined with image recognition and visual navigation, trajectory planning and global navigation between the current position and the target switch cabinet are carried out, and according to the task For each maintenance action in the robot, the corresponding operating platform is automatically switched, and the heat map of key points is used to predict the alignment posture of the robotic arm and accurately position the working position, which improves the robot's ability to make correct decisions and perform precise actions in the face of complex environments and complex tasks. With this capability, accurate robotic arm alignment can be achieved without the need for complicated preliminary calibration preparations and tedious later point cloud processing processes, which improves the accuracy of the robotic arm's autonomous operations and solves the problem of refined switch cabinet operations.

The invention innovatively proposes a global motion control method for the robot, which introduces the position information of the cable trench cover into the global planning algorithm to optimize the strategy of robot trajectory planning so that the planned path points cover the cable trench cover area as little as possible, reducing the Damage to the cable trench cover during the operation of the robot to reach the target switch cabinet.

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings.

Description of the drawings

The description and drawings that constitute a part of the present invention are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

Figure 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;

Figure 2 is a schematic diagram of the operation flow of the robot according to the embodiment of the present invention;

Figure 3 is a schematic diagram of the overall structure of the electric placement platform for the high-voltage switchgear handcart-type circuit breaker provided by the embodiment of the present invention;

Figure 4 is a schematic structural diagram of the handcart type circuit breaker pick-and-place assembly provided by the embodiment of the present invention;

Figure 5 is a partial enlarged view of the partial structure of the pick-and-place component of the handcart-type circuit breaker provided by the embodiment of the present invention;

Figure 6 is a schematic diagram of a pick-and-place assembly for grabbing a handcart-type circuit breaker according to an embodiment of the present invention;

Figure 7 is a schematic structural diagram of a lifting and rotating assembly provided by an embodiment of the present invention;

Figure 8 is a schematic diagram of the bottom structure of the rotating platform provided by the embodiment of the present invention;

Figure 9 is a schematic diagram of the top structure of the rotating platform provided by the embodiment of the present invention;

Figure 10 is a schematic structural diagram of a rotary support plate adjustment motor assembly provided by an embodiment of the present invention;

Figure 11 is a schematic structural diagram of a visual positioning system provided by an embodiment of the present invention;

Figure 12 is a schematic diagram of an operation control system provided by an embodiment of the present invention;

Figure 13 is a schematic diagram of the main control system provided by the embodiment of the present invention;

Figure 14 is a schematic structural diagram of the floor knife operating platform according to the embodiment of the present invention;

Figure 15 is a schematic diagram of the replaceable work tool in the embodiment of the present invention;

Figure 16 is a schematic structural diagram of a fast switching device in an embodiment of the present invention;

Figure 17 is a schematic structural detail diagram of a fast switching device in an embodiment of the present invention;

Figure 18 is a schematic diagram of the tool holder in the embodiment of the present invention;

Figure 19 is a schematic diagram of the overall structure of the knob tool in the embodiment of the present invention;

Figure 20 is a schematic diagram of the overall structure of the handcart tool in the embodiment of the present invention;

Figure 21 is a schematic diagram of the overall structure of the button tool in the embodiment of the present invention;

Figure 22 is a schematic diagram of the overall structure of the protective pressure plate tool in the embodiment of the present invention;

Figure 23 is a partial structural diagram of a protective pressure plate tool in an embodiment of the present invention.

Among them, A-robot operating platform, B-circuit breaker placement platform, C-replaceable operating tools, D-ground knife operating platform, E-omnidirectional mobile platform, F-visual positioning system, G-operation control system.

1-Handcart type circuit breaker pick-and-place component, 2-Lifting and rotating component, 3-Bottom moving platform, 111-Hook, 112-Hook electric cylinder, 113-Hook slide, 114-Support, 115-First Trapezoidal screw, 116-first guide rail, 117-X-direction through-type stepper motor, 118-first screw bearing seat, 119-slide baffle, 120-pull slide plate, 121-second screw bearing seat , 122-Y direction through-type stepper motor, 123-long trapezoidal screw, 124-second guide rail, 125-binocular camera, 126-positioning pin, 127-component support platform, 128-lock hook, 129-lock hook Motor, 221-rotating platform, 2211-ring rail slider, 2212-turntable plate, 2213-ring rail, 2214-rotary motor, 2215-second reducer, 2216-positioning pin, 222-rotary support plate adjustment motor assembly, 2221-Adjusting support seat, 2222-Adjusting telescopic shaft, 2223-Base, 2224-Bearing fulcrum, 2225-Telescopic motor, 223-Rotary support plate, 224-Scissor bracket, 225-Bearing seat, 226-Bearing seat connection block, 227-base plate, 228-stop, 229-linear guide, 230-detection sensor, 231-slider, 232-scissor connecting plate, 233-first reducer, 234-lift motor, 235-motor connection seat;

D-1 ball screw ball spline shaft assembly, D-2 angle rotation mechanism, D-3 screwing mechanism, D-4 front and rear telescopic mechanism, D-5 binocular camera, D-6, lower base, D- 7 mobile platform, D-8 pressure plate and reset device, D-9 mobile platform drive motor, D-10 screw sleeve, D-11 ball spline shaft, D-12 up and down lifting mechanism, D-13 support frame, D -14 on the base.

401. Knob tool, 401-1. Knob tool holder, 401-2. First tool control board, 401-3. First knob drive motor, 401-4. Knob clamp, 402. Handcart tool, 402-1 .Handcart tool holder, 402-2. Handcart drive motor, 402-3. Diaphragm connector, 402-4. Sleeve guide sleeve, 402-5. Handcart sleeve compression spring, 402-6. Adapter Rod, 402-7. Sleeve fastener, 402-8. Handcart sleeve, 402-9. Second tool control panel, 403. Button tool, 403-1. Probe guide sleeve, 403-2. Probe Needle spring, 403-3. Probe, 404. Protective platen tool, 404-1. Fixed bracket, 404-2. Knob sleeve, 404-3. Protected platen clamping claw, 404-4. Protected platen rotating mechanism, 404-5. Knob fastener, 404-6. Knob compression spring, 404-7. Knob sleeve, 405. Tool holder, 405-1. Side rubber pad, 405-2. Bottom rubber surface, 406. Tool holder base.

8. Male quick change disc, 801. Male disc seat, 802. Male disc elastic pin, 803. Guide column, 804. Tapered slotted hole, 9. Female quick change disc, 901. Limit pin, 902. Handle, 903 .Rubber column, 904. Mother disc pin seat, 905. Mother disc seat, 906. Waist-shaped hole, 10. Mother disc connector.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and examples.

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present 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 should be noted that the terms used herein are for the purpose of describing specific embodiments only, and are not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular forms are also intended to include the plural forms unless the context clearly indicates otherwise. Furthermore, it will be understood that when the terms "comprises" and/or "includes" are used in this specification, they indicate There are features, steps, operations, means, components and/or combinations thereof.

Embodiment 1

A switch cabinet operating robot, as shown in Figure 1, includes an omnidirectional mobile platform, a robotic arm working platform, replaceable working tools, a floor knife operating platform, a circuit breaker placement platform, a visual positioning system and an operation control system, which are introduced in detail below. Design details of each part.

The omnidirectional mobile platform, in this embodiment, includes a mobile platform and four running wheels arranged at the lower end of the mobile platform. Each running wheel is independently driven and steers independently, which can realize translation in any direction, in-situ steering, etc., which is convenient for use in high-pressure chambers. Flexible movement and accurate parking in the compact environment of the switch cabinet can better cooperate with the working platform and flexibly adjust the optimal working position. The omnidirectional mobile platform can realize path planning, autonomous navigation, autonomous obstacle avoidance, and automatic charging under the control of the operation control system.

Floor knife operating platform: It can realize four degrees of freedom of adjustment including left and right translation, up and down lifting, angular rotation, and front and rear telescopic operation, and one degree of freedom for screwing operation. It can be matched with the rough adjustment of the position of the mobile platform to realize the maximum adjustment of the floor knife knob. Scope and refined positioning adjustment. A depth camera is installed at the end of the floor knife tool, which can automatically identify the exact position and posture of the floor knife knob. Under the control of the operation control system, the floor knife can be opened and closed autonomously.

The floor knife operating platform of this embodiment is shown in Figure 14. The floor knife operating platform consists of a ball screw ball spline shaft assembly D-1, an angle rotation mechanism D-2, a screwing operating mechanism D-3 and a front and rear telescopic mechanism. D-4, binocular camera D-5, lower base D-6, moving platform D-7, pressure plate and reset device D-8, moving platform drive motor D-9, screwing sleeve D-10, ball spline It consists of shaft D-11, up and down lifting mechanism D-12, support frame D-13, upper base D-14 and other structural parts. The mobile platform drive motor D-9 is connected to the mobile platform D-7 to provide power so that the floor knife operating platform can move forward and backward for precise adjustment of the position of the floor knife operating platform. The angle rotation mechanism D-2 realizes the ground knife operating platform by rotating the motor, the small synchronous pulley at the motor end, the synchronous belt and the large synchronous pulley that is connected to the ball screw female of the ball screw ball spline assembly D-1. angle position adjustment. The up and down lifting mechanism D-12 realizes a floor knife operating platform through a rotating motor, a small synchronous pulley at the motor end, a synchronous belt, and a large synchronous pulley connected to the ball spline mother of the ball screw ball spline assembly D-1. vertical position adjustment.

The screwing mechanism D-3 uses a torque motor to directly apply the output torque to the screwing sleeve D-10 through the ball spline shaft D-11 to realize the screwing action. The front and rear telescopic mechanism realizes the front and rear telescopic movements of the floor knife operating platform through a rotating motor, a small synchronous pulley at the motor end, a synchronous belt, and a large synchronous pulley connected to the ball spline shaft D-11. The upper base D-14 and the lower base D-6 jointly secure the ball screw ball spline shaft assembly D-1 from both ends. Pressure plate and reset component D-8 is used to press down the switch cabinet floor knife baffle, so that the pressure plate can automatically return to its original position under the action of spring elasticity. The support frame D-13 and other structural components connect the above parts and bear external loads to ensure the overall rigidity of the device.

As for the robotic arm operating platform, this embodiment uses a six-degree-of-freedom robotic arm, which is installed on the top of the floor knife operating platform. Its operating range can cover the entire operating space such as the buttons on the top of the switch cabinet and the handcart hole at the bottom. A work tool docking device is installed at the end of the robotic arm, which can automatically position the work tools and automatically dock with different work tools, including mechanical docking and electrical connections. A depth camera is installed at the end of the robotic arm, which can automatically identify and locate the accurate position and posture of the operation target. Under the control of the operation control system, it can realize autonomous operations for each operation target.

For the motion control of the robot arm's accuracy and degree of freedom, existing methods can be used, which will not be described in detail here.

Of course, the above-mentioned mechanical docking, electrical connections, working tools, etc. can all use existing technologies.

As shown in Figures 15 to 23, this embodiment provides a docking device. A platform base is provided at the end of a six-degree-of-freedom robotic arm. Several tool brackets 405 are fixed on the sides of the platform base. The front end of the robotic arm is connected through a male plate connector 602. Express plate change8.

The tool holder 405 is provided with replaceable work tools. The replaceable work tools include a variety of work tools equipped according to work requirements. The top of each work tool is connected to the mother disk connector 10 and the mother quick change disk 9 .

The tool holder 405 has a C-shaped groove structure. There is a holding structure of the mother quick-change disk 9 on the inside, which is used to hold up the work tools. There are two slots arranged on the holding structure. One end of the mother disk connector is in the shape of Disk shape, the outer edge of the disk shape has a symmetrical convex structure, the groove corresponds to the convex structure, and is used to lock the tool. One end is fixed on the female quick change plate, and the other end is fixed on the work tool. Connect the work tool to the tool holder;

Side rubber pads 405-1 and bottom rubber surfaces 405-2 are installed inside the C-shaped groove structure, which are used to reduce impact loads when the six-degree-of-freedom robot arm picks up and places tools.

The replaceable work tools in this embodiment include a knob tool 401, a handcart tool 402, a button tool 403 and a protective pressure plate tool 404.

Among them, the knob tool 401 includes a knob tool holder 401-1, a tool control board 401-2, a first knob driving motor 401-3, and a knob clamp 401-4. The knob tool holder 401-1 has a C-shaped structure. It is included in the shell, one end is connected to the mother disk connector 10, the other end is installed with the knob clamp 401-4, and the first tool control board 401-2 and the first knob driving motor 401-3 are installed inside. The first knob driving motor 401 -3 uses a servo to drive the knob clamp 401-4, and the first tool control board 401-2 is used to communicate with the host computer to control the rotation and clamping movement of the knob clamp.

In this embodiment, the knob clamping jaws 401-4 adopt a two-finger translation structure, with a large clamping jaw surface and sufficient clamping force, and can adapt to the clamping and rotation of various knobs.

The handcart tool 402 includes a handcart tool bracket 402-1, a handcart drive motor 402-2, a diaphragm connector 402-3, a sleeve guide sleeve 402-4, a handcart sleeve compression spring 402-5, and an adapter rod. 402-6, sleeve fastener 402-7, handcart sleeve 402-5, second tool control panel 402-9.

The handcart tool holder also has a C-shaped structure, and is wrapped by a shell on the outside. One end is connected to the mother disk connector 10, and the other end is connected to the diaphragm connector 402-3. The tool control board 401-2 and the handcart drive motor 402-2 are installed internally. , the handcart drive motor 402-2 adopts an integrated drive and control motor, which is small in size, powerful in function and large in output torque. It is used to drive the handcart to rotate. The second tool control board 402-9 is used to communicate with the host computer and control the handcart. For the rotation of the vehicle drive motor 402-2, the rear end of the transfer rod 402-6 is installed on the diaphragm connector 402-3. The front end has an outer square structure. The surface of the outer square structure is hard and smooth, and the front end is installed with a sleeve for fastening. Part 402-7 is connected to the handcart sleeve 402-5. One end of the sleeve guide sleeve 402-4 is fixed on the adapter rod 402-6, and the other end is a round hole, which is closely attached to the outer wall of the handcart sleeve 402-5. Combined, there is a handcart sleeve compression spring 402-5 inside. One end of the handcart sleeve compression spring 402-5 is pressed against the adapter rod 402-6, and the other end is pressed against the handcart sleeve 402-5. The handcart sleeve compression spring 402-5 is The barrel 402-5 plays a buffering role 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 inner arm gap of the arc gap is large, which facilitates the entry of the outer square structure of the handcart. The front end adopts an inner tapered structure. , guiding the four-sided structure outside the opponent's car. The rear end of the handcart sleeve adopts a square hole structure, which closely fits the outer squares of the adapter rod and slides back and forth along the outer squares of the adapter rod, with a circular hole in the middle.

The button tool 403 includes a probe guide sleeve 403-1, a probe compression spring 403-2 and a probe 403-3. One end of the probe guide sleeve 403-1 is connected to the mother disk connector 10, and the probe 403-3 The probe compression spring 403-2 is installed inside the probe guide sleeve 403-1 and moves inside. The front end of the elastic needle is elongated and has an arc chamfer for pressing the button.

The protective pressure plate tool 404 includes a fixed bracket 404-1, a knob sleeve 404-2, a protective pressure plate clamp 404-3, and a protective pressure plate rotating mechanism 404-4. The fixed bracket 404-1 is fixed on the mother disk connector 10 and is installed on one end. There is a tool control adapter plate, and the other end is arranged with a rotation shaft and track groove that protects the pressure plate rotation mechanism 404-4, and is installed with a second knob driving motor of the knob sleeve 404-2 and a third protection pressure plate rotation mechanism 404-4. Three rotation drive motors; the knob sleeve module 404-2 includes a second knob drive 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 arc-shaped structure, and the front end adopts an inner tapered structure, which facilitates the precise centering of the knob sleeve to protect the knob of the pressure plate. A knob compression spring 404-6 is arranged inside, and The knob fastener 404-5 is connected to the output shaft of the second knob driving motor 401-3, and has an elastic buffering effect when the protective pressure plate knob is centered.

The protective pressure plate rotating mechanism 404-4 is fixed in the track groove of the fixed bracket, and is driven by the third rotation drive motor 401-3 through gear transmission. The protective pressure plate clamping claw 404-3 is fixed on the protective pressure plate rotating mechanism 404-4. The clamping claws of the protective pressure plate adopt an electromagnet-driven translation opening and closing structure to facilitate the clamping of the protective pressure plate.

During on-site operations, a variety of work tools are equipped according to the work requirements. Each work tool corresponds to a code. According to the code instructions, the robotic arm can accurately grab the work tools, and the work robot system is placed in the initial state through the control screen.

When replacing, as shown in Figure 16, a quick switching device is used, which specifically includes a switching control module, a male quick change plate and a female quick change plate. The male quick change plate is connected to the front end of the robotic arm through the male plate connector 602, so The male quick change disc includes a guide post 803; the female quick change disc is fixed to the work tool through the female disc connector 10, and the female quick change disc 9 includes a waist-shaped hole 906;

The switching control module is configured to control the guide column 803 to insert or pull out the waist-shaped hole 906 on the corresponding work tool according to the configuration instruction, thereby switching the work tool.

The male quick change plate 8 includes a male plate seat 801, a male plate spring pin 802 and a guide column 803. A male plate spring pin 802 is installed in the middle of the male plate seat 801, and the male plate spring pin 802 is surrounded on the outside of the male plate seat 801. Four tapered slots 804 are arranged; a guide post 803 is installed on the outer edge side of one end of the male plate seat 801;

The female quick change disc 9 includes a limit pin 901, a handle 902, a rubber column 903, a female disc pin seat 904 and a mother disc seat 905; a waist-shaped hole 906 is arranged on the outer edge of the mother disc seat 905, which is connected with the male and female quick change disc. The guide post 803 of the disk corresponds to it and is used for inserting and extracting the guide post. A mother disk spring pin seat 904 is installed in the middle of the mother disk seat 905, which cooperates with the male disk spring pin 802 to transmit communication signals.

A handle 902 is provided on one side of the master base 905, and the handle 902 can rotate around the middle structure of the master base. The guide column 803 is in the shape of a stepped shaft, with a thick end at the front end and a tapered guide structure, and a thin end at the rear end. The handle 902 of the female quick change disk 9 is used to lock the tool. When the handle is turned and rotated, the waist-shaped hole includes a thin-end waist-shaped hole and a thick-end waist-shaped hole. The thin-end waist-shaped hole can firmly lock the male tool. The thin-end guide pillar of the quick-change plate serves the function of quickly grabbing and releasing tools.

The limit pin 901 is installed on the mother disk seat 905 and is used to limit the position when the handle rotates. The rubber column 903 is installed on the mother disk seat and surrounds the mother disk elastic pin seat and cooperates with the tapered slot hole 804 to When docking with the male quick change plate, it plays the role of reducing the impact load and holding the male and female quick change plates tightly.

In this embodiment, the male disc holder 801 and the female disc holder 905 are disc-shaped, the male disc spring pin 802 has 8-way pins, and the female disc pin seat 904 has an 8-way pin holder, which can transmit 8 channels of communication. Signal.

In this embodiment, it is preferred that the male quick change disc contains three guide posts, and the female quick change disc 9 contains three tapered grooves.

According to the received instruction to change the work tool, the robot arm is controlled through coding to align the work tool to be grabbed;

Control the guide post on the male quick change disc to align with the guide groove on the upper end of the female quick change disc, and then move it vertically downward so that the guide post enters the guide groove so that the male and female quick change discs are locked together. The two protrusions are unlocked from the tool holder, controlling the mechanical arm to move upward to complete the grabbing action;

After completing the operation, the robotic arm is controlled to exit the working position, and according to the reverse action, the robotic arm is controlled to return the work to the tool holder and return to the initial state.

This embodiment adopts a compact structural design and can carry a variety of working tools on the base at the end of the robotic arm. It adopts a unified mechanical and electrical communication interface. The tools have a compact structure, stable performance, and are easy to carry, which enhances the functions of the working robot. . Combined with visual intelligent recognition technology, it can accurately determine the position and status of each work tool and guide the robot to complete the work process. It adopts a passive mechanical locking structure of the male and female quick-change discs, and cooperates with the tool bracket. By controlling the movement of the mechanical arm, the guide pillar on the male quick-change disc is inserted into or pulled out of the corresponding waist of the female quick-change disc on the work tool. hole, so as to switch working tools. Equipped with a variety of working tools, it can quickly and automatically replace a variety of working tools, solving the problem of switching the working tool system of the substation switch cabinet working robot.

The circuit breaker placement platform in this embodiment can control the lifting and rotation. With the cooperation of the omnidirectional mobile platform and the visual positioning system, it can automatically dock with the switch cabinet handcart track, automatically drag the circuit breaker out to the platform, and allow the handcart to enter. Inspection position. The large load-bearing design and height self-balancing function of the circuit breaker placement platform can ensure that the circuit breaker remains at the same height and always level during the process of entering and exiting the platform, with high stability.

There is no interference between the working area of the circuit breaker placing platform and the working area of the robotic arm operating platform. That is, the circuit breaker placing platform needs a certain amount of lifting and flipping working space. When designing the positional relationship between the circuit breaker placing platform and the robotic arm operating platform, ,requires attention.

As an embodiment, as shown in Figure 3, a lifting and rotating assembly 2 is fixed on the mobile platform 3, and the lifting and rotating assembly 2 is connected to a handcart-type circuit breaker pick-and-place assembly 1.

As shown in Figure 7, the lifting and rotating assembly 2 includes: a rotating platform 221, a rotating support plate adjustment motor assembly 222, a rotating support plate 223, a scissor bracket 224, a bearing seat 225, a bearing seat connection block 226, a bottom plate 227, and a stopper. Block 228, linear guide rail 229, detection sensor 230, slide block 231, scissor connecting plate 232, first reducer 233, lifting motor 234 and motor connection seat 235.

The bottom plate 227 is fixed to the mobile platform 3, and a bearing seat connection block 226 and a linear guide rail 229 are provided on the bottom plate 227. One end of the bottom of the scissor bracket 224 is fixed to the bearing seat connection block 226 through the bearing seat 225, and the other end It is fixed to the slide block 231 through the bearing seat 225, the slide block 231 is slidingly connected to the linear guide rail 229, and the sliding sides of the linear guide rail 229 are fixed by stops 228;

Therefore, the scissor bracket 224, the bearing seat 225, the bearing seat connection block 226, the linear guide rail 229 and the slide block 231 form a scissor lifting mechanism.

A motor connection seat 235 is provided on the bottom plate 227. One end of the motor connection seat 235 is connected to the lifting motor 234, and the other end is connected to the first reducer 233. The first reducer 233 is fixed on the scissor connecting plate 232. The scissor connecting plate 232 is fixedly connected to the scissor bracket 224. The lifting motor 234 and the first reducer 233 convert the linear reciprocating motion of the slider 231 into the lifting motion of the scissors through the scissor connecting plate 232.

As shown in Figures 8 and 9, a rotating support plate 223 is fixed on the top of the scissor bracket 224, and a rotating platform 221 is assembled on the rotating supporting plate 223. The rotating platform 221 includes a ring rail slider 2211, a turntable plate 2212, Ring rail 2213, loop motor 2214, second reducer 2215 and positioning pin 2216.

Among them, the bottom of the turntable plate 2212 is fixed with a ring rail slider 2211, and the ring rail slider 2211 is slidably connected to a ring rail 2213, which is fixed to the rotary support plate 223 by slidingly connecting the ring rail 2213; the turntable plate 2212 is A positioning pin 2216 is also provided at the bottom. One end of the positioning pin 2216 is connected to the second reducer 2215 and the loop motor 2214, and the other end is connected to the handcart type circuit breaker pick-and-place assembly 1; it is driven by the second reducer 2215 and the loop motor 2214. The rotating platform 221 and the handcart type circuit breaker pick-and-place assembly 1 rotate.

Furthermore, a detection sensor 230 is also provided on the bottom plate 227 , and the detection sensor 230 is used to detect the limit positions on both sides of the stroke of the slider 231 .

Further, the top of the scissor bracket 224 is fixed with a rotary support plate 223, specifically: one side of the top of the scissor bracket 224 is connected to the support plate 223 through the rotary support plate adjustment motor assembly 222, and the other side is connected to the scissor connecting plate 232. to support plate 223.

As shown in Figure 10, the rotary support plate adjustment motor assembly 222 includes an adjustment support base 2221, a telescopic shaft 2222, a base 2223, a bearing fulcrum 2224, and a telescopic motor 2225.

The bearing fulcrum 2224 is connected to the top of the scissor bracket 224, the base 2223 and the bearing fulcrum 2224 are fixedly connected, the base 2223 is provided with a telescopic motor 2225 and a telescopic shaft 2222, and the telescopic shaft 2222 is provided with an adjustment support seat 2221 , fixedly connected to the support plate 223 by adjusting the support seat 2221. The telescopic motor 222 drives the screw to rotate through a pair of bevel gears in the base 2223, and then drives and adjusts the telescopic shaft 2222 to achieve the telescopic action through the cooperation between the screw and the thread inside the telescopic shaft 2222.

As shown in Figures 4-6, the handcart type circuit breaker pick-and-place assembly mainly includes: hook 111, hook electric cylinder 112, hook slide 113, support base 114, first trapezoidal screw 115, first Guide rail 116, X-direction through-type stepper motor 117, first screw bearing seat 118, slide baffle 119, pull-out slide plate 120, second screw bearing seat 121, Y-direction through-type stepper motor 122, second Trapezoidal screw 123, second guide rail 124, binocular camera 125, positioning pin 126, component support platform 127, lock hook 128, lock hook motor 129.

Among them, the component support platform 127 is fixed to the rotating platform 221 through the positioning pin 2216. The component support platform 127 is provided with multiple guide rails. The second guide rails 124 are symmetrically arranged on both sides of the component support platform 127. The first guide rail 116 is perpendicular to the second guide rail. The guide rail 124 is provided on one side of the component support platform 127. The second guide rail is provided with a support base 114. Each first guide rail 116 is provided with an X-direction through-type stepper motor 117, and a support is provided on the X-direction through-type stepper motor 117. The support base 114 and the through-type stepper motor 117 are used in pairs. Each pair of the support base 114 and the X-direction through-type stepper motor 117 passes through a first trapezoidal screw 115. The first trapezoidal screw 115 The first screw bearing seat 118 is fixed on the pull-out slide plate 120 .

The hook 111, the hook electric cylinder 112 and the hook slide 113 are connected together through pins, and are assembled on the support base 114 and the X-direction through-type stepper motor 117.

In this embodiment, the first guide rail 116 includes two guide rails, and the two guide rails are arranged in parallel. One of the first trapezoidal screws 115 passes through the support base 114 on the first guide rail 116 and the X-direction through-type stepper motor 117 successively, and the other first trapezoidal screw 115 passes through the other first guide rail 116 successively. The X-direction through-type stepper motor 117 and the support base 114 are installed on the hook, so that the two sets of hooks 111 can move respectively along the X-direction driven by the two sets of stepper motors.

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

Specifically, the second guide rail 124 is installed on the component support platform 127. Two second trapezoidal screw bearing seats 121 are installed on the component support platform 127 close to both sides of the second guide rail 124. The through-type stepper motor in the Y direction 122 is slidingly connected to the second guide rail 124 through a sliding mechanism. The second trapezoidal screw 123 is fixed between the second trapezoidal long screw bearing seats 121. One side of the pull-out slide plate 120 is fixed on the upper part of the through-type stepper motor in the Y direction. The other side is connected to the second guide rail 124 on this side through a sliding mechanism.

The component support platform 127 on the opposite side of the first guide rail 124 is provided with a positioning pin 126, a binocular camera 125 and a lock hook 128. The lock hook 128 is connected to the lock hook motor 129, and the automatic placement is determined by the binocular camera 125 and the positioning pin 126. After the relative position of the platform and the switch cabinet is determined, the lock hook 128 is driven by the lock hook motor 129 to lock the position between the platform and the switch cabinet.

The binocular camera is used to identify the position feature information on the switch cabinet, provide the relative position deviation between the placement platform and the switch cabinet, and guide the placement platform to adjust the relative position between the two to achieve automatic adjustment of the placement platform's posture.

During the process from when the handcart-type circuit breaker is in contact with the handcart-type circuit breaker pick-and-place assembly 1 to when it is completely fixed on the handcart-type circuit breaker pick-and-place assembly 1, the handcart-type circuit breaker will be removed due to the effect of gravity. The posture of placing component 1 changes uncertainly, which causes the handcart type circuit breaker to get stuck during the extraction process, causing the extraction to fail.

Therefore, adding a real-time adjustment system for the posture of the handcart type circuit breaker pick-and-place component 1 can effectively solve the above problems.

Among them, a two-axis inclination sensor is installed on the rotary support plate 223 to monitor the posture of the handcart-type circuit breaker pick-and-place assembly 1 in real time with a set detection period, such as a 10 ms detection period, by receiving data from the two-axis inclination sensor. Finally, the real-time output angles of the rotary motor 2214 and the telescopic motor 2225 are calculated through the following formulas.

Ax＝g·sin(α)

Ay＝g·sin(β)

In the formula: Ax is the given angle input value of the rotary motor 2214; Ay is the given angle input value of the telescopic motor 2225; g is the gravity acceleration; α, β are the tilt angles.

The working principle of the present invention is as follows:

Step 1. Automatically place the platform close to the switch cabinet handcart circuit breaker in the fault state.

Step 2. The binocular camera identifies the relative position of the switch cabinet and the placement platform, and controls and adjusts the height of the scissor lifting device and the rotation angle of the rotating platform to ensure that the positioning pin 126 is aligned with the pin hole of the switch cabinet.

Step 3: Control the mobile platform 3 to slowly approach the switch cabinet, insert the positioning pin 126 into the positioning pin hole, and the lock hook motor 129 drives the lock hook 128 to ensure that the placement platform and the switch cabinet are firmly locked.

Step 4. Pull the sliding plate 120 to drive the hook 111 to advance to the handle position of the handcart type circuit breaker. The action of the hook electric cylinder 112 drives the hook 111 to hook the handle. The through-type stepper motor 122 in the Y direction moves to move the handcart type circuit breaker. Drag the circuit breaker out of the switch cabinet.

Step 5: The latch hook motor 129 drives the latch hook 128 to unlock, and the automatic placement platform drives the faulty handcart circuit breaker to the maintenance position, and the handcart circuit breaker is manually inspected.

Bots also include:

As shown in Figure 12, the main control system is used for autonomous operation strategy control functions such as command interaction and status feedback with the monitoring background, robot path planning and autonomous positioning and navigation, operation step decomposition and sequence control, operation target identification and operation effect identification, etc. .

The visual positioning system, as shown in Figure 11, includes target image and point cloud data collection, point cloud data algorithm processing, image data algorithm processing, accurate target pose estimation and other algorithm modules. Through point cloud clustering and filtering, target detection and Specific algorithms such as target segmentation, target matching and feature matching, fine target detection and alignment estimation, etc., realize functions such as extraction of key features of operating targets, estimation of cabinet planes, automatic matching of operating targets, and accurate estimation of spatial poses, providing a basis for robotic arms and Other work platforms provide precise working positions and visual guidance to enable autonomous operations.

The above algorithm can adopt existing algorithms.

In addition, the operation control system is composed of the tool control panel of each operation platform, and the mobile platform control system is composed of the chassis motion controller, navigation controller, etc. The operation control system is used for the movement control of various operation tools and other module control functions. .

Of course, in some embodiments, the robot also includes a detection component, which includes multiple sensors for collecting the operating environment, environmental parameters and operating parameters, such as temperature and humidity sensors, binocular cameras, monocular cameras, and position sensors. , several force and torque sensors, collision sensors, laser sensors, radar sensors, force sensors, etc.

Of course, in some embodiments, some or all of the above 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: obtain a target object picture;

Based on the target object picture, a heat map extraction network is used to predict several independent heat maps, each heat map corresponding to a key point on the target object;

After merging all independent heat maps, the visual alignment posture of the robotic arm is obtained through the visual alignment posture regression network;

Wherein, the construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object picture, perform Gaussian kernel processing to generate a heat map.

In some embodiments, the heat map extraction network uses a residual network to extract features from target object images. After obtaining the feature map, it undergoes multiple upsampling and convolution adjustments to obtain several independent heat maps.

In some embodiments, the main control system is configured to: obtain a preconfigured power distribution station/substation indoor map, obtain the robot's posture and position information, plan the global optimal path through global path planning, and then drive the robot to move.

In some embodiments, the main control system is configured for global path planning and introduces cable trench cover position information into the A* algorithm; for all nodes in the open list of the A* algorithm, the nodes are selected in order from small to large in order of movement cost. As a candidate node; for a candidate node, make a straight line connecting the candidate node and its parent node, and find the abscissa between the candidate node and the abscissa of its parent node, and on the straight line All points are regarded as reserve points, and combined with the cable trench cover position information, it is judged whether each reserve point is at the cable trench cover position; if all reserve points are not at the cable trench cover position, then the candidate node is added Closed list, and once a node is added to the closed list, the candidate node will no longer be selected in the open list.

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

As shown in Figure 13, the operation method of the above robot includes the following steps:

In response to the operation task, the main control system determines the current robot position and the target switch cabinet, and independently performs global path planning to control the omnidirectional mobile platform to move to the target switch cabinet position;

According to the operation task, the robot operation control system controls the corresponding operation platform to perform operations;

Control the operating platform to aim at the designated operation target, identify and confirm the operation target, and at the same time identify and confirm that the current status of the target is consistent with the corresponding status in the instruction;

The visual positioning system performs pose recognition and positioning on the work target, extracts key features of the work target, and identifies the pose relationship between the work target and the robot. Based on the current position relationship, it adjusts the position of the omnidirectional mobile platform and the posture of the operating platform to keep the robot in optimal operating position;

According to the operation steps and operation strategies that match the operation tasks, the operation control system controls the operation platform to reach the designated operation position through trajectory planning and perform corresponding operations.

Specifically, if it is a ground knife operation task, the robot operation control system controls the ground knife operation platform to put into operation; if it is a circuit breaker maintenance task, the robot operation control system controls the circuit breaker operation platform to put into operation; if it is a robot arm action, the robot operation control system The system controls the robotic arm operating platform to be put into operation, and the robotic arm automatically docks and replaces the corresponding working tools.

As an embodiment, when a robotic arm operation is required, the operation flow of the above-mentioned robot is shown in Figure 2, including the following steps:

1. The background monitoring personnel issues switch cabinet operation instructions;

2. The robot receives operating instructions, and under the control of the operation control system, the omnidirectional mobile platform automatically navigates to the target switch cabinet. It automatically detects obstacles during the navigation process and automatically plans a path for the obstacles.

3. Arrive at the designated position, control the robotic arm to align it with the QR code of the switch cabinet, read the QR code information through the depth camera at the end of the robotic arm, and confirm that the switch cabinet is consistent with the target switch cabinet in the operation instruction.

4. According to the issued operating instructions, the robot operation control system controls the robotic arm to automatically dock and replace the corresponding operation tools.

5. Control the robotic arm to aim at the designated operating target, identify and confirm the operating target, and identify and confirm that the current state of the target is consistent with the corresponding state in the instruction.

6. Visual positioning extracts key features of the work target and identifies the posture relationship between the work target and the robot. According to the current position relationship, adjust the position of the omnidirectional mobile platform and the attitude of the robotic arm so that the robot is in the best operating position. At the same time, the robotic arm is controlled to face the target position so that the depth camera is in the best recognition position.

7. Precisely identify and locate the work target.

8. The operation control system controls the robotic arm to reach the designated operation position through trajectory planning according to the established operation steps and operation strategies.

9. The job control system controls the work tools to complete the specified job functions.

10. The visual camera identifies and verifies the work effect and confirms the completion of the set operation tasks.

11. According to the corresponding task link in the operation instruction, the operation control system repeats steps 4-10 according to the corresponding operation steps to complete the operation tasks for other operation targets until the entire operation instruction is completed.

12. Video and status data during the operation are fed back to the background monitoring system in real time. After the background confirmation is correct, the robot automatically returns to the docking point, automatically charges as needed, and enters a standby state.

As an embodiment, in step 2, the obstacle information includes the cable trench cover. That is, in the global path planning, the cable trench cover position information is introduced into the A* algorithm; for all nodes in the open list of the A* algorithm, they are selected as candidate nodes in order from small to large in terms of movement cost; for a certain For a node to be selected, draw a straight line connecting the node to be selected and its parent node, and find all the points on the straight line whose abscissa is between the abscissa of the node to be selected and its parent node, as reserve points. , and combined with the cable trench cover position information, determine whether each reserve point is at the cable trench cover position; if all reserve points are not at the cable trench cover position, add the candidate node to the closed list, and once there is a node If you join the closed list, you will no longer select the node to be selected in the open list.

If all nodes in the open list are selected as candidate nodes and there is still no node added to the closed list, then the node with the smallest movement cost in the open list is selected to be added to the closed list.

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

y＝k(xx _n )+y _n

in, (x _n , y _n ) is the coordinate of the parent node, (x _min , y _min ) is the coordinate of the node to be selected.

During planning, it is necessary to use a variety of sensors including lidar, depth cameras and inertial measurement units in advance, and use an environment perception algorithm using visual laser fusion to construct a map of the power distribution room and obtain the robot's posture and position information.

The environment perception algorithm of visual laser fusion jointly optimizes visual odometry, laser odometry, inertial measurement unit pre-integration and closed-loop constraints in a factor graph.

As an embodiment, when performing accurate pose identification and positioning of the work target in step 7, a picture of the target object is obtained, the target object is a button operation panel, and the key points are buttons.

Based on the target object picture, a heat map extraction network is used to predict several independent heat maps, each heat map corresponding to a key point on the target object;

After merging all independent heat maps, the visual alignment posture of the robotic arm is obtained through the visual alignment posture regression network. The visual alignment posture of the robotic arm consists of three angles: yaw, pitch and roll.

In this embodiment, the construction process of the heat map used in heat map extraction network training is as follows: for the annotation box in the target object picture, perform Gaussian kernel processing to generate a heat map;

The value of each pixel in the heat map located in the label box is:

Among them, (x, y) represents the coordinates of each pixel in the annotation box in the target object picture, Represents the downsampled coordinates of the center point of the labeling box, and σ _p is the standard deviation.

The heat map extraction network loss function is:

In the formula, is the value of the pixel in the predicted heat map, c represents the c-th key point, x and y are respectively the abscissa and ordinate of a pixel in the c-th key point, α and β are used as hyperparameters, N is the number of key points, and Y _xyc is the value of the pixel in the constructed heat map. The visual alignment pose regression network adopts the mean square error loss function.

Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the 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, etc.) having computer-usable program code embodied therein.

The 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 process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes 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 device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they do not limit the scope of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, those skilled in the art do not need to perform creative work. Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (22)

1. An autonomous operating robot for a switch cabinet, characterized by comprising an omnidirectional mobile platform, a robot operating platform, a circuit breaker placing platform and a control system arranged on the omnidirectional mobile platform, wherein: The circuit breaker placement platform can be lifted and lowered on the omnidirectional mobile platform, and its lifting space does not interfere with the working space of the robot working platform; The circuit breaker placement platform is used to dock with the switch cabinet and maintain self-balancing, and drag out and move the circuit breaker to the circuit breaker placement platform; The robot operating platform is used for opening and closing floor knives, robotic arm operations, or/and replacement of work tools; The control system is used to perform trajectory planning and autonomous navigation between the current position and the target switch cabinet according to the operation task, and to perform operation strategy planning and adjust the robot operation platform or/and circuit breaker placement according to the position and status of the operation target. The position and posture of the platform enable autonomous operation. 2. A switch cabinet autonomous operation robot as claimed in claim 1, characterized in that the circuit breaker placement platform includes a circuit breaker pick-and-place component and a lifting and rotating component, and a lifting and rotating component is provided on the omnidirectional mobile platform. The lifting and rotating assembly is provided with a lifting bracket, the top of the lifting bracket is fixed with a rotating support plate, the rotating supporting plate is equipped with a rotating platform, the rotating platform is rotatably connected to the circuit breaker pick-and-place assembly, and the circuit breaker pick-and-place assembly is rotatably connected. Place the components for the circuit breaker out of the switch cabinet. 3. A switch cabinet autonomous operation robot according to claim 2, characterized in that the lifting bracket includes a linear guide rail and a scissor bracket, one end of the bottom of the scissor bracket is fixed to the omnidirectional mobile platform, and the other end Fixed to the slide block, the slide block is slidingly connected to the linear guide rail, and the linear guide rail is arranged on the omnidirectional moving platform. 4. A switch cabinet autonomous operation robot according to claim 2, characterized in that the rotating platform includes a ring rail slider, a turntable plate, a ring rail, a loop motor, a reducer and a positioning pin; The bottom of the turntable plate is fixed with a ring rail slider, and the ring rail slider is slidably connected to the ring rail, which is fixed to the rotary support plate by sliding the ring rail; the bottom of the turntable plate is provided with a positioning pin, and the positioning pin One end is connected to the reducer and the loop motor, and the other end is connected to the circuit breaker pick-and-place assembly. The reducer and loop motor drive the rotating platform and the circuit breaker pick-and-place assembly to rotate. 5. A switch cabinet autonomous operating robot according to claim 4, characterized in that the circuit breaker pick-and-place assembly includes a component support platform, a clamping piece, a driving piece and a transmission assembly, and the clamping piece includes two One, symmetrically arranged on the component support platform, the clamping member can move horizontally along the component support platform through the driving member and transmission assembly to adjust the relative distance; The side of the component support platform is also provided with positioning pins and locking hooks. The positioning pins match the positioning holes provided at the position of the target switch cabinet circuit breaker. The locking hooks protrude from the side and are used to place the circuit breaker on the platform and The position between the target switch cabinets is locked. 6. A switch cabinet autonomous operation robot according to any one of claims 2 to 5, characterized in that a binocular camera is also provided on the side of the component support platform, and the binocular camera is used to identify the switch cabinet. The position characteristic information provides the relative position deviation between the circuit breaker placement platform and the switch cabinet, and guides the circuit breaker placement platform to adjust the relative position between the two, achieving self-balancing adjustment of the circuit breaker placement platform's posture. 7. A switch cabinet autonomous operation robot as claimed in claim 1, characterized in that a robot working platform is provided on one side of the omnidirectional mobile platform, and the circuit breaker placement platform is provided on the other side; The robot operating platform includes a ground knife operating platform and a robotic arm operating platform. The robotic arm operating platform is provided at the upper end of the ground knife operating platform, and working tools are detachably connected to the robotic arm operating platform. 8. A switch cabinet autonomous operating robot as claimed in claim 7, characterized in that the robotic arm operating platform includes a multi-degree-of-freedom robotic arm, and the multi-degree-of-freedom robotic arm is installed on the top of the ground knife operating platform, Its working range can cover all working spaces from the bottom to the top of the switch cabinet; The end of the multi-degree-of-freedom manipulator is equipped with a work tool docking device for connecting replaceable work tools; A depth camera is also installed at the end of the multi-degree-of-freedom robotic arm, which is used to automatically identify and locate the accurate position and attitude of the operating target. Under the control of the operating control system, autonomous operations for each operating target can be achieved. 9. A switch cabinet autonomous operating robot according to claim 8, characterized in that the robotic arm operating platform also has a tool rack, the tool rack is arranged on the omnidirectional moving platform, and the tool rack Used to accommodate interchangeable work tools. 10. A switch cabinet autonomous operation robot according to claims 1-9, characterized in that the omnidirectional mobile platform includes a mobile platform and a plurality of running wheels provided under the mobile platform, each running wheel has an independent driving parts and independent steering mechanism; The mobile platform is also provided with an energy storage device and a charging device connected thereto. 11. A switch cabinet autonomous operation robot as claimed in any one of claims 1 to 9, characterized in that the robot operating platform is also provided with a visual positioning system for acquiring target images and point cloud data, Extract the key features of the operation target in the operation task, determine the spatial posture of the operation target, and provide operation position and visual guidance for each operation platform. 12. A switch cabinet autonomous operation robot according to claim 11, characterized in that the visual positioning system is configured to: obtain a target object picture; Based on the target object picture, a heat map extraction network is used to predict several independent heat maps, each heat map corresponding to a key point on the target object; After merging all independent heat maps, the visual alignment posture of the robotic arm is obtained through the visual alignment posture regression network; Wherein, the construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object picture, perform Gaussian kernel processing to generate a heat map. 13. A switchgear autonomous operation robot according to claim 12, characterized in that the heat map extraction network uses a residual network to extract features of the target object picture. After obtaining the feature map, it undergoes multiple upsampling. , and after convolution adjustment, several independent heat maps are obtained. 14. A switchgear autonomous operation robot according to claim 1, characterized in that the control system includes a main control system, and the main control system is configured to: obtain a preconfigured power distribution station/substation indoor map , obtain the robot's posture and position information, and plan the global optimal path through global path planning, and then drive the robot to move. 15. A switchgear autonomous operation robot according to claim 14, characterized in that the main control system is configured to introduce cable trench cover position information into the A* algorithm for global path planning; for the A* algorithm All nodes in the open list are selected as candidate nodes in order from small to large movement costs; for a candidate node, make a straight line connecting the candidate node and its parent node, and find the horizontal coordinate of the candidate node. All points between the abscissa of a node and its parent node and on the straight line are used as reserve points, and combined with the cable trench cover position information, it is judged whether each reserve point is at the cable trench cover position; if all reserves If all points are not at the position of the cable trench cover, the node to be selected will be added to the closed list. Once a node is added to the closed list, the node to be selected will no longer be selected in the open list. 16. A switchgear autonomous operating robot according to claim 1 or 14, characterized in that the control system further includes an operation control system, and the operation control system is configured to control the circuit breaker placement platform and ground knife operation. The corresponding driving mechanisms/driving parts of the platform and the robotic arm operating platform perform corresponding motion control. 17. A working method for the switch cabinet autonomous operation robot according to any one of claims 1 to 16, characterized in that it includes the following steps: In response to the operation task, the control system determines the current robot position and the target switch cabinet, and independently performs global path planning to control the omnidirectional mobile platform to move to the target switch cabinet position; According to the operating tasks, the control system controls the corresponding operating platform to perform operations; Control the operating platform to aim at the designated operation target, identify and confirm the operation target, and at the same time identify and confirm that the current status of the target is consistent with the corresponding status in the instruction; Based on the pose recognition and positioning results of the work target, extract the key features of the work target, identify the pose relationship between the work target and the robot, and adjust the position and/or posture of the omnidirectional mobile platform and/or the corresponding operating platform so that it is in the optimal position. Best operating posture; According to the operation steps and operation strategies that match the operation tasks, the control system controls the operation platform to reach the designated operation position through trajectory planning and perform corresponding operations. 18. An operating method for a switchgear autonomously operating robot as claimed in claim 17, characterized in that, if it is a floor knife operation task, the robot operation control system controls the floor knife operation platform to be put into operation; if it is a circuit breaker maintenance task, The robot operation control system controls the circuit breaker operating platform to be put into operation; if it is a robot arm action, the robot operation control system controls the robot arm operation platform to be put into operation, and the robot arm automatically docks and replaces the corresponding work tools. 19. An operating method for a switch cabinet autonomous operation robot as claimed in claim 18, characterized in that, if it is a circuit breaker maintenance task, a binocular camera is used to identify the position feature information on the switch cabinet, and a circuit breaker placement platform and switch are provided. The relative position deviation between the cabinets is determined, and the circuit breaker placement platform is guided to adjust the relative position between the two to achieve self-balancing adjustment of the position of the circuit breaker placement platform. 20. An operating method for a switch cabinet autonomous operating robot as claimed in claim 17, characterized in that the specific process of performing pose recognition and positioning and extracting key features of the operating target includes: obtaining a picture of the target object; Based on the target object picture, a heat map extraction network is used to predict several independent heat maps, each heat map corresponding to a key point on the target object; After merging all independent heat maps, the visual alignment posture of the robotic arm is obtained through the visual alignment posture regression network; Wherein, the construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object picture, perform Gaussian kernel processing to generate a heat map. 21. An operating method for a switch cabinet autonomous operating robot as claimed in claim 17, wherein the specific process of controlling the omnidirectional mobile platform to move to the target switch cabinet position includes obtaining a preconfigured power distribution station/substation indoor map. , obtain the robot's posture and position information, and plan the global optimal path through global path planning, and then drive the robot to move. 22. An operating method for a switchgear autonomous operating robot as claimed in claim 21, characterized in that the global path planning introduces cable trench cover position information into the A* algorithm; for all the open lists in the A* algorithm Nodes are selected as candidate nodes in order from small to large in order of movement cost; for a candidate node, make a straight line connecting the candidate node and its parent node, and find the abscissa between the candidate node and its parent node. All points between the abscissas and on the straight line are regarded as reserve points, and combined with the cable trench cover position information, it is judged whether each reserve point is at the cable trench cover position; if all reserve points are not at the cable trench cover position, If the position of the trench cover plate is determined, the node to be selected will be added to the closed list, and once a node is added to the closed list, the node to be selected will no longer be selected in the open list.