Power plant 6kV switch operating device and operating system thereof

Abstract

The invention discloses a power plant 6kV switch operation device and an operation system thereof, and relates to the field of switch operation, and the power plant 6kV switch operation device specifically comprises a state monitoring module used for obtaining image data and mechanical connection part signal data and carrying out state analysis and preprocessing to obtain standardized state data, and a remote control module used for controlling the state monitoring module and the remote control module. And the control module is used for analyzing the standardized state data to form control parameters, analyzing execution satisfaction conditions through an analyzer based on the obtained control parameters, generating operation parameters, and performing state monitoring and remote control through integrating state monitoring, remote control, mechanical arm positioning, grabbing action, limiting nodes, operation interlocking and state feedback modules. The full-process intelligent control from state collection, instruction analysis to operation execution is realized, the real-time state of the switch trolley can be accurately obtained, control parameters are dynamically generated and optimized, high-precision operation of the mechanical arm and the grabbing device is ensured, meanwhile, state conflicts are avoided through an interlocking rule, and the safety of the switch trolley is improved. And the operation safety, stability and efficiency are improved by combining a comprehensive state feedback function.

Description

Technical Field

[0001] The invention relates to the field of switch operation, and in particular to a 6kV switch operating device of a power plant and an operating system thereof. Background Art

[0002] 6kV switchgear is a key control component in the operation of power plants, and its operating status directly affects the safety and operating efficiency of power plants. At present, the traditional 6kV switch operation mode mainly relies on manual operation or simple electronic control systems. These methods usually have problems such as untimely response, complex operation, and low intelligence in realizing opening and closing operations, trolley position switching, and status feedback. Especially in complex environments, it is easy to cause misoperation or safety hazards.

[0003] The existing 6kV switch operating system has deficiencies in status monitoring, remote control and mechanical operation, which are manifested in low status acquisition accuracy, simple control logic, insufficient operation interlocking rules, and lack of efficient status feedback after the operation is completed. These shortcomings make it difficult for the system to achieve precise control and real-time monitoring during operation, which in turn affects the safety and stability of the operation. Summary of the invention

[0004] The purpose of the present invention is to address the deficiencies in the prior art and provide a 6kV switch operating device for a power plant and its operating system, which aims to realize full-process intelligent operation from state acquisition to operation execution, interlocking control to result feedback by integrating a state monitoring module, a remote control module, a robotic arm positioning module, a grasping action module, etc., thereby solving the problems of insufficient accuracy, imperfect control and delayed feedback in traditional systems, and effectively improving the safety, reliability and operation efficiency of the system.

[0005] To this end, the present application provides a 6kV switch operating device for a power plant and an operating system thereof, comprising the following modules:

[0006] The status monitoring module is used to obtain image data and signal data of mechanical connection parts, and perform status analysis and preprocessing to obtain standardized status data.

[0007] The remote control module is used to parse the standardized status data to form control parameters, and based on the obtained control parameters, the parser analyzes the execution to meet the conditions and generates operation parameters.

[0008] The robot positioning module is used to calculate the initial offset and the optimal path, generate a motion instruction sequence for execution through the path planning tool, and calculate the final deviation based on the execution results.

[0009] The gripping action module is used to perform gripping and rotating operations through a control device and to limit an angle tolerance value.

[0010] The limit node module is used to further limit the angle tolerance value of the gripping device.

[0011] The operation interlock module is used for rule setting. When the set rules are triggered, an execution judgment report is generated.

[0012] The state feedback module is used for data integration and generates comprehensive state feedback information and sends it to the control device.

[0013] In some specific implementations, the status monitoring module is specifically:

[0014] The image data of the 6kV switch trolley operation panel is obtained through the image acquisition device.

[0015] The image acquisition device is a high-resolution camera, which is used to cover and capture all display areas on the operation panel.

[0016] The image data includes: the opening and closing indicator lights and the current display status of the panel area.

[0017] The signal data of the mechanical connection parts of the 6kV switch trolley are obtained through the position sensor.

[0018] Based on the obtained impact data and mechanical connection part signal data, the status of the opening and closing indicator lights and the panel area in the panel area is analyzed.

[0019] When the light is on, it is analyzed as a closed state, and when the light is off, it is analyzed as an open state.

[0020] The current position of the car is identified by the display position and color characteristics of the panel area.

[0021] When the indicator light on the upper right display box lights up green, it is interpreted as the trolley is in the working position.

[0022] When the indicator light in the middle display frame on the right lights up yellow, it is analyzed that the trolley is in the test position.

[0023] When the indicator light in the lower right display box lights up red, it is analyzed that the trolley is in the maintenance position.

[0024] Preprocessing is performed based on the analyzed impact data and mechanical connection part signal data to obtain standardized state data.

[0025] It should be noted that, since preprocessing is a technology well known to those skilled in the art, it will not be described in detail here.

[0026] In some specific implementations, the remote control module is specifically:

[0027] Based on the standardized status data, the current status of the operation panel is identified through the parser, and the function control parameters and direction control parameters are generated according to the preset instructions.

[0028] Based on the obtained function control parameters and direction control parameters, the function control parameters and direction control parameters are issued by the control device.

[0029] Functional control parameters include: opening, switching to test position, switching to maintenance position, switching to working position and closing.

[0030] Direction control parameters include: forward, backward, left, right and stop.

[0031] The parser analyzes the current state and determines whether the control parameters meet the execution conditions.

[0032] The execution conditions are as follows: if the current state of the car conflicts with the control parameters, the control parameters will be blocked from execution and feedback data will be generated. If the current state meets the target conditions, the parser will convert the instructions into specific action parameters. The specific action parameters are: function control parameters and direction control parameters.

[0033] The operation parameters are generated based on the parsed direction control parameters and function control parameters.

[0034] Operation parameters include: robot arm movement target point information and function control data

[0035] The direction control parameters will generate the target point information of the robot arm movement, and the target point information of the robot arm movement includes: movement speed and path control.

[0036] Functional control data will be generated through functional control parameters, and the functional control data include: the control parameters of the grabbing action, rotation angle and limit judgment of the trolley operation.

[0037] In some specific implementations, the robot arm positioning module is specifically:

[0038] The current position of the robot arm is obtained through the laser sensor, and the initial offset Δx, Δy, Δz between the current position and the target point is calculated based on the obtained current position of the robot arm and the target point information of the robot arm movement. Specifically,

[0039] Δx=X goal -X curr ,Δy=Y goal -Y curr ,Δz=Z goal -Z curr

[0040] Where: X goal ,Y gool ,Z goalis the target point coordinate, X curr ,Y curr ,Z curr is the current position coordinate, Δx, Δy, Δz are the offsets between the current position of the robot and the target point.

[0041] Based on the calculated initial offset and the current position of the robot, the shortest path algorithm is used to calculate the optimal path and obtain the optimal path, which is as follows:

[0042]

[0043] Where: P opt is the optimal path after optimization, n is the total number of nodes contained in the path, d i is the Euclidean distance from path node i to the next node. If there are obstacles in the path, the path weight is adjusted dynamically, specifically:

[0044] W new =W prev +α·O

[0045] Where: W new is the adjusted path weight, W prev is the weight of the previous path, α is the obstacle avoidance factor, and O is the impact factor of the obstacle.

[0046] A path planning tool is used to generate a motion command sequence based on the calculated optimal path.

[0047] Based on the obtained motion instruction sequence, the control device drives the robot arm joints to complete the movement.

[0048] During the movement process, if the current position of the robot arm deviates from the optimal path and the deviation value exceeds the path adjustment threshold of 2% path length, the shortest path algorithm is called again to update the path.

[0049] When the movement is completed, the laser positioning sensor detects the current position and calculates the final deviation, which is:

[0050]

[0051] Where: Δ final is the final deviation between the current position and the target point, Δx, Δy, Δz are the three-dimensional offsets between the current position of the robot and the target point, which are derived from the offset calculation formula.

[0052] When the move is completed, if Δ final ≤1.5mm, it is confirmed that the robot arm has reached the target point.

[0053] When the movement is completed, if the deviation exceeds the allowable range, the path is replanned and the robot arm movement is adjusted until the requirements are met.

[0054] In some specific implementations, the grasping action module is specifically:

[0055] The current position of the gripping device is obtained by a laser sensor, and based on the obtained functional control data, the gripping device is driven by a control device to perform a gripping operation, specifically:

[0056] F grip =P set ·A

[0057] Where: F grip is the grasping strength, P set is the pressure value of the gripper setting, and A is the gripper contact area.

[0058] Based on the obtained functional control data, the control device drives the gripping device to perform a rotation operation, specifically:

[0059] θ t =θ init +Δθ·t

[0060] Where: θ t is the current rotation angle of the gripping device at time t, θ init is the initial rotation angle, Δθ is the angular velocity of rotation per unit time, and t is the time process of rotation.

[0061] In some specific implementations, the limit node module is specifically:

[0062] The current rotation angle of the crank is collected through the limit sensor to obtain feedback grip data. The accuracy of collecting the crank feedback grip data is ±0.1° and the frequency is 1000Hz.

[0063] The gripping data includes: the current gripping state, the accumulated angle of the current rotation, and whether the rotation reaches the set limit.

[0064] Based on the obtained feedback grasping data, the limit analysis is performed according to the current rotation angle θ t and the target rotation angle θ target , specifically:

[0065] |θ t -θ target |≤θ tol

[0066] Where: θ t is the current rotation angle, θ target is the target rotation angle, derived from the functional control data, θ tol is the angle tolerance range.

[0067] When the conditions in the formula are met, it means that the deviation between the current angle and the target limit angle is within the allowable range, confirming that the target limit has been reached, and a limit signal is issued to indicate that the rotation operation has stopped. The limit signal includes: the current rotation angle and the confirmation status that the target limit angle has been reached.

[0068] When the condition is not met, an adjustment instruction is issued through the control device to repeatedly collect and re-analyze the current rotation angle until the limit condition is met.

[0069] In some specific embodiments, the interlock module is operated as follows:

[0070] Rules are set based on the obtained standardized status data, functional control data and grip data.

[0071] The opening and closing rules are set based on standardized status data, functional control data and gripping data. When the opening and closing status is closed, the position switching instruction is prohibited and the opening instruction is allowed. When the opening and closing status is open, the closing instruction is prohibited, except that the trolley position status is the test position or maintenance position status, and the position switching instruction is allowed.

[0072] The trolley position rules are set based on standardized status data, functional control data and gripping data. When the trolley position status is the working position, the instruction to switch the position to the test position or maintenance position is prohibited, and the closing instruction is allowed. When the trolley position status is the test position or maintenance position, the closing instruction is prohibited, and the opening instruction and position switching instruction are allowed.

[0073] The gripping action rules are set based on standardized status data, function control data and gripping data. When the gripping state does not hold the handle tightly or the limit state is not triggered, any rotation operation or position switching instruction is prohibited. When the limit state is triggered, the rotation operation is allowed to continue or the position switching instruction is allowed to execute.

[0074] When the opening and closing rule setting, the trolley position rule setting or the grasping action rule setting is triggered, the rule judgment data will be generated. When the rule judgment data does not allow execution, the execution of the current instruction will be blocked and the cause of the conflict will be fed back. When the rule judgment data allows execution, the rule judgment data will be issued through the control device.

[0075] When the rule judgment data is issued by the control device, an execution judgment report is generated, which includes: the current opening and closing state, the current trolley position state, the current grasping state and the rotation angle state.

[0076] In some specific implementations, the state feedback module is specifically:

[0077] Based on the obtained standardized state data, functional control data, grasping data and rule judgment data, they are integrated to generate comprehensive state feedback information.

[0078] The generated comprehensive status feedback information includes: the status mark of the current operation, the complete record of the current operation status, and the reason for the operation failure.

[0079] The obtained comprehensive status feedback information is sent to the display panel of the control device for display.

[0080] The displayed contents include: opening and closing status, trolley position status, clamp status, rotation angle status and operation results.

[0081] In some specific embodiments, an electronic device includes:

[0082] one or more processors;

[0083] A storage device for storing one or more programs;

[0084] When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

[0085] In summary, the present application provides a 6kV switch operating device for a power plant and its operating system, a state monitoring module for acquiring image data and signal data of mechanical connection parts, and performing state analysis and preprocessing to obtain standardized state data, a remote control module for parsing standardized state data to form control parameters, and based on the obtained control parameters, the parser analyzes and executes the satisfied conditions and generates operation parameters. By integrating modules such as state monitoring, remote control, robot positioning, grasping action, limit nodes, operation interlocking and state feedback, the whole process from state acquisition, instruction parsing to operation execution is realized. Intelligent control can be achieved, and the real-time state of the switch trolley can be accurately acquired, control parameters can be dynamically generated and optimized, and high-precision operation of the robot arm and the grasping device can be ensured. At the same time, state conflicts can be avoided through multi-layer interlocking rules. Combined with the comprehensive state feedback function, the operational safety, stability and efficiency of the system are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 It is an overall flow chart of a 6kV switch operating system for a power plant provided in an embodiment of the present application.

[0087] Figure 2 It is an overall flow chart of a 6kV switch operating device for a power plant provided in an embodiment of the present application. DETAILED DESCRIPTION

[0088] Please refer to Figure 1, which shows a process of an embodiment of a 6kV switch operating device and its operating system for a power plant according to the present disclosure

[0089] like Figure 1 As shown, a 6kV switch operating device and operating system of a power plant include the following modules:

[0090] The status monitoring module is used to obtain image data and signal data of mechanical connection parts, and perform status analysis and preprocessing to obtain standardized status data.

[0091] The remote control module is used to parse the standardized status data to form control parameters, and based on the obtained control parameters, the parser analyzes the execution to meet the conditions and generates operation parameters.

[0092] The robot positioning module is used to calculate the initial offset and the optimal path, generate a motion instruction sequence for execution through the path planning tool, and calculate the final deviation based on the execution results.

[0093] The gripping action module is used to perform gripping and rotating operations through a control device and to limit an angle tolerance value.

[0094] The limit node module is used to further limit the angle tolerance value of the gripping device.

[0095] The operation interlock module is used for rule setting. When the set rules are triggered, an execution judgment report is generated.

[0096] The state feedback module is used for data integration and generates comprehensive state feedback information and sends it to the control device.

[0097] In some specific implementations, the status monitoring module is specifically:

[0098] The image data of the 6kV switch trolley operation panel is obtained through the image acquisition device.

[0099] The image acquisition device is a high-resolution camera, which is used to cover and capture all display areas on the operation panel.

[0100] The image data includes: the opening and closing indicator lights and the current display status of the panel area.

[0101] The signal data of the mechanical connection parts of the 6kV switch trolley are obtained through the position sensor.

[0102] Based on the obtained impact data and mechanical connection part signal data, the status of the opening and closing indicator lights and the panel area in the panel area is analyzed.

[0103] When the light is on, it is analyzed as a closed state, and when the light is off, it is analyzed as an open state.

[0104] The current position of the car is identified by the display position and color characteristics of the panel area.

[0105] When the indicator light on the upper right display box lights up green, it is interpreted as the trolley is in the working position.

[0106] When the indicator light in the middle display frame on the right lights up yellow, it is analyzed that the trolley is in the test position.

[0107] When the indicator light in the lower right display box lights up red, it is analyzed that the trolley is in the maintenance position.

[0108] Preprocessing is performed based on the analyzed impact data and mechanical connection part signal data to obtain standardized state data.

[0109] It should be noted that, since preprocessing is a technology well known to those skilled in the art, it will not be described in detail here.

[0110] In some specific implementations, the remote control module is specifically:

[0111] Based on the standardized status data, the current status of the operation panel is identified through the parser, and the function control parameters and direction control parameters are generated according to the preset instructions.

[0112] Based on the obtained function control parameters and direction control parameters, the function control parameters and direction control parameters are issued by the control device.

[0113] like Figure 2 As shown:

[0114] Functional control parameters include: opening, switching to test position, switching to maintenance position, switching to working position and closing.

[0115] Direction control parameters include: forward, backward, left, right and stop.

[0116] The parser analyzes the current state and determines whether the control parameters meet the execution conditions.

[0117] The execution conditions are as follows: if the current state of the car conflicts with the control parameters, the control parameters will be blocked from execution and feedback data will be generated. If the current state meets the target conditions, the parser will convert the instructions into specific action parameters. The specific action parameters are: function control parameters and direction control parameters.

[0118] The operation parameters are generated based on the parsed direction control parameters and function control parameters.

[0119] The operating parameters include: the robot arm's moving target point information and function control data.

[0120] The direction control parameters will generate the target point information of the robot arm movement, and the target point information of the robot arm movement includes: movement speed and path control.

[0121] Functional control data will be generated through functional control parameters, and the functional control data include: the control parameters of the grabbing action, rotation angle and limit judgment of the trolley operation.

[0122] In some specific implementations, the robot arm positioning module is specifically:

[0123] The current position of the robot arm is obtained through the laser sensor, and the initial offset Δx, Δy, Δz between the current position and the target point is calculated based on the obtained current position of the robot arm and the target point information of the robot arm movement. Specifically,

[0124] Δx=X goal -X curr ,Δy=Y goal -Y curr ,Δz=Z goal -Z curr

[0125] Where: X goal ,Y gool ,Z goal is the target point coordinate, X curr ,Y curr ,Z curr is the current position coordinate, Δx, Δy, Δz are the offsets between the current position of the robot and the target point.

[0126] Based on the calculated initial offset and the current position of the robot, the shortest path algorithm is used to calculate the optimal path and obtain the optimal path, which is as follows:

[0127]

[0128] Where: P opt is the optimal path after optimization, n is the total number of nodes contained in the path, d i is the Euclidean distance from path node i to the next node. If there are obstacles in the path, the path weight is adjusted dynamically, specifically:

[0129] W new =W prev +α·O

[0130] Where: W new is the adjusted path weight, W prev is the weight of the previous path, α is the obstacle avoidance factor, and O is the impact factor of the obstacle.

[0131] A path planning tool is used to generate a motion command sequence based on the calculated optimal path.

[0132] Based on the obtained motion instruction sequence, the control device drives the robot arm joints to complete the movement.

[0133] During the movement process, if the current position of the robot arm deviates from the optimal path and the deviation value exceeds the path adjustment threshold of 2% path length, the shortest path algorithm is called again to update the path.

[0134] When the movement is completed, the laser positioning sensor detects the current position and calculates the final deviation, which is:

[0135]

[0136] Where: Δ final is the final deviation between the current position and the target point, Δx, Δy, Δz are the three-dimensional offsets between the current position of the robot and the target point, which are derived from the offset calculation formula.

[0137] like Figure 2 As shown, when the movement is completed, if Δ final ≤1.5mm, it is confirmed that the robot arm has reached the target point.

[0138] When the movement is completed, if the deviation exceeds the allowable range, the path is replanned and the robot arm movement is adjusted until the requirements are met.

[0139] In some specific implementations, the grasping action module is specifically:

[0140] The current position of the gripping device is obtained by a laser sensor, and based on the obtained functional control data, the gripping device is driven by a control device to perform a gripping operation, specifically:

[0141] F grip =P set ·A

[0142] Where: F grip is the grasping strength, P set is the pressure value of the gripper setting, and A is the gripper contact area.

[0143] Based on the obtained functional control data, the control device drives the gripping device to perform a rotation operation, specifically:

[0144] θ t =θ init +Δθ·t

[0145] Where: θ t is the current rotation angle of the gripping device at time t, θ init is the initial rotation angle, Δθ is the angular velocity of rotation per unit time, and t is the time process of rotation.

[0146] In some specific implementations, the limit node module is specifically:

[0147] The current rotation angle of the crank is collected through the limit sensor to obtain feedback grip data. The accuracy of collecting the crank feedback grip data is ±0.1° and the frequency is 1000Hz.

[0148] The gripping data includes: the current gripping state, the accumulated angle of the current rotation, and whether the rotation reaches the set limit.

[0149] Based on the obtained feedback grasping data, the limit analysis is performed according to the current rotation angle θ t and the target rotation angle θ target , specifically:

[0150] |θ t -θ target |≤θ tol

[0151] Where: θ t is the current rotation angle, θ target is the target rotation angle, derived from the functional control data, θ tol is the angle tolerance range.

[0152] When the conditions in the formula are met, it means that the deviation between the current angle and the target limit angle is within the allowable range, confirming that the target limit has been reached, and a limit signal is issued to indicate that the rotation operation has stopped. The limit signal includes: the current rotation angle and the confirmation status that the target limit angle has been reached.

[0153] When the condition is not met, an adjustment instruction is issued through the control device to repeatedly collect and re-analyze the current rotation angle until the limit condition is met.

[0154] In some specific embodiments, the interlock module is operated as follows:

[0155] Rules are set based on the obtained standardized status data, functional control data and grip data.

[0156] The opening and closing rules are set based on standardized status data, functional control data and gripping data. When the opening and closing status is closed, the position switching instruction is prohibited and the opening instruction is allowed. When the opening and closing status is open, the closing instruction is prohibited, except that the trolley position status is the test position or maintenance position status, and the position switching instruction is allowed.

[0157] The trolley position rules are set based on standardized status data, functional control data and gripping data. When the trolley position status is the working position, the instruction to switch the position to the test position or maintenance position is prohibited, and the closing instruction is allowed. When the trolley position status is the test position or maintenance position, the closing instruction is prohibited, and the opening instruction and position switching instruction are allowed.

[0158] The gripping action rules are set based on standardized status data, function control data and gripping data. When the gripping state does not hold the handle tightly or the limit state is not triggered, any rotation operation or position switching instruction is prohibited. When the limit state is triggered, the rotation operation is allowed to continue or the position switching instruction is allowed to execute.

[0159] When the opening and closing rule setting, the trolley position rule setting or the grasping action rule setting is triggered, the rule judgment data will be generated. When the rule judgment data does not allow execution, the execution of the current instruction will be blocked and the cause of the conflict will be fed back. When the rule judgment data allows execution, the rule judgment data will be issued through the control device.

[0160] When the rule judgment data is issued by the control device, an execution judgment report is generated, which includes: the current opening and closing state, the current trolley position state, the current grasping state and the rotation angle state.

[0161] In some specific implementations, the state feedback module is specifically:

[0162] Based on the obtained standardized state data, functional control data, grasping data and rule judgment data, they are integrated to generate comprehensive state feedback information.

[0163] The generated comprehensive status feedback information includes: the status mark of the current operation, the complete record of the current operation status, and the reason for the operation failure.

[0164] The obtained comprehensive status feedback information is sent to the display panel of the control device for display.

[0165] The displayed contents include: opening and closing status, trolley position status, clamp status, rotation angle status and operation results.

[0166] In some specific embodiments, an electronic device includes:

[0167] one or more processors;

[0168] A storage device for storing one or more programs;

[0169] When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

[0170] In the above content, in actual application, first, the image data of the 6kV switch trolley operating panel is obtained through the image acquisition device, covering and capturing all display areas of the operating panel. The image data includes the opening and closing indicator lights and the current display status of the panel area. The signal data of the mechanical connection parts are obtained through the position sensor, and the status of the indicator lights in the panel area is analyzed. When the opening and closing indicator lights are on, it is analyzed as a closed state, and when they are off, it is analyzed as an open state. Based on the display position and color characteristics of the panel area, it is determined that the trolley is in the working position, test position or maintenance position. After analysis and preprocessing of the image data and mechanical signal data, standardized status data is generated.

[0171] Secondly, based on the standardized status data, the status information is parsed by the parser to generate direction control parameters and function control parameters. The direction control parameters are used to describe the movement direction of the robot arm, and the function control parameters are used to describe the operation instructions of the trolley, including opening, closing and position switching. The parser determines whether the current state matches the instruction. If so, the action parameters are generated. If not, the execution is blocked and feedback data is generated. Based on the action parameters, the moving target point information of the robot arm and the control parameters of the grasping action and rotation angle are generated.

[0172] Secondly, the current position of the robot arm is obtained through the laser sensor, and the offset from the target point is calculated. The optimal path is generated based on the offset and the shortest path algorithm. If there are obstacles on the path, the path weight is dynamically adjusted to optimize the path planning. The generated motion command sequence drives the robot arm joints to complete the movement through the control device. When the current position of the robot arm deviates from the path and the deviation value exceeds the threshold, the path is replanned. After the movement is completed, the final deviation is detected to confirm that the robot arm has reached the target point. If the deviation exceeds the allowable range, the adjustment is repeated.

[0173] Secondly, the control device drives the grasping device to perform grasping and rotation operations. The grasping action includes the clamping and releasing of the clamp. The rotation operation controls the rotation angle of the grasping device. The parameters of the grasping action and the rotation action are generated based on the functional control data. The rotation angle control accuracy is ±1°. The grasping status, rotation angle and limit status are collected in real time, and the execution operation is adjusted through feedback data.

[0174] Then, based on the rotation angle feedback from the grasping action module, the limit node module analyzes the current angle and the target angle. If the deviation between the current angle and the target angle is within the tolerance range, the limit signal is triggered, the rotation operation is stopped, and the angle confirmation status is generated. If the deviation exceeds the range, the angle data is continuously collected and dynamically adjusted until the limit condition is met.

[0175] Subsequently, based on the standardized status data, control parameters and grasping data, the opening and closing rules, trolley position rules and grasping action rules are set. When the opening and closing state is closed, position switching is prohibited. When the trolley is in the test position or maintenance position, the opening instruction is allowed. When the interlocking rule is triggered, the rule judgment data is generated. If the rule judgment data does not meet the requirements, the current instruction is prevented from being executed and the conflict cause is generated.

[0176] Finally, the standardized status data, control parameters, grasping data and rule judgment data are integrated to generate comprehensive status feedback information, including the current operation status, operation completion status and failure reason. The comprehensive status feedback information is sent to the display panel through the communication interface for real-time display of the opening and closing status, trolley position status, gripper status, rotation angle status and operation results.

Claims

1. A 6kV switch operating device and operating system for a power plant, characterized in that: Includes the following modules: The status monitoring module is used to obtain image data and signal data of mechanical connection parts, and perform status analysis and preprocessing to obtain standardized status data; A remote control module, for parsing the standardized status data to form control parameters, and based on the obtained control parameters, executing the satisfied conditions through the parser analysis, and generating the operation parameters; The robot positioning module is used to calculate the initial offset and optimal path, generate a motion instruction sequence through the path planning tool for execution, and calculate the final deviation based on the execution results; A grasping action module, used for performing grasping and rotating operations through a control device and limiting an angle tolerance value; A limit node module, used to further limit the angle tolerance value of the grasping device; Operation interlock module, used for rule setting, when the set rule is triggered, an execution judgment report is generated; The state feedback module is used for data integration and generates comprehensive state feedback information and sends it to the control device.

2. A 6kV switch operating device and operating system for a power plant according to claim 1, characterized in that: Status monitoring module, specifically: The image data of the 6kV switch trolley operation panel is obtained through the image acquisition device; Image data includes: the current display status of the opening and closing indicator lights and the panel area; Obtain the signal data of the mechanical connection parts of the 6kV switch trolley through the position sensor; Based on the obtained impact data and mechanical connection part signal data, the status of the opening and closing indicator lights and the panel area in the panel area are analyzed; Preprocessing is performed based on the analyzed impact data and mechanical connection part signal data to obtain standardized state data.

3. A 6kV switch operating device and operating system for a power plant according to claim 1, characterized in that: Remote control module, specifically: Based on the standardized status data, the current status of the operation panel is identified through the parser, and the function control parameters and direction control parameters are generated according to the preset instructions; Based on the obtained function control parameters and direction control parameters, the function control parameters and direction control parameters are issued through the control device; The parser analyzes the current state and determines whether the control parameters meet the execution conditions; generating operation parameters based on the parsed direction control parameters and function control parameters; Operation parameters include: robot arm movement target point information and function control data The direction control parameters will generate the target point information of the robot arm movement, which includes: movement speed and path control; Functional control data will be generated through functional control parameters, and the functional control data include: the control parameters of the grabbing action, rotation angle and limit judgment of the trolley operation.

4. A 6kV switch operating device and operating system for a power plant according to claim 1, characterized in that: Robot arm positioning module, specifically: The current position of the robot arm is obtained through the laser sensor, and the initial offset Δx, Δy, Δz between the current position and the target point is calculated based on the obtained current position of the robot arm and the target point information of the robot arm movement. Specifically, Δx=X goal -X curr ,Δy=Y goal -Y curr ,Δz=Z goal -Z curr Where: X goal , Y gool , Z goal is the target point coordinate, X curr , Y curr , Z curr is the current position coordinate, Δx, Δy, Δz are the offsets between the current position of the robot and the target point position; Based on the calculated initial offset and the current position of the robot, the shortest path algorithm is used to calculate the optimal path and obtain the optimal path, which is as follows: Where: P opt is the optimal path after optimization, n is the total number of nodes contained in the path, d i is the Euclidean distance from path node i to the next node. If there are obstacles in the path, the path weight is adjusted dynamically, specifically: W new =W prev +a·O Where: W new is the adjusted path weight, W prev is the weight of the previous path, α is the obstacle avoidance factor, and O is the impact factor of the obstacle; Generate a motion instruction sequence using a path planning tool based on the calculated optimal path; Based on the obtained motion instruction sequence, the control device drives the joints of the robot arm to complete the movement; When the movement is completed, the laser positioning sensor detects the current position and calculates the final deviation, which is: Where: Δ final is the final deviation between the current position and the target point, Δx, Δy, Δz are the three-dimensional offsets between the current position of the robot and the target point, which are derived from the offset calculation formula.

5. A 6kV switch operating device and operating system for a power plant according to claim 1 is characterized in that: Grasping action module, specifically: The current position of the gripping device is obtained by a laser sensor, and based on the obtained functional control data, the gripping device is driven by a control device to perform a gripping operation, specifically: F grip =P set ·A Where: F grip is the grasping strength, P set is the pressure value of the clamping jaws, and A is the contact area of ​​the clamping jaws; Based on the obtained functional control data, the control device drives the gripping device to perform a rotation operation, specifically: i t =θ init +Δθ·t Where: θ t is the current rotation angle of the gripping device at time t, θ init is the initial rotation angle, Δθ is the angular velocity of rotation per unit time, and t is the time process of rotation.

6. A 6kV switch operating device and operating system for a power plant according to claim 1 is characterized in that: Limit node module, specifically: The current rotation angle of the crank is collected through the limit sensor to obtain feedback grip data; The gripping data includes: the current gripping state, the current cumulative angle of rotation, and whether the rotation reaches the set limit; Based on the obtained feedback grasping data, the limit analysis is performed according to the current rotation angle θ t and the target rotation angle θ target , specifically: |θ t -θ target |≤θ tol Where: θ t is the current rotation angle, θ target is the target rotation angle, derived from the functional control data, θ tol is the angle tolerance range.

7. A 6kV switch operating device and operating system for a power plant according to claim 1, characterized in that: Operate the interlock module, specifically: Setting rules based on the obtained standardized state data, functional control data and grip data; The opening and closing rules are set based on the standardized status data, function control data and grip data. When the opening and closing status is closed, the position switching command is prohibited and the opening command is allowed. When the opening and closing status is open, the closing command is prohibited, except when the trolley position status is the test position or maintenance position, and the position switching command is allowed. The trolley position rules are set based on standardized status data, function control data and gripping data. When the trolley position status is the working position, the command to switch the position to the test position or maintenance position is prohibited, and the closing command is allowed. When the trolley position status is the test position or maintenance position, the closing command is prohibited, and the opening command and position switching command are allowed. The gripping action rules are set based on the standardized state data, function control data and gripping data. When the gripping state does not hold the crank tightly or the limit state is not triggered, any rotation operation or position switching instruction is prohibited. When the limit state is triggered, the rotation operation or position switching instruction is allowed to continue. When the opening and closing rule setting, the trolley position rule setting or the grasping action rule setting is triggered, the rule judgment data will be generated. When the rule judgment data does not allow execution, the execution of the current instruction will be blocked and the cause of the conflict will be fed back. When the rule judgment data allows execution, the rule judgment data will be issued through the control device. When the rule judgment data is issued by the control device, an execution judgment report is generated, which includes: the current opening and closing state, the current trolley position state, the current grasping state and the rotation angle state.

8. A 6kV switch operating device and operating system for a power plant according to claim 1, It is characterized in that State feedback module, specifically: Integrate the obtained standardized state data, function control data, grasping data and rule judgment data, and generate comprehensive state feedback information; Generate comprehensive status feedback information including: status mark of current operation, complete record of current operation status, and reason for operation failure; Send the obtained comprehensive status feedback information to a display panel of the control device for display; The displayed contents include: opening and closing status, trolley position status, clamp status, rotation angle status and operation results.

9. An electronic device, characterized in that include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

Images