Power plant 6 kv switchgear operating apparatus and system

Abstract

The present invention relates to the field of switch operating. Disclosed are a power plant 6 kV switchgear operating apparatus and system, specifically comprising: a state monitoring module, used for acquiring image data and mechanical connection part signal data, and performing state analysis and preprocessing to obtain standardized state data; and a remote control module, used for parsing the standardized state data to form control parameters, analyzing an execution condition by means of a parser on the basis of the obtained control parameters, and generating operating parameters. By integrating the state monitoring module, the remote control module, a robotic arm positioning module, a gripping action module, a limiting node module, an operation interlocking module, and a state feedback module, intelligent control over the entire process from state acquisition, instruction parsing to operation execution is achieved. The real-time state of a switchgear trolley can be accurately acquired, the control parameters are dynamically generated and optimized, high-precision operation of a robotic arm and a gripping device is ensured, state conflicts are avoided by means of interlocking rules, and operation safety, stability and efficiency are improved by combining a comprehensive state feedback function.

Description

A 6kV switchgear operating device for power plants and its operating system Technical Field

[0001] This invention relates to the field of switch operation, and in particular to a 6kV switch operation device for power plants and its operating system. Background Technology

[0002] 6kV switchgear is a key control component in the operation of power plants. Its operating status directly affects the safety and operating efficiency of power plants. Currently, traditional 6kV switchgear operation mainly relies on manual operation or simple electrical control systems. These methods usually have problems such as untimely response, complex operation, and low level of intelligence in terms of 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 shortcomings in terms of status monitoring, remote control and mechanical operation. These shortcomings include low status acquisition accuracy, simple control logic, insufficient operation interlock rules, and lack of efficient status feedback after operation. 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 operation. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a 6kV switch operation device and its operating system for power plants. By integrating a status monitoring module, a remote control module, a robotic arm positioning module, and a gripping action module, it achieves intelligent operation throughout the entire process, from status acquisition to operation execution, interlock control, and result feedback. This solves the problems of insufficient accuracy, imperfect control, and delayed feedback in traditional systems, effectively improving the system's safety, reliability, and operating efficiency.

[0005] Therefore, this application provides a 6kV switch operating device for power plants and its operating system, including the following modules:

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

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

[0008] The robotic arm positioning module is used to calculate the initial offset and optimal path, and generates a sequence of motion commands through a path planning tool for execution, and calculates the final deviation based on the execution results.

[0009] The gripping motion module is used to perform gripping and rotation operations via a control device, and to define angular tolerance values.

[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 a set rule is triggered, an execution judgment report is generated.

[0012] The status feedback module is used for data integration, generating comprehensive status feedback information and sending it to the control device.

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

[0014] Image data of the 6kV switch trolley operation panel is acquired using an image acquisition device.

[0015] The image acquisition device is a high-resolution camera used to cover the entire display area on the operation panel.

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

[0017] The position sensor acquires signal data from the mechanical connection parts of the 6kV switch trolley.

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

[0019] When the light is on, it will be analyzed as the circuit breaker is closed; when the light is off, it will be analyzed as the circuit breaker is open.

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

[0021] When the indicator light in the upper right display box is lit up green, it indicates that the trolley is in the working position.

[0022] When the indicator light in the middle right display box is lit in yellow, it indicates that the car is in the test position.

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

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

[0025] It should be noted that preprocessing is a well-known technique in this field, so it will not be elaborated on further here.

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

[0027] Based on standardized status data, the parser identifies the current status of the operation panel and generates function control parameters and direction control parameters according to preset instructions.

[0028] Based on the obtained functional control parameters and directional control parameters, the control device issues functional control parameters and directional control parameters.

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

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

[0031] The parser analyzes the current state to determine whether the control parameters meet the conditions for execution.

[0032] The execution conditions are as follows: if there is a conflict between the current state of the vehicle and the control parameters, the control parameters will be prevented from being executed and feedback data will be generated. If the current state meets the target conditions, the parser will convert the instruction into specific action parameters, which are: function control parameters and direction control parameters.

[0033] Operation parameters are generated based on the analyzed direction control parameters and function control parameters.

[0034] The operating parameters include: the target position information of the robotic arm movement and the function control data.

[0035] The direction control parameters will generate the target position information for the robotic arm's movement, which includes the movement speed and path control.

[0036] Functional control data will be generated through functional control parameters. The functional control data includes control parameters for the trolley's grasping action, rotation angle, and limit judgment.

[0037] In some specific implementations, the robotic arm positioning module specifically includes:

[0038] The current position of the robotic arm is obtained through a laser sensor. Based on the obtained current position and target point information, the initial offsets Δx, Δy, and Δz between the current position and the target point are calculated, specifically: Δx = X goal -X curr ,Δy=Y goal -Y curr ,Δz=Z goal -Z curr

[0039] In the formula: X goal ,Y gool Z goalThe target point coordinates, X curr ,Y curr Z curr Δx, Δy, and Δz are the current position coordinates, and Δx, Δy, and Δz are the offsets between the current position of the robotic arm and the target point.

[0040] Based on the calculated initial offset and the current position of the robotic arm, the shortest path algorithm is used to calculate the optimal path and obtain the optimal path, specifically:

[0041] In the formula: P opt This is the optimized optimal path, where n is the total number of nodes in the path, and d... i W is the Euclidean distance from path node i to the next node. If there are obstacles in the path, the path weight is dynamically adjusted. new =W prev +α·O

[0042] In the formula: W new It is the adjusted path weight, W prev α is the weight of the previous path, α is the obstacle avoidance factor, and O is the obstacle's influence factor.

[0043] Based on the calculated optimal path, a path planning tool is used to generate a sequence of motion instructions.

[0044] Based on the obtained motion command sequence, the robotic arm joints are driven by a control device to complete the movement.

[0045] If, during the movement, the current position of the robotic arm deviates from the optimal path and the deviation exceeds the path adjustment threshold of 2% of the path length, the shortest path algorithm will be called again to update the path.

[0046] Once the movement is complete, the current position is detected by a laser positioning sensor, and the final deviation is calculated, specifically:

[0047] In the formula: Δ final It is the final deviation between the current position and the target point. Δx, Δy, and Δz are the three-dimensional offsets between the current position of the robotic arm and the target point, derived from the offset calculation formula.

[0048] After the movement is completed, if Δ final If the deviation is ≤1.5mm, then the robotic arm has reached the target position.

[0049] Once the movement is complete, if the deviation exceeds the allowable range, the path is replanned and the robotic arm's movement is adjusted until the requirements are met.

[0050] In some specific implementations, the grasping action module specifically includes:

[0051] The current position of the gripping device is obtained through a laser sensor. Based on the obtained control data, the control device executes the gripping operation to drive the gripping device. Specifically: F grip =P set ·A

[0052] In the formula: F grip It is the gripping intensity, P set A is the pressure value set by the gripper, and A is the contact area of ​​the gripper.

[0053] Based on the obtained functional control data, the control device executes a rotation operation to drive the gripping device, specifically: θ t =θ init +Δθ·t

[0054] In the formula: θ t θ is the current rotation angle of the gripping device at time t. init Δθ is the initial rotation angle, Δθ is the rotational angular velocity per unit time, and t is the time progression of the rotation.

[0055] In some specific implementations, the limit node module is specifically as follows:

[0056] The current rotation angle of the crank handle is collected by a limit sensor to obtain feedback grip data. The accuracy of the collected crank handle feedback grip data is ±0.1°, and the frequency is 1000Hz.

[0057] The gripping data includes: the current gripping state, the current cumulative angle of rotation, and whether the rotation has reached the set limit.

[0058] Limit analysis is performed based on the obtained feedback grip data, according to the current rotation angle θ. t and target rotation angle θ target Specifically: |θ t -θ target |≤θ tol

[0059] In the formula: θ t It is the current rotation angle, θ target It is the target rotation angle, derived from the function control data, θ tol It refers to the angular tolerance range.

[0060] When the condition in the formula is 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 issuing a limit signal 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.

[0061] When the conditions are not met, the control device issues an adjustment command to repeatedly collect and re-analyze the current rotation angle until the limit conditions are met.

[0062] In some specific implementations, the interlock module is operated as follows:

[0063] Rule settings are based on the obtained standardized state data, function control data, and grasp data.

[0064] Based on standardized status data, functional control data, and grasp data, the opening and closing rules are set. 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 test position or maintenance position, and the position switching command is allowed.

[0065] Based on standardized status data, function control data, and grasp data, the trolley position rules are set. When the trolley position is in 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 is in the test position or maintenance position, the closing command is prohibited, and the opening command and position switching command are allowed.

[0066] Based on standardized status data, function control data, and gripping data, gripping action rules are set. When the gripping state is not a firm grip on the crank handle or the limit state is not triggered, any rotation operation or position switching command is prohibited. When the limit state is triggered, rotation operation or position switching command is allowed to continue.

[0067] When the opening and closing rule setting, trolley position rule setting, or gripping action rule setting is triggered, rule judgment data will be generated. If the rule judgment data does not allow execution, the execution of the current instruction will be blocked and the reason for the conflict will be reported. If the rule judgment data allows execution, the rule judgment data will be issued through the control device.

[0068] When rule judgment data is issued through the control device, an execution judgment report is generated. The execution judgment report includes: the current opening and closing status, the current trolley position status, the current grasping status, and the rotation angle status.

[0069] In some specific implementations, the status feedback module specifically includes:

[0070] The obtained standardized state data, function control data, grasp data, and rule judgment data are integrated to generate comprehensive state feedback information.

[0071] The generated comprehensive status feedback information includes: the status flag of the current operation, a complete record of the current operation status, and the reason for operation failure.

[0072] The obtained comprehensive status feedback information is sent to the display panel of the control device for display.

[0073] The displayed information includes: opening and closing status, trolley position status, gripper status, rotation angle status, and operation results.

[0074] In some specific embodiments, the electronic device includes:

[0075] One or more processors;

[0076] Storage device for storing one or more programs;

[0077] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-8.

[0078] In summary, this application provides a 6kV switch operating device and its operating system for power plants. The status monitoring module acquires image data and signal data from mechanical connections, performs status analysis and preprocessing to obtain standardized status data. The remote control module parses the standardized status data to form control parameters, and based on these parameters, analyzes the execution conditions through a parser to generate operating parameters. By integrating modules for status monitoring, remote control, robotic arm positioning, gripping actions, limit nodes, operation interlocks, and status feedback, it achieves intelligent control throughout the entire process from status acquisition and command parsing to operation execution. It can accurately acquire the real-time status of the switch trolley, dynamically generate and optimize control parameters, ensuring high-precision operation of the robotic arm and gripping device. Simultaneously, it avoids status conflicts through multi-layered interlocking rules, and combined with comprehensive status feedback functions, it improves the system's operational safety, stability, and efficiency. Attached Figure Description

[0079] Figure 1 is an overall flowchart of a 6kV switch operating system for a power plant provided in an embodiment of this application.

[0080] Figure 2 is an overall flowchart of a 6kV switch operation device for a power plant provided in an embodiment of this application. Detailed Implementation

[0081] Please refer to Figure 1, which illustrates a flow chart of an embodiment of a 6kV switchgear operating device for a power plant and its operating system according to this disclosure.

[0082] As shown in Figure 1, a 6kV switch operating device for a power plant and its operating system include the following modules:

[0083] The status monitoring module is used to acquire image data and signal data of mechanical connection parts, and to perform status analysis and preprocessing to obtain standardized status data.

[0084] The remote control module is used to parse standardized status data to form control parameters, and based on the obtained control parameters, the parser analyzes the execution conditions and generates operation parameters.

[0085] The robotic arm positioning module is used to calculate the initial offset and optimal path, and generates a sequence of motion commands through a path planning tool for execution, and calculates the final deviation based on the execution results.

[0086] The gripping motion module is used to perform gripping and rotation operations via a control device, and to define angular tolerance values.

[0087] The limit node module is used to further limit the angle tolerance value of the gripping device.

[0088] The operation interlock module is used for rule setting. When a set rule is triggered, an execution judgment report is generated.

[0089] The status feedback module is used for data integration, generating comprehensive status feedback information and sending it to the control device.

[0090] In some specific implementations, the status monitoring module specifically includes:

[0091] Image data of the 6kV switch trolley operation panel is acquired using an image acquisition device.

[0092] The image acquisition device is a high-resolution camera used to cover the entire display area on the operation panel.

[0093] The video data includes: the opening and closing indicator lights and the current display status of the panel area.

[0094] The position sensor acquires signal data from the mechanical connection parts of the 6kV switch trolley.

[0095] Based on the obtained impact data and signal data of mechanical connection parts, the status analysis of the opening and closing indicator lights and the panel area is performed.

[0096] When the light is on, it will be analyzed as the circuit breaker is closed; when the light is off, it will be analyzed as the circuit breaker is open.

[0097] The current position of the vehicle is identified by the display position and color characteristics of the panel area.

[0098] When the indicator light in the upper right display box is lit up green, it indicates that the trolley is in the working position.

[0099] When the indicator light in the middle right display box is lit in yellow, it indicates that the car is in the test position.

[0100] When the indicator light in the lower right display box is red, it indicates that the trolley is in the maintenance position.

[0101] Preprocessing is performed based on the analyzed impact data and signal data from mechanical connection points to obtain standardized state data.

[0102] It should be noted that preprocessing is a well-known technique in this field, so it will not be elaborated on further here.

[0103] In some specific implementations, the remote control module specifically includes:

[0104] Based on standardized status data, the parser identifies the current status of the operation panel and generates function control parameters and direction control parameters according to preset instructions.

[0105] Based on the obtained functional control parameters and directional control parameters, the control device issues functional control parameters and directional control parameters.

[0106] As shown in Figure 2:

[0107] Functional control parameters include: tripping, switching to test position, switching to maintenance position, switching to working position, and closing.

[0108] Directional control parameters include: forward, backward, left, right, and stop.

[0109] The parser analyzes the current state to determine whether the control parameters meet the conditions for execution.

[0110] The execution conditions are as follows: if there is a conflict between the current state of the vehicle and the control parameters, the control parameters will be prevented from being executed and feedback data will be generated. If the current state meets the target conditions, the parser will convert the instruction into specific action parameters, which are: function control parameters and direction control parameters.

[0111] Operation parameters are generated based on the analyzed direction control parameters and function control parameters.

[0112] The operating parameters include: the target point information of the robotic arm movement and the function control data.

[0113] The direction control parameters will generate the target position information for the robotic arm's movement, which includes the movement speed and path control.

[0114] Functional control data will be generated through functional control parameters. The functional control data includes control parameters for the trolley's grasping action, rotation angle, and limit judgment.

[0115] In some specific implementations, the robotic arm positioning module specifically includes:

[0116] The current position of the robotic arm is obtained through a laser sensor. Based on the obtained current position and target point information, the initial offsets Δx, Δy, and Δz between the current position and the target point are calculated, specifically: Δx = X goal -X curr ,Δy=Y goal -Y curr ,Δz=Z goal -Z curr

[0117] In the formula: X goal ,Y gool Z goal The target point coordinates, X curr ,Y curr Z curr Δx, Δy, and Δz are the current position coordinates, and Δx, Δy, and Δz are the offsets between the current position of the robotic arm and the target point.

[0118] Based on the calculated initial offset and the current position of the robotic arm, the shortest path algorithm is used to calculate the optimal path and obtain the optimal path, specifically:

[0119] In the formula: P opt This is the optimized optimal path, where n is the total number of nodes in the path, and d... i W is the Euclidean distance from path node i to the next node. If there are obstacles in the path, the path weight is dynamically adjusted. new =W prev +α·O

[0120] In the formula: W new It is the adjusted path weight, W prev α is the weight of the previous path, α is the obstacle avoidance factor, and O is the obstacle's influence factor.

[0121] Based on the calculated optimal path, a path planning tool is used to generate a sequence of motion instructions.

[0122] Based on the obtained motion command sequence, the robotic arm joints are driven by a control device to complete the movement.

[0123] If, during the movement, the current position of the robotic arm deviates from the optimal path and the deviation exceeds the path adjustment threshold of 2% of the path length, the shortest path algorithm will be called again to update the path.

[0124] Once the movement is complete, the current position is detected by a laser positioning sensor, and the final deviation is calculated, specifically:

[0125] In the formula: Δ finalIt is the final deviation between the current position and the target point. Δx, Δy, and Δz are the three-dimensional offsets between the current position of the robotic arm and the target point, derived from the offset calculation formula.

[0126] As shown in Figure 2, after the movement is completed, if Δ final If the deviation is ≤1.5mm, then the robotic arm has reached the target position.

[0127] Once the movement is complete, if the deviation exceeds the allowable range, the path is replanned and the robotic arm's movement is adjusted until the requirements are met.

[0128] In some specific implementations, the grasping action module specifically includes:

[0129] The current position of the gripping device is obtained through a laser sensor. Based on the obtained control data, the control device executes the gripping operation to drive the gripping device. Specifically: F grip =P set ·A

[0130] In the formula: F grip It is the gripping intensity, P set A is the pressure value set by the gripper, and A is the contact area of ​​the gripper.

[0131] Based on the obtained functional control data, the control device executes a rotation operation to drive the gripping device, specifically: θ t =θ init +Δθ·t

[0132] In the formula: θ t θ is the current rotation angle of the gripping device at time t. init Δθ is the initial rotation angle, Δθ is the rotational angular velocity per unit time, and t is the time progression of the rotation.

[0133] In some specific implementations, the limit node module is specifically as follows:

[0134] The current rotation angle of the crank handle is collected by a limit sensor to obtain feedback grip data. The accuracy of the collected crank handle feedback grip data is ±0.1°, and the frequency is 1000Hz.

[0135] The gripping data includes: the current gripping state, the current cumulative angle of rotation, and whether the rotation has reached the set limit.

[0136] Limit analysis is performed based on the obtained feedback grip data, according to the current rotation angle θ. t and target rotation angle θ target Specifically: |θ t -θ target |≤θ tol

[0137] In the formula: θt It is the current rotation angle, θ target It is the target rotation angle, derived from the function control data, θ tol It refers to the angular tolerance range.

[0138] When the condition in the formula is 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 issuing a limit signal 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.

[0139] When the conditions are not met, the control device issues an adjustment command to repeatedly collect and re-analyze the current rotation angle until the limit conditions are met.

[0140] In some specific implementations, the interlock module is operated as follows:

[0141] Rule settings are based on the obtained standardized state data, function control data, and grasp data.

[0142] Based on standardized status data, functional control data, and grasp data, the opening and closing rules are set. 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 test position or maintenance position, and the position switching command is allowed.

[0143] Based on standardized status data, function control data, and grasp data, the trolley position rules are set. When the trolley position is in 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 is in the test position or maintenance position, the closing command is prohibited, and the opening command and position switching command are allowed.

[0144] Based on standardized status data, function control data, and gripping data, gripping action rules are set. When the gripping state is not a firm grip on the crank handle or the limit state is not triggered, any rotation operation or position switching command is prohibited. When the limit state is triggered, rotation operation or position switching command is allowed to continue.

[0145] When the opening and closing rule setting, trolley position rule setting, or gripping action rule setting is triggered, rule judgment data will be generated. If the rule judgment data does not allow execution, the execution of the current instruction will be blocked and the reason for the conflict will be reported. If the rule judgment data allows execution, the rule judgment data will be issued through the control device.

[0146] When rule judgment data is issued through the control device, an execution judgment report is generated. The execution judgment report includes: the current opening and closing status, the current trolley position status, the current grasping status, and the rotation angle status.

[0147] In some specific implementations, the status feedback module specifically includes:

[0148] The obtained standardized state data, function control data, grasp data, and rule judgment data are integrated to generate comprehensive state feedback information.

[0149] The generated comprehensive status feedback information includes: the status flag of the current operation, a complete record of the current operation status, and the reason for operation failure.

[0150] The obtained comprehensive status feedback information is sent to the display panel of the control device for display.

[0151] The displayed information includes: opening and closing status, trolley position status, gripper status, rotation angle status, and operation results.

[0152] In some specific embodiments, the electronic device includes:

[0153] One or more processors;

[0154] Storage device for storing one or more programs;

[0155] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-8.

[0156] In practical application, the above process involves first acquiring image data of the 6kV switch trolley's operating panel using an image acquisition device. This image data covers and captures all display areas of the operating panel, including the opening and closing indicator lights and the current display status of the panel area. A position sensor is used to acquire signal data from the mechanical connection points. The indicator lights within the panel area are then analyzed for their status: when the opening and closing indicator lights are on, the system is analyzed as closed; when they are off, the system is analyzed as open. Based on the display position and color characteristics of the panel area, the system determines whether the trolley is in the working position, testing position, or maintenance position. After analysis and preprocessing, the image data and mechanical signal data generate standardized status data.

[0157] Secondly, based on standardized state data, the state information is parsed by a parser to generate directional control parameters and functional control parameters. The directional control parameters describe the movement direction of the robotic arm, and the functional control parameters describe the operation instructions of the trolley, including opening, closing, and position switching. The parser determines whether the current state matches the instruction. If they match, action parameters are generated. If they do not match, execution is prevented and feedback data is generated. Based on the action parameters, the target position information of the robotic arm's movement and the control parameters for the grasping action and rotation angle are generated.

[0158] Secondly, the current position of the robotic arm is obtained through a laser sensor, and the offset from the target point is calculated. Based on the offset and the shortest path algorithm, the optimal path is generated. 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 joints of the robotic arm to complete the movement through the control device. When the current position of the robotic 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 robotic arm has reached the target point. If the deviation exceeds the allowable range, the adjustment is repeated.

[0159] Secondly, the gripping device is driven by the control device to perform gripping and rotation operations. The gripping action includes the clamping and releasing of the gripper, and the rotation operation controls the rotation angle of the gripping device. The parameters of the gripping and rotation actions are generated based on the functional control data. The rotation angle control accuracy is ±1°. The gripping status, rotation angle and limit status are collected in real time, and the operation is adjusted by the feedback data.

[0160] Then, based on the rotation angle fed back by 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 an 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.

[0161] Subsequently, based on standardized status data, control parameters, and captured data, opening and closing rules, trolley position rules, and gripping action rules are set. When the opening and closing status is closed, position switching is prohibited. When the trolley is in the test position or maintenance position, the opening command is allowed. When the interlock rule is triggered, rule judgment data is generated. If the rule judgment data does not meet the requirements, the current command is prevented from being executed, and a conflict reason is generated.

[0162] Finally, standardized status data, control parameters, captured data, and rule-based judgment data are integrated to generate comprehensive status feedback information, including the current operation status, operation completion status, and failure reasons. This comprehensive status feedback information is sent to the display panel via a 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 for a power plant and its operating system, characterized in that, Includes the following modules: The status monitoring module is used to acquire image data and signal data of mechanical connection parts, and to perform status analysis and preprocessing to obtain standardized status data; The remote control module is used to parse standardized status data to form control parameters, and based on the obtained control parameters, the parser analyzes the execution conditions and generates operation parameters. The robotic arm positioning module is used to calculate the initial offset and optimal path, and generates a sequence of motion commands through a path planning tool for execution, and calculates the final deviation based on the execution results; The gripping motion module is used to perform gripping and rotation operations via a control device, and to define the angle tolerance value; The limit node module is used to further limit the angle tolerance value of the gripping device; The operation interlock module is used for rule setting. When a set rule is triggered, an execution judgment report is generated. The status feedback module is used for data integration, generating comprehensive status feedback information and sending it to the control device.

2. The 6kV switch operating device and its operating system for a power plant according to claim 1, characterized in that, The status monitoring module is as follows: Image data of the 6kV switch trolley operation panel is acquired using an image acquisition device. The image data includes: the opening and closing indicator lights and the current display status of the panel area; The position sensor is used to acquire signal data of the mechanical connection parts of the 6kV switch trolley; Based on the obtained impact data and signal data of mechanical connection parts, a status analysis is performed on the opening and closing indicator lights and the panel area within the panel area. Preprocessing is performed based on the analyzed impact data and signal data from mechanical connection points to obtain standardized state data.

3. The 6kV switch operating device and its operating system for a power plant according to claim 1, characterized in that, The remote control module is as follows: Based on standardized status data, the current status of the operation panel is identified by the parser, and function control parameters and direction control parameters are generated according to preset instructions. Based on the obtained functional control parameters and directional control parameters, the control device issues functional control parameters and directional control parameters. The parser analyzes the current state to determine if the control parameters meet the execution conditions. Operation parameters are generated based on the analyzed direction control parameters and function control parameters; The operating parameters include: the target position information of the robotic arm movement and the function control data. The direction control parameters will generate the target point information for the robotic arm's movement, which includes: movement speed and path control. Functional control data will be generated through functional control parameters. The functional control data includes control parameters for the trolley's grasping action, rotation angle, and limit judgment.

4. The 6kV switch operating device and its operating system for a power plant according to claim 1, characterized in that, The robotic arm positioning module is as follows: The current position of the robotic arm is obtained through a laser sensor. Based on the obtained current position and target point information, the initial offsets Δx, Δy, and Δz between the current position and the target point are calculated. Specifically: Δx=X goal -X curr ,Δy=Y goal -Y curr ,Δz=Z goal -Z curr In the formula: X goal ,Y gool Z goal The target point coordinates, X curr ,Y curr Z curr Δx, Δy, and Δz are the current position coordinates, and Δx, Δy, and Δz are the offsets between the current position of the robotic arm and the target point. Based on the calculated initial offset and the current position of the robotic arm, the shortest path algorithm is used to calculate the optimal path and obtain the optimal path, specifically: In the formula: P opt This is the optimized optimal path, where n is the total number of nodes in the path, and d... i It is the Euclidean distance from path node i to the next node. If there are obstacles in the path, the path weight is dynamically adjusted, specifically as follows: W new =W prev +a·O In the formula: W new It is the adjusted path weight, W prev α is the weight of the previous path, α is the obstacle avoidance factor, and O is the influence factor of the obstacle. Based on the calculated optimal path, a motion instruction sequence is generated using a path planning tool. Based on the obtained motion command sequence, the robotic arm joints are driven by a control device to complete the movement. Once the movement is complete, the current position is detected by a laser positioning sensor, and the final deviation is calculated, specifically: In the formula: Δ final It is the final deviation between the current position and the target point. Δx, Δy, and Δz are the three-dimensional offsets between the current position of the robotic arm and the target point, derived from the offset calculation formula.

5. The 6kV switch operating device and its operating system for a power plant according to claim 1, characterized in that, The grasping action module is as follows: The current position of the gripping device is obtained through a laser sensor. Based on the obtained control data, the control device executes the gripping device to perform a grasping operation, specifically: F grip =P set ·A In the formula: F grip It is the gripping intensity, P set This is the pressure value set by the gripper, and A is the contact area of ​​the gripper. Based on the obtained functional control data, the control device executes a rotation operation to drive the gripping device, specifically as follows: i t =θ init +Δθ·t In the formula: θ t θ is the current rotation angle of the gripping device at time t. init Δθ is the initial rotation angle, Δθ is the rotational angular velocity per unit time, and t is the time progression of the rotation.

6. The 6kV switch operating device and its operating system for a power plant according to claim 1, characterized in that, The limit node module is as follows: The current rotation angle of the crank handle is collected by 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 has reached the set limit; Limit analysis is performed based on the obtained feedback grip data, according to the current rotation angle θ. t and target rotation angle θ target Specifically: |θ t -θ target |≤θ tol In the formula: θ t It is the current rotation angle, θ target It is the target rotation angle, derived from the function control data, θ tol It refers to the angular tolerance range.

7. The 6kV switch operating device and its operating system for a power plant according to claim 1, characterized in that, The operation of the interlock module is as follows: Rule setting is based on the obtained standardized state data, function control data, and grasp data; Based on standardized status data, functional control data, and grasp data, the opening and closing rules are set. 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 test position or maintenance position, and the position switching command is allowed. Based on standardized status data, functional control data, and grasp data, the trolley position rules are set. When the trolley position is in 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 is in the test position or maintenance position, the closing command is prohibited, and the opening command and position switching command are allowed. Based on standardized status data, function control data, and gripping data, gripping action rules are set. When the gripping state is not gripping the handle tightly or the limit state is not triggered, any rotation operation or position switching command is prohibited. When the limit state is triggered, rotation operation or position switching command is allowed to continue. When the opening and closing rule setting, trolley position rule setting, or gripping action rule setting is triggered, rule judgment data will be generated. If the rule judgment data does not allow execution, the execution of the current instruction will be blocked and the reason for the conflict will be fed back. If the rule judgment data allows execution, the rule judgment data will be issued through the control device. When rule judgment data is issued through the control device, an execution judgment report is generated. The execution judgment report includes: the current opening and closing status, the current trolley position status, the current grasping status, and the rotation angle status.

8. The 6kV switch operating device and its operating system for a power plant according to claim 1, characterized in that, The status feedback module is as follows: The obtained standardized state data, function control data, grasp data and rule judgment data are integrated to generate comprehensive state feedback information; The generated comprehensive status feedback information includes: the status flag of the current operation, a complete record of the current operation status, and the reason for operation failure; The obtained comprehensive status feedback information is sent to the display panel of the control device for display. The displayed information includes: opening and closing status, trolley position status, gripper status, rotation angle status, and operation results.

9. An electronic device, characterized in that, include: One or more processors; 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 as described in any one of claims 1-8.

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