A fence base arrangement method, device, equipment and medium for maintenance equipment

Abstract

The present invention discloses a fence base arrangement method, device, equipment and medium for maintenance equipment. In response to a received safety fence base placement request, a target maintenance equipment corresponding to the safety fence base placement request is selected and a target three-phase equipment label code and an entrance and exit label code are obtained. A fence arrangement robot is moved to a first target entrance and exit position associated with the entrance and exit label code. The safety fence base is placed by the fence arrangement robot and moves in a preset first direction. According to the target three-phase equipment associated with the target three-phase equipment label code, a corresponding target projection distance value is determined. The target projection distance value is compared with a preset standard projection distance value. According to the comparison result, the fence arrangement robot is moved to complete the placement of the safety fence base. The method solves the technical problem that the current arrangement of the safety fence base of a substation requires a lot of manpower and material resources and is inefficient, thereby making it impossible to quickly perform maintenance operations on the maintenance equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of transformer substation maintenance equipment, and in particular to a fence base arrangement method, device, equipment and medium for maintenance equipment. Background Art

[0002] With the promotion of intelligent substation operation and maintenance, traditional substation operation and maintenance methods have been gradually replaced by "intelligent operation," "intelligent inspection," and "intelligent safety." In the field of "intelligent safety," technologies such as intelligent video recognition, personnel location, and mobile law enforcement are mainly implemented in the security field. However, the deployment of on-site safety measures still requires manual work, and the level of intelligence still has considerable room for improvement.

[0003] To ensure the personal safety of workers at power plants, they must maintain a safe distance from nearby high-voltage live equipment. Regulations dictate the installation of safety fence bases. Currently, substation safety fence bases are primarily manually installed by substation operators using mesh fencing, support poles, discus, and signage. This requires significant manpower and resources, is inefficient, and hinders the rapid maintenance of equipment. Summary of the Invention

[0004] The present invention provides a method, device, equipment and medium for arranging the fence base of maintenance equipment, which solves the technical problem that the current layout of the safety fence base of the substation is mainly completed by substation operators manually using mesh fences, support poles, discus and signboards, which requires a lot of manpower and material resources and is inefficient, resulting in the inability to quickly perform maintenance operations on the maintenance equipment.

[0005] A first aspect of the present invention provides a method for arranging fence bases for maintenance equipment, involving a fence arranging robot carrying a plurality of safety fence bases, the method comprising:

[0006] In response to the received safety fence base placement request, selecting the target maintenance equipment corresponding to the safety fence base placement request and obtaining the corresponding target three-phase equipment label code and entrance and exit label code;

[0007] Move the fence placement robot to the first target entrance and exit position associated with the entrance and exit tag code, place the safety fence base by the fence placement robot and move in a preset first direction;

[0008] Determine a corresponding target projection distance value according to the target three-phase device associated with the target three-phase device tag code;

[0009] The target projection distance value is compared with a preset standard projection distance value, and the fence arrangement robot is moved according to the comparison result to complete the placement of the safety fence base.

[0010] Optionally, the target three-phase device includes a first three-phase device and a second three-phase device, and the step of determining a corresponding target projection distance value of the target three-phase device associated with the target three-phase device tag code includes:

[0011] Obtaining projection data points corresponding to the fence arrangement robot;

[0012] Calculating a first initial distance value between the projection data point and the first three-phase device in the target maintenance equipment;

[0013] Calculating a second initial distance value between the projection data point and the second three-phase device in the target maintenance equipment;

[0014] A sum of the first initial distance value and the second initial distance value is calculated to generate a target projection distance value.

[0015] Optionally, the step of comparing the target projection distance value with a preset standard projection distance value and moving the fence placement robot to complete the placement of the safety fence base according to the comparison result includes:

[0016] Comparing the target projection distance value with a preset standard projection distance value;

[0017] If the target projection distance value is equal to the standard projection distance value, obtaining a target travel distance value associated with the fence placement robot;

[0018] When the target travel distance value is equal to the preset equipment safety distance value, the safety fence base is placed and the vehicle moves in a preset second direction;

[0019] When the target projection distance value is not equal to the standard projection distance value, the fence placement robot continues to move according to the device safety distance value, and the fence placement robot places the safety fence base and moves in a preset third direction;

[0020] When the target travel distance value is reduced to a preset standard travel distance value, the fence placement robot continues to move according to the equipment safety distance value, and the fence placement robot places the safety fence base and moves in a preset fourth direction;

[0021] When the target projection distance value is not equal to the standard projection distance value, the fence placement robot continues to move according to the device safety distance value, and the fence placement robot places the safety fence base and moves in a preset fifth direction;

[0022] When the target travel distance value is reduced to the standard travel distance value, the fence placement robot continues to move according to the equipment safety distance value, and the fence placement robot places the safety fence base and moves in a preset sixth direction;

[0023] When a target connecting line between the fence placement robot and the second target entrance and exit position associated with the entrance and exit tag code is perpendicular to a preset first standard line, the fence placement robot places the safety fence base and moves in a preset seventh direction;

[0024] When the fence placement robot moves to the second target entrance and exit position, the safety fence base is placed.

[0025] Optionally, it also includes:

[0026] If the target projection distance value is not equal to the standard projection distance value, the process jumps to execute the step of continuing to move the fence arrangement robot according to the equipment safety distance value when the target travel distance value is reduced to the standard travel distance value, placing the safety fence base by the fence arrangement robot and moving in the preset sixth direction.

[0027] A second aspect of the present invention provides a fence base arrangement device for maintenance equipment, which relates to a fence arrangement robot carrying multiple safety fence bases, and the device includes:

[0028] A response module, configured to respond to a received safety fence base placement request, select a target maintenance device corresponding to the safety fence base placement request, and obtain a corresponding target three-phase device label code and an entrance and exit label code;

[0029] an execution module, configured to move the fence placement robot to a first target entrance and exit position associated with the entrance and exit tag code, and to place the safety fence base by the fence placement robot and move in a preset first direction;

[0030] A target projection distance value acquisition module is used to determine a corresponding target projection distance value according to the target three-phase device associated with the target three-phase device label code;

[0031] The comparison module is used to compare the target projection distance value with a preset standard projection distance value, and move the fence arrangement robot to complete the placement of the safety fence base according to the comparison result.

[0032] Optionally, the target three-phase device includes a first three-phase device and a second three-phase device, and the target projection distance value acquisition module includes:

[0033] a projection data point acquisition submodule, configured to acquire projection data points corresponding to the fence arrangement robot;

[0034] A first initial distance value acquisition submodule, configured to calculate a first initial distance value between the projection data point and the first three-phase device in the target maintenance device;

[0035] A second initial distance value acquisition submodule, configured to calculate a second initial distance value between the projection data point and the second three-phase device in the target maintenance device;

[0036] The target projection distance value calculation submodule is used to calculate the sum of the first initial distance value and the second initial distance value to generate a target projection distance value.

[0037] Optionally, the comparison module includes:

[0038] A distance value comparison submodule is used to compare the target projection distance value with a preset standard projection distance value;

[0039] a target travel distance value acquisition submodule, configured to acquire a target travel distance value associated with the fence arrangement robot if the target projection distance value is equal to the standard projection distance value;

[0040] a first safety fence base placement submodule, configured to place the safety fence base and move in a preset second direction when the target travel distance value is equal to a preset equipment safety distance value;

[0041] a second safety fence base placement submodule, configured to, when the target projection distance value is not equal to the standard projection distance value, continue to move the fence placement robot according to the device safety distance value, place the safety fence base by the fence placement robot, and move in a preset third direction;

[0042] a third safety fence base placement submodule, configured to, when the target travel distance value decreases to a preset standard travel distance value, continue to move the fence placement robot according to the equipment safety distance value, place the safety fence base by the fence placement robot, and move in a preset fourth direction;

[0043] a fourth safety fence base placement submodule, configured to, when the target projection distance value is not equal to the standard projection distance value, continue to move the fence placement robot according to the device safety distance value, place the safety fence base by the fence placement robot, and move in a preset fifth direction;

[0044] a fifth safety fence base placement submodule, configured to, when the target travel distance value decreases to the standard travel distance value, continue to move the fence placement robot according to the equipment safety distance value, place the safety fence base by the fence placement robot, and move in a preset sixth direction;

[0045] a sixth safety fence base placement submodule, configured to place the safety fence base by the fence placement robot and move in a preset seventh direction when a target connecting line between the fence placement robot and the second target entrance and exit position associated with the entrance and exit tag code is perpendicular to a preset first standard line;

[0046] A seventh safety fence base placement submodule is used to place the safety fence base when the fence placement robot moves to the second target entrance and exit position.

[0047] Optionally, the comparison module further includes:

[0048] A jump submodule is used to jump to the step of continuing to move the fence arrangement robot according to the equipment safety distance value when the target projection distance value is reduced to the standard projection distance value, placing the safety fence base by the fence arrangement robot and moving in a preset sixth direction if the target projection distance value is not equal to the standard projection distance value.

[0049] The third aspect of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the fence base arrangement method for maintenance equipment as described in any one of the above items.

[0050] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the fence base arrangement method for maintenance equipment as described in any one of the above items.

[0051] It can be seen from the above technical solutions that the present invention has the following advantages:

[0052] In response to a received safety fence base placement request, a target maintenance equipment corresponding to the safety fence base placement request is selected and the corresponding target three-phase equipment label code and entrance and exit label code are obtained, the fence placement robot is moved to the first target entrance and exit position associated with the entrance and exit label code, the safety fence base is placed by the fence placement robot and moves in a preset first direction, the corresponding target projection distance value is determined according to the target three-phase equipment associated with the target three-phase equipment label code, the target projection distance value is compared with the preset standard projection distance value, and the fence placement robot is moved according to the comparison result to complete the placement of the safety fence base; this solves the current technical problem that the safety fence base layout of the substation is mainly completed by the substation operating personnel manually using mesh fences, support poles, discus, and signboards, which requires a lot of manpower and material resources and is inefficient, resulting in the inability to quickly perform maintenance operations on the maintenance equipment; this achieves the beneficial effects of reducing the workload of the safety fence base layout, shortening the time for arranging the safety fence base, and improving on-site operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 A flowchart of a method for arranging a fence base for maintenance equipment provided in the first embodiment of the present invention;

[0055] Figure 2 A flowchart of a method for arranging a fence base for maintenance equipment provided in a second embodiment of the present invention;

[0056] Figure 3 A schematic diagram of site spacing provided in Example 2 of the present invention;

[0057] Figure 4 This is a structural block diagram of a fence base arrangement device for maintenance equipment provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0058] The embodiments of the present invention provide a method, device, equipment and medium for arranging the fence base of maintenance equipment, which is used to solve the technical problem that the current safety fence base arrangement of substations is mainly completed manually by substation operators using mesh fences, support poles, discus, and signboards, which requires a lot of manpower and material resources and is inefficient, resulting in the inability to quickly perform maintenance operations on maintenance equipment.

[0059] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0060] See also Figure 1 , Figure 1 This is a flowchart of the steps of a fence base arrangement method for maintenance equipment provided in Example 1 of the present invention.

[0061] The present invention provides a method for arranging fence bases for maintenance equipment, which involves a fence arrangement robot carrying multiple safety fence bases. The method includes:

[0062] Step 101: In response to a received safety fence base placement request, select a target maintenance device corresponding to the safety fence base placement request and obtain a corresponding target three-phase device label code and an entrance and exit label code.

[0063] A safety fence base placement request refers to a request message sent by maintenance personnel after the maintenance equipment completes a power outage operation to place a safety fence base for the maintenance equipment. The safety fence base placement request includes the area, number and / or location of the target maintenance equipment.

[0064] Target maintenance equipment refers to the electrical equipment in the substation that requires the arrangement of safety fence bases.

[0065] The target three-phase device label code refers to the coding data corresponding to multiple target three-phase devices in the target maintenance equipment.

[0066] The entrance and exit label code refers to the coding data corresponding to the entrance and exit of the site fence set up outside the site where the maintenance equipment is located.

[0067] In an embodiment of the present invention, when a request for placing a safety fence base for maintenance equipment is received, the safety fence base placement request is read, the corresponding target maintenance equipment is determined, and the corresponding target three-phase equipment label code and entrance and exit label code are obtained.

[0068] Step 102: Move the fence placement robot to the first target entrance and exit position associated with the entrance and exit tag code, place the safety fence base by the fence placement robot, and move in a preset first direction.

[0069] The fence placement robot includes a laser pulse sensor and walking wheels.

[0070] The first target entrance and exit position refers to the position of the first target entrance and exit of the site fence set up outside the site where the maintenance equipment is located.

[0071] The first direction refers to the direction of the site where the target maintenance equipment is located.

[0072] It is worth mentioning that a straight line X is pre-established on the periphery of the site. When the fence layout robot moves to the first target entrance and exit position, the fence layout robot enters the site where the target maintenance equipment is located from the first target entrance and exit position along a straight line perpendicular to the straight line X.

[0073] In an embodiment of the present invention, when the fence arrangement robot is moved to the first target entrance and exit position associated with the entrance and exit label code by the walking wheels, a carried safety fence base will be lowered, and the robot will enter the site where the target maintenance equipment is located along a straight line perpendicular to the straight line X in the direction of the site where the target maintenance equipment is located.

[0074] Step 103: Determine a corresponding target projection distance value according to the target three-phase device associated with the target three-phase device label code.

[0075] The target projection distance value refers to the projection point of the fence layout robot on the preset equipment projection line, and the sum of the distance values ​​of the projection point and the two target three-phase equipment. It is used to determine whether the projection point of the fence layout robot on the preset equipment projection line is inside the equipment.

[0076] In an embodiment of the present invention, according to the two target three-phase devices associated with the target three-phase device label code, the distance values ​​of the projection points of the fence-arranged robot on the preset device projection line are respectively summed with the two target three-phase devices to obtain the target projection distance value.

[0077] Step 104 : Compare the target projection distance value with the preset standard projection distance value, and move the fence placement robot to complete the placement of the safety fence base according to the comparison result.

[0078] In an embodiment of the present invention, the target projection distance value is compared with a preset standard projection distance value, and the fence arrangement robot is moved according to the comparison result to complete the placement of the safety fence base.

[0079] In an embodiment of the present invention, in response to a received safety fence base placement request, a target maintenance equipment corresponding to the safety fence base placement request is selected and the corresponding target three-phase equipment label code and entrance and exit label code are obtained, the fence placement robot is moved to the first target entrance and exit position associated with the entrance and exit label code, the safety fence base is placed by the fence placement robot and moves in a preset first direction, the corresponding target projection distance value is determined according to the target three-phase equipment associated with the target three-phase equipment label code, the target projection distance value is compared with the preset standard projection distance value, and the fence placement robot is moved according to the comparison result to complete the placement of the safety fence base; the current substation safety fence base placement is solved, which is mainly completed by substation operating personnel manually using mesh fences, support poles, discus, and signboards, which requires a lot of manpower and material resources and is inefficient, thereby making it impossible to quickly perform maintenance operations on the maintenance equipment; the beneficial effects of reducing the workload of safety fence base placement, shortening the time for arranging the safety fence base, and improving on-site operation efficiency are achieved.

[0080] See also Figure 2 , Figure 2 This is a flowchart of the steps of a method for arranging a fence base of maintenance equipment provided in Example 2 of the present invention.

[0081] The present invention provides a method for arranging fence bases for maintenance equipment, which involves a fence arrangement robot carrying multiple safety fence bases. The method includes:

[0082] Step 201: In response to a received safety fence base placement request, select a target maintenance device corresponding to the safety fence base placement request and obtain a corresponding target three-phase device label code and an entrance and exit label code.

[0083] In the embodiment of the present invention, the specific implementation process of step 201 is similar to that of step 101 and will not be repeated here.

[0084] In one example of the present invention, label codes are set for each maintenance equipment in the substation and the entrances and exits of the fences where they are located, so as to be used for positioning with the fence arrangement robot and to perform the task of arranging the safety fence base.

[0085] Each three-phase device within each maintenance facility is coded using five digits. The first and second digits form the first group, the third and fourth digits form the second group, and the fifth digit forms the third group. There are three groups in total: the first group is the site bay code, the second group is the bay maintenance device code, and the third group is the phase device code. It's worth noting that AC substation high-voltage field equipment is divided into three phases, so the phase device code can only have values ​​of 1, 2, and 3.

[0086] The entrance and exit labels are coded using three digits. The first and second digits form the first group, and the third digit forms the second group, for a total of two groups. The first group is the site spacing code, which is the same as the first group of the target three-phase equipment label code. The second group is the side code. The left side of the entrance and exit facing the three-phase equipment is coded 0, and the right side is coded 1.

[0087] like Figure 3 As shown, taking the 01 device in the 01 site interval as an example, its three-phase device label codes are 01011, 01012, and 01013, and the fence arrangement robot is set to R.

[0088] The fence arrangement robot receives instructions from the five-defense system to arrange the safety fence base for the 0101 equipment, loads the safety fence base and leaves the warehouse, drives to the center point of the entrance of the high-voltage field inspection road (marked as point O) and continues to move along the center line.

[0089] Step 202: Move the fence placement robot to the first target entrance and exit position associated with the entrance and exit tag code, place the safety fence base by the fence placement robot, and move in a preset first direction.

[0090] In an embodiment of the present invention, the fence arrangement robot R moves by the walking wheels to the point where the line (R, 010) connecting the entrance and exit label code 010 is perpendicular to lineX (referring to the straight line X set up in advance on the periphery of the venue), turns and moves to the entrance and exit label 010. When the point R = 010, the trigger effect robot puts down a fence base at point 010.

[0091] Furthermore, the target three-phase device includes a first three-phase device and a second three-phase device.

[0092] Step 203: Obtain projection data points corresponding to the fence arrangement robot.

[0093] In this embodiment of the present invention, a device projection line is set on the ground of device 0101. This line is used to receive the laser projection emitted by the laser pulse sensor in the fence placement robot. The projection of the laser emitted by the fence placement robot on the device projection line is T. The length of the device projection line is the length λ of the outer extension of the three-phase devices 01011 and 01013.

[0094] Step 204: Calculate a first initial distance value between the projected data point and a first three-phase device in the target maintenance equipment.

[0095] In this embodiment of the present invention, the first three-phase device is a three-phase device coded as 01011. A first initial distance value between the projected data point and the first three-phase device is calculated, that is, the straight-line distance between T and the three-phase device 01011. The first initial distance value is denoted as α.

[0096] Step 205: Calculate a second initial distance value between the projected data point and a second three-phase device in the target maintenance equipment.

[0097] In this embodiment of the present invention, the second three-phase device is a three-phase device coded as 01013. A second initial distance value is calculated between the projected data point and the second three-phase device, that is, the straight-line distance between T and the three-phase device 01013. The second initial distance value is denoted as β.

[0098] Step 206: Calculate the sum of the first initial distance value and the second initial distance value to generate a target projection distance value.

[0099] In the embodiment of the present invention, the sum of the first initial distance value and the second initial distance value is calculated, that is, the sum operation of α and β is performed to obtain the target projection distance value.

[0100] Step 207 : Compare the target projection distance value with the preset standard projection distance value, and move the fence placement robot to complete the placement of the safety fence base according to the comparison result.

[0101] Furthermore, step 207 may include the following sub-steps:

[0102] S11. Compare the target projection distance value with a preset standard projection distance value.

[0103] The standard projection distance value refers to the actual distance between the first three-phase device and the second three-phase device. It is used to determine whether the projection point of the fence placement robot on the preset device projection line is inside the device. The standard projection distance value is denoted as L.

[0104] In the embodiment of the present invention, the target projection distance value is compared with a preset standard projection distance value, that is, α+β is compared with L.

[0105] S12. If the target projection distance value is equal to the standard projection distance value, obtain the target travel distance value associated with the fence arrangement robot.

[0106] The target travel distance value refers to the distance value between the fence placement robot R and T, which is continuously measured by (TOF) lidar technology during the process of the fence placement robot R moving in the first direction. The target travel distance value is recorded as t.

[0107] It is worth mentioning that a laser pulse is emitted by a laser pulse sensor, and the time of light emission and return is recorded by a timer. The "flight time" of light can be obtained by subtracting the two times. The speed of light is fixed, and the distance can be calculated based on the known speed and time.

[0108] In an embodiment of the present invention, from point 010 along a straight line perpendicular to lineX into the 01 field interval, if α+β=L, then the target travel distance value t associated with the fence arrangement robot is currently obtained.

[0109] S13. When the target travel distance value is equal to the preset equipment safety distance value, the safety fence base is placed and the vehicle moves in the preset second direction.

[0110] The equipment safety distance value refers to the safety distance coefficient for the target maintenance equipment. The value varies by equipment voltage level, with values ​​of 2.5 for 500kV equipment, 2 for 220kV equipment, 1.5 for 110kV equipment, 1 for 35kV equipment, and 0.8 for 10kV equipment. The equipment safety distance value is λ, which is the same as the equipment projection line length mentioned above, and is the outer extension length λ of the three-phase equipment 01011 and 01013.

[0111] In an embodiment of the present invention, as the fence placement robot moves, the t value gradually decreases. When t=λ, the fence placement robot is triggered to stop moving, and a safety fence base is placed at the stopping point. The robot turns left 90° and continues to move. In this embodiment, the preset second direction is 90° to the left, and the setting of the second direction is specifically determined by the location of the maintenance equipment.

[0112] S14. When the target projection distance value is not equal to the standard projection distance value, the fence arrangement robot continues to move according to the equipment safety distance value, places the safety fence base through the fence arrangement robot, and moves in a preset third direction.

[0113] In this embodiment of the present invention, while traveling, the fence placement robot continuously compares α + β with L. When the comparison result changes from equality to inequality, it indicates that the fence placement robot has reached one end of line 0101, triggering the fence placement robot to continue traveling for a length of λ before stopping. At the stopping point, the fence placement robot places a safety fence base, rotates 90° around the device, and then continues traveling. (The explanation of "rotating 90° around the device" here is that, according to the aforementioned steps, the device can only be to the right of the robot at this point, i.e., the robot is turning right). In this embodiment, the preset third direction is 90° to the right.

[0114] S15. When the target travel distance value is reduced to the preset standard travel distance value, the fence arrangement robot continues to move according to the equipment safety distance value, places the safety fence base through the fence arrangement robot and moves in the preset fourth direction.

[0115] In this embodiment of the present invention, while traveling, the fence placement robot continuously measures the distance t from the projection T, with the value of t gradually decreasing as the fence placement robot travels. At t = 0, the fence placement robot is triggered to continue traveling for a distance λ before stopping. At the stopping point, a safety fence base is placed, and the fence placement robot rotates 90° around the device before continuing. (The explanation of "rotating 90° around the device" here is that, following the aforementioned steps, the device can only be to the right of the fence placement robot at this point, meaning the fence placement robot is turning right.) In this embodiment, the preset fourth direction is 90° to the right.

[0116] S16. When the target projection distance value is not equal to the standard projection distance value, the fence arrangement robot continues to move according to the equipment safety distance value, places the safety fence base by the fence arrangement robot, and moves in a preset fifth direction.

[0117] In this embodiment of the present invention, while traveling, the fence placement robot continuously compares α + β with L. When the comparison result changes from unequal to equal, and then from equal to unequal again, it indicates that the fence placement robot has reached the other end of line 0101. This triggers the fence placement robot to continue traveling for a length of λ before stopping. At the stopping point, the fence placement robot places a safety fence base, rotates 90° around the device, and then continues traveling. (The explanation of "rotating 90° around the device" here is: according to the aforementioned steps, at this point, the device can only be to the right of the fence placement robot, i.e., the robot is turning right.) In this embodiment, the preset fifth direction is 90° to the right.

[0118] S17. When the target travel distance value is reduced to the standard travel distance value, the fence arrangement robot continues to move according to the equipment safety distance value, places the safety fence base through the fence arrangement robot and moves in a preset sixth direction.

[0119] In this embodiment of the present invention, while traveling, the fence placement robot continuously measures the distance t from the projection T, with the value of t gradually decreasing as the fence placement robot travels. At t = 0, the fence placement robot is triggered to continue traveling for a distance λ before stopping. At the stopping point, a safety fence base is placed, and the fence placement robot rotates 90° around the device before continuing. (The explanation of "rotating 90° around the device" here is that, following the aforementioned steps, the device can only be to the right of the fence placement robot at this point, meaning the fence placement robot is turning right.) In this embodiment, the preset sixth direction is 90° to the right.

[0120] S18. When the target connection line between the fence arrangement robot and the second target entrance and exit position associated with the entrance and exit label code is perpendicular to the preset first standard line, the fence arrangement robot places the safety fence base and moves in the preset seventh direction.

[0121] In this embodiment of the present invention, while traveling, the fence deployment robot continuously measures the angle between line (R, 011), the line connecting its own position (R) and the entrance / exit tag code 011, and line X. When the fence deployment robot reaches a point where line (R, 011) is perpendicular to line X, it stops, triggering the fence deployment robot to place a safety fence base at the stopping point and turn toward entrance / exit tag 011 while traveling.

[0122] S19. When the fence placement robot moves to the second target entrance and exit position, it places the safety fence base to complete the placement of all safety fence bases.

[0123] In the embodiment of the present invention, when the point R=011, the trigger effect robot puts down a safety fence base at point 011.

[0124] Furthermore, step 207 may also include the following sub-steps:

[0125] S20. If the target projection distance value is not equal to the standard projection distance value, jump to the step of continuing to move the fence arrangement robot according to the equipment safety distance value when the target travel distance value is reduced to the standard travel distance value, placing the safety fence base by the fence arrangement robot and moving in the preset sixth direction.

[0126] In the embodiment of the present invention, if the target projection distance value is not equal to the standard projection distance value, the process jumps to execute S17-S19.

[0127] After all safety fence bases are placed, the robot turns and moves toward the center point O at the entrance to the high-voltage field inspection road. When point R = O, the fence placement robot turns and moves toward the warehouse entrance and returns to the warehouse, completing the safety fence base placement work.

[0128] In an embodiment of the present invention, in response to a received safety fence base placement request, a target maintenance equipment corresponding to the safety fence base placement request is selected and the corresponding target three-phase equipment label code and entrance and exit label code are obtained, the fence placement robot is moved to the first target entrance and exit position associated with the entrance and exit label code, the safety fence base is placed by the fence placement robot and moves in a preset first direction, the corresponding target projection distance value is determined according to the target three-phase equipment associated with the target three-phase equipment label code, the target projection distance value is compared with the preset standard projection distance value, and the fence placement robot is moved according to the comparison result to complete the placement of the safety fence base; the current substation safety fence base placement is solved, which is mainly completed by substation operating personnel manually using mesh fences, support poles, discus, and signboards, which requires a lot of manpower and material resources and is inefficient, thereby making it impossible to quickly perform maintenance operations on the maintenance equipment; the beneficial effects of reducing the workload of safety fence base placement, shortening the time for arranging the safety fence base, and improving on-site operation efficiency are achieved.

[0129] See also Figure 4 , Figure 4 This is a structural block diagram of a fence base arrangement device for maintenance equipment provided in Example 3 of the present invention.

[0130] An embodiment of the present invention provides a fence base arrangement device for maintenance equipment, which involves a fence arrangement robot carrying multiple safety fence bases. The device includes:

[0131] The response module 301 is configured to respond to the received safety fence base placement request, select a target maintenance device corresponding to the safety fence base placement request, and obtain a corresponding target three-phase device label code and an entrance and exit label code;

[0132] An execution module 302 is configured to move a fence placement robot to a first target entrance / exit location associated with an entrance / exit tag code, and to place a safety fence base by the fence placement robot and move in a preset first direction;

[0133] A target projection distance value acquisition module 303 is configured to determine a corresponding target projection distance value according to a target three-phase device associated with a target three-phase device label code;

[0134] The comparison module 304 is used to compare the target projection distance value with the preset standard projection distance value, and move the fence arrangement robot to complete the placement of the safety fence base according to the comparison result.

[0135] Furthermore, the target three-phase device includes a first three-phase device and a second three-phase device, and the target projection distance value acquisition module 303 includes:

[0136] The projection data point acquisition submodule is used to obtain the projection data points corresponding to the fence arrangement robot;

[0137] A first initial distance value acquisition submodule, configured to calculate a first initial distance value between the projection data point and a first three-phase device in the target maintenance device;

[0138] A second initial distance value acquisition submodule is used to calculate a second initial distance value between the projection data point and the second three-phase device in the target maintenance equipment;

[0139] The target projection distance value calculation submodule is used to calculate the sum of the first initial distance value and the second initial distance value to generate the target projection distance value.

[0140] Furthermore, the comparison module 304 includes:

[0141] The distance value comparison submodule is used to compare the target projection distance value with the preset standard projection distance value;

[0142] a target travel distance value acquisition submodule, configured to acquire a target travel distance value associated with the fence placement robot if the target projection distance value is equal to the standard projection distance value;

[0143] A first safety fence base placement submodule is configured to place the safety fence base and move in a preset second direction when the target travel distance value is equal to a preset device safety distance value;

[0144] A second safety fence base placement submodule is configured to, when the target projection distance value is not equal to the standard projection distance value, continue to move the fence placement robot according to the device safety distance value, and place the safety fence base by the fence placement robot and move in a preset third direction;

[0145] a third safety fence base placement submodule, configured to, when the target travel distance value decreases to a preset standard travel distance value, continue to move the fence placement robot according to the equipment safety distance value, place the safety fence base by the fence placement robot, and move in a preset fourth direction;

[0146] a fourth safety fence base placement submodule, configured to, when the target projection distance value is not equal to the standard projection distance value, continue to move the fence placement robot according to the device safety distance value, place the safety fence base by the fence placement robot, and move in a preset fifth direction;

[0147] a fifth safety fence base placement submodule, configured to, when the target travel distance value decreases to the standard travel distance value, continue to move the fence placement robot according to the equipment safety distance value, place the safety fence base by the fence placement robot, and move in a preset sixth direction;

[0148] a sixth safety fence base placement submodule, configured to place the safety fence base by the fence placement robot and move in a preset seventh direction when a target connecting line between the fence placement robot and a second target entrance and exit position associated with the entrance and exit tag code is perpendicular to a preset first standard line;

[0149] The seventh safety fence base placement submodule is used to place the safety fence base when the fence placement robot moves to the second target entrance and exit position.

[0150] Furthermore, the comparison module 304 further includes:

[0151] The jump submodule is used to jump to the step of continuing to move the fence layout robot according to the equipment safety distance value when the target projection distance value is reduced to the standard travel distance value if the target projection distance value is not equal to the standard projection distance value, placing the safety fence base by the fence layout robot and moving in a preset sixth direction.

[0152] In an embodiment of the present invention, in response to a received safety fence base placement request, a target maintenance equipment corresponding to the safety fence base placement request is selected and the corresponding target three-phase equipment label code and entrance and exit label code are obtained, the fence placement robot is moved to the first target entrance and exit position associated with the entrance and exit label code, the safety fence base is placed by the fence placement robot and moves in a preset first direction, the corresponding target projection distance value is determined according to the target three-phase equipment associated with the target three-phase equipment label code, the target projection distance value is compared with the preset standard projection distance value, and the fence placement robot is moved according to the comparison result to complete the placement of the safety fence base; the current substation safety fence base placement is solved, which is mainly completed by substation operating personnel manually using mesh fences, support poles, discus, and signboards, which requires a lot of manpower and material resources and is inefficient, thereby making it impossible to quickly perform maintenance operations on the maintenance equipment; the beneficial effects of reducing the workload of safety fence base placement, shortening the time for arranging the safety fence base, and improving on-site operation efficiency are achieved.

[0153] An electronic device according to an embodiment of the present invention includes: a memory and a processor, wherein a computer program is stored in the memory; when the computer program is executed by the processor, the processor executes the fence base arrangement method for maintenance equipment according to any of the above embodiments.

[0154] The memory can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. The memory has storage space for program codes for executing any of the method steps in the above method. For example, the storage space for program codes can include individual program codes for implementing the various steps in the above method. These program codes can be read from or written to one or more computer program products. These computer program products include program code carriers such as a hard disk, a compact disc (CD), a memory card, or a floppy disk. The program code can, for example, be compressed in an appropriate form. When these codes are run by a computing and processing device, they cause the computing and processing device to execute the various steps in the above-described method.

[0155] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed, a fence base arrangement method for maintenance equipment according to any embodiment of the present invention is implemented.

[0156] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0157] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0158] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0159] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0160] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0161] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for arranging a fence base for maintenance equipment, characterized in that: A fence placement robot carrying a plurality of safety fence bases is provided, and the method includes: In response to the received safety fence base placement request, selecting the target maintenance equipment corresponding to the safety fence base placement request and obtaining the corresponding target three-phase equipment label code and entrance and exit label code; Move the fence placement robot to the first target entrance and exit position associated with the entrance and exit tag code, place the safety fence base by the fence placement robot and move in a preset first direction; Determine a corresponding target projection distance value according to the target three-phase device associated with the target three-phase device tag code; The target projection distance value refers to the sum of the distance values ​​between the projection point of the fence arrangement robot on the preset equipment projection line and the two target three-phase equipment respectively; The target projection distance value is compared with a preset standard projection distance value, and the fence arrangement robot is moved according to the comparison result to complete the placement of the safety fence base.

2. The method for arranging the fence base of maintenance equipment according to claim 1, characterized in that: The target three-phase device includes a first three-phase device and a second three-phase device. The step of determining a corresponding target projection distance value of the target three-phase device associated with the target three-phase device tag code includes: Obtaining projection data points corresponding to the fence arrangement robot; Calculating a first initial distance value between the projection data point and the first three-phase device in the target maintenance equipment; Calculating a second initial distance value between the projection data point and the second three-phase device in the target maintenance equipment; A sum of the first initial distance value and the second initial distance value is calculated to generate a target projection distance value.

3. The method for arranging the fence base of maintenance equipment according to claim 1, characterized in that: The step of comparing the target projection distance value with a preset standard projection distance value and moving the fence arrangement robot to complete the placement of the safety fence base according to the comparison result includes: Comparing the target projection distance value with a preset standard projection distance value; If the target projection distance value is equal to the standard projection distance value, obtaining a target travel distance value associated with the fence placement robot; When the target travel distance value is equal to the preset equipment safety distance value, the safety fence base is placed and the vehicle moves in a preset second direction; When the target projection distance value is not equal to the standard projection distance value, the fence placement robot continues to move according to the device safety distance value, and the fence placement robot places the safety fence base and moves in a preset third direction; When the target travel distance value is reduced to a preset standard travel distance value, the fence placement robot continues to move according to the equipment safety distance value, and the fence placement robot places the safety fence base and moves in a preset fourth direction; When the target projection distance value is not equal to the standard projection distance value, the fence placement robot continues to move according to the device safety distance value, and the fence placement robot places the safety fence base and moves in a preset fifth direction; When the target travel distance value is reduced to the standard travel distance value, the fence placement robot continues to move according to the equipment safety distance value, and the fence placement robot places the safety fence base and moves in a preset sixth direction; When a target connecting line between the fence placement robot and the second target entrance and exit position associated with the entrance and exit tag code is perpendicular to a preset first standard line, the fence placement robot places the safety fence base and moves in a preset seventh direction; When the fence placement robot moves to the second target entrance and exit position, the safety fence base is placed.

4. The method for arranging the fence base of maintenance equipment according to claim 3, characterized in that: Also includes: If the target projection distance value is not equal to the standard projection distance value, the process jumps to execute the step of continuing to move the fence arrangement robot according to the equipment safety distance value when the target travel distance value is reduced to the standard travel distance value, placing the safety fence base by the fence arrangement robot and moving in the preset sixth direction.

5. A fence base arrangement device for maintenance equipment, characterized in that: A fence arrangement robot carrying a plurality of safety fence bases is provided, the device comprising: A response module, configured to respond to a received safety fence base placement request, select a target maintenance device corresponding to the safety fence base placement request, and obtain a corresponding target three-phase device label code and an entrance and exit label code; an execution module, configured to move the fence placement robot to a first target entrance and exit position associated with the entrance and exit tag code, and to place the safety fence base by the fence placement robot and move in a preset first direction; A target projection distance value acquisition module is used to determine a corresponding target projection distance value according to the target three-phase device associated with the target three-phase device label code; The target projection distance value refers to the sum of the distance values ​​between the projection point of the fence arrangement robot on the preset equipment projection line and the two target three-phase equipment respectively; The comparison module is used to compare the target projection distance value with a preset standard projection distance value, and move the fence arrangement robot to complete the placement of the safety fence base according to the comparison result.

6. The fence base arrangement device for maintenance equipment according to claim 5, characterized in that: The target three-phase device includes a first three-phase device and a second three-phase device, and the target projection distance value acquisition module includes: a projection data point acquisition submodule, configured to acquire projection data points corresponding to the fence arrangement robot; A first initial distance value acquisition submodule, configured to calculate a first initial distance value between the projection data point and the first three-phase device in the target maintenance device; A second initial distance value acquisition submodule, configured to calculate a second initial distance value between the projection data point and the second three-phase device in the target maintenance device; The target projection distance value calculation submodule is used to calculate the sum of the first initial distance value and the second initial distance value to generate a target projection distance value.

7. The fence base arrangement device for maintenance equipment according to claim 5, characterized in that: The comparison module includes: A distance value comparison submodule is used to compare the target projection distance value with a preset standard projection distance value; a target travel distance value acquisition submodule, configured to acquire a target travel distance value associated with the fence arrangement robot if the target projection distance value is equal to the standard projection distance value; a first safety fence base placement submodule, configured to place the safety fence base and move in a preset second direction when the target travel distance value is equal to a preset equipment safety distance value; a second safety fence base placement submodule, configured to, when the target projection distance value is not equal to the standard projection distance value, continue to move the fence placement robot according to the device safety distance value, place the safety fence base by the fence placement robot, and move in a preset third direction; a third safety fence base placement submodule, configured to, when the target travel distance value decreases to a preset standard travel distance value, continue to move the fence placement robot according to the equipment safety distance value, place the safety fence base by the fence placement robot, and move in a preset fourth direction; a fourth safety fence base placement submodule, configured to, when the target projection distance value is not equal to the standard projection distance value, continue to move the fence placement robot according to the device safety distance value, place the safety fence base by the fence placement robot, and move in a preset fifth direction; a fifth safety fence base placement submodule, configured to, when the target travel distance value decreases to the standard travel distance value, continue to move the fence placement robot according to the equipment safety distance value, place the safety fence base by the fence placement robot, and move in a preset sixth direction; a sixth safety fence base placement submodule, configured to place the safety fence base by the fence placement robot and move in a preset seventh direction when a target connecting line between the fence placement robot and the second target entrance and exit position associated with the entrance and exit tag code is perpendicular to a preset first standard line; A seventh safety fence base placement submodule is used to place the safety fence base when the fence placement robot moves to the second target entrance and exit position.

8. The fence base arrangement device for maintenance equipment according to claim 7, characterized in that: The comparison module also includes: A jump submodule is used to jump to the step of continuing to move the fence arrangement robot according to the equipment safety distance value when the target projection distance value is reduced to the standard projection distance value, placing the safety fence base by the fence arrangement robot and moving in a preset sixth direction if the target projection distance value is not equal to the standard projection distance value.

9. An electronic device, characterized in that: It includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the fence base arrangement method for maintenance equipment as described in any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the fence base arrangement method for maintenance equipment according to any one of claims 1 to 4 is implemented.

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