A method and apparatus for switching the state of an electrical device

Abstract

The application provides a state switching method and device of an electrical equipment, and the method comprises the following steps: in response to a received task instruction, a state switching device is controlled to move to a target electrical equipment indicated by the task instruction; a state switching module is arranged on the target electrical equipment; a control execution module is controlled to move to the state switching module; and the state switching module is driven to perform a preset operation by the control execution module, so as to perform a target task of state switching of the target electrical equipment indicated by the task instruction. In the application, the electrical equipment can be adaptively state switched without manual operation, and the automation and intelligent degree are high, the manpower is saved, the safety hidden danger problem existing in manual operation is solved, the danger coefficient is reduced, and the operation safety is improved.

Description

Technical Field

[0001] This application relates to the field of electrical equipment technology, and in particular to a state switching method and state switching device for electrical equipment. Background Technology

[0002] In electrical systems, circuit breakers are indispensable protective devices. A circuit breaker is a switching device capable of closing, carrying, and interrupting current under normal circuit conditions, and capable of closing, carrying, and interrupting current under abnormal circuit conditions within a specified time. Currently, circuit breaker state switching operations are mainly performed manually. However, this method is labor-intensive, dangerous, and poses significant safety hazards. Therefore, how to perform circuit breaker state switching while ensuring safety is an urgent problem to be solved. Summary of the Invention

[0003] The purpose of this application is to provide a method and device for switching the state of electrical equipment. This application can adaptively switch the state of electrical equipment without manual operation, with a high degree of automation and intelligence, saving manpower, solving the safety hazards that exist in manual operation, reducing the risk factor, and improving operational safety.

[0004] On the one hand, this application provides a state switching method for electrical equipment, which is applied to a state switching device, the state switching device including an execution module;

[0005] Methods for switching states of electrical equipment include:

[0006] In response to a received task instruction, the control state switching device moves to the target electrical equipment indicated by the task instruction; wherein, the target electrical equipment is equipped with a state switching module;

[0007] The control execution module moves to the state switching module;

[0008] The drive execution module performs preset operations on the state switching module to execute the target task of switching the state of the target electrical equipment as indicated by the task instruction.

[0009] In one embodiment, the state switching device further includes a first imaging module;

[0010] After the control state switching device moves to the target electrical equipment indicated by the task command, the method further includes:

[0011] The first imaging module acquires a status image of the target electrical equipment and determines the current status of the target electrical equipment based on the status image.

[0012] Based on the current state, determine whether the target task can be performed on the target electrical equipment.

[0013] In one embodiment, a reference label is affixed to the target electrical equipment; the state switching device further includes a second imaging module;

[0014] After the control state switching device moves to the target electrical equipment indicated by the task command, the method further includes:

[0015] The second imaging module acquires an image of the first target carrying a reference tag;

[0016] Determine the positional relationship between the second imaging module and the reference label based on the first target image;

[0017] Based on the positional relationship, the control state switching device moves to the target working area at a preset distance from the target electrical equipment.

[0018] In one embodiment, the execution module is provided with a first matching unit, and the state switching module is provided with a second matching unit that can cooperate with the first matching unit;

[0019] The control execution module moves to the state switching module, including:

[0020] The control execution module moves to the target position where the first matching unit can match the second matching unit.

[0021] In one embodiment, the control execution module moves to a target position where the first matching unit can match the second matching unit, including:

[0022] Based on the first adjustment parameter, adjust the position of the execution module so that the axis of the execution module is parallel to the axis of the state switching module;

[0023] Based on the second adjustment parameter, the position of the execution module is adjusted so that the execution module is aligned with the state switching module;

[0024] After alignment, the control execution module moves toward the state switching module until it reaches the target position.

[0025] In one embodiment, a reference tag is affixed to the target electrical equipment, and the state switching device further includes a second imaging module; the first adjustment parameter includes the positional relationship between the second imaging module and the reference tag, and the positional relationship between the second imaging module and the execution module;

[0026] Before adjusting the position of the execution module based on the first adjustment parameter so that the axis of the execution module is parallel to the axis of the state switching module, the method further includes:

[0027] The second target image carrying the reference label is acquired through the second imaging module;

[0028] Determine the positional relationship between the second imaging module and the reference label based on the second target image;

[0029] Accordingly, based on the first adjustment parameter, the position of the execution module is adjusted so that the axis of the execution module is parallel to the axis of the state switching module, including:

[0030] Based on the positional relationship and the pre-stored positional relationship between the second shooting module and the execution module, the position of the execution module is adjusted so that the axis of the execution module is parallel to the axis of the state switching module.

[0031] In one embodiment, the state switching device further includes a second shooting module; the first matching unit is a square slot, and the second matching unit is a square rod; the second adjustment parameters include the distance information from the center point of the state switching module to the second shooting module, the distance information from the second shooting module to the center point of the execution module, and the tilt angle of the four sides of the square rod.

[0032] Before adjusting the position of the execution module based on the second adjustment parameter to align the execution module with the state switching module, the method further includes:

[0033] The second shooting module acquires the image of the third target, which carries the state switching module.

[0034] The center point of the state switching module in the third target image is detected, and the distance information from the center point to the second shooting module is obtained;

[0035] Obtain the tilt angles of the four sides of the square rod from the third target image;

[0036] Accordingly, based on the second adjustment parameter, the position of the execution module is adjusted so that it is aligned with the state switching module, including:

[0037] Based on the distance information and the preset distance information between the center point of the second shooting module and the execution module, adjust the position of the execution module so that the execution module and the state switching module are aligned.

[0038] Based on the tilt angle, adjust the position of the execution module so that the angles of the execution module and the state switching module are aligned.

[0039] In one embodiment, the state switching device further includes a second imaging module;

[0040] After adjusting the position of the execution module based on the first adjustment parameter so that the axis of the execution module is parallel to the axis of the state switching module, the method further includes:

[0041] The second shooting module acquires the image of the fourth target, which carries the state switching module.

[0042] Based on the fourth target image, determine whether the state switching module is in a locked state, and determine whether to continue executing the target task based on the judgment result.

[0043] In one embodiment, the state switching device further includes a drive module connected to the execution module, the drive module being used to drive the execution module to operate; the execution module is provided with a first matching unit, and the state switching module is provided with a second matching unit that can cooperate with the first matching unit; when the execution module moves to the state switching module, the first matching unit and the second matching unit are matched.

[0044] The drive execution module performs preset operations on the state switching module, including:

[0045] The control drive module drives the execution module to rotate in a preset direction corresponding to the target task, and then drives the second matching unit to rotate in the preset direction through the first matching unit;

[0046] The system detects the operating current of the drive module, and when the operating current reaches a set threshold, it controls the drive module to stop rotating.

[0047] On the other hand, this application also provides a state switching device, which includes a control module, an execution module, and a movement module; wherein, the control module is used to receive task instructions and execute the above-mentioned state switching method for electrical equipment according to the task instructions; the execution module is used to perform preset operations on the target electrical equipment according to the task instructions; and the movement module is used to move the state switching device to the target electrical equipment.

[0048] This application provides a state switching device capable of adaptively switching the state of electrical equipment such as circuit breakers, requiring no manual operation. Specifically, the state switching device switches the state of electrical equipment as follows: first, upon receiving a task instruction, the device automatically moves to the target electrical equipment indicated by the instruction; then, after moving to the designated position, the execution module on the device moves to the state switching module on the target electrical equipment for matching; finally, upon successful matching, the execution module performs a preset operation on the state switching module, thereby switching the state of the target electrical equipment. Therefore, it can be seen from the above that the state switching device provided in this application can adaptively switch the state of electrical equipment without manual operation, exhibiting a high degree of automation and intelligence, saving manpower, solving the safety hazards associated with manual operation, reducing the risk factor, and improving operational safety. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below.

[0050] Figure 1 This is a schematic diagram of the structure of a state switching device provided in an embodiment of this application;

[0051] Figure 2 This is a connection diagram of a control module provided in one embodiment of this application;

[0052] Figure 3 This is a schematic diagram of the structure of a control module provided in one embodiment of this application;

[0053] Figure 4 A flowchart illustrating a state switching method for electrical equipment provided in an embodiment of this application;

[0054] Figure 5 This is a partial schematic diagram of the target electrical equipment provided in an embodiment of this application;

[0055] Figure 6 A detailed flowchart of step S220 provided in one embodiment of this application;

[0056] Figure 7 This is a schematic diagram of the structure of a cover plate provided in one embodiment of this application.

[0057] Figure label:

[0058] 1-State switching device; 10-Base; 20-Moving module; 30-Motion module; 50-Control module; 51-Memory; 52-Bus; 53-Processor; 60-State switching module; 61-Second matching unit; 70-Through hole; 80-Cover plate; 90-First shooting module; 110-Second shooting module; 120-Drive module; 130-Execution module; 131-First matching unit. Detailed Implementation

[0059] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0060] Similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0061] Please refer to Figure 1 This is a schematic diagram of the state switching device 1 provided in an embodiment of this application. Please refer to... Figure 2This is a connection diagram of the control module 50 provided in one embodiment of this application. Figure 1 and Figure 2 As shown, this application provides a state switching device 1, which is used to switch the state of electrical equipment such as circuit breakers. The state switching device 1 includes a moving module 20, a motion module 30, a first shooting module 90, a second shooting module 110, a drive module 120, an execution module 130, and a control module 50. The control module 50 is connected to the first shooting module 90, the moving module 20, the motion module 30, the drive module 120, and the second shooting module 110. The control module 50 is used to execute the state switching method for electrical equipment in the following embodiments, and can be located at any position of the state switching device 1. The moving module 20, upon receiving an instruction from the control module 50, moves the state switching device 1 to the electrical equipment requiring state switching. A fixed component is provided on the moving module 20, and the motion module 30 and the first shooting module 90 can be mounted on this fixed component. A base 10 can be provided at the end of the motion module 30, and the second shooting module 110, the drive module 120, and the execution module 130 are all mounted on the base 10. The first shooting module 90 is used to capture images of the electrical equipment. The control module 50 can determine whether to continue performing state switching operations on the electrical equipment based on the state image. The motion module 30 is used to move the execution module 130 to the state switching module 60 located on the electrical equipment, so that the execution module 130 can perform a preset operation on the state switching module 60 to switch the state of the electrical equipment. The second imaging module 110 is used to capture the corresponding target image, so that after receiving the target image, the control component can adjust the position of the execution module 130 by controlling the motion module 30, so that the execution module 130 can move smoothly to the state switching module 60. The drive module 120 is connected to the execution module 130 and is used to drive the execution module 130 to operate when the execution module 130 performs a state switching operation on the electrical equipment.

[0062] For example, the state switching device 1 can be a robot. In this case, the moving module 20 can be a carrier with mobility function such as an intelligent car, the motion module 30 is a robotic arm, the second shooting module 110, the drive module 120 and the execution module 130 are located at the end of the robotic arm, the first shooting module 90 and the second shooting module 110 can be cameras with shooting function, and the drive module 120 can be a motor.

[0063] Please refer to Figure 3 This is a schematic diagram of the structure of the control module 50 provided in one embodiment of this application. Figure 3 As shown, the control module 50 includes: at least one processor 53 and a memory 51. Figure 3Taking a processor 53 as an example. The processor 53 and the memory 51 are connected via a bus 52. The memory 51 stores instructions that can be executed by the processor 53. The instructions are executed by the processor 53 to enable the control module 50 to perform all or part of the process of the method in the following embodiments.

[0064] The memory 51 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0065] This application also provides a computer-readable storage medium storing a computer program that can be executed by a processor 53 to perform the state switching method of the electronic device provided in the following embodiments of this application.

[0066] Please refer to Figure 4 This is a flowchart illustrating a state switching method for an electronic device provided in an embodiment of this application. Figure 4 As shown, the method includes the following steps S210-S230.

[0067] Step S210: In response to the received task instruction, control state switching device 1 moves to the target electrical equipment indicated by the task instruction.

[0068] The target electrical equipment is the electronic device that the state switching device 1 is required to switch, as indicated by the task instruction. The task instruction may contain tag information corresponding to the target electrical equipment. For example, the tag information may include the target electrical equipment's serial number and name.

[0069] In this step, the state switching device 1 can connect to the backend. When the state switching device 1 needs to switch the state of a target electrical device, the power engineer can send a task instruction to the state switching device 1 through the backend. After receiving the task instruction, the state switching device 1 can parse the tag information of the target electrical device from the task instruction and move to the target electrical device based on this tag information. Specifically, the state switching device 1 can store a map of the area where the target electrical device is located. After parsing the tag information of the target electrical device according to the task instruction, the control module 50 can determine the location of the target electrical device based on the map and tag information. Then, the control module 50 can plan a movement path from its current location to the target electrical device and control the movement module 20 to move to the target electrical device according to the movement path. For example, to facilitate charging of the state switching device 1, the initial position of the state switching device 1 can be located at a charging pile. In this case, the control module 50 only needs to plan the movement path from the charging pile to the target electrical device.

[0070] Step S220: The control execution module 130 moves to the state switching module 60.

[0071] The state switching module 60 is located on the target electrical equipment.

[0072] In this step, after the state switching device 1 moves to the target electrical equipment, the control module 50 can control the execution module 130 to move to the state switching module 60 located on the target electrical equipment. In one embodiment, since the execution module 130 is located at the end of the motion module 30, the control module 50 can control the motion module 30 to move, and the motion module 30 can then transmit the execution module 130 to the state switching module 60.

[0073] Step S230: The drive execution module 130 performs a preset operation on the state switching module 60 to execute the target task of switching the state of the target electrical equipment as indicated by the task instruction.

[0074] The target task refers to the specific switching content carried in the task instruction that requires changing the state of the target electrical equipment. Specifically, the target task can be to switch the operating state of the target electrical equipment from its current state to a target state. For example, the target task could be to switch the operating state of the target electrical equipment from its current normal operating state to its off state; or, the target task could be to switch the operating state of the target electrical equipment from its off state to its normal operating state.

[0075] In this step, after the execution module 130 moves to the state switching module 60, the control module 50 can control the execution module 130 to perform a preset operation on the state switching module 60 according to the specific content of the target task in the task instruction, thereby switching the state of the target electrical equipment through this preset operation. For example, the preset operation can be rotation or pressing, etc.

[0076] As can be seen from the above, the state switching device 1 provided in this application can adaptively switch the state of electrical equipment without manual operation. It has a high degree of automation and intelligence, saves manpower, solves the safety hazards that exist in manual operation, reduces the risk factor, and improves operational safety.

[0077] In one embodiment, after the control module 50 executes the above step S210 and controls the state switching device 1 to move to the target electrical equipment indicated by the task instruction, it can also acquire a state image of the target electrical equipment through the first imaging module 90, and determine the current state of the target electrical equipment based on the state image; further, based on the current state of the target electrical equipment, it determines whether the above target task can be performed on the target electrical equipment.

[0078] In this embodiment, after the state switching device 1 moves to the target electrical equipment, the first imaging module 90 can take a picture of the target electrical equipment and simultaneously transmit the captured state image of the target electrical equipment to the control module 50. Upon receiving the state image, the control module 50 can determine the current state of the target electrical equipment using an image matching detection algorithm. If the current state of the target electrical equipment is different from the target state indicated by the target task, it is determined that the target task can be performed on the target electrical equipment; if the current state of the target electrical equipment is the same as the target state indicated by the target task, it is determined that the target task cannot be performed on the target electrical equipment. For example, the target electrical equipment may be equipped with indicator lights that can represent its operating status. After receiving the status image, the control module 50 can determine the current status of the target electrical equipment based on the display of the indicator lights. If the control module 50 determines from the status image that the target electrical equipment is currently in normal operating status and the target task is to switch the target electrical equipment from the off state to the normal operating state, then it is determined that the target task cannot be performed on the target electrical equipment at present. If the control module 50 determines from the status image that the target electrical equipment is currently in normal operating status and the target task is to switch the target electrical equipment from the normal operating state to the off state, then it is determined that the target task can be performed on the target electrical equipment at present.

[0079] In one embodiment, when the target electrical device is a circuit breaker, in addition to determining whether the target task can be performed on the target electrical device based on the current state of the circuit breaker, it is also necessary to determine the current state of the disconnector. Since the circuit breaker is locked when the disconnector is closed, the target task cannot be performed on the circuit breaker at this time. Therefore, after the state switching device 1 moves to the target electrical device, it can also take a picture of the indicator of the grounding barrier, so that the control module 50 can determine the current state of the grounding disconnector based on the state image received from the indicator. Furthermore, after determining the current state of the grounding disconnector, the control module 50 can determine whether the target task can be performed on the circuit breaker based on the current state of the grounding disconnector. If the grounding disconnector is closed, it is determined that the target task cannot be performed on the circuit breaker; if the grounding disconnector is open, it is determined that the target task can be performed on the circuit breaker.

[0080] Furthermore, if, based on the above information, it is determined that the target task can be performed on the target electrical equipment, then subsequent steps S220 and 230 are executed. If, based on the above information, it is determined that the target task cannot be performed on the target electrical equipment, this result is fed back to the backend, whereby the power engineer determines whether to terminate the execution of the target task. If the power engineer confirms that the execution of the target task should be terminated, a task termination command can be sent to the state switching device 1 through the backend, enabling the state switching device 1 to return along its original movement path upon receiving the task termination command. Specifically, the state switching device 1 can return to its initial position before moving to the target electrical equipment. For example, returning to the charging pile.

[0081] Through the above measures, the state switching device 1 detects the current state of the target electrical equipment, determines whether the state switching of the target electrical equipment can continue based on the detection results, and terminates the process in a timely manner when it is determined that the state switching of the target electrical equipment cannot continue, effectively avoiding unnecessary time waste and improving execution efficiency.

[0082] In one embodiment, a reference label is affixed to the target electrical equipment. For example, the reference label can be a QR code, and its side length can be 70-90 mm. After executing step S210 above and controlling the state switching device 1 to move to the target electrical equipment indicated by the task command, the control module 50 can also acquire a first target image carrying the reference label through the second imaging module 110; determine the positional relationship between the second imaging module 110 and the reference label based on the first target image; and, based on the positional relationship, control the state switching device 1 to move to a target working area at a preset distance from the target electrical equipment. For example, the preset distance can be 0.3-0.4 m.

[0083] In this embodiment, the reference tag may carry the tag information of the target electrical device. After the state switching device 1 moves to the target electrical device, it can also obtain the tag information of the target electrical device carried in the reference tag to calibrate whether it has accurately moved to the target electrical device. However, there is a situation where, although the state switching device 1 has accurately moved to the target electrical device, the position of the target electrical device after the move cannot perform state switching on the target electrical device. The specific reason is that the position of the state switching device 1 after the move makes the distance between the state switching module 60 and the execution module 130 too far, and the motion module 30 cannot move the execution module 130 to the state switching module 60. This results in the state switching module 60 being unable to perform state switching on the target electrical device. Therefore, in this embodiment, to solve the above problem, the pose of the state switching device 1 is adjusted so that the state switching device 1 moves to a target working area with a preset distance from the target electrical device. Thus, when located in the target working area, regardless of the position of the state switching module 60 on the target electrical device, the state switching device 1 can perform state switching on the target electrical device.

[0084] Specifically, the method for adjusting the position of the state switching device 1 to move the state switching module 60 to the target working area at a preset distance from the target electrical equipment is as follows:

[0085] The control module 50 first controls the motion module 30 to move the second imaging module 110 to a shooting position where the complete reference tag can be captured. Once in position, the second imaging module 110 captures a first target image with the reference tag and sends the image to the control module 50. Upon receiving the first target image, the control module 50 establishes an image space coordinate system based on it. For example, after receiving the first target image, the four corner points of the reference tag can be extracted, and then an image space coordinate system can be established with the upper left corner of the four corner points as the origin. The image space coordinate system uses the direction perpendicular to and away from the plane of the reference tag as the positive z-axis, the direction to the right of the horizontal edge of the reference tag as the positive x-axis, and the direction downwards of the vertical edge of the reference tag as the positive y-axis.

[0086] After the image space coordinate system is established, the control module 50 can determine the coordinate values ​​of the four corner points of the reference label in the space coordinate system. Further, after determining the coordinate values, the control module 50 can establish a PNP problem based on the intrinsic parameters of the second imaging module 110 and the coordinate values ​​of the four corner points of the reference label, and then solve for the spatial pose transformation relationship of the second imaging module 110 relative to the reference label. The spatial pose transformation relationship of the second imaging module 110 relative to the reference label refers to the positional relationship between the second imaging module 110 and the reference label, that is, the distance and angle that the second imaging module 110 needs to move if it moves to a state parallel to the reference label. For example, the moving distance can be represented by a translation vector (x', y', z'), where z' is the distance from the second imaging module 110 to the reference label in the z-direction; x' is the distance from the second imaging module 110 to the reference label in the x-direction; and y' is the distance from the second imaging module 110 to the reference label in the y-direction. After successful solution, the translation vector can be converted to the coordinate system of state switching device 1, and then the position of state switching device 1 can be adjusted according to the conversion result to move it to the target working area. Specifically, the method of converting the translation vector to the coordinate system of state switching device 1 is as follows: the positional relationship between execution module 130 and reference tag is determined based on the positional relationship between the second shooting module 110 and reference tag, and the pre-stored positional relationship between the second shooting module 110 and execution module 130. Then, the positional relationship between base 10 and reference tag is determined based on the pre-stored positional relationship between execution module 130 and base 10. Further, the positional relationship between motion module 20 and reference tag is determined based on the positional relationship between base 10 and motion module 20. After determining the positional relationship between motion module 20 and reference tag, the pose of state switching device 1 can be adjusted based on this positional relationship to move state switching device 1 to the target working area at a preset distance from the target electrical equipment.

[0087] By taking the above measures, the position of the state switching device 1 is adjusted so that it is located within the target working area, thereby effectively ensuring that the target switching device can accurately perform state switching on the target electrical equipment and improving the accuracy of operation.

[0088] Please refer to Figure 5 This is a partial schematic diagram of the target electrical equipment provided in an embodiment of this application. For example... Figure 1 and Figure 5As shown, the execution module 130 is equipped with a first matching unit 131, and the state switching module 60 is equipped with a second matching unit 61 that can cooperate with the first matching unit 131. At this time, the control module 50 executes step S220, controlling the execution module 130 to move to the state switching module 60. This mainly refers to controlling the execution module 130 to move to the target position where the first matching unit 131 can match the second matching unit 61. Specifically, the control module 50 can control the motion module 30 to move, and the motion module 30 will transport the execution module 130 to the aforementioned target position.

[0089] In one embodiment, please refer to Figure 6 The control module 50 can control the execution module 130 to move to the target position where the first matching unit 131 can match the second matching unit 61 through the following steps S310-S330.

[0090] Step S310: Based on the first adjustment parameter, adjust the position of the execution module 130 so that the axis of the execution module 130 is parallel to the axis of the state switching module 60.

[0091] The first adjustment parameters include the positional relationship between the second shooting module 110 and the reference tag, and the positional relationship between the second shooting module 110 and the execution module 130.

[0092] In this step, to facilitate accurate matching of the first matching unit 131 to the second matching unit 61, the axis of the execution module 130 should first be parallel to the axis of the state switching module 60. Specifically, since the axis of the state switching module 60 is perpendicular to the surface of the target electrical equipment, that is, perpendicular to the plane where the reference label is located, to make the axis of the execution module 130 parallel to the axis of the state switching module 60, it is sufficient to ensure that the axis of the execution module 130 is perpendicular to the plane where the reference label is located.

[0093] Specifically, the axis of the execution module 130 can be ensured to be perpendicular to the plane where the reference label is located in the following way:

[0094] First, the first adjustment parameter is obtained. Specifically, the control module 50 first acquires a second target image carrying a reference tag through the second imaging module 110. Then, it determines the positional relationship between the second imaging module 110 and the reference tag based on the second target image. Specifically, when acquiring the second target image carrying the reference tag through the second imaging module 110, the control module 50 can first control the motion module 30 to move the second imaging module 110 to a shooting position where the complete reference tag can be captured. After reaching the position, the second imaging module 110 captures the second target image with the reference tag and sends the image to the control module 50. After receiving the second target image, the control module 50 establishes a PNP problem using the aforementioned method and solves for the spatial attitude transformation relationship of the second imaging module 110 relative to the reference tag (this transformation relationship is the positional relationship between the second imaging module 110 and the reference tag). Based on this spatial attitude transformation relationship, the angle that the second imaging module 110 needs to move to a state parallel to the reference tag can be determined. At this point, given the known angular positional relationship between the second shooting module 110 and the reference tag, and the pre-stored angular positional relationship between the second shooting module 110 and the execution module 130, the angle that the execution module 130 needs to adjust can be determined. The specific adjustments are shown in formulas (1), (2), and (3):

[0095] tool_pitch=tool2cam_pitch+cam2mask_pitch (1)

[0096] tool_roll=tool2cam_roll+cam2mask_roll (2)

[0097] tool_yaw=tool2cam_yaw+cam2mask_yaw (3)

[0098] Wherein, caL2mask_pitch refers to the angle of rotation of the second shooting module 110 to the reference label around the x-axis, caL2mask_roll refers to the angle of rotation of the second shooting module 110 to the reference label around the z-axis, and caL2mask_yaw refers to the angle of rotation of the second shooting module 110 to the reference label around the y-axis; tool2cam_pitch refers to the angle of rotation of the execution module 130 to the second shooting module 110 around the x-axis, tool2cam_roll refers to the angle of rotation of the execution module 130 to the second shooting module 110 around the z-axis, and tool2cam_yaw refers to the angle of rotation of the execution module 130 to the second shooting module 110 around the y-axis; tool_pitch refers to the angle that needs to be adjusted when the execution module 130 rotates around the x-axis, tool_roll refers to the angle that needs to be adjusted when the execution module 130 rotates around the z-axis, and tool_yaw refers to the angle that needs to be adjusted when the execution module 130 rotates around the y-axis.

[0099] As can be seen from the above formula, after the control module 50 solves for the first adjustment parameter, it can first control the motion module 30 to adjust the position of the second shooting module 110 according to the angular positional relationship between the second shooting module 110 and the reference tag, adjusting the second shooting module 110 to be parallel to the reference tag, that is, adjusting the second shooting module 110 so that its axis is perpendicular to the plane where the reference tag is located. After completing this adjustment, according to the pre-stored angular positional relationship between the second shooting module 110 and the execution module 130, the control module 50 then controls the motion module 30 to rotate by a corresponding angle, ensuring that the axis of the execution module 130 is parallel to the axis of the state switching module 60.

[0100] In one embodiment, after adjusting the execution module 130 so that its axis is parallel to the axis of the state switching module 60, the position of the second imaging module 110 will change. Therefore, to ensure that the second imaging module 110 is in the optimal working range and to ensure that the execution module 130 accurately matches the state switching module 60, the distance of the execution module 130 can be further adjusted. Specifically, the control module 50 first controls the motion module 30 to move the second imaging module 110 to a shooting position where the complete reference tag can be captured; after reaching the position, the second imaging module 110 captures the fifth target image with the reference tag and sends the fifth target image to the control module 50 after the capture is completed. After receiving the fifth target image, the control module 50 uses the aforementioned method to establish a PNP problem and solves the spatial attitude transformation relationship of the second imaging module 110 relative to the reference tag. Furthermore, after determining the spatial attitude transformation relationship of the second imaging module 110 relative to the reference tag, the distance that the second imaging module 110 needs to move to a state parallel to the reference tag can be determined. After knowing the above-mentioned moving distance, the distance that the execution module 130 needs to adjust can be calculated based on the pre-stored distance between the second shooting module 110 and the execution module 130. The specific adjustment is shown in formulas (4), (5) and (6):

[0101] tool_x=tool2cam_x+cam2mask_x (4)

[0102] tool_y=tool2cam_y+cam2mask_y (5)

[0103] tool_z = F - cam2mask_z (6)

[0104] Wherein, caL2mask_x is the translation amount of the reference tag relative to the second imaging module 110 on the x-axis, caL2mask_y is the translation amount of the reference tag relative to the second imaging module 110 on the y-axis, caL2mask_z is the translation amount of the reference tag relative to the second imaging module 110 on the z-axis, tool2cam_x is the distance between the second imaging module 110 and the execution module 130 in the x-axis direction, tool2cam_y is the distance between the second imaging module 110 and the execution module 130 in the y-axis direction, F is the optimal working distance that makes the second imaging module 110 have the best recognition effect, for example, F can be 0.2~0.4m; tool_x, tool_y and tool_z are the translation amounts that the execution module 130 needs to make in the x-axis, y-axis and z-axis, respectively.

[0105] After determining the distance that the execution module 130 needs to adjust, the control module 50 can control the motion module 30 to move according to the distance value that needs to be adjusted. After moving, the execution module 130 can be placed within the preset range of the distance reference tag, and the second shooting module 110 and the plane where the reference tag is located can be at the optimal working distance.

[0106] Through the above measures, the second shooting module 110 and the plane where the reference tag is located are effectively kept at the optimal working distance, thus ensuring the shooting effect of the second shooting module 110; at the same time, the execution module 130 is kept within the preset range of the reference tag, which makes it easier for the subsequent execution module 130 to accurately match the state switching module 60.

[0107] Step S320: Based on the second adjustment parameter, adjust the position of the execution module 130 so that the execution module 130 is aligned with the state switching module 60.

[0108] Among them, such as Figure 5 As shown, the second matching unit 61 can be a square rod, then the first matching unit 131 is a square slot. Figure 1 For ease of demonstration, the specific structure of the first matching unit 131 is not shown. The second adjustment parameters include the distance information from the center point of the state switching module 60 to the second shooting module 110, the distance information from the center point of the second shooting module 110 to the execution module 130, and the tilt angle of the four sides of the square rod.

[0109] In this step, after the axis of the execution module 130 is parallel to the axis of the state switching module 60, the position of the execution module 130 can be further adjusted so that the execution module 130 can be accurately aligned with the state switching module 60. Specifically, the execution module 130 can be aligned with the state switching module 60 in the following way:

[0110] The control module 50 first controls the motion module 30 to move the second imaging module 110 to a position where it can capture the state switching module 60. Once in position, the second imaging module 110 captures a third target image carrying the state switching module 60. After successful capture, the third target image is sent to the control module 50. Upon receiving the third target image, the control module 50 uses the YOLOv41 target detection algorithm to detect the center point of the state switching module 60 in the third target image. After obtaining the center point, it calculates the distance information from the center point of the state switching module 60 to the second imaging module 110. After obtaining this distance information, the control module 50 can obtain the distance information from the center point of the execution module 130 to the center point of the state switching module 60 based on the pre-stored distance information from the center point of the second imaging module 110 to the center point of the execution module 130, and the distance information from the center point of the state switching module 60 to the second imaging module 110. Then, the control module 50 can adjust the position of the motion module 30 based on the distance information between the center point of the execution module 130 and the center point of the state switching module 60, so that the motion module 30 adjusts the execution module 130 to a position where it is centered with the state switching module 60. It is worth noting that this distance alignment ensures that the axis of the execution module 130 coincides with the axis of the state switching module 60.

[0111] Furthermore, since the first matching unit 131 is a square slot and the second matching unit 61 is a square rod, after aligning the execution module 130 and the state switching module 60, an angle alignment operation is also required to ensure that the first matching unit 131 and the second matching unit 61 are aligned. The specific implementation method for angle alignment is as follows: the control module 50 first obtains the tilt angles of the four sides of the square rod based on the aforementioned third target image. Specifically, the tilt angles of the four sides of the square rod refer to the tilt angles of the four sides of the square rod relative to the x-axis in the image space coordinate system. After obtaining the tilt angles of the four sides of the square rod, the control module 50 can adjust the position of the execution module 130 according to the tilt angles, so that the first matching unit 131 and the second matching unit 61 can be accurately aligned after the angle adjustment. Specifically, after obtaining the tilt angles of the four sides of the square rod, the control module 50 can obtain the target adjustment angle by taking the average value; or, the control module 50 can use the maximum or minimum value of the tilt angles as the target adjustment angle. After obtaining the target adjustment angle, the control module 50 can control the motion module 30 to rotate the target adjustment angle, thereby ensuring that the first matching unit 131 and the second matching unit 61 can be accurately aligned after rotation.

[0112] Step S330: After alignment, control the execution module 130 to move toward the state switching module 60 until it reaches the target position.

[0113] The target position is the position where the first matching unit 131 can be matched with the second matching unit 61.

[0114] In this step, after the execution module 130 and the state switching module 60 are aligned, the control module 50 can control the motion module 30 to move the execution module 130 toward the state switching module 60. After reaching the target position, the control module can control the motion module 30 to stop operating.

[0115] In one embodiment, the state switching module 60 can be connected to the switch of the target electrical equipment. In this case, when the control module 50 performs the above step S230, it can do so in the following manner:

[0116] The control module 50 controls the drive module 120 to drive the execution module 130 to rotate in a preset direction corresponding to the target task, thereby driving the second matching unit 61 to rotate in the preset direction through the first matching unit 131. The preset direction can be clockwise or counterclockwise.

[0117] In the above steps, the control module 50 first determines a preset direction based on the target task. For example, if the target task is to switch the target electrical equipment from a closed state to a normal operating state, the preset direction can be clockwise rotation; if the target task is to switch the target electrical equipment from a normal operating state to a closed state, the preset direction can be counterclockwise rotation. After determining the preset direction, the control module 50 drives the drive module 120 to rotate in the corresponding direction, thereby driving the execution module 130 to rotate in the corresponding direction. When the execution module 130 rotates, the state switching module 60 also rotates due to the cooperation between the first matching unit 131 and the second matching unit 61. During the rotation, the state switching module 60 undergoes helical extension and retraction, thereby causing the switching elements of the target electrical equipment to change their operation. Based on this method, the state of the target electrical equipment is switched.

[0118] During the rotation of the execution module 130, the control module 50 can detect the operating current of the drive module 120 in real time. Because the target electrical equipment is equipped with a fastening device, after the state switching module 60 reaches its position, the fastening device will automatically fix the state switching module 60. When it is in this fixed state, the drive current of the drive module 120 will be very large, possibly exceeding a set threshold. Therefore, when the drive current of the drive module 120 is detected to be greater than the set threshold, it can be considered that the state switching of the target electrical equipment has been successfully completed, and the drive module 120 can be controlled to stop operating.

[0119] After the drive module 120 stops operating, the control module 50 can control the execution module 130 to exit the state switching module 60. Simultaneously, the control module 50 can also control the first imaging module 90 to capture a state image of the target electrical equipment, and then further determine whether the state of the target electrical equipment has been successfully switched based on the aforementioned state image. If it is determined that the switch has been successful, the execution module 130 is controlled to return to its initial position, and the state switching device 1 is controlled to return along its original movement path. Specifically, the state switching device 1 can return to its initial position before moving to the target electrical equipment. For example, returning to the charging pile. If it is determined that the switch has not been successful, the above steps are repeated.

[0120] In one embodiment, such as Figure 5 As shown, a through hole 70 is provided on the target electrical equipment. The state switching device 1 is located within the through hole 70. A device for locking the state switching device 1 is provided within the through hole 70. The function of this device is to provide safety protection and prevent malicious operation of the target electrical equipment. The state switching device 1 can only be switched when the device is not locked. At this time, after the control module 50 executes step S310 to adjust the axis of the execution module 130 to be parallel to the axis of the state switching module 60, it can also execute the following steps:

[0121] The second shooting module 110 acquires a fourth target image carrying the state switching module 60; based on the fourth target image, it is determined whether the state switching module 60 is in a locked state, and based on the determination result, it is determined whether to continue executing the target task.

[0122] Among them, such as Figure 5 As shown, when the locking device locks the state switching module 60, the state switching module 60 is completely covered. At this time, the distance d1 from the second imaging module 110 to the surface of the target electrical equipment and the distance d2 from the second imaging module 110 to the center of the state switching module 60 are approximately the same. However, when the locking device does not lock the state switching module 60, the state switching module 60 is not completely covered. At this time, the distance d1 from the second imaging module 110 to the area around the through hole 70 is much smaller than the distance d1 from the second imaging module 110 to the center of the state switching module 60. Based on this, by obtaining the distance d1 from the second imaging module 110 to the surface of the target electrical equipment and the distance d2 from the second imaging module 110 to the center of the state switching module 60 through the fourth target image, and comparing the distances d1 and d2, it can be determined whether the state switching module 60 is in a locked state. If the difference between d2 and d1 is greater than the set threshold, it can be determined that the state switching module 60 is not locked; if the difference between d2 and d1 is not greater than the set threshold, it can be determined that the state switching module 60 is locked.

[0123] Furthermore, if it is determined that the state switching module 60 is not locked, the target task continues to be performed on the target electrical equipment. If it is determined that the state switching module 60 is locked, the execution of the target task on the target electrical equipment stops. At this time, the control component can feed this result back to the background, whereby the power engineer determines whether to terminate the execution of the target task. If the power engineer confirms that the execution of the above target task should be terminated, a task termination command can be sent to the state switching device 1 through the background, so that the state switching device 1 can return along its original movement path upon receiving the task termination command. Specifically, the state switching device 1 can return to its initial position before moving to the target electrical equipment. For example, returning to the charging pile.

[0124] By implementing the above measures, it is possible to identify whether the state switching module 60 is locked, determine whether the target task can be executed smoothly, avoid unnecessary work in subsequent steps, effectively avoid unnecessary time waste, and improve execution efficiency.

[0125] like Figure 7 As shown, a cover plate 80 may be provided on the target electrical equipment. When the target electrical equipment is not switched, the cover plate 80 can cover the through hole 70, thereby effectively protecting the state switching module 60 and preventing it from being damaged by external forces.

[0126] It is worth noting that the distance and angle information mentioned in the above embodiments of this application are image distance and image angle. In fact, before adjusting the distance and angle, the above distance needs to be converted into the actual distance.

[0127] The apparatuses and methods disclosed in the several embodiments provided in this application can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0128] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0129] If a function is implemented as a software module 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 this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A method for switching the state of electrical equipment, characterized in that, Applied to a state switching device, the state switching device including an execution module; The state switching method for the electrical equipment includes: In response to a received task instruction, the state switching device is controlled to move to the target electrical equipment indicated by the task instruction; wherein, the target electrical equipment is equipped with a state switching module; Control the execution module to move to the state switching module; The execution module is driven to perform a preset operation on the state switching module in order to execute the target task of switching the state of the target electrical equipment as indicated by the task instruction; The execution module is provided with a first matching unit, and the state switching module is provided with a second matching unit that can cooperate with the first matching unit; The control of moving the execution module to the state switching module includes: The execution module is controlled to move to a target position where the first matching unit can match the second matching unit; The step of controlling the execution module to move to a target position where the first matching unit can match the second matching unit includes: Based on the first adjustment parameter, the position of the execution module is adjusted so that the axis of the execution module is parallel to the axis of the state switching module; Based on the second adjustment parameter, the position of the execution module is adjusted so that the execution module is aligned with the state switching module; After alignment, the execution module is controlled to move toward the state switching module until it reaches the target position; The state switching device further includes a second shooting module; the first matching unit is a square slot, and the second matching unit is a square rod; the second adjustment parameters include the distance information from the center point of the state switching module to the second shooting module, the distance information from the second shooting module to the center point of the execution module, and the tilt angle of the four sides of the square rod; Before adjusting the position of the execution module based on the second adjustment parameter so that the execution module is aligned with the state switching module, the method further includes: The second shooting module acquires a third target image carrying the state switching module; The center point of the state switching module in the third target image is detected, and the distance information from the center point to the second shooting module is obtained; Obtain the tilt angles of the four sides of the square rod from the third target image; Accordingly, adjusting the position of the execution module based on the second adjustment parameter, so that the execution module is aligned with the state switching module, includes: Based on the distance information and the preset distance information from the center point of the second shooting module to the execution module, the position of the execution module is adjusted so that the execution module and the state switching module are aligned. Based on the tilt angle, adjust the position of the execution module so that the execution module and the state switching module are aligned.

2. The method for switching states of electrical equipment according to claim 1, characterized in that, The state switching device further includes a first imaging module; After the state switching device is moved to the target electrical equipment indicated by the task instruction, the method further includes: The first imaging module acquires a status image of the target electrical equipment, and determines the current status of the target electrical equipment based on the status image. Based on the current state, determine whether the target task can be performed on the target electrical equipment.

3. The method for switching states of electrical equipment according to claim 1, characterized in that, A reference label is affixed to the target electrical equipment; the state switching device also includes a second imaging module; After the state switching device is moved to the target electrical equipment indicated by the task instruction, the method further includes: The second imaging module acquires a first target image carrying the reference tag. The positional relationship between the second imaging module and the reference tag is determined based on the first target image; Based on the aforementioned positional relationship, the state switching device is controlled to move to a target working area that is at a preset distance from the target electrical equipment.

4. The method for switching states of electrical equipment according to claim 1, characterized in that, A reference label is affixed to the target electrical equipment, and the state switching device further includes a second imaging module; the first adjustment parameter includes the positional relationship between the second imaging module and the reference label, and the positional relationship between the second imaging module and the execution module; Before adjusting the position of the execution module based on the first adjustment parameter so that the axis of the execution module is parallel to the axis of the state switching module, the method further includes: The second target image carrying the reference tag is acquired through the second imaging module; The positional relationship between the second imaging module and the reference tag is determined based on the second target image; Accordingly, adjusting the position of the execution module based on the first adjustment parameter, so that the axis of the execution module is parallel to the axis of the state switching module, includes: Based on the positional relationship and the pre-stored positional relationship between the second shooting module and the execution module, the position of the execution module is adjusted so that the axis of the execution module is parallel to the axis of the state switching module.

5. The method for switching states of electrical equipment according to claim 1, characterized in that, The state switching device also includes a second imaging module; After adjusting the position of the execution module based on the first adjustment parameter so that the axis of the execution module is parallel to the axis of the state switching module, the method further includes: The second shooting module acquires a fourth target image carrying the state switching module; Based on the fourth target image, it is determined whether the state switching module is in a locked state, and based on the determination result, it is determined whether to continue executing the target task.

6. The method for switching states of electrical equipment according to claim 1, characterized in that, The state switching device further includes a drive module connected to the execution module, the drive module being used to drive the execution module to operate; the execution module is provided with a first matching unit, and the state switching module is provided with a second matching unit that can cooperate with the first matching unit; when the execution module moves to the state switching module, the first matching unit and the second matching unit are matched. The method of driving the execution module to perform a preset operation on the state switching module includes: The drive module controls the execution module to rotate in a preset direction corresponding to the target task, and then the first matching unit drives the second matching unit to rotate in the preset direction. The operating current of the drive module is detected, and when the operating current reaches a set threshold, the drive module is controlled to stop rotating.

7. A state switching device for electrical equipment, characterized in that, include: A control module is used to receive task instructions and execute the state switching method of electrical equipment as described in any one of claims 1-6 according to the task instructions. An execution module is used to perform a preset operation on the target electrical equipment according to the task instruction; A mobile module is used to move the state switching device to the target electrical equipment.

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