Method and device for arranging safety fence, electronic equipment and storage medium

Abstract

This invention discloses a method, apparatus, electronic device, and storage medium for deploying a safety fence. The method is executed by a robot hangar, and the robot includes at least one fence-laying robot. The method includes: responding to a safety fence deployment command, determining a target safety fence deployment area corresponding to the command; determining whether there are overlapping areas within the target safety fence deployment areas; if there are no overlapping areas, determining the number of fence-laying robots corresponding to the target safety fence deployment area; selecting target fence-laying robots based on the number and the status of each robot, and determining the target position of each target fence-laying robot, so that the fence-laying robots form a safety fence corresponding to the deployment command. This invention allows for the rapid and precise deployment of safety fences during the maintenance of substation equipment.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a method, apparatus, electronic device and storage medium for arranging a safety fence. Background Technology

[0002] When inspecting and maintaining substation equipment, after de-energizing the equipment, substation operators need to set up safety fences around the work site to prevent workers from expanding the work area without authorization or accidentally entering energized areas.

[0003] The traditional method of setting up safety barriers involves placing metal discs around the work area, inserting fence posts one by one into the discs, and finally hanging safety netting from the posts to create a work area with a single opening. Because the metal discs typically weigh over 2 kg and the barriers are prone to tangling, this traditional method suffers from disadvantages such as inconvenient transportation, low deployment efficiency, and high physical exertion for personnel.

[0004] How to quickly and accurately deploy safety barriers using automated robots during substation equipment maintenance is a key research topic in the industry. Summary of the Invention

[0005] This invention provides a method, apparatus, electronic device, and storage medium for deploying safety fences, enabling the rapid and precise deployment of safety fences during the maintenance of substation equipment.

[0006] According to one aspect of the present invention, a method for deploying a safety fence is provided, performed by a robot hangar, the robot including at least one fence robot, the fence robot including at least one fence trolley, the fence trolley being used to deploy the safety fence, the method for deploying the safety fence including:

[0007] In response to a safety fence deployment command, determine the target safety fence deployment area corresponding to the safety fence deployment command;

[0008] Determine whether there are any overlapping areas in the target safety fence deployment area;

[0009] If there are no overlapping areas in the target safety fence deployment area, determine the number of fence robots corresponding to the target safety fence deployment area;

[0010] Based on the quantity and the status of each fence robot, target fence robots are selected, and the target positions of each target fence robot are determined so that each fence robot can form a safety fence corresponding to the safety fence deployment command.

[0011] According to another aspect of the present invention, a device for deploying a safety fence is provided, characterized in that it comprises:

[0012] A response module for a safety fence deployment instruction is used to determine the target safety fence deployment area corresponding to the safety fence deployment instruction in response to the safety fence deployment instruction.

[0013] The overlapping area determination module is used to determine whether there is an overlapping area in the target safety fence deployment area;

[0014] The quantity determination module is used to determine the number of fence robots corresponding to the target safety fence deployment area when there is no overlapping area in the target safety fence deployment area;

[0015] The safety fence formation module is used to filter out each target fence robot based on the number and the status of each fence robot, and determine the target position of each target fence robot so that each fence robot forms a safety fence corresponding to the safety fence deployment command.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the security fence deployment method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the security fence deployment method described in any embodiment of the present invention.

[0021] The technical solution of this invention involves a robot hangar responding to a safety fence deployment command, determining a target safety fence deployment area corresponding to the command, determining whether the target safety fence deployment area overlaps, determining the number of fence robots corresponding to the target safety fence deployment area if no overlap exists, filtering each target fence robot based on the number and the status of each robot, and determining the target position of each robot so that they form a safety fence corresponding to the deployment command. This allows for the rapid and precise deployment of safety fences during substation equipment maintenance.

[0022] It should be understood that the description in this section is not intended to identify key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the embodiments of the present invention. Other features of the embodiments of the present invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a method for arranging a safety fence according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a structural schematic diagram of a fence robot according to Embodiment 1 of the present invention;

[0026] Figure 3 This is a flowchart of a method for arranging a safety fence according to Embodiment 2 of the present invention;

[0027] Figure 4 This is a flowchart of another method for arranging a safety fence according to Embodiment 2 of the present invention;

[0028] Figure 5 This is a schematic diagram of a safety fence arrangement system according to Embodiment 3 of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of a safety fence arrangement device according to Embodiment 3 of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of an electronic device that implements the safety fence deployment method of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the embodiments of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of the embodiments of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the present invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] Figure 1 This is a flowchart of a safety fence deployment method according to Embodiment 1 of the present invention. This embodiment is applicable to the deployment of safety fences by a fence robot when performing maintenance on substation equipment. The method can be executed by a robot hangar, which can be integrated into a safety fence deployment device. The safety fence deployment device can be implemented in hardware and / or software and can be configured in electronic devices such as computers, servers, or tablets.

[0035] In this embodiment, the robot hangar may include at least one fence robot, and each fence robot may include at least one fence trolley. The fence trolley can be used to deploy safety fences. That is, in this embodiment, safety fences can be deployed at different locations using the fence trolley. For example, in this embodiment, the robot hangar may contain ten fence robots, and each fence robot may include two fence trolleys.

[0036] In one optional implementation of this embodiment, Figure 2 This is a structural schematic diagram of a fence robot according to Embodiment 1 of the present invention, as shown below. Figure 2As shown, the fence robot may include a smart camera 210, a fence trolley 220, a fence trolley 230, a telescopic fence 240, a fence storage box 241, an infrared transmitter 250, an infrared receiver 251, a charging electrode 260, and a moving wheel 270.

[0037] Optionally, in this embodiment, the smart camera is a 360-degree rotating night vision camera with functions such as facial recognition, nighttime illumination, safety behavior monitoring, and real-time communication for emergency assistance. It can also match facial recognition information with a personnel qualification system, issuing an alarm and reporting relevant information to the operator's control terminal if personnel who do not meet the work requirements are found. In this embodiment, the fence robot may include an infrared sensor and a mobile telescopic fence trolley. When the fence robot reaches a designated point, it will release its internal mobile telescopic fence trolley according to instructions, cooperating with other fence robots to form a designated enclosed area. The infrared sensor on the trolley can monitor and alarm for personnel crossing or stepping over the fence.

[0038] For details, please refer to Figure 1 The specific steps for setting up a safety fence include:

[0039] Step 110: In response to the safety fence deployment command, determine the target safety fence deployment area corresponding to the safety fence deployment command.

[0040] In one optional implementation of this embodiment, after the robot hangar receives the safety fence deployment instruction issued by the control system, it can determine the target safety fence deployment area based on the received safety fence deployment instruction.

[0041] In practice, after receiving a safety fence deployment instruction from the control terminal or a safety fence deployment command from the power grid management platform work order module, the control system can perform logical analysis on the location of the fenced area and the information of the enclosed maintenance equipment, and transmit the safety fence deployment instruction to the matching robot hangar via the local area network.

[0042] Optionally, in this embodiment, the robot hangar determining the target safety fence deployment area corresponding to the safety fence deployment instruction may include: parsing the safety fence deployment instruction to determine the vertex information of each vertex of the safety fence deployment area corresponding to the safety fence deployment instruction; and forming the target safety fence deployment area based on the vertex information of each vertex.

[0043] In one optional implementation of this embodiment, after receiving a safety fence deployment instruction from the control system, the robot hangar can parse the received safety fence deployment instruction and determine the vertex information of each vertex of the safety fence area corresponding to the received safety fence deployment instruction based on the parsing result; furthermore, a target safety fence deployment area can be formed based on the vertex information of each vertex.

[0044] Step 120: Determine whether there are overlapping areas in the target safety fence deployment area.

[0045] In an optional implementation of this embodiment, after the robot hangar determines the target safety fence placement area corresponding to the safety fence placement instruction, it can further determine whether there is an overlapping area between the target safety fence placement area and other safety fence placement areas.

[0046] Optionally, in this embodiment, the robot hangar may determine whether there is an overlapping area between the target safety fence arrangement area and the reference safety fence arrangement area by determining the latitude and longitude intervals of the boundary of the target safety fence arrangement area within the same track based on the vertex information of each vertex; if the latitude and longitude intervals of the boundary of the target safety fence arrangement area and the reference safety fence arrangement area within the same track intersect, then it is determined that there is an overlapping area between the target safety fence arrangement area and the reference safety fence arrangement area.

[0047] In this embodiment, the information processing module of the robot hangar collects RTK (Real Time Kinematic) data at each vertex of the issued or determined safety fence deployment area to obtain the latitude and longitude intervals of the boundary of the safety fence deployment area within the same track. If the latitude and longitude intervals of the boundaries of two safety fence deployment areas within the same track intersect, it can be determined that the safety fence areas overlap; otherwise, there is no overlap.

[0048] Step 130: If there is no overlapping area in the target safety fence deployment area, determine the number of fence robots corresponding to the target safety fence deployment area.

[0049] In an optional implementation of this embodiment, if the robot hangar determines that there are no overlapping areas in the target safety fence placement area, it can further determine the number of fence robots corresponding to the target safety fence placement area, that is, how many fence robots are needed to achieve complete enclosure of the target safety fence placement area.

[0050] Optionally, in this embodiment, when there is no overlapping area in the target safety fence placement area, determining the number of fence robots corresponding to the target safety fence placement area may include: determining the area information of the target safety fence placement area; and determining the number of fence robots corresponding to the target safety fence placement area based on the area information.

[0051] In an optional implementation of this embodiment, the side lengths of each side of the target safety fence arrangement area can be determined based on the vertex information of each vertex of the target safety fence arrangement area, and further, the area information of the target safety fence arrangement area can be determined based on the side lengths of each side; then, the number of fence robots corresponding to the target safety fence arrangement area can be determined based on the area information. For example, one fence robot can be arranged for every ten square meters. For example, if the area information of the target safety fence arrangement area is 100 square meters, then the number of fence robots corresponding to the target safety fence arrangement area is 10.

[0052] In an optional implementation of this embodiment, after determining whether there is an overlapping area in the target safety fence arrangement area, the method may further include: if it is determined that there is an overlapping area in the target safety fence arrangement area, determining the overlapping area and dividing the overlapping area into independent safety fence arrangement areas; correspondingly, after dividing the overlapping area into independent safety fence arrangement areas, the method may further include: arranging fences in the independent safety fence arrangement areas and the non-independent safety fence arrangement areas in the target safety fence arrangement area other than the independent safety fence arrangement areas.

[0053] In practice, if it is determined that there are overlapping areas in the target safety fence layout area, the robot hangar will automatically divide the overlapping area into an independent safety fence area, while the other non-overlapping areas can be arranged according to normal logic.

[0054] Step 140: Based on the quantity and the status of each fence robot, select each target fence robot, and determine the target position of each target fence robot so that each fence robot forms a safety fence corresponding to the safety fence deployment instruction.

[0055] Among them, the target fence robot is a fence robot deployed in the target safety fence area.

[0056] In an optional implementation of this embodiment, after determining the number of fence robots corresponding to the target safety fence deployment area, the robot hangar can further filter out the target fence robots based on the number of fence robots and the status of each fence robot in the robot hangar, and determine the location of each target fence robot, thereby enabling each fence robot to place the fence trolley, thus forming a safety fence corresponding to the safety fence deployment command.

[0057] Optionally, in this embodiment, selecting target fence robots based on the quantity and the status of each fence robot, and determining the target position of each target fence robot so that the fence robots form a safety fence corresponding to the safety fence deployment command, may include: determining idle fence robots and selecting target fence robots from the idle fence robots based on the quantity; determining the target position of each target fence robot based on the size of the target safety fence deployment area and the quantity of each target fence robot; and sending a safety fence deployment command to each target fence robot after each target fence robot reaches its target position so that each target fence robot releases the safety fence and forms the target safety fence.

[0058] In an optional implementation of this embodiment, the robot hangar can determine the working status of each fence robot it contains, and determine the placement position of each target fence robot based on the working status and the target fence robots required to form the safety fence; further, after each fence robot travels to the corresponding position, a safety fence deployment command can be sent to each target fence robot to cause each target fence robot to release the safety fence (for example, the safety fence can be released by a fence trolley), thereby enclosing the target safety fence deployment area with the safety fence.

[0059] The technical solution of this invention involves a robot hangar responding to a safety fence deployment command, determining a target safety fence deployment area corresponding to the command, determining whether the target safety fence deployment area overlaps, determining the number of fence robots corresponding to the target safety fence deployment area if no overlap exists, filtering each target fence robot based on the number and the status of each robot, and determining the target position of each robot so that they form a safety fence corresponding to the deployment command. This allows for the rapid and precise deployment of safety fences during substation equipment maintenance.

[0060] Example 2

[0061] Figure 3This is a flowchart of a method for arranging a safety fence according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above-described technical solutions, and the technical solutions in this embodiment can be combined with the various optional solutions in one or more of the above embodiments. Figure 3 As shown, the method for setting up a safety fence may include the following steps:

[0062] Step 310: In response to the safety fence deployment command, determine the target safety fence deployment area corresponding to the safety fence deployment command.

[0063] Step 320: Determine whether there are overlapping areas in the target safety fence deployment area.

[0064] Step 330: If there is no overlapping area in the target safety fence deployment area, determine the number of fence robots corresponding to the target safety fence deployment area.

[0065] Step 340: Based on the quantity and the status of each fence robot, select each target fence robot, and determine the target position of each target fence robot so that each fence robot can form a safety fence corresponding to the safety fence deployment instruction.

[0066] Step 350: In response to the fault command of the first fence robot, determine the fault information of the first fence robot according to the fault command; determine whether to recall the first fence robot according to the fault information; if it is determined to recall the first fence robot, drive the second fence robot to the location of the first fence robot so that the second fence robot can replace the first fence robot to perform subsequent work.

[0067] The first fence robot can be any fence robot that forms a safety fence; the second fence robot can be any idle robot in the robot hangar other than the target robots, and is not limited to it in this embodiment.

[0068] In an optional implementation of this embodiment, after receiving a fault instruction from the first fence robot, it can be further determined whether the first fence robot needs to be recalled based on the received fault instruction, that is, whether the first fence robot can continue to complete the subsequent work. When it is determined that the first fence robot cannot complete the subsequent work, the first fence robot is recalled, and the remaining idle fence robot (second fence robot) in the robot hangar is driven to the location of the first fence robot, so that the second fence robot can replace the first fence robot to perform the subsequent work.

[0069] Optionally, in one implementation of this embodiment, when the fence robot malfunctions, such as a damaged camera or the inability to release the mobile fence vehicle, it will transmit the fault information to the robot hangar, which will then send the fault information to the control terminal. Upon receiving the fault information, the control terminal can decide whether the robot needs to return to its starting point and be replaced by another robot, depending on the fault situation.

[0070] In another optional implementation of this embodiment, when the designated safety fence retrieval time is reached or a safety fence retrieval task is manually issued, the robot hangar will issue a retrieval command, causing the fence robot to automatically return to the hangar for charging.

[0071] In this embodiment, the solution responds to a fault command from the first fence robot, determines the fault information of the first fence robot based on the fault command, determines whether to recall the first fence robot based on the fault information, and if it is determined that the first fence robot should be recalled, drives the second fence robot to the location of the first fence robot so that the second fence robot can replace the first fence robot to perform subsequent work. This ensures that the safety fence will not fail due to the fault of the fence robot, thereby improving the safety of the safety fence.

[0072] To better understand the safety fence deployment method involved in the embodiments of the present invention Figure 4 This is a flowchart of another method for arranging a safety fence according to Embodiment 2 of the present invention, see reference. Figure 4 It mainly includes the following steps:

[0073] Step 410: The control terminal or the power grid management platform working module issues a safety fence deployment instruction to the qualified robot hangar.

[0074] Step 420: Determine if there is an overlapping area in the robot hangar;

[0075] If so, proceed to step 430;

[0076] Otherwise, proceed to step 440.

[0077] Step 430: Separate the overlapping area into a separate safety fence zone, and proceed with the normal fence deployment in other non-overlapping areas.

[0078] Step 440: Deploy the fence according to the preset locations in the deployment area.

[0079] Step 450: Deploy the appropriate number of fence robots to obtain the final safety fence.

[0080] In practical implementation, after receiving a safety fence deployment instruction from the control terminal or a safety fence deployment command from the power grid management platform's work order module, the control system performs logical analysis on the location of the fenced-off area and the information of the enclosed maintenance equipment. It then transmits the safety fence deployment instruction to the information matching robot hangar via the local area network. Upon receiving the safety fence deployment instruction from the control system, the robot hangar performs a logical judgment on whether there is overlap between the safety fence deployment areas, and then automatically executes the preset deployment plan based on the judgment result. The execution steps are as follows:

[0081] Determine if there is an overlapping area. The robot hangar information processing module collects RTK data at each vertex of the issued safety fence deployment area to obtain the latitude and longitude intervals of the boundary of the safety fence deployment area within the same track. If the latitude and longitude intervals of the boundaries of two safety fence deployment areas within the same track intersect, it can be determined that the safety fence areas overlap; otherwise, there is no overlap.

[0082] When the overlap logic analysis result is no overlap, the robot hangar will automatically dispatch the corresponding number of robots according to the preset number of points in the deployment area, and assign each robot a unique number. The robots will move to the corresponding points according to the order of the numbers and release the mobile telescopic fence trolley as required, thereby forming the designated safety fence.

[0083] When the overlap logic analysis results in an overlap, the robot hangar will automatically divide the overlapping area into a separate safety fence zone, while other non-overlapping areas will be arranged normally.

[0084] When the robot malfunctions, such as a damaged camera or a failure to release the mobile fence cart, it will transmit the fault information to the hangar, which will then forward it to the control terminal. Upon receiving the fault information, the control terminal can decide whether the robot needs to return to its home base and be replaced by another robot, depending on the severity of the malfunction. When the designated safety fence retrieval time is reached or a safety fence retrieval task is manually issued, the robot hangar will issue a retrieval command, causing the fence robot to automatically return to the hangar for charging.

[0085] Figure 5 This is a structural schematic diagram of a safety fence arrangement system according to Embodiment 3 of the present invention; see reference. Figure 5 The system mainly consists of a control system 510, a track system 520, a robot hangar 530, and a fence robot, etc. It combines the UAV modeling technology already widely used in intelligent substation operation and maintenance to achieve remote intelligent deployment of safety fences. It should be noted that the system may also include a communication system. Figure 5 It is not shown in the text and is not intended to limit this embodiment.

[0086] The control system receives safety fence deployment instructions from the control terminal or the work order module of the power grid management platform, and transmits these instructions to the robot hangar for further execution. The control system has both PC and mobile terminals. Combined with the 3D substation model created by the RTK drone, both terminals can set safety fence zones for the equipment requiring maintenance within the 3D model.

[0087] The track system is used for the movement and anchoring of the fence robot. Modular assembly tracks are permanently positioned around the equipment on-site for the fence robot's movement, allowing for flexible assembly and disassembly. The base features a dam-like design for easy placement and anchoring, and consists of upper and lower sub-tracks. The lower sub-track is used for the overall movement of the fence robot, while the upper sub-track is used for the movement of the mobile telescopic fence.

[0088] The robot hangar is primarily used for the control, storage, and charging of fenced robots. It mainly consists of a communication module, an information processing module, robot docking and charging slots, a malfunctioning robot docking slot, and an air conditioning cooler. The communication module is mainly responsible for communication between the hangar, the control terminal, and the robots. The information processing module is mainly responsible for assigning positions to robots exiting the enclosures and setting up robot coordination. The robot docking and charging slots both secure the robots and charge their batteries. The malfunctioning robot docking slots are specially designed to prevent malfunctioning robots from obstructing the exit of normal robots. The air conditioning cooler module is used to cool the hangar.

[0089] The communication system is primarily used for communication between the various modules mentioned above. It includes the following components: communication between the control terminal and the robot hangar; communication between the robot hangar and each robot; communication between the robot hangar and the track system; and communication between robots. After the control terminal sets up the safety fence area, the command is sent via wireless or wired network to the robot hangar closest to the safety fence area. The robot hangar automatically releases the appropriate number of robots based on the size of the set area, directing them to the designated point. There, the robots automatically release the mobile telescopic fence trolley, forming a closed area with a single exit, thus completing the safety fence area setup.

[0090] The solution of this invention can realize remote intelligent deployment of substation safety fences, which improves the efficiency of safety fence deployment, significantly reduces labor costs, and improves work efficiency. It is of certain significance for promoting intelligent operation and maintenance and integrated operation and maintenance of substations.

[0091] Example 3

[0092] Figure 6This is a structural schematic diagram of a safety fence arrangement device provided according to Embodiment 3 of the present invention. Figure 6 As shown, the device includes: a response module 610 for safety fence deployment instructions, an overlapping area determination module 620, a quantity determination module 630, and a safety fence enclosure module 640.

[0093] The response module 610 for the safety fence deployment instruction is used to determine the target safety fence deployment area corresponding to the safety fence deployment instruction in response to the safety fence deployment instruction.

[0094] The overlapping area determination module 620 is used to determine whether there is an overlapping area in the target safety fence deployment area;

[0095] The quantity determination module 630 is used to determine the number of fence robots corresponding to the target safety fence placement area when there is no overlapping area in the target safety fence placement area.

[0096] The safety fence formation module 640 is used to filter out each target fence robot according to the number and the status of each fence robot, and determine the target position of each target fence robot so that each fence robot forms a safety fence corresponding to the safety fence deployment command.

[0097] In this embodiment, the response module for the safety fence deployment command responds to the safety fence deployment command and determines the target safety fence deployment area corresponding to the command. The overlapping area determination module determines whether there is an overlapping area within the target safety fence deployment area. If there is no overlapping area, the quantity determination module determines the number of fence robots corresponding to the target safety fence deployment area. The safety fence enclosure module filters the target fence robots based on the quantity and their status, and determines the target position of each robot. This allows the fence robots to enclose the safety fence corresponding to the deployment command, enabling rapid and precise deployment of safety fences during substation equipment maintenance.

[0098] In an optional implementation of this embodiment, the response module 610 for the safety fence placement instruction is specifically used to parse the safety fence placement instruction and determine the vertex information of each vertex of the safety fence placement area corresponding to the safety fence placement instruction.

[0099] The target security fence deployment area is formed based on the vertex information of each vertex.

[0100] In an optional implementation of this embodiment, the overlapping area determination module 620 is specifically used to determine the latitude and longitude intervals of the boundary of the target safety fence arrangement area within the same track based on the vertex information of each vertex.

[0101] If the latitude and longitude intervals of the boundary of the target safety fence arrangement area and the reference safety fence arrangement area within the same track intersect, then it is determined that the target safety fence arrangement area and the reference safety fence arrangement area have an overlapping area.

[0102] In an optional implementation of this embodiment, the quantity determination module 630 is specifically used to determine the area information of the target safety fence deployment area;

[0103] The number of fence robots corresponding to the target safety fence deployment area is determined based on the area information.

[0104] In an optional implementation of this embodiment, the safety fence placement device further includes: an overlapping area determination module, used to determine the overlapping area when it is determined that there is an overlapping area in the target safety fence placement area, and to divide the overlapping area into independent safety fence placement areas;

[0105] Correspondingly, the safety fence deployment device also includes: an independent area deployment module, used to deploy fences in the independent safety fence deployment area and the non-independent safety fence deployment areas in the target safety fence deployment area other than the independent safety fence deployment area.

[0106] In an optional implementation of this embodiment, the step of selecting target fence robots based on the quantity and the status of each fence robot, and determining the target position of each target fence robot so that the fence robots form a safety fence corresponding to the safety fence deployment instruction, includes:

[0107] Idle fence robots are identified, and target fence robots are selected from the idle fence robots according to the stated number.

[0108] The target position of each target fence robot is determined based on the size of the target safety fence deployment area and the number of each target fence robot.

[0109] After each target fence robot reaches the target location, a safety fence deployment command is sent to each target fence robot to release the safety fence and form the target safety fence.

[0110] In an optional implementation of this embodiment, the method further includes:

[0111] In response to a fault command from the first fence robot, fault information of the first fence robot is determined based on the fault command;

[0112] Determine whether to recall the first fence robot based on the fault information;

[0113] If it is determined that the first fence robot will be recalled, the second fence robot will be driven to the location of the first fence robot so that the second fence robot can replace the first fence robot to perform subsequent work.

[0114] The safety fence arrangement device provided in this embodiment of the invention can execute the safety fence arrangement method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0115] Example 4

[0116] Figure 7 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the embodiments of the invention described and / or claimed herein.

[0117] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0118] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0119] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the deployment method of a security fence.

[0120] In some embodiments, the method for deploying a security fence may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded into and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the security fence deployment method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the security fence deployment method by any other suitable means (e.g., by means of firmware).

[0121] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0122] Computer programs for implementing the methods of embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0123] In the context of embodiments of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0124] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0125] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0126] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0127] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the embodiments of the present invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of the embodiments of the present invention can be achieved, and this document does not impose any restrictions.

[0128] The specific embodiments described above do not constitute a limitation on the scope of protection of the embodiments of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the embodiments of the present invention should be included within the scope of protection of the embodiments of the present invention.

Claims

1. A method for arranging a safety fence, characterized in that, The deployment of the safety fence is performed by a robot hangar, which includes at least one fence robot. The fence robot includes at least one fence trolley for deploying the safety fence. The fence trolley moves and is fixed along a track system, which is divided into upper and lower sub-tracks. The lower sub-track is used for the overall movement of the fence robot, and the upper sub-track is used for the movement of the movable telescopic fence. The method for deploying the safety fence includes: In response to a safety fence deployment command, the command is parsed to determine the vertex information of each vertex in the safety fence deployment area corresponding to the command; and a target safety fence deployment area is formed based on the vertex information of each vertex. Based on the vertex information of each vertex, determine the latitude and longitude intervals of the boundary of the target safety fence deployment area within the same track; If the latitude and longitude intervals of the boundary of the target safety fence arrangement area and the reference safety fence arrangement area within the same track intersect, then it is determined that the target safety fence arrangement area and the reference safety fence arrangement area have an overlapping area. If there are no overlapping areas in the target safety fence deployment area, determine the number of fence robots corresponding to the target safety fence deployment area; Based on the quantity and the status of each fence robot, target fence robots are selected, and the target positions of each target fence robot are determined so that each fence robot can form a safety fence corresponding to the safety fence deployment command.

2. The method according to claim 1, characterized in that, Determining the number of fence robots corresponding to the target safety fence deployment area when there are no overlapping areas in the target safety fence deployment area includes: Determine the area information of the target safety fence deployment area; The number of fence robots corresponding to the target safety fence deployment area is determined based on the area information.

3. The method according to claim 1, characterized in that, After determining whether there are overlapping areas in the target safety fence deployment area, the process further includes: If it is determined that there are overlapping areas in the target safety fence deployment area, the overlapping areas are identified and the overlapping areas are divided into independent safety fence deployment areas; Accordingly, after dividing the overlapping area into independent safety fence deployment areas, the method further includes: Fences are installed in the independent safety fence area and in the non-independent safety fence area of ​​the target safety fence area, excluding the independent safety fence area.

4. The method according to claim 1, characterized in that, The step of filtering out target fence robots based on the quantity and status of each fence robot, and determining the target position of each target fence robot so that the fence robots form a safety fence corresponding to the safety fence deployment command, includes: Idle fence robots are identified, and target fence robots are selected from the idle fence robots according to the stated quantity. The target position of each target fence robot is determined based on the size of the target safety fence deployment area and the number of each target fence robot. After each target fence robot reaches the target location, a safety fence deployment command is sent to each target fence robot to release the safety fence and form the target safety fence.

5. The method according to claim 1, characterized in that, The method further includes: In response to a fault command from the first fence robot, fault information of the first fence robot is determined based on the fault command; Determine whether to recall the first fence robot based on the fault information; If it is determined that the first fence robot will be recalled, the second fence robot will be driven to the location of the first fence robot so that the second fence robot can replace the first fence robot to perform subsequent work.

6. A device for arranging a safety fence, characterized in that, An application is made in a robot hangar, the robot hangar including at least one fence robot, the fence robot including at least one fence trolley for deploying the safety fence, the fence trolley moving and fixed along a track system, the track system being divided into upper and lower sub-tracks, the lower sub-track for the overall movement of the fence robot, and the upper sub-track for the movement of a movable telescopic fence, the device comprising: The response module for the safety fence deployment instruction is used to respond to the safety fence deployment instruction by parsing the safety fence deployment instruction, determining the vertex information of each vertex of the safety fence deployment area corresponding to the safety fence deployment instruction, and forming a target safety fence deployment area based on the vertex information of each vertex. The overlapping area determination module is used to determine the latitude and longitude intervals of the boundary of the target safety fence arrangement area within the same track based on the vertex information of each vertex; if the latitude and longitude intervals of the boundary of the target safety fence arrangement area and the reference safety fence arrangement area within the same track intersect, then it is determined that the target safety fence arrangement area and the reference safety fence arrangement area have an overlapping area. The quantity determination module is used to determine the number of fence robots corresponding to the target safety fence deployment area when there is no overlapping area in the target safety fence deployment area; The safety fence formation module is used to filter out each target fence robot based on the number and the status of each fence robot, and determine the target position of each target fence robot so that each fence robot forms a safety fence corresponding to the safety fence deployment command.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the method for deploying the security fence according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for deploying the security fence as described in any one of claims 1-5.

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