Robot opening and closing method, device, medium and equipment for operating high-voltage switch cabinet

Abstract

The application provides a method and device for operating a high-voltage switch cabinet robot, a medium and equipment. First, the height of the robot arm is adjusted so that the arm can be connected with the rotating hole. According to the received instruction, the robot arm is twisted to drive the moving mechanism to move the movable contact arm. During the robot operation, the image recognition is performed on the image of the operation process captured by the camera on the robot, and the state of the high-voltage switch cabinet is identified. The number of turns of the robot through the rotating hole is detected to monitor the moving distance of the movable contact arm of the high-voltage switch cabinet. The torque value of the twist is detected to prevent the alarm caused by the too large torque value. Finally, the operation personnel can operate the robot at the far end of the robot, avoiding the risk of being affected by the arc zone when operating at the near end of the robot. Meanwhile, the image recognition is used to monitor the state of the high-voltage switch cabinet. The method of the application is safer and more reliable, and the personal safety of the operation personnel is ensured through multidirectional monitoring.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power maintenance, in particular to a method and device for operating a robot to open and close a high-voltage switch cabinet, a medium and equipment. BACKGROUND

[0002] In the maintenance of a high-voltage switch cabinet, the high-voltage switch cabinet needs to be discharged and disconnected, but the voltage of the high-voltage switch cabinet is generally about 10kv, and arc is likely to occur during discharging. If a person operates at close range, the safety of the maintenance personnel will be endangered.

[0003] The existing technology uses a robot to maintain a high-voltage switch cabinet. First, the robot is moved in front of the high-voltage switch cabinet, the operation module of the robot is connected to the rotating hole of the high-voltage switch cabinet, and then the maintenance personnel operate the robot at the near end of the robot to make the robot shake out of the rotating hole to disconnect the high-voltage switch cabinet.

[0004] Therefore, it is an urgent technical problem for those skilled in the art to find a safer and more reliable method for operating a robot. SUMMARY

[0005] In view of the above problem that the maintenance personnel can only operate the robot at the near end of the robot in the prior art, the purpose of the present application is to provide a method and device for operating a robot to open and close a high-voltage switch cabinet, a medium and equipment, which can enable the maintenance personnel to operate the robot to disconnect / connect the high-voltage switch cabinet remotely in a safe area, so as to ensure the safety of the maintenance personnel.

[0006] In a first aspect, the present application provides a method for operating a robot to open and close a high-voltage switch cabinet, the method comprising:

[0007] receiving a first height adjustment instruction for adjusting the height of the robot arm;

[0008] when it is identified that the height of the robot arm meets a first condition, connecting the robot arm to the rotating hole of the high-voltage switch cabinet, the rotating hole being connected to the moving mechanism of the movable contact arm of the high-voltage switch cabinet;

[0009] receiving a shaking-out instruction, and in response to the shaking-out instruction, making the robot arm twist the rotating hole to make the moving mechanism drive the movable contact arm to move;

[0010] acquiring a first image collected by a camera arranged on the robot, identifying whether a preset image recognition result is reached in the first image according to a preset algorithm, and if so, outputting the preset image recognition result;

[0011] acquiring a number of turns of the robot arm, and if the number of turns reaches a preset number of turns, outputting a preset number of turns result;

[0012] acquiring a torque value when the robot arm is twisted, and outputting a preset torque value result if the torque value reaches a preset torque value;

[0013] When the preset image recognition result, the preset number of turns result, and the preset torque value result are acquired, the high-voltage switch cabinet is in an open state.

[0014] Further, the step of receiving a first height adjustment instruction for adjusting the height of the robot arm before the step of adjusting the height of the robot arm comprises:

[0015] initializing and configuring the high-voltage switch cabinet to be configured, wherein the initializing and configuring comprises the following steps:

[0016] acquiring a first point when the height of the robot arm reaches a height corresponding to the rotating hole, and marking the first point as an element for triggering the first condition;

[0017] acquiring an image and a shooting parameter shot by the camera, and marking a monitoring point after integrating the image and the shooting parameter, wherein the monitoring point is used to monitor the state change of the high-voltage switch cabinet;

[0018] identifying an identification result of the image corresponding to the monitoring point and saving the identification result.

[0019] Further, when the height of the robot arm satisfies the first condition, the robot arm is connected to the rotating hole of the high-voltage switch cabinet, and the rotating hole is connected to a moving mechanism of the movable contact arm of the high-voltage switch cabinet, and the method comprises the following steps:

[0020] collecting a plurality of images shot by the camera during the adjustment of the robot arm, correcting the height according to the relative positions of the robot arm and the rotating hole in the plurality of images, and issuing a danger warning based on the height of the robot arm according to the state of the equipment on the high-voltage switch cabinet in the plurality of images.

[0021] Further, the step of acquiring a torque value when the robot arm is twisted, and outputting a preset torque value result if the torque value reaches a preset torque value comprises:

[0022] acquiring a second image collected by the camera, obtaining a state result of the high-voltage switch cabinet according to the second image, and correcting the torque when the robot arm is twisted based on the state result;

[0023] monitoring whether the torque value when the robot arm is twisted exceeds an alarm torque value, and sending an alarm signal if the torque value exceeds the alarm torque value;

[0024] visualizing the torque value when the robot arm is twisted on an operation terminal.

[0025] Further, the method further comprises:

[0026] The through hole is arranged on the movable contact arm of the high-voltage switch cabinet, when the robot arm is twisted and the height of the robot arm is adjusted, the moving distance of the movable contact arm is obtained, and the height of the robot arm is adjusted according to the moving distance of the movable contact arm, and the height of the robot arm corresponds to the moving distance of the movable contact arm.

[0027] Further, the identification result of the identification monitoring point corresponding image is saved, including:

[0028] The target area in the monitoring point corresponding image is obtained, the target area is the area where the high-voltage switch cabinet state indicator lamp is located,

[0029] Based on the target area color identification, the state of the high-voltage switch cabinet is judged, if the target area color identification is green, the high-voltage switch cabinet is in the state of opening and disconnecting, and if the target area color identification is red, the high-voltage switch cabinet is in the state of closing and closing;

[0030] The high-voltage switch cabinet opening and disconnecting state / high-voltage switch cabinet closing and closing state is output as the identification result.

[0031] Further, the method further comprises:

[0032] The in-out instruction is received, and the robot arm is twisted to drive the movable contact arm to move through the through hole moving mechanism in response to the closing instruction;

[0033] The second image collected by the camera arranged on the robot is obtained, whether the image recognition in the second image reaches the second preset image recognition result is identified according to a preset algorithm, if yes, the second preset image recognition result is output, the second preset image recognition result includes that the height position of the mark on the movable contact arm reaches the second preset mark position;

[0034] When the preset number of turns value result and the preset torque value result are obtained, the high-voltage switch cabinet is in the closed state.

[0035] In a second aspect, the present application provides a kind of operating high-voltage switch cabinet robot opening and closing device, the device includes:

[0036] The first receiving module is used for receiving the first height adjusting instruction, and the first height adjusting instruction is used for adjusting the height of the robot arm;

[0037] The first connection module is used for connecting the robot arm and the through hole of the high-voltage switch cabinet when the height of the robot arm meets the first condition, and the through hole is connected with the moving mechanism of the movable contact arm of the high-voltage switch cabinet;

[0038] The second receiving module is used for receiving the out instruction, and the robot arm is twisted to drive the movable contact arm to move through the through hole moving mechanism in response to the out instruction;

[0039] The first acquisition module is configured to acquire a first image collected by a camera arranged on the robot, identify whether a preset image recognition result is reached in the first image according to a preset algorithm, and output the preset image recognition result if yes.

[0040] The second acquisition module is configured to acquire a number of turns of the robot arm, and output a preset turn number result if the number of turns reaches a preset turn number value.

[0041] The third acquisition module is configured to acquire a torque value when the robot arm is twisted, and output a preset torque value result if the torque value reaches a preset torque value.

[0042] The result module is configured to output a result that the high-voltage switch cabinet is in an open state when the preset image recognition result, the preset turn number result and the preset torque value result are acquired.

[0043] In a third aspect, the present application provides a computer readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the method for operating a high-voltage switch cabinet robot to open and close a switch.

[0044] In a fourth aspect, the present application provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to perform the steps of the method for operating a high-voltage switch cabinet robot to open and close a switch.

[0045] According to the method, device, medium and equipment for operating a high-voltage switch cabinet robot to open and close a switch provided by the present application, the height of the robot arm is first adjusted so that the arm can be connected with the rotating hole; the robot arm is twisted to drive the moving mechanism to move the movable contact arm according to the received instruction; in the robot operation process, the camera on the robot captures the image of the operation process and performs image recognition, thereby identifying the state of the high-voltage switch cabinet; the number of turns of the robot through the rotating hole is detected to monitor the moving distance of the movable contact arm of the high-voltage switch cabinet; and the torque value of the twist is detected to prevent the torque value from being too large and causing an alarm, so that the operation and maintenance personnel can operate the robot at the far end of the robot, avoiding the risk of being affected by the arc zone when operating the robot at the near end of the robot, and the state of the high-voltage switch cabinet is monitored by image recognition, so that the method of the present application is safer and more reliable, and the personal safety of the operation and maintenance personnel is ensured by multi-directional monitoring. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and other drawings can be obtained by those of ordinary skill in the art without any creative work on the basis of these drawings.

[0047] Figure 1 A flowchart of a method for operating a high-voltage switch cabinet robot in an embodiment;

[0048] Figure 2 A flowchart of a method for operating a high-voltage switch cabinet robot in an embodiment;

[0049] Figure 3 A schematic diagram of an image recognition isolation mechanism state in an embodiment;

[0050] Figure 4 A schematic diagram of a torque change monitoring in an embodiment;

[0051] Figure 5 A schematic diagram of a high-voltage switch cabinet robot operating device in an embodiment;

[0052] Figure 6 A structural block diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0053] In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative work are within the scope of protection of the present application.

[0054] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly disposed on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0055] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" or "third" can explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality of", "several" is two or more, unless otherwise expressly and specifically limited.

[0056] It should be noted that the structures, proportions, sizes, etc. shown in the drawings of the present application are only used to cooperate with the disclosed content, to be understood and read by those skilled in the art, and do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, which does not affect the effect and purpose that can be achieved by the present application, should still fall within the scope of the disclosed technical content.

[0057] The method of the present application can be applied to a server or a terminal. Taking the terminal as an example, it can be applied to a mobile phone or a tablet computer. The use process of the present application will be briefly introduced below. First, the terminal is paired and connected with the robot, and then the terminal is connected with the high-voltage switch cabinet. The high-voltage switch cabinet is initialized and configured by editing the monitoring points. For the configured high-voltage switch cabinet, the robot can operate the switch cabinet.

[0058] Embodiment one

[0059] The maintenance process of the robot for the high-voltage switch cabinet in the prior art is as follows: first, the robot is moved in front of the high-voltage switch cabinet, the operation module of the robot is connected with the rotating hole of the high-voltage switch cabinet, and then the operation personnel operates the robot at the near end of the robot to make the robot shake into the rotating hole to disconnect the high-voltage switch cabinet. The risk of the operation personnel operating at the near end is relatively high due to the influence of the arc region.

[0060] The embodiment specifically provides a method for disconnecting a high-voltage switch cabinet.

[0061] Referring to FIGS. 1 and 2, Figure 1 and Figure 2 The present application provides a method for operating a high-voltage switch cabinet robot to open and close the switch, which comprises the following steps:

[0062] S101: receiving a first adjustment height instruction, the first adjustment height instruction being used to adjust the height of the robot arm;

[0063] In step 101, the robot arm is adjusted to rise or fall.

[0064] S102: when it is identified that the height of the robot arm meets a first condition, connecting the robot arm with the rotating hole of the high-voltage switch cabinet, the rotating hole being connected with the moving mechanism of the movable contact arm of the high-voltage switch cabinet;

[0065] In step 102: the robot arm is connected with the rotating hole of the high-voltage switch cabinet when the image collected by the camera identifies that the height of the robot arm is consistent with the height of the rotating hole. The robot arm is provided with a torsion part matched with the rotating hole. The torsion part is screwed into the rotating hole, and the robot arm is twisted to make the torsion part rotate and drive the moving mechanism of the movable contact arm to move through the rotating hole. The moving mechanism is arranged at the bottom of the high-voltage switch cabinet. When the movable contact arm moves up, the contact arm is disconnected to make the high-voltage switch cabinet disconnected. When the movable contact arm moves down, the contact arm is closed to make the high-voltage switch cabinet closed.

[0066] S103: receiving a shake-out instruction, and in response to the shake-out instruction, twisting the rotating hole of the robot arm to drive the moving mechanism to move the movable contact arm;

[0067] In step 103: in response to the shake-out instruction, the movable contact arm moves up.

[0068] S104: acquiring a first image collected by a camera arranged on the robot, and identifying whether the image recognition in the first image reaches a preset image recognition result according to a preset algorithm. If yes, output the preset image recognition result.

[0069] In step 104: the preset image recognition result is used to identify the state of the high-voltage switch cabinet. The camera faces the visual angle of the robot operating the high-voltage switch cabinet. The image collected by the camera is an image about the state to be identified of the high-voltage switch cabinet. The color and inscription of the indicator light in the image are identified by the preset algorithm to determine the state of the high-voltage switch cabinet. In the process of moving up of the movable contact arm, the image is collected according to the monitoring point or the training.

[0070] For example, referring to Figure 3 The movable contact arm is provided with an isolating mechanism indicator. The high-voltage switch cabinet side frame is provided with a first preset inscription position and a second preset inscription position. When the movable contact arm moves, the isolating mechanism indicator moves with the movable contact arm. The first preset inscription position and the second preset inscription position are in fixed positions. The image to be identified is acquired, and it is judged whether the isolating mechanism indicator reaches the first preset inscription position. It should be noted that the isolating mechanism indicator is at the same height as the second preset inscription position at the initial shake-out. When the movable contact arm moves to make the isolating mechanism indicator at the same height as the first preset inscription position, the high-voltage switch cabinet is in the disconnected isolating mechanism state.

[0071] It is worth noting that when shaking out, multiple states of the high-voltage switch cabinet need to be identified.

[0072] S105: acquiring the number of turns of the robot arm, and if the number of turns reaches a preset number of turns, outputting a preset number of turns result.

[0073] In step 105: the number of turns of the robot arm is used to calculate the distance of the moving contact arm moving up, to determine whether the moving contact arm is moved from the working position corresponding to the state of the high-voltage switch cabinet being closed to the isolation position corresponding to the state of the high-voltage switch cabinet being opened.

[0074] S106: Obtain the torque value when the robot arm is twisted, and if the torque value reaches the preset torque value, output the result of reaching the preset torque value.

[0075] In step 106: the torque should not be too small, and if the torque is too small, the robot cannot move through the rotating hole by the moving mechanism driving the moving contact arm to move up, and if the torque is too large, it is prone to failure and warning.

[0076] S107: When the result of reaching the preset number of turns and the result of reaching the preset torque value are obtained, the high-voltage switch cabinet is in an open state.

[0077] In step 107: integrate the results of reaching the preset image recognition, the result of reaching the preset number of turns, and the result of reaching the preset torque value, and confirm that the state of the high-voltage switch cabinet is open after all meet the standards.

[0078] In this embodiment, the method is not only limited to being used to open the high-voltage switch cabinet, but can also be used to close the high-voltage switch cabinet.

[0079] Receive a shake-in instruction, and in response to the closing instruction, make the robot arm twist the rotating hole to make the moving mechanism drive the moving contact arm to move;

[0080] It should be noted that in response to the closing instruction, the robot arm reverses to twist the moving contact arm to move down, and in response to the opening instruction, the robot arm twists the moving contact arm to move up.

[0081] Obtain a second image collected by a camera arranged on the robot, and according to a preset algorithm, identify whether the image recognition in the second image reaches a second preset image recognition result, and if so, output the result of reaching the second preset image recognition result, which includes identifying that the height position of the marking on the moving contact arm reaches a second preset marking position.

[0082] It should be noted that the image collected by the camera is an image about the state to be identified of the high-voltage switch cabinet, and the color and marking of the indicator light in the image are identified by the preset algorithm to determine the state of the high-voltage switch cabinet. In the process of moving the moving contact arm down, the image is collected according to the monitoring points or training.

[0083] When the result of reaching the preset number of turns and the result of reaching the preset torque value are obtained, the high-voltage switch cabinet is in a closed state.

[0084] It should be noted that the preset torque values corresponding to the twisting shake-in when opening and the twisting shake-out when closing are different. It can adapt to the speed of moving the moving contact arm up or down.

[0085] The method for operating the high-voltage switch cabinet robot provided by the application first adjusts the height of the robot arm so that the arm can be connected with the rotating hole; according to the received instruction, the robot arm is twisted to drive the moving mechanism to move the movable contact arm; during the robot operation, the image recognition is performed on the image of the operation process taken by the camera on the robot, and the state of the high-voltage switch cabinet is identified; the number of turns of the robot through the rotating hole is detected to monitor the moving distance of the movable contact arm of the high-voltage switch cabinet; the torque value of the twist is detected to prevent the torque value from being too large and an alarm is generated, so that the operation and maintenance personnel can operate the robot at the far end of the robot, and the risk of being affected by the arc zone when operating the robot at the near end of the robot is avoided, and the state of the high-voltage switch cabinet is monitored by image recognition, so that the method of the application is safer and more reliable, and the personal safety of the operation and maintenance personnel is ensured by multi-directional monitoring.

[0086] Embodiment two

[0087] This embodiment provides further solutions. Referring to Figure 2 as shown.

[0088] Further, the step of receiving the first height adjustment instruction before adjusting the height of the robot arm includes:

[0089] The high-voltage switch cabinet to be configured is initialized and configured, and the initialization and configuration includes the following steps:

[0090] A first point is obtained when the height of the robot arm reaches the height corresponding to the rotating hole, and the first point is marked as an element for triggering the first condition;

[0091] An image and a shooting parameter shot by the camera are obtained, and the image and the shooting parameter are integrated and marked as a monitoring point, and the monitoring point is used to monitor the state change of the high-voltage switch cabinet;

[0092] The identification result of the image corresponding to the monitoring point is identified and saved.

[0093] It needs to be explained that before the robot formally operates the high-voltage switch cabinet, the target high-voltage switch cabinet needs to be configured to the system. The first position is recorded as one of the monitoring points when the height of the robot arm is the same as the height of the rotating hole. In addition, when editing other monitoring points, the image captured by the camera and the shooting parameters of the image are obtained, and the shooting parameters include the zoom ratio of the camera and the focusing parameter. The image recognition result obtained by the state change of the high-voltage switch cabinet is integrated into a discrete monitoring point, and the obtained multiple discrete monitoring points are configured to the corresponding high-voltage switch cabinet. In addition, when configuring the target high-voltage switch cabinet, the pan-tilt control is included as one of the elements of the marked monitoring point, and the pan-tilt control includes the control of the pan-tilt mounted on the robot arm. In addition, the image recognition, pan-tilt control, and image shooting parameter are jointly integrated into the elements of the monitoring point. Through this configuration method, different models of high-voltage switch cabinets can be adapted to the same operating system.

[0094] Further, the recognition result of the image corresponding to the recognition monitoring point is saved, including:

[0095] The target area in the image corresponding to the monitoring point is obtained, and the target area is the area where the high-voltage switch cabinet state indicator is located,

[0096] Based on the target area color recognition, the state of the high-voltage switch cabinet is judged. If the target area color recognition is green, the high-voltage switch cabinet is in the open state, and if the target area color recognition is red, the high-voltage switch cabinet is in the closed state.

[0097] The open state of the high-voltage switch cabinet / the closed state of the high-voltage switch cabinet is output as the recognition result.

[0098] The problem to be solved by the embodiment is that different models of high-voltage switch cabinets are not convenient for operation of the same operating system.

[0099] According to the scheme proposed in the embodiment, different models of high-voltage switch cabinets can be configured to the same system by editing monitoring points, and the state of the high-voltage switch cabinet can also be identified using the image captured by the camera, improving the maintenance efficiency and providing corresponding clear instructions for the maintenance personnel. At the same time, the maintenance personnel can operate remotely to protect the personal safety of the maintenance personnel.

[0100] Embodiment three

[0101] The embodiment provides a further scheme.

[0102] Further, when the height of the robot arm satisfies the first condition, the robot arm is connected with the rotating hole of the high-voltage switch cabinet, and the rotating hole is connected with the moving mechanism of the movable contact arm of the high-voltage switch cabinet, including:

[0103] The multiple images captured by the camera during the adjustment process of the robot arm are collected, the relative position of the robot arm and the rotating hole is corrected according to the multiple images, and the dangerous warning is given based on the height of the robot arm according to the equipment state instrument on the high-voltage switch cabinet in the multiple images.

[0104] It should be noted that the robot arm is provided with a torsion member, when the torsion member is screwed into the rotating hole, the robot arm is twisted to move the moving contact arm. Since the torsion member on the robot arm and the rotating hole are relatively small in size, the embodiment aims to solve the problem that it is difficult to accurately and quickly align the torsion member on the robot arm with the rotating hole and screw it into the rotating hole.

[0105] By collecting multiple images during the adjustment process of the robot arm, the relative position of the robot arm and the rotating hole is calculated according to the multiple images, and the height of the robot arm is corrected.

[0106] Further, the torque value when the robot arm is twisted is obtained, and if the torque value reaches a preset torque value, a result of reaching the preset torque value is output, including:

[0107] A second image collected by the camera is obtained, the state result of the high-voltage switch cabinet obtained from the second image is corrected, and the torque when the robot arm is twisted is corrected based on the state result;

[0108] The torque value when the robot arm is twisted is monitored to see if it exceeds an alarm torque value, and if it does, an alarm signal is sent;

[0109] The torque value when the robot arm is twisted is visualized and displayed on the operation terminal.

[0110] It should be noted that the state of the high-voltage switch cabinet is monitored in real time during the twisting process through image recognition, and the state of the high-voltage switch cabinet is fed back to the torque adjustment.

[0111] Referring to Figure 4 , a schematic diagram of real-time monitoring of the torque value when the robot arm twists to disconnect the high-voltage switch cabinet is shown.

[0112] Further, the method further comprises:

[0113] The rotating hole is arranged on the moving contact arm of the high-voltage switch cabinet, when the robot arm is twisted and the height of the robot arm is adjusted, the moving distance of the moving contact arm is obtained, and the height of the robot arm is adjusted according to the moving distance of the moving contact arm corresponding to the moving distance of the moving contact arm.

[0114] It should be noted that when the robot arm is twisted, the moving arm moves, and since the rotating hole is arranged on the moving arm, the robot arm also needs to displace with the rotating hole, but since the robot arm is moving in the process of twisting and affects the torque in the process of moving of the robot arm, the torque needs to be monitored in real time, and the torque value is visualized. The number of twisting turns, torque value monitoring, image recognition monitoring are comprehensively considered to ensure that the moving arm can safely move to the preset position. For example, the moving arm moves from the working position to the isolation position, so that the high-voltage switch cabinet is in the off state. Of course, more importantly, the operation and maintenance personnel can operate the robot remotely to avoid the risk of close operation affected by the arc zone.

[0115] Embodiment four

[0116] Referring to Figure 5 The present application provides a kind of operating high-voltage switch cabinet robot opening and closing device, the device includes:

[0117] First receiving module, for receiving first adjustment height instruction, the first adjustment height instruction is used to adjust the height of robot arm;

[0118] First connection module, for when identifying the height of robot arm satisfies first condition, connect robot arm with rotating hole of high-voltage switch cabinet, the rotating hole is connected with the moving mechanism of high-voltage switch cabinet moving arm;

[0119] Second receiving module, for receiving shake out instruction, response the shake out instruction makes robot arm twist rotating hole order moving mechanism drive moving arm moves;

[0120] First acquisition module, for acquiring the first image that camera is collected on robot, according to preset algorithm, whether image recognition in first image reaches preset image recognition result is identified, if yes, then output reaches preset image recognition result;

[0121] Second acquisition module, for acquiring the number of turns of robot arm twisting, if the number of turns reaches preset number of turns, then output reaches preset number of turns result;

[0122] Third acquisition module, for acquiring the torque value when robot arm twists, if the torque value reaches preset torque value, then output reaches preset torque value result;

[0123] Result module, for when reaching the preset number of turns result, the preset torque value result is obtained, high-voltage switch cabinet is in the off state.

[0124] Embodiment five

[0125] Thirdly, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the above-described method for operating a high-voltage switchgear robot to open and close circuits.

[0126] Example 6

[0127] The present invention provides a computer device, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the above-described method for operating a high-voltage switchgear robot to open and close circuits.

[0128] Figure 6 An internal structural diagram of a computer device in one embodiment is shown, such as... Figure 6 As shown, the computer device includes a processor, a memory, and a network interface connected via a terminal bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium of the computer device may store an operation terminal and may also store a computer program. When executed by the processor, this computer program enables the processor to implement the aforementioned method for operating the high-voltage switchgear robot to open and close circuits. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to perform the aforementioned method for operating the high-voltage switchgear robot to open and close circuits. Those skilled in the art will understand that… Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the device to which the present application is applied. Specific devices may include more or fewer components than those shown in the figure, or may combine certain components, or may have different component arrangements.

[0129] It is understood that the above-mentioned methods, devices, media, and equipment for operating high-voltage switchgear robots for opening and closing belong to a single inventive concept, and the embodiments are applicable to each other.

[0130] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer readable storage medium, and when the program is executed, the processes of the above-mentioned embodiment methods can be included. Any reference to memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0131] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0132] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method of operating a robot for opening and closing a high-voltage switchgear cabinet, characterized in that, The method comprises: receiving a first height adjustment instruction for adjusting the height of the robot arm; when it is identified that the height of the robot arm meets a first condition, connecting the robot arm with a rotating hole of the high-voltage switch cabinet, the rotating hole being connected with a moving mechanism of a movable contact arm of the high-voltage switch cabinet; receiving a shake-out instruction, and in response to the shake-out instruction, making the robot arm twist the rotating hole to make the moving mechanism drive the movable contact arm to move; acquiring a first image captured by a camera arranged on the robot, and identifying whether an image recognition in the first image reaches a preset image recognition result according to a preset algorithm, and if so, outputting the preset image recognition result; acquiring a number of turns of the robot arm when it is twisted, and if the number of turns reaches a preset number of turns, outputting a preset number of turns result; acquiring a torque value when the robot arm is twisted, and if the torque value reaches a preset torque value, outputting a preset torque value result; when the preset number of turns result and the preset torque value result are acquired, the high-voltage switch cabinet is in an open state; wherein the steps before the receiving of the first height adjustment instruction for adjusting the height of the robot arm comprise: initializing configuration of the high-voltage switch cabinet to be configured, the initializing configuration comprising the following steps: acquiring a first point when the height of the robot arm reaches a corresponding height of the rotating hole, and marking the first point as an element for triggering the first condition; acquiring an image and a shooting parameter of the camera, and marking a monitoring point after integrating the image and the shooting parameter, the monitoring point being used for monitoring state changes of the high-voltage switch cabinet; identifying a recognition result of the image corresponding to the monitoring point and saving the recognition result; wherein the identifying of the recognition result of the image corresponding to the monitoring point and the saving of the recognition result comprise: acquiring a target area in the image corresponding to the monitoring point, the target area being an area where a state indicator light of the high-voltage switch cabinet is located, judging the state of the high-voltage switch cabinet based on color recognition of the target area, if the color recognition of the target area is green, the high-voltage switch cabinet is in an open state, and if the color recognition of the target area is red, the high-voltage switch cabinet is in a closed state; outputting the open state of the high-voltage switch cabinet / the closed state of the high-voltage switch cabinet as the recognition result; the method further comprises: receiving a shake-in instruction, and in response to the shake-in instruction, making the robot arm twist the rotating hole to make the moving mechanism drive the movable contact arm to move; acquiring a second image captured by the camera arranged on the robot, and identifying whether an image recognition in the second image reaches a second preset image recognition result according to a preset algorithm, and if so, outputting the second preset image recognition result, the second preset image recognition result comprising identifying that a marked height position on the movable contact arm reaches a second preset marked position; when the preset number of turns result and the preset torque value result are acquired, the high-voltage switch cabinet is in a closed state; wherein the acquiring of the torque value when the robot arm is twisted, and if the torque value reaches a preset torque value, outputting a preset torque value result, comprises: acquiring the second image captured by the camera, correcting the torque when the robot arm is twisted based on a state result of the high-voltage switch cabinet obtained from the second image. Monitoring whether the torque value of the robot arm when twisted exceeds the alarm torque value, and if so, sending an alarm signal; Visualizing the torque value of the robot arm when twisted on the operation terminal.

2. The method of operating a high voltage switchgear robot according to claim 1, characterized in that, When the height of the robot arm satisfies the first condition, the robot arm is connected with the rotating hole of the high-voltage switch cabinet, and the rotating hole is connected with the moving mechanism of the movable contact arm of the high-voltage switch cabinet, comprising: Collecting multiple images captured by the camera during the adjustment process of the robot arm, correcting the height according to the relative position of the robot arm and the rotating hole in the multiple images, and warning the danger based on the height of the robot arm according to the equipment state instrument on the high-voltage switch cabinet in the multiple images.

3. The method of operating a high voltage switchgear robot according to claim 1, wherein, The method further comprises: The rotating hole is arranged on the movable contact arm of the high-voltage switch cabinet, and when the robot arm is twisted and the height of the robot arm is adjusted, the moving distance of the movable contact arm is obtained, and the height of the robot arm is adjusted according to the moving distance of the movable contact arm corresponding to the moving distance of the movable contact arm.

4. Operating a robot switching device of a high-voltage switchgear, characterized in that The device comprises: A first receiving module for receiving a first height adjustment instruction, the first height adjustment instruction being used to adjust the height of the robot arm; A first connecting module for connecting the robot arm with the rotating hole of the high-voltage switch cabinet when the height of the robot arm satisfies the first condition, the rotating hole being connected with the moving mechanism of the movable contact arm of the high-voltage switch cabinet; A second receiving module for receiving a shaking-out instruction, and moving the movable contact arm by the moving mechanism in response to the shaking-out instruction; A first obtaining module for obtaining a first image collected by a camera arranged on the robot, and identifying whether the image recognition in the first image reaches a preset image recognition result according to a preset algorithm, and if so, outputting the preset image recognition result; A second obtaining module for obtaining the number of turns of the robot arm when twisted, and if the number of turns reaches a preset number of turns, outputting the preset number of turns result; A third obtaining module for obtaining the torque value of the robot arm when twisted, and if the torque value reaches a preset torque value, outputting the preset torque value result; A result module for outputting the preset number of turns result, the preset torque value result, and the high-voltage switch cabinet being in an open state.

5. A computer readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor to make the processor execute the steps of the method according to any one of claims 1 to 3.

6. Computer device comprising a memory and a processor, characterized in that The memory stores a computer program, and the computer program is executed by the processor to make the processor execute the steps of the method according to any one of claims 1 to 3.

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