A switch cabinet autonomous operation robot and method

Abstract

The present invention provides a switch cabinet autonomous operation robot and method, which are integrated with a robot working platform and a circuit breaker placement platform. The robot working platform includes a ground knife operating platform and a mechanical arm operating platform. The mechanical arm operating platform is arranged on the upper end of the ground knife operating platform, and the mechanical arm operating platform is detachably connected with an operating tool. Through ingenious structural design and position coordination, as well as according to the operation task, the robot trajectory planning and autonomous navigation between the current position and the target switch cabinet are performed, the visual positioning system is used to obtain the target image and point cloud data, the key features of the operation target in the operation task are extracted, the spatial posture of the operation target is determined, the operation position and visual guidance are provided to each operation platform, and the operation strategy planning is performed, so that the fully autonomous operation of all the operating elements of the switch cabinet can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of switch cabinet robots and relates to a switch cabinet autonomous operation robot and method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the increasing number of power grid equipment and the increasing requirements for substation automation and safety, the power grid has an increasing demand for auxiliary operation robots. When workers perform fault detection and live operations on power equipment, there are certain safety hazards that threaten the lives of workers. In this context, the use of intelligent auxiliary operation robots can not only greatly reduce the workload of workers and improve the accuracy of equipment detection, but also reduce manual operations and reduce the risk of power accidents.

[0004] According to the inventors, current switchgear operating robots are generally able to collect operating status data of the switchgear through sensors and robotic arms, monitor the status of the switchgear, perform live operations on switches through binocular vision, promptly discover safety hazards of equipment, and perform dangerous operations on behalf of staff when the switchgear fails, thereby ensuring the life safety of power workers.

[0005] However, switchgear operation actually also includes high-voltage switchgear circuit breaker maintenance work, ground knife operation and other non-switch and button-type operating components. The current switchgear operating robots cannot achieve completely unmanned operation of all switchgear operations.

[0006] On the other hand, the current control of switchgear operating robots generally only focuses on how to ensure that the robot reaches a single target switchgear and realizes path planning, or how to perform robot posture and motion control to ensure that the robot performs a single maintenance action.

[0007] However, when there are multiple maintenance or operation tasks, or when the operation task includes multiple maintenance actions, there is little research on line planning between target switch cabinets, switching control of different actions, and flexible and optimal control of a single action. As a result, the switch cabinet operation robot has a single function, cannot meet the actual use conditions of various on-site sites, and cannot truly realize unmanned and autonomous operation. Summary of the invention

[0008] In order to solve the above problems, the present invention proposes a switch cabinet autonomous operation robot and method. The present invention can not only realize the existing switch / button operation of the switch cabinet, but also realize the operation of circuit breakers, ground switches, etc., realize the autonomous operation of all components in the switch cabinet, and can realize the operation tasks of multiple operation actions. The robot switches between different operation platforms and flexibly and accurately controls them.

[0009] According to some embodiments, the present invention adopts the following technical solutions:

[0010] A switch cabinet autonomous operation robot comprises an omnidirectional mobile platform, a robot operation platform, a circuit breaker placement platform and a control system arranged on the omnidirectional mobile platform, wherein:

[0011] The circuit breaker placement platform can be lifted and lowered on the omnidirectional mobile platform, and its lifting space does not interfere with the working space of the robot working platform;

[0012] The circuit breaker placement platform is used to dock with the switch cabinet and maintain self-balancing, and the circuit breaker is dragged out and moved to the circuit breaker placement platform;

[0013] The robot operation platform is used for opening and closing the ground knife, operating the robot arm or / and replacing the operation tool;

[0014] The control system is used to perform trajectory planning and autonomous navigation between the current position and the target switch cabinet according to the operation task, and to plan the operation strategy according to the position and state of the operation target, adjust the posture of the robot operation platform and / or the circuit breaker placement platform, and realize autonomous operation.

[0015] The above scheme, on the one hand, can integrate a robot operation platform and a circuit breaker placement platform, and through clever structural design and position coordination, it can not only realize the operation of conventional components such as switches and buttons, but also realize non-switch and button components such as high-voltage switch cabinet circuit breaker maintenance operations and ground knife operations, and can realize all operations and all components in the switch cabinet completely unmanned. On the other hand, combined with image recognition and visual positioning results, trajectory planning and global navigation between the current position and the target switch cabinet can be carried out, and according to each maintenance action in the task, the corresponding operation platform can be switched autonomously to realize multi-action and multi-task operations.

[0016] As an optional implementation, a robot working platform is provided on one side of the omnidirectional mobile platform, and the circuit breaker placement platform is provided on the other side;

[0017] The robot operating platform includes a ground cutter operating platform and a mechanical arm operating platform. The mechanical arm operating platform is arranged at the upper end of the ground cutter operating platform, and the operating tool can be detachably connected to the mechanical arm operating platform.

[0018] As an optional implementation, the robot work platform is also provided with a visual positioning system for acquiring target images and point cloud data, extracting key features of the work target in the operation task, determining the spatial position of the work target, and providing work position and visual guidance for each operation platform.

[0019] As an optional implementation, the control system includes a main control system and an operation control system.

[0020] As an optional embodiment, the circuit breaker placement platform includes a circuit breaker picking and placing assembly and a lifting and rotating assembly. The lifting and rotating assembly is arranged on the omnidirectional mobile platform, and a lifting bracket is arranged on the lifting and rotating assembly. A rotary support plate is fixed on the top of the lifting bracket, and a rotating platform is assembled on the rotary support plate. The rotating platform and the circuit breaker picking and placing assembly are rotationally connected, and the circuit breaker picking and placing assembly is used to drag the circuit breaker out of the switch cabinet.

[0021] As a further feature, the lifting bracket includes a linear guide rail and a scissors bracket, one end of the bottom of the scissors bracket is fixed to the omnidirectional mobile platform, and the other end is fixed to a slider, the slider is slidably connected to the linear guide rail, and the linear guide rail is arranged on the omnidirectional mobile platform.

[0022] As a further feature, the rotating platform comprises a ring rail slider, a turntable plate, a ring rail, a loop motor, a reducer and a positioning pin;

[0023] A ring rail slider is fixed at the bottom of the turntable plate, and a ring rail is slidably connected to the ring rail on the ring rail slider, and is fixed to the rotating support plate by slidingly connecting the ring rail; a positioning pin is set at the bottom of the turntable plate, one end of the positioning pin is connected to the reducer and the loop motor, and the other end is connected to the circuit breaker pick-up and place assembly, and the rotating platform and the circuit breaker pick-up and place assembly are driven to rotate through the reducer and the loop motor.

[0024] As a further feature, the circuit breaker pick-and-place assembly comprises an assembly support platform, a clamping member, a driving member and a transmission assembly, wherein the clamping member comprises two members symmetrically arranged on the assembly support platform, and the clamping member can move horizontally along the assembly support platform to adjust the relative distance through the driving member and the transmission assembly;

[0025] The side of the component support platform is also provided with a positioning pin and a locking hook, the positioning pin is adapted to the positioning hole provided at the position of the circuit breaker of the target switch cabinet, and the locking hook protrudes outward from the side and is used to lock the position between the circuit breaker placement platform and the target switch cabinet.

[0026] Furthermore, a binocular camera is also arranged on the side of the component support platform, and the binocular camera is used to identify the position feature information on the switch cabinet, provide the relative position deviation between the circuit breaker placement platform and the switch cabinet, and guide the circuit breaker placement platform to adjust the relative position between the two, so as to realize the automatic adjustment of the posture of the circuit breaker placement platform.

[0027] The above technical solution proposes a circuit breaker placement platform, which can realize self-balancing control. With the cooperation of the visual positioning system, the circuit breaker placement platform can realize self-balancing control, and its overall posture can be accurately adjusted to automatically and accurately dock with the switch cabinet trolley track, so that the circuit breaker can be automatically dragged out to the platform and enter the maintenance position. This solves the problem that the maintenance and replacement of circuit breakers in the prior art require manpower.

[0028] As an optional implementation, the robot arm operating platform includes a multi-degree-of-freedom robot arm, which is installed on the top of the ground knife operating platform, and its operating range can cover all operating spaces from the bottom to the top of the switch cabinet;

[0029] A working tool docking device is installed at the end of the multi-degree-of-freedom robotic arm for connecting a replaceable working tool;

[0030] A depth camera is also installed at the end of the multi-degree-of-freedom robotic arm to automatically identify and locate the exact position and posture of the work target, and under the control of the work control system, realize autonomous operation for each work target.

[0031] As a further feature, the robot arm operating platform also has a tool rack, which is disposed on the omnidirectional mobile platform and is used to accommodate replaceable working tools.

[0032] As an embodiment, the replaceable working tool may include some of a button operation tool, a knob switch operation tool, a trolley operation tool, an emergency trip operation tool, a pressure plate operation tool and a positioning test tool.

[0033] As an optional embodiment, the omnidirectional mobile platform includes a mobile platform and a plurality of running wheels arranged under the mobile platform, each running wheel having an independent driving member and an independent steering mechanism;

[0034] The mobile platform is also provided with an energy storage device and a charging device connected thereto.

[0035] As an optional implementation, the visual positioning system is configured to: acquire a picture of the target object;

[0036] Based on the target object image, a heat map extraction network is used to predict several independent heat maps, each of which corresponds to a key point on the target object;

[0037] After merging all independent heat maps, the visual alignment posture of the robot arm is obtained through the visual alignment posture regression network;

[0038] The construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object image, a heat map is generated by Gaussian kernel processing.

[0039] As a further step, the heat map extraction network uses a residual network to extract features from the target object image. After obtaining the feature map, it is upsampled multiple times and adjusted by convolution to obtain several independent heat maps.

[0040] As an optional implementation, the main control system is configured to: obtain a pre-configured indoor map of the distribution station / substation, obtain the robot's posture and position information, and drive the robot to move after planning the global optimal path through global path planning.

[0041] As a further step, the main control system is configured to introduce the cable trench cover position information into the A* algorithm for global path planning; for all nodes in the open list of the A* algorithm, they are selected as candidate nodes in order from small to large movement costs; for a candidate node, a straight line is made connecting the candidate node and its parent node, and all points whose horizontal coordinates are between the horizontal coordinates of the candidate node and its parent node and on the straight line are calculated as reserve points, and combined with the cable trench cover position information, it is determined whether each reserve point is at the cable trench cover position; if all reserve points are not at the cable trench cover position, the candidate node is added to the closed list, and once a node is added to the closed list, the candidate node is no longer selected in the open list.

[0042] As an optional implementation, the main control system is configured to plan the global optimal path, obtain the local optimal path through local path planning, and drive the robot to move along the local optimal path.

[0043] As an optional implementation, the operation control system is configured to control the corresponding driving mechanisms / driving parts of the circuit breaker placement platform, the ground knife operating platform and the robot arm operating platform to perform corresponding action control.

[0044] As an optional implementation, it further includes a chassis control module for controlling the omnidirectional mobile platform, wherein the chassis control module is used to control the driving mechanism of the omnidirectional mobile platform for motion control.

[0045] A method for operating a switch cabinet autonomous operation robot comprises the following steps:

[0046] In response to the operation task, the main control system determines the current robot position and the target switch cabinet, and autonomously performs global path planning to control the omnidirectional mobile platform to move to the target switch cabinet position;

[0047] According to the operation task, the robot operation control system controls the corresponding operation platform to perform the operation;

[0048] The control operation platform is aimed at the designated operation target, and the operation target is identified and confirmed, and the current state of the target is identified and confirmed to be consistent with the corresponding state in the instruction;

[0049] The visual positioning system recognizes and locates the position of the work target, extracts the key features of the work target, and identifies the position relationship between the work target and the robot. According to the current position relationship, the position of the omnidirectional mobile platform and the posture of the operating platform are adjusted to put the robot in the best operating position.

[0050] The operation control system controls the operation platform to reach the designated operation position through trajectory planning and performs corresponding operation operations according to the operation steps and operation strategies that match the operation tasks.

[0051] As an optional implementation method, if it is a ground knife operation task, the robot operation control system controls the ground knife operation platform to put into operation; if it is a circuit breaker maintenance task, the robot operation control system controls the circuit breaker operation platform to put into operation; if it is a robotic arm movement, the robot operation control system controls the robotic arm operation platform to put into operation, and the robotic arm automatically docks and replaces the corresponding operating tool.

[0052] If it is a circuit breaker maintenance task, the binocular camera is used to identify the position feature information on the switch cabinet, provide the relative position deviation between the circuit breaker placement platform and the switch cabinet, and guide the circuit breaker placement platform to adjust the relative position between the two, so as to realize the self-balancing adjustment of the circuit breaker placement platform posture.

[0053] As an optional implementation method, the specific process of performing posture recognition and positioning and extracting key features of the operation target includes: obtaining a target object image;

[0054] Based on the target object image, a heat map extraction network is used to predict several independent heat maps, each of which corresponds to a key point on the target object;

[0055] After merging all independent heat maps, the visual alignment posture of the robot arm is obtained through the visual alignment posture regression network;

[0056] The construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object image, a heat map is generated by Gaussian kernel processing.

[0057] As an optional implementation, the specific process of controlling the omnidirectional mobile platform to move to the target switch cabinet position includes obtaining a pre-configured distribution station / substation indoor map, obtaining the robot posture and position information, and driving the robot to move after planning the global optimal path through global path planning.

[0058] As a further step, the global path planning introduces the cable trench cover position information in the A* algorithm; for all nodes in the open list of the A* algorithm, they are selected as candidate nodes in order from small to large movement costs; for a candidate node, a straight line is made connecting the candidate node and its parent node, and all points whose horizontal coordinates are between the horizontal coordinates of the candidate node and its parent node and on the straight line are calculated as reserve points, and combined with the cable trench cover position information, it is determined whether each reserve point is at the cable trench cover position; if all reserve points are not at the cable trench cover position, the candidate node is added to the closed list, and once a node is added to the closed list, the candidate node is no longer selected in the open list.

[0059] As an optional implementation method, after planning the global optimal path, the local optimal path is obtained through local path planning, and the robot is driven to move according to the local optimal path.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] The present invention innovatively proposes a method for autonomous and precise operation of all components of a switch cabinet operating robot, which overturns the current situation in which the existing switch cabinet robot can only operate conventional operating components such as switches and buttons. By integrating, flexibly switching and motion control of the circuit breaker placement platform, the ground knife operating platform and the robotic arm operating platform, it truly realizes the autonomous and precise operation of all components in the switch cabinet, and creates a new development direction for unmanned and intelligent operations of all switch cabinet operations.

[0062] The present invention innovatively proposes a self-balancing control method for a circuit breaker handling platform of a switch cabinet operating robot, which realizes self-balancing control of the circuit breaker placement platform with the cooperation of a visual positioning system, and accurately adjusts its overall posture to automatically and accurately dock with the switch cabinet trolley track, so as to facilitate the automatic dragging of the circuit breaker onto the platform and into the maintenance position, thereby solving the problem of imbalance between the parking position of the mobile platform body and the switch cabinet body during on-site use, realizing the intelligent and autonomous operation of circuit breaker replacement and placement, and improving the safety of operations.

[0063] The present invention innovatively proposes a robot arm visual alignment method based on key point regression. According to the operation task, combined with image recognition and visual navigation, trajectory planning and global navigation between the current position and the target switch cabinet are performed, and according to each maintenance action in the task, the corresponding operation platform is autonomously switched. The key point heat map is used to predict the robot arm alignment posture, and the working position is accurately positioned, which improves the robot's ability to make correct decisions and precise actions in the face of complex environments and complex tasks. Accurate robot arm alignment actions can be achieved without complex preliminary calibration preparations and tedious later point cloud processing processes, thereby improving the operating accuracy of the robot arm's autonomous operation and solving the problem of refined switch cabinet operations.

[0064] The present invention innovatively proposes a robot global motion control method, which introduces the position information of the cable trench cover into the global planning algorithm, optimizes the strategy of the robot trajectory planning, and makes the planned path points cover the cable trench cover area as little as possible, thereby reducing the damage to the cable trench cover in the process of operating the robot to reach the target switch cabinet.

[0065] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0067] Figure 1 is a schematic diagram of the robot structure of an embodiment of the present invention;

[0068] Figure 2 is a schematic diagram of the operation flow of the robot according to an embodiment of the present invention;

[0069] Figure 3 It is a schematic diagram of the overall structure of the electric placement platform of the high-voltage switch cabinet trolley-type circuit breaker provided by an embodiment of the present invention;

[0070] Figure 4 It is a schematic diagram of the structure of a trolley-type circuit breaker pick-up and placement assembly provided by an embodiment of the present invention;

[0071] Figure 5 It is a partial enlarged view of the structure of a trolley-type circuit breaker pick-up and placement assembly provided in an embodiment of the present invention;

[0072] Figure 6 Schematic diagram of a pick-and-place assembly grabbing trolley-type circuit breaker provided in an embodiment of the present invention;

[0073] Figure 7 It is a schematic diagram of the structure of the lifting and rotating assembly provided by an embodiment of the present invention;

[0074] Figure 8 is a schematic diagram of the bottom structure of a rotating platform provided by an embodiment of the present invention;

[0075] Fig. 9 is a schematic diagram of the top structure of a rotating platform provided in an embodiment of the present invention;

[0076] Fig.10 It is a schematic diagram of the structure of the rotary support plate adjustment motor assembly provided by an embodiment of the present invention;

[0077] Fig.11 is a schematic diagram of the structure of a visual positioning system provided by an embodiment of the present invention;

[0078] Fig.12 is a schematic diagram of a job control system provided by an embodiment of the present invention;

[0079] Fig.13 is a schematic diagram of a main control system provided by an embodiment of the present invention;

[0080] Fig.14 2 is a schematic diagram of the structure of a ground cutter operating platform according to an embodiment of the present invention;

[0081] Fig.15 is a schematic diagram of a replaceable working tool in an embodiment of the present invention;

[0082] Fig.16 is a schematic diagram of the structure of a fast switching device in an embodiment of the present invention;

[0083] Fig.17 is a schematic diagram of the structural details of the fast switching device in an embodiment of the present invention;

[0084] Fig.18 is a schematic diagram of a tool support in an embodiment of the present invention;

[0085] Fig.19 Schematic diagram of the overall structure of the knob tool in an embodiment of the present invention;

[0086] Fig. 20 It is a schematic diagram of the overall structure of the handcart tool in an embodiment of the present invention;

[0087] Fig.21 is a schematic diagram of the overall structure of a button tool in an embodiment of the present invention;

[0088] Fig. 22 Schematic diagram of the overall structure of the protective pressing plate tool in an embodiment of the present invention;

[0089] Fig.23 It is a schematic diagram of the local structure of the protective pressure plate tool in an embodiment of the present invention.

[0090] Among them, A-robotic arm operating platform, B-circuit breaker placement platform, C-replaceable operating tool, D-ground knife operating platform, E-omnidirectional mobile platform, F-visual positioning system, G-operation control system.

[0091] 1-handcart type circuit breaker pick-and-place assembly, 2-lifting and rotating assembly, 3-bottom moving platform, 111-hook, 112-hook electric cylinder, 113-hook slide, 114-support seat, 115-first trapezoidal screw, 116-first guide rail, 117-X direction through-type stepper motor, 118-first screw bearing seat, 119-slide baffle, 120-pull slide, 121-second screw bearing seat, 122-Y direction through-type stepper motor, 123-long trapezoidal screw, 124-second guide rail, 125-binocular camera, 126-locating pin, 127-assembly support platform, 128-lock hook, 129-lock hook motor, 221-rotating platform, 2211-ring Rail slider, 2212-turntable plate, 2213-ring rail, 2214-rotating motor, 2215-second reducer, 2216-positioning pin, 222-rotating support plate adjustment motor assembly, 2221-adjusting support seat, 2222-adjusting telescopic shaft, 2223-base, 2224-bearing fulcrum, 2225-telescopic motor, 223-rotating support plate, 224-scissor bracket, 225-bearing seat, 226-bearing seat connecting block, 227-bottom plate, 228-stopper, 229-linear guide, 230-detection sensor, 231-slider, 232-scissor connecting plate, 233-first reducer, 234-lifting motor, 235-motor connecting seat;

[0092] D-1 ball screw ball spline shaft assembly, D-2 angle rotation mechanism, D-3 screwing operation mechanism, D-4 front and rear telescopic mechanism, D-5 binocular camera, D-6, lower base, D-7 mobile platform, D-8 pressure plate and reset device, D-9 mobile platform drive motor, D-10 screwing sleeve, D-11 ball spline shaft, D-12 up and down lifting mechanism, D-13 support frame, D-14 upper base.

[0093] 401. Knob tool, 401-1. Knob tool holder, 401-2. First tool control board, 401-3. First knob drive motor, 401-4. Knob clamp, 402. Cart tool, 402-1. Cart tool holder, 402-2. Cart drive motor, 402-3. Diaphragm connector, 402-4. Sleeve guide sleeve, 402-5. Cart sleeve compression spring, 402-6. Adapter rod, 402-7. Sleeve fastener, 402-8. Cart sleeve, 402-9. Second tool control board , 403. Button tool, 403-1. Probe guide sleeve, 403-2. Probe compression spring, 403-3. Probe, 404. Protective pressure plate tool, 404-1. Fixed bracket, 404-2. Knob sleeve, 404-3. Protective pressure plate clamp, 404-4. Protective pressure plate rotating mechanism, 404-5. Knob fastener, 404-6. Knob compression spring, 404-7. Knob sleeve, 405. Tool bracket, 405-1. Side rubber pad, 405-2. Bottom rubber surface, 406. Tool bracket base.

[0094] 8. Male quick-change plate, 801. Male plate seat, 802. Male plate spring pin, 803. Guide column, 804. Conical slot, 9. Female quick-change plate, 901. Limit pin, 902. Handle, 903. Rubber column, 904. Female plate spring pin seat, 905. Female plate seat, 906. Waist-shaped hole, 10. Female plate connecting piece. DETAILED DESCRIPTION

[0095] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0096] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0097] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0098] Embodiment 1

[0099] A switch cabinet operating robot, such as Figure 1 As shown, it includes an omnidirectional mobile platform, a robotic arm working platform, replaceable working tools, a ground knife operating platform, a circuit breaker placement platform, a visual positioning system and an operating control system. The design details of each part are introduced in detail below.

[0100] The omnidirectional mobile platform, in this embodiment, includes a mobile platform and four running wheels arranged at the lower end of the mobile platform. Each running wheel is independently driven and independently steered, and can achieve translation in any direction, in-situ steering, etc., which is convenient for flexible movement and accurate docking in the compact environment of the high-voltage indoor switch cabinet room, and can better cooperate with the working platform to flexibly adjust the optimal working position. The omnidirectional mobile platform can realize path planning, autonomous navigation, autonomous obstacle avoidance, and automatic charging under the control of the operation control system.

[0101] Ground cutter operating platform: It can realize four degrees of freedom of adjustment, including left and right translation, up and down lifting, angle rotation, front and back extension, and one degree of freedom of twisting operation, and then cooperate with the rough adjustment of the mobile platform position to realize large-scale and fine positioning adjustment of the ground cutter knob. A depth camera is installed at the end of the ground cutter tool, which can automatically identify the accurate position and posture of the ground cutter knob, and realize the autonomous opening and closing operation of the ground cutter under the control of the operation control system.

[0102] The ground cutter operating platform of this embodiment is as follows Fig.14 As shown, the ground cutter operating platform is composed of a ball screw ball spline shaft assembly D-1, an angle rotation mechanism D-2, a screwing operation mechanism D-3, a front and rear telescopic mechanism D-4, a binocular camera D-5, a lower base D-6, a mobile platform D-7, a pressure plate and a reset device D-8, a mobile platform drive motor D-9, a screwing sleeve D-10, a ball spline shaft D-11, an up and down lifting mechanism D-12, a support frame D-13, an upper base D-14 and other structural parts. The mobile platform drive motor D-9 is connected to the mobile platform D-7, providing power to enable the ground cutter operating platform to move forward and backward, and is used to accurately adjust the position of the ground cutter operating platform. The angle rotation mechanism D-2 realizes the angle position adjustment of the ground cutter operating platform by rotating the motor, the small synchronous pulley at the motor end, the synchronous belt and the large synchronous pulley fixedly connected to the ball screw mother phase of the ball screw ball spline assembly D-1. The up and down lifting mechanism D-12 realizes the vertical position adjustment of the ground knife operating platform through the rotating motor, the small synchronous pulley at the motor end, the synchronous belt and the large synchronous pulley fixedly connected to the ball spline mother of the ball screw ball spline assembly D-1.

[0103] The screwing mechanism D-3 directly applies the output torque to the screwing sleeve D-10 through the ball spline shaft D-11 through the torque motor to realize the screwing action. The front and rear telescopic mechanism realizes the front and rear telescopic action of the ground knife operating platform through the rotating motor, the small synchronous pulley at the motor end, the synchronous belt and the large synchronous pulley fixedly connected to the ball spline shaft D-11. The upper base D-14 and the lower base D-6 jointly fix the ball screw ball spline shaft assembly D-1 from both ends. The pressure plate and reset assembly D-8 is used to press down the switch cabinet ground knife baffle, and the pressure plate can automatically return to the initial position under the action of the spring force. The support frame D-13 and other structural parts connect the above parts and bear the external load to ensure the overall rigidity of the device.

[0104] The robot arm operating platform, in this embodiment, uses a six-degree-of-freedom robot arm, which is installed on the top of the ground knife operating platform. Its operating range can cover the entire operating space such as the buttons on the top of the switch cabinet and the trolley holes at the bottom. The end of the robot arm is installed with a working tool docking device, which can automatically locate the working tool and automatically dock with different working tools, including mechanical docking and electrical connection. A depth camera is installed at the end of the robot arm, which can automatically identify and locate the exact position and posture of the working target, and realize autonomous operation for each working target under the control of the working control system.

[0105] For the motion control of the accuracy and freedom of the robot arm, existing methods can be used and will not be elaborated here.

[0106] Of course, the above-mentioned mechanical docking, electrical connection, working tools, etc. can all use existing technologies.

[0107] like Figure 15-Figure 23 As shown, this embodiment provides a docking device, a platform base is provided at the end of a six-degree-of-freedom robotic arm, a plurality of tool brackets 405 are fixed to the side of the platform base, and the front end of the robotic arm is connected to the male quick-change disk 8 through a male disk connector 602.

[0108] A replaceable working tool is arranged on the tool bracket 405 , and the replaceable working tool includes a plurality of working tools equipped according to working requirements, and the top of each working tool is connected to the mother disc connector 10 and the mother quick-change disc 9 through the mother disc connector 10 .

[0109] The tool holder 405 is a C-shaped groove structure, with a supporting structure of a female quick-change disc 9 on the inner side, which is used to support the working tool. Two slots are arranged on the supporting structure. One end of the female disc connector is disc-shaped, and the outer edge of the disc has a symmetrical protrusion structure. The slot corresponds to the protrusion structure and is used to lock the tool. One end is fixed on the female quick-change disc, and the other end is fixed on the working tool, so that the working tool and the tool holder can be docked.

[0110] A side rubber pad 405 - 1 and a bottom rubber surface 405 - 2 are installed on the inner side of the C-shaped groove structure to reduce the impact load when the six-degree-of-freedom robot arm picks up and places tools.

[0111] The replaceable working tool of this embodiment includes a knob tool 401 , a trolley tool 402 , a button tool 403 and a protective pressure plate tool 404 .

[0112] Among them, the knob tool 401 includes a knob tool bracket 401-1, a tool control board 401-2, a first knob drive motor 401-3, and a knob clamp 401-4. The knob tool bracket 401-1 is a C-shaped structure, and the outer side is enclosed by an outer shell. One end is connected to the mother disk connector 10, and the other end is installed with the knob clamp 401-4. The first tool control board 401-2 and the first knob drive motor 401-3 are installed inside. The first knob drive motor 401-3 uses a servo to drive the knob clamp 401-4. The first tool control board 401-2 is used to communicate with the upper computer to control the rotation and clamping movement of the knob clamp.

[0113] In this embodiment, the knob clamp 401 - 4 adopts a two-finger translation structure, with a large clamp surface and sufficient clamping force, which can adapt to the clamping and rotation of various knobs.

[0114] The trolley tool 402 includes a trolley tool bracket 402-1, a trolley drive motor 402-2, a diaphragm connector 402-3, a sleeve guide sleeve 402-4, a trolley sleeve compression spring 402-5, a transfer rod 402-6, a sleeve fastener 402-7, a trolley sleeve 402-5, and a second tool control panel 402-9.

[0115] The trolley tool bracket also has a C-shaped structure, with the outer side wrapped by a shell, one end connected to the mother disk connector 10, and the other end connected to the diaphragm connector 402-3. The tool control board 401-2 and the trolley drive motor 402-2 are installed inside. The trolley drive motor 402-2 adopts a drive-control integrated motor with a small size, strong function, and large output torque. It is used to drive the trolley to rotate. The second tool control board 402-9 is used to communicate with the host computer and control the rotation of the trolley drive motor 402-2. The rear end of the adapter rod 402-6 is installed on the diaphragm connector 402 -3, the front end is an outer square structure, the surface of the outer square structure is hard and smooth, a sleeve fastener 402-7 is installed at the front end, connected to the trolley sleeve 402-5, one end of the sleeve guide sleeve 402-4 is fixed on the transfer rod 402-6, and the other end is a round hole, which fits tightly with the outer wall of the trolley sleeve 402-5, and a trolley sleeve compression spring 402-5 is arranged inside, one end of the trolley sleeve compression spring 402-5 is pressed on the transfer rod 402-6, and the other end is pressed on the trolley sleeve 402-5, and the trolley sleeve 402-5 plays a buffering role when the trolley sleeve 402-5 is in operation.

[0116] In this embodiment, the front end of the trolley sleeve 402-5 adopts a double inner square arc gap inner arm connection structure, the arc gap inner arm gap is large, which is convenient for the entry of the outer square structure of the trolley, and the front end adopts an inner cone structure to guide the outer square structure of the trolley. The rear end of the trolley sleeve adopts a square hole structure, which fits tightly with the outer square of the transfer rod and slides back and forth along the outer square of the transfer rod, with a circular hole in the middle.

[0117] The button tool 403 includes a probe guide sleeve 403-1, a probe compression spring 403-2 and a probe 403-3. One end of the probe guide sleeve 403-1 is connected to the mother disk connector 10. The probe 403-3 and the probe compression spring 403-2 are installed inside the probe guide sleeve 403-1 and move inside. The front end of the spring pin is slender and has a circular chamfer, which is used to press the button.

[0118] The protection plate tool 404 includes a fixed bracket 404-1, a knob sleeve 404-2, a protection plate clamp 404-3, and a protection plate rotating mechanism 404-4. The fixed bracket 404-1 is fixed on the mother disk connector 10, and a tool control adapter plate is installed on one end, and a rotating shaft and a track groove of the protection plate rotating mechanism 404-4 are arranged on the other end, and a second knob drive motor of the knob sleeve 404-2 and a third rotation drive motor of the protection plate rotating mechanism 404-4 are installed; the knob sleeve module 404-2 includes a second knob drive motor 401-3, a knob sleeve 404-7, a knob compression spring 404-6 and a knob fastener 404-5;

[0119] In this embodiment, the knob sleeve 404-7 adopts an inner arc structure and an inner conical structure at the front end, which facilitates the knob sleeve to accurately center the knob of the protective pressure plate. A knob compression spring 404-6 is arranged inside and is connected to the output shaft of the second knob drive motor 401-3 through a knob fastener 404-5, which has an elastic buffering effect when centering the protective pressure plate knob.

[0120] The protective pressure plate rotating mechanism 404-4 is fixed in the track groove of the fixed bracket, and is driven by the third rotation drive motor 401-3 through gear transmission. The protective pressure plate clamp 404-3 is fixed on the protective pressure plate rotating mechanism 404-4. The protective pressure plate clamp adopts an electromagnet-driven translation opening and closing structure to facilitate the clamping of the protective pressure plate.

[0121] During on-site operations, various work tools are equipped according to the work requirements. Each work tool corresponds to a code. According to the coded instructions, the robotic arm can accurately grasp the work tool and the work robot system is put into the initial state through the control screen.

[0122] When replacing, Fig.16As shown, a quick switching device is used, specifically including a switching control module, a male quick-change disk and a female quick-change disk, the male quick-change disk is connected to the front end of the robot arm through a male disk connector 602, and the male quick-change disk includes a guide column 803; the female quick-change disk is fixed to the working tool through a female disk connector 10, and the female quick-change disk 9 includes a waist-shaped hole 906;

[0123] The switching control module is configured to control the guide column 803 to be inserted into or pulled out of the waist-shaped hole 906 on the corresponding working tool according to the configuration instruction, so as to switch the working tool.

[0124] The male quick-change disk 8 includes a male disk seat 801, a male disk spring pin 802 and a guide column 803. The male disk spring pin 802 is installed in the middle of the male disk seat 801, and four conical slots 804 are arranged around the male disk spring pin 802 on the outside of the male disk seat 801; the guide column 803 is installed on the outer edge side of one end of the male disk seat 801;

[0125] The female quick-change disk 9 includes a limit pin 901, a handle 902, a rubber column 903, a female disk spring needle seat 904 and a female disk seat 905; the outer edge of the female disk seat 905 is arranged with a waist-shaped hole 906, which corresponds to the guide column 803 of the male and female quick-change disks and is used for inserting and removing the guide column. The female disk spring needle seat 904 is installed in the middle of the female disk seat 905, and cooperates with the male disk spring needle 802 to transmit communication signals.

[0126] A handle 902 is set on one side of the female disk seat 905, and the handle 902 can rotate around the middle structure of the female disk seat. The guide column 803 is in the shape of a stepped shaft, with a thick end at the front end and a conical guide structure, and a thin end at the rear end cooperates with the handle 902 of the female quick-change disk 9 to lock the tool. When the handle is turned and rotated, the waist-shaped hole includes a thin end waist-shaped hole and a thick end waist-shaped hole. The thin end waist-shaped hole can firmly lock the thin end guide column of the male quick-change disk, thereby playing the function of quickly grabbing and releasing the tool.

[0127] The limit pin 901 is installed on the female disc seat 905 and is used to limit the position of the handle when it is rotated. The rubber column 903 is installed on the female disc seat, surrounding the female disc spring seat and cooperating with the tapered slot 804 to reduce the impact load when docking with the male quick-change disc and to hold the male and female quick-change discs tightly.

[0128] In this embodiment, the male disk seat 801 and the female disk seat 905 are in a disc shape, the male disk spring pin 802 has 8-way spring pins, and the female disk spring pin seat 904 has 8-way spring pin seats, which can transmit 8-way communication signals.

[0129] In this embodiment, it is preferred that the male quick-change plate has three guide posts, and the female quick-change plate 9 has three tapered grooves.

[0130] According to the received instruction to change the working tool, the robot arm is controlled by coding to aim at the working tool to be grasped;

[0131] Control the guide post on the male quick-change plate to align with the guide groove on the upper end of the female quick-change plate, and then move it vertically downward to allow the guide post to enter the guide groove, so that the male and female quick-change plates are locked together, and the two protrusions on the female plate connector are unlocked from the tool bracket, and the robot arm is controlled to move upward to complete the grabbing action;

[0132] After completing the operation, the robot arm is controlled to withdraw from the operating position, and according to the reverse action, the robot arm is controlled to put the workpiece back to the tool holder and restore the initial state.

[0133] This embodiment adopts a compact structural design, and can carry a variety of working tools on the base at the end of the robot arm. It adopts a unified mechanical and electrical communication interface. The tool structure is compact, the performance is stable, and it is easy to carry, which enhances the function of the working robot. Combined with visual intelligent recognition technology, the position and status of each working tool can be accurately determined to guide the robot to complete the working process. The passive mechanical locking structure of the male and female quick-change disks is adopted, which cooperates with the tool holder. By controlling the movement of the robot arm, the guide column on the male quick-change disk is inserted or pulled out of the waist-shaped hole of the female quick-change disk on the corresponding working tool, so as to switch the working tools. It is equipped with a variety of working tools and can quickly and automatically replace a variety of working tools, which solves the problem of switching the working tool system of the substation switch cabinet working robot.

[0134] The circuit breaker placement platform of this embodiment can be controlled to rise and fall and rotate. With the cooperation of the omnidirectional mobile platform and the visual positioning system, it can automatically dock with the switch cabinet trolley track, automatically drag the circuit breaker onto the platform, and allow the trolley to enter the maintenance position. The large load-bearing design and high self-balancing function of the circuit breaker placement platform can ensure that the circuit breaker maintains a constant height and is always level during the process of entering and exiting the platform, and has high stability.

[0135] The working area of ​​the circuit breaker placement platform and the working area of ​​the robot arm operating platform do not interfere with each other, that is, the circuit breaker placement platform needs to have a certain lifting and turning working space. When designing the position relationship between the circuit breaker placement platform and the robot arm operating platform, attention should be paid.

[0136] As an example, Figure 3 As shown, a lifting and rotating assembly 2 is fixed on the mobile platform 3, and a trolley-type circuit breaker picking and placing assembly 1 is connected to the lifting and rotating assembly 2.

[0137] like Figure 7As shown, the lifting and rotating assembly 2 includes: a rotating platform 221, a swivel support plate adjustment motor assembly 222, a swivel support plate 223, a scissors bracket 224, a bearing seat 225, a bearing seat connecting block 226, a base plate 227, a stopper 228, a linear guide rail 229, a detection sensor 230, a slider 231, a scissors connecting plate 232, a first reducer 233, a lifting motor 234 and a motor connecting seat 235.

[0138] The bottom plate 227 is fixed to the mobile platform 3, and a bearing seat connecting block 226 and a linear guide rail 229 are arranged on the bottom plate 227. One end of the bottom of the scissor bracket 224 is fixed to the bearing seat connecting block 226 through a bearing seat 225, and the other end is fixed to the slider 231 through the bearing seat 225. The slider 231 and the linear guide rail 229 are slidably connected, and the sliding sides of the linear guide rail 229 are fixed by stoppers 228.

[0139] Thus, the scissors-type lifting mechanism is composed of the scissors-type lifting mechanism, including the scissors-type lifting mechanism, the scissors-type lifting mechanism and the scissors-type lifting mechanism.

[0140] A motor connecting seat 235 is provided on the base plate 227, one end of the motor connecting seat 235 is connected to the lifting motor 234, and the other end is connected to the first reducer 233. The first reducer 233 is fixed on the scissors-fork connecting plate 232. The scissors-fork connecting plate 232 and the scissors-fork bracket 224 are fixedly connected. The lifting motor 234 and the first reducer 233 convert the linear reciprocating motion of the slider 231 into the lifting motion of the scissors-fork through the scissors-fork connecting plate 232.

[0141] like Figure 8-Figure 9 As shown, a rotary support plate 223 is fixed on the top of the scissor bracket 224, and a rotating platform 221 is assembled on the rotary support plate 223. The rotating platform 221 includes a ring rail slider 2211, a turntable plate 2212, a ring rail 2213, a loop motor 2214, a second reducer 2215 and a positioning pin 2216.

[0142] Among them, the bottom of the turntable plate 2212 is fixed with a ring rail slider 2211, and the ring rail slider 2211 is slidably connected to the ring rail 2213, and is fixed to the rotating support plate 223 by slidingly connecting the ring rail 2213; a positioning pin 2216 is also arranged at the bottom of the turntable plate 2212, one end of the positioning pin 2216 is connected to the second reducer 2215 and the loop motor 2214, and the other end is connected to the trolley-type circuit breaker picking and placing component 1; the rotating platform 221 and the trolley-type circuit breaker picking and placing component 1 are driven to rotate by the second reducer 2215 and the loop motor 2214.

[0143] Furthermore, a detection sensor 230 is also disposed on the bottom plate 227 , and the detection sensor 230 is used to detect the limit positions on both sides of the travel of the slider 231 .

[0144] Furthermore, a swivel support plate 223 is fixed on the top of the scissors bracket 224 , specifically: one side of the top of the scissors bracket 224 is connected to the support plate 223 through a swivel support plate adjustment motor assembly 222 , and the other side is connected to the support plate 223 through a scissors connecting plate 232 .

[0145] like Fig.10 As shown, the rotary support plate adjustment motor assembly 222 includes an adjustment support seat 2221, a telescopic shaft 2222, a base 2223, a bearing fulcrum 2224, and a telescopic motor 2225.

[0146] The bearing fulcrum 2224 is connected to the top of the scissor bracket 224, the base 2223 and the bearing fulcrum 2224 are fixedly connected, the base 2223 is provided with a telescopic motor 2225 and a telescopic shaft 2222, and the telescopic shaft 2222 is provided with an adjustment support seat 2221, which is fixedly connected to the support plate 223 through the adjustment support seat 2221. The telescopic motor 222 drives the screw to rotate through a pair of bevel gears in the base 2223, and then drives the adjustment telescopic shaft 2222 to realize the telescopic action through the screw and the threaded fit inside the telescopic shaft 2222.

[0147] like Figure 4-Figure 6 As shown, the trolley-type circuit breaker pick-and-place assembly mainly includes: a hook 111, a hook electric cylinder 112, a hook slide 113, a support seat 114, a first trapezoidal lead screw 115, a first guide rail 116, an X-direction through-type stepper motor 117, a first lead screw bearing seat 118, a slide baffle 119, a pull-out slide 120, a second lead screw bearing seat 121, a Y-direction through-type stepper motor 122, a second trapezoidal lead screw 123, a second guide rail 124, a binocular camera 125, a positioning pin 126, an assembly support platform 127, a lock hook 128, and a lock hook motor 129.

[0148] Among them, the component support platform 127 is fixed to the rotating platform 221 by a positioning pin 2216, and the component support platform 127 is provided with multiple guide rails, the second guide rails 124 are symmetrically arranged on both sides of the component support platform 127, the first guide rail 116 is perpendicular to the second guide rail 124 and is arranged on one side of the component support platform 127, a support seat 114 is arranged on the second guide rail, an X-direction through-type stepper motor 117 is arranged on each first guide rail 116, a support seat 114 is arranged on the X-direction through-type stepper motor 117, the support seat 114 and the through-type stepper motor 117 are used in pairs, and each pair of support seats 114 and X-direction through-type stepper motor 117 passes through a first trapezoidal screw 115, and the first trapezoidal screw 115 is fixed to the pull-out slide 120 through a first screw bearing seat 118.

[0149] The hook claw 111 , the hook claw electric cylinder 112 and the hook claw slide plate 113 are connected together through a pin shaft and assembled on a support seat 114 and an X-direction through-type stepping motor 117 .

[0150] In this embodiment, the first guide rail 116 includes two guide rails, and the two guide rails are arranged in parallel. One of the first trapezoidal lead screws 115 successively passes through the support seat 114 and the X-direction through-type stepping motor 117 on the first guide rail 116, and the other first trapezoidal lead screw 115 successively passes through the X-direction through-type stepping motor 117 and the support seat 114 on the other first guide rail 116, so that the two groups of hooks 111 can move respectively along the X direction under the drive of the two groups of stepping motors.

[0151] The second guide rail 124 is provided with a long trapezoidal lead screw 123 , a long lead screw bearing seat 121 , a pull-out slide plate 120 , and a Y-direction through-type stepping motor 122 assembled together.

[0152] Specifically, the second guide rail 124 is installed on the component support platform 127, and the two second trapezoidal lead screw bearing seats 121 are installed on the component support platform 127 close to the two sides of the second guide rail 124. The Y-direction through-type stepper motor 122 is slidingly connected to the second guide rail 124 through a sliding mechanism, and the second trapezoidal lead screw 123 is fixed between the second trapezoidal long lead screw bearing seats 121. One side of the pulling slide 120 is fixed to the upper part of the Y-direction through-type stepper motor, and the other side is connected to the second guide rail 124 on this side through a sliding mechanism.

[0153] A positioning pin 126, a binocular camera 125 and a locking hook 128 are set on the side of the component support platform 127 on the opposite side of the first guide rail 124. The locking hook 128 is connected to the locking hook motor 129. The relative position of the automatic placement platform and the switch cabinet is determined by the binocular camera 125 and the positioning pin 126. After the position is determined, the locking hook 128 is driven by the locking hook motor 129 to lock the position between the placement platform and the switch cabinet.

[0154] The binocular camera is used to identify position feature information on the switch cabinet, provide the relative position deviation between the placement platform and the switch cabinet, and guide the placement platform to adjust the relative position between the two, so as to realize automatic adjustment of the placement platform posture.

[0155] During the process from when the trolley-type circuit breaker contacts the trolley-type circuit breaker picking and placing assembly 1 to when it is completely fixed on the trolley-type circuit breaker picking and placing assembly 1, due to the effect of gravity, the posture of the trolley-type circuit breaker picking and placing assembly 1 will change uncertainly, which will cause the trolley-type circuit breaker to get stuck during the extraction process, resulting in extraction failure.

[0156] Therefore, adding a real-time posture adjustment system for the trolley-type circuit breaker pick-up and placement assembly 1 can effectively solve the above problems.

[0157] Among them, a two-axis inclination sensor is installed on the rotating support plate 223 to monitor the posture of the measuring trolley-type circuit breaker picking and placing component 1 in real time with a set detection period, for example, a detection period of 10ms. After receiving the data of the two-axis inclination sensor, the real-time output angle of the rotary motor 2214 and the telescopic motor 2225 is calculated by the following formula.

[0158] Ax=g·sin(α)

[0159] Ay=g·sin(β)

[0160] Wherein: Ax is the given angle input value of the rotary motor 2214; Ay is the given angle input value of the telescopic motor 2225; g is the acceleration of gravity; α, β are the tilt angles.

[0161] The working principle of the present invention is as follows:

[0162] Step 1: Automatically place the platform close to the switch cabinet trolley-type circuit breaker in a fault state.

[0163] Step 2: The binocular camera identifies the relative position of the switch cabinet and the placement platform, and controls and adjusts the height of the scissor lift device and the rotation angle of the rotating platform to ensure that the positioning pin 126 and the switch cabinet pin hole are aligned.

[0164] Step 3, control the mobile platform 3 to slowly approach the switch cabinet, so that the positioning pin 126 is inserted into the positioning pin hole, and the lock hook motor 129 drives the lock hook 128 to move, ensuring that the placement platform and the switch cabinet are firmly locked.

[0165] Step 4: The pull-out slide 120 drives the hook 111 to the handle position of the trolley-type circuit breaker, the hook electric cylinder 112 moves to drive the hook 111 to hook the handle, and the Y-direction through-type stepper motor 122 moves to drag the trolley-type circuit breaker out of the switch cabinet.

[0166] Step 5: The lock hook motor 129 drives the lock hook 128 to unlock, and the automatic placement platform drives the faulty trolley-type circuit breaker to the maintenance position, and the trolley-type circuit breaker is manually maintained.

[0167] The robot also includes:

[0168] like Fig.12 As shown, the main control system is used for command interaction and status feedback with the monitoring background, robot path planning and autonomous positioning and navigation, operation step decomposition and sequence control, operation target recognition and operation effect recognition and other autonomous operation strategy control functions.

[0169] Vision positioning systems, such as Fig.11 As shown in the figure, it includes algorithm modules such as target image and point cloud data acquisition, point cloud data algorithm processing, image data algorithm processing, and accurate target posture estimation. Through specific algorithms such as point cloud clustering and filtering, target detection and target segmentation, target matching and feature matching, fine target detection and alignment estimation, it realizes functions such as extraction of key features of operating targets, cabinet plane estimation, automatic matching of operating targets, and accurate estimation of spatial posture, providing precise operating position and visual guidance for robotic arms and other operating platforms, thereby realizing autonomous operation.

[0170] The above algorithm may adopt an existing algorithm.

[0171] In addition, there is an operation control system composed of tool control panels of each operation platform, and a mobile platform control system composed of chassis motion controller, navigation controller, etc. The operation control system is used for various module control functions such as motion control of various operation tools.

[0172] Of course, in some embodiments, the robot also includes a detection component, which includes multiple sensors for collecting the working environment, environmental parameters and working parameters, such as temperature and humidity sensors, binocular cameras, monocular cameras, position sensors, force torque sensors, collision sensors, laser sensors, radar sensors, force sensors, etc.

[0173] Of course, in some embodiments, some or all of the above platforms may be set, but in some tasks, only some of the platforms are used.

[0174] In some embodiments, the visual positioning system is configured to: acquire a picture of the target object;

[0175] Based on the target object image, a heat map extraction network is used to predict several independent heat maps, each of which corresponds to a key point on the target object;

[0176] After merging all independent heat maps, the visual alignment posture of the robot arm is obtained through the visual alignment posture regression network;

[0177] The construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object image, a heat map is generated by Gaussian kernel processing.

[0178] In some embodiments, the heat map extraction network uses a residual network to extract features from the target object image. After obtaining the feature map, it is upsampled multiple times and adjusted by convolution to obtain several independent heat maps.

[0179] In some embodiments, the main control system is configured to: obtain a pre-configured indoor map of the distribution station / substation, obtain the robot's posture and position information, and drive the robot to move after planning the global optimal path through global path planning.

[0180] In some embodiments, the main control system is configured to introduce the cable trench cover position information into the A* algorithm for global path planning; for all nodes in the open list of the A* algorithm, they are selected as candidate nodes in order from small to large according to the movement cost; for a candidate node, a straight line is made to connect the candidate node and its parent node, and all points whose horizontal coordinates are between the horizontal coordinates of the candidate node and its parent node and on the straight line are calculated as reserve points, and combined with the cable trench cover position information, it is determined whether each reserve point is at the cable trench cover position; if all reserve points are not at the cable trench cover position, the candidate node is added to the closed list, and once a node is added to the closed list, the candidate node is no longer selected in the open list.

[0181] In some embodiments, the main control system is configured to plan the global optimal path, obtain the local optimal path through local path planning, and drive the robot to move along the local optimal path.

[0182] like Fig.13 As shown, the operation method of the above robot comprises the following steps:

[0183] In response to the operation task, the main control system determines the current robot position and the target switch cabinet, and autonomously performs global path planning to control the omnidirectional mobile platform to move to the target switch cabinet position;

[0184] According to the operation task, the robot operation control system controls the corresponding operation platform to perform the operation;

[0185] The control operation platform is aimed at the designated operation target, and the operation target is identified and confirmed, and the current state of the target is identified and confirmed to be consistent with the corresponding state in the instruction;

[0186] The visual positioning system recognizes and locates the position of the work target, extracts the key features of the work target, and identifies the position relationship between the work target and the robot. According to the current position relationship, the position of the omnidirectional mobile platform and the posture of the operating platform are adjusted to put the robot in the best operating position.

[0187] The operation control system controls the operation platform to reach the designated operation position through trajectory planning and performs corresponding operation operations according to the operation steps and operation strategies that match the operation tasks.

[0188] Specifically, if it is a ground knife operation task, the robot operation control system controls the ground knife operation platform to put into operation; if it is a circuit breaker maintenance task, the robot operation control system controls the circuit breaker operation platform to put into operation; if it is a robotic arm movement, the robot operation control system controls the robotic arm operation platform to put into operation, and the robotic arm automatically docks and replaces the corresponding operating tool.

[0189] As an embodiment, when a robot arm operation is required, the operation process of the robot is as follows: Figure 2 As shown, the following steps are included:

[0190] 1. The backstage monitoring personnel issues the switch cabinet operation instructions;

[0191] 2. The robot receives the operation instructions, and the omnidirectional mobile platform automatically navigates to the target switch cabinet under the control of the operation control system. It automatically detects obstacles during the navigation process and automatically plans a path for the obstacles.

[0192] 3. Arrive at the specified position, control the robotic arm to align with the switch cabinet QR code, and use the depth camera at the end of the robotic arm to read the QR code information to confirm that the switch cabinet is consistent with the target switch cabinet in the operation instruction.

[0193] 4. According to the issued operation instructions, the robot operation control system controls the robotic arm to automatically dock and replace the corresponding operating tools.

[0194] 5. Control the robot arm to aim at the specified work target, identify and confirm the work target, and at the same time identify and confirm that the current state of the target is consistent with the corresponding state in the instruction.

[0195] 6. Visual positioning extracts key features of the work target and identifies the position relationship between the work target and the robot. According to the current position relationship, adjust the position of the omnidirectional mobile platform and the posture of the robotic arm to put the robot in the best operating position, and control the robotic arm to face the target position so that the depth camera is in the best recognition position.

[0196] 7. Accurately identify and locate the work target.

[0197] 8. The operation control system controls the robot arm to reach the designated operation position through trajectory planning according to the established operation steps and operation strategies.

[0198] 9. The job control system controls the work tools to complete the specified job functions.

[0199] 10. The visual camera identifies and verifies the operation results to confirm that the established operation tasks are completed.

[0200] 11. According to the corresponding task links in the operation instructions, the operation control system repeats steps 4-10 according to the corresponding operation steps to complete the operation tasks for other operation targets until the entire operation instruction is completed.

[0201] 12. The video and status data during the operation are fed back to the background monitoring system in real time. After the background confirms that everything is correct, the robot automatically returns to the docking point, automatically charges as needed, and enters standby mode.

[0202] As an embodiment, in step 2, the obstacle information includes the cable trench cover. That is, during global path planning, the cable trench cover position information is introduced into the A* algorithm; for all nodes in the open list of the A* algorithm, they are selected as candidate nodes in order according to the movement cost from small to large; for a candidate node, a straight line is made connecting the candidate node and its parent node, and all points whose horizontal coordinates are between the horizontal coordinates of the candidate node and its parent node and on the straight line are calculated as reserve points, and combined with the cable trench cover position information, it is determined whether each reserve point is in the cable trench cover position; if all reserve points are not in the cable trench cover position, the candidate node is added to the closed list, and once a node is added to the closed list, the candidate node is no longer selected in the open list.

[0203] If all nodes in the open list are selected as candidate nodes and there is still no node to be added to the closed list, the node with the smallest moving cost in the open list is selected and added to the closed list.

[0204] The straight line connecting the candidate node and its parent node is:

[0205] y=k(xx n )+y n

[0206] in, (x n ,y n ) is the parent node coordinate, (x min ,y min ) are the coordinates of the node to be selected.

[0207] During planning, it is necessary to use a variety of sensors including lidar, depth cameras and inertial measurement units in advance, and use an environmental perception algorithm that uses visual laser fusion to build a distribution room map and obtain the robot's posture and position information.

[0208] The vision-laser fusion environment perception algorithm jointly optimizes visual odometry, laser odometry, inertial measurement unit pre-integration and closed-loop constraints in a factor graph.

[0209] As an embodiment, when accurately identifying and positioning the work target in step 7, a target object image is obtained, the target object is a button operation panel, and the key point is a button.

[0210] Based on the target object image, a heat map extraction network is used to predict several independent heat maps, each of which corresponds to a key point on the target object;

[0211] After merging all independent heat maps, the visual alignment posture of the robotic arm is obtained through the visual alignment posture regression network. The visual alignment posture of the robotic arm consists of three angles: yaw, pitch and roll.

[0212] In this embodiment, the construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object image, a heat map is generated by Gaussian kernel processing;

[0213] The value of each pixel in the heat map located in the annotation box is:

[0214]

[0215] Among them, (x, y) represents the coordinates of each pixel in the target object image located in the annotation box. represents the downsampled coordinates of the center point of the annotation box, σ p is the standard deviation.

[0216] The loss function of the heat map extraction network is:

[0217]

[0218] In the formula, is the value of the pixel in the predicted heat map, c represents the cth key point, x and y are the horizontal and vertical coordinates of a pixel in the cth key point, α and β are hyperparameters, N is the number of key points, and Y xyc is the value of the pixel in the constructed heat map. The visual alignment posture regression network uses the mean square error loss function.

[0219] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0220] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0221] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0222] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0223] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0224] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A switch cabinet autonomous operation robot, characterized in that: It includes an omnidirectional mobile platform, a robot operation platform, a circuit breaker placement platform and a control system arranged on the omnidirectional mobile platform, wherein: The circuit breaker placement platform can be lifted and lowered on the omnidirectional mobile platform, and its lifting space does not interfere with the working space of the robot working platform; The circuit breaker placement platform is used to dock with the switch cabinet and maintain self-balancing, and the circuit breaker is dragged out and moved to the circuit breaker placement platform; The circuit breaker placement platform includes a lifting and rotating assembly, the lifting and rotating assembly is arranged on the omnidirectional movable platform, a lifting bracket is arranged on the lifting and rotating assembly, a rotary support plate is fixed on the top of the lifting bracket, and a rotating platform is mounted on the rotary support plate; The rotating platform comprises a ring rail slider, a turntable plate, a ring rail, a loop motor, a reducer and a positioning pin; A ring rail slider is fixed at the bottom of the turntable plate, and a ring rail is slidably connected to the ring rail on the ring rail slider, and is fixed to the slewing support plate by slidingly connecting the ring rail; a positioning pin is arranged at the bottom of the turntable plate, one end of the positioning pin is connected to the reducer and the loop motor, and the other end is connected to the circuit breaker pick-up and placement assembly, and the rotating platform and the circuit breaker pick-up and placement assembly are driven to rotate by the reducer and the loop motor; the robot working platform is used for opening and closing the ground knife, operating the robot arm or / and replacing the working tool; The control system is used to perform trajectory planning and autonomous navigation between the current position and the target switch cabinet according to the operation task, and to plan the operation strategy according to the position and state of the operation target, adjust the posture of the robot operation platform and / or the circuit breaker placement platform, and realize autonomous operation.

2. The switch cabinet autonomous operation robot according to claim 1, characterized in that: The circuit breaker placement platform also includes a circuit breaker pick-up and placement component. The rotating platform and the circuit breaker pick-up and placement component are rotationally connected. The circuit breaker pick-up and placement component is used to drag the circuit breaker out of the switch cabinet.

3. A switch cabinet autonomous operation robot as claimed in claim 2, characterized in that: The lifting bracket includes a linear guide rail and a scissor bracket, one end of the bottom of the scissor bracket is fixed to the omnidirectional mobile platform, and the other end is fixed to a slider, the slider is slidably connected to the linear guide rail, and the linear guide rail is arranged on the omnidirectional mobile platform.

4. The switch cabinet autonomous operation robot according to claim 1, characterized in that: The circuit breaker pick-and-place assembly comprises an assembly support platform, a clamping member, a driving member and a transmission assembly. The clamping members comprise two members symmetrically arranged on the assembly support platform. The clamping members can move horizontally along the assembly support platform through the driving member and the transmission assembly to adjust the relative distance. The side of the component support platform is also provided with a positioning pin and a locking hook, the positioning pin is adapted to the positioning hole provided at the position of the circuit breaker of the target switch cabinet, and the locking hook protrudes outward from the side and is used to lock the position between the circuit breaker placement platform and the target switch cabinet.

5. A switch cabinet autonomous operation robot as claimed in claim 4, characterized in that: A binocular camera is also arranged on the side of the component support platform, which is used to identify position feature information on the switch cabinet, provide relative position deviation between the circuit breaker placement platform and the switch cabinet, and guide the circuit breaker placement platform to adjust the relative position between the two, so as to realize self-balancing adjustment of the circuit breaker placement platform posture.

6. The switch cabinet autonomous operation robot according to claim 1, characterized in that: A robot working platform is arranged on one side of the omnidirectional mobile platform, and a circuit breaker placement platform is arranged on the other side; The robot operating platform includes a ground cutter operating platform and a mechanical arm operating platform. The mechanical arm operating platform is arranged at the upper end of the ground cutter operating platform, and the operating tool can be detachably connected to the mechanical arm operating platform.

7. The switch cabinet autonomous operation robot according to claim 6, characterized in that: The robot arm operating platform includes a multi-degree-of-freedom robot arm, which is installed on the top of the ground knife operating platform, and its operating range can cover all operating spaces from the bottom to the top of the switch cabinet; A working tool docking device is installed at the end of the multi-degree-of-freedom robotic arm for connecting a replaceable working tool; A depth camera is also installed at the end of the multi-degree-of-freedom robotic arm to automatically identify and locate the exact position and posture of the work target, and under the control of the work control system, realize autonomous operation for each work target.

8. The switch cabinet autonomous operation robot according to claim 7, characterized in that: The robot arm operating platform also has a tool rack, which is arranged on the omnidirectional mobile platform and is used to accommodate replaceable working tools.

9. A switch cabinet autonomous operation robot as claimed in claims 1 to 8, characterized in that: The omnidirectional mobile platform comprises a mobile platform and a plurality of running wheels arranged under the mobile platform, each running wheel having an independent driving member and an independent steering mechanism; The mobile platform is also provided with an energy storage device and a charging device connected thereto.

10. A switch cabinet autonomous operation robot according to any one of claims 1 to 8, characterized in that: The robot operating platform is also provided with a visual positioning system for acquiring target images and point cloud data, extracting key features of the operating target in the operating task, determining the spatial position of the operating target, and providing operating position and visual guidance for each operating platform.

11. The switch cabinet autonomous operation robot according to claim 10, characterized in that: The visual positioning system is configured to: obtain a target object image; Based on the target object image, a heat map extraction network is used to predict several independent heat maps, each of which corresponds to a key point on the target object; After merging all independent heat maps, the visual alignment posture of the robot arm is obtained through the visual alignment posture regression network; The construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object image, a heat map is generated by Gaussian kernel processing.

12. The switch cabinet autonomous operation robot according to claim 11, characterized in that: The heat map extraction network uses a residual network to extract features from the target object image. After obtaining the feature map, it undergoes multiple upsampling and convolution adjustment to obtain several independent heat maps.

13. The switch cabinet autonomous operation robot according to claim 1, characterized in that: The control system includes a main control system, which is configured to: obtain a pre-configured indoor map of a distribution station / substation, obtain the robot's posture and position information, and drive the robot to move after planning a global optimal path through global path planning.

14. The switch cabinet autonomous operation robot according to claim 13, characterized in that: The main control system is configured to introduce the cable trench cover position information into the A* algorithm for global path planning; for all nodes in the open list of the A* algorithm, select them as candidate nodes in order according to the movement cost from small to large; for a candidate node, make a straight line connecting the candidate node and its parent node, and calculate all points on the straight line whose horizontal coordinates are between the horizontal coordinates of the candidate node and its parent node as reserve points, and combine the cable trench cover position information to determine whether each reserve point is at the cable trench cover position; If all the reserve points are not at the cable trench cover position, the candidate node will be added to the closed list, and once a node is added to the closed list, the candidate node will no longer be selected in the open list.

15. The switch cabinet autonomous operation robot according to claim 1 or 13, characterized in that: The control system also includes an operation control system, which is configured to control the corresponding driving mechanisms / driving parts of the circuit breaker placement platform, the ground knife operation platform and the robot arm operation platform to perform corresponding action control.

16. An operating method of a switch cabinet autonomous operating robot according to any one of claims 1 to 15, characterized in that: The following steps are involved: In response to the operation task, the control system determines the current robot position and the target switch cabinet, and autonomously performs global path planning to control the omnidirectional mobile platform to move to the target switch cabinet position; According to the operation task, the control system controls the corresponding operation platform to perform the operation; The control operation platform is aimed at the designated operation target, and the operation target is identified and confirmed, and the current state of the target is identified and confirmed to be consistent with the corresponding state in the instruction; Based on the position and posture recognition and positioning results of the work target, the key features of the work target are extracted, and the position and posture relationship between the work target and the robot is identified, and the position and / or posture of the omnidirectional mobile platform and / or the corresponding operating platform are adjusted to make it in the best operating posture; The control system controls the operating platform to reach the designated operating position through trajectory planning and performs corresponding action operations according to the operating steps and operating strategies that match the operating tasks.

17. The method for operating a switch cabinet autonomous operation robot according to claim 16, characterized in that: If it is a ground knife operation task, the robot operation control system controls the ground knife operation platform to start operation; if it is a circuit breaker maintenance task, the robot operation control system controls the circuit breaker operation platform to start operation; if it is a robotic arm movement, the robot operation control system controls the robotic arm operation platform to start operation, and the robotic arm automatically docks and replaces the corresponding operating tool.

18. The method for operating a switch cabinet autonomous operation robot according to claim 17, characterized in that: If it is a circuit breaker maintenance task, the binocular camera is used to identify the position feature information on the switch cabinet, provide the relative position deviation between the circuit breaker placement platform and the switch cabinet, and guide the circuit breaker placement platform to adjust the relative position between the two, so as to realize the self-balancing adjustment of the circuit breaker placement platform posture.

19. The method for operating a switch cabinet autonomous operation robot according to claim 16, characterized in that: The specific process of performing posture recognition and positioning and extracting key features of the operation target includes: obtaining a picture of the target object; Based on the target object image, a heat map extraction network is used to predict several independent heat maps, each of which corresponds to a key point on the target object; After merging all independent heat maps, the visual alignment posture of the robot arm is obtained through the visual alignment posture regression network; The construction process of the heat map used in the heat map extraction network training is as follows: for the annotation box in the target object image, a heat map is generated by Gaussian kernel processing.

20. The method for operating a switch cabinet autonomous operation robot according to claim 16, characterized in that: The specific process of controlling the omnidirectional mobile platform to move to the target switch cabinet position includes obtaining the pre-configured distribution station / substation indoor map, obtaining the robot posture and position information, and driving the robot to move after planning the global optimal path through global path planning.

21. The method for operating a switch cabinet autonomous operation robot according to claim 20, characterized in that: The global path planning introduces the cable trench cover position information into the A* algorithm; for all nodes in the open list of the A* algorithm, they are selected as candidate nodes in order according to the movement cost from small to large; for a candidate node, a straight line is made to connect the candidate node and its parent node, and all points on the straight line whose horizontal coordinates are between the horizontal coordinates of the candidate node and its parent node are calculated as reserve points, and combined with the cable trench cover position information, it is determined whether each reserve point is at the cable trench cover position; If all the reserve points are not at the cable trench cover position, the candidate node will be added to the closed list, and once a node is added to the closed list, the candidate node will no longer be selected in the open list.

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