Emergency operating robot, railway traction substation emergency operating system and method

Abstract

The embodiment of the application discloses an emergency operation robot and a railway traction substation emergency operation system, and the emergency operation robot comprises a wheeled robot chassis and a machine body, and further comprises a master control module, a driving module, a navigation positioning module and an operation module; the wheeled robot chassis is provided with the machine body, the master control module and the driving module; the machine body is provided with the operation module; the master control module collects and controls data of other modules; the driving module drives the wheeled robot chassis to run to a target equipment in the railway traction substation, drives the operation module to run to a component to be operated on the target equipment, and drives the operation module to execute a set operation on the component to be operated; the navigation positioning module navigates and positions a running target position of the wheeled robot chassis and positions a placement target position of the operation module. The embodiment scheme realizes emergency treatment on a sudden condition of the traction substation.

Description

Technical Field

[0001] This application relates to monitoring technology for railway traction substations, and more particularly to an emergency operation robot, an emergency operating system and method for railway traction substations. Background Technology

[0002] Railway traction substations convert the voltage transmitted from power plants into the power voltage required for vehicle operation. They are an important power source for the operation of electrified railway trains and the core location for train traction power supply.

[0003] The main equipment in a traction substation includes transformers for voltage transformation, power distribution equipment for receiving and distributing electrical energy, and disconnecting switches for control and protection. These disconnecting switches are controlled by the substation's integrated automation system, which is operated by maintenance personnel using push-button and rotary switches on the system's control panel. Simultaneously, the integrated automation system is linked with the SCADA (Supervisory Control and Data Acquisition) systems located in the power supply section and railway bureau for remote control. In unattended substations, when equipment malfunctions or emergencies require emergency switching of disconnecting switches, power supply section personnel typically remotely control the switches. However, in extreme cases such as communication failures or integrated automation system malfunctions, remote control fails, preventing remote switching. Personnel cannot reach the site promptly, leading to untimely switch switching, resulting in significant safety hazards and economic losses. Summary of the Invention

[0004] This application provides an emergency operation robot, an emergency operating system and method for railway traction substations, which can realize emergency handling of sudden situations in traction substations.

[0005] This application embodiment also provides an emergency operation robot, installed in a railway traction substation, which may include: a wheeled robot chassis and a body mounted on the wheeled robot chassis; it also includes: a main control module and a drive module, a navigation and positioning module, and an operation module respectively connected to the main control module; the main control module and the drive module are mounted on the wheeled robot chassis; the operation module is mounted on the body;

[0006] The main control module can be configured to collect data from the drive module, the navigation and positioning module, and the operation module, and control the drive module, the navigation and positioning module, and the operation module.

[0007] The drive module is configured to drive the wheeled robot chassis to the target equipment in the railway traction substation, drive the operation module to the component to be operated on the target equipment, and drive the operation module to perform a set operation on the component to be operated.

[0008] The navigation and positioning module can be configured to navigate and locate the target position of the wheeled robot chassis as it moves to the target device, and to locate the target position of the operation module.

[0009] In an exemplary embodiment of this application, the main control module may include an industrial control computer;

[0010] The industrial control computer can be configured to collect data from the drive module, the navigation and positioning module, and the operation module, and to control the drive module, the navigation and positioning module, and the operation module.

[0011] In an exemplary embodiment of this application, the drive module includes a first drive module, a second drive module, and a third drive module, all of which are connected to the industrial control computer;

[0012] The first drive module is configured to drive the wheeled robot chassis to the target device;

[0013] The second driving module is configured to drive the operation module to the component to be operated;

[0014] The third driving module is configured to drive the operation module to perform the set operation on the component to be operated.

[0015] In an exemplary embodiment of this application, the navigation and positioning module may include: a preliminary navigation and positioning module and a secondary positioning module respectively connected to the industrial control computer;

[0016] The preliminary navigation and positioning module is configured to navigate and locate the target position of the wheeled robot chassis.

[0017] The secondary positioning module is configured to determine the target placement location of the operation module.

[0018] In an exemplary embodiment of this application, the operation module may include a robotic arm and a robotic gripper disposed at the end of the robotic arm;

[0019] The robotic arm is configured to drive the robotic gripper to the location of the component to be operated.

[0020] The mechanical gripper is configured to perform the set operation on the component to be operated; the set operation may include: pressing a button and / or rotating a knob.

[0021] In an exemplary embodiment of this application, the mechanical gripper may include: a lead screw and metal fingers;

[0022] The drive module is also configured to drive the lead screw to move;

[0023] The lead screw is configured to drive the metal finger to complete the set operation.

[0024] In an exemplary embodiment of this application, a motion assistance module is further provided on the wheeled robot chassis;

[0025] The motion assistance module is configured to detect obstacles in front of and behind the emergency operation robot.

[0026] In an exemplary embodiment of this application, a communication module is further provided on the wheeled robot chassis;

[0027] The communication module includes a wireless access point (AP) and a switch.

[0028] The AP establishes a network channel with the wireless base station of the local monitoring subsystem through the switch to exchange data.

[0029] This application embodiment also provides an emergency operating system for railway traction substations, which may include: a remote centralized control center subsystem, a local monitoring subsystem, and the aforementioned emergency operation robot;

[0030] The remote control center subsystem includes a monitoring terminal and an operation backend terminal, which are located in the power supply section.

[0031] The local monitoring subsystem is located within the railway traction substation; the local monitoring subsystem includes a local back-end terminal.

[0032] The local back-end terminal communicates with the monitoring terminal and the operation back-end terminal via a data network; the local back-end terminal and the emergency operation robot communicate via a wireless network.

[0033] This application embodiment also provides an emergency operation method for a railway traction substation, based on the aforementioned emergency operating system for a railway traction substation; the method may include:

[0034] The local monitoring subsystem located within the railway traction substation in the railway traction substation emergency operating system receives emergency operation instructions sent by the remote centralized control center subsystem located in the power supply section of the railway traction substation emergency operating system, and transmits the emergency operation instructions to the emergency operation robot located within the railway traction substation in the railway traction substation emergency operating system.

[0035] According to the emergency operation command, the emergency operation robot uses its own navigation and positioning module to navigate and locate, runs to the target equipment in the railway traction substation, and drives its own operation module to run to the part to be operated on the target equipment, and drives the operation module to perform the set operation on the part to be operated.

[0036] This embodiment of the emergency operation robot is installed within a railway traction substation and may include: a wheeled robot chassis and a body mounted on the wheeled robot chassis; it also includes: a main control module and a drive module, a navigation and positioning module, and an operation module respectively connected to the main control module; the main control module and the drive module are mounted on the wheeled robot chassis; the operation module is mounted on the body; the main control module is configured to collect data from the drive module, the navigation and positioning module, and the operation module, and control the drive module, the navigation and positioning module, and the operation module; the drive module is configured to drive the wheeled robot chassis to the target equipment within the railway traction substation, drive the operation module to the component to be operated on the target equipment, and drive the operation module to perform a set operation on the component to be operated; the navigation and positioning module is configured to navigate and locate the target position of the wheeled robot chassis and locate the target position of the operation module. This embodiment achieves emergency handling of sudden situations in traction substations.

[0037] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0038] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0039] Figure 1 This is a block diagram illustrating the components of the emergency operation robot according to an embodiment of this application;

[0040] Figure 2 This is a schematic diagram of the main control module connection in an embodiment of this application;

[0041] Figure 3 This is a schematic diagram illustrating the network communication relationships between multiple modules in the emergency operation robot of this application embodiment;

[0042] Figure 4 This is a schematic diagram showing the power supply relationship of each module in the emergency operation robot of this application embodiment;

[0043] Figure 5 This is a block diagram of the emergency operating system of a railway traction substation according to an embodiment of this application;

[0044] Figure 6 This is a flowchart of an emergency operation method for a railway traction substation according to an embodiment of this application. Detailed Implementation

[0045] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0046] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive scheme as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive schemes to form another unique inventive scheme as defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

[0047] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0048] This application also provides an emergency operation robot A, which is installed in a railway traction substation, such as... Figure 1 As shown, it may include: a wheeled robot chassis 1 and a body 2 mounted on the wheeled robot chassis 1; it also includes: a main control module 3 and a drive module 4, a navigation and positioning module 5, and an operation module 6 respectively connected to the main control module 3; the main control module 3 and the drive module 4 are mounted on the wheeled robot chassis 1; the operation module 6 is mounted on the body 2;

[0049] The main control module 3 can be configured to collect data from the drive module 4, the navigation and positioning module 5, and the operation module 6, and control the drive module 4, the navigation and positioning module 5, and the operation module 6.

[0050] The drive module 4 includes a first drive module, a second drive module, and a third drive module. The first drive module can be configured to drive the wheeled robot chassis 1 to the target equipment (i.e., the target running position) in the railway traction substation. The second drive module is configured to drive the operation module 6 to the part to be operated on the target equipment. The third drive module is configured to drive the operation module 6 to perform a set operation on the part to be operated.

[0051] The navigation and positioning module 5 can be configured to navigate and locate the target position of the wheeled robot chassis 1 during its movement to the target device, and to locate the target position of the operation module 6.

[0052] In an exemplary embodiment of this application, an emergency operation robot for railway traction substations is proposed. Through a network channel independent of the SCADA system, a two-level structure of power supply section centralized control center and local monitoring system is set up. A mobile emergency operation robot is designed, adopts navigation and positioning technology, and is equipped with an operation module 6. By utilizing secondary positioning, it can complete the automatic operation of the components to be operated [e.g., complete sets of equipment (switch cabinets), panel buttons of integrated automation system cabinets, changeover switches, etc.], so as to realize emergency handling of sudden situations in traction substations.

[0053] In an exemplary embodiment of this application, the emergency operation robot further includes auxiliary equipment; the main control module 3 may include an industrial control computer 31 and an auxiliary equipment control board 32;

[0054] The industrial control computer 31 can be configured to collect data from the drive module 4, the navigation and positioning module 5, and the operation module 6, and control the drive module 4, the navigation and positioning module 5, and the operation module 6.

[0055] The auxiliary equipment control board 32 can be configured to control the auxiliary equipment 10.

[0056] In an exemplary embodiment of this application, the auxiliary device may include, but is not limited to, status lights and cooling fans.

[0057] In exemplary embodiments of this application, as Figure 2 As shown, the main control module 3 is the control core of the emergency operation robot A, including an industrial computer 31 and an auxiliary equipment control board 32. The industrial computer 31 can be used to collect real-time data from the sensors corresponding to the drive module 4, the navigation and positioning module 5 and the operation module 6, and after processing by algorithms, complete the automatic navigation and positioning of the emergency operation robot A, the motion control of the operation module 5 and the operation functions.

[0058] In an exemplary embodiment of this application, the drive module 4 may include a driver 41 and a motor 42; wherein, the first drive module includes: a first driver and a first motor connected to each other; the second drive module includes: a second driver and a second motor connected to each other; the third drive module includes: a third driver and a third motor connected to each other; the first driver, the second driver and the third driver are all connected to the industrial control computer 31;

[0059] The first driver is configured to drive the first motor to run;

[0060] The first motor is connected to the running mechanism of the wheeled robot chassis 1, drives the running mechanism to operate, and drives the wheeled robot chassis 1 to run;

[0061] The first driver can be a servo driver, and the first motor can be a servo motor;

[0062] The second driver is configured to drive the second motor to run;

[0063] The second motor is connected to the operation module 6 and drives the operation module 6 to move;

[0064] The third driver is configured to drive the third motor to operate;

[0065] The third motor is connected to the operation module 6 and drives the operation module 6 to perform the set operation.

[0066] In an exemplary embodiment of this application, the navigation and positioning module 5 may include: a preliminary navigation and positioning module and a secondary positioning module 53 respectively connected to the industrial control computer 31; the preliminary navigation and positioning module includes: a navigation module 51 and a preliminary positioning module 52;

[0067] The preliminary navigation and positioning module is configured to navigate and locate the target position of the wheeled robot chassis; wherein, the navigation module 51 is configured to navigate the wheeled robot chassis 1; and the preliminary positioning module 52 is configured to locate the target position of the wheeled robot chassis 1.

[0068] The secondary positioning module 53 is configured to determine the target placement location of the operation module 6.

[0069] In an exemplary embodiment of this application, the preliminary navigation and positioning module (the navigation module 51 and the preliminary positioning module 52) is disposed on the wheeled robot chassis 1; the secondary positioning module 53 is disposed on the operation module 6;

[0070] The navigation module 51 may include, but is not limited to, a lidar; the lidar is used to detect the distance data between the emergency operation robot A and surrounding equipment, and upload it to the industrial control computer 31.

[0071] The preliminary positioning module 52 may include, but is not limited to, an odometer; the odometer is used to collect mileage data of the emergency operation robot A and upload it to the industrial control computer 31;

[0072] The secondary positioning module 53 may include, but is not limited to, a depth camera; the depth camera is used to capture depth images of the equipment in front of the emergency operation robot A and upload them to the industrial control computer 31.

[0073] In an exemplary embodiment of this application, navigation can be achieved using laser SLAM (Simultaneous localization and mapping) technology.

[0074] In an exemplary embodiment of this application, the industrial control computer 31 may be configured to perform preliminary operational positioning of the emergency operation robot A based on the distance data and the mileage data.

[0075] In an exemplary embodiment of this application, after the emergency operation robot A completes navigation and preliminary positioning (i.e., guides the emergency operation robot A to a preset position in front of the target device, i.e., the target position, which can be called the inspection point position) using real-time data from the lidar and odometer, the positioning accuracy cannot meet the accuracy requirements of the operation module 6 to perform the set operation (e.g., button or knob operation). Therefore, a depth camera is mounted on the operation module 6 (e.g., the mechanical claw at the end of the operating arm mentioned below) to perform secondary positioning through a pattern recognition algorithm to determine the position where the operation module 6 needs to be placed (i.e., the placement target position) and ensure that the positioning accuracy meets the operation requirements.

[0076] In an exemplary embodiment of this application, the secondary positioning refers to positioning the component to be operated on the target device, that is, determining the position of the component to be operated by a depth camera, and using the position of the component to be operated as the position where the mechanical claw at the end of the operating arm of the operating module 6 needs to be placed.

[0077] In an exemplary embodiment of this application, an image recognition model can be preloaded into the depth camera and pre-trained so that the image recognition model can identify the part to be operated, thereby taking a picture of the part to be operated and obtaining a depth image of the part to be operated and its surrounding parts.

[0078] In an exemplary embodiment of this application, the depth image can be analyzed by an industrial control computer 31 to determine the relative position of the component to be operated.

[0079] In an exemplary embodiment of this application, the operation module 6 may include a robotic arm 61 and a robotic gripper 62 disposed at the end of the robotic arm 61; the robotic arm 61 is connected to the second motor;

[0080] The robotic arm 61 is configured to drive the robotic claw 62 to the location of the component to be operated;

[0081] The mechanical gripper 62 is configured to perform the set operation on the component to be operated; the set operation may include, but is not limited to: pressing a button and / or rotating a knob.

[0082] In an exemplary embodiment of this application, the robotic arm 61 may be a six-degree-of-freedom robotic arm.

[0083] In an exemplary embodiment of this application, the mechanical gripper 62 may include: a lead screw and metal fingers connected to each other; the lead screw is connected to the third motor;

[0084] The third motor is configured to drive the lead screw to move;

[0085] The lead screw is configured to drive the metal finger to complete the set operation.

[0086] In an exemplary embodiment of this application, a lead screw can drive two metal fingers, and a third motor (e.g., a brushless motor) can drive the lead screw to move, thereby locking the knob. Combined with the forward and backward and rotational movements of the robotic arm 61, the pressing of the button and the rotation of the knob can be realized.

[0087] In an exemplary embodiment of this application, the wheeled robot chassis 1 is further provided with a motion assistance module 7, which may include an ultrasonic radar 71;

[0088] The motion assistance module 7 is configured to detect obstacles in front of and behind the emergency operation robot A to prevent the emergency operation robot A from colliding.

[0089] In an exemplary embodiment of this application, a communication module 8 is further provided on the wheeled robot chassis 1;

[0090] The communication module 8 may include an AP (wireless access point) 81 and a switch 82;

[0091] The AP 81 establishes a network channel with the wireless base station of the local monitoring subsystem C through the switch 82 to exchange data.

[0092] In an exemplary embodiment of this application, the schematic diagram of the network communication relationship between multiple modules in the emergency operation robot A can be as follows: Figure 3 As shown, the robotic arm 61, wireless AP 81, auxiliary equipment control board 32, and lidar communicate with the industrial computer via Ethernet W. The lithium battery communication board, ultrasonic radar 51, and end effector 62 can communicate with the industrial computer 31 via RS485 serial port. The depth camera 53 can communicate with the industrial computer via USB (Universal Serial Bus, an external bus standard) interface. The servo driver 41 can communicate with the industrial computer 31 via CAN (Controller Area Network) bus.

[0093] In an exemplary embodiment of this application, a power module 9 is also provided on the wheeled robot chassis 1;

[0094] The power module 9 may include a lithium battery 91, which can output the bus voltage required by the equipment, such as 48V, 24V, and 12V. A schematic diagram of the power supply relationship of each module in the emergency operation robot A can be shown as follows: Figure 4 As shown.

[0095] In an exemplary embodiment of this application, the main process of the emergency operation robot A completing the emergency operation function may include: after entering the site, the emergency operation robot A can first construct a two-dimensional map of the site and establish inspection points using manual remote control, and train image recognition models for the buttons and knobs that need to be operated. After the training is completed, it waits for operation instructions at the origin. When the operation instructions are issued, it first moves to the designated inspection point position using SLAM navigation and positioning technology. Since laser navigation technology has a certain positional deviation, it uses a depth camera to perform image position recognition and depth recognition, thereby controlling the robotic arm to perform secondary positioning of the end effector claw. After positioning is completed, it controls the claw to complete the pressing and rotating operation actions.

[0096] This application also provides an emergency operating system M for railway traction substations, such as... Figure 5 As shown, it may include: the aforementioned emergency operation robot A, the remote control center subsystem B, and the local monitoring subsystem C;

[0097] The remote control center subsystem B may include a monitoring terminal and an operation backend terminal, wherein the monitoring terminal and the operation backend terminal are located in the power supply section;

[0098] The local monitoring subsystem C is located within the railway traction substation; the local monitoring subsystem C includes a local back-end terminal.

[0099] The local back-end terminal communicates with the monitoring terminal and the operation back-end terminal via a data network; the local back-end terminal and the emergency operation robot A communicate via a wireless network.

[0100] In an exemplary embodiment of this application, a monitoring terminal and an operation back-end terminal of a remote centralized control center subsystem B are set up in the power supply section. The system communicates with a local back-end terminal located in the railway traction substation via a 6C VPN connected to the data network. This is used by the power supply section maintenance personnel to monitor the status of field equipment in real time and issue operation commands.

[0101] In an exemplary embodiment of this application, a local monitoring subsystem C is set up in a railway traction substation. The local monitoring subsystem C may include a local back-end terminal. The local back-end terminal communicates with the emergency operation robot A through a wireless network to realize functions such as data access, data storage, alarm processing, transmission communication, linkage and monitoring of the emergency operation robot A.

[0102] In an exemplary embodiment of this application, the local monitoring subsystem C may further include a front-end interface, which is used to display the operating status of the emergency operation robot and is connected to the remote control center subsystem B to transmit the operating status of the emergency operation robot A to the remote control center subsystem B.

[0103] In an exemplary embodiment of this application, the emergency operation robot A is in a standby state when it does not receive an operation instruction from the monitoring terminal of the remote control center subsystem B, which is relayed by the local back-end terminal of the local monitoring subsystem C. When it receives the operation instruction from the local back-end terminal, it runs to the designated location (i.e., the inspection point location) to perform emergency operation of the button or knob.

[0104] In an exemplary embodiment of this application, a two-level monitoring structure is set up through a network channel independent of the SCADA system: a remote centralized control center subsystem B of the power supply section and a local monitoring subsystem C within the railway traction substation. An emergency operation robot A is also set up, which adopts laser SLAM navigation and positioning technology, is equipped with a 6-DOF robotic arm and an end effector, and uses a depth camera for secondary positioning to complete the automatic operation of the panel buttons and transfer switches of the complete set of equipment (switch cabinets) and integrated automation system cabinets, thereby realizing emergency handling of sudden situations in the traction substation.

[0105] The exemplary embodiments of this application include at least the following advantages:

[0106] 1. The railway traction substation emergency operating system M, which includes an emergency operation robot A, enables the operation of panel buttons and transfer switches of complete sets of equipment (switchgear), integrated automation system cabinets, and other equipment in emergency situations. This eliminates the inability to switch over in a timely manner when the power SCADA system is abnormal, and greatly increases the emergency response capability of unattended traction substations.

[0107] 2. By using the railway traction substation emergency operating system M, which includes an emergency operation robot A, maintenance personnel can perform routine switching operations remotely without going to the site, reducing labor and time costs and increasing economic benefits.

[0108] 3. A combination of wheeled robot chassis, multi-degree-of-freedom robotic arm, and end effector is used to achieve precise control of buttons and knobs on the complete set of equipment and cabinets of traction substations.

[0109] 4. By combining the technology of initial positioning via LiDAR SLAM navigation, image pattern recognition, and secondary positioning via depth camera ranging, the precise positioning of the end effector of the robot is achieved.

[0110] 5. A customized mechanical gripper solution combining a motor, lead screw, and metal fingers is adopted to achieve precise locking and operation of panel buttons and knobs.

[0111] This application also provides an emergency operation method for railway traction substations, such as... Figure 6 As shown, based on the aforementioned railway traction substation emergency operating system; the method may include steps S101-S102:

[0112] S101. The local monitoring subsystem located in the railway traction substation of the railway traction substation emergency operating system receives the emergency operation instructions sent by the remote centralized control center subsystem located in the power supply section of the railway traction substation emergency operating system, and transmits the emergency operation instructions to the emergency operation robot located in the railway traction substation of the railway traction substation emergency operating system.

[0113] S102. According to the emergency operation command, the emergency operation robot uses its own navigation and positioning module to navigate and locate, runs to the target equipment in the railway traction substation, and drives its own operation module to run to the part to be operated on the target equipment, and drives the operation module to perform the set operation on the part to be operated.

[0114] In the exemplary embodiments of this application, any of the aforementioned embodiments of the emergency robot and system are applicable to the method embodiments, and will not be described in detail here. Those skilled in the art will understand that all or some steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, and suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. An emergency operation robot, characterized in that, Located within a railway traction substation, the robot comprises: a wheeled robot chassis and a body mounted on the wheeled robot chassis; it also includes: a main control module and a drive module, a navigation and positioning module, and an operation module respectively connected to the main control module; the main control module and the drive module are mounted on the wheeled robot chassis; the operation module is mounted on the body. The main control module is configured to collect data from the drive module, the navigation and positioning module, and the operation module, and to control the drive module, the navigation and positioning module, and the operation module. The drive module is configured to drive the wheeled robot chassis to the target equipment in the railway traction substation, drive the operation module to the component to be operated on the target equipment, and drive the operation module to perform a set operation on the component to be operated. The navigation and positioning module is configured to navigate and locate the target position of the wheeled robot chassis and locate the target position of the operation module. The main control module includes an industrial computer; The industrial control computer is configured to collect data from the drive module, the navigation and positioning module, and the operation module, and to control the drive module, the navigation and positioning module, and the operation module. The navigation and positioning module includes a preliminary navigation and positioning module and a secondary positioning module, which are respectively connected to the industrial control computer; the preliminary navigation and positioning module is mounted on the wheeled robot chassis; and the secondary positioning module is mounted on the operation module. The preliminary navigation and positioning module is configured to navigate and locate the target position of the wheeled robot chassis. The preliminary navigation and positioning module includes a navigation module and a preliminary positioning module. The navigation module includes a lidar for detecting distance data between the emergency operation robot and surrounding equipment and uploading it to the industrial control computer. The preliminary positioning module includes an odometer for calculating the mileage data of the emergency operation robot and uploading it to the industrial control computer. The industrial control computer is further configured to use laser SLAM technology to complete the preliminary positioning of the emergency operation robot based on the distance data and the mileage data. The secondary positioning module is configured to determine the target location for placing the operation module; the secondary positioning module includes a depth camera.

2. The emergency operation robot according to claim 1, characterized in that, The drive module includes a first drive module, a second drive module, and a third drive module, all of which are connected to the industrial control computer. The first drive module is configured to drive the wheeled robot chassis to the target device; The second driving module is configured to drive the operation module to the component to be operated; The third driving module is configured to drive the operation module to perform the set operation on the component to be operated.

3. The emergency operation robot according to claim 1, characterized in that, The operation module includes a robotic arm and a robotic gripper disposed at the end of the robotic arm; The robotic arm is configured to drive the robotic gripper to the location of the component to be operated; The mechanical gripper is configured to perform the set operation on the component to be operated.

4. The emergency operation robot according to claim 3, characterized in that, The mechanical gripper includes: a lead screw and metal fingers; The drive module is also configured to drive the lead screw to move; The lead screw is configured to drive the metal finger to complete the set operation.

5. The emergency operation robot according to claim 1, characterized in that, The wheeled robot chassis is also equipped with a motion assistance module; The motion assistance module is configured to detect obstacles in front of and behind the emergency operation robot.

6. The emergency operation robot according to claim 1, characterized in that, The wheeled robot chassis is also equipped with a communication module; The communication module includes a wireless access point (AP) and a switch. The AP establishes a network channel with the wireless base station of the local monitoring subsystem through the switch to exchange data.

7. An emergency operating system for railway traction substations, characterized in that, include: The remote control center subsystem, the local monitoring subsystem, and the emergency operation robot as described in any one of claims 1-6; The remote control center subsystem includes a monitoring terminal and an operation backend terminal, which are located in the power supply section. The local monitoring subsystem is located within the railway traction substation; the local monitoring subsystem includes a local back-end terminal. The local back-end terminal communicates with the monitoring terminal and the operation back-end terminal via an access data network. The local back-end terminal and the emergency operation robot communicate via a wireless network.

8. An emergency operation method for a railway traction substation, characterized in that, Based on the railway traction substation emergency operating system according to claim 7; the method includes: The local monitoring subsystem located within the railway traction substation in the railway traction substation emergency operating system receives emergency operation instructions sent by the remote centralized control center subsystem located in the power supply section of the railway traction substation emergency operating system, and transmits the emergency operation instructions to the emergency operation robot located within the railway traction substation in the railway traction substation emergency operating system. According to the emergency operation command, the emergency operation robot uses its own navigation and positioning module to navigate and locate, runs to the target equipment in the railway traction substation, and drives its own operation module to run to the part to be operated on the target equipment, and drives the operation module to perform the set operation on the part to be operated.

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