A system for autonomous replacement of surge arresters

Abstract

The application discloses a system for autonomously replacing a lightning arrester. A position detection module is located on a mechanical arm assembly, and is used to measure the distance between the mechanical arm assembly and a lightning arrester to be replaced, the distance between the mechanical arm assembly and other lightning arresters, and the distance between the mechanical arm assembly and equipment around the lightning arrester to be replaced. The mechanical arm assembly is fixedly arranged on a movable platform, and the movable platform is used to adjust the position of the mechanical arm assembly. A controller is used to control the movable platform to adjust the position of the mechanical arm assembly according to the distance between the mechanical arm assembly and the lightning arrester to be replaced, the distance between the mechanical arm assembly and other lightning arresters, and the distance between the mechanical arm assembly and equipment around the lightning arrester to be replaced, so that the mechanical arm assembly is replaced. The controller is also used to control the mechanical arm assembly to replace the lightning arrester to be replaced when the mechanical arm assembly is replaced. The application saves power outage cost and ensures the safety of live working personnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power electronics, and particularly relates to a system for autonomously replacing a lightning arrester. BACKGROUND

[0002] A distribution line is a core component and a basic part of a power system, and the quality of operation of the distribution line has a direct influence on the safe and reliable operation of the power grid system. Due to the large coverage area of the distribution line, the distribution line is affected by various external factors. The lightning arrester needs to be frequently replaced due to reasons such as lightning strike, failure, flashover, and aging.

[0003] Currently, the replacement of the lightning arrester is mainly divided into power-off replacement and live replacement. The power-off replacement needs to power off the entire line, which affects the power experience of users. The live replacement is performed by a live working vehicle and a worker, which is very expensive, and the live working personnel has a high risk when performing live treatment. SUMMARY

[0004] The present application provides a system for autonomously replacing a lightning arrester, which saves the corresponding power-off cost and ensures the safety of live working personnel.

[0005] According to an aspect of the present application, an embodiment of the present application provides a system for autonomously replacing a lightning arrester, comprising:

[0006] at least one position detection module, a movable platform, a mechanical arm assembly, and a controller;

[0007] The position detection module is located on the mechanical arm assembly, and the position detection module is electrically connected to the controller. The position detection module is used to measure the distance between the mechanical arm assembly and the lightning arrester to be replaced, the distance between the mechanical arm assembly and other lightning arresters, and the distance between the mechanical arm assembly and the equipment around the lightning arrester to be replaced. The mechanical arm assembly is fixedly arranged on the movable platform, and the movable platform is used to adjust the position of the mechanical arm assembly.

[0008] The controller is used to control the movable platform to adjust the position of the mechanical arm assembly according to the distance between the mechanical arm assembly and the lightning arrester to be replaced, the distance between the mechanical arm assembly and other lightning arresters, and the distance between the mechanical arm assembly and the equipment around the lightning arrester to be replaced, so that the mechanical arm assembly is replaced. The controller is also used to control the mechanical arm assembly to replace the lightning arrester to be replaced when the mechanical arm assembly is replaced.

[0009] Optionally, the mechanical arm assembly comprises a first mechanical arm, a second mechanical arm, a third mechanical arm, and a mechanical arm base.

[0010] The first mechanical arm, the second mechanical arm and the third mechanical arm are located on a mechanical arm base, and the first mechanical arm, the second mechanical arm and the third mechanical arm are fixedly connected with the mechanical arm base; the first mechanical arm, the second mechanical arm and the third mechanical arm are electrically connected with the controller; and the mechanical arm base is fixed on the movable platform.

[0011] The first mechanical arm is used for fixing a lead wire of the lightning arrester to be replaced; the second mechanical arm is used for fixing and replacing the lightning arrester to be replaced; and the third mechanical arm is used for disassembling and fixing a screw cap of the lightning arrester to be replaced.

[0012] The controller is used for controlling the first mechanical arm, the second mechanical arm and the third mechanical arm to replace the lightning arrester.

[0013] The first mechanical arm, the second mechanical arm and the third mechanical arm are all hydraulic telescopic mechanical arms.

[0014] Optionally, the controller is used for controlling the first mechanical arm to fix the lead wire of the lightning arrester to be replaced, and controlling the second mechanical arm to fix the lightning arrester to be replaced; and the controller is further used for controlling the third mechanical arm to simultaneously disassemble a first screw cap and a second screw cap of the lightning arrester to be replaced after controlling the first mechanical arm to fix the lead wire of the lightning arrester to be replaced and controlling the second mechanical arm to fix the lightning arrester to be replaced.

[0015] The controller is used for controlling the second mechanical arm to replace the lightning arrester, and controlling the third mechanical arm to fix a first screw cap of the replaced lightning arrester; the controller is further used for controlling the first mechanical arm to fix a lead wire of the replaced lightning arrester after controlling the third mechanical arm to fix the first screw cap of the replaced lightning arrester; and the controller controls the third mechanical arm to fix a second screw cap of the replaced lightning arrester.

[0016] Optionally, the weight of the first mechanical arm, the second mechanical arm and the third mechanical arm is less than the weight of the mechanical arm base.

[0017] Optionally, the position detection module comprises a first position detection unit, a second position detection unit and a third position detection unit.

[0018] The first position detection unit is arranged on the first mechanical arm; the second position detection unit is arranged on the second mechanical arm; and the third position detection unit is arranged on the third mechanical arm. The first position detection unit is used to measure a first distance between the first mechanical arm and a lead wire of the lightning arrester to be replaced, a second distance between the first mechanical arm and other lightning arresters, and a third distance between the first mechanical arm and surrounding equipment of the lightning arrester to be replaced. The second position detection unit is used to measure a fourth distance between the second mechanical arm and the lightning arrester to be replaced, a fifth distance between the second mechanical arm and other lightning arresters, and a sixth distance between the second mechanical arm and surrounding equipment of the lightning arrester to be replaced. The third position detection unit is used to measure a seventh distance between the third mechanical arm and a nut of the lightning arrester to be replaced, an eighth distance between the third mechanical arm and other lightning arresters, and a ninth distance between the third mechanical arm and surrounding equipment of the lightning arrester to be replaced.

[0019] The controller controls the movable platform to lift and translate according to the first distance, the second distance, and the third distance measured by the first position detection unit, the fourth distance, the fifth distance, and the sixth distance measured by the second position detection unit, and the seventh distance, the eighth distance, and the ninth distance measured by the third position detection unit.

[0020] Optionally, the first position detection unit is further used to emit a laser light to the lead wire of the lightning arrester to be replaced, and detect a position where the laser light is irradiated to the lead wire of the lightning arrester to be replaced. The controller is used to determine whether the first mechanical arm keeps horizontal to a specified position of the lead wire of the lightning arrester to be replaced according to the position where the laser light is irradiated to the lead wire of the lightning arrester to be replaced detected by the first position detection unit.

[0021] The second position detection unit is further used to emit a laser light to the lightning arrester to be replaced, and detect a position where the laser light is irradiated to the lightning arrester to be replaced. The controller is used to determine whether the second mechanical arm keeps horizontal to a specified position of the lightning arrester to be replaced according to the position where the laser light is irradiated to the lightning arrester to be replaced detected by the second position detection unit.

[0022] The third position detection unit is further used to emit a laser light to the nut of the lightning arrester to be replaced, and detect a position where the laser light is irradiated to the nut of the lightning arrester to be replaced. The controller is used to determine whether the third mechanical arm keeps horizontal to a specified position of the nut of the lightning arrester to be replaced according to the position where the laser light is irradiated to the nut of the lightning arrester to be replaced detected by the third position detection unit.

[0023] Optionally, the first position detection unit comprises a first laser range finder, a first level tester and a first camera; the second position detection unit comprises a second laser range finder, a second level tester and a second camera; the third position detection unit comprises a third laser range finder, a third level tester and a third camera; the first laser range finder, the first level tester and the first camera are arranged on the first mechanical arm; the second laser range finder, the second level tester and the second camera are arranged on the second mechanical arm; the third laser range finder, the third level tester and the third camera are arranged on the third mechanical arm.

[0024] The first laser range finder is configured to measure a first distance between the first mechanical arm and a lead wire of the lightning arrester to be replaced, a second distance between the first mechanical arm and other lightning arresters, and a third distance between the first mechanical arm and surrounding equipment of the lightning arrester to be replaced; the second laser range finder is configured to measure a fourth distance between the second mechanical arm and the lead wire of the lightning arrester to be replaced, a fifth distance between the second mechanical arm and other lightning arresters, and a sixth distance between the second mechanical arm and surrounding equipment of the lightning arrester to be replaced; the third laser range finder is configured to measure a seventh distance between the third mechanical arm and a nut of the lightning arrester to be replaced, an eighth distance between the third mechanical arm and other lightning arresters, and a ninth distance between the third mechanical arm and surrounding equipment of the lightning arrester to be replaced.

[0025] The first level tester, the second level tester and the third laser range finder are configured to emit laser light; the first camera is configured to capture a first position picture of the laser light emitted by the first level tester irradiating onto the lead wire of the lightning arrester to be replaced, and send the first position picture to the controller; the second camera is configured to capture a second position picture of the laser light emitted by the second level tester irradiating onto the lightning arrester to be replaced, and send the second position picture to the controller; the third camera is configured to capture a third position picture of the laser light emitted by the third level tester irradiating onto the nut of the lightning arrester to be replaced, and send the third position picture to the controller.

[0026] Optionally, the controller is further configured to control the first laser range finder to re-measure the first distance, the second distance and the third distance when it is determined that the first mechanical arm does not maintain horizontal at a specified position of the lead wire of the lightning arrester to be replaced; the controller is further configured to control the second laser range finder to re-measure the fourth distance, the fifth distance and the sixth distance when it is determined that the second mechanical arm does not maintain horizontal at a specified position of the lightning arrester to be replaced; the controller is further configured to control the third laser range finder to re-measure the seventh distance, the eighth distance and the ninth distance when it is determined that the third mechanical arm does not maintain horizontal at a specified position of the nut of the lightning arrester to be replaced.

[0027] Optionally, the first camera, the second camera and the third camera are further configured to capture a picture of the lightning arrester, and send the picture of the lightning arrester to the controller; the controller is configured to identify a model and a wiring mode of the lightning arrester according to the picture of the lightning arrester, so that a worker determines the lightning arrester to be replaced.

[0028] Optionally, the first camera, the second camera and the third camera are further configured to capture pictures of a scene around the lightning arrester to be replaced, and send the pictures of the scene to the controller, and the controller is configured to determine distances between the first mechanical arm and the lightning arrester to be replaced, distances between the second mechanical arm and the lightning arrester to be replaced, and distances between the third mechanical arm and the lightning arrester to be replaced according to the pictures of the scene, and control the movable platform to reach a preset height.

[0029] The preset height is greater than or equal to 3 m and less than or equal to 5 m.

[0030] Optionally, the controller is further configured to display the first distance, the second distance and the third distance measured by the first laser range finder, the fourth distance, the fifth distance and the sixth distance measured by the second laser range finder, and the seventh distance, the eighth distance and the ninth distance measured by the third laser range finder.

[0031] In the technical scheme provided by the embodiment of the present application, the position detection module is configured to detect distances between the mechanical arm assembly and the lightning arrester to be replaced, distances between the mechanical arm assembly and other lightning arresters, and distances between the mechanical arm assembly and equipment around the lightning arrester to be replaced, and the controller is configured to control the movable platform to adjust the position of the mechanical arm assembly according to the distances between the mechanical arm assembly and the lightning arrester to be replaced, the distances between the mechanical arm assembly and other lightning arresters, and the distances between the mechanical arm assembly and equipment around the lightning arrester to be replaced, so that the mechanical arm assembly is replaced in position, which facilitates the controller to control the mechanical arm assembly to replace the lightning arrester to be replaced, without the need to arrange a live working vehicle and live working personnel to replace the lightning arrester, thereby reducing the cost and improving the safety of live working personnel.

[0032] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creating any inventive labor.

[0034] Figure 1 is a structural schematic diagram of a system for autonomously replacing a lightning arrester provided by the embodiment of the present application;

[0035] Figure 2 is Figure 1 a structural schematic diagram of a position detection module and a mechanical arm assembly in

[0036] Figure 3 This is a flowchart illustrating a method for autonomously replacing surge arresters provided in an embodiment of the present invention. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, any variations of the terms "comprising" and "having" are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0039] Figure 1 This is a schematic diagram of a system for autonomously replacing surge arresters provided in an embodiment of the present invention. Figure 2 yes Figure 1 A structural diagram of the position detection module and robotic arm assembly. (See attached diagram.) Figure 1 and Figure 2The system for autonomously replacing surge arresters includes: at least one position detection module 1, a movable platform 3, a robotic arm assembly 2, and a controller; the position detection module 1 is located on the robotic arm assembly 2 and is electrically connected to the controller; the position detection module 1 is used to measure the distance between the robotic arm assembly 2 and the surge arrester to be replaced, the distance between the robotic arm assembly 2 and other surge arresters, and the distance between the robotic arm assembly 2 and surrounding equipment of the surge arrester to be replaced; the robotic arm assembly 2 is fixedly mounted on the movable platform 3, and the movable platform 3 is used to adjust the position of the robotic arm assembly 2; the controller is used to control the movable platform 3 to adjust the position of the robotic arm assembly 2 based on the distance between the robotic arm assembly 2 and the surge arrester to be replaced, the distance between the robotic arm assembly 2 and other surge arresters, and the distance between the robotic arm assembly 2 and surrounding equipment of the surge arrester to be replaced, as measured by the position detection module 1, so that the robotic arm assembly 2 changes position; the controller is also used to control the robotic arm assembly 2 to replace the surge arrester to be replaced when the robotic arm assembly 2 changes position.

[0040] The position detection module 1 detects the distance between the robotic arm assembly 2 and the surge arrester to be replaced, the distance between the robotic arm assembly 2 and other surge arresters, and the distance between the robotic arm assembly 2 and surrounding equipment of the surge arrester to be replaced. The movable platform 3 is used to adjust the position of the robotic arm assembly 2. For example, the movable platform 3 can move vertically and horizontally to change the position of the robotic arm assembly 2 during the replacement of the surge arrester. The robotic arm assembly 2 includes a first robotic arm 21, a second robotic arm 22, and a third robotic arm 23. The robotic arm assembly 2 is used to replace the surge arrester to be replaced. For example, the robotic arm assembly 2 can replace surge arresters on transformer substations or overhead lines. The controller may include a system platform.

[0041] Specifically, before replacing the surge arrester to be replaced, the position detection module 1 detects the distance between the robotic arm assembly 2 and the surge arrester to be replaced, the distance between the robotic arm assembly 2 and other surge arresters, and the distance between the robotic arm assembly 2 and the equipment around the surge arrester to be replaced. Based on the distances detected by the position detection module 1, the controller controls the movable platform 3 to move up and down and horizontally to adjust the position of the robotic arm assembly 2, so that the robotic arm assembly 2 changes position. When the robotic arm assembly 2 changes position, the controller controls the robotic arm assembly 2 to replace the surge arrester to be replaced.

[0042] In the technical solution provided in this embodiment of the invention, the position detection module 1 is used to detect the distance between the robotic arm assembly 2 and the surge arrester to be replaced, the distance between the robotic arm assembly 2 and other surge arresters, and the distance between the robotic arm assembly 2 and the equipment around the surge arrester to be replaced. Based on the distance between the robotic arm assembly 2 and the surge arrester to be replaced, the distance between the robotic arm assembly 2 and other surge arresters, and the distance between the robotic arm assembly 2 and the equipment around the surge arrester to be replaced measured by the position detection module 1, the controller controls the movable platform 3 to adjust the position of the robotic arm assembly 2, so that the robotic arm assembly 2 can change its position. This makes it convenient for the controller to control the robotic arm assembly 2 to replace the surge arrester to be replaced, without the need to arrange a live-line working vehicle and personnel for live-line replacement, saving the corresponding power outage costs and ensuring the safety of live-line working personnel.

[0043] See Figure 1 and Figure 2 Optionally, based on the above embodiments, the robotic arm assembly 2 includes a first robotic arm 21, a second robotic arm 22, a third robotic arm 23, and a robotic arm base 24; the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 are all located on the robotic arm base 24, and are fixedly connected to the robotic arm base 24; the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 are all electrically connected to the controller; the robotic arm base 24 is fixed on the movable platform 3; the first robotic arm 21 is used to fix the lead wire of the surge arrester to be replaced; the second robotic arm 22 is used to fix and replace the surge arrester to be replaced; the third robotic arm 23 is used to disassemble and fix the nut of the surge arrester to be replaced; the controller is used to control the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 to replace the surge arrester to be replaced; wherein, the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 are all hydraulic telescopic robotic arms.

[0044] The surge arrester to be replaced has an umbrella-like structure. Both the first robotic arm 21 and the second robotic arm 22 are hand-held robotic arms. The first robotic arm 21 is used to fix the lead wire of the surge arrester to be replaced, capable of releasing and gripping the lead wire, and can gently move the lead wire with force. Based on the umbrella-like structure of the surge arrester itself, the second robotic arm 22 can be configured to embed into the umbrella skirt, making the surge arrester to be replaced more secure and stable. The third robotic arm 23 is used to remove and fix the nuts of the surge arrester to be replaced. The third robotic arm 23 is designed as a multi-angle rotating wrench robotic arm and has a hydraulically adjustable size function, which can match the installation and removal of different nut sizes. The parts of the first robotic arm 21 that fix the lead wire of the surge arrester to be replaced, the parts of the second robotic arm 22 that remove and fix the surge arrester to be replaced, and the parts of the third robotic arm 23 that remove and fix the nuts of the surge arrester to be replaced are all made of insulating material.

[0045] Specifically, when the robotic arm assembly 2 replaces the surge arrester to be replaced, the controller controls the first robotic arm 21 to fix the lead wire of the surge arrester to be replaced, and at the same time, the controller controls the second robotic arm 22 to fix the surge arrester to be replaced. After the second robotic arm 22 fixes the surge arrester to be replaced, the controller controls the third robotic arm 23 to remove the nut of the surge arrester to be replaced. Then, the controller controls the second robotic arm 22 to replace the surge arrester to be replaced. After the second robotic arm 22 has replaced the surge arrester to be replaced, the controller controls the third robotic arm 23 to fix the nut of the surge arrester to be replaced.

[0046] In this embodiment of the invention, the first robotic arm 21 is used to fix the lead wire of the surge arrester to be replaced, ensuring that the lead wire will not expand to both sides or sag after disassembly. The second robotic arm 22 is used to fix and replace the surge arrester to be replaced, preventing it from falling from a height during disassembly and fixing. The third robotic arm 23 is used to remove and fix the nut of the surge arrester to be replaced. The first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 can each perform their respective functions independently and can also cooperate with each other, eliminating the need for a live-line working vehicle and personnel to perform the replacement while the power is on, thus ensuring the safety of personnel performing live-line work. The part of the first robotic arm 21 that fixes the lead wire of the surge arrester to be replaced, the part of the second robotic arm 22 that removes and fixes the surge arrester to be replaced, and the part of the third robotic arm 23 that removes and fixes the nut of the surge arrester to be replaced are all made of insulating material to prevent short circuits and grounding during the replacement of the surge arrester.

[0047] See also Figure 1 and Figure 2 Optionally, based on the above embodiments, the controller is used to control the first robotic arm 21 to fix the lead wire of the surge arrester to be replaced, and to control the second robotic arm 22 to fix the surge arrester to be replaced; after controlling the first robotic arm 21 to fix the lead wire of the surge arrester to be replaced and the second robotic arm 22 to fix the surge arrester to be replaced, the controller is also used to control the third robotic arm 23 to simultaneously remove the first nut and the second nut of the surge arrester to be replaced; the controller is used to control the second robotic arm 22 to replace the surge arrester to be replaced, and to control the third robotic arm 23 to fix the first nut of the replaced surge arrester; after controlling the third robotic arm 23 to fix the first nut of the replaced surge arrester, the controller is also used to control the first robotic arm 21 to fix the lead wire of the replaced surge arrester; the controller is used to control the third robotic arm 23 to fix the second nut of the replaced surge arrester.

[0048] Specifically, during the replacement of the surge arrester, the controller controls the first robotic arm 21 to fix the lead wire of the surge arrester to be replaced, and the controller controls the second robotic arm 22 to fix the surge arrester to be replaced. After the first robotic arm 21 fixes the lead wire of the surge arrester to be replaced and the second robotic arm 22 fixes the surge arrester to be replaced, the controller controls the third robotic arm 23 to remove the first nut and the second nut of the surge arrester to be replaced. Then, the controller controls the second robotic arm 22 to replace the surge arrester to be replaced. After the second robotic arm 22 replaces the surge arrester to be replaced, the controller controls the third robotic arm 23 to fix the first nut of the replaced surge arrester. After the controller controls the third robotic arm 23 to fix the first nut of the replaced surge arrester, the controller also controls the first robotic arm 21 to fix the lead wire of the replaced surge arrester. After fixing the lead wire of the replaced surge arrester, the controller controls the third robotic arm 23 to fix the second nut of the replaced surge arrester.

[0049] For example, when replacing the surge arrester to be replaced begins, the controller controls the first robotic arm 21 to clamp the lead wire of the surge arrester to be replaced to prevent it from falling, and the controller controls the second robotic arm 22 to clamp the surge arrester to be replaced to prevent it from falling from a height. After the first robotic arm 21 fixes the lead wire of the surge arrester to be replaced and the second robotic arm 22 fixes the surge arrester to be replaced, the third robotic arm 23 begins to remove the first nut at the upper end and the second nut at the lower end of the surge arrester to be replaced. After the first robotic arm 21 moves the lead wire of the surge arrester to be replaced a certain distance away, the controller controls the second robotic arm 22 to remove the surge arrester to be replaced and place the hole for fixing the new spare surge arrester into it. At this time, the controller controls the third robotic arm 23 to fix the second nut at the lower end of the replaced surge arrester. At the same time, the controller controls the first robotic arm 21 to return the lead wire at the upper end of the replaced surge arrester to the designated position. Then, the controller controls the third robotic arm 23 to fix the first nut at the upper end of the replaced surge arrester.

[0050] See also Figure 1 and Figure 2 Optionally, based on the above embodiments, the weight of the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 is less than the weight of the robotic arm base 24.

[0051] In this embodiment of the invention, the weights of the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 are all less than the weight of the robotic arm base 24. This arrangement primarily serves a balancing function, preventing the first robotic arm 21, the second robotic arm 22, and the robotic arm base 24 from tilting when the third robotic arm 23 applies force to tighten the nut. Furthermore, by matching the disassembly force, the weight of the base is adjusted to achieve an optimal balance, facilitating the transportation of the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23.

[0052] See alsoFigure 1 Optionally, based on the above embodiments, the position detection module 1 includes a first position detection unit 10, a second position detection unit 11, and a third position detection unit 12; the first position detection unit 10 is disposed on the first robotic arm 21; the second position detection unit 11 is disposed on the second robotic arm 22; and the third position detection unit 12 is disposed on the third robotic arm 23; the first position detection unit 10 is used to measure a first distance between the first robotic arm 21 and the lead wire of the surge arrester to be replaced, a second distance between the first robotic arm 21 and other surge arresters, and a third distance between the first robotic arm 21 and the equipment surrounding the surge arrester to be replaced; the second position detection unit 11 is used to measure the distance between the second robotic arm 22 and the surge arrester to be replaced. The controller measures the fourth distance between the second robotic arm 22 and other surge arresters, the fifth distance between the second robotic arm 22 and the equipment around the surge arrester to be replaced, and the sixth distance between the second robotic arm 22 and the equipment around the surge arrester to be replaced; the third position detection unit 12 measures the seventh distance between the third robotic arm 23 and the nut of the surge arrester to be replaced, the eighth distance between the third robotic arm 23 and other surge arresters, and the ninth distance between the third robotic arm 23 and the equipment around the surge arrester to be replaced; the controller controls the lifting and translating of the movable platform 3 according to the first distance, the second distance and the third distance measured by the first position detection unit 10, the fourth distance, the fifth distance and the sixth distance measured by the second position detection unit 11, and the seventh distance, the eighth distance and the ninth distance measured by the third position detection unit 12.

[0053] The first position detection unit 10 may include a first laser rangefinder 101, a first level tester 102 and a first camera 103; the second position detection unit 11 may include a second laser rangefinder 111, a second level tester 112 and a second camera 113; and the third position detection unit 12 may include a third laser rangefinder 121, a third level tester 122 and a third camera 123.

[0054] Specifically, before replacing the surge arrester to be replaced, the first position detection unit 10 measures the first distance between the first robotic arm 21 and the lead wire of the surge arrester to be replaced, the second distance between the first robotic arm 21 and other surge arresters, and the third distance between the first robotic arm 21 and the equipment around the surge arrester to be replaced; the second detection unit measures the fourth distance between the second robotic arm 22 and the surge arrester to be replaced, the fifth distance between the second robotic arm 22 and other surge arresters, and the sixth distance between the second robotic arm 22 and the equipment around the surge arrester to be replaced; the third detection unit measures the seventh distance between the third robotic arm 23 and the nut of the surge arrester to be replaced, the eighth distance between the third robotic arm 23 and other surge arresters, and the ninth distance between the third robotic arm 23 and the equipment around the surge arrester to be replaced; the controller controls the movable platform 3 to lift and move horizontally based on the first, second, and third distances measured by the first position detection unit, the fourth, fifth, and sixth distances measured by the second position detection unit 11, and the seventh, eighth, and ninth distances measured by the third position detection unit 12, so as to adjust the positions of the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23.

[0055] In this embodiment of the invention, the first detection unit 10, the second detection unit 11, and the third detection unit 12 respectively achieve precise measurement of the distance between the first robotic arm 21 and the lead wire of the surge arrester to be replaced, the distance between the second robotic arm 22 and the surge arrester to be replaced, and the distance between the third robotic arm 23 and the nut of the surge arrester to be replaced. This improves the accuracy of the positioning of the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 relative to the surge arrester to be replaced.

[0056] See also Figure 1 Optionally, based on the technical solution of the above embodiments, the first position detection unit 10 is further configured to emit laser light to the lead wire of the surge arrester to be replaced and detect the position of the laser light illuminating the lead wire of the surge arrester to be replaced; the controller is configured to determine whether the first robotic arm 21 is horizontal to the designated position of the lead wire of the surge arrester to be replaced based on the position of the laser light illuminating the lead wire of the surge arrester to be replaced detected by the first position detection unit 10; the second position detection unit 11 is further configured to emit laser light to the surge arrester to be replaced and detect the position of the laser light illuminating the surge arrester to be replaced; the controller is configured to determine whether the second robotic arm 22 is horizontal to the designated position of the surge arrester to be replaced based on the position of the laser light illuminating the surge arrester to be replaced detected by the second position detection unit 11; the third position detection unit 12 is further configured to emit laser light to the nut of the surge arrester to be replaced and detect the position of the laser light illuminating the nut of the surge arrester to be replaced; the controller is configured to determine whether the third robotic arm 23 is horizontal to the designated position of the nut of the surge arrester to be replaced based on the position of the laser light illuminating the nut of the surge arrester to be replaced detected by the third position detection unit 12.

[0057] Specifically, after the controller adjusts the positions of the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 on the movable platform 3, the first position detection unit 10 emits a laser beam towards the lead of the surge arrester to be replaced and detects the position of the laser beam on the lead of the surge arrester to be replaced. Based on the position of the laser beam on the lead of the surge arrester to be replaced detected by the first position detection unit 10, the controller determines whether the first robotic arm 21 is horizontal to the designated position of the lead of the surge arrester to be replaced. Similarly, the second position detection unit 11 emits a laser beam towards the surge arrester to be replaced and detects the position of the laser beam on the surge arrester to be replaced; based on the position of the laser beam on the surge arrester to be replaced detected by the second position detection unit 11, the controller determines whether the second robotic arm 22 is horizontal to the designated position of the surge arrester to be replaced. The third position detection unit 12 emits a laser beam towards the nut of the surge arrester to be replaced and detects the position of the laser beam on the nut of the surge arrester to be replaced; the controller determines whether the third robotic arm 23 is level with the nut of the surge arrester to be replaced based on the position of the laser beam on the nut of the surge arrester to be replaced detected by the third position detection unit 12.

[0058] In this embodiment of the invention, the first position detection unit 10 performs a horizontal test on the designated position of the first robotic arm 21 and the lead wire of the surge arrester to be replaced, and the second position detection unit 11 and the third position detection unit 12 respectively perform horizontal tests on the designated positions of the second robotic arm 22 and the surge arrester to be replaced and the designated positions of the third robotic arm 23 and the nut of the surge arrester to be replaced, thereby improving the accuracy of the measurement of the distances between the first robotic arm 21 and the lead wire of the surge arrester to be replaced, the second robotic arm 22 and the surge arrester to be replaced, and the third robotic arm 23 and the nut of the surge arrester to be replaced.

[0059] See Figure 1 and Figure 2Optionally, based on the technical solution of the above embodiments, the first position detection unit 10 includes a first laser rangefinder 101, a first level tester 102, and a first camera 103; the second position detection unit 11 includes a second laser rangefinder 111, a second level tester 112, and a second camera 113; the third position detection unit 12 includes a third laser rangefinder 121, a third level tester 122, and a third camera 123; the first laser rangefinder 101, the first level tester 102, and the first camera 103 are disposed in the first... On the robotic arm 21; a second laser rangefinder 111, a second level tester 112, and a second camera 113 are mounted on the second robotic arm 22; a third laser rangefinder 121, a third level tester 122, and a third camera 123 are mounted on the third robotic arm 23; the first laser rangefinder 101 is used to measure the first distance between the first robotic arm 21 and the lead wire of the surge arrester to be replaced, the second distance between the first robotic arm 21 and other surge arresters, and the third distance between the first robotic arm 21 and the equipment surrounding the surge arrester to be replaced; the second laser rangefinder 111 is used to measure... The system measures the fourth distance between the second robotic arm 22 and the surge arrester to be replaced, the fifth distance between the second robotic arm 22 and other surge arresters, and the sixth distance between the second robotic arm 22 and the equipment surrounding the surge arrester to be replaced; the third laser rangefinder 121 measures the seventh distance between the third robotic arm 23 and the nut of the surge arrester to be replaced, the eighth distance between the third robotic arm 23 and other surge arresters, and the ninth distance between the third robotic arm 23 and the equipment surrounding the surge arrester to be replaced; the first level tester 102, the second level tester 112, and the third laser rangefinder 121 emit laser beams; the first camera 103 captures a first position image of the laser beam emitted by the first level tester illuminating the lead wire of the surge arrester to be replaced, and sends the first position image to the controller; the second camera 113 captures a second position image of the laser beam emitted by the second level tester illuminating the surge arrester to be replaced, and sends the second position image to the controller; the third camera 123 captures a third position image of the laser beam emitted by the second level tester illuminating the nut of the surge arrester to be replaced, and sends the third position image to the controller.

[0060] The first laser rangefinder 101, the second laser rangefinder 111, and the third laser rangefinder 121 can also be other types of rangefinders; for example, they can also be infrared rangefinders. The first laser rangefinder 101, the second laser rangefinder 111, and the third laser rangefinder 121 primarily measure the distance between the robotic arm assembly 2 and the surge arrester to be replaced using lasers, and also measure the distance between the robotic arm assembly 2 and other surge arresters, as well as the distance between the robotic arm assembly 2 and equipment surrounding the surge arrester to be replaced. The first level tester 102, the second level tester 112, and the third level tester 122 can also be other types of testers; for example, they can also be infrared testers. The first level tester 102, the second level tester 112, and the third level tester 122 are used to perform a level test on the robotic arm assembly 2 and the surge arrester to be replaced at a designated position, so that the robotic arm assembly 2 and the surge arrester to be replaced remain aligned at the designated position.

[0061] Specifically, before replacing the surge arrester to be replaced, the first laser rangefinder 101 measures the first distance between the first robotic arm 21 and the lead wire of the surge arrester to be replaced, the second distance between the first robotic arm 21 and other surge arresters, and the third distance between the first robotic arm 21 and the equipment around the surge arrester to be replaced. The second laser rangefinder 111 measures the fourth distance between the second robotic arm 22 and the surge arrester to be replaced, the fifth distance between the second robotic arm 22 and other surge arresters, and the sixth distance between the second robotic arm 22 and the equipment around the surge arrester to be replaced. The third laser rangefinder 121 measures the seventh distance between the third robotic arm 23 and the nut of the surge arrester to be replaced, the eighth distance between the third robotic arm 23 and other surge arresters, and the ninth distance between the third robotic arm 23 and the equipment around the surge arrester to be replaced.

[0062] The controller controls the movable platform 3 to rise and move horizontally based on the first distance, second distance and third distance measured by the first laser rangefinder 101, the fourth distance, fifth distance and sixth distance measured by the second laser rangefinder 111, and the seventh distance, eighth distance and ninth distance measured by the third laser rangefinder 121, so as to adjust the position of the first robotic arm 21, the second robotic arm 22 and the third robotic arm 23.

[0063] After the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 change positions, the first camera 103 captures a first position image of the laser light emitted by the first leveling instrument 102 illuminating the lead wire of the surge arrester to be replaced, and sends the first position image to the controller; the second camera 113 captures a second position image of the laser light emitted by the second leveling instrument 112 illuminating the surge arrester to be replaced, and sends the second position image to the controller; the third camera 123 captures a position image of the laser light emitted by the third leveling instrument 122 illuminating the nut of the surge arrester to be replaced, and sends the third position image to the controller. The controller determines, based on the first position image, that the first robotic arm 21 is horizontal to the designated position of the lead wire of the surge arrester to be replaced; based on the second position image, it determines that the second robotic arm 22 is horizontal to the designated position of the surge arrester to be replaced; and based on the third position image, it determines that the third robotic arm 23 is horizontal to the designated position of the nut of the surge arrester to be replaced.

[0064] For example, at the start of the measurement, the first laser rangefinder 101, the second laser rangefinder 111, and the third laser rangefinder 121 are used to detect the distances between the first robotic arm 21 and the lead wire of the surge arrester to be replaced, the second robotic arm 22 and the surge arrester to be replaced, and the third robotic arm 23 and the nut of the surge arrester to be replaced, respectively. If the measured distances are not appropriate, the controller needs to control the movable platform 3 to adjust the horizontal displacement of the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23. After the horizontal displacement adjustment, the controller controls the movable platform 3 to rise and fall. When the movable platform 3 rises, the first horizontal tester 102 moves to the designated position of the lead wire of the surge arrester to be replaced, the second laser rangefinder 111, the third laser rangefinder 121, and the third laser rangefinder 121. The second level tester 112 emits laser beams towards the designated position of the surge arrester to be replaced, and the third level tester 122 emits laser beams towards the designated position of the nut of the surge arrester to be replaced. If the laser beam emitted by the first level tester 102 coincides with the designated position of the lead of the surge arrester to be replaced, then the first robotic arm 21 remains horizontal with the lead of the surge arrester to be replaced. If the laser beam emitted by the second level tester 112 coincides with the designated position of the surge arrester to be replaced, then the second robotic arm 22 remains horizontal with the surge arrester to be replaced. If the laser beam emitted by the third level tester 122 coincides with the designated position of the nut of the surge arrester to be replaced, then the third robotic arm 23 remains horizontal with the surge arrester to be replaced.

[0065] In this embodiment of the invention, the first robotic arm 21 is accurately measured relative to the lead wire position of the surge arrester to be replaced by a first laser rangefinder 101, a first level tester 102, and a first camera 103; the second robotic arm 22 is accurately measured relative to the lead wire position of the surge arrester to be replaced by a second laser rangefinder 111, a second level tester 112, and a second camera 113; and the third robotic arm 23 is accurately measured relative to the nut position of the surge arrester to be replaced by a third laser rangefinder 121, a third level tester 122, and a third camera 123.

[0066] See also Figure 1 and Figure 2 Optionally, based on the technical solution of the above embodiments, the controller is further configured to control the first laser rangefinder 101 to remeasure the first distance, the second distance, and the third distance when it is determined that the first robotic arm 21 is not kept horizontal with the designated position of the lead of the surge arrester to be replaced; the controller is further configured to control the second laser rangefinder 111 to remeasure the fourth distance, the fifth distance, and the sixth distance when it is determined that the second robotic arm 22 is not kept horizontal with the designated position of the surge arrester to be replaced; and the controller is further configured to control the third laser rangefinder 121 to remeasure the seventh distance, the eighth distance, and the ninth distance when it is determined that the third robotic arm 23 is not kept horizontal with the designated position of the nut of the surge arrester to be replaced.

[0067] Specifically, the controller adjusts the positions of the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 based on the remeasured distance.

[0068] Optionally, based on the technical solution of the above embodiments, the first camera 103, the second camera 113 and the third camera 123 are also used to capture images of the surge arrester and send the images of the surge arrester to the controller; the controller is used to identify the model and wiring method of the surge arrester based on the images of the surge arrester, so that the staff can determine the surge arrester to be replaced.

[0069] The identification process is as follows: the controller identifies the original image of the surge arrester, converts the original image into a grayscale image, then converts the grayscale image into a black and white image, removes the boundaries of the black and white image, extracts the pixel distribution in the black and white image, then removes some interference points in the image, extracts key features from the image, matches the extracted key features with known images, then filters out images of poor quality or irrelevant images, and finally obtains a processed normal image.

[0070] Specifically, the first camera 103, the second camera 113, and the third camera 123 capture images of the surge arrester and send these images to the controller. The controller identifies the surge arrester's model and wiring method based on the images, enabling staff to determine which surge arrester needs to be replaced.

[0071] Optionally, based on the technical solution of the above embodiments, the first camera 103, the second camera 113 and the third camera 123 are also used to capture pictures of the scene around the surge arrester to be replaced, and send the pictures of the scene to the controller. The controller is used to determine the distance between the first robotic arm 21 and the surge arrester to be replaced, the distance between the second robotic arm 22 and the surge arrester to be replaced and the distance between the third robotic arm 23 and the surge arrester to be replaced according to the pictures of the scene, and control the movable platform 3 to reach a preset height; wherein, the preset height is greater than or equal to 3m and less than or equal to 5m.

[0072] Specifically, the first camera 103, the second camera 113, and the third camera 123 jointly capture images of the surrounding scene of the surge arrester to be replaced, and send these images to the controller. The controller uses these images to determine the distances between the first robotic arm 21, the second robotic arm 22, and the third robotic arm 23 of the surge arrester to be replaced, and controls the movable platform 3 to reach a preset height. This setup improves the clarity of the images of the surge arrester captured by the first camera 103, the second camera 113, and the third camera 123, making it easier for the controller to identify the model and wiring method of the surge arrester to be replaced.

[0073] Optionally, based on the above-described embodiments, the controller is also used to display the first distance, the second distance, and the third distance measured by the first laser rangefinder 101, the fourth distance, the fifth distance, and the sixth distance measured by the second laser rangefinder 111, and the seventh distance, the eighth distance, and the ninth distance measured by the third laser rangefinder 121.

[0074] Figure 3 This is a flowchart illustrating a method for autonomously replacing a surge arrester according to an embodiment of the present invention. Figure 3 As shown in the figure, this embodiment of the invention also provides a method for autonomously replacing surge arresters, which specifically includes the following steps:

[0075] S110. Take pictures of all models of surge arresters currently in operation on site using cameras, and input the images into the system platform using image recognition methods.

[0076] S120. The different wiring methods of the surge arresters installed on site are captured by a camera, and the images are entered into the system platform using image recognition.

[0077] S130. Design three independently movable robotic arms according to the work requirements for replacing surge arresters.

[0078] S140. Start using the first robotic arm, second robotic arm and third robotic arm to simulate the disassembly and installation steps of surge arresters at different angles, and record the data into the system platform.

[0079] Specifically, the first robotic arm clamps the lead wire to prevent it from falling; the second robotic arm clamps the skirt of the surge arrester body to prevent it from falling from a height; the third robotic arm begins to remove the first nut on the upper end of the surge arrester's lead wire and simultaneously removes the second nut on the lower end; after the first robotic arm moves the surge arrester's lead wire a certain safe distance, the second robotic arm removes the surge arrester body and places it on its own body, then places a new, spare surge arrester into the hole according to its fixing position; the third robotic arm tightens the nut on the lower end of the surge arrester, fixing it according to the set number of turns; the first robotic arm automatically identifies the position and returns the upper end of the lead wire to its designated position on the surge arrester; the third robotic arm fixes the first nut on the upper end of the surge arrester according to the set direction and number of turns, completing the fixing work. S150. After completing the above work, set a relatively large weight for the robotic arm base and match movable platforms to the first, second, and third robotic arms. The movable platforms can adjust their height and change positions reasonably according to the set installation position of the surge arrester.

[0080] S160. After debugging, the first, second, and third robotic arms are transported to the scene where the surge arrester needs to be replaced. The first, second, and third cameras capture a panoramic view, and the captured images are then transmitted to the system platform. Based on the images recognized by the system platform, the staff selects the surge arrester to be replaced.

[0081] S170 After selection, the first, second, and third robotic arms, carrying laser rangefinders and level testing instruments, replace the surge arresters according to the procedures practiced in S140.

[0082] S180. When the staff issues the instruction, the first robotic arm, the second robotic arm, and the third robotic arm will operate step by step according to the demonstrated steps to complete the replacement of the surge arrester.

[0083] The issued instructions must be executed strictly in the prescribed sequence. In addition, staff can pause the replacement of the first, second, and third robotic arms at any time, or manually intervene in the replacement process using the first, second, and third cameras carried on the robotic arms.

[0084] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0085] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A system for autonomously replacing surge arresters, characterized in that, include: At least one position detection module, a movable platform, a robotic arm assembly, and a controller; The position detection module is located on the robotic arm assembly and is electrically connected to the controller. The position detection module is used to measure the distance between the robotic arm assembly and the surge arrester to be replaced, the distance between the robotic arm assembly and other surge arresters, and the distance between the robotic arm assembly and equipment surrounding the surge arrester to be replaced. The robotic arm assembly is fixedly mounted on the movable platform, and the movable platform is used to adjust the position of the robotic arm assembly. The controller is used to control the movable platform to adjust the position of the robotic arm assembly based on the distance between the robotic arm assembly and the surge arrester to be replaced, the distance between the robotic arm assembly and other surge arresters, and the distance between the robotic arm assembly and the surrounding equipment of the surge arrester to be replaced, as measured by the position detection module, so that the robotic arm assembly changes position; the controller is also used to control the robotic arm assembly to replace the surge arrester to be replaced when the robotic arm assembly changes position. The robotic arm assembly includes a first robotic arm, a second robotic arm, a third robotic arm, and a robotic arm base; the position detection module includes a first position detection unit, a second position detection unit, and a third position detection unit. The first position detection unit is disposed on the first robotic arm; the second position detection unit is disposed on the second robotic arm; the third position detection unit is disposed on the third robotic arm; the first position detection unit is used to measure a first distance between the first robotic arm and the lead wire of the surge arrester to be replaced, a second distance between the first robotic arm and other surge arresters, and a third distance between the first robotic arm and the equipment surrounding the surge arrester to be replaced; the second position detection unit is used to measure a fourth distance between the second robotic arm and the surge arrester to be replaced, a fifth distance between the second robotic arm and other surge arresters, and a sixth distance between the second robotic arm and the equipment surrounding the surge arrester to be replaced; the third position detection unit is used to measure a seventh distance between the third robotic arm and the nut of the surge arrester to be replaced, an eighth distance between the third robotic arm and other surge arresters, and a ninth distance between the third robotic arm and the equipment surrounding the surge arrester to be replaced; The controller controls the movable platform to rise, fall, and translate based on the first distance, second distance, and third distance measured by the first position detection unit, the fourth distance, fifth distance, and sixth distance measured by the second position detection unit, and the seventh distance, eighth distance, and ninth distance measured by the third position detection unit.

2. The system for autonomously replacing surge arresters according to claim 1, characterized in that, The first, second, and third robotic arms are all located on the robotic arm base, and are fixedly connected to the robotic arm base; the first, second, and third robotic arms are all electrically connected to the controller; the robotic arm base is fixed to the movable platform. The first robotic arm is used to fix the lead wire of the surge arrester to be replaced; the second robotic arm is used to fix and replace the surge arrester to be replaced; the third robotic arm is used to remove and fix the nut of the surge arrester to be replaced. The controller is used to control the first robotic arm, the second robotic arm and the third robotic arm to replace the surge arrester to be replaced; Among them, the first robotic arm, the second robotic arm, and the third robotic arm are all hydraulic telescopic robotic arms.

3. The system for autonomously replacing surge arresters according to claim 2, characterized in that, The controller is used to control the first robotic arm to fix the lead wire of the surge arrester to be replaced, and to control the second robotic arm to fix the surge arrester to be replaced; after controlling the first robotic arm to fix the lead wire of the surge arrester to be replaced and controlling the second robotic arm to fix the surge arrester to be replaced, the controller is also used to control the third robotic arm to simultaneously remove the first nut and the second nut of the surge arrester to be replaced. The controller is used to control the second robotic arm to replace the surge arrester to be replaced, and to control the third robotic arm to fix the first nut of the replaced surge arrester; the controller is used to control the first robotic arm to fix the lead wire of the replaced surge arrester after controlling the third robotic arm to fix the first nut of the replaced surge arrester; the controller is used to control the third robotic arm to fix the second nut of the replaced surge arrester.

4. The system for autonomously replacing surge arresters according to claim 1, characterized in that, The weights of the first robotic arm, the second robotic arm, and the third robotic arm are all less than the weight of the robotic arm base.

5. The system for autonomously replacing surge arresters according to claim 1, characterized in that, The first position detection unit is also used to emit laser light to the lead of the surge arrester to be replaced and detect the position of the laser light illuminating the lead of the surge arrester to be replaced; the controller is used to determine whether the first robotic arm is kept horizontal to the designated position of the lead of the surge arrester to be replaced based on the position of the laser light illuminating the lead of the surge arrester to be replaced detected by the first position detection unit. The second position detection unit is also used to emit a laser beam to the surge arrester to be replaced and detect the position where the laser beam hits the surge arrester to be replaced; the controller is used to determine whether the second robotic arm is kept horizontal with the designated position of the surge arrester to be replaced based on the position where the laser beam hits the surge arrester to be replaced detected by the second position detection unit. The third position detection unit is also used to emit laser light to the nut of the surge arrester to be replaced, and detect the position of the laser light illuminating the nut of the surge arrester to be replaced; the controller is used to determine whether the third robotic arm is level with the nut of the surge arrester to be replaced based on the position of the laser light illuminating the nut of the surge arrester to be replaced detected by the third position detection unit.

6. The system for autonomously replacing surge arresters according to claim 5, characterized in that, The first position detection unit includes a first laser rangefinder, a first leveling device, and a first camera; the second position detection unit includes a second laser rangefinder, a second leveling device, and a second camera; the third position detection unit includes a third laser rangefinder, a third leveling device, and a third camera; the first laser rangefinder, the first leveling device, and the first camera are mounted on the first robotic arm; the second laser rangefinder, the second leveling device, and the second camera are mounted on the second robotic arm; the third laser rangefinder, the third leveling device, and the third camera are mounted on the third robotic arm. The first laser rangefinder is used to measure the first distance between the first robotic arm and the lead wire of the surge arrester to be replaced, the second distance between the first robotic arm and other surge arresters, and the third distance between the first robotic arm and the equipment surrounding the surge arrester to be replaced; the second laser rangefinder is used to measure the fourth distance between the second robotic arm and the surge arrester to be replaced, the fifth distance between the second robotic arm and other surge arresters, and the sixth distance between the second robotic arm and the equipment surrounding the surge arrester to be replaced; the third laser rangefinder is used to measure the seventh distance between the third robotic arm and the nut of the surge arrester to be replaced, the eighth distance between the third robotic arm and other surge arresters, and the ninth distance between the third robotic arm and the equipment surrounding the surge arrester to be replaced; The first leveling instrument, the second leveling instrument, and the third laser rangefinder are used to emit laser beams; the first camera is used to capture a first position image of the laser beam emitted by the first leveling instrument illuminating the lead wire of the surge arrester to be replaced, and send the first position image to the controller; the second camera is used to capture a second position image of the laser beam emitted by the second leveling instrument illuminating the surge arrester to be replaced, and send the second position image to the controller; the third camera is used to capture a third position image of the laser beam emitted by the third leveling instrument illuminating the nut of the surge arrester to be replaced, and send the third position image to the controller.

7. The system for autonomously replacing surge arresters according to claim 6, characterized in that, The controller is further configured to, when determining that the first robotic arm is not level with the designated position of the lead of the surge arrester to be replaced, control the first laser rangefinder to remeasure the first distance, the second distance, and the third distance; the controller is further configured to, when determining that the second robotic arm is not level with the designated position of the surge arrester to be replaced, control the second laser rangefinder to remeasure the fourth distance, the fifth distance, and the sixth distance; the controller is further configured to, when determining that the third robotic arm is not level with the designated position of the nut of the surge arrester to be replaced, control the third laser rangefinder to remeasure the seventh distance, the eighth distance, and the ninth distance.

8. The system for autonomously replacing surge arresters according to claim 6, characterized in that, The first, second, and third cameras are also used to capture images of the surge arrester and send the images of the surge arrester to the controller; the controller is used to identify the model and wiring method of the surge arrester based on the images of the surge arrester, so that the staff can determine the surge arrester to be replaced. The first camera, the second camera, and the third camera are also used to capture images of the scene around the surge arrester to be replaced, and send the images of the scene to the controller. The controller is used to determine the distance between the first robotic arm and the surge arrester to be replaced, the distance between the second robotic arm and the surge arrester to be replaced, and the distance between the third robotic arm and the surge arrester to be replaced based on the images of the scene, and control the movable platform to reach a preset height. The preset height is greater than or equal to 3m and less than or equal to 5m.

9. The system for autonomously replacing surge arresters according to claim 6, characterized in that, The controller is also configured to display the first distance, the second distance, and the third distance measured by the first laser rangefinder, the fourth distance, the fifth distance, and the sixth distance measured by the second laser rangefinder, and the seventh distance, the eighth distance, and the ninth distance measured by the third laser rangefinder.

Images