Transformer oil sample collection robot system and method based on multi-degree-of-freedom robotic arm

Abstract

The present invention belongs to the technical field of electric power robots. A transformer oil sample collection robot system and method based on a multi-degree-of-freedom robotic arm is provided, including: a robot body is equipped with a work tool integrated board and a multi-degree-of-freedom robotic arm, the work tool integrated board is used to carry an oil throttle valve tool and an oil collection docking tool; the oil collection tank includes a swing door and a rotary door valve connected to the swing door, and a plurality of through holes are arranged on the swing door, and the through holes are used to be opposite to the oil outlet valve and the oil outlet when the swing door is rotated to a set position; the oil throttle valve tool is used to operate the rotary door valve and the oil outlet valve to open the oil circuit under the drive of the multi-degree-of-freedom robotic arm, and the oil collection docking tool is used to connect with the oil outlet under the drive of the multi-degree-of-freedom robotic arm; the present invention can perform transformer oil sample collection operations with the help of a robot without the need for human approach, saving labor and improving operation quality, operation efficiency and operation safety.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power robots, and in particular to a transformer oil sample collection robot system and method based on a multi-degree-of-freedom mechanical arm. Background Art

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

[0003] Transformer oil, as an insulating medium, provides good insulation between the windings of the power transformer and between the windings and the iron core and the casing. At the same time, transformer oil is also a heat dissipation medium, transferring the heat of the iron core and windings to the environment through heat exchange. Transformer oil is a hydrocarbon composed of chemical bonds with different bond energies. Under normal operating conditions, transformer oil and solid insulating materials are affected by electricity, heat, moisture and oxygen, and slowly age over time, producing a small amount of hydrogen and low molecular hydrocarbon gases during the aging process. When the transformer is operating in a fault state, the oil temperature around the fault point rises, the chemical bonds of the transformer oil break, and a variety of characteristic gases are formed. As the fault develops, the characteristic gases generated continue to diffuse in the oil. Therefore, analyzing the dissolved gases in the oil can effectively detect faults inside the transformer and track the development of the fault. Therefore, oil-filled equipment such as transformers and reactors in substations need to take oil regularly for oiling tests during daily operation and maintenance. At present, manual offline detection is still the main method for transformer fault diagnosis.

[0004] Manual offline testing has the following problems: (1) It is difficult to ensure personal safety during the oil sample collection process. When the transformer / reactor encounters abnormal working conditions or fails, according to the operation and maintenance procedures, it is necessary to urgently collect oil samples for testing. Since the equipment may explode in a faulty state, it seriously threatens the personal safety of the oil collection workers; (2) The quality of oil sample collection is greatly affected by the operating level of the personnel. According to the requirements of GB / T 7252 and GB / T 7597, there are many operating steps for transformer oil sample collection. In addition, due to the high oil pressure at the oil collection port, the oil is easy to spray out after the oil outlet valve is opened. The collection process and the oil sample transfer process need to be strictly sealed, so the operating level of the oil sample collection personnel is required to be high; (3) The efficiency of oil sample collection is low. The traditional oil collection method is to manually operate the oil discharge outlet valve or sampling outlet valve at the bottom of the oil tank of the oil filling equipment, which requires two people to complete. In addition, the operation of the traditional mechanical oil outlet valve is cumbersome, and the operation and maintenance personnel need to stay near the oil filling equipment for a long time, which is inefficient. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a transformer oil sample collection robot system and method based on a multi-degree-of-freedom robotic arm, which can perform transformer oil sample collection operations with the help of the robot without the need for human proximity, thereby saving labor, improving operation quality and efficiency, and ensuring the safety of operators.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm.

[0008] A transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm comprises: an oil tank and a robot body, the robot body is equipped with a working tool integrated board and a multi-degree-of-freedom robotic arm, the working tool integrated board is used to carry an oil throttle valve tool and an oil docking tool;

[0009] The oil extraction box comprises a swing door and a swing door valve connected to the swing door, wherein the swing door is provided with a plurality of through holes, and the through holes are used to be opposite to the oil outlet valve and the oil outlet when the swing door is rotated to a set position;

[0010] The oil extraction gate valve tool is used to rotate the rotary gate valve and the oil outlet valve to open the oil circuit under the drive of the multi-degree-of-freedom robotic arm, and the oil extraction docking tool is used to connect with the oil outlet under the drive of the multi-degree-of-freedom robotic arm.

[0011] As a further limitation of the first aspect of the present invention, the rotary door valve, the oil outlet valve and the oil outlet are connected to a flat plate, a water seal is installed between the swing door and the flat plate, and a sealing ring is installed at the opening of the through hole.

[0012] As a further limitation of the first aspect of the present invention, the end of the oil valve removal tool is aligned with the notch on the rotary door valve and rotated, driving the rotary door valve and the swing door to rotate synchronously around the central axis. After rotating clockwise or counterclockwise at a set angle, the oil outlet valve and the oil outlet are aligned with the through hole on the swing door, so that the oil outlet valve and the oil outlet are exposed.

[0013] Align the end of the throttle valve removal tool with the oil outlet valve and twist it to open the oil circuit. Align the oil removal and docking tool with the oil outlet to dock the oil circuit.

[0014] As a further limitation of the first aspect of the present invention, the oil outlet pipeline of the oil extraction tank is connected to an artificial oil extraction port and an artificial oil extraction outlet valve.

[0015] As a further limitation of the first aspect of the present invention, the robot body also includes a four-wheel drive chassis and a multi-degree-of-freedom robotic arm distributed on the four-wheel drive chassis, a depth camera, a laser radar, an oil storage needle valve assembly and an oil sample detection device fixed on the multi-degree-of-freedom robotic arm, and the working tool integrated panel is fixed on the four-wheel drive chassis.

[0016] As a further limitation of the first aspect of the present invention, the oil sample detection device includes an air source purification pipe assembly, a standard gas bottle assembly, a nitrogen bottle assembly, an air source module assembly, an oil sample analyzer and a waste oil collection assembly;

[0017] The oil sample is filtered through the gas source purification tube assembly. At this time, the gas source module assembly controls the gas of the standard gas bottle assembly and the gas of the nitrogen bottle assembly to flow into the gas source purification tube assembly to react with the oil sample. The filtered oil sample is input into the oil sample analyzer for detection, and the detected oil sample is sent to the waste oil collection assembly.

[0018] As a further limitation of the first aspect of the present invention, the oil storage needle tube valve assembly includes: an oil storage needle tube, a ferrule, a fixed slot, a claw, a push-pull assembly, a vertical connecting plate bracket, an oil circuit control valve assembly, and a limit assembly;

[0019] The oil storage needle tube is arranged vertically, the outer tube of the oil storage needle tube is fixed on the vertical connecting plate bracket through the upper clamping sleeve and the middle fixed clamping groove, the inner handle of the oil storage needle tube is connected to the push-pull assembly through the lower clamping claw, and the linear motion of the push-pull assembly drives the oil storage needle tube to do piston motion to extract or drain the oil sample;

[0020] A limit assembly is installed on the push-pull assembly to detect whether the push-pull stroke is in place. The oil circuit control valve assembly is installed above the oil storage needle tube to control the opening and closing of the oil circuit and the flow direction to realize the oil sample extraction or emptying process.

[0021] As a further limitation of the first aspect of the present invention, the working tool integrated plate includes a plurality of interchangeable quick-release sockets for supporting and fixing working tools, and the base of the multi-degree-of-freedom robotic arm is mounted on the working tool integrated plate.

[0022] As a further limitation of the first aspect of the present invention, the oil extraction gate valve tool comprises: a transition connector, a gate valve tool housing, a flexible module, a support outer cylinder, a gate valve tool end, a gate valve tool motor, a gate valve tool interface plate and a plunger;

[0023] One side of the transition connector is connected to the end of the multi-degree-of-freedom mechanical arm during operation, and the other side of the transition connector is connected to the gate valve tool housing, and the gate valve tool motor and the gate valve tool interface board are fixed inside the gate valve tool housing;

[0024] The motor output shaft of the gate valve tool is connected to one end of the flexible module, and the other end of the flexible module is connected to the supporting outer cylinder. The end of the gate valve tool is inserted into the inner side of the supporting outer cylinder, and the plunger is sleeved on the outer wall of the end of the gate valve tool to push the end of the gate valve tool outward.

[0025] There is an inner boss at the opening of the supporting outer cylinder, and an outer boss on one side of the end of the gate valve tool inserted into the supporting outer cylinder. The two bosses are buckled to ensure that the end of the gate valve tool does not fall out. The end of the gate valve tool rotates under the action of the gate valve tool motor and can move linearly inside the supporting outer cylinder under the action of external force.

[0026] As a further limitation of the first aspect of the present invention, the plunger is rubber, which is always in contact with the inner wall and boss of the supporting outer tube and the outer wall and boss of the end of the valve tool, and is used to reduce friction and lubricate when the end of the valve tool moves linearly.

[0027] As a further limitation of the first aspect of the present invention, the oil extraction docking tool comprises: a spherical bearing mounting seat, a spherical bearing retaining ring, an adjustment shaft, a flexible spring and a spherical bearing;

[0028] The inner and outer rings of the spherical bearing can rotate relative to each other arbitrarily within the set angle range. The adjusting shaft passes through the inner ring of the spherical bearing, and the shoulder of the adjusting shaft is pressed tightly against the end face of the spherical bearing. The spherical bearing retaining ring is coaxially fixed on the spherical bearing mounting seat. After the fixation is completed, the outer ring of the spherical bearing is pressed against the spherical bearing mounting seat by the spherical bearing retaining ring, and the flexible spring is installed in the annular space formed between the spherical bearing retaining ring and the adjusting shaft.

[0029] As a further limitation of the first aspect of the present invention, the oil extraction docking tool further includes: a support arm, a joint connector, a protective cover, a mechanical arm connector, a circuit board and a protective top cover;

[0030] One end of the support arm is connected to the mechanical arm connecting piece, and the other end of the support arm is connected to the joint bearing mounting seat. The circuit board is installed on the mechanical arm connecting piece. The protective cover and the protective top cover are used to protect the circuit board. The protective cover is fixed on the mechanical arm connecting piece, and the protective top cover is fixed on the protective cover.

[0031] As a further limitation of the first aspect of the present invention, the oil extraction docking tool further includes an unlocking mechanism, which includes: a screw motor, a motor pressure plate, a right clamping block, a screw shaft seat, a rear clamping claw, a hydraulic joint clamp, a front clamping claw, a left clamping block, and a hydraulic joint body;

[0032] The right clamping block and the left clamping block are connected with screws to clamp the main body of the hydraulic joint. The left and right sides of the motor body of the screw motor are clamped by the right clamping block and the left clamping block. The upper part of the motor body of the screw motor is pressed by the motor pressing plate.

[0033] The rear clamping claw and the front clamping claw are connected with screws to clamp the hydraulic joint clamping hoop, the screw shaft of the screw motor is connected to the screw shaft seat, and the hydraulic joint clamping hoop is driven to move forward and backward through the screw shaft seat, the rear clamping claw and the front clamping claw to achieve locking and unlocking.

[0034] As a further limitation of the first aspect of the present invention, the collection robot system further includes: an autonomous operation master controller, a robot host computer control system, a navigation and positioning system, a mobile platform control system, a power management system, and an oil sample collection and detection control system arranged on the robot chassis;

[0035] The power management system is connected to the power supply battery of the robot body, and the oil sample collection detection control system is respectively connected to the telescopic mechanism and the grasping mechanism to perform telescopic and grasping control.

[0036] As a further limitation of the first aspect of the present invention, the navigation and positioning system includes a navigation controller, the autonomous operation master controller is respectively connected to the robot host computer control system and the mobile platform control system, the mobile platform control system includes a motion controller, a drive motor driver, a drive motor, a steering motor driver and a steering motor, the motion controller is connected to the navigation controller, the motion controller is connected to the drive motor driver, the drive motor driver is connected to the drive motor, the motion controller is connected to the steering motor driver, the steering motor driver is connected to the steering motor, and the drive motor and the steering motor are both connected to the wheel-leg assembly;

[0037] The robotic arm control system includes a robotic arm controller and a force sensor. The robotic arm controller receives commands from the autonomous operation general controller, controls the robotic arm to perform the oil sample collection task, and receives point cloud information of the external environment collected by the depth camera, identifies the switch position of the swing door and the switch position of the oil extraction port, opens the swing door and the oil outlet valve through the oil extraction valve tool and the oil extraction docking tool carried by the end of the multi-degree-of-freedom robotic arm, collects the force at the end of the multi-degree-of-freedom robotic arm during the docking process of the oil extraction port through the force sensor, adjusts the posture of the multi-degree-of-freedom robotic arm in real time, flexibly docks the oil extraction port, and opens the oil circuit.

[0038] As a further limitation of the first aspect of the present invention, the power management system includes a voltage conversion module and a charging management module. The voltage conversion module converts the power of the mobile platform into a set voltage value to power the corresponding power-applying equipment. The charging management module monitors the current power in real time, issues an alarm message when the power is lower than a first set threshold, stops the current task when the power is lower than a second set threshold, autonomously goes to the charging pile location for charging, and after the battery is fully charged, leaves the charging pile and resumes task execution;

[0039] The navigation and positioning system includes lidar, inertial measurement unit, depth camera and positioning unit. The lidar and depth camera collect external environment information. The inertial measurement unit obtains the posture information and acceleration information of the robot body, and cooperates with the positioning system to provide accurate positioning information. The navigation controller receives the external environment information, posture information, acceleration information and positioning information, constructs an external environment map, and performs navigation and positioning of the robot body.

[0040] In a second aspect, the present invention provides a method for real-time detection and analysis of transformer oil sample purification and filtration, using the transformer oil sample collection robot system based on a multi-degree-of-freedom manipulator as described in the first aspect of the present invention, comprising the following process:

[0041] After the oil extraction line is opened, the oil sample is filtered through the gas source purification pipe assembly. At this time, the gas source module assembly controls the gas of the standard gas cylinder assembly and the gas of the nitrogen cylinder assembly to flow into the gas source purification pipe assembly to react with the oil sample;

[0042] The filtered oil sample is input into the oil sample analyzer for detection, and the detection result is sent to the host computer in real time or at a fixed time. The detected oil sample is sent to the waste oil collection component, and the sending to the host computer adopts wireless or wired transmission.

[0043] In a third aspect, the present invention provides a key landmark-assisted precise navigation and positioning method for a transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm, which is used in the transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm described in the first aspect of the present invention, and includes the following process:

[0044] Before the first operation, use the mapping instructions in the background system to control the robot body to move around in the working environment. The navigation and positioning system will automatically generate a navigation map, mark the oil extraction operation points and generate an operation map. During the mapping process, the position of the cable trench cover is visually identified and the position information is recorded.

[0045] When performing the oil extraction task, select the corresponding operation map and the oil sample collection task to be performed. The robot body automatically locates the current position, autonomously plans the global path according to the operation target position, and generates the local path in real time according to the road condition information during the journey. The global path is adjusted in real time through the local path until it reaches the oil extraction operation position.

[0046] When generating the global path planning, weights are added to make the path with the largest cable trench cover coverage the optimal path, and when generating the local path, the cable trench cover path is selected as the local optimal path, so that the robot body can walk along the cable trench cover as much as possible during the navigation process.

[0047] As a further limitation of the third aspect of the present invention, the identification of the rotary gate valve and the oil extraction docking tool includes the following process:

[0048] The QR code image is captured by a camera, the QR code is decoded and its position information is obtained, and the relative positions of the rotary gate valve and the oil extraction docking tool are calculated according to the known relative positions and the camera position, and positions A1 and B1 are obtained respectively;

[0049] The trained deep learning model is used to detect and identify the positions of the rotary gate valve and the oil extraction docking tool, and position A2 and position B2 are obtained respectively;

[0050] The weighted average of position A1, position B1, position A2 and position B2 is performed to obtain the final high-precision positioning position A3 and position B3;

[0051] Mapping from 2D space to 3D space, using the data from the depth camera to map the position A3 and position B3 of the rotary gate valve and the oil extraction docking tool in the 2D position detection into the 3D space;

[0052] The PnP algorithm is used to estimate the posture of the rotary gate valve and the oil extraction docking tool in the 3D space, obtain the posture of the rotary gate valve and the oil extraction docking tool, and finally obtain the precise position and posture information of the rotary gate valve and the oil extraction docking tool.

[0053] In a fourth aspect, the present invention provides a fault self-check and remote auxiliary repair method for a transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm, which is used for the transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm described in the first aspect of the present invention, and performs self-checks of a power management system, an autonomous operation master controller, a robot host computer control system, a navigation and positioning system, a mobile platform control system, and an oil sample collection and detection control system;

[0054] The robot host control system sends all self-inspection results to the cloud server, so that the cloud server generates auxiliary repair strategies based on all self-inspection results and sends them to the robot host control system. The robot host control system automatically repairs or sends them to maintenance personnel based on the received auxiliary repair strategies.

[0055] As a further limitation of the fourth aspect of the present invention, the power management system self-check includes: after the robot body is powered on, the power indicator light is on, indicating that the power is on, and the power management system inside the robot body checks the status of the battery pack, including whether the battery power, voltage and temperature are within a normal range;

[0056] The self-check of the autonomous operation master controller includes: automatically running the boot loader after the autonomous operation master controller is powered on, the boot loader checking whether the serial port, network port and USB port of the operation master controller are working normally, and issuing an error alarm if there is an abnormality, and if the check is normal, starting to check whether there is a new version of the code in the download area that has not been updated, and if there is, first copying the new version of the code from the download area to the APP area, and then starting to boot the application in the APP area, and if there is no new version of the code, directly starting to boot the application in the APP area;

[0057] The robot host computer control system self-check includes: after the host computer control system is powered on, it first reads the version information of the host computer software and compares it with the internally stored compatible version list. If there is a new version, it will apply the update; then, it starts to check the network connection between the host computer control system and the autonomous operation master controller. If the network connection fails, an error alarm will be issued; after the connection is normal, it starts to read the relevant configuration parameters of the autonomous operation master controller and display them on the screen to verify whether the relevant configuration parameters meet the current operation requirements. If not, an error alarm will be issued to prompt the operator to check and reset;

[0058] The navigation and positioning system self-check includes: after the navigation and positioning system is powered on, it first checks whether the hardware of the positioning unit, inertial measurement unit, and laser radar are normal. If there is any hardware abnormality, a corresponding error alarm is issued, and at the same time, it is confirmed whether the positioning unit, inertial measurement unit, and laser radar have been correctly initialized and are in working condition; then, it starts power-on repositioning and positioning accuracy calibration, and evaluates the accuracy of the positioning unit by comparing the difference between the actual position and the expected position; for the inertial measurement unit, zero bias calibration and gyroscope drift test are performed to determine whether the use accuracy is met, and if not, an alarm message is issued;

[0059] The mobile platform control system self-check includes: after the mobile platform control system is powered on, check the drive motor driver, drive motor, steering motor driver and steering motor one by one to confirm that the communication is normal and there is no fault alarm. If there is an error, issue a corresponding alarm;

[0060] After the robot control system is started, the self-check program is automatically triggered. The self-check program starts to check whether the servo motors, servo drivers and force sensors of the six axes are working properly. If there is an abnormality, an alarm message will be issued, and then the current position and posture of the robot will be calculated to determine whether the robot's startup position and posture are in an over-limit state. If an error or fault is found during the self-check process, the control system will prompt the corresponding error code or information;

[0061] The oil sample collection detection control system self-test includes: after the oil sample collection detection control system is powered on, it first resets the various syringes on the robot body, detects the photoelectric detection switches of each syringe drive module during resetting, stops resetting when there is a signal output, and reads the encoder value of each syringe drive motor as the zero point of the syringe movement. During the resetting process, the output torque of each syringe drive motor is continuously detected. When the alarm threshold is reached, the movement of the syringe drive motor is stopped immediately, and an alarm message is issued to indicate that the syringe reset is abnormal.

[0062] In a fifth aspect, the present invention provides a multi-degree-of-freedom robotic arm end-embodied perception precise docking method, which is used in the transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm described in the first aspect of the present invention, and includes the following processes:

[0063] After the robot body reaches the preset position in front of the oil tank, the multi-degree-of-freedom robotic arm is controlled to remove the oil throttle valve tool on the robot body, and the rotary valve is identified and docked through the depth camera. The oil throttle valve tool is inserted into the rotary valve, and after rotating the preset angle, the oil outlet and the oil outlet valve are exposed.

[0064] Insert the throttle valve removal tool into the oil outlet valve, rotate it to a preset angle, and the oil circuit opens to reach the oil outlet. Take the oil removal docking tool on the robot body and insert it into the end nozzle of the oil outlet to achieve oil removal docking.

[0065] Control the oil storage needle valve assembly of the robot body to extract oil samples, collect the required number of oil samples in sequence, and store them in the oil storage needle of the oil storage needle valve assembly;

[0066] After the oil sample is collected, the oil storage needle valve assembly is controlled to push the oil sample into the oil sample detection device for detection, and a detection data report is automatically generated.

[0067] As a further limitation of the fifth aspect of the present invention, before controlling the multi-degree-of-freedom mechanical arm to remove the throttle valve removal tool on the robot body, the following process is also included:

[0068] Perform 3D scanning on the scene to generate point cloud data, and build a 3D model of the throttle valve removal tool and the surrounding environment through depth information;

[0069] The generated 3D point cloud is input into GraspNet, which detects multiple candidate alignment points suitable for alignment according to the shapes and physical properties of objects in the scene. GraspNet generates an alignment pose for each candidate alignment point during processing, and the alignment pose includes position, alignment direction and gripper opening angle;

[0070] Filter the alignment posture and select the most suitable grasping point from the candidate alignment points output by GraspNet. The screening conditions include: the grasping point is located at the key interface position of the rotary gate valve, the alignment posture meets the physical limitations of the end of the throttle valve removal tool, and the score of the grasping point meets the preset threshold;

[0071] Optimize the alignment posture, introduce task-related geometric features, combine the interface position, surface morphology and rotation direction of the rotary gate valve, increase the weight of the physical characteristics of the rotary gate valve through additional geometric analysis, and optimize the selection of the grasping point;

[0072] According to the optimized alignment posture, the movement of the end effector is controlled to move the end of the throttle valve removal tool to the optimized grasping point to perform the operation.

[0073] Compared with the prior art, the present invention has the following beneficial effects:

[0074] 1. The present invention innovatively proposes a key landmark-assisted precise navigation and positioning method for a transformer oil sample collection robot, adopts an auxiliary QR code and autonomous recognition fusion positioning solution, and synchronously obtains the operating scene environment information, robot body posture information, acceleration information and positioning information through a navigation controller, lidar, inertial measurement unit, depth camera and positioning system, completes the construction of the external environment map and optimizes the moving path in real time, realizes the accurate positioning of the robot, and improves the reliability and stability of the robot in the complex environment of the substation.

[0075] 2. The present invention innovatively proposes a precise docking method based on embodied perception at the end of the robotic arm, and develops a transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm. The GraspNet algorithm is used, which can detect the surface of objects suitable for alignment in complex scenes, and is suitable for the precise alignment and operation of the end effector (such as the end of the throttle valve tool), which improves the efficiency of docking and oil extraction; the oil extraction docking tool contains a flexible joint, which reduces the difficulty of docking; the end of the oil extraction docking tool contains a locking mechanism, which is reliable in locking during the oil extraction process, reducing oil sample waste and pollution. Compared with manual oil extraction, it increases controllability, avoids detection errors caused by manual intervention, reduces operating procedures, reduces labor costs, and improves operating efficiency.

[0076] 3. The present invention innovatively proposes a real-time detection and analysis method for transformer oil sample purification and filtration, which automates the multiple operation steps of transformer oil extraction, oil sample filtration, and oil sample detection at one time. The whole process is highly intelligent and controllable, avoiding the secondary transportation and contamination of oil samples caused by the removal of oil samples from the oil storage pipe, greatly improving the detection efficiency and detection accuracy.

[0077] 4. The present invention innovatively proposes a fault self-check and remote assisted repair method, which solves the problem that the robot may work with safety hazards in real time, realizes the self-check and iterative upgrade of the autonomous operation master controller, robot host computer control system, power management system, navigation and positioning system, mobile platform control system, robotic arm control system and oil sample collection and detection control system, and improves the safety of the robot's work.

[0078] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0080] Figure 1 The overall schematic diagram of the transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm provided by the present invention;

[0081] Figure 2 A schematic top view of a transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm provided by the present invention;

[0082] Figure 3 A schematic diagram of an oil storage needle valve assembly provided by the present invention;

[0083] Figure 4 A schematic diagram of the integrated part of the working tool provided by the present invention;

[0084] Figure 5 This is a schematic diagram of the structure of the throttle valve removal tool provided by the present invention. Figure 5 (a) is the main view of the throttle valve removal tool. Figure 5 (b) is the AA section view in the main view;

[0085] Figure 6 An overall schematic diagram of the oil extraction docking tool provided by the present invention;

[0086] Figure 7 A schematic diagram of a tool body of the oil extraction docking tool provided by the present invention;

[0087] Figure 8 A schematic diagram of the unlocking mechanism of the oil extraction docking tool provided by the present invention;

[0088] Fig. 9 This is a schematic diagram of the state of the oil tank door being opened provided by the present invention. Fig. 9 (a) is a schematic diagram with a flat plate. Fig. 9(b) is a schematic diagram without a plate;

[0089] Fig.10 This is a schematic diagram of the working state of the throttle valve removal tool provided by the present invention. Fig.10 (a) is a schematic diagram of operating a rotary gate valve. Fig.10 (b) is a schematic diagram of operating the oil delivery valve;

[0090] Fig.11 A schematic diagram of the oil extraction port docking state provided by the present invention;

[0091] Fig.12 A schematic diagram of each control system provided by the present invention;

[0092] Fig.13 A schematic diagram of a navigation and positioning system provided by the present invention;

[0093] Fig.14 A schematic diagram of a mobile platform control system provided by the present invention;

[0094] Fig.15 A schematic diagram of a robotic arm control system provided by the present invention;

[0095] Among them: 1. Take the oil tank; 2. Open the door; 201. Oil outlet valve; 202. Oil outlet; 203. Rotary gate valve; 204. Water seal; 205. Plate; 206. Sealing ring; 3. Depth camera; 4. Six-degree-of-freedom robotic arm; 5. Take the gate valve tool; 501. Transition connector; 502. Gate valve tool housing; 503. Flexible module; 504. Support outer cylinder; 505. Gate valve tool end; 506. Gate valve tool motor; 507. Gate valve tool interface board; 508. Inner shaft; 50 9. plunger; 6. oil sample detection device; 7. oil sample analysis instrument; 8. waste oil collection assembly; 9. oil storage needle tube valve assembly; 901. oil storage needle tube; 902. ferrule; 903. fixed card slot; 904. claw; 905. push-pull assembly; 906. vertical connecting plate bracket; 907. oil circuit control valve assembly; 908. limit assembly; 10. oil extraction docking tool; 101. tool body; 10101. joint bearing mounting seat; 10102. joint bearing retaining ring; 10103. adjustment shaft; 10104, support arm; 10105, protective cover; 10106, mechanical arm connector; 10107, circuit board; 10108, protective top cover; 10109, hydraulic pipe joint; 10110, flexible spring; 10111, spherical bearing; 10112, joint connector; 102, unlocking mechanism; 10201, screw motor; 10202, motor pressure plate; 10203, right clamping block; 10204, screw shaft seat; 10205, rear claw; 10206, hydraulic Compression fitting clamp; 10207, front clamping claw; 10208, left clamping block; 10209, hydraulic fitting body; 11, robot body; 12, characteristic marker; 13, standard gas bottle assembly; 14, gas source purification pipe assembly; 15, gas source module assembly; 16, operation tool integrated board; 17, laser radar; 18, operation control system; 19, quick-release connector; 20, manual oil extraction port; 2001, manual oil extraction outlet; 2002, manual oil extraction outlet valve; 21, nitrogen bottle assembly. DETAILED DESCRIPTION

[0096] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0097] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0098] As described in the background technology, according to GB / T 7597-2007 Sampling Method for Power Oil (Transformer Oil, Turbine Oil), the standard adopts manual sampling. After the catheter, three-way valve and syringe are connected in sequence, the three-way valve is rotated, and the oil is injected into the syringe by the pressure of the transformer oil itself, and the oil is rinsed 203 times. The three-way valve is rotated to isolate the equipment body from the atmosphere, the syringe is emptied, and the three-way valve is continued to be rotated to isolate it from the atmosphere. The oil flows into the syringe by its own pressure to complete the sampling. Due to the insufficient sealing of the syringe and the rotating three-way valve, the contact with the atmosphere will cause the syringe to be unable to be completely emptied, and the cleanliness of the syringe is difficult to ensure. The oil sample of the syringe will infiltrate air during transportation. These factors will cause the distortion of the obtained oil sample, and the test data cannot effectively reflect the true operating status of the transformer. At present, in the chromatographic and gas content surveys of the main transformer / reactor of the 500kV substation, a large number of samples need to be rechecked due to unqualified sampling. This not only wastes a lot of manpower and material resources, but also affects the judgment of the operating status of the transformer, causing immeasurable losses. In view of this, in this implementation, a transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm is proposed. Figure 1 and Figure 2 As shown, it includes an oil tank 1 and a robot body 11. The oil tank has an automatic oil extraction port and a manual oil extraction port 20. The oil tank 1 is connected to the oil circuit of the transformer and can realize self-circulation of the oil circuit; the robot body 11 mainly includes a four-wheel drive chassis, a six-degree-of-freedom mechanical arm 4, an oil sample detection device 6, an oil sample analysis instrument 7, a waste oil collection component 8, an oil storage needle tube valve component 9, an oil extraction throttle valve tool 5 and an oil extraction docking tool 10; the robot body 11 drives to the front of the oil tank 1 through navigation control, and extracts and collects oil samples from the oil extraction port of the oil tank 1 through the working tool at the end of the six-degree-of-freedom mechanical arm 4, stores the oil samples in the oil storage needle tube, and realizes oil sample injection, degassing, sampling and gas content detection through the oil sample detection device, and finally forms a detection data report.

[0099] More specifically, the robot body 11 mainly includes a four-wheel drive chassis and a six-degree-of-freedom robotic arm 4 distributed on the chassis, a depth camera 3 at the end of the robotic arm, a laser radar 17, a working tool integrated board 16, an oil throttle valve tool 5, an oil docking tool 10, an oil storage needle valve assembly 9 and an oil sample detection device 6.

[0100] like Figure 2 As shown, the oil sample detection device 6 includes a gas source purification pipe assembly 14, a standard gas bottle assembly 13, a nitrogen bottle assembly 21, a gas source module assembly 15, an oil sample analyzer 7, and a waste oil collection assembly 8. The components are connected through pipelines according to the gas detection requirements.

[0101] like Figure 3As shown, the oil storage needle tube valve assembly 9 includes a plurality of oil storage needle tubes 901, a sleeve 902, a fixed slot 903, a claw 904, a push-pull assembly 905, a vertical connecting plate bracket 906, an oil circuit control valve assembly 907, and a limit assembly 908. The oil storage needle tubes 901 are arranged vertically, and the outer tube of the oil storage needle tube 901 is fixed on the vertical connecting plate bracket 906 through the upper sleeve 902 and the middle fixed slot 903. The inner handle of the oil storage needle tube 901 is connected to the push-pull assembly 905 through the lower claw 904. The push-pull assembly 905 linearly moves to drive the oil storage needle tube 901 to do piston movement to achieve extraction or emptying of oil samples. The limit assembly 908 is installed on the push-pull assembly 905 to detect whether the push-pull stroke is in place. The oil circuit control valve assembly 907 is installed above the oil storage needle tube 901 to control the opening and closing of the oil circuit and the flow direction to achieve the extraction or emptying process of the oil sample.

[0102] like Figure 4 As shown, the work tool integrated board 16 has a number of replaceable quick-release sockets 19 for supporting and fixing work tools. The number of quick-release sockets 19 can be increased or decreased according to the work needs, and used for clamping and supporting work tools under different work scene requirements. The base of the six-degree-of-freedom robot arm 4 is installed on the work tool integrated board 16. The outside of the work control system 18 is an aluminum alloy frame and outer cover, and the inside is layered with industrial computers, switches, control boxes, etc., which are used to control and operate the robot arm, camera and work tools.

[0103] Figure 5 This is a schematic diagram of the throttle valve tool structure, where: Figure 5 (a) is the main view of the throttle valve removal tool. Figure 5 (b) is the AA section view in the main view.

[0104] It consists of a transition connector 501, a gate valve tool housing 502, a flexible module 503, a supporting outer cylinder 504, a gate valve tool end 505, a gate valve tool motor 506, a gate valve tool interface plate 507, an inner shaft 508, and a plunger 509. One side of the transition connector 501 is connected to the quick-change end of the end of the robot arm during operation, and the other side of the transition connector 501 is connected to the gate valve tool housing 502. The gate valve tool motor 506 and the gate valve tool interface plate 507 are fixed inside the gate valve tool housing 502; the output shaft of the gate valve tool motor 506 is connected to one end of the flexible module 503, and the other end of the flexible module 503 is connected to the supporting outer cylinder 504; the gate valve tool end 505 is inserted into the inner side of the supporting outer cylinder 504, and the plunger 509 is sleeved on the outer wall of the gate valve tool end 505, so as to push the gate valve tool end 505 toward The outer cylinder 504 is supported by a plurality of cams, and the outer cylinder 504 is supported by a plurality of cams. The cams are connected to the outer cylinder 504 by the plurality of cams. The cams are connected to the outer cylinder 504 by the plurality of cams. The cams are connected to the outer cylinder 504 by the plurality of cams. The cams are connected to the outer cylinder 504 by the plurality of cams. The cams are connected to the outer cylinder 504 by the plurality of cams.

[0105] like Figure 6 , Figure 7 and Figure 8As shown, the oil extraction docking tool 10 includes a tool body 101 and an unlocking mechanism 102. The tool body 101 includes a joint bearing mounting seat 10101, a joint bearing retaining ring 10102, an adjustment shaft 10103, a support arm 10104, a protective cover 10105, a mechanical arm connector 10106, a circuit board 10107, a protective top cover 10108, a hydraulic pipeline joint 10109 (male end), a flexible spring 10110, a joint bearing 10111 and a joint connector 10112. Among them, the inner and outer rings of the joint bearing 10111 can rotate relative to each other arbitrarily within a set angle range. The adjustment shaft 10103 passes through the inner ring of the joint bearing 10111, and the shoulder of the adjustment shaft 10103 is pressed tightly against the end face of the joint bearing 10111. The spherical bearing retaining ring 10102 is coaxially fixed on the spherical bearing mounting seat 10101. After the fixing is completed, the outer ring of the spherical bearing 10111 is also pressed on the spherical bearing mounting seat 10101 by the spherical bearing retaining ring 10102. The flexible spring 10110 is installed in the annular space formed between the spherical bearing retaining ring 10102 and the adjustment shaft 10103. One end of the support arm 10104 is connected to the mechanical arm connecting piece 10106, and the other end is connected to the spherical bearing mounting seat 10101. The circuit board 10107 is installed on the mechanical arm connecting piece 10106, and the protective cover 10105 and the protective top cover 10108 play the role of protecting the circuit board 10107. The protective cover 10105 is fixed on the mechanical arm connecting piece 10106, and the protective top cover 10108 is fixed on the protective cover 10105.

[0106] The unlocking mechanism 102 mainly includes: a screw motor 10201, a motor pressure plate 10202, a right clamping block 10203, a screw shaft seat 10204, a rear clamping claw 10205, a hydraulic joint clamp 10206, a front clamping claw 10207, a left clamping block 10208, and a hydraulic joint body 10209 (male end). The front and rear extension of the hydraulic joint clamp 10206 can realize the locking and unlocking of the hydraulic joint self-locking device. The right clamping block 10203 and the left clamping block 10208 are connected with screws to clamp the hydraulic joint body 10209 (male end). The left and right sides of the motor body of the screw motor 10201 are clamped by the right clamping block 10203 and the left clamping block 10208, and the upper part is pressed by the motor pressure plate 10202. The rear clamping claw 10205 and the front clamping claw 10207 are connected with screws to clamp the hydraulic joint clamp 10206, the screw shaft of the screw motor 10201 is connected to the screw shaft seat 10204, and the hydraulic joint clamp 10206 is driven to move forward and backward through the screw shaft seat 10204, the rear clamping claw 10205 and the front clamping claw 10207 to realize the locking and unlocking of the hydraulic joint self-locking device.

[0107] like Fig. 9 , Fig.10 and Fig.11As shown, the swing door 2 includes: an oil outlet valve 201, an oil outlet 202, a rotary gate valve 203 (for example, a rotating wheel can be used), a water seal 204, a flat plate 205 and a sealing ring 206. The rotary gate valve 203 is connected to the oil outlet valve 201 and the oil outlet 202 on the flat plate 205. The rotary gate valve 203 is connected to the swing door 2. A water seal 204 is installed between the swing door 2 and the flat plate 205. The swing door 2 is provided with a plurality of evenly distributed circular openings (i.e., through holes) and a sealing ring 206 is installed at the openings. The gate valve tool end 505 is aligned with the notch on the rotary gate valve 203 and rotates, driving the rotary gate valve 203 and the swing door 2 to rotate synchronously around the central axis. After rotating 60° clockwise or counterclockwise, the oil outlet valve 201 and the oil outlet 202 are aligned with the circular opening on the swing door 2, so that the oil outlet valve 201 and the oil outlet 202 are exposed.

[0108] Specifically, Fig. 9 (a) is a schematic diagram of a plate 205. Fig. 9 (b) is a schematic diagram without the plate 205. Fig.10 (a) is a schematic diagram of operating the rotary gate valve 203. Fig.10 (b) is a schematic diagram of operating the oil outlet valve 201 .

[0109] The end 505 of the gate valve tool is aligned with the oil outlet valve 201 and screwed to open the oil circuit, and then the oil extraction docking tool 10 is aligned with the oil outlet 202 to dock the oil circuit. When manually extracting oil through the manual oil extraction port 20, after opening the outer cover of the manual oil extraction port, the manual oil extraction oil outlet valve 2002 is screwed to open the oil circuit, and the oil sample is extracted through the manual oil extraction outlet 2001.

[0110] Optional, such as Fig.12 As shown, it also includes a robot host computer control system, an autonomous operation master controller, a power management system, a navigation and positioning system, a mobile platform control system, a robotic arm control system and an oil sample collection and detection control system.

[0111] The host computer control system includes a remote control and a background system. The user can choose to issue operation commands through the background system, and the transformer oil sample collection robot will perform tasks autonomously. The user can also choose to use a remote control, and the operator can control the transformer oil sample collection robot to perform oil sample collection tasks.

[0112] The autonomous operation master controller exchanges information with other systems through communication modules such as the network, serial port, and CAN bus. After receiving the task from the host control system, the autonomous operation master controller decomposes the task into subtasks and issues them to the corresponding system according to the operation logic, and waits for the system to feedback the execution status of the subtask. After receiving the feedback of successful execution, it executes the next subtask until the total task is completed.

[0113] The power management system includes a voltage conversion module and a charging management module. The voltage conversion module converts the 48VDC power supply of the mobile platform into 12VDC and 24VDC to power the corresponding equipment. The charging management module monitors the current power in real time. When the power is lower than 20% (i.e. the first set threshold), an alarm message is issued. When it is lower than 10% (i.e. the second set threshold), the current task is stopped and the vehicle goes to the charging pile location for charging autonomously. After the battery is fully charged, it detaches from the charging pile and resumes task execution.

[0114] Optional, such as Fig.13 As shown, the navigation and positioning system includes a navigation controller, a 3D laser radar, an inertial measurement unit (i.e., IMU), a depth camera, and a GPS (i.e., a positioning unit). The laser radar and the depth camera collect external environmental information. The inertial measurement unit obtains the posture and acceleration information of the mobile platform and cooperates with the GPS to provide accurate positioning information. The navigation controller receives the above information to build an external environment map to realize the navigation and positioning function of the transformer oil sample collection robot.

[0115] like Fig.14 As shown, the mobile platform control system includes a motion controller, a drive motor driver (including a first drive motor driver, a second drive motor driver, a third drive motor driver, and a fourth drive motor driver), a drive motor (including a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor), a steering motor driver (including a first steering motor driver, a second steering motor driver, a third steering motor driver, and a fourth steering motor driver) and a steering motor (including a first steering motor, a second steering motor, a third steering motor, and a fourth steering motor), which are monitored by an incremental encoder and an absolute encoder. The motion controller receives a movement command from the navigation controller, controls the oil sample collection robot to reach the oil sample collection operation position, and sends a control instruction to the motor driver through the CAN bus. The motor driver generates a corresponding PWM signal according to the command to control the speed and direction of the motor.

[0116] Optional, such as Fig.15 As shown, the robot control system includes a robot controller, a six-degree-of-freedom robot, a force sensor, a depth camera and an end operation tool. The robot controller receives commands from the autonomous operation general controller, controls the robot to perform the oil sample collection task, and receives point cloud information of the external environment collected by the depth camera, accurately identifies the dust cover switch position and the oil extraction port switch position, and carries a dust cover operating tool and a self-sealing valve docking tool at the end of the six-degree-of-freedom robot arm to open the dust cover of the oil tank. The force sensor collects the force on the end of the robot arm during the docking process of the oil extraction port, adjusts the robot arm posture in real time, flexibly docks the oil extraction port, and opens the oil circuit.

[0117] Optionally, in some other implementations, the oil sample collection and detection control system may include an oil sample collection and detection controller, an oil sample collection module, an oil-gas separation module, a gas detection module and a data analysis module; after the robotic arm control system is connected to the oil intake port to open the oil circuit, the oil sample collection and detection controller sends commands to the oil sample collection module, the oil-gas separation module, the gas detection module and the data analysis module according to the instructions of the robot's autonomous operation general controller, and independently completes the entire process from oil sample collection to data analysis based on the feedback information from each module.

[0118] This implementation can adopt the following navigation methods:

[0119] Before the first operation, it is necessary to build a map of the working environment. Click the map building button in the background system, and the robot body will confirm the connection status of sensors such as lidar, inertial measurement unit, depth camera, GPS, etc. If no sensor data is received, the system will issue a corresponding prompt to remind the staff to check the corresponding sensor hardware connection. If all sensor connections are intact, the system enters the mapping mode.

[0120] After entering the map building mode, the operator controls the robot body to move in the outdoor environment with the remote control and uses various sensors to collect environmental information. During this process, the robot body will continuously update its position and posture, and record the feature points of the surrounding environment. After traversing the surrounding environment, click the Build Map button in the background system, and the background system will generate the current environment map according to the collected environmental information. After the map is successfully generated, it can be manually edited. In the map, a virtual wall is generated in the prohibited area of ​​the substation, and the operation location is marked as the target point. When the robot body is working on the way to the target point, the navigation system plans the path and automatically blocks the prohibited area to avoid safety accidents. After the map editing is completed, click the Save Map button to name the created map, and the map will be saved for task execution.

[0121] When performing the oil extraction task, select the corresponding map, check the target point, click on the task execution, and the robot body will start to navigate to the operation point; when the robot body is navigating, it first confirms the position relationship between itself and the map, and performs self-positioning by rotating around the center position to scan the surrounding environment features and match them with the map features. In order to simplify the matching process and shorten the operation time, the program sets a preset point as the robot body starting position by default, and prioritizes matching the current robot body surrounding environment features with the location in the map. If the robot body starts at this default point, the matching process will be completed instantly; after the robot body completes self-positioning, it combines the current position information, target position information and obstacle information between the two positions to generate an optimal global path plan. The robot body will move along this path and generate a local path based on the real-time path information. Planning is used to adjust the global path planning so that the robot body avoids obstacles and moves along the relatively optimal path in real time; the cable trench cover information in the map is introduced in the generation process of global path planning and local path planning. The position of the cable trench cover is visually identified and the position information is recorded during the mapping process. Weights are added when generating the global path planning so that the path with a large cable trench cover coverage rate is the optimal path, and the cable trench cover path is selected as the local optimal path when generating the local path. The robot body tries to walk along the cable trench cover during navigation instead of walking on the outdoor lawn, ensuring that the robot body moves smoothly and safely to the target position; after reaching the target position, the position of the robot body is fine-tuned by identifying the position of the triangle mark on the top of the oil extraction pile, so that the robot body moves accurately to the operation point, ensuring the accuracy of the robot body docking.

[0122] The oil sample collection process includes:

[0123] After reaching the preset position in front of the oil tank, the robot arm removes the oil throttle valve tool 5 on the robot body, identifies and docks the rotary valve 203 through the end depth camera 3, inserts the oil throttle valve tool 5 into the rotary valve 203, rotates the preset angle, exposes the oil outlet valve 201 and the oil outlet 202, and then inserts the oil throttle valve tool 5 into the oil outlet valve 201. After rotating the preset angle, the oil circuit opens and reaches the oil outlet 202. The oil docking tool 10 on the robot body is removed and inserted into the end oil nozzle of the oil outlet 202 to achieve oil docking. At this time, the robot body oil storage needle tube valve assembly 9 is controlled to extract oil samples. After the preset process of cleaning the oil storage needle tube, draining waste oil, and filling the needle tube with oil, the required number of oil samples are collected in sequence and stored in the oil storage needle tube 901.

[0124] After the oil sample is collected, it is pushed into the detection device for detection. First, the oil sample is filtered through the gas source purification pipe assembly 14. At this time, the gas source module assembly 15 controls the gas from the standard gas bottle assembly 13 and the nitrogen bottle assembly 21 to flow into the gas source purification pipe assembly 14 to react with the oil sample. The filtered oil sample is input into the oil sample analyzer 7 for detection, and finally a detection data report is formed.

[0125] When dealing with the chromatographic oil extraction operation of a transformer with a serious fault, the present invention can complete the on-site oil extraction in time under the premise of ensuring the personal safety of the operators, reduce the on-site operation time of the operators, and has simple operation, low failure rate, and reduces cumbersome on-site links. At the same time, the oil extraction reduces misoperation during manual oil extraction, increases the service life of the equipment oil outlet valve 201, and improves the safety and stability of the power equipment; realizes automatic oil extraction from the transformer, improves the oil extraction efficiency and quality; the oil sample detection issues a test report in real time, the whole process is fully intelligent, there is no need to take out the oil storage tank, and the oil extraction efficiency is greatly improved.

[0126] This implementation uses a fusion positioning solution of auxiliary QR code and autonomous recognition for accurate recognition, decoupling the entire recognition process into two parts: 2D position detection and 3D posture estimation.

[0127] 2D position detection specifically includes: first, using a camera to capture a QR code image, decoding the QR code and obtaining its position information, and calculating the relative position of the rotary gate valve 203 and the oil extraction docking tool 10 according to the known relative position and camera position, and obtaining position A1 and position B1 respectively; secondly, using a trained deep learning model to detect and identify the positions of the rotary gate valve 203 and the oil extraction docking tool 10, and obtaining positions A2 and B2 respectively; finally, performing a weighted average of the QR code recognition position and the autonomous recognition position to obtain the final high-precision positioning positions A3 and B3.

[0128] 3D posture detection specifically includes: first, mapping from 2D space to 3D space, using the data of the depth camera to map the positions (A3, B3) of the rotary gate valve 203 and the oil extraction docking tool 10 in the 2D position detection to the 3D space; then using the PnP algorithm to estimate the posture of the rotary gate valve 203 and the oil extraction docking tool 10 in the 3D space, and obtaining the posture (position and direction) of the rotary gate valve 203 and the oil extraction docking tool 10; finally obtaining the precise position and posture information of the rotary gate valve 203 and the oil extraction docking tool 10, thereby achieving precise identification.

[0129] The robot in this implementation needs to perform a self-check operation before performing the oil extraction operation. The self-check operation specifically includes:

[0130] (1) After the robot is powered on, the power indicator lights up, indicating that the power is on. At this time, the power management system inside the robot begins to preliminarily check the status of the battery pack, including whether the battery power, voltage, and temperature are within the normal range;

[0131] Battery power detection: The built-in power sensor accurately measures the current remaining battery power and compares it with the preset safety threshold. If the power is lower than the threshold, a low-battery warning is issued and the user is prompted to charge.

[0132] Power management check of each subsystem: By reading the voltage and current data of the power management unit of each subsystem, it is determined whether the power supply part of each system is normal.

[0133] (2) Autonomous operation master controller self-check. After the operation controller is powered on, the bootloader (i.e., boot loader) will be automatically run. The bootloader will first check whether the serial port, network port, USB port and other hardware of the operation master controller are working properly. If there is any component abnormality, an error alarm will be issued. If the check is normal, it will start to check whether there is a new version of the code in the download area that has not been updated. If there is, the new version of the code will be copied from the download area to the app area, and then the application in the app area will be booted. If there is no new version of the code, it will directly start to boot the application in the app area.

[0134] (3) Self-check of the host control system. After the host control system is powered on, it first reads the version information of the host software and compares it with the compatible version list stored internally. If there is a new version, the application is updated; then, it starts to check the network connection between the host control system and the autonomous operation master controller. If the network connection fails, an error alarm is issued; after the connection is normal, it starts to read the relevant configuration parameters of the autonomous operation master controller and display them on the screen, and verifies whether the relevant configuration parameters meet the current operation requirements. If not, an error alarm is issued to prompt the operator to check and reset.

[0135] (4) Navigation and positioning system self-check: After the navigation and positioning system is powered on, it first checks whether the hardware of GPS (i.e. positioning unit), inertial measurement unit (IMU), and lidar are normal. If there is any hardware abnormality, a corresponding error alarm is issued; at the same time, it confirms whether the sensor has been correctly initialized and is in working condition. Then, it starts power-on repositioning and positioning accuracy calibration, and evaluates the accuracy of the positioning system by comparing the difference between the actual position and the expected position; for the inertial measurement unit, zero bias calibration and gyroscope drift test are performed to determine whether the accuracy is met. If not, an alarm message is issued.

[0136] (5) Self-check of the mobile platform control system. After the mobile platform is powered on, the motors and drivers on the mobile platform are checked one by one to confirm that the communication is normal and there is no fault alarm. If there is an error, a corresponding alarm is issued.

[0137] (6) The robot control system self-checks. After the control system is started, the self-check program is automatically triggered. The self-check program starts to check whether the servo motors, servo drivers, and force sensors of the six axes are working properly. If there is any abnormality, an alarm message is issued; then the robot's current position and posture are calculated to determine whether the robot's startup position and posture are in an out-of-limit state; if an error or fault is found during the self-check process, the control system will prompt the corresponding error code or information.

[0138] (7) The oil sample collection detection control system performs self-test. After the oil sample collection detection control system is powered on, it first resets the six groups of syringes. During the reset, it detects the photoelectric detection switches of each syringe drive module. When there is a signal output, it stops resetting and reads the value of the motor encoder as the zero point of the syringe movement. During the reset process, it continuously detects the output torque of the six syringe drive motors. When the alarm threshold is reached, it immediately stops the movement of the drive motor and issues an alarm message to prompt the user that the syringe reset is abnormal.

[0139] The present implementation also provides an embodied perception-based throttle valve removal tool end alignment method, which uses the GraspNet algorithm, which is a deep learning framework for detecting alignment points in 3D scenes. It can detect object surfaces suitable for alignment in complex scenes and is suitable for precise alignment and operation of the end effector (such as the end of the throttle valve removal tool 5).

[0140] The control goal of this implementation is to enable the end effector of the throttle valve removal tool 5 (i.e., the end of the throttle valve removal tool 5) to accurately align and operate the rotary gate valve 203. GraspNet is used to detect the alignment point and the alignment is completed in combination with the posture control of the end effector. Specifically, the following processes are included:

[0141] S1: Environmental perception and 3D modeling.

[0142] Use an RGB-D camera to perform 3D scanning on the working scene of the throttle valve removal tool 5 to generate point cloud data;

[0143] A three-dimensional model of the throttle valve removal tool 5 and its surrounding environment is constructed using the depth information.

[0144] S2: Alignment point detection (GraspNet).

[0145] The generated 3D point cloud is input into GraspNet, which detects multiple candidate alignment points (grasp candidates) suitable for alignment based on the shapes and physical properties of objects in the scene.

[0146] Among them, GraspNet will generate an alignment posture for each alignment point during processing, including position, alignment direction and gripper opening angle; the best candidate alignment point is selected through GraspNet's scoring mechanism, and this score measures the stability and feasibility of the alignment.

[0147] S3: Alignment posture screening and optimization.

[0148] S3.1: Filter alignment posture: Filter the most suitable grasping points from the candidate alignment points output by GraspNet. The filtering conditions of these grasping points include:

[0149] Whether the alignment point is located at the key interface position of the rotary gate valve 203 (i.e., the valve interface that needs to be aligned);

[0150] Whether the alignment posture meets the physical limitations of the end of the throttle valve removal tool 5;

[0151] Whether the score of the alignment point meets the preset threshold;

[0152] S3.2: Optimize alignment posture: introduce task-related geometric features, combine the three parameters of the interface position, surface morphology, and rotation direction of the rotary gate valve 203, and increase the weight of the physical characteristics of the rotary gate valve 203 through additional geometric analysis to further optimize the selection of the grasping point.

[0153] S4: End effector alignment and manipulation.

[0154] Alignment process: According to the optimized alignment posture, the movement of the end effector is controlled to move the end of the throttle valve removal tool 5 to the best alignment position; this stage needs to be combined with visual servo control (Visual Servoing) to adjust the posture through real-time feedback to ensure accurate alignment of the rotary gate valve;

[0155] Execution operation: After the alignment is completed, the end of the oil throttle valve tool 5 is controlled to perform an operation, such as rotating or moving the rotary gate valve 203.

[0156] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A transformer oil sample collection robot system based on a multi-degree-of-freedom robotic arm, It is characterized in that It includes: an oil tank and a robot body, the robot body is equipped with a working tool integrated board and a multi-degree-of-freedom robot arm, the working tool integrated board is used to carry an oil throttle valve tool and an oil docking tool; The oil extraction box comprises a swing door and a swing door valve connected to the swing door, wherein the swing door is provided with a plurality of through holes, and the through holes are used to be opposite to the oil outlet valve and the oil outlet when the swing door is rotated to a set position; The oil extraction valve tool is used to rotate the rotary valve and the oil outlet valve to open the oil circuit under the drive of the multi-degree-of-freedom mechanical arm, and the oil extraction docking tool is used to connect with the oil outlet under the drive of the multi-degree-of-freedom mechanical arm; The oil extraction docking tool comprises: a spherical bearing mounting seat, a spherical bearing retaining ring, an adjustment shaft, a flexible spring and a spherical bearing; The inner and outer rings of the spherical bearing can rotate relative to each other arbitrarily within the set angle range. The adjusting shaft passes through the inner ring of the spherical bearing, and the shoulder of the adjusting shaft is pressed tightly on the end face of the spherical bearing. The spherical bearing retaining ring is coaxially fixed on the spherical bearing mounting seat. After the fixing is completed, the outer ring of the spherical bearing is pressed tightly on the spherical bearing mounting seat by the spherical bearing retaining ring, and the flexible spring is installed in the annular space formed between the spherical bearing retaining ring and the adjusting shaft. The oil extraction docking tool also includes: a support arm, a joint connector, a protective cover, a mechanical arm connector, a circuit board and a protective top cover; One end of the support arm is connected to the mechanical arm connecting piece, and the other end of the support arm is connected to the joint bearing mounting seat. The circuit board is installed on the mechanical arm connecting piece. The protective cover and the protective top cover are used to protect the circuit board. The protective cover is fixed on the mechanical arm connecting piece, and the protective top cover is fixed on the protective cover.

2. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 1, characterized in that: The rotary door valve, the oil outlet valve and the oil outlet are connected to a flat plate, a water seal is installed between the swing door and the flat plate, and a sealing ring is installed at the opening of the through hole.

3. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 2, characterized in that: The end of the oil valve removal tool is aligned with the notch on the rotary gate valve and rotated, driving the rotary gate valve and the swing-open door to rotate synchronously around the central axis. After rotating clockwise or counterclockwise at a set angle, the oil outlet valve and the oil outlet are aligned with the through hole on the swing-open door, so that the oil outlet valve and the oil outlet are exposed. Align the end of the throttle valve removal tool with the oil outlet valve and twist it to open the oil circuit. Align the oil removal and docking tool with the oil outlet to dock the oil circuit.

4. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to any one of claims 1 to 3, characterized in that: The oil outlet pipeline of the oil extraction tank is connected with an artificial oil extraction port and an artificial oil extraction outlet valve.

5. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to any one of claims 1 to 3, characterized in that: The robot body also includes a four-wheel drive chassis and a multi-degree-of-freedom robotic arm distributed on the four-wheel drive chassis, a depth camera, a laser radar, an oil storage needle valve assembly and an oil sample detection device fixed on the multi-degree-of-freedom robotic arm, and the working tool integrated board is fixed on the four-wheel drive chassis.

6. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 5, characterized in that: The oil sample detection device comprises an air source purification pipe assembly, a standard gas bottle assembly, a nitrogen bottle assembly, an air source module assembly, an oil sample analysis instrument and a waste oil collection assembly; The oil sample is filtered through the gas source purification tube assembly. At this time, the gas source module assembly controls the gas of the standard gas bottle assembly and the gas of the nitrogen bottle assembly to flow into the gas source purification tube assembly to react with the oil sample. The filtered oil sample is input into the oil sample analyzer for detection, and the detected oil sample is sent to the waste oil collection assembly.

7. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 6, characterized in that: The process includes: After the oil extraction line is opened, the oil sample is filtered through the gas source purification pipe assembly. At this time, the gas source module assembly controls the gas of the standard gas cylinder assembly and the gas of the nitrogen cylinder assembly to flow into the gas source purification pipe assembly to react with the oil sample; The filtered oil sample is input into the oil sample analyzer for detection, and the detection result is sent to the host computer in real time or at a fixed time. The detected oil sample is sent to the waste oil collection component, and the sending to the host computer adopts wireless or wired transmission.

8. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 5, characterized in that: The oil storage needle tube valve assembly comprises: an oil storage needle tube, a ferrule, a fixed slot, a claw, a push-pull assembly, a vertical connecting plate bracket, an oil circuit control valve assembly, and a limit assembly; The oil storage needle tube is arranged vertically, the outer tube of the oil storage needle tube is fixed on the vertical connecting plate bracket through the upper clamping sleeve and the middle fixed clamping groove, the inner handle of the oil storage needle tube is connected to the push-pull assembly through the lower clamping claw, and the linear motion of the push-pull assembly drives the oil storage needle tube to do piston motion to extract or drain the oil sample; A limit assembly is installed on the push-pull assembly to detect whether the push-pull stroke is in place. The oil circuit control valve assembly is installed above the oil storage needle tube to control the opening and closing of the oil circuit and the flow direction to realize the oil sample extraction or emptying process.

9. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 5, characterized in that: The working tool integrated plate includes a plurality of replaceable quick-release sockets for supporting and fixing working tools, and the base of the multi-degree-of-freedom robotic arm is installed on the working tool integrated plate.

10. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 5, characterized in that: The process includes: After the robot body reaches the preset position in front of the oil tank, the multi-degree-of-freedom robotic arm is controlled to remove the oil throttle valve tool on the robot body, and the rotary valve is identified and docked through the depth camera. The oil throttle valve tool is inserted into the rotary valve, and after rotating the preset angle, the oil outlet and the oil outlet valve are exposed. Insert the throttle valve removal tool into the oil outlet valve, rotate it to a preset angle, and the oil circuit opens to reach the oil outlet. Take the oil removal docking tool on the robot body and insert it into the end nozzle of the oil outlet to achieve oil removal docking. Control the oil storage needle valve assembly of the robot body to extract oil samples, collect the required number of oil samples in sequence, and store them in the oil storage needle of the oil storage needle valve assembly; After the oil sample is collected, the oil storage needle valve assembly is controlled to push the oil sample into the oil sample detection device for detection, and a detection data report is automatically generated.

11. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 10, characterized in that: Before controlling the multi-degree-of-freedom robotic arm to remove the throttle valve removal tool on the robot body, the following processes are also included: Perform 3D scanning on the scene to generate point cloud data, and build a 3D model of the throttle valve removal tool and the surrounding environment through depth information; The generated 3D point cloud is input into GraspNet, which detects multiple candidate alignment points suitable for alignment according to the shapes and physical properties of objects in the scene. GraspNet generates an alignment pose for each candidate alignment point during processing, and the alignment pose includes position, alignment direction and gripper opening angle; Filter the alignment posture and select the most suitable grasping point from the candidate alignment points output by GraspNet. The screening conditions include: the grasping point is located at the key interface position of the rotary gate valve, the alignment posture meets the physical limitations of the end of the throttle valve removal tool, and the score of the grasping point meets the preset threshold; Optimize the alignment posture, introduce task-related geometric features, combine the interface position, surface morphology and rotation direction of the rotary gate valve, increase the weight of the physical characteristics of the rotary gate valve through additional geometric analysis, and optimize the selection of the grasping point; According to the optimized alignment posture, the movement of the end effector is controlled to move the end of the throttle valve removal tool to the optimized grasping point to perform the operation.

12. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to any one of claims 1 to 3, characterized in that: The oil extraction gate valve tool comprises: a transition connector, a gate valve tool housing, a flexible module, a supporting outer cylinder, a gate valve tool end, a gate valve tool motor, a gate valve tool interface plate and a plunger; One side of the transition connector is connected to the end of the multi-degree-of-freedom mechanical arm during operation, and the other side of the transition connector is connected to the gate valve tool housing, and the gate valve tool motor and the gate valve tool interface board are fixed inside the gate valve tool housing; The motor output shaft of the gate valve tool is connected to one end of the flexible module, and the other end of the flexible module is connected to the supporting outer cylinder. The end of the gate valve tool is inserted into the inner side of the supporting outer cylinder, and the plunger is sleeved on the outer wall of the end of the gate valve tool to push the end of the gate valve tool outward. There is an inner boss at the opening of the supporting outer cylinder, and an outer boss on one side of the end of the gate valve tool inserted into the supporting outer cylinder. The two bosses are buckled to ensure that the end of the gate valve tool does not fall out. The end of the gate valve tool rotates under the action of the gate valve tool motor and can move linearly inside the supporting outer cylinder under the action of external force.

13. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 12, characterized in that: The plunger is made of rubber and is always in contact with the inner wall and boss of the supporting outer cylinder and the outer wall and boss of the end of the gate valve tool. It is used to reduce friction and play a lubricating role when the end of the gate valve tool moves linearly.

14. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 1, characterized in that: The oil extraction docking tool also includes an unlocking mechanism, which includes: a screw motor, a motor pressure plate, a right clamping block, a screw shaft seat, a rear clamping claw, a hydraulic joint clamp, a front clamping claw, a left clamping block, and a hydraulic joint body; After the right clamping block and the left clamping block are connected, the hydraulic joint body is clamped, the left and right sides of the motor body of the screw motor are clamped by the right clamping block and the left clamping block, and the upper part of the motor body of the screw motor is pressed by the motor pressing plate; After the rear clamping claw and the front clamping claw are connected, the hydraulic joint clamping hoop is clamped, the screw shaft of the screw motor is connected to the screw shaft seat, and the hydraulic joint clamping hoop is driven to move forward and backward through the screw shaft seat, the rear clamping claw and the front clamping claw to achieve locking and unlocking.

15. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 14, characterized in that: The right clamping block and the left clamping block are connected by screws, and the rear clamping claw and the front clamping claw are connected by screws.

16. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 5, characterized in that: The collection robot system also includes: an autonomous operation master controller, a robot host computer control system, a navigation and positioning system, a mobile platform control system, a power management system and an oil sample collection and detection control system arranged on the four-wheel drive chassis; The power management system is connected to the power supply battery of the robot body, and the oil sample collection detection control system is respectively connected to the telescopic mechanism and the grasping mechanism to perform telescopic and grasping control.

17. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 16, characterized in that: The navigation and positioning system includes a navigation controller, the autonomous operation master controller is respectively connected to the robot host computer control system and the mobile platform control system in communication, the mobile platform control system includes a motion controller, a drive motor driver, a drive motor, a steering motor driver and a steering motor, the motion controller is connected to the navigation controller in communication, the motion controller is connected to the drive motor driver, the drive motor driver is connected to the drive motor, the motion controller is connected to the steering motor driver, the steering motor driver is connected to the steering motor, and the drive motor and the steering motor are both connected to the wheel-leg assembly; The robotic arm control system includes a robotic arm controller and a force sensor. The robotic arm controller receives commands from the autonomous operation general controller, controls the robotic arm to perform the oil sample collection task, and receives point cloud information of the external environment collected by the depth camera, identifies the switch position of the swing door and the switch position of the oil extraction port, opens the swing door and the oil outlet valve through the oil extraction valve tool and the oil extraction docking tool carried by the end of the multi-degree-of-freedom robotic arm, collects the force at the end of the multi-degree-of-freedom robotic arm during the docking process of the oil extraction port through the force sensor, adjusts the posture of the multi-degree-of-freedom robotic arm in real time, flexibly docks the oil extraction port, and opens the oil circuit.

18. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to claim 17, characterized in that: The power management system includes a voltage conversion module and a charging management module. The voltage conversion module converts the power of the mobile platform into a set voltage value to power the corresponding electrical equipment. The charging management module monitors the current power in real time, issues an alarm message when the power is lower than the first set threshold, stops the current task when the power is lower than the second set threshold, and autonomously goes to the charging pile location for charging. After the battery is fully charged, it leaves the charging pile and resumes task execution. The navigation and positioning system includes lidar, inertial measurement unit, depth camera and positioning unit. The lidar and depth camera collect external environment information. The inertial measurement unit obtains the posture information and acceleration information of the robot body, and cooperates with the positioning system to provide accurate positioning information. The navigation controller receives the external environment information, posture information, acceleration information and positioning information, constructs an external environment map, and performs navigation and positioning of the robot body.

19. The transformer oil sample collection robot system based on a multi-degree-of-freedom mechanical arm according to any one of claims 16 to 18, characterized in that: The process includes: Before the first operation, use the mapping instructions in the background system to control the robot body to move around in the working environment. The navigation and positioning system will automatically generate a navigation map, mark the oil extraction operation points and generate an operation map. During the mapping process, the position of the cable trench cover is visually identified and the position information is recorded. When performing the oil extraction task, select the corresponding operation map and the oil sample collection task to be performed. The robot body automatically locates the current position, autonomously plans the global path according to the operation target position, and generates the local path in real time according to the road condition information during the journey. The global path is adjusted in real time through the local path until it reaches the oil extraction operation position. When generating the global path planning, weights are added to make the path with the largest cable trench cover coverage the optimal path, and when generating the local path, the cable trench cover path is selected as the local optimal path, so that the robot body can walk along the cable trench cover as much as possible during the navigation process.

20. A remote auxiliary fault repair method, characterized in that: The transformer oil sample collection robot system based on a multi-degree-of-freedom manipulator as described in any one of claims 16 to 18 performs self-checks of the power management system, the autonomous operation master controller, the robot host computer control system, the navigation and positioning system, the mobile platform control system, and the oil sample collection and detection control system; The robot host computer control system sends all self-check results to the cloud server, so that the cloud server generates auxiliary repair strategies based on all self-check results and sends them to the robot host computer control system. The robot host computer control system automatically repairs or sends them to the maintenance personnel based on the received auxiliary repair strategies. The oil sample collection detection control system self-check includes: after the oil sample collection detection control system is powered on, each syringe on the robot body is first reset, and the photoelectric detection switch of each syringe drive module is detected during resetting. When there is a signal output, the resetting is stopped, and the encoder value of the drive motor of each syringe is read as the zero point of the syringe movement. During the resetting process, the output torque of each syringe drive motor is continuously detected. When the alarm threshold is reached, the movement of the syringe drive motor is immediately stopped, and an alarm message is issued to indicate that the syringe reset is abnormal.

21. The remote auxiliary fault repair method according to claim 20, characterized in that: The power management system self-check includes: after the robot body is powered on, the power indicator light turns on, indicating that the power is on, and the power management system inside the robot body checks the status of the battery pack, including whether the battery power, voltage and temperature are within the normal range; The self-check of the autonomous operation master controller includes: automatically running the boot loader after the autonomous operation master controller is powered on, the boot loader checking whether the serial port, network port and USB port of the operation master controller are working normally, and issuing an error alarm if there is an abnormality, and if the check is normal, starting to check whether there is a new version of the code in the download area that has not been updated, and if there is, first copying the new version of the code from the download area to the APP area, and then starting to boot the application in the APP area, and if there is no new version of the code, directly starting to boot the application in the APP area; The robot host computer control system self-check includes: after the host computer control system is powered on, it first reads the version information of the host computer software and compares it with the internally stored compatible version list. If there is a new version, it will apply the update; then, it starts to check the network connection between the host computer control system and the autonomous operation master controller. If the network connection fails, an error alarm will be issued; after the connection is normal, it starts to read the relevant configuration parameters of the autonomous operation master controller and display them on the screen to verify whether the relevant configuration parameters meet the current operation requirements. If not, an error alarm will be issued to prompt the operator to check and reset; The navigation and positioning system self-check includes: after the navigation and positioning system is powered on, it first checks whether the hardware of the positioning unit, inertial measurement unit, and laser radar are normal. If there is any hardware abnormality, a corresponding error alarm is issued, and at the same time, it is confirmed whether the positioning unit, inertial measurement unit, and laser radar have been correctly initialized and are in working condition; then, it starts power-on repositioning and positioning accuracy calibration, and evaluates the accuracy of the positioning unit by comparing the difference between the actual position and the expected position; for the inertial measurement unit, zero bias calibration and gyroscope drift test are performed to determine whether the use accuracy is met, and if not, an alarm message is issued; The mobile platform control system self-check includes: after the mobile platform control system is powered on, check the drive motor driver, drive motor, steering motor driver and steering motor one by one to confirm that the communication is normal and there is no fault alarm. If there is an error, issue a corresponding alarm; After the robot control system is started, the self-test program is automatically triggered. The self-test program begins to check whether the servo motors, servo drivers, and force sensors of the six axes are working properly. If there is an abnormality, an alarm message is issued, and then the current position and posture of the robot is calculated to determine whether the robot's power-on position and posture are in an out-of-limit state. If an error or fault is found during the self-test process, the control system will prompt the corresponding error code or information.

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