Method, device, oil taking robot and system for automatically positioning oil taking valve of transformer

Abstract

The invention provides a method, a device, an oil taking robot and a system for automatically positioning an oil taking valve of a transformer, and the method comprises the steps: obtaining the intensity information of electromagnetic beams sent to the oil taking robot from a plurality of known positions, and calculating the spatial coordinates of the current position of the oil taking robot through spatial multi-point positioning; according to static global space information of a transformer substation where the transformer is located and a real-time road condition image, obtained in real time, in front of the current position where the oil taking robot is located, real-time infrared gray level image and depth information of the oil taking target position are obtained; the pixel coordinate of the geometric center of the oil taking valve to be positioned in the image is determined according to the real-time infrared grayscale image, the space coordinate of the oil taking valve to be positioned in the coordinate system of the oil taking robot body is determined in combination with the depth information, and the position of the oil taking valve of the transformer can be automatically and accurately addressed without manual remote control. And unmanned realization of the whole oil taking process of the transformer substation robot is powerfully promoted.

Description

Technical Field

[0001] The present invention relates to the technical field of non-stop power operation, and more specifically, to a method, a device, an oil extraction robot and a system for automatically positioning a transformer oil extraction valve. Background Art

[0002] Substations and converter stations are the core nodes of the power system and one of the most critical components in the power transmission process. Therefore, the status of power transformers has a very important impact on the normal operation of the power grid.

[0003] The power system is vigorously promoting the unmanned construction of substations and converter stations. A large number of online monitoring and Internet of Things sensor systems are used in substations and converter stations, but most of these monitoring devices have the possibility of failure, false detection, and missed detection. At present, transformer online monitoring technology is becoming more and more important and mature. If the sensor fails and the internal state of the transformer is unknown, the risk of manual operation will increase, and a safe detection and safety confirmation method is needed. The existing monitoring equipment is still far from fully replacing manual labor, and no good online monitoring technology has been found for transformer oil testing. Considering that the oil extraction technology is relatively simple, regular, and has a low operating threshold, the existing manual oil extraction method can be replaced by automatic oil extraction, which can improve the efficiency and quality of oil extraction and reduce the occurrence of safety accidents caused by gas explosions.

[0004] Traditional manual live-line operation methods have high labor intensity, high safety risks, and a harsh working environment. They are easily affected by meteorological and environmental interference, and are high-altitude, high-risk, and high-intensity operations. In order to improve the efficiency of substation operation and maintenance and improve the level of intelligent operation and maintenance, modern technologies such as machine vision, image processing, and remote control have been widely developed and applied in substation operation and maintenance. The use of substation inspection robots saves a lot of manpower and improves inspection efficiency. With the improvement and perfection of related technical levels such as machine recognition capabilities, robot inspections will gradually replace manual inspections. In addition, the intelligent mobile operating arm uses machine vision positioning, automatic control and other technologies to complete operational functions such as switch opening and closing and valve screwing. The small size and remote operation characteristics of the oil extraction robot can ensure the absolute safe distance between the mechanical arm and the high-voltage live parts during oil extraction operations. Remote operation also ensures the personal safety of relevant operation and maintenance personnel. Automated oil extraction of oil-immersed transformers is an important link in the current unmanned operation of substations. The oil extraction process must first locate and identify the transformer body and open the oil extraction valve on it.

[0005] At present, there are still many urgent problems to be solved in large-scale outdoor complex scene positioning systems. In a feature-scarce environment, very little information may cause the algorithm to fall into a local minimum and converge to the wrong location, making it difficult to extract effective and sufficient feature information; when there is interference in the environment, how to improve the robustness of the positioning method and avoid converging to the wrong similar scene is also an urgent problem to be solved. Summary of the invention

[0006] In order to solve the technical problem in the prior art of low oil extraction valve positioning accuracy when using an oil extraction robot to extract oil from a transformer in a complex environment, the present invention provides a method, device, oil extraction robot and system for automatically positioning a transformer oil extraction valve.

[0007] According to one aspect of the present invention, the present invention provides a method for automatically positioning a transformer oil extraction valve, the method comprising:

[0008] Acquire the intensity information of the electromagnetic wave beam sent to the oil extraction robot from a plurality of known positions, wherein the plurality of known positions are located on the transformer where the oil extraction valve is to be located;

[0009] Calculating the relative distances between the oil extraction robot and a plurality of known positions according to the intensity information and known parameters, wherein the known parameters include a transmission gain, a receiving gain, and a wavelength of the electromagnetic wave;

[0010] According to the relative distance and the spatial coordinates of several known positions, spatial multi-point positioning is used to calculate the spatial coordinates of the current position of the oil extraction robot, wherein the spatial coordinates of the several known positions are determined based on the static global spatial information of the substation where the transformer is located obtained by scanning modeling;

[0011] Acquire a real-time infrared grayscale image and depth information of the target oil extraction position according to the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot acquired in real time;

[0012] The pixel coordinates of the geometric center of the proposed oil extraction valve in the image are determined according to the real-time infrared grayscale image, and the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body are determined in combination with the depth information.

[0013] Optionally, the relative distances between the oil extraction robot and a plurality of known positions are calculated according to the strength information and known parameters, and the calculation formula is:

[0014]

[0015] Where d is the relative distance between the oil extraction robot and the known position, λ is the wavelength of the electromagnetic wave, G t and Gr are the transmit gain and receive gain respectively, P t and P r The transmission power and reception power are respectively calculated and determined based on the transmission strength information of the electromagnetic wave when it is transmitted and the reception strength information of the electromagnetic wave when it is received in the strength information.

[0016] Optionally, the calculating the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of a plurality of known positions includes:

[0017] Assume that the spatial coordinates of the current position of the oil extraction robot are p = (x, y, z), and there are 4 known positions, whose spatial coordinates are p m =(x m ,y m ,z m ), where m∈{1,2,3,4};

[0018] The spatial coordinates of the current position of the oil extraction robot are calculated using spatial multi-point positioning, and the calculation formula is:

[0019] p T =Ω -1 Θ

[0020] in:

[0021]

[0022] Where, d 1 , d 2 , d 3 and d 4 They are the relative distances between the four known positions and the current position of the oil extraction robot.

[0023] Optionally, the real-time infrared grayscale image and depth information of the oil extraction target position are obtained based on the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot obtained in real time, including:

[0024] Determine the forward path of the oil extraction robot according to the spatial coordinates of the current position of the oil extraction robot and the static global spatial information of the substation where the transformer is located, as well as the real-time road condition image in front of the current position of the oil extraction robot acquired in real time;

[0025] After the oil extraction robot moves to the oil extraction target position according to the forward path, a real-time infrared grayscale image and depth information of the oil extraction target position are obtained.

[0026] Optionally, determining the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determining the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information, includes:

[0027] According to the shape characteristics of the proposed oil extraction valve and the grayscale difference of the pixels in the real-time infrared grayscale image, edge detection is performed on the real-time infrared grayscale image to determine the proposed oil extraction valve portion in the real-time infrared grayscale image;

[0028] Determine the pixel coordinates of the geometric center point of the proposed oil extraction valve according to the geometric relationship between the pixels in the image of the proposed oil extraction valve portion;

[0029] Let p uv =(p u ,p v ) is the pixel coordinate of the geometric center point of the oil extraction valve to be positioned, P = (X, Y, Z) is the three-dimensional spatial coordinate of the center point in the mechanical arm end coordinate system of the oil extraction robot, P w =(X w ,Y w ,Z w ) is the three-dimensional spatial coordinate of the center point in the robot body coordinate system. The spatial coordinate of the proposed oil extraction valve in the oil extraction robot body coordinate system is determined according to the transformation from the pixel coordinate system to the robot end coordinate system and the transformation from the robot body coordinate system to the pixel coordinate system. The expression is:

[0030]

[0031] Wherein, K is the camera intrinsic parameter matrix of the ToF depth camera installed at the end of the robotic arm, T is the homogeneous linear transformation matrix of the robot, and the Z value of the geometric center point of the oil extraction valve to be positioned in the coordinate system of the end of the robotic arm is the depth value determined by the depth information.

[0032] According to another aspect of the present invention, the present invention provides a device for automatically positioning a transformer oil extraction valve, the device comprising:

[0033] A first acquisition module is used to acquire the intensity information of the electromagnetic wave beam sent to the oil extraction robot from a plurality of known positions, wherein the plurality of known positions are located on the transformer where the oil extraction valve is to be located;

[0034] A first calculation module, used for calculating the relative distance between the oil extraction robot and a plurality of known positions according to the intensity information and known parameters, wherein the known parameters include a transmission gain, a receiving gain and a wavelength of the electromagnetic wave;

[0035] A second calculation module is used to calculate the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of several known positions, wherein the spatial coordinates of the several known positions are determined based on the static global spatial information of the substation where the transformer is located obtained by scanning modeling;

[0036] The second acquisition module is used to acquire a real-time infrared grayscale image and depth information of the oil extraction target position according to the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot acquired in real time;

[0037] The result output module is used to determine the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determine the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information.

[0038] Optionally, the first calculation module calculates the relative distances between the oil extraction robot and a plurality of known positions according to the strength information and known parameters, and the calculation formula is:

[0039]

[0040] Where d is the relative distance between the oil extraction robot and the known position, λ is the wavelength of the electromagnetic wave, G t and G r are the transmit gain and receive gain respectively, P t and P r The transmission power and reception power are respectively calculated and determined based on the transmission strength information of the electromagnetic wave when it is transmitted and the reception strength information of the electromagnetic wave when it is received in the strength information.

[0041] Optionally, the second calculation module calculates the spatial coordinates of the current position of the oil extraction robot using spatial multi-point positioning according to the relative distance and the spatial coordinates of several known positions, including:

[0042] Assume that the spatial coordinates of the current position of the oil extraction robot are p = (x, y, z), and there are 4 known positions, whose spatial coordinates are p m =(x m ,y m ,z m ), where m∈{1,2,3,4};

[0043] The spatial coordinates of the current position of the oil extraction robot are calculated using spatial multi-point positioning, and the calculation formula is:

[0044] p T =Ω -1 Θ

[0045] in:

[0046]

[0047] Where, d 1 , d 2 , d 3 and d 4 They are the relative distances between the four known positions and the current position of the oil extraction robot.

[0048] Optionally, the second acquisition module acquires a real-time infrared grayscale image and depth information of the target oil extraction position according to the static global spatial information of the substation where the transformer is located and a real-time road condition image in front of the current position of the oil extraction robot acquired in real time, including:

[0049] Determine the forward path of the oil extraction robot according to the spatial coordinates of the current position of the oil extraction robot and the static global spatial information of the substation where the transformer is located, as well as the real-time road condition image in front of the current position of the oil extraction robot acquired in real time;

[0050] After the oil extraction robot moves to the oil extraction target position according to the forward path, a real-time infrared grayscale image and depth information of the oil extraction target position are obtained.

[0051] Optionally, the result output module determines the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determines the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information, including:

[0052] According to the shape characteristics of the proposed oil extraction valve and the grayscale difference of the pixels in the real-time infrared grayscale image, edge detection is performed on the real-time infrared grayscale image to determine the proposed oil extraction valve portion in the real-time infrared grayscale image;

[0053] Determine the pixel coordinates of the geometric center point of the proposed oil extraction valve according to the geometric relationship between the pixels in the image of the proposed oil extraction valve portion;

[0054] Let P uv =(p u ,p v ) is the pixel coordinate of the geometric center point of the oil extraction valve to be positioned, P = (X, Y, Z) is the three-dimensional spatial coordinate of the center point in the mechanical arm end coordinate system of the oil extraction robot, P w =(X w ,Y w ,Z w) is the three-dimensional spatial coordinate of the center point in the robot body coordinate system. The spatial coordinate of the proposed oil extraction valve in the oil extraction robot body coordinate system is determined according to the transformation from the pixel coordinate system to the robot end coordinate system and the transformation from the robot body coordinate system to the pixel coordinate system. The expression is:

[0055]

[0056] Wherein, K is the camera intrinsic parameter matrix of the ToF depth camera installed at the end of the robotic arm, T is the homogeneous linear transformation matrix of the robot, and the Z value of the geometric center point of the oil extraction valve to be positioned in the coordinate system of the end of the robotic arm is the depth value determined by the depth information.

[0057] According to another aspect of the present invention, the present invention provides a robot for automatically positioning a transformer oil extraction valve, the oil extraction robot comprising a mobile chassis, an electric control cabinet, an antenna, a joint mechanical arm, a ToF depth camera and a processor, wherein:

[0058] A processor is used to obtain static global spatial information of the substation where the transformer is located based on global image modeling of the substation where the transformer is located; determine the spatial coordinates of several known positions and the target oil extraction position based on the static global spatial information; calculate the relative distance between the oil extraction robot and the several known positions based on the strength information and known parameters; calculate the spatial coordinates of the current position of the oil extraction robot using spatial multi-point positioning based on the relative distance and the spatial coordinates of the several known positions; compare the real-time road condition image in front of the current position of the oil extraction robot obtained in real time with the static global spatial information of the substation where the transformer is located, determine the forward path of the oil extraction robot, and control the mobile chassis to move to the target oil extraction position based on the forward path;

[0059] An electric control cabinet, which is supported on the mobile chassis and is used to accommodate a processor connected to the mobile chassis;

[0060] An antenna, which is arranged at the front end of the electric control cabinet and connected to the processor, and receives an electromagnetic wave beam from a synchronous transflective metasurface array element;

[0061] A joint mechanical arm, which is arranged on the electric control cabinet, and the joint mechanical arm is connected to the processor and is used to move according to the instructions of the processor so that the ToF depth camera collects image information of the corresponding position;

[0062] The ToF depth camera is arranged at the end of the articulated robotic arm and connected to the processor, and is used to perform a global scan of the substation where the transformer is located to obtain a global image of the substation; obtain a real-time road condition image in front of the current position of the oil extraction robot, and obtain a real-time infrared grayscale image and depth information after the oil extraction robot arrives at the target oil extraction position.

[0063] According to another aspect of the present invention, the present invention provides a system for automatically positioning a transformer oil extraction valve, the system comprising:

[0064] A synchronous transmissive metasurface array element is mounted on a transformer and is used to generate an electromagnetic wave beam after recovering electromagnetic wave signals from a wireless environment space, and to send the electromagnetic wave beam and the intensity information of the electromagnetic wave sensed at several known positions to an oil extraction robot;

[0065] An oil extraction robot is used to calculate the relative distance between the oil extraction robot and several known positions according to the intensity information and known parameters; calculate the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of several known positions; obtain a real-time infrared grayscale image and depth information of the target oil extraction position according to the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot obtained in real time; determine the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determine the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information, wherein the known parameters include the transmission gain, the receiving gain and the wavelength of the electromagnetic wave, the several known positions are located on the transformer where the proposed oil extraction valve is located, and the spatial coordinates of the several known positions are determined based on the static global spatial information of the substation where the transformer is located obtained by scanning modeling.

[0066] According to another aspect of the present invention, the present invention provides a computer program product, including a computer program. When the computer program runs on a device, a processor in the device executes the method described in any one of the above aspects of the present invention.

[0067] According to another aspect of the present invention, the present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the method described in any one of the above aspects of the present invention.

[0068] According to another aspect of the present invention, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method described in any one of the above aspects of the present invention.

[0069] The method, device, oil extraction robot and system for automatically locating the transformer oil extraction valve of the present invention, wherein the method obtains the intensity information of the electromagnetic wave beam sent from several known positions to the oil extraction robot; calculates the relative distance between the oil extraction robot and several known positions according to the intensity information and known parameters; calculates the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of several known positions; obtains the real-time infrared grayscale image and depth information of the oil extraction target position according to the static global spatial information of the transformer substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot obtained in real time; determines the pixel coordinates of the geometric center of the oil extraction valve to be located in the image according to the real-time infrared grayscale image, and determines the spatial coordinates of the oil extraction valve to be located in the coordinate system of the oil extraction robot body in combination with the depth information. Compared with the prior art, the method, device, oil extraction robot and system can automatically and accurately address the transformer oil extraction valve position without human remote manual control, so as to perform the subsequent robot automatic oil extraction operation, which effectively promotes the realization of unmanned operation of the whole process of substation robot oil extraction. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] A more complete understanding of exemplary embodiments of the present invention may be obtained by referring to the following drawings:

[0071] Figure 1 A flowchart of a method for automatically positioning a transformer oil extraction valve according to a preferred embodiment of the present invention;

[0072] Figure 2 It is a structural schematic diagram of a device for automatically positioning a transformer oil extraction valve according to a preferred embodiment of the present invention;

[0073] Figure 3 A schematic diagram of the structure of an oil extraction robot according to a preferred embodiment of the present invention;

[0074] Figure 4 It is a structural schematic diagram of a system for automatically positioning a transformer oil extraction valve according to a preferred embodiment of the present invention;

[0075] Figure 5 It is a schematic structural diagram of a synchronous transflective metasurface array element according to a preferred embodiment of the present invention;

[0076] Figure 6 Schematic diagram of the structure of an electronic device according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0077] Now, exemplary embodiments of the present invention are described with reference to the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to disclose the present invention in detail and completely and to fully convey the scope of the present invention to those skilled in the art. The terms used in the exemplary embodiments shown in the accompanying drawings are not intended to limit the present invention. In the accompanying drawings, the same units / elements are marked with the same reference numerals.

[0078] Unless otherwise specified, the terms (including technical terms) used herein have the commonly understood meanings to those skilled in the art. In addition, it is understood that the terms defined in commonly used dictionaries should be understood to have the same meanings as those in the context of the relevant fields, and should not be understood as idealized or overly formal meanings.

[0079] Exemplary Methods

[0080] Figure 1 FIG. 1 is a flow chart of a method for automatically positioning a transformer oil extraction valve according to a preferred embodiment of the present invention. Figure 1 As shown, the flowchart of the method for automatically positioning a transformer oil extraction valve according to the preferred embodiment starts from step 101 .

[0081] In step 101, the intensity information of the electromagnetic wave beam sent from a plurality of known positions to the oil extraction robot is obtained, wherein the plurality of known positions are located on the transformer where the oil extraction valve is to be located.

[0082] In step 102, the relative distances between the oil extraction robot and a plurality of known positions are calculated according to the intensity information and known parameters, wherein the known parameters include transmission gain, reception gain and wavelength of electromagnetic waves.

[0083] Preferably, the relative distances between the oil extraction robot and a plurality of known positions are calculated according to the strength information and known parameters, and the calculation formula is:

[0084]

[0085] Where d is the relative distance between the oil extraction robot and the known position, λ is the wavelength of the electromagnetic wave, G t and G r are the transmit gain and receive gain respectively, P t and P r The transmission power and reception power are respectively calculated and determined based on the transmission strength information of the electromagnetic wave when it is transmitted and the reception strength information of the electromagnetic wave when it is received in the strength information.

[0086] The Friis transmission equation in the known antenna theory is:

[0087]

[0088] Obviously, the distance between the sending point and the receiving point can be determined according to the attenuation of the electromagnetic wave signal intensity in the free space propagation process in the Friis transmission equation. In the present invention, the relative distance between the two is determined by setting the electromagnetic wave to be transmitted from a known position to the oil extraction robot.

[0089] In step 103, spatial multi-point positioning is used to calculate the spatial coordinates of the current position of the oil extraction robot based on the relative distance and the spatial coordinates of several known positions, wherein the spatial coordinates of the several known positions are determined based on the static global spatial information of the substation where the transformer is located obtained by scanning modeling.

[0090] Preferably, the method of calculating the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of several known positions includes:

[0091] Assume that the spatial coordinates of the current position of the oil extraction robot are p = (x, y, z), and there are 4 known positions, whose spatial coordinates are p m =(x m ,y m ,z m ), where m∈{1,2,3,4};

[0092] The spatial coordinates of the current position of the oil extraction robot are calculated using spatial multi-point positioning calculation, and the calculation formula is:

[0093] p T =Ω -1 Θ

[0094] in:

[0095]

[0096] Where, d 1 , d 2 , d 3 and d 4 They are the relative distances between the four known positions and the current position of the oil extraction robot.

[0097] In this preferred embodiment, the spatial coordinates of the current position of the oil extraction robot are unknown, represented by a proxy node p = (x, y, z), and the spatial coordinates of the four known positions are known, represented by an anchor point p m =(x m ,y m ,z m), m∈{1,2,3,4}; Since the relative position between the anchor point and the unknown position is known, in the three-dimensional Euclidean space, the anchor point position p m The intersection of the four spheres with centered and relative distances to each other as radii is the spatial coordinate of the unknown position.

[0098] It should be noted that due to the influence of the selection of specific anchor points, the inverse of the matrix Ω does not always exist naturally. The solution can be corrected by numerical methods such as pseudo-inverse to further improve the positioning accuracy and reliability.

[0099] In step 104, a real-time infrared grayscale image and depth information of the oil collection target position are obtained based on the spatial coordinates of the current position of the oil collection robot and the spatial coordinates of the target oil collection position, as well as a real-time image of the road condition in front of the current position of the oil collection robot obtained in real time, wherein the spatial coordinates of the target oil collection position are determined based on the static global spatial information of the substation where the transformer is located obtained by scanning modeling.

[0100] Preferably, the real-time infrared grayscale image and depth information of the target oil extraction position are obtained based on the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot obtained in real time, including:

[0101] Compare the real-time road condition image in front of the current position of the oil extraction robot with the static global space information of the substation where the transformer is located to determine the forward path of the oil extraction robot;

[0102] After the oil extraction robot moves to the oil extraction target position according to the forward path, a real-time infrared grayscale image and depth information of the oil extraction target position are obtained.

[0103] In this preferred embodiment, there is no restriction on the implementation method of comparing the real-time road condition image in front of the current position of the oil extraction robot with the static global space information of the transformer substation to determine the forward path of the oil extraction robot. The depth information reflects the relative distance between the oil extraction target position and the oil extraction actuator at the end of the mechanical arm of the oil extraction robot.

[0104] In step 105, the pixel coordinates of the geometric center of the proposed oil extraction valve in the image are determined according to the real-time infrared grayscale image, and the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body are determined in combination with the depth information.

[0105] Preferably, the step of determining the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determining the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information, comprises:

[0106] According to the shape characteristics of the proposed oil extraction valve and the grayscale difference of the pixels in the real-time infrared grayscale image, edge detection is performed on the real-time infrared grayscale image to determine the proposed oil extraction valve portion in the real-time infrared grayscale image;

[0107] Determine the pixel coordinates of the geometric center point of the proposed oil extraction valve according to the geometric relationship between the pixels in the image of the proposed oil extraction valve portion;

[0108] Let P uv =(p u ,p v ) is the pixel coordinate of the geometric center point of the oil extraction valve to be positioned, P = (X, Y, Z) is the three-dimensional spatial coordinate of the center point in the mechanical arm end coordinate system of the oil extraction robot, P w =(X w ,Y w ,Z w ) is the three-dimensional spatial coordinate of the center point in the robot body coordinate system. The spatial coordinate of the proposed oil extraction valve in the oil extraction robot body coordinate system is determined according to the transformation from the pixel coordinate system to the robot end coordinate system and the transformation from the robot body coordinate system to the pixel coordinate system. The expression is:

[0109]

[0110] Wherein, K is the camera intrinsic parameter matrix of the ToF depth camera installed at the end of the robotic arm, T is the homogeneous linear transformation matrix of the robot, and the Z value of the geometric center point of the oil extraction valve to be positioned in the coordinate system of the end of the robotic arm is the depth value determined by the depth information.

[0111] In this preferred embodiment, after determining the pixel coordinates of the geometric center point of the proposed oil extraction valve, the corresponding relationship between the pixel coordinate system and the coordinate system of the end of the robot arm can be obtained according to the camera intrinsic parameter matrix, and the corresponding relationship between the coordinate system of the end of the robot arm and the coordinate system of the robot body can be known according to the robot homogeneous linear transformation matrix. Through the above two corresponding relationships, the pixel coordinates of the proposed oil extraction valve can be converted into the coordinate system of the robot body. Specifically:

[0112] According to the camera intrinsic parameter matrix, the correspondence between the pixel coordinate system and the robot end coordinate system can be obtained. The conversion formula is:

[0113]

[0114] According to the robot homogeneous linear transformation matrix, the corresponding relationship between the robot end coordinate system and the robot body coordinate system can be known. The conversion formula is:

[0115]

[0116] By combining the above two conversion formulas, the expression for determining the spatial coordinates of the proposed positioning oil extraction valve in the coordinate system of the oil extraction robot body can be obtained. Since in this expression, the camera internal parameter matrix K, the homogeneous linear transformation matrix T of the robot, the Z value of the geometric center point of the proposed positioning oil extraction valve in the coordinate system of the end of the robot arm is the depth value determined by the depth information, which is also known, the pixel coordinate P of the geometric center point of the proposed positioning oil extraction valve uv It has also been determined that, therefore, the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body can be calculated according to the expression described in the present invention, thereby realizing the accurate positioning of the proposed oil extraction valve in the current posture of the oil extraction robot, so as to facilitate the subsequent automatic oil extraction action of the robot.

[0117] The method for automatically positioning the transformer oil extraction valve described in the preferred embodiment obtains the intensity information of the electromagnetic wave beam sent from several known positions to the oil extraction robot; calculates the relative distance between the oil extraction robot and several known positions according to the intensity information and known parameters; calculates the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of several known positions; obtains the real-time infrared grayscale image and depth information of the target oil extraction position according to the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot obtained in real time; determines the pixel coordinates of the geometric center of the oil extraction valve to be positioned in the image according to the real-time infrared grayscale image, and determines the spatial coordinates of the oil extraction valve to be positioned in the coordinate system of the oil extraction robot body in combination with the depth information, so that the transformer oil extraction valve position can be automatically and accurately addressed without human remote manual control, so as to perform subsequent robot automatic oil extraction operations, which effectively promotes the realization of unmanned substation robot oil extraction process.

[0118] Exemplary Devices

[0119] Figure 2 FIG. 1 is a schematic diagram of the structure of a device for automatically positioning a transformer oil extraction valve according to a preferred embodiment of the present invention. Figure 2 As shown, the device 200 for automatically positioning the transformer oil extraction valve according to the preferred embodiment includes:

[0120] The first acquisition module 201 is used to obtain the intensity information of the electromagnetic wave beam sent from a plurality of known positions to the oil extraction robot, wherein the plurality of known positions are located on the transformer where the oil extraction valve is to be located;

[0121] A first calculation module 202, configured to calculate the relative distances between the oil extraction robot and a plurality of known positions according to the intensity information and known parameters, wherein the known parameters include a transmission gain, a receiving gain, and a wavelength of the electromagnetic wave;

[0122] The second calculation module 203 is used to calculate the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of several known positions, wherein the spatial coordinates of the several known positions are determined based on the static global spatial information of the substation where the transformer is located obtained by scanning modeling;

[0123] The second acquisition module 204 is used to obtain a real-time infrared grayscale image and depth information of the oil extraction target position based on the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot obtained in real time;

[0124] The result output module 205 is used to determine the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determine the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information.

[0125] Preferably, the first calculation module 202 calculates the relative distances between the oil extraction robot and a plurality of known positions according to the strength information and known parameters, and the calculation formula is:

[0126]

[0127] Where d is the relative distance between the oil extraction robot and the known position, λ is the wavelength of the electromagnetic wave, G t and G r are the transmit gain and receive gain respectively, P t and P r The transmission power and reception power are respectively calculated and determined based on the transmission strength information of the electromagnetic wave when it is transmitted and the reception strength information of the electromagnetic wave when it is received in the strength information.

[0128] Preferably, the second calculation module 203 calculates the spatial coordinates of the current position of the oil extraction robot using spatial multi-point positioning according to the relative distance and the spatial coordinates of several known positions, including:

[0129] Assume that the spatial coordinates of the current position of the oil extraction robot are p = (x, y, z), and there are 4 known positions, whose spatial coordinates are p m =(x m ,y m ,z m ), where m∈{1,2,3,4};

[0130] The spatial coordinates of the current position of the oil extraction robot are calculated using spatial multi-point positioning, and the calculation formula is:

[0131] p T =Ω-1 Θ

[0132] in:

[0133]

[0134] Where, d 1 , d 2 , d 3 and d 4 They are the relative distances between the four known positions and the current position of the oil extraction robot.

[0135] Preferably, the second acquisition module 204 acquires a real-time infrared grayscale image and depth information of the target oil extraction position according to the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot acquired in real time, including:

[0136] Determine the forward path of the oil extraction robot according to the spatial coordinates of the current position of the oil extraction robot and the static global spatial information of the substation where the transformer is located, as well as the real-time road condition image in front of the current position of the oil extraction robot acquired in real time;

[0137] After the oil extraction robot moves to the oil extraction target position according to the forward path, a real-time infrared grayscale image and depth information of the oil extraction target position are obtained.

[0138] Preferably, the result output module 205 determines the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determines the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information, including:

[0139] According to the shape characteristics of the proposed oil extraction valve and the grayscale difference of the pixels in the real-time infrared grayscale image, edge detection is performed on the real-time infrared grayscale image to determine the proposed oil extraction valve portion in the real-time infrared grayscale image;

[0140] Determine the pixel coordinates of the geometric center point of the proposed oil extraction valve according to the geometric relationship between the pixels in the image of the proposed oil extraction valve portion;

[0141] Let P uv =(p u ,p v ) is the pixel coordinate of the geometric center point of the oil extraction valve to be positioned, P = (X, Y, Z) is the three-dimensional spatial coordinate of the center point in the mechanical arm end coordinate system of the oil extraction robot, P w =(X w ,Y w ,Z w) is the three-dimensional spatial coordinate of the center point in the robot body coordinate system. The spatial coordinate of the proposed oil extraction valve in the oil extraction robot body coordinate system is determined according to the transformation from the pixel coordinate system to the robot end coordinate system and the transformation from the robot body coordinate system to the pixel coordinate system. The expression is:

[0142]

[0143] Wherein, K is the camera intrinsic parameter matrix of the ToF depth camera installed at the end of the robotic arm, T is the homogeneous linear transformation matrix of the robot, and the Z value of the geometric center point of the oil extraction valve to be positioned in the coordinate system of the end of the robotic arm is the depth value determined by the depth information.

[0144] The steps for automatically positioning the transformer oil extraction valve by the device for automatically positioning the transformer oil extraction valve in the preferred embodiment are the same as the steps adopted by the method for automatically positioning the transformer oil extraction valve in the present invention, and the technical effects achieved are also the same, which will not be repeated.

[0145] Example oil extraction robot

[0146] Figure 3 FIG. 1 is a schematic diagram of the structure of an oil extraction robot according to a preferred embodiment of the present invention. Figure 3 As shown, the oil extraction robot 402 includes a processor 421, an electric control cabinet 422, an antenna 423, a joint mechanical arm 424, a ToF depth camera 425 and a mobile chassis 426, wherein:

[0147] The processor 421 is used to obtain the static global spatial information of the substation where the transformer is located based on the global image modeling of the substation where the transformer is located; determine the spatial coordinates of several known positions and the target oil extraction position based on the static global spatial information; calculate the relative distance between the oil extraction robot and the several known positions based on the strength information and the known parameters; calculate the spatial coordinates of the current position of the oil extraction robot using spatial multi-point positioning based on the relative distance and the spatial coordinates of the several known positions; compare the real-time road condition image in front of the current position of the oil extraction robot obtained in real time with the static global spatial information of the substation where the transformer is located, determine the forward path of the oil extraction robot, and control the mobile chassis 426 to move to the target oil extraction position based on the forward path;

[0148] An electric control cabinet 422, which is supported on the mobile chassis and is used to accommodate a processor connected to the mobile chassis;

[0149] An antenna 423, which is disposed at the front end of the electric control cabinet and connected to the processor, and receives an electromagnetic beam from a synchronous transflective metasurface array element;

[0150] A joint mechanical arm 424, which is arranged on the electric control cabinet, and the joint mechanical arm is connected to the processor and is used to move according to the instructions of the processor so that the ToF depth camera collects image information of the corresponding position;

[0151] The ToF depth camera 425 is arranged at the end of the articulated robotic arm and connected to the processor, and is used to perform a global scan of the substation where the transformer is located to obtain a global image of the substation; obtain a real-time road condition image in front of the current position of the oil extraction robot, and obtain a real-time infrared grayscale image and depth information after the oil extraction robot arrives at the target oil extraction position.

[0152] Preferably, the oil extraction robot of the present invention further comprises an oil extraction actuator 427, which is arranged at the end of the articulated robotic arm, and the oil extraction actuator is connected to the processor to perform the oil extraction operation, and the oil extraction actuator comprises a valve cover screwing unit and an oil drain screwing unit.

[0153] In this preferred embodiment, the processor 421 (located inside the electric control cabinet 422, Figure 3 (not shown) can be divided into multiple modules according to the different functions it implements, including a path planning module connected to a receiving antenna for planning a forward path, a mobile control module connected to and driving the mobile chassis to reach the target oil collection position, a color image recognition module connected to a ToF depth camera, and a motion control module connected to a joint robotic arm and an oil collection actuator.

[0154] In this preferred embodiment, the oil extraction robot further includes an oil extraction line 428, which is used to transmit the oil extracted by the oil extraction robot through the oil extraction line 428 after the oil extraction actuator 427 performs the relevant action.

[0155] Exemplary Systems

[0156] Figure 4 FIG. 1 is a schematic diagram of the structure of a system for automatically positioning a transformer oil extraction valve according to a preferred embodiment of the present invention. Figure 4 As shown, the system 400 for automatically positioning the transformer oil extraction valve according to the preferred embodiment includes:

[0157] The synchronous transmissive metasurface array element 401 is mounted on a transformer and is used to generate an electromagnetic wave beam after recovering electromagnetic wave signals from the wireless environment space, and send the electromagnetic wave beam and the intensity information of the electromagnetic wave sensed at several known positions to the oil extraction robot;

[0158] The oil extraction robot 402 is used to calculate the relative distance between the oil extraction robot and several known positions according to the intensity information and the known parameters; calculate the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of the several known positions; obtain the real-time infrared grayscale image and depth information of the target oil extraction position according to the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot obtained in real time; determine the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determine the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information, wherein the known parameters include the transmission gain, the receiving gain and the wavelength of the electromagnetic wave, the several known positions are located on the transformer where the proposed oil extraction valve is located, and the spatial coordinates of the several known positions are determined based on the static global spatial information of the substation where the transformer is located obtained by scanning modeling.

[0159] from Figure 4 It can be seen that in order to complete the positioning and addressing of the transformer where the oil extraction valve is to be located by the oil extraction robot, the present invention installs the synchronous transmissive super surface array element on the transformer where the oil extraction valve is to be located, and uses its all-round perception and precise control ability of electromagnetic waves in the environment to parse the distance information between the current position of the robot and several known positions on the synchronous transmissive super surface array element from the electromagnetic beam recovered and sent to the front antenna of the robot; and determine the spatial coordinates of the robot's position according to the principle of spatial multi-point positioning. Based on the relative relationship between the coordinates and the spatial coordinates of several known positions (equivalent to the spatial coordinates of the transformer where the oil extraction valve is to be located) as the overall basis, refer to the static global spatial point cloud information of the substation obtained by scanning and modeling the ToF depth camera on the oil extraction robot in advance, and combine the current road conditions captured by the ToF depth camera to reasonably adjust and confirm the next moving direction and speed of the oil extraction robot, so that it finally reaches the oil extraction target position of the oil extraction robot. In the precise identification of the position of the oil extraction valve to be located, a method of integrating machine vision with the posture of the end of the robot's mechanical arm is used. When the oil extraction robot arrives at the target oil extraction position, the ToF depth camera installed at the end of the robot's mechanical arm starts to move with the mechanical arm, and uses the real-time infrared grayscale image and depth information it obtains to determine the oil valve part in the image through grayscale differences and shape features. The pixel coordinates of the geometric center of the oil extraction valve are calculated through the geometric relationship between the pixels in the oil valve image, and its posture information relative to the end of the mechanical arm is obtained in combination with the depth information. Based on this, the pixel coordinates of the oil extraction valve are converted into the robot's body coordinate system to complete the accurate positioning of the proposed oil extraction valve in the current posture, so as to facilitate the subsequent automatic oil extraction action of the robot.

[0160] Figure 5Schematic diagram of the structure of a synchronous transflective metasurface array element according to a preferred embodiment of the present invention. Figure 5 As shown, the synchronous transflective metasurface array element 401 includes:

[0161] The signal transmission and reflection unit 421 is connected to the onboard controller and is used to generate an electromagnetic wave beam after recovering the electromagnetic wave signal from the wireless environment space, and transmit the electromagnetic wave beam to the oil extraction robot;

[0162] A plurality of sensing unit groups 422, which are connected to the onboard controller and are used to sense the intensity information of the electromagnetic waves incident on their surface, and send the intensity information to the oil extraction robot, and serve as anchor points for spatial coordinate positioning of a plurality of known positions;

[0163] The onboard controller 423 is used to connect and control the signal reflection unit and a plurality of sensing unit groups.

[0164] Specifically, the signal reflector 421 recycles the electromagnetic wave signals in the wireless environment space, and converges them to the receiving antenna located at the front side of the oil extraction robot by beam scanning, thereby establishing a communication connection with the oil extraction robot. Then, the onboard controller 423 turns on multiple groups of sensing unit groups 422 at several known positions, and the sensing unit groups 422 sense the strength information of the electromagnetic wave signals on their surfaces and transmit it to the oil extraction robot. In this preferred embodiment, each sensing unit group 422 is composed of several sensing units 4221.

[0165] In this preferred embodiment, each sensing unit group 422 is composed of several signal sensing units arranged in a certain manner, and is used as an anchor point for positioning a known position. The processed spatial coordinates can be determined by the static global spatial point cloud information of the substation obtained by scanning modeling. The signal reflection unit 421 and the multiple sensing unit groups 422 are placed on a transparent substrate, so 360° omnidirectional beam transmission and signal transmission can be achieved. And because of its nearly passive characteristics, a larger surface can be configured to improve the recovery efficiency of electromagnetic waves in the wireless environment, and the cost of manufacturing and operation and maintenance is relatively low; at the same time, the strong beam directivity and working frequency band advantages can avoid the interference problems that are very likely to exist in the complex electromagnetic space of the substation.

[0166] The oil extraction robot of the system for automatically positioning the transformer oil extraction valve described in the preferred embodiment locates the transformer where the oil extraction valve to be positioned is located by synchronously transmitting the intensity information of the electromagnetic wave seat number transmitted by the anti-meta-surface array element, and then moves to the target oil extraction position to determine the pixel coordinates of the geometric center of the oil extraction valve to be positioned, and determines the spatial coordinates of the oil extraction valve to be positioned in the coordinate system of the oil extraction robot body in combination with the depth information. The steps are the same as the steps taken by the method for automatically positioning the transformer oil extraction valve described in the present invention, and the technical effects achieved are also the same, which will not be repeated here.

[0167] Exemplary Electronic Devices

[0168] Figure 6 The electronic device according to the preferred embodiment of the present invention is a schematic diagram of the structure of the electronic device. The electronic device can be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device can communicate with the first device and the second device to receive the collected input signal from them. Figure 6 FIG. 1 is a block diagram of an electronic device according to an embodiment of the present disclosure. Figure 6 As shown, the electronic device includes one or more processors 601 and a memory 602 .

[0169] The processor 601 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0170] The memory 602 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 601 may run the program instructions to implement the energy consumption anomaly diagnosis method based on the enterprise energy consumption space of each disclosed embodiment described above and / or other desired functions. In one example, the electronic device may also include: an input device 603 and an output device 604, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0171] In addition, the input device 603 may also include, for example, a keyboard, a mouse, and the like.

[0172] The output device 604 can output various information to the outside, and can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto.

[0173] Of course, to simplify, Figure 6 Only some of the components related to the present disclosure in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device may further include any other appropriate components.

[0174] Exemplary computer program products and computer-readable storage media

[0175] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the method of automatically positioning the transformer oil extraction valve according to various embodiments of the present disclosure described in the above-mentioned "Exemplary Method" section of this specification.

[0176] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0177] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the processor executes the steps of the method for automatically positioning a transformer oil extraction valve according to various embodiments of the present disclosure described in the above “Exemplary Method” section of this specification.

[0178] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0179] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0180] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0181] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0182] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0183] It should also be noted that in the apparatus, equipment and method of the present disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present disclosure. The above description of the disclosed aspects is provided to enable any technician in the field to make or use the present disclosure. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown here, but to the widest scope consistent with the principles and novel features disclosed herein.

[0184] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for automatically positioning a transformer oil valve, characterized in that: The method comprises: Acquire the intensity information of the electromagnetic wave beam sent from a plurality of known positions to the transformer oil extraction robot, wherein the plurality of known positions are located on the transformer where the oil extraction valve is to be located; Calculating the relative distances between the oil extraction robot and a plurality of known positions according to the intensity information and known parameters, wherein the known parameters include a transmission gain, a receiving gain, and a wavelength of the electromagnetic wave; According to the relative distance and the spatial coordinates of several known positions, spatial multi-point positioning is used to calculate the spatial coordinates of the current position of the oil extraction robot, wherein the spatial coordinates of the several known positions are determined based on the static global spatial information of the substation where the transformer is located obtained by scanning modeling; Acquire a real-time infrared grayscale image and depth information of the target oil extraction position according to the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot acquired in real time; The pixel coordinates of the geometric center of the proposed oil extraction valve in the image are determined according to the real-time infrared grayscale image, and the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body are determined in combination with the depth information.

2. The method according to claim 1, characterized in that The relative distances between the oil extraction robot and a plurality of known positions are calculated according to the strength information and known parameters, and the calculation formula is: Where d is the relative distance between the oil extraction robot and the known position, λ is the wavelength of the electromagnetic wave, G t and G r are the transmit gain and receive gain respectively, P t and P r The transmission power and reception power are respectively calculated and determined based on the transmission strength information of the electromagnetic wave when it is transmitted and the reception strength information of the electromagnetic wave when it is received in the strength information.

3. The method according to claim 1, characterized in that The method of calculating the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of a plurality of known positions includes: Assume that the spatial coordinates of the current position of the oil extraction robot are p = (x, y, z), and there are 4 known positions, whose spatial coordinates are p m =(x m ,y m ,z m ), where m∈{1,2,3,4}; The spatial coordinates of the current position of the oil extraction robot are calculated using spatial multi-point positioning, and the calculation formula is: p T =Oh -1 I in: Where d1, d2, d3 and d4 are the relative distances between the four known positions and the current position of the oil extraction robot.

4. The method according to claim 1, characterized in that The real-time infrared grayscale image and depth information of the oil extraction target position are obtained based on the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot, including: Determine the forward path of the oil extraction robot according to the spatial coordinates of the current position of the oil extraction robot and the static global spatial information of the substation where the transformer is located, as well as the real-time road condition image in front of the current position of the oil extraction robot acquired in real time; After the oil extraction robot moves to the oil extraction target position according to the forward path, a real-time infrared grayscale image and depth information of the oil extraction target position are obtained.

5. The method according to claim 1, characterized in that The step of determining the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determining the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information, includes: According to the shape characteristics of the proposed oil extraction valve and the grayscale difference of the pixels in the real-time infrared grayscale image, edge detection is performed on the real-time infrared grayscale image to determine the proposed oil extraction valve portion in the real-time infrared grayscale image; Determine the pixel coordinates of the geometric center point of the proposed oil extraction valve according to the geometric relationship between the pixels in the image of the proposed oil extraction valve portion; Let P uv =(p u , p v ) is the pixel coordinate of the geometric center point of the oil extraction valve to be positioned, P = (X, Y, Z) is the three-dimensional spatial coordinate of the center point in the mechanical arm end coordinate system of the oil extraction robot, P w =(X w , Y w , Z w ) is the three-dimensional spatial coordinate of the center point in the robot body coordinate system. The spatial coordinate of the proposed oil extraction valve in the oil extraction robot body coordinate system is determined according to the transformation from the pixel coordinate system to the robot end coordinate system and the transformation from the robot body coordinate system to the pixel coordinate system. The expression is: Wherein, K is the camera intrinsic parameter matrix of the ToF depth camera installed at the end of the robotic arm, T is the homogeneous linear transformation matrix of the robot, and the Z value of the geometric center point of the oil extraction valve to be positioned in the coordinate system of the end of the robotic arm is the depth value determined by the depth information.

6. A device for automatically positioning a transformer oil valve, characterized in that: The device comprises: A first acquisition module is used to obtain the intensity information of the electromagnetic wave beam sent to the oil extraction robot from a plurality of known positions, wherein the plurality of known positions are located on the transformer where the oil extraction valve is to be located; A first calculation module, used for calculating the relative distance between the oil extraction robot and a plurality of known positions according to the intensity information and known parameters, wherein the known parameters include a transmission gain, a receiving gain and a wavelength of the electromagnetic wave; A second calculation module is used to calculate the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of several known positions, wherein the spatial coordinates of the several known positions are determined based on the static global spatial information of the substation where the transformer is located obtained by scanning modeling; The second acquisition module is used to obtain a real-time infrared grayscale image and depth information of the oil extraction target position based on the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot obtained in real time; The result output module is used to determine the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determine the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information.

7. An oil extraction robot for automatically positioning a transformer oil extraction valve using any one of the methods of claims 1 to 5, characterized in that: The oil extraction robot includes a mobile chassis, an electric control cabinet, an antenna, a joint mechanical arm, a ToF depth camera and a processor, wherein: A processor is used to obtain static global spatial information of the substation where the transformer is located based on global image modeling of the substation where the transformer is located; determine the spatial coordinates of several known positions and the target oil extraction position based on the static global spatial information; calculate the relative distance between the oil extraction robot and the several known positions based on the strength information and known parameters; calculate the spatial coordinates of the current position of the oil extraction robot using spatial multi-point positioning based on the relative distance and the spatial coordinates of the several known positions; compare the real-time road condition image in front of the current position of the oil extraction robot obtained in real time with the static global spatial information of the substation where the transformer is located, determine the forward path of the oil extraction robot, and control the mobile chassis to move to the target oil extraction position based on the forward path; An electric control cabinet, which is supported on the mobile chassis and is used to accommodate a processor connected to the mobile chassis; An antenna, which is arranged at the front end of the electric control cabinet and connected to the processor, and receives an electromagnetic wave beam from a synchronous transflective metasurface array element; A joint mechanical arm, which is arranged on the electric control cabinet, and is connected to the processor, and is used to move according to the instructions of the processor so that the ToF depth camera collects image information of the corresponding position; The ToF depth camera is arranged at the end of the articulated robotic arm and connected to the processor, and is used to perform a global scan of the substation where the transformer is located to obtain a global image of the substation; obtain a real-time road condition image in front of the current position of the oil extraction robot, and obtain a real-time infrared grayscale image and depth information after the oil extraction robot arrives at the target oil extraction position.

8. A system for automatically positioning a transformer oil extraction valve using the oil extraction robot according to claim 7, characterized in that: The system comprises: A synchronous transmissive metasurface array element is mounted on a transformer and is used to generate an electromagnetic wave beam after recovering electromagnetic wave signals from a wireless environment space, and to send the electromagnetic wave beam and the intensity information of the electromagnetic wave sensed at several known positions to an oil extraction robot; An oil extraction robot is used to calculate the relative distance between the oil extraction robot and several known positions according to the intensity information and known parameters; calculate the spatial coordinates of the current position of the oil extraction robot by using spatial multi-point positioning according to the relative distance and the spatial coordinates of several known positions; obtain a real-time infrared grayscale image and depth information of the target oil extraction position according to the static global spatial information of the substation where the transformer is located and the real-time road condition image in front of the current position of the oil extraction robot obtained in real time; determine the pixel coordinates of the geometric center of the proposed oil extraction valve in the image according to the real-time infrared grayscale image, and determine the spatial coordinates of the proposed oil extraction valve in the coordinate system of the oil extraction robot body in combination with the depth information, wherein the known parameters include the transmission gain, the receiving gain and the wavelength of the electromagnetic wave, the several known positions are located on the transformer where the proposed oil extraction valve is located, and the spatial coordinates of the several known positions are determined based on the static global spatial information of the substation where the transformer is located obtained by scanning modeling.

9. The system according to claim 8, characterized in that The synchronous transflective metasurface array element comprises: A signal transmission and reflection unit connected to the onboard controller is used to generate an electromagnetic wave beam after recovering the electromagnetic wave signal from the wireless environment space, and transmit the electromagnetic beam to the oil extraction robot; A plurality of sensing unit groups connected to the onboard controller for sensing the intensity information of electromagnetic waves incident on the surface thereof, and sending the intensity information to the oil extraction robot, and serving as anchor points for spatial coordinate positioning of a plurality of known positions; The onboard controller is used to connect and control the signal reflection unit and a plurality of sensing unit groups.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed on a device, a processor in the device executes an operation to implement the method according to any one of claims 1 to 5.

11. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 5.

12. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the method described in any one of claims 1 to 5.

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