Control method and control system of high-voltage transformer substation tubular bus drainage wire disassembling and assembling robot

Abstract

The invention discloses a control method and a control system for a high-voltage transformer substation tubular bus drainage wire disassembling and assembling robot, and relates to the technical field of power construction. Comprising the steps that data collection is conducted, specifically, a high-voltage transformer substation basic data set, an AR equipment data set, a robot data set, a fault data set and a maintenance criterion data set are obtained, the fault data set comprises a real-time fault data set and a historical fault data set, and the high-voltage transformer substation basic data set comprises a drainage wire information data set; according to the method, the AR equipment can quickly establish a control relation with the specified disassembly and assembly robot through a quick connection method, the time for searching and pairing equipment in a traditional method is shortened, the operation efficiency is improved, an operator can quickly create and modify commands on a visual operation interface by utilizing the AR equipment through introduction of a command set and a user-defined command mode, and the operation efficiency is improved. Operation convenience and flexibility are greatly enhanced, and an operator can adjust commands in real time according to site conditions so as to adapt to complex and changeable working environments.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power construction, and in particular to a control method and control system for a robot for dismantling and erecting a mother pipe drainage line in a high-voltage substation. Background Art

[0002] With the continuous development of the power system, the safety and reliability of high-voltage substations, as a key link in power transmission and distribution, are increasingly valued. In high-voltage substations, the dismantling and installation of mother pipe drainage lines is a common maintenance task, but this operation process often faces many challenges, such as complex operating environment, great safety hazards, and low efficiency of traditional manual operations. Traditionally, the dismantling and installation of mother pipe drainage lines in high-voltage substations relies on manual work, which is not only inefficient, but also has high safety risks.

[0003] For example, the patent publication number is CN116394243A, and its name is a robot control system, method, device and robot. The robot control system includes a management platform and multiple robots. The management platform determines the specified formation of multiple target robots and issues the specified formation; each target robot adjusts its position according to the specified formation; each slave robot detects the initial detection position of the master robot, and reports a first notification message when it detects that the detection error between the detection position relationship and the specified position relationship meets the detection error condition; the master robot determines the initial formation, and reports a second notification message when it detects that the positioning error between the initial formation and the specified formation meets the positioning error condition and receives the first notification message reported by each slave robot; the management platform issues a task start instruction based on the second notification message; each target robot executes the task to be executed, and multiple robots can be controlled to work collaboratively.

[0004] The above technology focuses on the synchronization of formation control and task initiation between robots, and may not be able to adapt to the complex and changeable working environment of high-voltage substations. Existing disassembly and assembly robots require operators to use matching controllers to dismantle and assemble drainage lines at high places, but the drainage lines cannot be disassembled by simple pulling. It is necessary to survey the faulty drainage lines and understand the specifications, fixings, fault conditions and other information of the drainage lines so as to facilitate the subsequent operation of the disassembly and assembly robots for precise disassembly and assembly. However, this step also requires the operator to manually record and analyze the above information, so it will be more troublesome to operate the disassembly and assembly robot, increasing the risk of accidents during the operation. Summary of the invention

[0005] The object of the present invention is to provide a control method and control system for a robot for dismantling and erecting a mother pipe drainage line in a high-voltage substation, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] In the first aspect, a control method for a robot for dismantling and erecting a mother pipe drainage line in a high-voltage substation is designed. The control method comprises:

[0008] Data collection: obtaining a high-voltage substation basic data set, an AR equipment data set, a robot data set, a fault data set, and a maintenance criteria data set. The fault data set includes a real-time fault data set and a historical fault data set. The high-voltage substation basic data set includes a drainage line information data set.

[0009] Server construction: Build a cloud server. The cloud server is equipped with a database to store the basic data set of high-voltage substations, AR equipment data set, robot data set, fault data set and maintenance criteria data set. The cloud server is equipped with the geographic space of the high-voltage substation, and a feature database is established based on the fault data set.

[0010] Order dispatch: the cloud server creates a maintenance order after acquiring the real-time fault data set, and the maintenance order is dispatched to the AR device according to the order dispatch method;

[0011] On-site survey and analysis: The operator wears an AR device and controls the dismantling robot to conduct on-site survey according to the equipment control method. The dismantling robot is integrated with a survey device to obtain survey information and upload it to the cloud server. The cloud server generates a maintenance report based on the survey information and sends it to the AR device;

[0012] The operator uses the AR device and based on the maintenance report, controls the disassembly and assembly robot again according to the equipment control method to perform maintenance work;

[0013] The device control method includes:

[0014] S1: Establishing connection. Each disassembly and assembly robot is equipped with an independent controller. The AR device is quickly connected to the corresponding controller through the quick connection method.

[0015] S2: Control command: the operator uses the AR device to create a command set to control the specified disassembly robot to perform work in a fixed order, and the command set is stored on the AR device;

[0016] S3: Release the device. The AR device sends an end command to the controller on the specified disassembly robot based on the command set. After receiving the end command, the specified disassembly robot moves to the specified position according to the device movement method.

[0017] Furthermore, the quick connection method comprises:

[0018] A1: The cloud server obtains the current position information and current state information of the disassembly robot based on the robot data set to obtain the device state set, and sends the device state set to the AR device;

[0019] A2: Based on the maintenance order, the operator selects the disassembly robot with the most consistent current position information and current status information from the equipment status set and sends a control request;

[0020] A3: After the cloud service accepts the control request, it allows the designated disassembly robot to establish a temporary control relationship with the AR device.

[0021] Furthermore, the method for creating the command set includes:

[0022] B1: The operator uses the AR device to create a command framework based on the AR device data set. The command framework is filled with basic operation modes and custom command modes. There are multiple basic operation modes and custom command modes, which are matched one by one with different types of disassembly and assembly robots.

[0023] B2: The operator uses the custom command mode of the AR device to add required commands by himself, thereby obtaining executable command sets for different disassembly and assembly robots;

[0024] B3: The operator uses the AR device to add command operation rules to allow basic operation methods, custom command methods, and executable command sets to run within the scope of the rules.

[0025] Furthermore, the device movement method includes:

[0026] C1: The cloud server uses GIS technology to establish the geographic space of the high-voltage substation based on the basic data set of the high-voltage substation. Multiple machine storage points are set in the geographic space, and each machine storage point is used to store a dedicated disassembly and assembly robot;

[0027] C2: The cloud server obtains the current coordinate information of the released disassembly robot and the coordinate information of the corresponding machine storage point, thereby obtaining the target coordinate information set;

[0028] C3: The cloud server finds and generates the best moving path based on the path-finding algorithm based on geographic space, and the released disassembly and assembly robot moves to the corresponding machine storage point according to the best moving path.

[0029] Furthermore, the order delivery method includes:

[0030] T1: The cloud server counts the current status of each AR device based on the AR device data set, counts the number of currently executed maintenance orders based on the current status of each AR device, and counts the estimated completion time of each maintenance order based on the current number of maintenance orders, thereby obtaining the current AR device status set;

[0031] T2: Based on the current AR device status set and the maintenance order, the distance between the maintenance site and each AR device is calculated, and the arrival time is calculated. Then, the sum of the estimated completion time of all maintenance orders in each AR device is calculated and the arrival time is added. After sorting, the AR device with the closest time to the current time is selected as the target AR device for order release.

[0032] T3: The cloud server sends the maintenance order to the target AR device through the private LAN.

[0033] Furthermore, the method for creating the feature database is:

[0034] N1: Standard data is obtained by preprocessing and integrating the drainage line information dataset and the fault dataset;

[0035] N2: Extract features using image processing technology based on standard data, and classify and annotate the features to establish feature subsets. The features include the shape, color, and fault condition of the drainage line;

[0036] N3: Establishing a database table based on the standard data and the feature subset, and defining the database table, wherein the database table includes a fault feature table, a fault type table, and a maintenance criterion table;

[0037] N4: Based on the database table, the standard data and feature subsets are updated in real time to the corresponding database table, thereby obtaining a feature database.

[0038] Furthermore, the method for generating the maintenance report includes:

[0039] Y1: Extract key features based on survey information using image processing technology and integrate sensor data in the survey information set to obtain the survey information set;

[0040] Y2: Match the key features with the feature database to obtain the corresponding features, then obtain the corresponding fault type based on the corresponding features and combine the sensor data to obtain an evaluation report;

[0041] Y3: Obtain a maintenance report based on the assessment report, maintenance criteria dataset and survey information set.

[0042] Furthermore, the AR device and the controller establish a connection by relying on a temporarily created private local area network for information transmission, and the method for creating the private local area network includes:

[0043] M1: The cloud server identifies the AR device number and the disassembly robot number based on the control request, and then automatically allocates a temporary communication channel to match the IP of the AR device with the IP of the corresponding disassembly robot;

[0044] M2: The cloud server configures network services and security measures for the temporary communication channel;

[0045] M3: After the AR device issues the end command, the cloud server automatically cancels the temporary communication channel and the corresponding logistics network services and safety measures after receiving it.

[0046] Furthermore, the surveying equipment includes an infrared thermal imager, a high-definition camera, a laser rangefinder and an electromagnetic field detector.

[0047] In the second aspect, a high-voltage substation mother pipe drainage line dismantling and installation robot control system is designed based on the above-mentioned high-voltage substation mother pipe drainage line dismantling and installation robot control method.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] A control method and control system for a dismantling robot for a mother pipe drainage line in a high-voltage substation. Through a quick connection method, an AR device can quickly establish a control relationship with a specified dismantling robot, reducing the time for finding and pairing devices in traditional methods and improving work efficiency. The introduction of command sets and custom command methods enables operators to use AR devices to quickly create and modify commands on an intuitive operation interface, greatly enhancing the convenience and flexibility of operation. Operators can adjust commands in real time according to on-site conditions to adapt to complex and changeable working environments. The equipment movement method plans the best movement path for the dismantling robot through GIS technology and path-finding algorithms, ensuring that the robot can quickly and safely return to a storage point after completing the task, avoiding idleness and waste of resources. The entire control method focuses on real-time monitoring and precise control of the status of the dismantling robot, and reduces safety risks caused by improper operation or equipment failure through feedback of the equipment status set and precise execution of the command set.

[0050] At the same time, the order dispatch method quickly selects the most suitable AR device as the order issuance target according to the status of the AR device, the estimated completion time of the maintenance order, and the distance from the AR device to the maintenance site, thereby improving the efficiency of order dispatch and ensuring the timeliness of fault repair. On-site surveys can obtain accurate survey information in real time and generate detailed maintenance reports, providing a scientific basis for subsequent maintenance work and ensuring the pertinence and effectiveness of maintenance work. The feature database integrates standard data through preprocessing and uses image processing technology to extract key features, so that the corresponding features can be matched more accurately in subsequent fault identification. The maintenance report uses these classified and labeled feature subsets to match the real-time survey information, which can quickly locate the fault type, reduce the possibility of misjudgment and missed judgment, and improve the accuracy and efficiency of fault identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the principle of the present invention;

[0052] Figure 2 It is a schematic diagram of the principle of the device control method of the present invention;

[0053] Figure 3 It is a schematic diagram of the maintenance report principle of the present invention;

[0054] Figure 4 It is a schematic diagram of a high voltage substation of the present invention. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] In the daily operation and maintenance of high-voltage substations, the present invention provides a control method and control system for a high-voltage substation mother pipe drainage line disassembly and assembly robot. The method is suitable for complex substation environments that require efficient and accurate handling of drainage line disassembly and assembly operations and rapid response to faults. Remote control and on-site analysis are achieved through AR equipment, which greatly improves work efficiency and safety. Operators need to have professional skills and be familiar with the AR equipment operation interface and disassembly and assembly robot control process. During operation, operators need to wear AR equipment, receive maintenance orders based on real-time fault data, and use AR equipment to control the disassembly and assembly robot for on-site survey and maintenance. At the same time, they strictly abide by safety operating procedures to ensure personal safety and stable equipment operation during operation.

[0057] like Figure 1-Figure 4 As shown, the present invention provides a technical solution: a control method for a robot for dismantling and assembling a mother pipe drainage line in a high-voltage substation, the control method comprising:

[0058] Data collection: Obtain high-voltage substation basic data set, AR equipment data set, robot data set, fault data set and maintenance criteria data set. The fault data set includes real-time fault data set and historical fault data set. The high-voltage substation basic data set includes the drainage line information data set.

[0059] It should be noted that the basic data set of high-voltage substations includes: substation geographic data / substation layout diagram / equipment specifications and models / operating parameters / safety specifications and standards; AR equipment data set: equipment models and specifications / performance evaluation data / maintenance and fault records; robot data set: robot models and configurations / task execution data / environmental adaptability data / path planning and navigation data / maintenance and fault logs / survey equipment models; fault data set: fault type and description / fault cause analysis / handling measures and results / fault impact assessment / historical fault cases; maintenance criteria data set: maintenance standards and procedures / maintenance tools and materials / safety specifications / maintenance record templates / maintenance training and assessment; drainage line information data set: drainage line identifier / type / specification / length / electrical characteristics / insulation grade / voltage withstand level / mechanical strength parameters / starting and ending connection points / connection method / specifications and quantity of connecting fasteners.

[0060] Server construction: Build a cloud server, which is equipped with a database to store the high-voltage substation basic data set, AR equipment data set, robot data set, fault data set and maintenance criteria data set. The cloud server is equipped with the geographic space of the high-voltage substation and establishes a feature database based on the fault data set.

[0061] It should be noted that you should select a cloud service platform (AWS, Azure, Alibaba Cloud, and Tencent Cloud), choose the appropriate cloud server instance type according to your needs, configure network settings, start the cloud server instance, and obtain its IP address and login credentials, connect to your cloud server through SSH or remote desktop, install the necessary service software, select the appropriate MySQL database system, install and configure the database system, create a database and user, and set access permissions, import the high-voltage substation basic dataset, AR equipment dataset, robot dataset, fault dataset, and maintenance criteria dataset into the database, use GIS technology to convert the substation geographic data into geographic space, and integrate the map API for display, and finally establish a feature database.

[0062] Order dispatch: After obtaining the real-time fault data set, the cloud server creates a maintenance order, which is dispatched to the AR device according to the order dispatch method.

[0063] On-site survey and analysis: The operator wears an AR device and controls the disassembly robot to conduct on-site survey according to the equipment operation method. The disassembly robot is integrated with a survey device to obtain survey information and upload it to the cloud server. The cloud server generates a maintenance report based on the survey information and sends it to the AR device.

[0064] The operator uses the AR device and based on the maintenance report, controls the disassembly and assembly robot again according to the equipment control method to perform maintenance work.

[0065] like Figure 2 As shown, the equipment control method includes: S1: establishing connection. Each disassembly robot is provided with an independent controller. The AR device is quickly connected to the corresponding controller through the quick connection method. S2: controlling command. The operator uses the AR device to create a command set for controlling the specified disassembly robot to perform work in a fixed order, and the command set is stored on the AR device. S3: releasing the device. The AR device sends an end command to the controller on the specified disassembly robot based on the command set. After receiving the end command, the specified disassembly robot moves to the specified position according to the equipment movement method.

[0066] It should be noted that each disassembly robot is equipped with an independent controller. The controller has a wireless communication module for communicating with the AR device. The controller also needs to have an actuator control interface for receiving and executing instructions from the AR device. The robot has a positioning and navigation system so that it can move to a specified position autonomously when needed. The AR device must have a wireless communication function that matches the disassembly robot controller. Special control software should be installed on the device to allow the operator to create and send command sets through gestures, voice or interface buttons. The AR device should also have a display function to show the operator real-time images and robot status information. The operator starts the AR device and starts the control software on it to establish a wireless connection with the controller of the disassembly robot through the quick connection method. After the connection is established, the operator can communicate on the AR device through A command set is created through an interface or voice, and the command set contains a series of specific instructions used to control the specified disassembly robot to execute a specific workflow. After the command set is created, the controller of the disassembly robot receives the command set from the AR device, parses the instructions and executes the corresponding actions. During the execution of the robot, its status information can be fed back to the AR device in real time and displayed to the operator on the display screen of the AR device. If an abnormal situation occurs during the execution, the robot will pause the execution and send an alarm message to the AR device. When the disassembly robot completes the specified task, the operator issues an end command on the AR device, and the AR device sends the end command to the controller of the disassembly robot. After receiving the end command, the controller controls the robot to stop the current action and move to the specified machine storage point according to the equipment movement method.

[0067] like Figure 2 As shown, the quick connection method includes: A1: the cloud server obtains the current position information and current state information of the disassembly robot based on the robot data set to obtain the device state set, and sends the device state set to the AR device; A2: the operator selects the disassembly robot with the most consistent current position information and current state information from the device state set based on the maintenance order and sends a control request; A3: after the cloud service accepts the control request, it allows the designated disassembly robot to establish a temporary control relationship with the AR device.

[0068] It should be noted that the disassembly robot regularly uploads its own position and status information to the cloud server for updating. The cloud server processes this information, generates a device status set, and stores it for query. The operator accesses the data on the cloud server through the AR device, which is usually achieved through an application on the AR device. The application establishes a network connection with the cloud server. The operator views the maintenance order to understand the tasks that need to be performed and the required robot type or specific conditions. The operator browses the device status set on the AR device and selects the disassembly robot with the most consistent current position information and current status information from the status set according to the requirements of the maintenance order. The operator selects the appropriate disassembly robot, and the AR device generates a control request. This request contains the unique identifier of the selected robot (such as an ID number) and an overview of the instructions or command set that the operator wants to execute. The AR device sends the control request to the cloud server. After receiving the control request, the cloud server first verifies the legitimacy of the request. If the verification passes, the cloud server forwards the control request to the designated disassembly machine At the same time, the cloud server updates the record in the database and establishes a temporary control relationship between the disassembly robot and the AR device. After receiving the control request from the cloud server, the disassembly robot parses the request content and confirms whether it is ready to accept control. If the robot is ready, it will establish a direct wireless communication connection with the AR device through its controller. After the communication connection is established, the robot enters a standby state, waiting to receive specific instructions from the AR device. The AR device sends specific instructions or command sets to the disassembly robot through the established communication connection. The disassembly robot receives the instructions and performs corresponding operations. During the execution process, the robot feeds back real-time status information (such as progress, abnormalities, etc.) to the AR device for the operator to monitor and adjust. When the disassembly robot completes the specified task, it will send a task completion notification to the AR device. After the operator confirms that the task is completed, a disconnect request is initiated on the AR device. After receiving the disconnect request, the cloud server and the disassembly robot respectively perform corresponding operations to end the temporary control relationship and release related resources.

[0069] like Figure 2 As shown, the method for creating a command set includes: B1: the operator uses the AR device to create a command framework based on the AR device data set, and the command framework is filled with basic operation methods and custom command methods. There are multiple basic operation methods and custom command methods, and they are matched one by one with different types of disassembly and assembly robots. B2: the operator uses the custom command method of the AR device to add required commands by himself, so as to obtain executable command sets for different disassembly and assembly robots. B3: the operator uses the AR device to add command operation rules to allow the basic operation methods, custom command methods and executable command sets to operate within the scope of the rules.

[0070] It should be noted that the AR device data set contains information such as the operating specifications and capability range of different types of disassembly robots. The operator starts the command set creation tool on the AR device. The tool provides a visual interface for designing a command framework. The interface may contain multiple configurable blocks to distinguish basic operation modes (such as moving, rotating, grabbing, etc.) and custom command modes (commands designed according to specific needs). Within the command framework, each basic operation mode and custom command mode needs to be set to match a specific type of disassembly robot one by one. This is usually achieved through a drop-down menu, selection box or conditional statement, allowing the operator to select different command options for different types of robots. Based on the command framework, the AR device provides an editing interface for custom commands. This interface allows the operator to enter new command names, descriptions, parameters and other information. The operator analyzes what additional commands are needed to support the operation based on the current maintenance task or the specific needs of the disassembly robot. Through the custom command interface, the operator enters these new commands and associates them with the corresponding type of disassembly robot. Custom commands may need to be associated with the AP of the disassembly robot. I or control protocol compatible to ensure correct execution. After adding custom commands, the operator needs to verify whether these commands meet expectations and test their execution effects on the disassembly robot. The AR device provides a rule editor that allows operators to add operation rules to the command set. These rules can define the logical relationship between commands, execution order, conditional judgment, etc. The operator sets rules in the rule editor, such as specifying that certain commands must be executed after other commands, or enabling or disabling certain commands based on the current state of the disassembly robot. After the setting is completed, these rules will be automatically applied to the command set to ensure that all commands are run within the specified range. When the operator sends commands to the disassembly robot through the AR device, the system will filter and adjust the commands according to these rules. After completing the creation of the command framework, the addition of custom commands, and the setting of command operation rules, the AR device integrates all these elements into a complete executable command set. The command set is deployed to the cloud server or directly transmitted to the disassembly robot to ensure that the operator can access and use these commands at any time when performing tasks. With the advancement of disassembly robot technology and changes in task requirements, operators may need to regularly update and maintain the command set to ensure that it always remains effective and efficient.

[0071] like Figure 2As shown, the equipment movement method includes: C1: the cloud server uses GIS technology to establish the geographical space of the high-voltage substation based on the basic data set of the high-voltage substation. Multiple machine storage points are set in the geographical space, and each machine storage point is used to store a dedicated disassembly and assembly robot. C2: the cloud server obtains the current coordinate information of the released disassembly and assembly robot, and obtains the corresponding machine storage point coordinate information to obtain the target coordinate information set. C3: the cloud server finds and generates the best moving path based on the geographical space according to the path-finding algorithm, and the released disassembly and assembly robot moves to the corresponding machine storage point according to the best moving path.

[0072] It should be noted that the cloud server first collects the basic data set of the high-voltage substation, including the substation's floor plan, building structure, equipment layout, safety zone division and other information. Using geographic information system (GIS) technology, these basic data are converted into digital maps, and a three-dimensional or two-dimensional geographic space containing detailed geographic information of the high-voltage substation is constructed. In the geographic space, according to the layout of the substation and the needs of the dismantling robot, multiple machine storage points are set up. Each storage point should have enough space to store a dedicated dismantling robot. Considering the convenience of safety, maintenance and operation, the location information of the machine storage point (such as longitude and latitude, coordinates, etc.) is stored in the database of the cloud server for subsequent query and use. When the dismantling robot completes the task and is released, the robot will send its current coordinate information to the cloud server through its built-in GPS system or other positioning device. The cloud server queries the corresponding machine storage point coordinate information from the database according to the model, status or task requirements of the dismantling robot, and combines the current coordinates of the dismantling robot and the coordinates of the machine storage point into a target coordinate information set. This information set will be used to guide the movement of the dismantling robot. In the geographic space, the cloud server uses pathfinding algorithms (such as A* algorithm, Di jkstra algorithm or grid-based search algorithm) to find the best moving path from the current position of the disassembly robot to the machine storage point. The algorithm will take into account multiple factors, such as path length, obstacles, and safe areas. After the algorithm calculation is completed, the cloud server will generate an optimal moving path and convert it into instructions or navigation points that the disassembly robot can understand. The cloud server sends the best moving path to the disassembly robot. The robot starts its mobile system (such as wheels, tracks, etc.) according to the received instructions or navigation points, and moves along the best moving path to the corresponding machine storage point. During the movement, the cloud server can monitor the position and status of the disassembly robot in real time, and dynamically adjust the path or send new instructions as needed. Then, GIS technology, path-finding algorithms, robot control systems, etc. are integrated into the cloud server to form a complete equipment mobile management system.

[0073] The order delivery method includes: T1: the cloud server counts the current status of each AR device based on the AR device data set, counts the number of currently executed maintenance orders based on the current status of each AR device, and counts the estimated completion time of each order based on the current number of maintenance orders, thereby obtaining the current AR device status set, T2: based on the current AR device status set and the maintenance order, calculates the distance between the maintenance site and each AR device and calculates the arrival time, then calculates the sum of the estimated completion time of all maintenance orders in each AR device and adds the arrival time, and after sorting, selects the AR device with the time closest to the current time as the target AR device for order issuance, T3: the cloud server sends the maintenance order to the target AR device through a private local area network.

[0074] It should be noted that, based on the collected data, the cloud server counts the current status of each AR device, including which devices are executing maintenance orders and which devices are idle, etc. For devices that are executing maintenance orders, the cloud server counts the number of maintenance orders currently executed by each device. Based on factors such as the type, difficulty, and historical completion time of each maintenance order, the cloud server calculates the estimated completion time of the maintenance for each order, and integrates information such as the status of each AR device, the current number of maintenance orders, and the estimated completion time of each order into a current AR device status set. For each maintenance order, the cloud server calculates the distance between the maintenance site and each AR device, and calculates the arrival time based on the device's moving speed (which may be preset or obtained in real time). For each AR device, the cloud server calculates the estimated completion time of all its maintenance orders and the time to arrive at the maintenance site. The sum of the total time represents the estimated completion time of the entire task chain if the order is assigned to the device. Among all AR devices, the device with the total time closest to the current time is selected as the target AR device for order issuance, which means that the device can respond to and complete the maintenance order as quickly as possible while trying not to interfere with its current task progress. The cloud server establishes a communication connection with the target AR device through a private LAN to encapsulate the relevant data of the maintenance order into a data packet in a specific format. Through the established communication connection, the cloud server sends the encapsulated order data packet to the target AR device. After receiving the order data packet, the target AR device sends a reply to the cloud server to confirm receipt to ensure that the order has been successfully sent and received. Then, AR device status monitoring, maintenance order management, path planning, communication protocol, etc. are integrated into the cloud server to form a complete order delivery system.

[0075] Method for creating a feature database: N1: pre-process and integrate the drainage line information data set and the fault data set to obtain standard data; N2: extract features based on the standard data using image processing technology, and classify and annotate the features to establish feature subsets. The features include the shape, color and fault condition of the drainage line; N3: establish a database table based on the standard data and feature subsets, and define the database table. The database table includes a fault feature table, a fault type table and a maintenance criteria table; N4: update the standard data and feature subsets to the corresponding database table in real time based on the database table to obtain a feature database;

[0076] It should be noted that, first, the drainage line information data set and the fault data set are collected. These data may come from different sensors, monitoring systems or historical records. The collected data are cleaned to remove duplicate, erroneous or invalid data. This may include checking the integrity, consistency and accuracy of the data. The cleaned drainage line information data set and fault data set are integrated to form a unified standard data format. This may involve data merging, conversion and standardization operations to ensure that the format, unit and range of all data are consistent for subsequent processing and analysis. Image processing technology (such as edge detection, image segmentation, color analysis, etc.) is used to process the images or videos in the standard data to extract the shape, color and other features of the drainage line, and the extracted features are classified and labeled. For example, the drainage line can be divided into straight line type, curved line type, etc. according to its shape; it can be divided into red, green, etc. according to its color. At the same time, it is also necessary to annotate the fault conditions, such as whether there is a fracture, corrosion, etc., and the classified and labeled features Integrate into a feature subset for subsequent database table establishment and data analysis. Design the database structure according to the needs of the feature subset and standard data, which includes determining which database tables are needed, which fields each table contains, and the relationship between the fields. Create necessary tables such as fault feature table, fault type table and maintenance criteria table in the database. These tables should be able to store relevant information in the feature subset and standard data. Define field name, data type, length, constraint and other attributes for each table to ensure that the table structure can accurately reflect the structure and relationship of the data. Write data import scripts or programs to import standard data and feature subsets into the corresponding database tables in real time. During the data import process, perform data verification to ensure the accuracy and completeness of the data. If errors or abnormal data are found, they should be processed and corrected in a timely manner. Update and maintain the database regularly, including adding new data, deleting obsolete data, optimizing query performance, etc. At the same time, attention should also be paid to the database backup and recovery strategy to ensure data security.

[0077] like Figure 3As shown, the method for generating a maintenance report includes: Y1: extracting key features based on survey information using image processing technology, and integrating sensor data in the survey information set to obtain a survey information set, Y2: obtaining corresponding features based on key features and matching with a feature database, and then obtaining corresponding fault types based on the corresponding features and combining with sensor data to obtain an evaluation report, Y3: obtaining a maintenance report based on the evaluation report, the maintenance criteria data set and the survey information set.

[0078] It should be noted that for the images or video data in the survey information, image processing techniques (such as edge detection, image segmentation, feature extraction algorithms, etc.) are used to extract key features. These features may include the shape, color, texture, abnormal areas, etc. of the equipment. The data of different sensors (such as temperature readings, pressure readings, vibration frequencies, etc.) are integrated to form a unified survey information set. This information set contains various aspects of the equipment's status information. The extracted key features are matched with the features in the feature database. The feature database contains feature data of the normal and faulty states of various devices. By comparison, the features that best match the current survey information can be found. Based on the matched features, the corresponding fault type is obtained from the feature database, which usually involves finding the fault description and classification associated with the features. Class, combined with sensor data and fault type, generate an assessment report. The assessment report should describe in detail the nature of the fault, possible causes and impact on the equipment status. According to the fault type determined in the assessment report, query the maintenance criteria dataset. The maintenance criteria dataset contains detailed maintenance steps, required tools, materials, safety precautions and other information for different fault types. Based on the assessment report, maintenance criteria dataset and survey information set, write a maintenance report. The maintenance report includes: fault description, maintenance steps, required materials and tools, safety precautions, maintenance personnel information, maintenance time, location, etc. After the maintenance report is completed, an internal review is conducted to ensure its accuracy and completeness. After the review is passed, the maintenance report will be released to relevant personnel (such as maintenance personnel, equipment managers, etc.) to perform maintenance work.

[0079] The connection between the AR device and the controller relies on a temporarily created private local area network for information transmission. The method of creating the private local area network includes: M1: the cloud server identifies the AR device number and the disassembly and assembly robot number based on the control request, and then automatically allocates a temporary communication channel to match the IP of the AR device with the IP of the corresponding disassembly and assembly robot, M2: the cloud server configures network services and security measures for the temporary communication channel, M3: after the AR device issues an end command, the cloud server automatically cancels the temporary communication channel and the corresponding logistics network services and security measures after receiving it.

[0080] It should be noted that the server configures necessary network services for the temporary communication channel, such as DHCP (Dynamic Host Configuration Protocol) service for IP address allocation, DNS (Domain Name System) service for domain name resolution, and possible other network protocols and services. In order to ensure the security of data transmission, the cloud server needs to configure security measures for the temporary communication channel, which may include encrypted communication protocols (such as TLS / SSL), firewall rule settings, access control list (ACL) management, etc. Through these measures, unauthorized access and data leakage can be effectively prevented. After the configuration is completed, the cloud server can perform some basic tests to verify the normal operation of the network service and the effectiveness of the security measures.

[0081] The survey equipment includes infrared thermal imagers, high-definition cameras, laser rangefinders and electromagnetic field detectors.

[0082] A high-voltage substation mother pipe drainage line disassembly and assembly robot control system was constructed by the above-mentioned methods. By collecting the high-voltage substation basic data set, AR equipment data set, robot data set, fault data set and maintenance criteria data set and building a cloud server for storage and analysis, the cloud server receives the real-time fault data set, automatically creates and dispatches maintenance orders to the AR device, and the operator wears the AR device to control the disassembly and assembly robot. The survey equipment integrated in the disassembly and assembly robot collects information on site and uploads it to the cloud server. The cloud server generates a maintenance report based on this, and the operator controls the disassembly and assembly robot to complete the maintenance according to the maintenance report.

[0083] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. A control method for a robot for dismantling and installing a mother pipe drainage line in a high-voltage substation, characterized in that: The control method comprises: Data collection: obtaining a high-voltage substation basic data set, an AR equipment data set, a robot data set, a fault data set, and a maintenance criteria data set. The fault data set includes a real-time fault data set and a historical fault data set. The high-voltage substation basic data set includes a drainage line information data set. Server construction: Build a cloud server. The cloud server is equipped with a database to store the basic data set of high-voltage substations, AR equipment data set, robot data set, fault data set and maintenance criteria data set. The cloud server is equipped with the geographic space of the high-voltage substation, and a feature database is established based on the fault data set. Order dispatch: the cloud server creates a maintenance order after acquiring the real-time fault data set, and the maintenance order is dispatched to the AR device according to the order dispatch method; On-site survey and analysis: The operator wears an AR device and controls the dismantling robot to conduct on-site survey according to the equipment control method. The dismantling robot is integrated with a survey device to obtain survey information and upload it to the cloud server. The cloud server generates a maintenance report based on the survey information and sends it to the AR device; On-site maintenance: The operator uses the AR device and the equipment control method based on the maintenance report to control the disassembly and assembly robot to perform maintenance work; The device control method includes: S1: Establishing connection. Each disassembly and assembly robot is equipped with an independent controller. The AR device is quickly connected to the corresponding controller through the quick connection method. S2: Control command: the operator uses the AR device to create a command set to control the specified disassembly robot to perform work in a fixed order, and the command set is stored on the AR device; S3: Release the device. The AR device sends an end command to the controller on the specified disassembly robot based on the command set. After receiving the end command, the specified disassembly robot moves to the specified position according to the device movement method.

2. A control method for a high-voltage substation mother pipe drainage line disassembly robot according to claim 1, characterized in that: The quick connection method comprises: A1: The cloud server obtains the current position information and current state information of the disassembly robot based on the robot data set to obtain the device state set, and sends the device state set to the AR device; A2: Based on the maintenance order, the operator selects the disassembly robot with the most consistent current position information and current status information from the equipment status set and sends a control request; A3: After the cloud service accepts the control request, it allows the designated disassembly robot to establish a temporary control relationship with the AR device.

3. A control method for a high-voltage substation mother pipe drainage line disassembly robot according to claim 1, characterized in that: The method for creating the command set includes: B1: The operator uses the AR device to create a command framework based on the AR device data set. The command framework is filled with basic operation modes and custom command modes. There are multiple basic operation modes and custom command modes, which are matched one by one with different types of disassembly and assembly robots. B2: The operator uses the custom command mode of the AR device to add required commands by himself, thereby obtaining executable command sets for different disassembly and assembly robots; B3: The operator uses the AR device to add command operation rules to allow basic operation methods, custom command methods, and executable command sets to run within the scope of the rules.

4. A control method for a high-voltage substation mother pipe drainage line disassembly robot according to claim 1, characterized in that: The device movement method includes: C1: The cloud server uses GIS technology to establish the geographic space of the high-voltage substation based on the basic data set of the high-voltage substation. Multiple machine storage points are set in the geographic space, and each machine storage point is used to store a dedicated disassembly and assembly robot; C2: The cloud server obtains the current coordinate information of the released disassembly robot and the coordinate information of the corresponding machine storage point, thereby obtaining the target coordinate information set; C3: The cloud server finds and generates the best moving path based on the path-finding algorithm based on geographic space, and the released disassembly and assembly robot moves to the corresponding machine storage point according to the best moving path.

5. A control method for a high-voltage substation mother pipe drainage line disassembly and assembly robot according to claim 1, characterized in that: The order delivery method includes: T1: The cloud server counts the current status of each AR device based on the AR device data set, counts the number of currently executed maintenance orders based on the current status of each AR device, and counts the estimated completion time of each maintenance order based on the current number of maintenance orders, thereby obtaining the current AR device status set; T2: Based on the current AR device status set and the maintenance order, the distance between the maintenance site and each AR device is calculated, and the arrival time is calculated. Then, the sum of the estimated completion time of all maintenance orders in each AR device is calculated and the arrival time is added. After sorting, the AR device with the closest time to the current time is selected as the target AR device for order release. T3: The cloud server sends the maintenance order to the target AR device through the private LAN.

6. A control method for a high-voltage substation mother pipe drainage line disassembly and assembly robot according to claim 1, characterized in that: The method for creating the feature database: N1: Standard data is obtained by preprocessing and integrating the drainage line information dataset and the fault dataset; N2: Extract features using image processing technology based on standard data, and classify and annotate the features to establish feature subsets. The features include the shape, color, and fault condition of the drainage line; N3: Establishing a database table based on the standard data and the feature subset, and defining the database table, wherein the database table includes a fault feature table, a fault type table, and a maintenance criterion table; N4: Based on the database table, the standard data and feature subsets are updated in real time to the corresponding database table, thereby obtaining a feature database.

7. A control method for a high-voltage substation mother pipe drainage line disassembly and assembly robot according to claim 1, characterized in that: The method for generating the maintenance report includes: Y1: Extract key features based on survey information using image processing technology and integrate sensor data in the survey information set to obtain the survey information set; Y2: Match the key features with the feature database to obtain the corresponding features, then obtain the corresponding fault type based on the corresponding features and combine the sensor data to obtain an evaluation report; Y3: Obtain a maintenance report based on the assessment report, maintenance criteria dataset and survey information set.

8. A control method for a robot for dismantling and assembling a mother pipe drainage line in a high-voltage substation according to claim 1, characterized in that: The AR device and the controller establish a connection by relying on a temporarily created private local area network for information transmission, and the method for creating the private local area network includes: M1: The cloud server identifies the AR device number and the disassembly robot number based on the control request, and then automatically allocates a temporary communication channel to match the IP of the AR device with the IP of the corresponding disassembly robot; M2: The cloud server configures network services and security measures for the temporary communication channel; M3: After the AR device issues the end command, the cloud server automatically cancels the temporary communication channel and the corresponding logistics network services and safety measures after receiving it.

9. A control method for a high-voltage substation mother pipe drainage line disassembly and assembly robot according to claim 1, characterized in that: The surveying equipment includes an infrared thermal imager, a high-definition camera, a laser rangefinder and an electromagnetic field detector.

10. A robot control system for dismantling and installing a mother pipe drainage line in a high-voltage substation according to claim 1, characterized in that: A control method for a high-voltage substation mother pipe drainage line disassembly and assembly robot as described in any one of claims 1 to 9 is used, by collecting the high-voltage substation basic data set, AR equipment data set, robot data set, fault data set and maintenance criteria data set and building a cloud server for storage and analysis, the cloud server receives the real-time fault data set, automatically creates and dispatches maintenance orders to the AR device, the operator wears the AR device to control the disassembly and assembly robot, the survey equipment integrated in the disassembly and assembly robot collects information on site and uploads it to the cloud server, the cloud server generates a maintenance report based on this, and the operator controls the disassembly and assembly robot to complete the maintenance according to the maintenance report.

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