A high-precision operation positioning and control system

Abstract

The present invention belongs to the technical field of electric power equipment, and specifically relates to a high-precision operation positioning and control system, a control center, and an operation module, a position comparison module, and a protection module connected to the control center; the control center is designed based on a computer room database, and the control center includes a control unit, a storage unit, and a WIFI unit, wherein the storage unit pre-enters data of the operation environment, such as walls, obstacles, and landmarks, and multiple WIFI units are set on the walls of the operation environment, and a command signal is sent along the WIFI unit through a program set by the control unit to control the operation module, the position comparison module, and the protection module to work; the operation module includes a robot and a laser rangefinder installed at the end of the robot. The present invention pre-enters the data of the operation environment in combination with the position comparison module to correct the position of the end of the robot, and the protection module can reduce the occurrence of accidental touch switches, thereby improving the reliability and safety of the operation of the electric power equipment.

Description

Technical Field

[0001] The invention belongs to the technical field of electric power equipment, and in particular relates to a high-precision operation positioning and control system. Background Art

[0002] Switching is an operation to change the working state of power equipment, which includes opening or closing circuit breakers and disconnectors, installing or removing grounding wires, putting relay protection and automatic devices into or out of operation, changing the operating mode or setting of relay protection and automatic devices, installing or removing fuses in control circuits or voltage transformer circuits, changing the tap position of on-load voltage regulation, the tap position of arc suppression coils, switching the power supply used, changing circuit breakers to non-automatic, etc.

[0003] There are many switches that can be pulled in power equipment, especially in some production line transformer rooms, which transmit power to multiple power-consuming machines. Workers need to switch many switches at a time, and the operation needs to be quick to ensure that the equipment switches to the working state in time. It is easy to panic and make the switch not pulled in place. Traditional power equipment uses cameras to collect switching image data, combined with image processing technology, to intelligently identify the switching state of the switch.

[0004] The existing switching operation is monitored by cameras and combined with image processing technology for intelligent recognition. However, image recognition is affected by factors such as light and dust in the operating environment, and is prone to deviations, which makes the switching operation less accurate and reduces the reliability of the switching operation. Therefore, we propose a high-precision operation positioning and control system. Summary of the invention

[0005] The purpose of the present invention is to provide a high-precision operation positioning and control system, which can pre-enter the data of the operating environment and combine with the position comparison module to correct the position of the robot end. The protection module can reduce the occurrence of accidental touch of the switch, thereby improving the reliability and safety of the operation of the power equipment.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A high-precision operation positioning and control system, comprising a control center and an operation module, a position comparison module and a protection module connected to the control center;

[0008] The control center is designed based on the computer room database, and includes a control unit, a storage unit and a WIFI unit, wherein the storage unit is pre-entered with data of the operating environment, such as walls, obstacles and landmarks, and multiple WIFI units are set on the walls of the operating environment, and command signals are sent along the WIFI units through a program set by the control unit to control the operation module, the position comparison module and the protection module to work;

[0009] The operation module includes a robot and a laser rangefinder installed at the end of the robot. The robot is a five-axis manipulator with a built-in controller. The number of robots is at least two. The model of the laser rangefinder is LaserhawkLX1000. The laser rangefinder signal is connected to the robot's controller. The controller is connected to the WIFI unit via a WIFI signal. The compiled operation program is input into the controller, so that the robot moves along the set route with reference to the operation environment data until the end of the robot presses the switch to perform the switching operation. The laser rangefinder is used to monitor the distance from the end of the robot to the switch in real time for feedback, so as to guide the robot to accurately contact the switch.

[0010] The position comparison module includes at least two cameras and an inertial sensor. The camera is fixedly mounted on the ceiling of the operating environment. The inertial sensor is fixedly mounted at the end of the robot and staggered from the outgoing beam of the laser rangefinder. The inertial sensor includes a gyroscope and a gyroscope, which are used to measure the acceleration and angular velocity of the operating equipment in real time, and help to adjust the position and posture control in real time. The switching standard information is first entered during the dormant period of the power equipment. After the system is started, the image information obtained by the camera and the position information obtained by the inertial sensor are combined with the data of the operating environment and compared with the switching standard information, so as to correct the position of the end of the robot, realize high-precision operation positioning, and facilitate the control switch to switch at the specified position;

[0011] The protection module includes multiple electric valves, which are all connected to the WIFI unit through network cable signals, the air inlets of the electric valves are all connected to the air source, the air outlets of the electric valves are all fixedly installed with hard tubes, one end of the hard tubes is fixedly connected to the air outlets of the electric valves, and the other ends of the hard tubes are fixedly installed with safety airbags, the safety airbags are all ring-shaped and surround the corresponding switches. Once the operation module makes an error, it is easy to miss the designated switch and accidentally touch other switches. After the position comparison module finds the error of the operation module, the control unit sends an instruction through the WIFI signal to open the designated electric valve, and the air of the air source is filled into the airbag along the electric valve and the hard tube until the airbag expands to prevent the end of the robot from contacting the corresponding switch, thereby protecting the switch and reducing the occurrence of accidental touch of the switch. Then the electric valve is closed to keep the airbag in a protective state, thereby improving the reliability and safety of the operation of the power equipment.

[0012] The data entry of the operating environment specifically includes the following steps:

[0013] S1. Setup: The QUANERGY-M8 LiDAR sensor is set up in an open area of ​​the operating environment using a tripod. It has wide field of view, long measurement range, high accuracy and high resolution, and can trigger actions based on real-time scene analysis powered by Quanergy's advanced perception software QORTEX.

[0014] S2. Scanning: After the laser radar sensor is started, it emits multiple laser beams at the set angle, and can obtain multiple reflected signals based on obstacles. Combined with the time range, laser scanning angle, GPS position and INS information, after data processing, this information is combined with x, y, z coordinates to become a three-dimensional signal with distance information, spatial position information, etc.

[0015] S3, creating a reference item: after the laser radar sensor scans in step S2, the scan data is recorded, and then the laser radar sensor is moved to another position in the operating environment, a second scan is performed and the scan data is recorded;

[0016] S4, Upload: Use a USB flash drive or other tool to copy the two scan data of the lidar sensor, and then transfer it to the storage unit of the computer room database. Under the image processing function of the control unit, a high-precision three-dimensional environmental map is constructed, including geometric information and feature positions. Map modeling can be used to better understand the operating environment, so that tasks can be performed reliably in complex environments.

[0017] The inputting of switching standard information specifically includes the following steps:

[0018] M1. Start: Turn on the camera to connect it with the real-time data of the control center;

[0019] M2, manual operation: The staff pulls down the designated switches in sequence according to the switching operation specifications, and uses the camera to record the sequence and image information of each switch;

[0020] M3, data upload: the image information of step M2 is transmitted to the storage unit via the WIFI unit, and combined with the three-dimensional environment map in the storage unit to form the preset switching standard information, which can be compared with the image information obtained by the position comparison module in real time to improve the accuracy of the switching operation.

[0021] The technical effects achieved by the present invention are:

[0022] The high-precision operation positioning and control system of the present invention pre-enters data of the operation environment, such as walls, obstacles and landmarks, and controls the operation module, the position comparison module and the protection module. The end of the robot presses down the switch to perform a switching operation. The position comparison module corrects the position of the end of the robot. The protection module can protect the switch, reduce the occurrence of accidental touching of the switch, and improve the reliability and safety of the operation of the power equipment.

[0023] The present invention provides a high-precision operation positioning and control system. Once the robot of the operation module makes an error due to mechanical failure or the like, it is easy to miss the designated switch and touch other switches by mistake. After the position comparison module finds the error of the operation module, the control unit sends a command through a WIFI signal to open the designated electric air valve. The air from the air source is filled into the airbag along the electric air valve and the hard pipe until the airbag expands to prevent the end of the robot from contacting the corresponding switch, thereby protecting the switch and reducing the occurrence of accidental touch of the switch.

[0024] The present invention provides a high-precision operation positioning and control system. The two scanning data of the laser radar sensor are transmitted to the storage unit of the computer room database. Under the image processing function of the control unit, a high-precision three-dimensional environment map is constructed, including geometric information and feature positions. Through map modeling, the operation environment can be better understood, so tasks can be reliably performed in complex environments.

[0025] A high-precision operation positioning and control system of the present invention allows workers to pull down designated switches in sequence according to the switching operation specifications, and use a camera to record the order and image information of each switch; the information is transmitted to a storage unit, and combined with the three-dimensional environmental map in the storage unit to form preset switching standard information, which can be compared in real time with the image information obtained by the position comparison module to improve the accuracy of the switching operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a system flow chart of the present invention;

[0027] Figure 2 is a flow chart of a method for entering data of an operating environment according to the present invention;

[0028] Figure 3 It is a flow chart of the method for entering switching standard information of the present invention.

[0029] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0030] 1. Robot; 2. Laser rangefinder; 3. Camera; 4. Inertial sensor; 5. Electric valve; 6. Hard pipe; 7. Airbag. DETAILED DESCRIPTION

[0031] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0032] Embodiment 1:

[0033] like Figure 1As shown, a high-precision operation positioning and control system includes a control center and an operation module, a position comparison module and a protection module connected to the control center;

[0034] The control center is designed based on the computer room database. The control center includes a control unit, a storage unit and a WIFI unit. The storage unit is pre-entered with data of the operating environment, such as walls, obstacles and landmarks. Multiple WIFI units are set on the walls of the operating environment. The program set by the control unit sends command signals along the WIFI units to control the operation module, the position comparison module and the protection module to work;

[0035] The operation module includes a robot 1 and a laser rangefinder 2 installed at the end of the robot 1. The robot 1 can select a five-axis manipulator of the KMSA-1300ID5 model and a controller. The number of robots 1 is at least two. The laser rangefinder 2 can select the LaserhawkLX1000 model. The laser rangefinder 2 signal is connected to the controller of the robot 1. The controller is connected to the WIFI unit through a WIFI signal. The compiled operation program is input into the controller, so that the robot 1 moves along the set route with reference to the operation environment data until the end of the robot 1 presses the switch to perform the switching operation. The laser rangefinder 2 is used to monitor the distance from the end of the robot 1 to the switch in real time for feedback, so as to guide the robot 1 to accurately contact the switch.

[0036] Position comparison module, the position comparison module includes at least two cameras 3 and an inertial sensor 4, the camera 3 is fixedly mounted on the ceiling of the operating environment, the inertial sensor 4 is fixedly mounted on the end of the robot 1 and staggered from the outgoing beam of the laser rangefinder 2, the inertial sensor 4 signal is connected to the controller of the robot 1, the inertial sensor 4 includes a gyroscope and a gyroscope, which are used to measure the acceleration and angular velocity of the operating equipment in real time, and help to adjust the position and posture control in real time. The switching standard information is first entered during the dormant period of the power equipment, and the subsequent system is started. The image information obtained by the camera 3 and the position information obtained by the inertial sensor 4 are combined with the data of the operating environment and compared with the switching standard information, so as to correct the position of the end of the robot 1, realize high-precision operation positioning, and facilitate the control of the switch to switch at the specified position;

[0037] The protection module includes a plurality of electric valves 5, which are connected to the WIFI unit through network cable signals, the air inlets of the electric valves 5 are connected to the air source, the air outlets of the electric valves 5 are fixedly installed with hard tubes 6, one end of the hard tubes 6 is fixedly connected to the air outlets of the electric valves 5, and the other end of the hard tubes 6 is fixedly installed with airbags 7. The airbags 7 are all in an annular structure and surround the corresponding switches. Once the robot 1 of the operation module makes a mistake due to mechanical failure or the like, it is easy to miss the designated switch and accidentally touch other switches. After the position comparison module finds the error of the operation module, the control unit sends an instruction through the WIFI signal to open the designated electric valve 5, and the air of the air source is filled into the airbag 7 along the electric valve 5 and the hard tube 6 until the airbag 7 expands to prevent the end of the robot 1 from contacting the corresponding switch, thereby protecting the switch and reducing the occurrence of accidental touch of the switch. Then the electric valve 5 is closed to keep the airbag 7 in a protective state, thereby improving the reliability and safety of the operation of the power equipment.

[0038] Among them, an air compressor can be used as an air source to provide compressed air, and a certain amount of air is stored in the air storage tank of the air compressor.

[0039] Embodiment 2:

[0040] like Figure 2 As shown, based on the first embodiment, the data of the operating environment is entered to establish a map model in the storage unit.

[0041] Entering the operating environment data specifically includes the following steps:

[0042] S1. Setup: The QUANERGY-M8 LiDAR sensor is set up in an open area of ​​the operating environment using a tripod. It has wide field of view, long measurement range, high accuracy and high resolution, and can trigger actions based on real-time scene analysis powered by Quanergy's advanced perception software QORTEX.

[0043] S2. Scanning: After the laser radar sensor is started, it emits multiple laser beams at the set angle, and can obtain multiple reflected signals based on obstacles. Combined with the time range, laser scanning angle, GPS position and INS information, after data processing, this information is combined with x, y, z coordinates to become a three-dimensional signal with distance information, spatial position information, etc.

[0044] S3, create a reference item: after the laser radar sensor scans in step S2, record the scan data, then move the laser radar sensor to another position in the operating environment, perform a second scan and record the scan data;

[0045] S4, Upload: Use a USB flash drive or other tool to copy the two scan data of the lidar sensor, and then transfer it to the storage unit of the computer room database. Under the image processing function of the control unit, a high-precision three-dimensional environmental map is constructed, including geometric information and feature positions. Map modeling can be used to better understand the operating environment, so that tasks can be performed reliably in complex environments.

[0046] Embodiment three:

[0047] like Figure 3 As shown, based on the first and second embodiments, the staff records the switching standard action in advance through the position comparison module.

[0048] Entering switching standard information specifically includes the following steps:

[0049] M1. Start: Turn on camera 3 to interconnect it with the real-time data of the control center;

[0050] M2, manual operation: the staff pulls down the designated switches in sequence according to the switching operation specifications, and uses the camera 3 to record the sequence and image information of each switch;

[0051] M3, data upload: The image information of step M2 is transmitted to the storage unit through the WIFI unit, and combined with the three-dimensional environmental map in the storage unit to form the preset switching standard information, which can be compared with the image information obtained by the position comparison module in real time to improve the accuracy of the switching operation.

[0052] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A high-precision operation positioning and control system, including a control center, characterized in that: The control center is connected to an operation module, a position comparison module and a protection module; The control center includes a control unit, a storage unit and a WIFI unit. The storage unit is pre-entered with data of the operating environment. The control center controls the operation module, the position comparison module and the protection module to work; The operation module comprises a robot (1) and a laser rangefinder (2) installed at the end of the robot (1); the robot (1) moves with reference to the operation environment data, and the laser rangefinder (2) is used to monitor the distance from the end of the robot (1) to the switch; The position comparison module comprises at least two cameras (3) and an inertial sensor (4), wherein the camera (3) is installed on the ceiling of the operating environment, and the inertial sensor (4) is installed at the end of the robot (1) and staggered from the outgoing light beam of the laser rangefinder (2), and the position comparison module records the switching standard information; The protection module comprises a plurality of electric valves (5), each of the electric valves (5) being connected to a WIFI unit via a network cable signal, each of the air inlets of the electric valves (5) being connected to an air source, each of the air outlets of the electric valves (5) being fixedly mounted with a hard tube (6), each of the ends of the hard tube (6) being fixedly mounted with a safety airbag (7), each of the safety airbags (7) being in an annular structure and surrounding a corresponding switch.

2. A high-precision operation positioning and control system according to claim 1, characterized in that: The data entered into the operating environment includes walls, obstacles and landmarks.

3. A high-precision operation positioning and control system according to claim 1, characterized in that: The inertial sensor (4) comprises a gyroscope and a gyroscope.

4. A high-precision operation positioning and control system according to claim 1, characterized in that: The air source uses an air compressor to provide compressed air.

5. A high-precision operation positioning and control system according to claim 1, characterized in that: The safety airbags (7) are all in an annular structure and surround the corresponding switches.

6. A high-precision operation positioning and control system according to claim 1, characterized in that: The data entry of the operating environment specifically includes the following steps: S1. Setup: Set up the LiDAR sensor in the operating environment; S2, Scanning: After the LiDAR sensor is started, it emits multiple laser beams at a set angle, and can obtain multiple reflected signals based on obstacles, which become three-dimensional signals after data processing; S3, creating a reference item: after the laser radar sensor scans in step S2, the scan data is recorded, and then the laser radar sensor is moved to another position in the operating environment, a second scan is performed and the scan data is recorded; S4, Upload: Copy the two scan data of the LiDAR sensor and transmit them to the storage unit of the computer room database to build a high-precision three-dimensional environment map.

7. A high-precision operation positioning and control system according to claim 6, characterized in that: In step S1, the laser radar sensor is set in the operating environment using a tripod.

8. A high-precision operation positioning and control system according to claim 6, characterized in that: In step S2, the reflected signal is processed into a three-dimensional signal in combination with the time range, the scanning angle of the laser, the GPS position and the INS information.

9. A high-precision operation positioning and control system according to claim 6, characterized in that: In step S2, the three-dimensional signal includes distance information and spatial position information.

10. The high-precision operation positioning and control system according to claim 1, characterized in that: The inputting of switching standard information specifically includes the following steps: M1. Start: Turn on the camera (3) to connect it with the real-time data of the control center; M2, manual operation: the staff pulls down the designated switches in sequence according to the switching operation specifications, and uses the camera (3) to record the sequence and image information of each switch; M3. Data upload: The image information of step M2 is transmitted to the storage unit via the WIFI unit, and combined with the three-dimensional environment map in the storage unit to form the preset switching standard information.

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