Automatic operation robot for mining explosion-proof high-low voltage electrical equipment and operation method

Abstract

The invention discloses an automatic operation robot for mining anti-explosion high-low voltage electrical equipment and an operation method. The robot comprises a walking mechanism, a joint mechanism, an executing mechanism and a control system. The executing mechanism comprises a two-dimensional moving platform, a distance measuring module and an executing terminal. And the execution terminal is located on the two-dimensional mobile platform. The execution terminal comprises a target detection and positioning module and at least one execution tool. According to the application, firstly, the robot moves to a working distance range, then plane positioning and leveling are carried out, then the target detection and positioning module is used for identifying and positioning the operation switch, the operation switch to be operated is selected, the corresponding execution tool is determined, and then the two-dimensional moving platform is adjusted, so that the operation switch can be operated. And the corresponding execution tool is positioned in front of the to-be-operated operation switch. Therefore, the operation error is effectively eliminated, the automatic and accurate operation of the high and low voltage electrical equipment is realized, and the functions of the inspection robot are enriched.

Description

Technical Field

[0001] The present invention belongs to the technical field of switch operation, and particularly relates to an automatic operation robot and an operation method for mine explosion-proof high and low voltage electrical equipment. Background Art

[0002] In the traditional technology, the operation of high and low voltage switches in coal mine underground substations is generally manual operation, which has certain safety hazards. With the development of robot technology, robots for coal mine underground substations have gradually emerged. However, the main work of the current robots in coal mine underground substations is inspection, and they do not operate on high and low voltage switches. The main reason is that limited by the underground coal mine environment, the switch cabinets may not be installed vertically, and it is easy for the robots to have inaccurate positioning, resulting in non-parallelism between the robot execution mechanism and the switch cabinet operation panel. There are certain operation errors in the robot execution mechanism, so that the target switch button cannot be accurately operated.

[0003] Based on the above problems, the present application intends to provide an automatic operation robot and an operation method for mine explosion-proof high and low voltage electrical equipment that can achieve precise positioning and accurate operation. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic operation robot and an operation method for mine explosion-proof high and low voltage electrical equipment to solve the deficiencies of the prior art.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] On the one hand, the present application provides an automatic operation robot for mine explosion-proof high and low voltage electrical equipment, including a traveling mechanism, a joint mechanism, an execution mechanism, and a control system.

[0007] The joint mechanism is used to drive the execution mechanism to rotate up and down and left and right.

[0008] The execution mechanism includes a two-dimensional moving platform, a ranging module, and an execution terminal.

[0009] The ranging module includes a plurality of ranging units distributed in a rectangular array on the two-dimensional moving platform, and is used to detect the distance from the operation panel of the high and low voltage electrical equipment to adjust the parallelism between the execution mechanism and the operation panel of the high and low voltage electrical equipment.

[0010] The execution terminal is located on the two-dimensional moving platform and can move up and down and left and right under the action of the two-dimensional moving platform; the execution terminal includes a target detection and positioning module and at least one execution tool; the target detection and positioning module is used to detect and identify the type and position of the operation switch to be operated.

[0011] The control system is electrically connected to the traveling mechanism, the joint mechanism, the ranging module, the two-dimensional moving platform, the target detection and positioning module, and the execution tool.

[0012] Preferably, the joint mechanism includes a first joint and a second joint. The second joint is located at the end of the first joint, and the execution mechanism is located at the end of the second joint.

[0013] The first joint is used to drive the second joint and the execution mechanism located on the second joint to rotate up and down, and the second joint is used to drive the execution mechanism to rotate left and right.

[0014] Preferably, adjusting the execution mechanism to be parallel to the operation panel of the high-voltage and low-voltage electrical equipment further includes:

[0015] There are 4 ranging units.

[0016] First, divide the 4 ranging units into upper and lower groups, and adjust the up and down movement of the joint mechanism according to the detection information so that the distances detected by the upper and lower groups of ranging units are equal.

[0017] Then divide the 4 ranging units into left and right groups, and adjust the left and right movement of the joint mechanism according to the detection information so that the distances detected by the left and right groups of ranging units are equal.

[0018] Preferably, the two-dimensional moving platform includes a support platform, and an up and down moving mechanism and a horizontal moving mechanism located on the support platform.

[0019] The up and down moving mechanism includes a first driving mechanism, a central guide rail, and two left and right auxiliary guide rails located on the support platform, a central slider located on the central guide rail, and two left and right auxiliary sliders located on the two left and right auxiliary guide rails respectively; the central slider and the auxiliary sliders are fixedly connected by a connecting rod; the first driving mechanism is used to drive the central slider and the auxiliary sliders to move up and down along the central guide rail and the auxiliary guide rails respectively.

[0020] The left and right moving mechanism includes two left and right support blocks respectively located on the two left and right auxiliary sliders, a horizontal guide rail located between the two left and right support blocks, a horizontal slider located on the horizontal guide rail, and a second driving mechanism located on any one of the support blocks; the execution terminal is located on the horizontal slider; the second driving mechanism is used to drive the horizontal slider to drive the execution terminal to move left and right along the horizontal guide rail.

[0021] Preferably, the up and down moving mechanism further includes a first buffer assembly located on the support platform, and the central slider is located on the first buffer assembly.

[0022] The left - right moving mechanism further includes a second buffer assembly located between the left and right support blocks, and the horizontal slider is located on the second buffer assembly.

[0023] Preferably, the execution tool includes an operating rod, an operating head located at the head end of the operating rod, and a third driving mechanism located at the tail end of the operating rod; the third driving mechanism is used to drive the operating rod to drive the operating head to work;

[0024] The shape of the operating head and the driving mode of the third driving mechanism are adapted to the type of the operating switch.

[0025] Preferably, the execution tool includes one or more of a push - button switch execution tool and a rotary - switch execution tool;

[0026] The operating head of the push - button switch execution tool is cylindrical, and the corresponding third driving mechanism is a linear drive;

[0027] The operating head of the rotary - switch execution tool is in the shape of an internal hexagonal slot, a rectangular plug, a rectangular slot or a cross - slot, and the corresponding third driving mechanism is a circumferential drive.

[0028] Preferably, the automatic operation robot further includes an automatic navigation system electrically connected to the control system, which is used to guide the traveling mechanism to drive the entire automatic operation robot to automatically move to the target position.

[0029] Preferably, the high - voltage and low - voltage electrical equipment is provided with an identification label;

[0030] The target detection and positioning module is further used to identify the identification label.

[0031] The second aspect of the present application provides an operation method for an automatic operation robot for mine - used explosion - proof high - voltage and low - voltage electrical equipment, which is adapted to be used with the automatic operation robot as described above. The operation method includes the following steps:

[0032] Obtain the target position of the operating switch, control the traveling mechanism to move to the target position, and face the operation panel of the high - voltage and low - voltage electrical equipment directly;

[0033] Send an instruction to the ranging module, and adjust the up - and - down rotation or horizontal rotation of the joint mechanism according to the detection information until the execution mechanism is parallel to the operation panel of the high - voltage and low - voltage electrical equipment;

[0034] Send an instruction to the target detection and positioning module, and select the operating switch to be operated according to the detection information, determine the corresponding execution tool, and adjust the movement of the two - dimensional moving platform until the corresponding execution tool is directly in front of the operating switch to be operated;

[0035] Control the corresponding execution tool to operate the operation switch to be operated.

[0036] For the automatic operation robot and operation method provided by the present application, first control the traveling mechanism to move the entire automatic operation robot within the working distance range, then perform planar positioning. Level the execution mechanism and the operation panel through the ranging module, so that the execution tool can vertically align with the operation switch for operation. After leveling, use the target detection and positioning module to identify and position the operation switch, select the operation switch to be operated, determine the corresponding execution tool, and then adjust the two-dimensional moving platform so that the corresponding execution tool is directly in front of the operation switch to be operated, and then align with the operation switch for precise operation. Thereby effectively eliminating operation errors, realizing automatic and precise operation of electrical equipment, and enriching the functions of the inspection robot. Description of the Drawings

[0037] Figure 1 It is a schematic structural diagram of a typical high-explosion switchgear in a coal mine underground;

[0038] Figure 2 It is a schematic structural diagram of an automatic operation robot for mine explosion-proof high- and low-voltage electrical equipment provided by a preferred embodiment of the present application;

[0039] Figure 3 It is Figure 2 A schematic structural diagram from another perspective;

[0040] Figure 4 It is a schematic structural diagram of the two-dimensional moving platform provided by a preferred embodiment of the present application;

[0041] Figure 5 It is Figure 4 A schematic structural diagram from another perspective of;

[0042] Figure 6 It is a schematic structural diagram of the horizontal slider and the execution terminal provided by a preferred embodiment of the present application;

[0043] Figure 7 It is a schematic structural diagram of the execution terminal provided by a preferred embodiment of the present application;

[0044] Description of the Reference Numerals:

[0045] 1 - High-explosion switchgear; 10 - Cabinet body; 11 - Operation panel; 12 - Operation switch;

[0046] 2 - Automatic operation robot; 20 - Body; 21 - Traveling mechanism; 221 - First joint; 222 - Second joint; 223 - Connecting arm;

[0047] 23 - Two-dimensional moving platform;

[0048] 231 - Support platform; 2321 - First driving mechanism; 2322 - Central guide rail; 2323 - Auxiliary guide rail; 2324 - Central slider; 2325 - Auxiliary slider; 2326 - Connecting rod; 2327 - First buffer assembly;

[0049] 2331 - Support block; 2332 - Horizontal guide rail; 2333 - Horizontal slider; 2334 - Second driving mechanism; 2335 - Second buffer assembly;

[0050] 24 - Distance measuring module;

[0051] 25 - Execution terminal;

[0052] 251 - Base plate; 252 - Target detection and positioning module; 253 - Execution tool; 2531 - Operating rod; 2532 - Operating head; 2533 - Third driving mechanism; 254 - Connecting screw. Detailed implementation mode

[0053] Figure 1 For a typical high - explosion switchgear 1 in coal mines, it includes a cabinet body 10. The front of the cabinet body 10 is an operation panel 11, and there are multiple operation switches 12 on the operation panel. The operation switches can have various structures, such as push - button switches, rotary switches, toggle switches, etc. Each type of switch structure can also include various forms. For example, the knob of the rotary switch can be a hexagonal column nut type, a cross nut type, a rectangular block type, a rectangular groove type, etc.

[0054] In the traditional technology, these operation switches all need to be manually switched on and off. Under the high - voltage environment conditions in the mine, there are relatively large safety hazards. And currently, the main function of the robots used in coal mines is patrol inspection, and they cannot perform automated and precise operations.

[0055] Based on the above - mentioned technical problems, this application provides an automatic operation robot 2 for mine - used explosion - proof high - and low - voltage electrical equipment. As Figures 2 to 7 shown, this robot has a traveling mechanism 21, a joint mechanism, an execution mechanism, and a control system.

[0056] As can be understood by those skilled in the art, this automatic operation robot also includes a fuselage 20 for supporting the above - mentioned components.

[0057] The traveling mechanism 21 preferably adopts traveling wheels with simple structure and low cost, and other mechanisms such as crawler - type, leg - type or foot - type that can realize the traveling function can also be selected.

[0058] The joint mechanism is used to drive the execution mechanism to rotate up and down and left and right. This application provides a preferred joint mechanism. As Figure 3As shown, it includes two joints, specifically the first joint 221 and the second joint 222, which respectively drive the actuator to rotate up and down and left and right. Further, the second joint 222 is located at the end of the first joint 221, and the actuator is located at the end of the second joint; the first joint 221 can drive the second joint 222 and the actuator located on the second joint 222 to rotate up and down, and the second joint 222 can drive the actuator to rotate left and right.

[0059] A connecting arm 223 can be used to assist in connecting between the second joint 222 and the actuator.

[0060] The actuator includes a two-dimensional moving platform 23, a ranging module 24, and an execution terminal 25.

[0061] The execution terminal 25 is located on the two-dimensional moving platform 23 and can move up and down and left and right under the action of the two-dimensional moving platform 23.

[0062] The two-dimensional moving platform 23 is used to realize the up and down movement and left and right movement functions of the execution terminal. The present application provides a preferred two-dimensional moving platform, as Figures 4 to 5 shown, which includes a support platform 231 and an up and down moving mechanism and a horizontal moving mechanism located on the support platform 231.

[0063] The up and down moving mechanism includes a first driving mechanism 2321, a central guide rail 2322, and two left and right auxiliary guide rails 2323 located on the support platform 231, a central slider 2324 located on the central guide rail 2322, and two left and right auxiliary sliders 2325 located on the two left and right auxiliary guide rails 2323 respectively; the central slider 2324 and the auxiliary slider 2325 are fixedly connected by a connecting rod 2326, and the central slider 2324 and the auxiliary slider 2325 can be connected into one body through the connecting rod 2326 to achieve synchronous movement.

[0064] The left and right moving mechanism includes two left and right support blocks 2331 respectively located on the two left and right auxiliary sliders 2325, a horizontal guide rail 2332 located between the two left and right support blocks, a horizontal slider 2333 located on the horizontal guide rail 2332, and a second driving mechanism 2334 located on any one of the support blocks 2331; the execution terminal 25 is located on the horizontal slider 2333.

[0065] The first driving mechanism 2321 is used to drive the central slider 2324 and the auxiliary slider 2325 to move up and down along the central guide rail 2322 and the auxiliary guide rail 2323 respectively. When the auxiliary slider 2325 moves up and down, the support block 2331 located on the auxiliary slider 2325 also moves synchronously, thereby driving the execution terminal 25 located on the horizontal guide rail 2332 and the horizontal slider 2333 to move up and down synchronously. The second driving mechanism 2334 is used to drive the horizontal slider 2333 to drive the execution terminal 25 to move left and right along the horizontal guide rail 2332.

[0066] The up-and-down moving mechanism bears the weight of the left-and-right moving mechanism. Therefore, multiple guide rails such as the central guide rail and the auxiliary guide rails on both sides are used to make the movement more stable and facilitate the accurate control of the stopping position of the execution terminal. Further, to make the movement more stable, the up-and-down moving mechanism further includes a first buffer assembly 2327 located on the support platform 231, and the central slider is located on the first buffer assembly; the left-and-right moving mechanism further includes a second buffer assembly 2335 located between the two left-and-right support blocks 2331, and the horizontal slider is located on the second buffer assembly. The first buffer assembly 2327 and the second buffer assembly 2335 are preferably springs.

[0067] The first driving mechanism 2321 and the second driving mechanism 2334 can adopt motors, cylinders, hydraulic cylinders, etc.

[0068] The ranging module 24 includes a plurality of ranging units distributed in a rectangular array on the two-dimensional moving platform 23. There should be a certain distance between adjacent two ranging units. Further, the ranging units are preferably 4, and the 4 ranging units are located at the four corner positions of the two-dimensional moving platform 23 for detecting the distance from the operation panel of the high-voltage and low-voltage electrical equipment. By detecting the distance from the operation panel of the high-voltage and low-voltage electrical equipment, the tilting direction and angle of the two-dimensional moving platform can be found, so that corresponding adjustments can be made through the joint mechanism, and the two-dimensional moving platform and the entire actuator can be adjusted to be parallel to the operation panel of the high-voltage and low-voltage electrical equipment. By setting at least 4 ranging units, the distances between the corners of the two-dimensional moving platform and the operation panel can be obtained, so as to accurately obtain the tilting direction and angle of the two-dimensional moving platform and make targeted adjustments, effectively ensuring that the entire plane of the two-dimensional moving platform is parallel to the operation panel.

[0069] To ensure the stability of the ranging module, the ranging module is preferably immovable, that is, it is located at an immovable position on the two-dimensional moving platform, such as on the support platform 231 of the two-dimensional moving platform provided in the present application.

[0070] The ranging module can adopt conventional technologies such as laser, ultrasonic, infrared, optoelectronic, etc.

[0071] Such as Figures 6 to 7As shown, the execution terminal 25 includes a target detection and positioning module 252 and at least one execution tool 253. As can be understood by those skilled in the art, the execution terminal 25 further includes a bottom plate 251 that supports the above components, and the bottom plate 251 is fixed to the horizontal slider 2333 through connection screws 254.

[0072] As Figure 1 shown, each switch cabinet operation panel has a plurality of operation switches 12, so it is necessary to select the operation switch to be operated. In this application, through the target detection and positioning module 252 provided on the execution terminal, the type and position of the operation switch are identified and positioned by using visual recognition technology, the operation switch to be operated is selected, the corresponding execution tool 253 is determined, and then the execution terminal 25 is driven by the two-dimensional moving platform 23 to move, so that the corresponding execution tool reaches directly in front of the operation switch to be operated, and then the operation is performed, so as to realize the precise operation of the high and low voltage switches. Specifically, the relative coordinates of each execution tool and the target detection and positioning module are known. The target detection and positioning module identifies and positions the operation switches on the operation panel through visual technology, selects the operation switch to be operated and obtains the coordinates of the operation switch, and determines the corresponding execution tool and the coordinates of the execution tool, so as to obtain the coordinate difference between the corresponding execution tool and the operation switch to be operated, and further obtain the distance and direction that the two-dimensional moving platform needs to move. Then, the execution terminal 25 is driven by the two-dimensional moving platform 23 to move in the corresponding direction by the corresponding distance, and the corresponding execution tool can reach directly in front of the operation switch to be operated.

[0073] Preferably, the execution tool 253 includes an operating rod 2531, an operating head 2532 located at the head end of the operating rod 2531, and a third driving mechanism 2533 located at the tail end of the operating rod 2531; the third driving mechanism 2533 is used to drive the operating rod 2531 to drive the operating head 2532 to work; the shape of the operating head 2532 and the driving mode of the third driving mechanism are adapted to the type of the operation switch. The operating rod and the operating head should be vertically installed on the support platform, so that when the support platform is parallel to the operation panel, the operating rod and the operating head can be vertically aligned with the operation switch for operation.

[0074] Among them, the execution tool 253 includes, but is not limited to, one or more of a push-button switch execution tool and a rotary switch execution tool; the operating head of the push-button switch execution tool is cylindrical, etc., and the corresponding third driving mechanism is a linear drive. For example, the motor + lead screw method can be adopted, and the pressing operation of the operation switch is realized by controlling the displacement of the lead screw; the operating head of the rotary switch execution tool is in the shape of an internal hexagonal slot, a rectangular plug, a rectangular slot or a cross slot, etc., and the corresponding third driving mechanism is a linear drive + circumferential drive. The operating rod is driven to extend and retract to cooperate with the operation switch through linear drive, and the circumferential drive can adopt a motor, etc. The rotation angle and direction can be controlled by controlling the rotation angle of the motor.

[0075] When space permits, as many types and quantities of execution tools as possible should be provided to meet the needs of using different operating switches. For example, Figure 6 As shown in the execution terminal, four execution tools are arranged around the target detection and positioning module, and the operating heads of each execution tool are different. The coordinates of these four execution tools relative to the target detection and positioning module are fixed and known. The operating head in the upper left is cylindrical and can press the button-type operating switch; the operating head in the lower left is in the shape of an internal hexagonal slot and can be inserted into the hexagonal column nut-type rotary operating switch for rotation operation; the operating head in the upper right is in the shape of a rectangular slot and can be inserted into the rectangular block-type operating switch for rotation operation; the operating head in the lower right is in the shape of a rectangular insert block and can be inserted into the rectangular slot-type operating switch for rotation operation.

[0076] Preferably, identification labels are provided on the high-voltage and low-voltage electrical equipment, and information such as the high-voltage and low-voltage electrical equipment numbers and position coordinates is recorded in the identification labels; after the operating robot reaches the target position, the target detection and positioning module is also used to identify the identification labels to further verify whether the target high-voltage and low-voltage electrical equipment for operation is incorrect.

[0077] The control system is electrically connected to the traveling mechanism 21, the joint mechanism, the distance measuring module 24, the two-dimensional moving platform 23, the target detection and positioning module 252, and the execution tool 253. The control system is used to drive the traveling mechanism to move to the target position; it is also used to send instructions to the distance measuring module and the target detection and positioning module, and adjust the execution mechanism to be parallel to the operation panel of the high-voltage and low-voltage electrical equipment according to the feedback information, select the operating switch to be operated, determine the corresponding execution tool, and adjust the corresponding execution tool to be directly in front of the operating switch to be operated; and it is used to control the corresponding execution tool to operate the operating switch to be operated.

[0078] By setting the control system, the automatic operation of the device can be realized. The control system can be installed inside the fuselage.

[0079] Preferably, further adjusting the execution mechanism to be parallel to the operation panel of the high-voltage and low-voltage electrical equipment includes:

[0080] The number of distance measuring units is 4;

[0081] First divide the 4 distance measuring units into upper and lower groups, and adjust the joint mechanism to rotate up and down according to the detection information so that the distances detected by the upper and lower groups of distance measuring units are equal;

[0082] Then divide the 4 distance measuring units into left and right groups, and adjust the joint mechanism to rotate left and right according to the detection information so that the distances detected by the left and right groups of distance measuring units are equal.

[0083] Grouping the ranging units in pairs for leveling can adapt to the joint mechanism of this application and reduce the adjustment time.

[0084] This method is suitable for the joint mechanism of this application as Figures 2 to 3 shown. For the joint mechanism where the second joint that can rotate left and right is located on the first joint that can rotate up and down, first divide the ranging units into upper and lower groups for leveling. First, adjust the first joint. After the first joint is adjusted to the appropriate position, then adjust the second joint.

[0085] If the first joint can rotate left and right and the second joint can rotate up and down, a method of first dividing the ranging units into left and right groups for leveling and then into upper and lower groups for leveling is adopted. The specific steps are as follows:

[0086] First divide the 4 ranging units into left and right groups, and adjust the left - right rotation of the joint mechanism according to the detection information to make the distances detected by the left and right groups of ranging units equal;

[0087] Then divide the 4 ranging units into upper and lower groups, and adjust the up - down rotation of the joint mechanism according to the detection information to make the distances detected by the upper and lower groups of ranging units equal.

[0088] Preferably, the automatic operation robot further includes an automatic navigation system electrically connected to the control system, which is used to guide the traveling mechanism to drive the entire automatic operation robot to automatically move to the target position. When necessary, manual assistance can also be used to guide the automatic operation robot to reach the target position.

[0089] This application also provides an operation method for the above - mentioned automatic operation robot, including the following steps:

[0090] S1. Obtain the target position of the operation switch 12, control the traveling mechanism 21 to move to the target position, and face the operation panel of the high - voltage and low - voltage electrical equipment frontally; the target position is within the working distance range of the operation panel of the high - voltage and low - voltage electrical equipment;

[0091] S2. Send an instruction to the ranging module 24, and adjust the up - down rotation or horizontal rotation of the joint mechanism according to the detection information until the execution mechanism is parallel to the operation panel of the high - voltage and low - voltage electrical equipment;

[0092] S3. Send an instruction to the target detection and positioning module 252, and select the operation switch to be operated and determine the corresponding execution tool 253 according to the detection information, and adjust the movement of the two - dimensional moving platform 23 until the corresponding execution tool is directly in front of the operation switch to be operated;

[0093] S4. Control the corresponding execution tool 253 to operate the operation switch to be operated.

[0094] The above - mentioned control process can be realized by the control system for automatic control.

[0095] The operation method provided by this application first controls the traveling mechanism to move the entire automatic operation robot within the working distance range, and then performs planar positioning. The distance measuring module is used to level the actuator and the operation panel, so that the execution tool can be vertically aligned with the operation switch for operation. After leveling, the target detection and positioning module is used to identify and position the operation switch, select the operation switch to be operated, determine the corresponding execution tool, and then adjust the two-dimensional moving platform so that the corresponding execution tool is directly in front of the operation switch to be operated, and then align with the operation switch for precise operation. Thus, the operation error is effectively eliminated, the automatic precise operation of high-voltage and low-voltage electrical equipment is realized, and the functions of the inspection robot are enriched.

[0096] In actual operation, there is a problem that it is difficult to control the traveling mechanism to accurately move the automatic operation robot within the working distance range. To solve this problem, this embodiment creatively proposes a solution to accurately move the automatic operation robot within the working distance range by combining the real-time position of the two-dimensional moving platform, the real-time speeds along the X and Y axes, and the relevant rotation angles. Specifically: Define r(t) = [x(t), y(t)] as the position of the two-dimensional moving platform, where x(t) is the abscissa of the two-dimensional moving platform at time t, and y(t) is the ordinate of the two-dimensional moving platform at time t. Set the motion equation and calculate the moving distance of the two-dimensional moving platform along the X axis at time t and the moving distance of the two-dimensional moving platform along the Y axis at time t Thus, the two-dimensional moving platform is controlled to move within the working distance range. Specifically, the motion equation is:

[0097]

[0098] where θ(t) is the rotation angle of the first joint at time t, φ(t) is the rotation angle of the second joint at time t, v x (t) is the velocity component of the two-dimensional moving platform along the X axis at time t, v y (t) is the velocity component of the two-dimensional moving platform along the Y axis at time t.

[0099] After controlling the automatic operation robot to accurately move within the working distance range, the actuator needs to be aligned with the operation panel to complete precise operation. Specifically:

[0100] According to the data of the distance measuring module, the alignment error between the actuator and the operation panel is compensated, and the alignment error is minimized by adjusting the angle of the actuator. The alignment error is obtained by the following formula:

[0101]

[0102] Among them, E align (t) is the alignment error between the actuator and the operation panel at time t, α1 is the first weight of the alignment error, d up (t) is the distance measured by the ranging module from the upper edge of the operation panel at time t, d down (t) is the distance measured by the ranging module from the lower edge of the operation panel at time t, α2 is the second weight of the alignment error, d left (t) is the distance measured by the ranging module from the left edge of the operation panel at time t, d right (t) is the distance measured by the ranging module from the right edge of the operation panel at time t.

[0103] Different switches, such as push-button switches or rotary switches, require different forces for operation. Since the present invention operates the operation switch through an actuating tool and needs to precisely control the force on the operation switch to avoid the problem of switch operation failure, the following solution is adopted:

[0104] Preferably, when the actuating tool operates the operation switch, if it is a push-button switch, then calculate the force F b (t) required to press the push-button switch at time t. The force F b (t) is obtained by the following formula:

[0105] F b (t) = μ b ·(r(t) - r target ) 2

[0106] Among them, μ b is the force constant of the push-button switch (experiments are carried out on the push-button switch using force sensors such as pressure sensors and load sensors to measure the force required when the button is pressed), r(t) is the position where the actuator presses the push-button switch at time t, r target is the position of the button for successfully starting or resetting the high and low voltage electrical equipment.

[0107] Preferably, if it is a rotary switch, then calculate the torque τ r (t) required to rotate the rotary switch at time t. Specifically, the torque τ r (t) is obtained by the following formula:

[0108] τ r (t) = μ r ·(r′(t) - r target ′) 3

[0109] Among them, μ ris the torque constant of the rotary switch (measuring the torque required for the rotary switch using a torque sensor), r'(t) is the position of the actuator rotating the rotary switch at time t, and r target ' is the position of the rotary switch for successfully starting or resetting the high- and low-voltage electrical equipment.

[0110] Preferably, step S2 further includes:

[0111] The number of ranging units is 4; the 4 ranging units are first divided into upper and lower groups, and the joint mechanism is adjusted to rotate up and down according to the detection information so that the distances detected by the upper and lower groups of ranging units are equal;

[0112] Then the 4 ranging units are divided into left and right groups, and the joint mechanism is adjusted to rotate left and right according to the detection information so that the distances detected by the left and right groups of ranging units are equal.

[0113] Or;

[0114] The 4 ranging units are first divided into left and right groups, and the joint mechanism is adjusted to rotate left and right according to the detection information so that the distances detected by the left and right groups of ranging units are equal;

[0115] Then the 4 ranging units are divided into upper and lower groups, and the joint mechanism is adjusted to rotate up and down according to the detection information so that the distances detected by the upper and lower groups of ranging units are equal.

[0116] On the other hand, as an alternative implementation, the device shown in Figures 2 to 7 is used to automatically operate the rectangular block rotary switch at the lower right of the operation panel on the high- and low-voltage electrical equipment shown in Figure 1 S1. First, obtain the position coordinates of the high- and low-voltage electrical equipment. The control system controls the traveling mechanism 21 to move within the working distance range under the guidance of the automatic navigation system and face the operation panel directly;

[0117]

[0118] ​S2. After reaching the target position, send an instruction to the ranging module 24, and feedback the detection result to the control system in a timely manner. The control system includes a data processing module. First, divide the distance data detected by the 4 ranging units into upper and lower groups. Compare the upper and lower groups of data. If the sum of the upper group of data is less than the sum of the lower group of data, it proves that the actuator is tilted downward, then control the first joint to drive the actuator to rotate upward (clockwise rotation). Conversely, if the sum of the upper group of data is greater than the sum of the lower group of data, it proves that the actuator is tilted upward, then control the first joint to drive the actuator to rotate downward (counterclockwise rotation) until the sum of the upper group of data is equal to the sum of the lower group of data. Then divide the distance data detected by the 4 ranging units into left and right groups. If the sum of the left group of data is less than the sum of the right group of data, it proves that the actuator is tilted to the right, then control the second joint to drive the actuator to rotate to the left (clockwise rotation). Conversely, if the sum of the left group of data is greater than the sum of the right group of data, it proves that the actuator is tilted to the left, then control the second joint to drive the actuator to rotate to the right (counterclockwise rotation) until the sum of the left group of data is equal to the sum of the right group of data, and then control the ranging module to stop working. After the above adjustment, the parallelism between the actuator and the operation panel is ensured.

[0119] S3. After leveling, the control system sends an instruction to the target detection and positioning module 252. The target detection and positioning module 252 sends the captured image information to the control system. The data processing module identifies and locates the captured image information to determine the type and position coordinates of the operation switch to be operated, and then determines that the corresponding execution tool is the rectangular slot type execution tool in the upper right. Since the coordinates of the rectangular slot type execution tool are known, the coordinate difference between the rectangular slot type execution tool and the operation switch to be operated can be obtained through analysis. Then adjust the position of the two-dimensional moving platform to move the rectangular slot type execution tool to the front of the operation switch to be operated.

[0120] S4. The control system sends an instruction to the third driving device of the rectangular slot type execution tool. First, make it move forward to cooperate with the rectangular block type operation switch, and then perform a rotation operation to complete the operation of the operation switch. After completion, the rectangular slot type execution tool retracts and waits for the next command.

[0121] If it is necessary to operate other operation switches on the same operation panel, steps S1 and S2 can be omitted.

[0122] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once they learn the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art can make various changes and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic operation robot for explosion-proof high and low voltage electrical equipment in mines, comprising a traveling mechanism, a joint mechanism, an execution mechanism and a control system, characterized in that, The joint mechanism is used to drive the execution mechanism to rotate up and down and left and right; The execution mechanism includes a two-dimensional moving platform, a ranging module and an execution terminal; The ranging module includes a plurality of ranging units distributed in a rectangular array on the two-dimensional moving platform, and is used to detect the distance from the operation panel of the high and low voltage electrical equipment, so as to adjust the parallelism between the execution mechanism and the operation panel of the high and low voltage electrical equipment; The execution terminal is located on the two-dimensional moving platform and can move up and down and left and right under the action of the two-dimensional moving platform; the execution terminal includes a target detection and positioning module and at least one execution tool; the target detection and positioning module is used to detect and identify the type and position of the operation switch to be operated; The control system is electrically connected to the traveling mechanism, the joint mechanism, the ranging module, the two-dimensional moving platform, the target detection and positioning module and the execution tool.

2. The automatic operation robot for explosion-proof high and low voltage electrical equipment in mines according to claim 1, characterized in that, The joint mechanism includes a first joint and a second joint, the second joint is located at the end of the first joint, and the execution mechanism is located at the end of the second joint; The first joint is used to drive the second joint and the execution mechanism located on the second joint to rotate up and down, and the second joint is used to drive the execution mechanism to rotate left and right.

3. The automatic operation robot for explosion-proof high and low voltage electrical equipment in mines according to claim 2, characterized in that, Adjusting the parallelism between the execution mechanism and the operation panel of the high and low voltage electrical equipment further includes: There are 4 ranging units; First divide the 4 ranging units into upper and lower groups, and adjust the up and down movement of the joint mechanism according to the detection information, so that the distances detected by the upper and lower groups of ranging units are equal; Then divide the 4 ranging units into left and right groups, and adjust the left and right movement of the joint mechanism according to the detection information, so that the distances detected by the left and right groups of ranging units are equal.

4. The automatic operation robot for explosion-proof high and low voltage electrical equipment in mines according to claim 1, characterized in that, The two-dimensional moving platform includes a support platform and an up and down moving mechanism and a horizontal moving mechanism located on the support platform; The up and down moving mechanism includes a first driving mechanism located on the support platform, a central guide rail and two left and right auxiliary guide rails, a central slider located on the central guide rail, and two left and right auxiliary sliders located on the two left and right auxiliary guide rails respectively; the central slider and the auxiliary slider are fixedly connected by a connecting rod; the first driving mechanism is used to drive the central slider and the auxiliary slider to move up and down along the central guide rail and the auxiliary guide rail respectively; The left and right movement mechanism includes left and right support blocks respectively located on the left and right auxiliary sliders, a horizontal guide rail located between the left and right support blocks, a horizontal slider located on the horizontal guide rail, and a second driving mechanism located on any one of the support blocks; the execution terminal is located on the horizontal slider; the second driving mechanism is used to drive the horizontal slider to drive the execution terminal to move left and right along the horizontal guide rail.

5. The automatic operation robot for mine explosion-proof high and low voltage electrical equipment according to claim 4, wherein The up and down movement mechanism further includes a first buffer assembly located on the support platform, and the central slider is located on the first buffer assembly; The left and right movement mechanism further includes a second buffer assembly located between the left and right support blocks, and the horizontal slider is located on the second buffer assembly.

6. The automatic operation robot for mine explosion-proof high and low voltage electrical equipment according to claim 1, wherein The execution tool includes an operating rod, an operating head located at the head end of the operating rod, and a third driving mechanism located at the tail end of the operating rod; the third driving mechanism is used to drive the operating rod to drive the operating head to work; The shape of the operating head and the driving mode of the third driving mechanism are adapted to the type of the operating switch.

7. The automatic operation robot for mine explosion-proof high and low voltage electrical equipment according to claim 6, wherein The execution tool includes one or more of a push-button switch execution tool and a rotary switch execution tool; The operating head of the push-button switch execution tool is cylindrical, and the corresponding third driving mechanism is a linear drive; The operating head of the rotary switch execution tool is in the shape of an internal hexagonal slot, a rectangular plug, a rectangular slot or a cross slot, and the corresponding third driving mechanism is a combination of linear drive and circumferential drive.

8. The automatic operation robot for mine explosion-proof high and low voltage electrical equipment according to claim 1, wherein The automatic operation robot further includes an automatic navigation system electrically connected to the control system, which is used to guide the traveling mechanism to drive the automatic operation robot to automatically move to the target position.

9. The automatic operation robot for mine explosion-proof high and low voltage electrical equipment according to claim 1, wherein An identification label is provided on the high and low voltage electrical equipment; The target detection and positioning module is further used to identify the identification label.

10. An operating method for an automatic operation robot of explosion-proof high and low voltage electrical equipment for mine use, characterized in that, It is adapted to be used with the automatic operation robot according to any one of claims 1 to 9, and the operation method includes the following steps: Obtain the target position of the operating switch, control the traveling mechanism to move to the target position, and face the operation panel of the high and low voltage electrical equipment directly; Send an instruction to the ranging module, and adjust the up and down rotation or horizontal rotation of the joint mechanism according to the detection information until the execution mechanism is parallel to the operation panel of the high and low voltage electrical equipment; Send an instruction to the target detection and positioning module, select the operation switch to be operated according to the detection information, determine the corresponding execution tool, and adjust the movement of the two-dimensional mobile platform until the corresponding execution tool is directly in front of the operation switch to be operated; Control the corresponding execution tool to operate the operation switch to be operated.

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