Power equipment safety operation method, system and equipment and storage medium

Abstract

The invention provides a power equipment safety operation method, system and equipment and a storage medium, and relates to the technical field of power safety. Multi-dimensional interval state verification of the whole operation process of the robot comprises the steps of task acquisition, operation interval confirmation, state confirmation before operation, operation and state confirmation after operation. In the operation interval confirmation step, the operation robot is controlled to move to the operation interval where the target operation object is located; obtaining an identity mark of the target operation object, position video information of the operation interval and a position coordinate sent by the operation robot; and performing position verification on the operation interval according to the identity mark, the position video information and the position coordinates. The operation interval, the state of the target operation object before operation and the state of the target operation object after operation are verified by verifying each step of operation of the operation robot in real time, so that the misoperation probability of the operation robot is reduced, and the operation and maintenance efficiency of the power equipment is improved.

Description

Technical Field

[0001] The present application relates to the field of power safety technology, and in particular to a method, system, device and storage medium for safe operation of power equipment. Background Art

[0002] Power equipment operation and maintenance involves hazardous environments such as high voltage, toxic gases, and confined spaces. Traditional manual operations carry risks such as electric shock, suffocation, and mechanical injuries. Live-line operation robots, operated through a robotic arm, prevent direct contact with live equipment, significantly reducing the risk of electric shock. Live-line operation robots can replace repetitive and labor-intensive tasks (such as switching operations and insulation coating), reducing manpower and labor costs.

[0003] However, during the operation of existing live-working robots, only conventional five-prevention logic checks are usually performed, resulting in a high possibility of misoperation and low operation and maintenance efficiency of power equipment. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method, system, equipment and storage medium for safe operation of power equipment, which is used to verify each operation step of the operating robot in real time, and to verify the operation interval, the state of the target operation object before the operation, and the state of the target operation object after the operation, thereby reducing the probability of misoperation of the operating robot and improving the operation and maintenance efficiency of the power equipment.

[0005] In the first aspect, an embodiment of the present application provides a method for safe operation of electric power equipment, and multi-dimensional interval status verification of the entire robot operation process, including: a task acquisition step: obtaining an operation task sequence including a target operation object and an operation item; an operation interval confirmation step: determining the operation robot based on the target operation object, and controlling the operation robot to move to the operation interval where the target operation object is located; and obtaining the identity mark of the target operation object, the position video information of the operation interval, and the position coordinates sent by the operation robot; performing position verification on the operation interval according to the identity mark, position video information, and position coordinates; a pre-operation status confirmation step: after the position verification is successful, obtaining the starting telesignaling status information and starting status video information of the target operation object; verifying the pre-operation status of the target operation object according to the starting telesignaling status information and the starting status video information; an operation step: after the pre-operation status verification is successful, controlling the operation robot to perform an operation on the target operation object based on the operation item; a post-operation status confirmation step: after the operation is completed, performing a post-operation status verification on the target operation object, and controlling the operation robot to return after the post-operation status verification is successful.

[0006] In an embodiment of the present application, before the operating robot performs an operation on the target operation object, the operating interval where the operating robot is located is verified so that the operating robot reaches the correct operating interval. By confirming the operating interval, the probability of the operating robot entering the wrong operating interval is reduced, thereby reducing the probability of misoperation. Further, when the operating interval is correct, the pre-operation state of the target operation object is verified so that the operating robot can only perform the operation when the pre-operation state of the target operation object is correct, further reducing the probability of misoperation. Finally, after the operating robot performs an operation on the target operation object, the post-operation state of the target operation object is also verified, thereby verifying whether the operating process of the operating robot is correct and whether the final state of the target operation object is correct, further reducing the probability of misoperation. Therefore, in an embodiment of the present application, by real-time verification of each step of the operation of the operating robot, the operating interval, the state of the target operation object before the operation, and the state of the target operation object after the operation are all verified, thereby reducing the probability of misoperation of the operating robot and improving the operation and maintenance efficiency of the power equipment.

[0007] In some embodiments, the operation interval is position-checked based on the identity mark, location video information, and location coordinates, including: parsing the identity mark to obtain interval information of the operation interval, comparing the interval information with preset interval information to obtain a comparison result; displaying the map information and location video information corresponding to the location coordinates, and receiving user instructions; and performing position-checking on the operation interval based on the comparison result and the user instructions.

[0008] When performing position verification on an operating interval, the embodiment of the present application identifies the interval information of the operating interval based on the identity mark, and combines the video information of the operating interval with the position information sent by the operating robot to jointly verify the position of the operating interval. In this process, since the position verification of the operating interval is carried out from multiple dimensions, the accuracy of the verification result is improved, the probability of the operating robot entering the wrong interval to perform an operation is reduced, thereby reducing the probability of erroneous operation and improving the operation and maintenance efficiency of the power equipment.

[0009] In some embodiments, the pre-operation state of the target operation object is verified based on the starting telesignaling state information and the starting state video information, including: if it is determined that the starting telesignaling state information is consistent with the preset starting state information, then based on the starting state video information, determining whether the starting state of each state indication device of the target operation object satisfies the corresponding preset starting indication state; if it is determined that the starting state of each state indication device satisfies the corresponding preset starting indication state, it indicates that the pre-operation state verification is successful.

[0010] In an embodiment of the present application, the status of the target operation object is first preliminarily verified based on the initial telesignaling status information of the target operation object, and then the status of each status indication device of the target operation object is verified based on the initial status video information. In this process, multi-dimensional and multi-level verification improves the accuracy of pre-operation status verification, reduces the probability of misoperation, and improves the operation and maintenance efficiency of power equipment.

[0011] In some embodiments, the status indication device includes a cabinet electrical status indicator light of the target operation object and an opening and closing status indicator inside the cabinet.

[0012] In some embodiments, the starting state video information includes the cabinet surface starting state video information and the cabinet internal starting state video information of the target operation object; based on the starting state video information, determine whether the starting state of each status indication device of the target operation object meets the corresponding preset starting indication state, including: based on the cabinet surface starting state video information, determine whether the starting state of the cabinet surface electrical status indicator light meets the corresponding preset starting indication state; if it is determined that the starting state of the cabinet surface electrical status indicator light meets the corresponding preset starting indication state, then based on the cabinet internal starting state video information, determine whether the starting state of the cabinet opening and closing status indicator meets the corresponding preset starting indication state.

[0013] In an embodiment of the present application, when multiple status indicating devices are included, the status of each status indicating device is verified in turn, so that during the verification process, if the status verification of a certain status indicating device is unsuccessful, the process ends, saving verification time, clarifying the root cause of the problem, and improving verification accuracy.

[0014] In some embodiments, a post-operation state check is performed on the target operation object, including: obtaining the end telesignaling state information and end state video information of the target operation object; if it is determined that the end telesignaling state information is consistent with the preset end state information, then determining whether the end state of each state indication device of the target operation object satisfies the corresponding preset end indication state based on the end state video information; if it is determined that the end state of each state indication device satisfies the corresponding preset end indication state, it indicates that the post-operation state check is successful.

[0015] The embodiment of the present application verifies the post-operation state of the target operation object by obtaining the end telesignaling state information and end state video information of the target operation object. In addition, during the verification process, the state of the target operation object is first preliminarily verified based on the end telesignaling state information, and then the state of each state indicator device of the target operation object is refined based on the end state video information. The multi-dimensional and multi-level verification improves the accuracy of the post-operation state verification, thereby further verifying whether the operation process of the operating robot is correct, reducing the probability of misoperation, and improving the operation and maintenance efficiency of the power equipment.

[0016] In some embodiments, the operation item includes multiple sub-operation items; before controlling the operation robot to return, the method also includes: if it is determined that there are sub-operation items that have not been executed, then re-acquire the initial telesignaling status information and initial status video information of the target operation object, and perform pre-operation status confirmation of the target operation object, execution of the sub-operation item, and post-operation status confirmation of the target operation object under the sub-operation item, until all sub-operation items have been executed, and the operation robot is controlled to return; wherein, each sub-operation item is a sub-operation item that has passed the anti-error logic check.

[0017] The embodiment of the present application performs a loop operation on multiple sub-operation items and verifies the pre-operation state and post-operation state of the target operation object each time a sub-operation item is executed, thereby improving the accuracy of the operation process of each sub-operation item and the integrity of the entire operation process, thereby reducing the probability of misoperation and improving the operation and maintenance efficiency of power equipment.

[0018] In the second aspect, an embodiment of the present application provides a safe operating system for electric power equipment, which system includes: an intelligent anti-error module, a robot control module, a video monitoring module and an operating robot; the robot control module is communicated with the intelligent anti-error module, the video monitoring module and the operating robot respectively; the intelligent anti-error module includes a task generation component, a telesignaling status acquisition component and an anti-error logic verification component; the intelligent anti-error module is used to: generate an operation task sequence including a target operation object and an operation item through the task generation component; collect the telesignaling status information of the target operation object through the telesignaling status acquisition component; perform anti-error logic verification on the operation item through the anti-error logic verification component; the video monitoring module is used to control the camera in the area where the target operation object is located, and collect video information of the target operation object through the camera; the robot control module is used to execute the method steps of any embodiment of the first aspect.

[0019] In a third aspect, an embodiment of the present application provides an electronic device comprising: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the method steps of any one embodiment of the first aspect can be executed.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, comprising: computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the method steps of any embodiment of the first aspect are executed.

[0021] Other features and advantages of the present application will be described in the subsequent description, and in part will become apparent from the description, or will be understood by practicing the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A flowchart of a first method for safely operating electric power equipment provided in an embodiment of the present application; Figure 2 A schematic diagram of a process for generating an operation task sequence provided in an embodiment of the present application; Figure 3 A schematic diagram of a flow chart for a simulation preview of safe operation of electric power equipment provided in an embodiment of the present application; Figure 4 A flowchart of a second method for safely operating electric power equipment provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of a safe operating system for electric power equipment provided in an embodiment of the present application; Figure 6 A flowchart of a third method for safe operation of electric power equipment provided in an embodiment of the present application; Figure 7 A schematic diagram of the electronic device structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0025] It should be noted that all technical and scientific terms used herein have the same meanings as those commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0026] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0027] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0028] Figure 1 This is a flowchart of the first method for safely operating electric power equipment provided in an embodiment of the present application. It is understood that the method for safely operating electric power equipment provided in an embodiment of the present application can be applied to terminal devices (also referred to as electronic devices) and servers; the terminal devices can specifically be smartphones, tablet computers, computers, personal digital assistants (PDAs), etc.; and the servers can specifically be application servers or web servers. To facilitate understanding of the technical solutions provided in an embodiment of the present application, the following describes the application scenarios of the method for safely operating electric power equipment provided in an embodiment of the present application, using a terminal device as an example of the execution subject.

[0029] like Figure 1 As shown, the robot operation process is verified in multiple dimensions and intervals, including: Step S101, task acquisition step: acquiring an operation task sequence including a target operation object and operation items.

[0030] The target operation object refers to the specific power equipment whose operating status needs to be changed in the operation task. For example, the target operation objects in the operation task "10kV busbar power outage" are 101 circuit breaker, 1011 disconnector, and 10117 grounding switch.

[0031] An operation item is the smallest execution unit of an operation task, describing a complete operation action on the target operation object and its verification loop.

[0032] For example: Operation 1: Disconnect circuit breaker 101 → Check that the remote signal position of circuit breaker 101 is "open". Operation 2: Verify that there is no power on the busbar side of disconnector 1011 → Close grounding switch 10117.

[0033] An operation task sequence refers to an ordered set of operation items arranged in a strict logical order to complete the operation goal of the target operation object (such as: 10kV bus power outage).

[0034] For example, the task sequence for the "10kV busbar power outage" operation is as follows: Operation 1: Disconnect circuit breaker 101 → Check that the remote signal position of circuit breaker 101 is "open." Operation 2: Verify that there is no power on the busbar side of disconnector 1011 → Close grounding switch 10117.

[0035] During the implementation, users add tasks through the front-end interface displayed on the terminal device. When adding a task, they select the target object to be operated on and determine whether the current device state of the target object is consistent with the target device state of the operation target. If not, they select the target device state of the target object and set the corresponding operation items, thus generating an operation task sequence.

[0036] For example: the current device state of the grounding switch is the closed state, and the target device state of its operation target is the open state. At this time, the current device state is inconsistent with the target device state, so the target device state of the grounding switch is selected as the open state, and the corresponding operation task sequence is generated.

[0037] It should be noted that multiple operation tasks can be added cyclically, and an operation task sequence can be generated based on the multiple operation tasks.

[0038] It should be noted that when adding multiple operation tasks, the target operation objects of each operation task may be the same or different, and are specifically set according to the actual situation of the power equipment.

[0039] Figure 2 A flow chart of generating an operation task sequence is provided in an embodiment of the present application, such as Figure 2 As shown, the method includes: the user performs a permission check. If the check is successful, a new operation task is created and a target operation object is selected. After the target operation object is selected, the current device status of the target operation object is checked. If the current device status of the target operation object is not the target device status, the target device status of the target operation object is selected and the operation task is generated. Finally, it is determined whether the operation task combination is required. If not, the operation task sequence is directly obtained. If so, new operation tasks are added until no new operation tasks need to be added, thereby generating the final operation task sequence.

[0040] It should be noted that, in order to improve the accuracy and feasibility of the operation task, after the operation task sequence is generated, a simulation rehearsal of the operation task sequence is performed.

[0041] Before the simulation rehearsal, the operation task sequence is parsed and the target operation object and the corresponding operation item are saved. Then the preset simulation rehearsal software is called to perform the simulation rehearsal according to the operation task sequence. Figure 3 A schematic diagram of a flow chart of a simulation preview of safe operation of electric power equipment provided in an embodiment of the present application is as follows: Figure 3As shown, the simulation rehearsal process is as follows: check the operating conditions; if the operating conditions are met, verify the device status of the target operation object before the rehearsal; if the device status of the target operation object is consistent with the rehearsal status, call the five-defense rule library to verify the operation item; after the verification is successful, simulate the operation item. After the operation item verification is successful and the simulation operation is successful, the simulation rehearsal is completed. If the verification is unsuccessful, it indicates that the simulation has failed.

[0042] It should be noted that if the operation item includes multiple sub-operation items, each sub-operation item needs to be verified and simulated in turn. After all sub-operation items are simulated successfully, the simulation preview is completed.

[0043] Step S102, operation interval confirmation step: determine the operation robot based on the target operation object, control the operation robot to move to the operation interval where the target operation object is located; and obtain the identity mark of the target operation object, the position video information of the operation interval and the position coordinates sent by the operation robot; perform position verification on the operation interval based on the identity mark, position video information and position coordinates.

[0044] During implementation, users pre-configure a corresponding robot for each target operation object. Specifically, on the terminal device's configuration interface, they select the target operation object, add the robot's information (including IP, port, unique identifier, etc.), and configure the association between the target operation object and the robot (e.g., by ID). Once the target operation object is determined, the association can be used to determine which robot will perform the operation.

[0045] After determining the operating robot of the target operating object, the operating robot is controlled to move to the operating interval where the target operating object is located.

[0046] The operating bay refers to the smallest combination of equipment units in a substation or distribution network that has independent electrical functions and can be operated independently.

[0047] The user also configures a corresponding camera for each target operation object in advance, and by associating the target operation object with the camera, uses the camera to collect video information and / or image information of the target operation object.

[0048] The identity mark refers to the unique identifier of the target operation object, such as ID number, operation interval name, etc.

[0049] After controlling the operating robot to move to the operating interval where the target operating object is located, the terminal device drives the camera associated with the target operating object to capture the cabinet nameplate image of the target operating object, thereby obtaining the identity mark of the target operating object based on the cabinet nameplate image.

[0050] Furthermore, a camera associated with the target operation object is driven to capture position video information of the operation interval, so as to verify the position of the operation interval through the video information; Furthermore, the position coordinates sent by the operating robot are also obtained to verify the position of the operating interval from the perspective of the operating robot.

[0051] Finally, the operation interval is position-checked based on the identity mark, location video information, and location coordinates.

[0052] In one embodiment, the operation interval is position-verified by inputting the identity mark, the position video information, and the position coordinates into a pre-trained position verification model.

[0053] Step S103, pre-operation state confirmation step: after the position verification is successful, the initial telesignaling state information and initial state video information of the target operation object are obtained; the pre-operation state of the target operation object is verified according to the initial telesignaling state information and the initial state video information.

[0054] Telesignaling status information refers to the operating status or alarm signals of power equipment collected through remote communication. Its essence is to convert the binary switching signals of power equipment into digital information that can be transmitted remotely for monitoring and control.

[0055] Telesignaling status information reflects the discrete status signals of power equipment, usually represented by "0" and "1". "1" indicates a triggered state (such as a switch closed or a fault), and "0" indicates a normal state (such as a switch open or no alarm).

[0056] The initial telesignaling status information refers to the telesignaling status information of the target operation object before the target operation object is operated.

[0057] During the specific implementation process, the starting telesignaling status information is collected through the auxiliary contacts, sensors or protection devices of the power equipment, and the starting telesignaling status information is sent to the terminal equipment.

[0058] The initial state video information of the target operation object is collected through a camera associated with the target operation object, and the initial state video information is sent to the terminal device.

[0059] After the position verification is successful, the pre-operation state of the target operation object is verified based on the obtained starting telesignaling state information and starting state video information.

[0060] In one embodiment, the pre-operation state is verified by inputting the acquired initial telesignaling state information and the initial state video information into a pre-trained pre-operation state verification model to obtain a verification result.

[0061] Step S104, operation step: after the pre-operation status verification is successful, the operation robot is controlled to perform an operation on the target operation object based on the operation item.

[0062] During the specific implementation process, after the pre-operation status verification is successful, before the control operation robot performs the operation on the target operation object based on the operation item, the five-defense rule library is called to verify the operation item. After the verification is successful, the control operation robot performs the operation on the target operation object based on the operation item.

[0063] The specific execution of the operation is as follows: after receiving the operation item instruction, the operation robot first performs voice counting, locates the target operation object, confirms the target operation object, and performs the operation according to the operation item.

[0064] If the operation item verification fails, the operation ends.

[0065] Step S105, post-operation status confirmation step: after the operation is completed, the post-operation status of the target operation object is verified, and after the post-operation status verification is successful, the operation robot is controlled to return.

[0066] During the specific implementation process, after the operating robot completes the operation, in order to further verify the correctness of the operation process and the correctness of the post-operation state of the target operation object, the post-operation state of the target operation object is checked, and after the post-operation state check is successful, the operating robot is controlled to return.

[0067] Figure 4 A flow chart of a second method for safe operation of electric power equipment provided in an embodiment of the present application is shown as follows: Figure 4 As shown, the method includes: adding an operation task sequence, verifying the current device state of the target operation object in the operation task sequence, and parsing the operation task sequence if the current device state of the target operation object is consistent with the current device state of the target operation object required by the operation task sequence. For example, the target operation object is a circuit breaker, and the operation task sequence requires that the current device state of the circuit breaker be open. If the current device state of the circuit breaker is determined to be open based on the obtained remote signaling status information of the circuit breaker, indicating that the current device state of the circuit breaker is consistent with the current device state required by the operation task sequence, the next step can be executed: parsing the operation task sequence.

[0068] After parsing the operation task sequence, a simulation rehearsal is performed according to the operation items in the operation task sequence. After the simulation rehearsal passes, the operation interval is confirmed. After the operation interval verification passes, the pre-operation state of the target operation object is confirmed. After the pre-operation state verification passes, the operation robot is controlled to perform the operation according to the operation item and obtain the operation result. If the operation result indicates success, the post-operation state of the target operation object is confirmed. After the post-operation state verification passes, the robot is controlled to return and the operation ends.

[0069] It should be noted that if the current device status of the target operation object is inconsistent with the current device status of the target operation object required by the operation task sequence, or the simulation rehearsal fails, or the operation interval check fails, or the pre-operation status check fails, or the operation result fails, or the post-operation status check fails, the process will be terminated directly.

[0070] It should be noted that if the process ends due to failure of the above-mentioned verification, the operation robot can be controlled again to perform the operation according to the operation item by retrying.

[0071] In an embodiment of the present application, before the operating robot performs an operation on the target operation object, the operating interval where the operating robot is located is verified so that the operating robot reaches the correct operating interval. By confirming the operating interval, the probability of the operating robot entering the wrong operating interval is reduced, thereby reducing the probability of misoperation. Further, when the operating interval is correct, the pre-operation state of the target operation object is verified so that the operating robot can only perform the operation when the pre-operation state of the target operation object is correct, further reducing the probability of misoperation. Finally, after the operating robot performs an operation on the target operation object, the post-operation state of the target operation object is also verified, thereby verifying whether the operating process of the operating robot is correct and whether the final state of the target operation object is correct, further reducing the probability of misoperation. Therefore, in an embodiment of the present application, by real-time verification of each step of the operation of the operating robot, the operating interval, the state of the target operation object before the operation, and the state of the target operation object after the operation are all verified, thereby reducing the probability of misoperation of the operating robot, thereby improving the operation and maintenance efficiency of the power equipment.

[0072] In some embodiments, the operation interval is position-checked based on the identity mark, location video information, and location coordinates, including: parsing the identity mark to obtain interval information of the operation interval, comparing the interval information with preset interval information to obtain a comparison result; displaying the map information and location video information corresponding to the location coordinates, and receiving user instructions; and performing position-checking on the operation interval based on the comparison result and the user instructions.

[0073] During the specific implementation process, the camera is driven to capture the cabinet nameplate image of the target operation object, and the cabinet nameplate image is identified using artificial intelligence technology to obtain the interval information of the target operation object. The interval information is compared with the pre-stored preset interval information to obtain the comparison result.

[0074] The location coordinate information sent by the operating robot is matched to the operating position of the target object. The location coordinate information is used to query the corresponding map information in the database, and the map information is visually displayed on the terminal device to assist the user in confirming the operation interval position.

[0075] In addition, the location video information collected by the camera will be visualized on the terminal device to further assist users in confirming the operation interval location.

[0076] If the interval information is consistent with the pre-stored preset interval information, and the position coordinate information sent by the operating robot is compatible with the operating position of the target operating object, and the user confirms that the operation interval position is correct based on the map information and the user confirms that the operation interval position is correct based on the position video information, then it indicates that the operation interval position verification has passed, otherwise it indicates that the operation interval position verification has failed.

[0077] It should be noted that the above verification process can be executed step by step in sequence. Only after the current step is verified, the next step will be executed, saving verification time.

[0078] Exemplary: Step 1: Drive the camera to capture the cabinet nameplate image of the target operation object, use artificial intelligence technology to identify the cabinet nameplate image, obtain the interval information of the target operation object, and compare the interval information with the pre-stored preset interval information. If the comparison is consistent, the first step of verification is marked as successful, otherwise the process ends.

[0079] Step 2: Match the position coordinate information sent by the operating robot with the operating position of the target operating object. If the adaptation is successful, the second step verification is marked as successful, otherwise the process ends.

[0080] Step 3: Use the location coordinates to query the database for corresponding map information, and then visualize the map information on the terminal device to assist the user in confirming the operation interval location. If the user confirms the location is correct, the third step verification is marked as successful, otherwise the process ends.

[0081] Step 4: Visually display the location video information collected by the camera on the terminal device to assist the user in confirming the operation interval position. If the user confirms that the position is correct, the fourth step verification is marked as successful, otherwise the process ends.

[0082] When performing position verification on an operating interval, the embodiment of the present application identifies the interval information of the operating interval based on the identity mark, and combines the video information of the operating interval with the position information sent by the operating robot to jointly verify the position of the operating interval. In this process, since the position verification of the operating interval is carried out from multiple dimensions, the accuracy of the verification result is improved, thereby reducing the probability of the operating robot entering the wrong interval to perform an operation, thereby reducing the probability of erroneous operation and improving the operation and maintenance efficiency of the power equipment.

[0083] In some embodiments, the pre-operation state of the target operation object is verified based on the starting telesignaling state information and the starting state video information, including: if it is determined that the starting telesignaling state information is consistent with the preset starting state information, then based on the starting state video information, determining whether the starting state of each state indication device of the target operation object satisfies the corresponding preset starting indication state; if it is determined that the starting state of each state indication device satisfies the corresponding preset starting indication state, it indicates that the pre-operation state verification is successful.

[0084] According to the above embodiment, the initial telesignaling status information refers to the telesignaling status information of the target operation object before the target operation object is operated, and the telesignaling status information (digital signal) can reflect the electrical status of the target operation object (such as: circuit breaker open / close) in the first time.

[0085] Therefore, in the specific implementation process of verifying the pre-operation state of the target operation object based on the initial telesignaling state information and the initial state video information, the initial telesignaling state information is first compared with the preset initial telesignaling state information. If the comparison is consistent, the initial state of each state indicator device of the target operation object is then verified. On the basis of saving verification procedures and verification time, it can also improve operational safety.

[0086] The status indicators of the target operation object can directly reflect the physical status of the target operation object and are not affected by communication interruptions or software failures. Therefore, after the initial remote signaling status information verification is passed, the status of each status indicator device is verified to compensate for possible auxiliary contact failures in the remote signaling (such as contact oxidation causing false tripping), thereby improving the accuracy of the verification.

[0087] In an embodiment of the present application, the status of the target operation object is first preliminarily verified based on the initial telesignaling status information of the target operation object, and then the status of each status indication device of the target operation object is verified based on the initial status video information. In this process, multi-dimensional and multi-level verification improves the accuracy of pre-operation status verification, thereby reducing the probability of misoperation and improving the operation and maintenance efficiency of power equipment.

[0088] In some embodiments, the status indication device includes a cabinet electrical status indicator light of the target operation object and an opening and closing status indicator inside the cabinet.

[0089] The electrical status indicator light on the cabinet is a visual signal device installed on the external panel of the switch cabinet. It intuitively displays the electrical operating status of the equipment through color or text for quick identification by operation and maintenance personnel.

[0090] The internal opening and closing status indicator is a mechanical position indicating device installed on the circuit breaker or disconnector body inside the switch cabinet, which directly reflects the physical opening and closing status of the equipment contacts.

[0091] It should be noted that the status indicator also includes a high-voltage live indicator. This is a safety device that visually displays whether high-voltage electrical equipment or lines are live. It uses visual signals (lights, text, etc.) to alert operators of the live status of equipment, preventing accidents such as electric shock from misoperation.

[0092] In some embodiments, the starting state video information includes the cabinet surface starting state video information and the cabinet internal starting state video information of the target operation object; based on the starting state video information, determine whether the starting state of each status indication device of the target operation object meets the corresponding preset starting indication state, including: based on the cabinet surface starting state video information, determine whether the starting state of the cabinet surface electrical status indicator light meets the corresponding preset starting indication state; if it is determined that the starting state of the cabinet surface electrical status indicator light meets the corresponding preset starting indication state, then based on the cabinet internal starting state video information, determine whether the starting state of the cabinet opening and closing status indicator meets the corresponding preset starting indication state.

[0093] In the specific implementation process, if the target operation object has multiple status indicator devices, the status of each status indicator device can be verified in turn. After the status verification of all status indicator devices is successful, the pre-operation status confirmation of the target operation object is verified and passed.

[0094] For example, if the target operation object is a grounding knife switch, the pre-operation status confirmation process includes: (1) collecting the starting telesignaling status information of the target operation object, comparing the starting telesignaling status information with the preset starting telesignaling status information, and if the comparison is consistent, marking the first step of verification as successful, otherwise the operation ends. (2) analyzing the starting status video information of the cabinet through artificial intelligence to obtain the starting status of the cabinet electrical status indicator, and comparing the starting status of the cabinet electrical status indicator with the corresponding preset starting indication status, and if the comparison is consistent, marking the second step of verification as successful, otherwise the operation ends. (3) analyzing the starting status video information inside the cabinet through artificial intelligence to obtain the starting status of the opening and closing status indicator inside the cabinet, and comparing the starting status of the opening and closing status indicator inside the cabinet with the corresponding preset starting indication status, and if the comparison is consistent, marking the third step of verification as successful, otherwise the operation ends.

[0095] For another example: if the target operation object is a circuit breaker, the pre-operation status confirmation process includes: (1) collecting the initial telesignaling status information of the target operation object, comparing the initial telesignaling status information with the preset initial telesignaling status information, and if the comparison is consistent, marking the first step of verification as successful, otherwise the operation ends. (2) analyzing the initial state video information of the cabinet through artificial intelligence to obtain the initial state of the cabinet electrical status indicator, and comparing the initial state of the cabinet electrical status indicator with the corresponding preset initial indication state, and if the comparison is consistent, marking the second step of verification as successful, otherwise the operation ends. (3) analyzing the initial state video information inside the cabinet through artificial intelligence to obtain the initial state of the opening and closing status indicator inside the cabinet, and comparing the initial state of the opening and closing status indicator inside the cabinet with the corresponding preset initial indication state, and if the comparison is consistent, marking the third step of verification as successful, otherwise the operation ends. (4) analyzing the initial state video information of the high-voltage live state through artificial intelligence to obtain the initial state of the high-voltage live indicator, and comparing the initial state of the high-voltage live indicator with the corresponding preset initial indication state, and if the comparison is consistent, marking the fourth step of verification as successful, otherwise the operation ends.

[0096] It should be noted that the status of multiple status indication devices of the target operation object can also be verified simultaneously. As long as one status verification fails, the pre-operation status verification of the target operation object fails.

[0097] In an embodiment of the present application, when multiple status indicating devices are included, the status of each status indicating device is verified in turn, so that during the verification process, if the status verification of a certain status indicating device is unsuccessful, the process ends, thereby saving verification time, clarifying the root cause of the problem, and improving verification accuracy.

[0098] In some embodiments, a post-operation state check is performed on the target operation object, including: obtaining the end telesignaling state information and end state video information of the target operation object; if it is determined that the end telesignaling state information is consistent with the preset end state information, then determining whether the end state of each state indication device of the target operation object satisfies the corresponding preset end indication state based on the end state video information; if it is determined that the end state of each state indication device satisfies the corresponding preset end indication state, it indicates that the post-operation state check is successful.

[0099] The process of verifying the target operation object's post-operation status is similar to the process of verifying the target operation object's pre-operation status, and is not detailed here. The difference is that the target operation object's end telesignaling status information and end state video information are obtained, and the parameters for comparison are the preset end state information and preset end indication status.

[0100] The embodiment of the present application verifies the post-operation state of the target operation object by obtaining the end telesignaling state information and end state video information of the target operation object. In addition, during the verification process, the state of the target operation object is first preliminarily verified based on the end telesignaling state information, and then the state of each state indicator device of the target operation object is refined based on the end state video information. The multi-dimensional and multi-level verification improves the accuracy of the post-operation state verification, thereby further verifying whether the operation process of the operating robot is correct, reducing the probability of misoperation, and improving the operation and maintenance efficiency of the power equipment.

[0101] In some embodiments, the operation item includes multiple sub-operation items; before controlling the operation robot to return, the method also includes: if it is determined that there are sub-operation items that have not been executed, then re-acquire the initial telesignaling status information and initial status video information of the target operation object, and perform pre-operation status confirmation of the target operation object, execution of the sub-operation item, and post-operation status confirmation of the target operation object under the sub-operation item, until all sub-operation items have been executed, and the operation robot is controlled to return; wherein, each sub-operation item is a sub-operation item that has passed the anti-error logic check.

[0102] During specific implementation, multiple operations may be performed on a target operation object; therefore, an operation item includes multiple sub-operation items.

[0103] To reduce the probability of incorrect operation, each sub-operation item undergoes a logic check to prevent errors before it is executed. Furthermore, for each sub-operation item, the pre-operation and post-operation states of the target operation object are verified. After all sub-operations have been completed, the robot is controlled to return home. The process for verifying the pre-operation and post-operation states of the target operation object is described in the previous embodiment and will not be repeated here.

[0104] The embodiment of the present application performs a loop operation on multiple sub-operation items and verifies the pre-operation state and post-operation state of the target operation object each time a sub-operation item is executed, thereby improving the accuracy of the operation process of each sub-operation item and the integrity of the entire operation process, thereby reducing the probability of misoperation and improving the operation and maintenance efficiency of power equipment.

[0105] Figure 5 A schematic diagram of a safe operating system for electric power equipment provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the system 50 includes: an intelligent error prevention module 501, a robot control module 502, a video monitoring module 503 and an operating robot 504; the robot control module 502 is communicated with the intelligent error prevention module 501, the video monitoring module 503 and the operating robot 504 respectively; wherein, the intelligent error prevention module 501 includes a task generation component, a telesignaling status acquisition component and an error prevention logic verification component; the intelligent error prevention module 501 is used to: generate an operation task sequence including a target operation object and an operation item through the task generation component; collect the telesignaling status information of the target operation object through the telesignaling status acquisition component; perform error prevention logic verification on the operation item through the error prevention logic verification component; the video monitoring module 503 is used to control the camera in the area where the target operation object is located, and collect video information of the target operation object through the camera; the robot control module 502 is used to execute the steps of any one of the above method embodiments.

[0106] Figure 6 A flow chart of a third method for safe operation of electric power equipment provided in an embodiment of the present application is shown as follows: Figure 6 As shown, the intelligent error prevention module collects the device status signal of the target operation object. If the device status signal is inconsistent with the target device status, an operation ticket is issued. After the ticket is issued, the operation task sequence in the operation ticket is subjected to an error prevention logic check. If the error prevention check passes, the operation ticket is transmitted to the robot control module. If the error prevention check fails, the operation ticket content is modified and the ticket is reissued until the error prevention check passes.

[0107] After receiving the operation ticket, the robot control module parses the operation task sequence in the ticket to obtain the target operation object and operation items. Based on the parsed target operation object and operation items, the intelligent error prevention module is called to perform a simulation rehearsal. During the intelligent error prevention module simulation rehearsal, if the error prevention logic check passes, the robot control module controls the operating robot to navigate to the operation interval and confirm the operation interval. If the error prevention logic check fails, the operation ends.

[0108] After the operation interval is confirmed, the robot control module obtains the device status signal (initial telesignaling status information) of the target operation object collected by the intelligent error prevention module. It also performs state video analysis on the target operation object's initial state video information collected by the video monitoring module. The analysis results are then used to confirm the pre-operation state of the target operation object based on the analysis results and the device status signal. If the pre-operation state confirmation is successful, the operation item undergoes an error prevention logic check. If the pre-operation state confirmation fails, the operation ends.

[0109] When performing a logic check on an operation item, a check request is sent to the intelligent error prevention module, which then performs a real-time check on the operation item's logic according to the request. If the check passes, the robot control module controls the robot to perform the operation according to the operation item. If the check fails, the intelligent error prevention module sends a failure signal to the robot control module, indicating that the operation conditions are not met, prohibiting the operation, and ending the operation.

[0110] When performing an operation, the robot control module controls the operating robot, and the operating robot first performs voice voting, locates the target operation object, confirms the target operation object, and performs the operation according to the operation item instructions.

[0111] After the operation is completed, the robot control module obtains the device status signal (end telesignaling status information) of the target operation object collected by the intelligent anti-error module, and performs status video analysis on the end status video information of the target operation object collected by the video monitoring module to obtain the analysis results, and then confirms the post-operation status of the target operation object based on the analysis results and the device status signal.

[0112] After the post-operation status confirmation passes, determine whether all operation items have been executed. If so, the operation ends. If any operation items remain unexecuted, the pre-operation status confirmation, operation item error prevention logic check, operation execution, and post-operation status confirmation steps are repeated until all operation items have been executed. If the post-operation status confirmation fails, the operation ends.

[0113] Finally, after the operation is completed, the robot control module sends a notification to the intelligent error prevention module, thus ending the task.

[0114] Figure 7 This is a schematic diagram of the electronic device structure provided in the embodiment of the present application, such as Figure 7 As shown, the electronic device includes a processor 701 (processor), a memory 702 (memory), and a bus 703; wherein the processor 701 and the memory 702 communicate with each other via the bus 703. The processor 701 is used to call program instructions in the memory 702 to execute the methods provided by the above-mentioned method embodiments.

[0115] Processor 701 can be an integrated circuit chip with signal processing capabilities. The processor 701 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0116] The memory 702 can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0117] An embodiment of the present application provides a computer program product, including: computer program instructions, which, when executed by a processor, execute the methods provided by the above-mentioned method embodiments.

[0118] An embodiment of the present application provides a computer-readable storage medium, including: computer program instructions stored on the computer-readable storage medium, and the computer program instructions execute the methods provided by the above-mentioned method embodiments when executed by a processor.

[0119] Computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0120] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0121] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0123] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for safe operation of electric power equipment, characterized in that: Multi-dimensional interval status verification throughout the robot operation process, including: Task acquisition step: acquiring an operation task sequence including a target operation object and operation items; An operation interval confirmation step includes determining an operation robot based on the target operation object, controlling the operation robot to move to the operation interval where the target operation object is located, obtaining an identity mark of the target operation object, position video information of the operation interval, and position coordinates sent by the operation robot, and performing position verification on the operation interval based on the identity mark, the position video information, and the position coordinates. Pre-operation state confirmation step: after the position verification is successful, obtaining the initial telesignaling state information and the initial state video information of the target operation object; verifying the pre-operation state of the target operation object according to the initial telesignaling state information and the initial state video information; Operation steps: after the pre-operation status verification is successful, controlling the operation robot to perform an operation on the target operation object based on the operation item; Post-operation status confirmation step: After the operation is completed, the post-operation status of the target operation object is verified, and after the post-operation status verification is successful, the operation robot is controlled to return.

2. The method according to claim 1, characterized in that The performing position verification on the operation interval according to the identity mark, the position video information and the position coordinates includes: parsing the identity mark to obtain interval information of the operation interval, and comparing the interval information with preset interval information to obtain a comparison result; Displaying the map information corresponding to the location coordinates and the location video information, and receiving user instructions; The operation interval is position-checked according to the comparison result and the user instruction.

3. The method according to claim 1, characterized in that The verifying the pre-operation state of the target operation object according to the initial telesignaling state information and the initial state video information includes: If it is determined that the initial telesignaling state information is consistent with the preset initial state information, then determining whether the initial state of each state indicator device of the target operation object meets the corresponding preset initial indication state based on the initial state video information; If it is determined that the initial state of each state indicating device satisfies the corresponding preset initial indication state, it indicates that the pre-operation state verification is successful.

4. The method according to claim 3, characterized in that in, The status indicating device includes a cabinet electrical status indicator light of the target operation object and an opening and closing status indicator inside the cabinet.

5. The method according to claim 4, characterized in that in, The initial state video information includes the counter surface initial state video information and the cabinet internal initial state video information of the target operation object; The determining, based on the initial state video information, whether the initial state of each state indicator of the target operation object satisfies the corresponding preset initial indication state includes: Determining, based on the video information of the cabinet initial state, whether the initial state of the cabinet electrical status indicator light satisfies the corresponding preset initial indication state; If it is determined that the initial state of the electrical status indicator light on the cabinet surface meets the corresponding preset initial indication state, then based on the initial state video information in the cabinet, it is determined whether the initial state of the opening and closing status indicator in the cabinet meets the corresponding preset initial indication state.

6. The method according to any one of claims 1 to 5, characterized in that: The post-operation status verification of the target operation object includes: Acquire the end telesignaling state information and end state video information of the target operation object; If it is determined that the end telesignaling state information is consistent with the preset end state information, then determining whether the end state of each state indicator device of the target operation object meets the corresponding preset end indication state according to the end state video information; If it is determined that the end state of each state indicating device satisfies the corresponding preset end indicating state, it indicates that the post-operation state verification is successful.

7. The method according to claim 6, characterized in that in, The operation item includes a plurality of sub-operation items; before controlling the robot to return, the method further includes: If it is determined that there are sub-operation items that have not been executed, the initial telesignaling state information and initial state video information of the target operation object are re-acquired, and the pre-operation state confirmation of the target operation object, the execution of the sub-operation item, and the post-operation state confirmation of the target operation object are performed under the sub-operation item, until all the sub-operation items have been executed, and the operation robot is controlled to return; Each of the sub-operation items is a sub-operation item that has passed the error-proof logic check.

8. A safe operating system for electric power equipment, characterized in that: The system includes: an intelligent error prevention module, a robot control module, a video monitoring module and an operating robot; The robot control module is respectively connected to the intelligent error prevention module, the video monitoring module and the operating robot in communication; The intelligent error prevention module includes a task generation component, a remote signal status acquisition component and an error prevention logic verification component; The intelligent error prevention module is used for: Generate an operation task sequence including a target operation object and operation items by the task generation component; Collecting the telesignaling status information of the target operation object through the telesignaling status collecting component; Performing an error-proof logic check on the operation item by using the error-proof logic check component; The video monitoring module is used to control the camera in the area where the target operation object is located, and collect video information of the target operation object through the camera; The robot control module is used to execute the safe operation method of electric power equipment as described in any one of claims 1-7.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the method for safe operation of electric power equipment according to any one of claims 1 to 7 is executed.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the method for safe operation of electric power equipment according to any one of claims 1 to 7 is executed.

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