Control methods, systems, and storage media for substation grounding wire installation robots

Abstract

This application relates to a control method, system, and storage medium for a substation grounding wire installation robot, falling within the technical field of power systems. The method includes acquiring grounding pile detection parameters and conductor detection parameters of a preset grounding pile; analyzing these parameters to determine the optimal grounding end position of the grounding pile and the optimal conductor end position of the conductor; controlling the robot to connect the grounding end of the preset grounding wire to the grounding pile based on the optimal grounding end position; acquiring conductor position parameters based on the optimal conductor end position; and controlling the robot to connect the conductor end of the grounding wire to the conductor based on the conductor position parameters and the optimal conductor end position. This application ensures a reliable short circuit is formed by the grounding wire.

Description

Technical Field

[0001] This application relates to the technical field of power systems, and in particular to control methods, systems and storage media for robots used in substation grounding operations. Background Technology

[0002] Connecting grounding wires in substations is a crucial safety measure in power systems. It is mainly used to prevent accidental power surges or induced voltages from injuring workers during power outage maintenance, repairs, or construction.

[0003] In related technologies, to ensure the safety of power workers, the work of attaching grounding wires in substations has gradually shifted from manual to robotic attachment. By controlling the robotic arm to move under the conductor, the robotic arm first fixes the grounding end of the grounding wire to the grounding stake, and then connects the conductor end of the grounding wire to the exposed part of the conductor. This allows the residual charge of de-energized equipment or the current that may suddenly come back on to be conducted to the ground, preventing electric shock accidents caused by induced current, accidental power supply, etc.

[0004] Regarding the aforementioned technologies, the operation robot is usually controlled by the operator. When attaching the grounding wire, the connection positions of the grounding end and the conductor end are determined based on the operator's experience. However, the conductor and the grounding stake are usually in an exposed environment, and the corrosion and oxidation of the conductor and the grounding stake vary at different locations. If the grounding end and the conductor end of the grounding wire are connected to the grounding stake and the conductor where corrosion and oxidation are more severe, it is easy to cause poor contact, resulting in a loose connection or open circuit, which prevents the grounding wire from forming a reliable short circuit. There is still room for improvement. Summary of the Invention

[0005] To ensure a reliable short circuit is formed in the grounding wire, this application provides a control method, system, and storage medium for a robot used for installing grounding wires in substations.

[0006] Firstly, this application provides a control method for a robot used for installing grounding wires in substations, employing the following technical solution:

[0007] Control methods for robots used in substation grounding wire installation include:

[0008] Obtain the grounding pile detection parameters and the conductor detection parameters of the preset grounding pile;

[0009] The detection parameters of the grounding stake and the conductor are analyzed to determine the optimal grounding end position of the grounding stake and the optimal conductor end position of the conductor.

[0010] The robot is controlled to connect the grounding end of the preset grounding wire to the grounding stake based on the optimal grounding end position.

[0011] Obtain conductor position parameters based on the optimal conductor end position;

[0012] Based on the conductor position parameters and the optimal conductor end position, the robot is controlled to connect the conductor end of the grounding wire to the conductor.

[0013] Optionally, the steps of analyzing the grounding stake detection parameters and conductor detection parameters to determine the optimal grounding end location of the grounding stake and the optimal conductor end location of the conductor include:

[0014] Determine the location of the foundation grounding terminal and the corresponding grounding terminal contact resistance, grounding terminal coating thickness, and grounding terminal soil resistivity based on the grounding pile test parameters.

[0015] The grounding resistance, coating thickness, and soil resistivity of the grounding terminal are analyzed and calculated based on the preset grounding terminal index quantification function to determine the foundation grounding score of the foundation grounding terminal location.

[0016] The foundation grounding score and the location of the foundation grounding terminal are analyzed to determine the optimal grounding terminal location;

[0017] Determine the position of the base conductor end, the corresponding crimping height deviation, and the conductor breakage rate based on the conductor testing parameters.

[0018] The crimping height deviation and conductor breakage rate are analyzed and calculated based on the preset conductor end index quantification function to determine the basic conductor score of the basic conductor end position;

[0019] The base conductor score and base conductor end position are analyzed to determine the optimal conductor end position.

[0020] Optionally, the steps of analyzing the foundation grounding score and the foundation grounding terminal location to determine the optimal grounding terminal location include:

[0021] Obtain the historical coating thickness at the location of the foundation grounding terminal;

[0022] The thickness of the grounding terminal coating and the historical coating thickness were analyzed to determine the corrosion rate of the grounding terminal.

[0023] The corrosion rate of the grounding terminal and the preset coating consumption thickness threshold are analyzed to determine the remaining life of the grounding terminal;

[0024] The basic grounding score, the remaining life of the grounding terminal, and the preset total grounding life are analyzed to determine the final grounding score.

[0025] The final grounding score and the corresponding basic grounding terminal location are sorted and analyzed to determine the optimal grounding terminal location.

[0026] Optionally, the steps of analyzing the base conductor score and base conductor end position to determine the optimal conductor end position include:

[0027] Obtain the actual working position of the robot;

[0028] The actual working location and the location of the foundation conductor end are analyzed to determine the conductor working distance;

[0029] The basic conductor score, conductor working distance, and preset working distance threshold are analyzed to determine the final conductor score;

[0030] The final conductor score and the basic conductor end position are ranked and analyzed to determine the optimal conductor end position.

[0031] Optionally, the step of controlling the robot to connect the conductor end of the grounding wire to the conductor based on the conductor position parameters and the optimal conductor end position includes:

[0032] The robot is controlled to connect the conductor end of the grounding wire to the conductor based on the optimal conductor end position.

[0033] The robot is controlled to inspect the optimal conductor end position and grounding wire according to the preset conductor inspection parameters, so as to generate the conductor grounding wire inspection results;

[0034] Determine whether the test results of the conductor grounding wire meet the preset requirements for error-free test results;

[0035] If the conditions are met, the robot is controlled to maintain the conductor end of the grounding wire according to the conductor position parameters.

[0036] If it does not meet the requirements, the robot will be controlled to adjust the conductor end of the grounding wire according to the test results of the conductor grounding wire until the test results of the conductor grounding wire meet the requirements of the test results.

[0037] The robot is controlled to maintain the conductor end of the grounding wire based on the conductor position parameters.

[0038] Optionally, the step of controlling the robot to inspect the optimal conductor end position and grounding wire according to preset conductor inspection parameters to generate conductor grounding wire inspection results includes:

[0039] The actual inspection location for obtaining the optimal conductor end position;

[0040] The robot is controlled to apply voltage to the conductor based on the actual inspection location and conductor inspection parameters, and the connection detection current is obtained.

[0041] Determine whether the current connected to the circuit meets the requirements of the preset test current range;

[0042] If it meets the requirements, the preset result of no error in the conductor grounding wire is defined as the conductor grounding wire inspection result;

[0043] If it does not meet the requirements, obtain the position of the secondary conductor end and the corresponding secondary test position;

[0044] The robot is controlled to connect the conductor end of the grounding wire to the conductor based on the position of the secondary conductor end, and to apply voltage to the conductor based on the secondary inspection position and conductor inspection parameters in order to reacquire the connection detection current.

[0045] When the current for power connection testing meets the requirements of the test current range, the preset conductor failure result is defined as the conductor grounding wire test result.

[0046] If the current tested during the power connection does not meet the requirements of the test current range, the preset grounding wire failure result will be defined as the conductor grounding wire test result.

[0047] Optionally, the step of controlling the robot to maintain the conductor end of the grounding wire based on the conductor position parameters includes:

[0048] Determine the conductor end angle based on the conductor position parameters;

[0049] The optimal conductor end position and the preset grounding wire density are analyzed to determine the gravity of the grounding wire;

[0050] The conductor end angle and the weight of the grounding wire are analyzed to determine the drag force and pressure of the grounding wire.

[0051] The grounding wire pressure, the preset friction coefficient, and the preset conductor end pressure are analyzed to determine the conductor end friction force.

[0052] The robot is controlled to maintain the conductor end of the grounding wire by the frictional force at the conductor end and the drag force of the grounding wire.

[0053] Optionally, the steps of controlling the operating robot to adjust the conductor end of the grounding wire according to the conductor grounding wire inspection results until the conductor grounding wire inspection results meet the requirements of the inspection error-free result include:

[0054] The test result of the conductor grounding wire is determined to be either the preset conductor warning result or the preset grounding wire warning result.

[0055] If the result is a grounding wire warning, then an alarm will be triggered indicating that the grounding wire is not up to standard.

[0056] If the result is a conductor warning, the conductor position order is obtained, and the optimal conductor end position is optimized based on the conductor position order to regenerate the optimal conductor end position.

[0057] The robot is controlled to adjust the conductor end of the grounding wire to the optimal conductor end position until the conductor grounding wire inspection result meets the inspection error result.

[0058] Secondly, this application provides a control system for a robot used for installing grounding wires in substations, which adopts the following technical solution:

[0059] A control system for a substation grounding wire installation robot includes:

[0060] The acquisition module is used to acquire grounding pile detection parameters, conductor detection parameters, and conductor position parameters;

[0061] A memory for storing the program of the substation grounding wire connection operation robot control method as described in any of the above;

[0062] The processor and the program in the memory can be loaded and executed by the processor to implement the substation grounding wire connection operation robot control method as described in any of the above.

[0063] Thirdly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates ensuring a reliable short circuit in the grounding wire, and adopts the following technical solution:

[0064] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by the above-described substation grounding wire connection operation robot control method.

[0065] In summary, this application includes at least one of the following beneficial technical effects:

[0066] 1. By analyzing the detection parameters of the grounding stake and the conductor, the optimal grounding end position of the grounding stake and the optimal conductor end position of the conductor are determined. The operation robot is controlled to connect the grounding end of the grounding wire to the optimal grounding end position of the grounding stake. The conductor position parameters at the optimal conductor end position are detected. Based on the conductor position parameters and the optimal grounding end position, the operation robot is controlled to connect the conductor end of the grounding wire to the conductor wire, thereby reducing the impact of corrosion and oxidation of the conductor and grounding stake on the grounding wire and ensuring that the grounding wire forms a reliable short circuit. Attached Figure Description

[0067] Figure 1 This is a flowchart of the control method for the substation grounding wire installation operation robot in the embodiments of this application.

[0068] Figure 2 This is a flowchart illustrating the steps in this application embodiment to analyze the grounding stake detection parameters and conductor detection parameters to determine the optimal grounding end position of the grounding stake and the optimal conductor end position of the conductor.

[0069] Figure 3 This is a flowchart of the steps in this application embodiment to analyze the foundation grounding score and the foundation grounding terminal location to determine the optimal grounding terminal location.

[0070] Figure 4 This is a flowchart of the steps in this application embodiment to analyze the basic conductor score and the basic conductor end position to determine the optimal conductor end position.

[0071] Figure 5 This is a flowchart illustrating the steps in this application embodiment of controlling the robot to connect the conductor end of the grounding wire to the conductor based on the conductor position parameters and the optimal conductor end position.

[0072] Figure 6 This is a flowchart of the steps in this application embodiment to control a robot to inspect the optimal conductor end position and grounding wire according to preset conductor inspection parameters, so as to generate conductor grounding wire inspection results.

[0073] Figure 7 This is a flowchart of the steps in this application embodiment to control the working robot to maintain the conductor end of the grounding wire according to the conductor position parameters.

[0074] Figure 8 This is a flowchart illustrating the steps in this application embodiment of controlling the work robot to adjust the conductor end of the grounding wire according to the conductor grounding wire inspection result until the conductor grounding wire inspection result meets the requirements of the inspection error-free result. Detailed Implementation

[0075] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 8 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0076] Reference Figure 1 This application discloses a control method for a robot used for installing grounding wires in a substation, comprising the following steps:

[0077] Step S100: Obtain the grounding pile detection parameters of the preset grounding pile and the conductor detection parameters of the preset conductor.

[0078] Among them, grounding stakes refer to dedicated grounding electrodes in substations, such as grounding stakes led out from the grounding grid. They are usually rectangular plates with a zinc-plated protective layer on the surface to prevent corrosion.

[0079] Grounding stake testing parameters refer to the relevant parameters of the grounding stake that affect the formation of a reliable short circuit by the grounding wire. These include the location of the foundation grounding terminal and the corresponding grounding terminal contact resistance, grounding terminal plating thickness, and grounding terminal soil resistivity. The foundation grounding terminal location refers to the position on the grounding stake where the grounding wire connects. This is determined by a work robot using a high-definition camera to capture images of the grounding stake, with itself as the origin of a three-dimensional coordinate system. The dimensions of the grounding wire grounding terminals are then mapped onto the grounding stake images to scale, thus determining the location of each foundation grounding terminal on the grounding stake. The grounding terminal contact resistance is the resistance at the foundation grounding terminal location, measured by the work robot using a micro-ohmmeter. The grounding terminal plating thickness is the thickness of the galvanized layer at the foundation grounding terminal location, measured by an eddy current thickness gauge mounted on the work robot. The grounding terminal soil resistivity is the soil resistivity at the foundation grounding terminal location, measured by the work robot using the four-electrode method.

[0080] A conductor refers to a wire that needs to be grounded, such as the exposed part of the three-phase conductor of a device that has been de-energized and tested for voltage.

[0081] Conductor testing parameters refer to conductor-related parameters that affect the formation of a reliable short circuit in the grounding wire. These include the position of the base conductor end, the corresponding crimping height deviation, and the conductor breakage rate. The base conductor end position refers to the location on the conductor where the grounding wire is connected. A robot, using itself as the origin of a three-dimensional coordinate system, uses a high-definition camera to capture images of the conductor. The dimensions of the grounding wire conductor ends are then mapped onto the conductor image to determine the position of each base conductor end. The crimping height deviation refers to the degree of compression of the conductor after it is pressed, reflecting the conductor's quality. A robot presses the conductor, and a high-definition optical microscope is used to magnify and photograph the conductor. Image analysis software is used to accurately measure the height change before and after pressing on the high-definition microscopic image. The conductor breakage rate refers to the percentage of broken copper wires in the conductor during the pressing process. An image recognition algorithm automatically counts the number of intact and broken copper wires in the conductor image and calculates the breakage rate.

[0082] A grounding robot is a robot used to connect grounding wires. It includes a walking component for controlling the robot's movement, multiple robotic arms for connecting the grounding wires, and a multi-sensor system for collecting parameters of the grounding stake and conductor.

[0083] Step S101: Analyze the grounding stake detection parameters and conductor detection parameters to determine the optimal grounding end position of the grounding stake and the optimal conductor end position of the conductor.

[0084] The optimal grounding end position refers to the best position on the grounding stake that ensures a reliable short circuit in the grounding wire, and the optimal conductor end position refers to the best position on the conductor that ensures a reliable short circuit in the grounding wire. These positions are obtained by the processing terminal after analyzing the grounding stake detection parameters and conductor detection parameters. Specific methods are detailed in [reference needed]. Figure 2 The steps.

[0085] Step S102: Control the robot to connect the grounding end of the preset grounding wire to the grounding stake according to the optimal grounding end position.

[0086] After determining the optimal grounding terminal location, the robot uses its robotic arm to connect and fix the grounding wire to the optimal grounding terminal location of the grounding stake by tightening the grounding wire with bolts, so that the grounding terminal can ensure that the grounding wire forms a reliable short circuit.

[0087] A grounding wire is a conductor used to ground a conductor. A grounding wire consists of a grounding end and a conductor end. The grounding end is used to connect to a grounding stake, and the conductor end is used to connect to the conductor, thereby short-circuiting the conductor to ground.

[0088] Step S103: Obtain conductor position parameters based on the optimal conductor end position.

[0089] Among them, the conductor position parameter refers to the tilt angle of the optimal conductor end position relative to the horizontal plane. The robot acquires images of the optimal conductor end position, maps the linear coordinate system onto the image, projects the conductor onto the vertical axis, and then counts the number of pixels on the vertical axis and the number of pixels on the conductor to obtain the side length of the right triangle. The tilt angle of the optimal conductor end position relative to the horizontal plane is calculated by using inverse trigonometric functions.

[0090] Step S104: Based on the conductor position parameters and the optimal conductor end position, control the robot to connect the conductor end of the grounding wire to the conductor.

[0091] In this process, after determining the optimal grounding terminal location and the corresponding conductor position parameters, the robot uses its robotic arm to attach the conductor end of the grounding wire to the optimal conductor end location. The robot is then controlled to maintain the stability of the conductor end based on the conductor position parameters. The specific method is described in [reference needed]. Figure 5 The steps.

[0092] Reference Figure 2 The steps for analyzing the grounding stake detection parameters and conductor detection parameters to determine the optimal grounding end position of the grounding stake and the optimal conductor end position of the conductor include:

[0093] Step S200: Determine the location of the foundation grounding terminal and the grounding terminal contact resistance, grounding terminal plating thickness and grounding terminal soil resistivity corresponding to the grounding terminal location based on the grounding pile detection parameters.

[0094] The location of the foundation grounding terminal, the grounding terminal contact resistance corresponding to the location of the foundation grounding terminal, the grounding terminal plating thickness, and the grounding terminal soil resistivity in this step are the same as those in step S100, and will not be repeated here.

[0095] Step S201: Analyze and calculate the grounding terminal contact resistance, grounding terminal coating thickness, and grounding terminal soil resistivity according to the preset grounding terminal index quantification function to determine the foundation grounding score of the foundation grounding terminal location.

[0096] Among them, the foundation grounding score refers to the foundation score of the foundation grounding terminal location used for grounding. In this embodiment of the application, a percentage system is used. The higher the score, the easier it is for the grounding at this location to form a reliable short circuit. The score is obtained by the processing terminal through analysis and calculation of the grounding terminal contact resistance, grounding terminal plating thickness and grounding terminal soil resistivity according to the grounding terminal index quantification function.

[0097] The grounding terminal index quantification function is a function used to quantify the impact of grounding terminal parameters on grounding, including the index quantification layer, the weighting layer, and the constraint filtering layer. The index quantification layer refers to the functions of quantifying resistance, coating thickness, and soil resistivity. Resistance is quantified using a step function: a resistance quantification score of 100 is given when the grounding terminal contact resistance is less than 0.03 ohms; 80 is given when the resistance is greater than 0.03 ohms and less than 0.05 ohms; 60 is given when the resistance is greater than 0.05 ohms and less than 0.08 ohms; 30 is given when the resistance is greater than 0.08 ohms and less than 0.1 ohms; and 0 is given when the resistance is greater than 0.1 ohms. Coating thickness is quantified using a linear function: a coating thickness quantification score of 100 is given when the grounding terminal coating thickness is greater than 50 micrometers; a score of 2 is given when the thickness is greater than 35 micrometers and less than 50 micrometers; and 0 is given when the thickness is less than 35 micrometers. Soil resistivity is quantified using an exponential function: a resistivity quantification score of 100 multiplied by e raised to the power of negative 0.1% of soil resistivity. The weighted layer is used to determine the importance of different indicators. This includes a subjective layer, where multiple operators assign weights to different indicators, and an objective layer, which calculates the correlation between indicator deviation and fault incidence based on grounding fault data from the past five years. Higher correlation results in higher weights. The weights of the two layers are weighted and summed with a subjective layer weight of 0.6 and an objective layer weight of 0.4 to obtain the final weight. This final weight is then used to weight and sum the quantitative scores of different indicators to obtain the final score. The constraint filtering layer is used to eliminate base grounding locations. Indicators are compared to thresholds; if an indicator meets the threshold requirement, the constraint coefficient is 1; otherwise, it is 0. The base grounding score is obtained by multiplying the constraint coefficient by the final score.

[0098] Step S202: Analyze the foundation grounding score and the foundation grounding terminal location to determine the optimal grounding terminal location.

[0099] The optimal grounding terminal location in this step is consistent with the optimal grounding terminal location in step S101. It is obtained by the processing terminal after analyzing the basic grounding score and the corresponding basic grounding terminal location. The specific method is as follows: Figure 3 The steps.

[0100] Step S203: Determine the position of the base conductor end, the crimping height deviation corresponding to the position of the base conductor end, and the conductor breakage rate based on the conductor detection parameters.

[0101] The position of the base conductor end in this step, as well as the crimping height deviation and conductor breakage rate corresponding to the position of the base conductor end, are the same as those in step S100, and will not be repeated here.

[0102] Step S204: Analyze and calculate the crimping height deviation and conductor breakage rate according to the preset conductor end index quantification function to determine the basic conductor score of the basic conductor end position.

[0103] Among them, the base conductor score refers to the base score for the grounding position of the base conductor end, which is obtained by the processing terminal after analyzing and calculating the crimping height deviation and conductor wire breakage rate according to the conductor end index quantification function.

[0104] The conductor end index quantification function refers to the function that quantifies the impact of conductor end indexes on grounding, including an index quantification layer and a weighted layer. The index quantification layer is used to quantify the scores of crimping height deviation and conductor breakage rate. The score for crimping height deviation adopts a normal distribution function, which is 100 multiplied by e^(-50) multiplied by the square of the crimping height deviation. The closer the crimping deviation is to 0, the higher the reliability. The score for conductor breakage rate adopts a step function. If the conductor breakage rate is less than 5%, the score is 100; if it is not less than 5%, the score is 0. The weighted layer is used to sum the scores of different indicators with weights. The operator first presets the weights of crimping height deviation and conductor breakage rate, and then introduces the voltage level coefficient. If the voltage level is greater than 220 kV, the voltage level coefficient is 1.2; if it is between 10 kV and 220 kV, the voltage level coefficient is 1; and if it is less than 10 kV, the voltage level coefficient is 0.8. The product of the voltage level coefficient and the conductor breakage rate weight is calculated to obtain the new weight. The scores of crimping height deviation and conductor breakage rate are then summed with the new weight to obtain the basic conductor score.

[0105] Step S205: Analyze the base conductor score and base conductor end position to determine the optimal conductor end position.

[0106] The optimal conductor end position in this step is consistent with the optimal conductor end position in step S101, and is obtained by the processing terminal after scoring the basic conductor and analyzing the basic conductor end position. The specific method is described in [reference needed]. Figure 4 The steps.

[0107] Reference Figure 3 The steps for determining the optimal grounding terminal location by analyzing the foundation grounding score and the foundation grounding terminal location include:

[0108] Step S300: Obtain the historical coating thickness at the location of the base grounding terminal.

[0109] Among them, the historical coating thickness refers to the coating thickness at the base electrical connection point 3 years ago, which is obtained by backing up the processing terminal.

[0110] Step S301: Analyze the coating thickness and historical coating thickness at the grounding terminal to determine the corrosion rate at the grounding terminal.

[0111] The grounding end corrosion rate refers to the average annual corrosion rate of the coating at the grounding end of the foundation. The coating thickness difference is obtained by calculating the difference between the coating thickness at the grounding end and the historical coating thickness from the processing terminal. The grounding end corrosion rate is then obtained by calculating the quotient of the coating thickness difference and time.

[0112] Step S302: Analyze the corrosion rate of the grounding terminal and the preset coating consumption thickness threshold to determine the remaining life of the grounding terminal.

[0113] The coating consumption thickness threshold refers to the thickness difference between the initial coating thickness and the failure thickness; in this application, 35 micrometers is used as an example. The remaining lifetime of the grounding terminal refers to the remaining lifetime at the base grounding terminal location, which is obtained by calculating the quotient between the coating consumption thickness threshold and the grounding terminal corrosion rate using the processing terminal.

[0114] Step S303: Analyze the basic grounding score, the remaining life of the grounding terminal, and the preset total grounding life to determine the final grounding score.

[0115] The total grounding life refers to the total life of the foundation grounding terminal location, which is determined by the operator based on the actual situation of the foundation grounding terminal location.

[0116] The final grounding score refers to the final score of the basic grounding terminal location for grounding. The lifespan impact score is obtained by multiplying the quotient of the remaining lifespan of the grounding terminal and the total grounding lifespan by 100. The basic grounding score and the lifespan impact score are then weighted and summed with a weight of 0.7 for the basic grounding score and 0.3 for the lifespan impact score to obtain the final grounding score.

[0117] Step S304: Sort and analyze the final grounding score and the corresponding basic grounding terminal location to determine the optimal grounding terminal location.

[0118] In this step, the optimal grounding terminal location is the same as the optimal grounding terminal location in step S202. The processing terminal sorts the grounding terminal locations from largest to smallest based on the final grounding scores, and selects the grounding terminal location corresponding to the largest final grounding score as the optimal grounding terminal location.

[0119] Reference Figure 4 The steps for determining the optimal conductor end location by analyzing the base conductor score and the base conductor end position include:

[0120] Step S400: Obtain the actual working position of the robot.

[0121] The actual working position refers to the position of the robot in the three-dimensional coordinate system of the guide wire, which is the origin of the three-dimensional coordinate system.

[0122] Step S401: Analyze the actual working location and the location of the foundation conductor end to determine the conductor working distance.

[0123] The conductor working distance refers to the working distance of the robot to connect the grounding wire to the end of the basic conductor. It is calculated by the processing terminal based on the distance calculation formula between three-dimensional coordinates, which is used to calculate the actual working position and the end position of the basic conductor.

[0124] Step S402: Analyze the basic conductor score, conductor working distance, and preset working distance threshold to determine the final conductor score.

[0125] The working distance threshold refers to the maximum working length of the robot's robotic arm, which is determined by the operator based on the actual situation of the robot.

[0126] The final conductor score refers to the final score for the grounding position of the basic conductor end. It is calculated by the processing terminal by the quotient of the conductor working distance and the working distance threshold, then the difference between 1 and the quotient is calculated, and finally the product of the difference and the basic conductor score is calculated to obtain the final conductor score.

[0127] Step S403: Perform a sorting analysis on the final conductor score and the basic conductor end position to determine the optimal conductor end position.

[0128] In this step, the optimal conductor end position is the same as the optimal conductor end position in step S205. The processing terminal sorts the final conductor scores from largest to smallest, thereby determining the basic conductor end position corresponding to the largest final conductor score as the optimal conductor end position.

[0129] Reference Figure 5 The steps for controlling the robot to connect the conductor end of the grounding wire to the conductor based on the conductor position parameters and the optimal conductor end position include:

[0130] Step S500: Control the robot to connect the conductor end of the grounding wire to the conductor according to the optimal conductor end position.

[0131] After determining the optimal conductor end position, the robot attaches the conductor end of the grounding wire to the optimal conductor end position on the conductor. This completes the grounding wire connection and provides basic support for subsequent inspection of the conductor and grounding wire.

[0132] Step S501: Control the robot to inspect the optimal conductor end position and grounding wire according to the preset conductor inspection parameters, so as to generate the conductor grounding wire inspection result.

[0133] The conductor grounding wire inspection result refers to the inspection results of the optimal conductor end position and the grounding wire, including three results: qualified, unqualified conductor, and unqualified grounding wire. This result is obtained after the robot attaches the grounding wire's conductor end to the optimal conductor end position. The robot then inspects the optimal conductor end position and the grounding wire according to the conductor inspection parameters. The specific method is described in [reference needed]. Figure 6 The steps.

[0134] Conductor testing parameters refer to the voltage applied by the robot to the conductor and grounding wire. The specific values ​​are determined by the operator based on the actual situation.

[0135] Step S502: Determine whether the test result of the conductor grounding wire meets the preset requirement of an error-free test result.

[0136] Among them, the result of inspection without error refers to the result of the conductor and the grounding wire being inspected and qualified, and the requirement of the result of inspection without error is that it is consistent with the result of inspection without error.

[0137] By processing the terminal to determine whether the conductor grounding wire inspection result is consistent with the error-free inspection result, it can be determined whether the optimal conductor end position needs to be changed.

[0138] Step S5021: If the condition is met, control the robot to maintain the conductor end of the grounding wire according to the conductor position parameters.

[0139] If the processing terminal determines that the conductor grounding wire inspection result is consistent with the error-free result, it indicates that the conductor and grounding wire have passed inspection. Therefore, it is not necessary to change the optimal conductor end position; simply control the robot to maintain the stability of the grounding wire conductor end based on the conductor position parameters. For specific methods, refer to [link to relevant documentation]. Figure 7 The steps.

[0140] Step S5022: If it does not meet the requirements, then control the robot to adjust the conductor end of the grounding wire according to the conductor grounding wire inspection results until the conductor grounding wire inspection results meet the requirements of the inspection error-free result.

[0141] If the processing terminal determines that the conductor grounding wire inspection result is inconsistent with the "no error" result, it indicates that the conductor and grounding wire inspection is unqualified, and it may be necessary to change the optimal conductor end position. Therefore, based on the conductor grounding wire inspection result, the operating robot is controlled to adjust the conductor end of the grounding wire until the conductor grounding wire inspection result meets the requirements of the "no error" result. The specific method is as follows: Figure 8 The steps.

[0142] Step S503: Control the robot to maintain the conductor end of the grounding wire according to the conductor position parameters.

[0143] Specifically, after the robot adjusts the conductor end of the grounding wire, the conductor position parameters of the new optimal conductor end position are re-detected. Based on the new conductor position parameters, the robot is controlled to maintain the conductor end of the grounding wire. The specific method is described in [reference needed]. Figure 7 The steps.

[0144] Reference Figure 6 The steps for controlling the robot to inspect the optimal conductor end position and grounding wire according to preset conductor inspection parameters to generate conductor grounding wire inspection results include:

[0145] Step S600: Obtain the actual inspection position of the optimal conductor end position.

[0146] The actual inspection position refers to the position where voltage is applied during the inspection of the optimal conductor end position and the grounding wire. It is obtained by selecting a node at a fixed distance from the incoming power direction at the optimal conductor end position by the operating robot.

[0147] Step S601: Control the robot to apply voltage to the conductor according to the actual inspection location and conductor inspection parameters, and obtain the connection detection current.

[0148] After determining the actual inspection location, the robot extends its inspection arm to the location and applies voltage to the conductor at the inspection location using the voltage corresponding to the conductor inspection parameters. It also detects the grounding current to provide data support for determining whether the conductor and grounding wire are qualified.

[0149] Grounding detection current refers to the detection current at the grounding end of the grounding wire, which is obtained by a current sensor at the grounding end.

[0150] Step S602: Determine whether the power-on detection current meets the requirements of the preset test current range.

[0151] The test current range refers to the range of test current values ​​at the grounding terminal when the conductor and grounding wire are qualified. The specific values ​​are determined by the operator through testing to identify qualified conductors and grounding wires. The requirement for the test current range is that it must be within the test current range.

[0152] The processing terminal determines whether the current detection current is within the test current range, thereby determining whether the conductor and grounding wire are qualified.

[0153] Step S6021: If it meets the requirements, the preset result of no error in the conductor grounding wire is defined as the conductor grounding wire inspection result.

[0154] If the processing terminal determines that the current detection current is within the test current range, it indicates that the optimal conductor end position and the grounding wire are both qualified. Therefore, the result of the conductor grounding wire being error-free is defined as the conductor grounding wire test result.

[0155] The result that the conductor grounding wire is correct indicates that both the conductor and the grounding wire have passed inspection, and is stored in the processing terminal by the operator.

[0156] Step S6022: If it does not meet the requirements, obtain the position of the secondary conductor end and the corresponding secondary test position.

[0157] If the processing terminal determines that the current detected by the power connection is not within the test current range, it indicates that the optimal conductor end position or the grounding wire is unqualified. Therefore, the position of the secondary conductor end and the corresponding secondary test position are tested to provide data support for the subsequent re-verification of the conductor and the grounding wire.

[0158] The secondary conductor end position refers to the base conductor end position after the optimal conductor end position, which is selected by the processing terminal from the sorting of base conductor end positions. The secondary inspection position refers to the position where voltage is applied during the inspection of the secondary conductor end position and the grounding wire, which is consistent with the method of obtaining the actual inspection position in step S600, and will not be described in detail here.

[0159] Step S603: Control the operation robot to connect the conductor end of the grounding wire to the conductor according to the position of the secondary conductor end, and control the operation robot to apply voltage to the conductor according to the secondary inspection position and conductor inspection parameters to reacquire the connection detection current.

[0160] In this process, after determining the position of the secondary conductor end and the corresponding secondary inspection position, the robot controls the robotic arm to attach the conductor end of the grounding wire to the secondary conductor position of the conductor, thereby removing the influence of the conductor. The robot then controls the inspection robotic arm to extend to the secondary inspection position and applies voltage to the secondary inspection position of the conductor with the voltage corresponding to the conductor inspection parameters. The robot then re-detects the grounding current, providing data support for determining whether the grounding wire is qualified.

[0161] Step S6031: When the current of the power connection test meets the requirements of the test current range, the preset conductor failure result is defined as the conductor grounding wire test result.

[0162] Among them, if the processing terminal determines that the grounding wire is within the test current range after the re-testing of the power connection test current, it indicates that the grounding wire is qualified, while the optimal conductor end position is unqualified. Therefore, the unqualified conductor result is defined as the conductor grounding wire test result.

[0163] The conductor non-conformity result is the result of the guide body inspection failure, and is stored in the processing terminal by the operator.

[0164] Step S6032: When the current of the power connection test does not meet the requirements of the test current range, the preset grounding wire failure result is defined as the conductor grounding wire test result.

[0165] If, after re-detecting the current connection, the processing terminal determines that the current connection is not within the test current range, it indicates that even if the conductor position is changed, no qualified current is detected. Therefore, the grounding wire is unqualified, and the result of the unqualified grounding wire is defined as the test result of the conductor grounding wire.

[0166] The grounding wire failure result refers to the result that the grounding wire fails the inspection, which is stored in the processing terminal by the operator.

[0167] Reference Figure 7 The steps for controlling the robot to maintain the conductor end of the grounding wire based on the conductor position parameters include:

[0168] Step S700: Determine the conductor end angle based on the conductor position parameters.

[0169] Among them, the conductor end angle refers to the angle of inclination between the conductor and the horizontal plane at the optimal conductor end position, which is obtained by the processing terminal from the conductor position parameters.

[0170] Step S701: Analyze the optimal conductor end position and the preset grounding wire density to determine the grounding wire gravity.

[0171] The grounding wire density refers to the weight per unit length of the grounding wire, which is determined by the operator according to the grounding wire instruction manual.

[0172] The gravity of the grounding wire refers to the weight of the grounding wire suspended on the conductor. The processing terminal determines the height, i.e. the suspension length of the grounding wire, based on the optimal conductor end position. The weight is then calculated by multiplying the suspension length by the linear density of the grounding wire, and finally converted into force to obtain the gravity of the grounding wire.

[0173] Step S702: Analyze the conductor end angle and the gravity of the grounding wire to determine the grounding wire drag force and grounding wire pressure.

[0174] Among them, the grounding wire drag force refers to the drag force of the grounding wire on the conductor along the conductor length direction, and the grounding wire pressure refers to the pressure of the grounding wire on the conductor in the direction perpendicular to the conductor. The processing terminal calculates the sine function value and cosine function value of the conductor end angle, and then calculates the product of the sine function value and the grounding wire weight to obtain the grounding wire drag force, and calculates the product of the cosine function value and the grounding wire weight to obtain the grounding wire pressure.

[0175] Step S703: Analyze the grounding wire pressure, the preset friction coefficient, and the preset conductor end pressure to determine the conductor end friction force.

[0176] The friction coefficient refers to the friction coefficient between the conductor end of the grounding wire and the conductor, which is obtained by fitting a friction test after the operator hangs the grounding wire on the conductor. The conductor end pressure refers to the active pressure exerted on the conductor when the conductor end is hung on the conductor, which is determined by the operator based on the actual design of the conductor end.

[0177] The conductor end friction force refers to the friction force between the conductor end of the grounding wire and the conductor. It is calculated by summing the grounding wire pressure and the conductor end pressure at the processing terminal, and then multiplying the pressure sum by the friction coefficient to obtain the conductor end friction force.

[0178] Step S704: Control the working robot to maintain the conductor end of the grounding wire based on the frictional force of the conductor end and the drag force of the grounding wire.

[0179] After determining the frictional force at the conductor end, the processing terminal calculates the difference between the frictional force at the conductor end and the drag force of the grounding wire. If the difference is greater than 0, it indicates that the conductor end is stable. At this time, the working robot does not need to take any additional actions to maintain the stability of the conductor end of the grounding wire. If the difference is less than 0, it indicates that the conductor end has slid down. Therefore, the working robot needs to control the robotic arm to move to the optimal position of the conductor end to support the conductor end, thereby preventing the conductor end from sliding down to other conductor positions and ensuring the stability of the conductor end.

[0180] Reference Figure 8 The steps for controlling the robot to adjust the conductor end of the grounding wire according to the conductor grounding wire inspection results until the conductor grounding wire inspection results meet the requirements of the inspection error-free result include:

[0181] Step S800: Determine whether the conductor grounding wire inspection result is the preset conductor warning result or the preset grounding wire warning result.

[0182] Among them, the conductor warning result indicates that the inspection of the conductor is unqualified, and the grounding wire warning result indicates that the grounding wire is unqualified. Both are stored in the processing terminal by the operator.

[0183] By processing the terminal to determine whether the conductor grounding wire inspection result is a conductor warning result or a grounding wire warning result, it can be determined whether the operation robot needs to change the optimal conductor end position.

[0184] Step S801: If the result is a grounding wire warning, then trigger a grounding wire non-compliance alarm.

[0185] If the processing terminal determines that the conductor grounding wire inspection result is a grounding wire warning result, it indicates that the optimal conductor end position can ensure that the grounding wire forms a reliable short circuit, but the grounding wire is unqualified. Therefore, the grounding wire is unqualified and alarm is issued in the form of voice, text, light, etc.

[0186] Step S802: If it is a conductor warning result, obtain the conductor position order and optimize the optimal conductor end position according to the conductor position order to regenerate the optimal conductor end position.

[0187] If the processing terminal determines that the conductor grounding wire inspection result is a conductor warning result, it indicates that the optimal conductor end position cannot guarantee the grounding wire to form a reliable short circuit. Therefore, the conductor position sequence is detected to find the next conductor end position after the optimal conductor end position in the conductor position sequence, and this conductor end position is determined as the optimal conductor end position, providing basic support for subsequent grounding wire connection.

[0188] The conductor position order refers to the order in which the grounding wire is attached to the conductor. The processing terminal sorts the final conductor scores from largest to smallest, and then sorts the basic conductor end positions corresponding to the final conductor scores to obtain the conductor position order.

[0189] Step S803: Control the robot to adjust the conductor end of the grounding wire to the optimal conductor end position until the conductor grounding wire inspection result meets the inspection error result.

[0190] After determining the new optimal conductor end position, the robot adjusts the grounding wire's conductor end to the optimal conductor end position, thereby following... Figures 5-6 The conductor is then inspected again using the method described above until the conductor grounding wire inspection result matches the error-free result. At this point, the conductor end is kept stable, allowing the grounding wire to form a reliable short circuit.

[0191] Based on the same inventive concept, embodiments of this application provide a control system for a substation grounding wire installation robot, including:

[0192] The acquisition module is used to acquire grounding pile detection parameters, conductor detection parameters, conductor position parameters, historical coating thickness, actual operation position, actual inspection position, power connection detection current, secondary conductor end position, secondary inspection position, and conductor position sequence.

[0193] A memory used to store the program for controlling the operation of the robot that connects the grounding wire in the substation;

[0194] The processor and memory are programs that can be loaded and executed by the processor to implement a control method for a robot that connects grounding wires in a substation.

[0195] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0196] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a control method for a substation grounding wire installation robot.

[0197] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0198] Based on the same inventive concept, this application provides an intelligent terminal, including a memory and a processor. The memory stores a computer program that can be loaded by the processor and executed to control a substation grounding wire connection robot.

[0199] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0200] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A control method for a robot used for installing grounding wires in a substation, characterized in that, include: Obtain the grounding pile detection parameters and the conductor detection parameters of the preset grounding pile; The detection parameters of the grounding stake and the conductor are analyzed to determine the optimal grounding end position of the grounding stake and the optimal conductor end position of the conductor. The robot is controlled to connect the grounding end of the preset grounding wire to the grounding stake based on the optimal grounding end position. Obtain conductor position parameters based on the optimal conductor end position; Based on the conductor position parameters and the optimal conductor end position, the robot is controlled to connect the conductor end of the grounding wire to the conductor. The steps for analyzing the grounding stake testing parameters and conductor testing parameters to determine the optimal grounding end location of the grounding stake and the optimal conductor end location of the conductor include: Determine the location of the foundation grounding terminal and the corresponding grounding terminal contact resistance, grounding terminal coating thickness, and grounding terminal soil resistivity based on the grounding pile test parameters. The grounding resistance, coating thickness, and soil resistivity of the grounding terminal are analyzed and calculated based on the preset grounding terminal index quantification function to determine the foundation grounding score of the foundation grounding terminal location. The foundation grounding score and the location of the foundation grounding terminal are analyzed to determine the optimal grounding terminal location; Determine the position of the base conductor end, the corresponding crimping height deviation, and the conductor breakage rate based on the conductor testing parameters. The crimping height deviation and conductor breakage rate are analyzed and calculated based on the preset conductor end index quantification function to determine the basic conductor score of the basic conductor end position; The base conductor score and base conductor end position are analyzed to determine the optimal conductor end position; The steps for analyzing the foundation grounding score and the location of the foundation grounding terminal to determine the optimal grounding terminal location include: Obtain the historical coating thickness at the location of the foundation grounding terminal; The thickness of the grounding terminal coating and the historical coating thickness were analyzed to determine the corrosion rate of the grounding terminal. The corrosion rate of the grounding terminal and the preset coating consumption thickness threshold are analyzed to determine the remaining life of the grounding terminal; The basic grounding score, the remaining life of the grounding terminal, and the preset total grounding life are analyzed to determine the final grounding score. The final grounding score and the corresponding basic grounding terminal location are sorted and analyzed to determine the optimal grounding terminal location.

2. The control method for the substation grounding wire installation operation robot according to claim 1, characterized in that, The steps for analyzing the base conductor score and base conductor end position to determine the optimal conductor end position include: Obtain the actual working position of the robot; The actual working location and the location of the foundation conductor end are analyzed to determine the conductor working distance; The basic conductor score, conductor working distance, and preset working distance threshold are analyzed to determine the final conductor score; The final conductor score and the basic conductor end position are ranked and analyzed to determine the optimal conductor end position.

3. The control method for the substation grounding wire installation operation robot according to claim 1, characterized in that, The steps for controlling the robot to connect the conductor end of the grounding wire to the conductor based on the conductor position parameters and the optimal conductor end position include: The robot is controlled to connect the conductor end of the grounding wire to the conductor based on the optimal conductor end position. The robot is controlled to inspect the optimal conductor end position and grounding wire according to the preset conductor inspection parameters, so as to generate the conductor grounding wire inspection results; Determine whether the test results of the conductor grounding wire meet the preset requirements for error-free test results; If the conditions are met, the robot is controlled to maintain the conductor end of the grounding wire according to the conductor position parameters. If it does not meet the requirements, the robot will be controlled to adjust the conductor end of the grounding wire according to the conductor grounding wire inspection results until the conductor grounding wire inspection results meet the requirements of the inspection error-free result. The robot is controlled to maintain the conductor end of the grounding wire based on the conductor position parameters.

4. The control method for the substation grounding wire installation operation robot according to claim 3, characterized in that, The steps for controlling the robot to inspect the optimal conductor end position and grounding wire according to preset conductor inspection parameters to generate conductor grounding wire inspection results include: The actual inspection location for obtaining the optimal conductor end position; The robot is controlled to apply voltage to the conductor based on the actual inspection location and conductor inspection parameters, and the connection detection current is obtained. Determine whether the current connected to the circuit meets the requirements of the preset test current range; If it meets the requirements, the preset result of no error in the conductor grounding wire is defined as the conductor grounding wire inspection result; If it does not meet the requirements, obtain the position of the secondary conductor end and the corresponding secondary test position; The robot is controlled to connect the conductor end of the grounding wire to the conductor based on the position of the secondary conductor end, and to apply voltage to the conductor based on the secondary inspection position and conductor inspection parameters in order to reacquire the connection detection current. When the current for power connection testing meets the requirements of the test current range, the preset conductor failure result is defined as the conductor grounding wire test result. If the current tested during the power connection does not meet the requirements of the test current range, the preset grounding wire failure result will be defined as the conductor grounding wire test result.

5. The control method for a substation grounding wire installation robot according to claim 3, characterized in that, The steps for controlling the robot to maintain the conductor end of the grounding wire based on the conductor position parameters include: Determine the conductor end angle based on the conductor position parameters; The optimal conductor end position and the preset grounding wire density are analyzed to determine the gravity of the grounding wire; The conductor end angle and the weight of the grounding wire are analyzed to determine the drag force and pressure of the grounding wire. The grounding wire pressure, the preset friction coefficient, and the preset conductor end pressure are analyzed to determine the conductor end friction force. The robot is controlled to maintain the conductor end of the grounding wire by the frictional force at the conductor end and the drag force of the grounding wire.

6. The control method for a substation grounding wire installation robot according to claim 3, characterized in that, The steps involved in controlling the robot to adjust the conductor end of the grounding wire according to the conductor grounding wire inspection results until the conductor grounding wire inspection results meet the requirements for error-free results include: The test result of the conductor grounding wire is determined to be either the preset conductor warning result or the preset grounding wire warning result. If the result is a grounding wire warning, then an alarm will be triggered indicating that the grounding wire is not up to standard. If the result is a conductor warning, the conductor position order is obtained, and the optimal conductor end position is optimized based on the conductor position order to regenerate the optimal conductor end position. The robot is controlled to adjust the conductor end of the grounding wire to the optimal conductor end position until the test result of the conductor grounding wire meets the requirements of the test result without error.

7. A control system for a robot used for installing grounding wires in a substation, characterized in that, include: The acquisition module is used to acquire grounding pile detection parameters, conductor detection parameters, and conductor position parameters; A memory for storing the program of the substation grounding wire connection operation robot control method as described in any one of claims 1 to 6; The processor and the program in the memory can be loaded and executed by the processor to implement the substation grounding wire connection operation robot control method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer program stores a method for controlling a substation grounding wire connection robot that can be loaded by a processor and executed as described in any one of claims 1 to 6.

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