Substation secondary system assembling method, system, equipment and medium

Abstract

The invention discloses an assembling method, system and device of a transformer substation secondary system and a medium, and belongs to the field of transformer substations, and the method comprises the steps: receiving an assembling parameter table of the transformer substation secondary system; based on the component table, calling a corresponding component model from a pre-established component digital model library, and according to a preset layout constraint condition, automatically assembling the component model into a screen cabinet model to generate a target digital twin body; based on the wiring table and the target digital twinborn body, generating a collision-free three-dimensional space path for each electrical connection line in the wiring table through an automatic path planning algorithm, and generating an assembly control instruction based on the three-dimensional space path and the target digital twinborn body; and based on the assembly control instruction, the robot is controlled to assemble the transformer substation secondary system, so that the assembly efficiency of the transformer substation secondary system can be improved.

Description

Technical Field

[0001] This invention relates to the field of substations, and more particularly to an assembly method, system, equipment, and medium for a substation secondary system. Background Technology

[0002] The secondary system of a substation is a crucial component of the power grid, encompassing numerous sophisticated devices and cabinets for relay protection, measurement and control, and communication. Its assembly process involves the precise physical installation and connection of hundreds or even thousands of components and tens of thousands of cables within the cabinets, based on complex electrical schematics, to form a reliably operating integrated system. The correctness and precision of this process directly affect the safe, stable, and reliable operation of the power grid; therefore, achieving high-quality and efficient assembly is of paramount importance.

[0003] Currently, the industry generally adopts a traditional model that prioritizes 2D CAD design and relies primarily on manual assembly. Specifically, after designers use CAD software to create electrical drawings, the production process heavily depends on experienced workers to interpret the drawings, plan the layout of cabinets, and perform manual wiring. Since the design data (such as component lists and wiring diagrams) at this stage is merely information on the drawings and cannot directly drive automated equipment, the entire assembly process is inefficient. Not only is the initial layout and wiring time-consuming and labor-intensive, but the on-site robot programming and debugging are also complex, making it highly susceptible to installation errors and cable interference due to human error or poor communication. This results in significant rework and ultimately becomes a key bottleneck restricting the construction period and quality improvement of substations. Summary of the Invention

[0004] This invention provides a method, system, equipment, and medium for assembling a substation secondary system, which can improve the assembly efficiency of the substation secondary system.

[0005] An embodiment of the present invention provides a method for assembling a substation secondary system, comprising: Receive the assembly parameter table of the substation secondary system, wherein the assembly parameter table includes a component table and a wiring table; Based on the component list, the corresponding component model is called from the pre-established component digital model library, and the component model is automatically assembled into the cabinet model according to the preset layout constraints to generate the target digital twin. Based on the wiring table and the target digital twin, an automatic path planning algorithm is used to generate collision-free three-dimensional spatial paths for each electrical connection line in the wiring table, and assembly control commands are generated based on the three-dimensional spatial paths and the target digital twin. Based on the assembly control commands, the robot is controlled to assemble the substation secondary system.

[0006] This invention, by receiving the assembly parameter table of the substation secondary system, eliminates subsequent errors and repeated confirmations caused by inconsistent data formats and ambiguities in manual drawing interpretation, providing an accurate and machine-readable data foundation for subsequent fully automated processing and avoiding rework and time waste due to input errors. By generating a target digital twin, it achieves automatic and precise mapping from the logical list to three-dimensional physical space, completing the structuring and spatialization of design information, ensuring the accuracy of subsequent planning, and fundamentally avoiding on-site assembly difficulties and rework caused by physical interference and unreasonable layout. The automatic path planning algorithm can quickly generate collision-free, process-compliant optimal paths for hundreds or thousands of cables and simultaneously calculate precise line lengths, replacing the extremely time-consuming and error-prone manual wiring design. By directly converting design data (digital twin, spatial path) into control instructions that can drive the robot, it completely eliminates the tedious and time-consuming offline programming process required by professional robot engineers on-site in traditional methods, facilitating subsequent automated assembly. By having the robot perform the assembly task, the time of the physical assembly operation itself is directly reduced. Compared with existing technologies, the present invention can improve the assembly efficiency of substation secondary systems.

[0007] Further, the step of calling the corresponding component model from the pre-established component digital model library based on the component list, and automatically assembling the component model into the cabinet model according to preset layout constraints to generate the target digital twin includes: The component table is parsed to obtain an equipment list, wherein the equipment list includes identifiers corresponding to several components; Based on each of the aforementioned identifiers, the corresponding component model is called from the pre-established component digital model library, wherein the component digital model library includes several component models; Based on preset layout constraints, the component models are automatically assembled into the cabinet model using an automatic layout algorithm to generate the target digital twin.

[0008] In this way, by generating a target digital twin, an automatic and accurate mapping from the logical list to the three-dimensional physical space is achieved, completing the structuring and spatialization of design information, ensuring the accuracy of subsequent planning, and fundamentally avoiding on-site assembly difficulties and rework caused by physical interference and unreasonable layout.

[0009] Furthermore, the automatic assembly of the component models into the cabinet model based on preset layout constraints using an automatic layout algorithm to generate a target digital twin includes: Based on the functional module grouping constraints, thermal management constraints, and maintenance space constraints in the layout constraints, the optimal installation position of each component in the cabinet model is determined by solving the multi-objective optimization function through an automatic layout algorithm. Based on the mounting method attributes of each component, the corresponding component model is automatically snapped to the optimal mounting position to obtain an initial digital twin. Each component model includes several mounting method attributes, including physical dimensions, mounting method, electrical interface three-dimensional coordinates, and recommended grabbing pose attributes. In the initial digital twin, precise three-dimensional coordinates and orientation definitions are established for the electrical interfaces of each component to obtain the target digital twin.

[0010] Furthermore, the step of generating collision-free three-dimensional spatial paths for each electrical connection line using an automatic path planning algorithm based on the wiring table and the target digital twin includes: The target digital twin is analyzed to determine the remaining space of the cabinet, and corresponding cable tray models and hub models are added to the remaining space of the cabinet to obtain a corrected digital twin; The improved A-pathfinding algorithm is used to plan the path from the starting device port to the ending device port in the three-dimensional space of the modified digital twin, thereby obtaining the three-dimensional spatial path corresponding to each electrical connection line.

[0011] This automatic path planning algorithm can quickly generate collision-free, process-compliant 3D spatial paths for hundreds or thousands of cables, and simultaneously calculate the precise cable lengths, replacing the extremely time-consuming and error-prone manual wiring design.

[0012] Furthermore, the cost function of the improved A-pathfinding algorithm includes path length, heuristic function, and bundling optimization term, and the following constraints must be satisfied during the path planning process: obstacle avoidance constraint, bending radius constraint, dependency constraint, and bundling optimization constraint.

[0013] Furthermore, the generation and assembly control instructions based on the three-dimensional spatial path and the target digital twin include: Based on the recommended grasping pose attributes, the component grasping pose of the robot to grasp each component on the material shelf is calculated through coordinate transformation; Based on the target digital twin, a collision-free installation trajectory is planned for each component from the gripping position to the installation position; Based on the three-dimensional spatial path, gripping points are determined for each wire harness, and the wire harness wiring process action sequence is determined based on the gripping points. The component grasping pose, the installation trajectory, and the wiring process sequence are compiled into assembly control instructions that the robot controller can directly recognize and execute.

[0014] By directly converting design data (digital twin, spatial path) into control commands that can drive the robot, the traditional method of requiring professional robot engineers to perform tedious and time-consuming offline programming on-site is completely eliminated, which helps with subsequent automated assembly.

[0015] Furthermore, the assembly method of the substation secondary system also includes: generating production documents for wire harness prefabrication based on the three-dimensional spatial path of all electrical connection paths, wherein the production documents include at least one of the following: a nail board diagram, a wire processing document, and a supplementary material information statistics table.

[0016] By automatically generating production documents such as nail board diagrams and wire processing files, design data directly drives downstream equipment, achieving precision and automation in the wire harness prefabrication process. This allows wire harness processing to be carried out in parallel with cabinet assembly, eliminating waiting and repetitive steps in the traditional model, fundamentally compressing the overall assembly cycle from a production process perspective, and significantly improving efficiency.

[0017] Another embodiment of the present invention also provides an assembly system for a substation secondary system, comprising: A receiving module is used to receive an assembly parameter table of the substation secondary system, wherein the assembly parameter table includes a component table and a wiring table; The first generation module is used to call the corresponding component model from the pre-established component digital model library based on the component list, and automatically assemble the component model into the cabinet model according to the preset layout constraints to generate the target digital twin. The second generation module is used to generate collision-free three-dimensional spatial paths for each electrical connection line based on the wiring table and the target digital twin using an automatic path planning algorithm, and to generate assembly control instructions based on the three-dimensional spatial paths and the target digital twin. An assembly module is used to control a robot to assemble the substation secondary system based on the assembly control commands.

[0018] Another embodiment of the present invention provides a terminal device, including: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the steps of the substation secondary system assembly method as described in the present invention.

[0019] Another embodiment of the present invention also provides a computer-readable storage medium item, including: a stored computer program, which, when the computer program is running, controls the device where the computer-readable storage medium is located to perform the steps of the substation secondary system assembly method as described in the present invention. Attached Figure Description

[0020] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating one embodiment of the assembly method for a substation secondary system provided in this application; Figure 2 This is a flowchart illustrating one embodiment of steps S201 to S203 provided in this application; Figure 3 This is a flowchart illustrating one embodiment of steps S301 to S303 provided in this application; Figure 4 This is a flowchart illustrating one embodiment of steps S401 to S402 provided in this application; Figure 5 This is a flowchart illustrating one embodiment of steps S501 to S504 provided in this application; Figure 6 This is a schematic diagram of the structure of one embodiment of the substation secondary system assembly system provided in this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0024] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0025] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0026] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0027] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0028] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0029] Substation secondary systems contain precision equipment such as relay protection devices. Their assembly involves the precise installation of numerous components and cables within cabinets, which is crucial for power grid safety. Currently, the industry generally adopts the traditional model of "2D CAD design + manual assembly." In this model, the information in the design drawings cannot directly drive automated equipment, resulting in a high reliance on manual experience for layout and wiring, leading to low efficiency. Furthermore, on-site robot programming and debugging are complex and prone to human error, causing installation mistakes and cable interference, resulting in rework. This has become a key bottleneck restricting the construction period and quality of substations.

[0030] See Figure 1To improve the assembly efficiency of substation secondary systems, an embodiment of the present invention provides an assembly method for substation secondary systems, including steps S101 to S104. Step S101: Receive the assembly parameter table of the substation secondary system, wherein the assembly parameter table includes a component table and a wiring table; In some embodiments, a standardized data packet is first received from an upstream electrical design tool (such as EPLAN or AutoCAD Electrical) as an assembly parameter table. This data packet contains at least a Bill of Materials (BOM) and a wiring diagram. The BOM describes a list of all equipment to be assembled and their unique identifiers (such as equipment model numbers), such as "Protection Device A" or "Circuit Breaker B," along with their unique identifiers (such as part numbers or model numbers), physical dimensions, installation methods, and electrical interface coordinates. The wiring diagram describes the device port information of the start and end points of each electrical connection, defining the network of connections between the devices.

[0031] Step S102: Based on the component list, call the corresponding component model from the pre-established component digital model library, and automatically assemble the component model into the cabinet model according to the preset layout constraints to generate the target digital twin. Please refer to Figure 2 In some embodiments, step S102 includes steps S201 to S203: Step S201: Parse the component table to obtain an equipment list, wherein the equipment list includes identifiers corresponding to several components; In some embodiments, after obtaining the component list, the received component bill of materials (BOM) needs to be parsed to extract a structured equipment list. This list specifies all components that need to be assembled and their unique identifiers, providing an index for subsequently calling the corresponding 3D model from the model library.

[0032] Step S202: Based on each of the identifiers, call the corresponding component model from the pre-established component digital model library, wherein the component digital model library includes several component models; In some embodiments, the device identifier obtained by parsing is automatically matched with a pre-established digital model library of components. By matching the identifier, the system can automatically call the 3D model of the component that corresponds exactly to the list item from the digital model library.

[0033] It should be noted that the component digital model library is a database that integrates high-precision 3D models of various secondary devices (such as relays, terminal blocks, etc.). Each component model comes with attributes such as its physical dimensions, installation interface, electrical port location, and recommended grab pose.

[0034] Step S203: Based on preset layout constraints, the component model is automatically assembled into the cabinet model using an automatic layout algorithm to generate the target digital twin.

[0035] Please refer to Figure 3 In some embodiments, step S203 includes steps S301 to S303: Step S301: Based on the functional module grouping constraints, thermal management constraints, and maintenance space constraints in the layout constraints, the optimal installation position of each component in the cabinet model is determined by solving the multi-objective optimization function through an automatic layout algorithm. In some embodiments, firstly, a multi-objective optimization function is pre-constructed, which includes an objective function and constraints. The objective function aims to find a device layout scheme L that minimizes the total connection cost and maximizes maintenance convenience. Specifically, this involves arranging devices belonging to the same loop in close proximity in space (functional module grouping), dispersing devices with high heat generation (thermal management), and reserving sufficient operating clearance (maintenance space) for each device. The expression for its objective function is: ; In the formula, and These are weighting factors used to balance the importance of connection costs and thermal management; This indicates the connection weight between device i and device j (determined by the number of connections in the wiring table). Given layout L, the Euclidean distance between device i and device j is given by L. This indicates that, under layout L, the thermal impact coefficient of the heat generated by device k on its surrounding devices can be quantified as the weighted sum of its thermal interactions with all surrounding devices.

[0036] In some embodiments, the relevant formula for the thermal influence coefficient is: In the formula, Given layout L, device k represents the total thermal impact factor on all other devices in the system. The smaller this value, the better the thermal management performance of the layout. Let k be the heat output power of the device itself (unit: watts), which is a known quantity determined by the physical characteristics of the device itself; Let be the Euclidean distance (in meters) between the center of device k and the center of device j under layout L, where the inverse square relationship of the distance reflects the physical law that thermal radiation and thermal convection decrease rapidly with distance; Let α be the thermal coupling coefficient (dimensionless) between device k and device j. This coefficient characterizes the sensitivity of device j to the heat emitted by device k. For example, temperature-sensitive precision devices (such as certain chips) should have a high α value, indicating that they need to be kept as far away from the heat source as possible; while devices that are heat-resistant or are themselves heat sources can have a lower α value.

[0037] In some embodiments, the relevant formula for Euclidean distance is: ,in,( , , )and( , , (i) and (j) are the three-dimensional coordinates of device i and device j in layout L, respectively.

[0038] In some embodiments, the constraints include: functional module grouping constraints, thermal management constraints, and maintenance space constraints, wherein the expression for the functional module grouping constraints is: In the formula, Let be the space occupied by any device, where the device space is a three-dimensional geometric shape, typically defined by the physical dimensions (length, width, height) and installation location of device i. This constraint indicates that the spaces occupied by any two devices do not overlap; the expression for the thermal management constraint is: In the formula, Where is the installation location of device i? Let be the current position of any device. This constraint means that the installation method of each device must match the type of its installation location; for example, rail-mounted devices must be located on rails. The expression for the maintenance space constraint is: ,in, Operating space must be reserved around each piece of equipment. As a minimum requirement, this constraint means that an operating space of no less than the minimum requirement must be reserved around each device.

[0039] After constructing multiple objective optimization functions, an automatic layout algorithm (such as a genetic algorithm or simulated annealing algorithm) is used to iteratively search in the three-dimensional space of the cabinet model to evaluate whether each layout scheme meets the constraints (such as functional modules need to be placed in a concentrated manner, high-heat devices need to be kept away from sensitive areas, and the width of the maintenance channel needs to be greater than the threshold). Finally, a set of optimal coordinate positions is output, which determines the optimal installation position of each component in the cabinet model.

[0040] Step S302: Based on the mounting method attributes of each component, the corresponding component model is automatically snapped to the optimal mounting position to obtain an initial digital twin. Each component model includes several mounting method attributes, and each mounting method attribute includes physical dimensions, mounting method, three-dimensional coordinates of electrical interface, and recommended grabbing pose attribute. In some embodiments, based on the installation method attributes of each component, a three-dimensional transformation matrix (such as translation and rotation matrix) is used to automatically snap the corresponding component model to the optimal installation position to ensure that the physical collision detection passes, so as to obtain the initial digital twin. For example, for components mounted on rails, the rail slots in the cabinet model are detected and the base coordinates of the component are aligned with the slots. For screw-fixed types, the preset mounting hole positions are matched.

[0041] It should be noted that each component model has predefined mounting attributes in the digital twin platform, including physical dimensions (such as length, width and height), mounting method (such as guide rail mounting or screw fixing), electrical interface three-dimensional coordinates (relative to the model's local coordinates), and recommended gripping pose attributes (such as the position and orientation of the robot's gripping point).

[0042] Step S303: In the initial digital twin, establish precise three-dimensional coordinates and orientation definitions for the electrical interfaces of each component to obtain the target digital twin.

[0043] In some embodiments, based on the initial digital twin, precise three-dimensional coordinates and orientation definitions are established for the electrical interface of each component. At this point, each component has a precise coordinate system definition in the digital twin, thereby generating the final target digital twin and laying the foundation for subsequent path planning.

[0044] In this way, by generating a target digital twin, an automatic and accurate mapping from the logical list to the three-dimensional physical space is achieved, completing the structuring and spatialization of design information, ensuring the accuracy of subsequent planning, and fundamentally avoiding on-site assembly difficulties and rework caused by physical interference and unreasonable layout.

[0045] Step S103: Based on the wiring table and the target digital twin, generate a collision-free three-dimensional spatial path for each electrical connection line in the wiring table using an automatic path planning algorithm, and generate assembly control instructions based on the three-dimensional spatial path and the target digital twin. Please refer to Figure 4 In some embodiments, the step of generating collision-free three-dimensional spatial paths for each electrical connection line using an automatic path planning algorithm based on the wiring table and the target digital twin includes steps S401 to S402: Step S401: Analyze the target digital twin to determine the remaining space of the cabinet, and add the corresponding cable tray model and hub model in the remaining space of the cabinet to obtain the corrected digital twin; In some embodiments, based on the assembled components, the remaining space within the cabinet is analyzed, and based on the automatic cabling channel generation algorithm, virtual cable trunks are automatically generated between devices and along the cabinet frame. These trunks are represented in the 3D model as automatically added cable tray models and hub models, which are used to guide and fix cables and optimize the cabling structure. The automatic cabling channel generation algorithm has been described in detail above, so it will not be repeated here.

[0046] Step S402: Using the improved A-pathfinding algorithm, a path from the starting device port to the ending device port is planned in the three-dimensional space of the modified digital twin, thereby obtaining the three-dimensional spatial path corresponding to each electrical connection line.

[0047] In some embodiments, an improved A-pathfinding algorithm is used to plan collision-free paths for each electrical connection line from the starting device port to the ending device port in the three-dimensional space of the modified digital twin. The cost function f(n) of this algorithm includes the path length g(n), the heuristic function h(n), and a bundling optimization term. Among them, the bundling optimization item will incentivize connections with similar destinations to share paths.

[0048] In some embodiments, the cost function of the improved A-pathfinding algorithm includes path length, heuristic function, and bundling optimization term, and the following constraints must be satisfied during the path planning process: obstacle avoidance constraint, bending radius constraint, dependency constraint, and bundling optimization constraint.

[0049] In some embodiments, the improved A-pathfinding algorithm can find a path P from the starting point S to the ending point E for each connection, with the objective function being: In the formula, the cost function Used to evaluate the quality of a path from the starting point through node n to the ending point; the smaller the value, the better the path. This represents the actual path cost from the starting point S to node n (usually calculated as the cumulative Euclidean distance). It is the Euclidean distance from the current node n to the destination E; and It is a bundle optimization item, which is an optimization item that incentivizes multiple cables to share the same path (i.e., bundle).

[0050] In some embodiments, The core objective is to minimize the total length of the wiring, calculated using the following formula: ; In the formula, It is the path sequence from the starting point S to node n; Indicates adjacent nodes and The Euclidean distance between them.

[0051] In some embodiments, For heuristic functions, the formula is: In two-dimensional space, if and Then its expression is: In 3D space, this can be further extended by adding the Z-axis coordinate. This function is used to efficiently estimate the remaining cost to the destination, guiding the search direction.

[0052] In some embodiments, bundling optimization items The value decreases as the overlap between the current path and existing paths increases (i.e., it becomes a larger negative value, thus reducing the total cost). ), where the expression for B(n) is: ; In the formula, It is a positive scaling factor used to convert the shared length to cost units (typically set to 1), where, This means that the longer the shared length, The smaller the value, the lower the total cost. The smaller the value, the more the algorithm will tend to choose a path that runs alongside other cables; Indicates the path currently being planned. The total length of the portion that overlaps with all planned routes.

[0053] In some embodiments, the following constraints must be met during path planning: obstacle avoidance constraints (ensuring that the path does not collide with components, cable trays, or other obstacles), and the relevant formula is: This means that no point on path P may interact with the obstacle model. Intersection and bending radius constraints indicate that the bending radius of the path must be greater than the minimum allowable value of the line bundle. The relevant formula is: for any three consecutive points on path P... , , (Three points define a turn), its path nodes The calculated turning radius Must meet ≥ ,in, The minimum allowable bending radius of a cable is a physical parameter determined by the mechanical properties of the cable type (such as fiber optic, coaxial, or power cable), and is usually specified by the manufacturer (e.g., =5 × cable outer diameter).

[0054] In some embodiments, turning radius The radius can be calculated by examining the circle defined by these three points, using the following formula: In the formula, For the node arrive The length of the line segment (Euclidean distance), and the same applies to other vector norms; where... It consists of three points , , The area of ​​the triangle formed can be calculated using the magnitude of the cross product of the vectors: .

[0055] It should be noted that the turning radius It characterizes the sharpness of the turn; a larger value indicates a gentler turn. The turning radius acts as a hard filter in automatic path planning algorithms; the algorithm calculates the radius of each potential turn in real time while searching for a path. and discard any that cause < The path options, from the digital twin stage, fundamentally avoid problems such as internal cable damage, signal attenuation, or performance degradation caused by excessive bending during on-site installation, ensuring the physical feasibility of the project.

[0056] This automatic path planning algorithm can quickly generate collision-free, process-compliant 3D spatial paths for hundreds or thousands of cables, and simultaneously calculate the precise cable lengths, replacing the extremely time-consuming and error-prone manual wiring design.

[0057] Please refer to Figure 5 In some embodiments, the generation of assembly control instructions based on the three-dimensional spatial path and the target digital twin includes steps S501 to S404: Step S501: For the recommended grasping pose attributes, calculate the component grasping pose of the robot grasping each component on the material shelf through coordinate transformation; In some embodiments, firstly, the predefined recommended grasping pose attributes on the component models of the target digital twin are read. Then, since the digital twin and the real robot working unit have already undergone coordinate system calibration, the system uses a coordinate transformation matrix to convert the virtual grasping poses of the components in the model into the real target poses X, Y, Z, Rx, Ry, Rz in the robot's base coordinate system, thereby obtaining the component grasping poses of the robot grasping each part on the material shelf.

[0058] Step S502: Based on the target digital twin, plan a collision-free installation trajectory from the gripping position to the installation position for each component; In some embodiments, a robot inverse kinematics solver and trajectory planning algorithm are invoked to plan a smooth, collision-free motion trajectory from the gripping point to the installation point, using the target digital twin as an environmental model. During the planning process, the algorithm checks in real time whether the robot model, gripper, and transported parts interfere with the cabinets or other installed equipment in the digital twin. Once a collision is detected, the planning is immediately re-planned.

[0059] Step S503: Based on the three-dimensional spatial path, determine the gripping point for each wire harness, and determine the wire harness wiring process action sequence based on the gripping point; In some embodiments, firstly, the three-dimensional spatial path of each wire harness is analyzed, and a most stable gripping point is determined based on its geometric center and mass distribution. Then, a dedicated sequence of wire harness routing process actions is generated, which includes: planning the aerial shaping trajectory of the robot holding the wire harness from the gripping position to the starting routing position, and a series of pressing points and smoothing paths to press the wire harness into the wire groove.

[0060] It should be noted that this action sequence integrates visual servo calibration points and force-controlled impedance parameters. For example, before inserting the connector, the command guides the robot to a predefined position, triggering the vision system for precise positioning; when pressing in the wire harness, force control mode is used instead of pure position control to ensure successful insertion and protect the equipment.

[0061] Step S504: Compile the component grasping pose, the installation trajectory, and the wiring process sequence into assembly control instructions that the robot controller can directly recognize and execute.

[0062] In some embodiments, after obtaining the component grasping pose, the installation trajectory, and the wiring process sequence, since this information is essentially still a high-level task description and geometric data, it is compiled into low-level, time-sequential control commands according to the instruction set and syntax rules required by the specific robot controller. The final generated assembly control command is a complete program or instruction sequence that the robot controller can directly recognize and execute. It precisely specifies every action, every step of movement, and every operation of the robot during the assembly process, thereby driving the physical robot to complete the fully automated assembly task from grasping, handling, installation to wiring.

[0063] It should be noted that the specific compilation process is not the focus of this application, so it will not be elaborated here.

[0064] By directly converting design data (digital twin, spatial path) into control commands that can drive the robot, the traditional method of requiring professional robot engineers to perform tedious and time-consuming offline programming on-site is completely eliminated, which helps with subsequent automated assembly.

[0065] Step S104: Based on the assembly control command, control the robot to assemble the substation secondary system.

[0066] In some embodiments, upon receiving assembly control commands, the robot moves to a designated position on the material rack according to the actual grasping posture specified in the commands, and precisely grasps the target component using its end effector. Subsequently, the robot smoothly transports the component into the cabinet according to a pre-planned collision-free optimal motion trajectory. During this process, the control system utilizes a preset collision detection function to ensure that the robotic arm, gripper, and component do not interfere with the surrounding environment, and finally reliably installs the component into the predetermined position on the cabinet frame (such as adsorbing it onto a guide rail or mounting hole) according to the component's installation method attributes. For wire harness installation, the robot performs a more complex sequence of wire harness wiring process actions: it first stably grasps the prefabricated wire harness according to the calculated grasping point, then moves to the wiring starting point following an aerial shaping trajectory to avoid snagging, and finally reliably presses the wire harness into the wire groove and fixes it through a series of "pressing in" and "smoothing" actions that integrate force-controlled impedance parameters. Throughout the entire insertion and installation process, the system triggers the visual servo program embedded in the instructions to guide the robot to the visual calibration point. The vision system precisely positions the connector socket to fine-tune its posture, thereby dealing with the uncertainties of the physical environment and ensuring high precision, high reliability and first-time success rate of all assembly actions, ultimately achieving full automation from material picking to assembly.

[0067] In some embodiments, the method further includes: generating production documents for wire harness prefabrication based on the three-dimensional spatial paths of all electrical connection paths, wherein the production documents include at least one of a staple board diagram, a wire processing document, and a supplementary material information statistics table. Specifically, firstly, all wire harness paths in the digital twin are projected onto a two-dimensional plane to automatically generate a staple board diagram to guide wire harness prefabrication. This diagram precisely marks the start point, end point, wire number, and length of each wire to guide manual wiring as a backup plan, or to drive an advanced projection-type wire harness prefabrication workstation (projecting the wiring diagram directly onto the staple board via a projector, where workers or robots place cables according to the light spots). Next, a structured wire processing document (such as a CSV format) is generated for each electrical connection. This document contains manufacturing data such as [wire number, start point, end point, color, cross-sectional area, precise length], used to directly drive a fully automatic wire stripping machine to process wires of specific lengths. Then, all wire harnesses are automatically analyzed to calculate the quantity and specifications of required supplementary materials such as wire gauges, cable ties, and winding tubes, generating a supplementary material information statistics table for quota-based material issuance and cost accounting. Ultimately, these automatically generated production documents (nail board diagrams, wire processing documents, and auxiliary material information statistics tables) can be directly sent to the wire harness prefabrication workshop to achieve precise and efficient prefabrication of wire harnesses. This process can be carried out in parallel with the subsequent robotic cabinet assembly process, together forming a complete digital production chain.

[0068] By automatically generating production documents such as nail board diagrams and wire processing files, design data directly drives downstream equipment, achieving precision and automation in the wire harness prefabrication process. This allows wire harness processing to be carried out in parallel with cabinet assembly, eliminating waiting and repetitive steps in the traditional model, fundamentally compressing the overall assembly cycle from a production process perspective, and significantly improving efficiency.

[0069] This invention, by receiving the assembly parameter table of the substation secondary system, eliminates subsequent errors and repeated confirmations caused by inconsistent data formats and ambiguities in manual drawing interpretation, providing an accurate and machine-readable data foundation for subsequent fully automated processing and avoiding rework and time waste due to input errors. By generating a target digital twin, it achieves automatic and precise mapping from the logical list to three-dimensional physical space, completing the structuring and spatialization of design information, ensuring the accuracy of subsequent planning, and fundamentally avoiding on-site assembly difficulties and rework caused by physical interference and unreasonable layout. The automatic path planning algorithm can quickly generate collision-free, process-compliant optimal paths for hundreds or thousands of cables and simultaneously calculate precise line lengths, replacing the extremely time-consuming and error-prone manual wiring design. By directly converting design data (digital twin, spatial path) into control instructions that can drive the robot, it completely eliminates the tedious and time-consuming offline programming process required by professional robot engineers on-site in traditional methods, facilitating subsequent automated assembly. By having the robot perform the assembly task, the time of the physical assembly operation itself is directly reduced. Compared with existing technologies, the present invention can improve the assembly efficiency of substation secondary systems.

[0070] like Figure 6 As shown, based on the above method embodiments, corresponding apparatus embodiments are provided; An embodiment of the present invention provides an assembly system for a substation secondary system, comprising: The receiving module 100 is used to receive the assembly parameter table of the substation secondary system, wherein the assembly parameter table includes a component table and a wiring table; The first generation module 200 is used to call the corresponding component model from the pre-established component digital model library based on the component list, and automatically assemble the component model into the cabinet model according to the preset layout constraints to generate the target digital twin. The second generation module 300 is used to generate collision-free three-dimensional spatial paths for each electrical connection line based on the wiring table and the target digital twin using an automatic path planning algorithm, and to generate assembly control instructions based on the three-dimensional spatial paths and the target digital twin. Assembly module 400 is used to control the robot to assemble the substation secondary system based on the assembly control instructions.

[0071] It is understood that the above-described device embodiments correspond to the method embodiments of the present invention, and can implement the substation secondary system assembly method provided by any of the above-described method embodiments of the present invention.

[0072] It should be noted that the device embodiments described above are merely illustrative, and some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can specifically be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0073] Based on the above embodiments of the substation secondary system assembly method, another embodiment of the present invention provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the substation secondary system assembly method of any embodiment of the present invention.

[0074] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the terminal device.

[0075] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0076] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0077] Based on the above-described method embodiments, another embodiment of the present invention provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the substation secondary system assembly method described in any of the above-described method embodiments of the present invention.

[0078] The modules / units integrated in the device / terminal equipment, if implemented as software functional units and sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0079] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for assembling a secondary system in a substation, characterized in that, include: Receive the assembly parameter table of the substation secondary system, wherein the assembly parameter table includes a component table and a wiring table; Based on the component list, the corresponding component model is called from the pre-established component digital model library, and the component model is automatically assembled into the cabinet model according to the preset layout constraints to generate the target digital twin. Based on the wiring table and the target digital twin, an automatic path planning algorithm is used to generate collision-free three-dimensional spatial paths for each electrical connection line in the wiring table, and assembly control commands are generated based on the three-dimensional spatial paths and the target digital twin. Based on the assembly control commands, the robot is controlled to assemble the substation secondary system.

2. The assembly method of the substation secondary system according to claim 1, characterized in that, The step of calling the corresponding component model from the pre-established component digital model library based on the component list, and automatically assembling the component model into the cabinet model according to preset layout constraints to generate the target digital twin includes: The component table is parsed to obtain an equipment list, wherein the equipment list includes identifiers corresponding to several components; Based on each of the aforementioned identifiers, the corresponding component model is called from the pre-established component digital model library, wherein the component digital model library includes several component models; Based on preset layout constraints, the component models are automatically assembled into the cabinet model using an automatic layout algorithm to generate the target digital twin.

3. The assembly method of the substation secondary system according to claim 2, characterized in that, The method of automatically assembling the component models into the cabinet model based on preset layout constraints and using an automatic layout algorithm to generate a target digital twin includes: Based on the functional module grouping constraints, thermal management constraints, and maintenance space constraints in the layout constraints, the optimal installation position of each component in the cabinet model is determined by solving the multi-objective optimization function through an automatic layout algorithm. Based on the mounting method attributes of each component, the corresponding component model is automatically snapped to the optimal mounting position to obtain an initial digital twin. Each component model includes several mounting method attributes, including physical dimensions, mounting method, electrical interface three-dimensional coordinates, and recommended grabbing pose attributes. In the initial digital twin, precise three-dimensional coordinates and orientation definitions are established for the electrical interfaces of each component to obtain the target digital twin.

4. The assembly method of the substation secondary system according to claim 1, characterized in that, The step of generating collision-free three-dimensional spatial paths for each electrical connection line based on the wiring table and the target digital twin, using an automatic path planning algorithm, includes: The target digital twin is analyzed to determine the remaining space of the cabinet, and corresponding cable tray models and hub models are added to the remaining space of the cabinet to obtain a corrected digital twin; The improved A-pathfinding algorithm is used to plan the path from the starting device port to the ending device port in the three-dimensional space of the modified digital twin, thereby obtaining the three-dimensional spatial path corresponding to each electrical connection line.

5. The assembly method of the substation secondary system according to claim 4, characterized in that, The cost function of the improved A-pathfinding algorithm includes path length, heuristic function, and bundle optimization term, and the following constraints must be met during the path planning process: obstacle avoidance constraint, bending radius constraint, dependency constraint, and bundle optimization constraint.

6. The assembly method of the substation secondary system according to claim 3, characterized in that, The assembly control instructions generated based on the three-dimensional spatial path and the target digital twin include: Based on the recommended grasping pose attributes, the component grasping pose of the robot to grasp each component on the material shelf is calculated through coordinate transformation; Based on the target digital twin, a collision-free installation trajectory is planned for each component from the gripping position to the installation position; Based on the three-dimensional spatial path, gripping points are determined for each wire harness, and the wire harness wiring process action sequence is determined based on the gripping points. The component grasping pose, the installation trajectory, and the wiring process sequence are compiled into assembly control instructions that the robot controller can directly recognize and execute.

7. The assembly method of the substation secondary system according to any one of claims 1-6, characterized in that, Also includes: Based on the three-dimensional spatial path of all electrical connection paths, a production document for wire harness prefabrication is generated, wherein the production document includes at least one of: a nail board diagram, a wire processing document, and an auxiliary material information statistics table.

8. An assembly system for a substation secondary system, characterized in that, include: A receiving module is used to receive an assembly parameter table of the substation secondary system, wherein the assembly parameter table includes a component table and a wiring table; The first generation module is used to call the corresponding component model from the pre-established component digital model library based on the component list, and automatically assemble the component model into the cabinet model according to the preset layout constraints to generate the target digital twin. The second generation module is used to generate collision-free three-dimensional spatial paths for each electrical connection line based on the wiring table and the target digital twin using an automatic path planning algorithm, and to generate assembly control instructions based on the three-dimensional spatial paths and the target digital twin. An assembly module is used to control a robot to assemble the substation secondary system based on the assembly control commands.

9. A terminal device, characterized in that, include: One or more processors; A memory, coupled to the processor, for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the steps of the substation secondary system assembly method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, include: A stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the steps of the substation secondary system assembly method as described in any one of claims 1-7.

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