Ground tool testing method and apparatus, computer readable storage medium

Abstract

The application provides a ground tool testing method and device and a computer readable storage medium. When it is detected that a ground tool mechanism switches states, torque data and work images in a state switching process of the ground tool mechanism are acquired, the work images at least including images in a rotating operation process of a ground tool testing robot; feature recognition is performed on the work images to determine mechanical feature data of the ground tool testing device; feature recognition is performed on the torque data to determine torque fluctuation feature data; and a state test result of the ground tool testing device is determined according to the torque fluctuation feature data and the mechanical feature data. The accuracy and reliability of the ground tool test result are improved through double criteria.

Description

Technical Field

[0001] This application relates to the field of power equipment testing technology, and in particular to a grounding bar testing method and system, and a computer-readable storage medium. Background Technology

[0002] Substation inspection robots need to have the function of autonomously operating grounding switches (grounding switches). The rotation operation parameters of the grounding switches are the core indicators for measuring the stability and transmission reliability of the robot's grounding switch operation. At present, robot grounding switch operation testing usually relies on manual measurement, which has the problems of low data accuracy and inability to monitor continuously for a long time, resulting in poor reliability of the final test results. Summary of the Invention

[0003] The main objective of this application is to provide a grounding bar testing method and equipment, as well as a computer-readable storage medium, which can improve the accuracy and reliability of grounding bar testing.

[0004] In a first aspect, this application provides a grounding bar testing method applied to a grounding bar testing device. The grounding bar testing device includes a docking assembly, a grounding bar mechanism, and a grounding bar testing robot. The grounding bar mechanism is connected to the grounding bar testing robot via the docking assembly and is used to switch the state of the grounding bar mechanism when the docking assembly detects a rotation operation of the grounding bar testing robot; including: When the ground blade mechanism is detected to be switching states, torque data and working images are acquired during the state switching process of the ground blade mechanism. The working images include at least images of the ground blade test robot performing rotation operations. The mechanical feature data of the ground tool testing equipment are determined by performing feature recognition on the operation image. The torque data is subjected to feature recognition to determine torque fluctuation characteristic data; Based on the torque fluctuation characteristic data and the mechanical characteristic data, the state test results of the ground knife test equipment are determined.

[0005] Secondly, this application provides a grounding bar testing device for testing the state of a grounding bar mechanism, the grounding bar testing device comprising: Image acquisition device, used to acquire working images of the ground knife mechanism when it is switching states; A torque acquisition device is used to acquire torque data of the grounding knife mechanism when it switches states. The docking assembly is connected to the grounding knife mechanism via a transmission; The ground knife testing robot is connected to the docking assembly via a transmission. The state switching of the ground knife mechanism is controlled by rotating the docking assembly. The controller is connected to the image acquisition device and the torque acquisition device, and is used to execute the above-described ground blade testing method.

[0006] Thirdly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the above-described ground knife testing method.

[0007] This application provides a grounding chaff testing method and equipment, and a computer-readable storage medium. The grounding chaff testing method includes: when a grounding chaff mechanism is detected to be switching states, acquiring torque data and operational images during the state switching process, the operational images including at least images of the grounding chaff testing robot performing rotational operations; performing feature recognition on the operational images to determine the mechanical characteristic data of the grounding chaff testing equipment; performing feature recognition on the torque data to determine torque fluctuation characteristic data; and determining the state test result of the grounding chaff testing equipment based on the torque fluctuation characteristic data and the mechanical characteristic data. This allows for dual verification of the grounding chaff testing equipment's state using both torque fluctuation characteristic data and mechanical characteristic data, thereby improving the accuracy and reliability of the grounding chaff state test results and providing reliable support for subsequent fault diagnosis. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a front view of a ground knife testing device provided in an embodiment of this application; Figure 2 This is a left view of a ground knife testing device provided in an embodiment of this application; Figure 3 This is a top view of a ground knife testing device provided in an embodiment of this application; Figure 4 This is a right view of a ground knife testing device provided in an embodiment of this application; Figure 5 This is a three-dimensional structural schematic diagram of a ground knife testing device provided in an embodiment of this application; Figure 6 This is an exploded view of the docking assembly of a grounding bar testing device according to an embodiment of this application; Figure 7 yes Figure 6 A magnified view of the docking component at point A; Figure 8This is an exploded view of the docking assembly of a grounding bar testing device provided in one embodiment of this application; Figure 9 yes Figure 8 A magnified view of the docking component at point B; Figure 10 yes Figure 8 A magnified view of the transmission assembly at point C; Figure 11 This is an exploded view of the first rotating shaft of a ground knife testing device provided in an embodiment of this application; Figure 12 A flowchart illustrating the steps of the ground blade testing method provided in this application embodiment; Figure 13 A flowchart illustrating the steps for determining the mechanical characteristic data of a ground tool testing device provided in this application embodiment; Figure label: 1-Bracket; 2-Matching assembly; 21-Torque input end; 22-Torque output end; 23-Limiting part; 231-First limiting seat; 2311-First limiting block; 2312-First abutting surface; 2313-Second abutting surface; 232-Second limiting seat; 2321-Second limiting block; 3-Transmission assembly; 31-First rotating shaft; 311-First end; 312-Second end; 313-Hexagonal transmission shaft section; 314-Shoulder limiting surface; 315-First shaft section; 316-Second shaft section; 317-Semi-cylindrical overlap 32-Transmission assembly; 321-First rocker arm; 322-Transmission link; 323-Second rocker arm; 324-First pin; 325-Second pin; 33-Fixing collar; 4-Ground knife mechanism; 41-Second rotating shaft; 5-Limiting assembly; 51-First limiting member; 511-First limiting end; 512-Second limiting end; 52-Second limiting member; 521-Third limiting end; 53-Elastic member; 6-First sleeve; 61-Annular protrusion; 7-Torque acquisition device; 8-Image acquisition device; 9-Control assembly. Detailed Implementation

[0010] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. 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.

[0011] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the described order. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0012] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0013] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0014] A grounding switch, or "grounding knife" for short, is a widely used grounding device in power systems. Its main function is to reliably ground and short-circuit the three-phase conductors of a power line during power outage maintenance, thereby releasing residual charge, eliminating induced voltage, and preventing backfeeding, thus providing a safe working environment for maintenance personnel. The grounding knife is typically operated by manually cranking a handle or by using an electric mechanism to rotate its operating shaft by a certain angle to open or close the circuit.

[0015] However, existing grounding tool detection methods still have significant drawbacks. First, manual inspection is risky, as the grounding tool equipment environment is relatively dangerous and unsuitable for long-term manual inspection; furthermore, manual inspection is not very accurate. Second, the evaluation criteria are singular; most solutions only determine "jamming" or "in place" based on whether the peak torque exceeds a preset threshold, making them insensitive to early degradation states such as slight wear and poor lubrication, and unable to predict risks in advance. Third, it is difficult to combine mechanical coordination status for fault tracing; when the grounding tool mechanism malfunctions (such as transmission jamming, excessive meshing clearance, or spring fatigue), the robot can only report "operation failure" but cannot distinguish the source of the malfunction.

[0016] Based on the above-mentioned technical problems, this application proposes a grounding chaff testing method and equipment, and a computer-readable storage medium. The technical solution of this application can combine torque data and working images during the switching process of the grounding chaff mechanism to extract mechanical characteristic data and torque fluctuation data of the grounding chaff testing equipment, and analyze the two together to determine whether there is an abnormal state of the grounding chaff testing equipment.

[0017] Before introducing the method of this application, the specific structure of the ground knife testing device will be described first.

[0018] Please see Figures 1 to 4 This application provides a ground knife testing device for torque testing of a ground knife testing robot, including: a support 1.

[0019] The bracket 1 should be interpreted broadly, referring to any support or base that provides the mounting foundation and spatial positioning for the various components of the device. Its specific form can be a frame, plate, shell, or a support structure composed of multiple parts, as long as it can support the mounting of the docking assembly 2, transmission assembly 3, and grounding switch mechanism 4, and withstand the reaction force generated during torque testing. In a non-limiting example, the bracket 1 can be a rigid frame constructed of profiles, or a semi-enclosed box structure formed by a base plate and side plates. As long as the relative positional accuracy and structural rigidity of the components are guaranteed, it should be considered an equivalent implementation of the bracket 1. The bracket 1 establishes a rigid, dimensionally stable reference platform for the entire grounding switch testing equipment, ensuring that the coaxiality and relative positional relationship between the docking assembly 2, transmission assembly 3, and grounding switch mechanism 4 remain constant, thereby guaranteeing the accuracy of the torque transmission path and the repeatability of the test results, and bearing the ultimate reaction force generated when simulating the impact at the final position of the switch.

[0020] The docking component 2 is mounted on the bracket 1 and includes a torque input end 21 and a torque output end 22. The torque input end 21 is used to provide the ground knife test robot with docking and input rotation torque.

[0021] The docking assembly 2 includes a torque input end 21 for receiving external rotational torque and a torque output end 22 for transmitting torque to subsequent components. The input and output ends can be rotationally coupled or represent the two ends of a single shaft. The non-rotating portion refers to the structural part of the docking assembly 2 that remains stationary relative to the support 1, such as the outer ring of a bearing or a fixed mounting flange. In a non-limiting example, the docking assembly 2 may include an input shaft, an output shaft, and bearing housings supporting them. The input end may be a quick-change flange with keyways, splines, or an interface compatible with the end effector; the output end may be part of a coupling; and its non-rotating portion is the bearing housing or mounting sleeve fixedly connected to the support 1. The docking assembly 2 provides an input interface that directly receives the output torque of the inspection robot's end effector and reliably transmits it to the internal drivetrain. Its non-rotating portion provides an absolutely fixed positioning reference for the limiting part 23, unaffected by the torque input.

[0022] The transmission component 3 is mounted on the bracket 1 and connected to the torque output end 22. The transmission component 3 is used to transmit rotational torque.

[0023] Transmission assembly 3 is an intermediate transmission chain connecting the output end of docking assembly 2 and the grounding tool mechanism 4. Its function is to transmit the rotational torque output by docking assembly 2 to the grounding tool mechanism 4 without loss or in a known proportion. It can be a single rigid shaft or a transmission chain composed of multiple connected parts. In a non-limiting example, transmission assembly 3 can be a direct-drive shaft connecting the output end of docking assembly 2 and the input end of grounding tool mechanism 4 respectively, or it can include a gear pair. The function of transmission assembly 3 is to extend or change the torque transmission path, making the arrangement of grounding tool mechanism 4 more flexible and adapting to the need for a compact structure.

[0024] The grounding mechanism 4 is mounted on the bracket 1 and connected to the transmission assembly 3. The grounding mechanism 4 is used to receive rotational torque so that the grounding mechanism 4 can perform torque testing.

[0025] Specifically, the grounding switch mechanism 4 can be any device capable of receiving rotational torque input and converting it into a readable physical quantity or electrical signal. In a non-limiting example, the grounding switch mechanism 4 can be a resistance strain gauge torque acquisition device 7, a magnetoelastic torque acquisition device 7, or the grounding switch itself. Its input end is connected to the transmission assembly 3 via a coupling, and its housing or stator is fixed to the bracket 1 to achieve torque measurement. Understandably, using the grounding switch itself as the grounding switch mechanism 4 can accurately reproduce the torque signal of the entire operation process of the grounding switch, including the steady-state operating torque and the stall re-convergence torque at the final position, and accurately convert it into data that can be collected and analyzed.

[0026] See Figures 5 to 7 The limiting component 5 includes a first limiting member 51 disposed between the docking component 2 and the transmission component 3. The first limiting member 51 is fixedly connected to the transmission component 3. The docking component 2 is provided with a limiting part 23. The first limiting member 51 has a first limiting end 511 and a second limiting end 512 disposed circumferentially. The first limiting end 511 and the second limiting end 512 are used to selectively abut against the limiting part 23 to limit the rotation angle of the transmission component 3.

[0027] In this embodiment, the first limiting member 51 can rotate together with the transmission assembly 3. The first limiting end 511 and the second limiting end 512 provided on it are two contact surfaces or collision points that are separated along the circumferential direction. The limiting part 23 is provided on the non-rotating part of the docking assembly 2 and can be a stop pin or a limiting boss with a fixed position. For example, the first limiting member 51 is a fan-shaped metal sheet with a central angle of about 270°. Its two straight edges form the first limiting end 511 and the second limiting end 512, respectively, and the circumferential distance between the two limiting ends (i.e., the angle of the fan-shaped notch) is about 90°. It should be noted that the fan-shaped structure and the 270° central angle are only preferred embodiments of this example, and not limiting features. In other embodiments, the first limiting member 51 may also be a C-shaped piece, a rectangular piece, or other irregularly shaped piece formed by partially cutting off a part of the whole ring. The circumferential interval angle between the first limiting end 511 and the second limiting end 512 can be set to 60°, 120°, 180° or other angles according to the actual rotation stroke requirements of the ground knife testing robot.

[0028] See Figure 8 In some embodiments, the transmission assembly 3 includes a first rotating shaft 31 and a transmission assembly 32. The first end 311 of the first rotating shaft 31 is connected to the torque output end 22, and the second end 312 is rotatably connected to the bracket 1. The transmission assembly 32 is disposed between the first rotating shaft 31 and the ground knife mechanism 4 to transmit the rotational torque of the first rotating shaft 31. The first limiting member 51 is fixedly sleeved on the first end 311 of the first rotating shaft 31. In the state where the first rotating shaft 31 drives the first limiting member 51 to rotate, the first limiting end 511 abuts against the limiting part 23.

[0029] In this embodiment, the first rotating shaft 31 is the initial segment of the transmission component 3 that directly receives the output torque of the docking component 2. One end obtains torque from the docking component 2, and the other end transmits the torque to the grounding mechanism 4. Simultaneously, it rotates stably under the support of the bracket 1. Understandably, the first rotating shaft 31 is a rotating shaft, and the first limiting member 51 can be coaxially mounted on the first rotating shaft 31. In a non-limiting example, the first rotating shaft 31 can be a solid or hollow metal stepped shaft, mounted on the bracket 1 via a bearing seat; its connection to the torque output end 22 can be achieved by directly fastening it with a coupling or flange, or by integrating both; its rotational connection to the bracket 1 can be achieved using standard bearings such as deep groove ball bearings or angular contact bearings.

[0030] The transmission component 32 can be any mechanical connection structure capable of continuously transmitting the rotational torque of the first rotating shaft 31 to the grounding mechanism 4. In a non-limiting example, the transmission component 32 can be a flexible coupling, a gear pair, or a timing belt. Its specific selection depends on requirements such as torque range.

[0031] The first limiting member 51 is sleeved on the shaft through the central hole and is fastened to the shaft as a whole, with no relative displacement in the rotational direction. The first end 311 specifically refers to the end of the first rotating shaft 31 that is connected to the torque output end 22 of the docking assembly 2, that is, the starting end of torque transmission. In a non-limiting example, the first limiting member 51 is circumferentially fixed to the first rotating shaft 31 by a flat key or spline, and axially fixed by a shaft shoulder and a lock nut; it can also be connected by an expansion sleeve or directly welded to the shaft and integrally machined.

[0032] In some embodiments, see Figure 10 The transmission assembly 32 includes a first rocker arm 321, a transmission link 322, and a second rocker arm 323.

[0033] The ground knife mechanism 4 includes a second rotating shaft 41, which is arranged perpendicular to the first rotating shaft 31 in space.

[0034] One end of the first rocker arm 321 is fixedly sleeved on the first rotating shaft 31, and the other end is hinged to one end of the transmission link 322 through the first pin 324; the other end of the transmission link 322 is hinged to one end of the second rocker arm 323 through the second pin 325, and the other end of the second rocker arm 323 is fixedly sleeved on the second rotating shaft 41 in the ground knife mechanism 4.

[0035] In this embodiment, the first rocker arm 321, the transmission link 322, and the second rocker arm 323 together constitute a spatial linkage mechanism, which converts the rotational motion of the first rotating shaft 31 into the rotational motion of the second rotating shaft 41. The first rocker arm 321 acts as a drive crank, fixed to the first rotating shaft 31 and swinging with it. The transmission link 322 serves as an intermediate connector, transmitting the swinging motion of the first rocker arm 321 to the second rocker arm 323. The second rocker arm 323 acts as a driven rocker arm, converting the motion of the transmission link 322 into the rotation of the second rotating shaft 41. The three components are hinged together by a pin, forming a movable joint connection. In a non-limiting example, the first rocker arm 321 and the second rocker arm 323 can be plate-shaped, block-shaped, or rod-shaped metal structural components, which can be fixed to the rotating shaft by means of key connection, expansion sleeve, or set screw fastening. The transmission connecting rod 322 can be a rod with spherical bearings at both ends, or directly connected to the rocker arm through pin holes. The first pin 324 and the second pin 325 can be standard cylindrical pins or stepped pins, and are used with snap rings or cotter pins for axial limiting. When the first rotating shaft 31 rotates in a certain plane, the second rotating shaft 41 can be driven to rotate synchronously in a plane perpendicular to it through this mechanism. The structure is simple, the processing cost is low, and the pin hinge can adapt to certain installation errors through clearance fit, reducing the assembly accuracy requirements.

[0036] For example, the grounding switch mechanism 4 is a real grounding switch, and the operating shaft of the grounding switch is the second rotating shaft 41. By rotating the second rotating shaft 41, the opening and closing state of the grounding switch is controlled. During testing, the grounding switch testing robot is connected to the docking assembly 2 and outputs torque to drive the first rotating shaft 31 to rotate. Through the first rocker arm 321, the second rocker arm 323, and the transmission link 322, the rotation of the first rotating shaft 31 is converted into the rotation of the second rotating shaft 41. The second rotating shaft 41 drives the switch to rotate. If the grounding switch can switch between the open and closed states, the torque output by the grounding switch testing robot meets the torque required for the rotation of the grounding switch, and the torque test is qualified.

[0037] See Figure 9 In some embodiments, the limiting part 23 includes a first limiting seat 231, which is located on one side of the first limiting member 51. The first limiting seat 231 extends along the axis of the first rotating shaft 31 toward the first limiting member 51 to form a first limiting block 2311. The first limiting block 2311 has a first abutting surface 2312 and a second abutting surface 2313. In the state where the first rotating shaft 31 drives the first limiting member 51 to rotate, the first limiting end 511 abuts against the first abutting surface 2312, or the second limiting end 512 abuts against the second abutting surface 2313.

[0038] In this embodiment, the first limiting seat 231 is the main body of the limiting part 23, and is an independent structure fixed to the non-rotating part of the docking assembly 2. It is fixed to stationary parts such as the bracket 1 or the outer shell of the docking assembly 2, and does not rotate or displace itself. In a non-limiting example, the first limiting seat 231 can be an independent metal block, fastened to the bearing seat end face of the docking assembly 2 by bolts; it can also be a boss structure integrally cast with the bearing seat; or it can be a support member cut from a profile and welded to the bracket 1. Its specific shape can be square, cylindrical or irregular, as long as it can provide stable support for the first limiting block 2311.

[0039] Specifically, the first limiting block 2311 is a structure that protrudes outward from a certain surface of the first limiting seat 231. The two are integrally formed or fixedly connected, and the extension direction of the first limiting block 2311 points towards the location of the first limiting member 51, allowing it to enter the movement trajectory range of the first limiting member 51. In a non-limiting example, the first limiting block 2311 can be a boss protruding from the side of the first limiting seat 231 facing the first limiting member 51, or it can be a hole drilled in the first limiting seat 231 and a cylindrical pin or stepped pin pressed in, with the exposed part of the pin being the first limiting block 2311. The first limiting block 2311 extends towards the first limiting member 51 so that it can extend into the rotation plane of the rotating side of the first limiting member 51, achieving spatial overlap.

[0040] The first abutment surface 2312 and the second abutment surface 2313 are two working surfaces on the first limiting block 2311 used to contact and collide with the first limiting member 51. In a non-limiting example, the first limiting block 2311 can be a protrusion with a rectangular cross-section, the two planes on its two sides forming the first abutment surface 2312 and the second abutment surface 2313 respectively; or it can be the outer cylindrical surface of a cylindrical pin, the two arc surfaces that contact the first limiting end 511 and the second limiting end 512 are respectively regarded as the two abutment surfaces.

[0041] For example, the grounding switch mechanism 4 is a grounding switch. It is understood that when the grounding switch is in the open and closed positions, continuing to rotate the first rotating shaft 31 will not drive the second rotating shaft 41 to rotate, but the torque on the first rotating shaft 31 will continue to increase, making the measurement inaccurate. Therefore, when the grounding switch is in the closed position, the first limiting end 511 of the first limiting member 51 abuts against the first abutting surface 2312 of the first limiting block 2311 to prevent the first rotating shaft 31 from continuing to rotate; similarly, when the grounding switch is in the open position, the second limiting end 512 of the first limiting member 51 abuts against the second abutting surface 2313 of the first limiting block 2311.

[0042] See Figure 9 In some embodiments, the limiting component 5 further includes a second limiting member 52, and the limiting part 23 further includes a second limiting seat 232.

[0043] The second limiting member 52 is located between the first limiting member 51 and the transmission assembly 3, and is fixedly sleeved on the first rotating shaft 31. The outer periphery of the second limiting member 52 extends outward along the radial direction of the rotating shaft to form a third limiting end 521.

[0044] The second limiting seat 232 is provided with a second limiting block 2321, and an elastic element 53 is provided between the second limiting seat 232 and the first limiting seat 231. The second limiting seat 232 can slide relative to the first limiting seat 231 to switch between the first position and the second position.

[0045] When the second limiting seat 232 is in the first position, the second limiting block 2321 abuts against the third limiting end 521 to prevent the first rotating shaft 31 from rotating; when the second limiting seat 232 is in the second position, the second limiting block 2321 avoids the third limiting end 521 to allow the first rotating shaft 31 to rotate, and the elastic member 53 is used to provide the second limiting seat 232 with an elastic restoring force to reset it to the first position.

[0046] In this embodiment, in a non-limiting example, the second limiting member 52 can be fixedly sleeved on the first rotating shaft 31 parallel to and spaced apart from the first limiting member 51. The second limiting member 52 can be integrally formed with the first rotating shaft 31, or it can be separately formed and fixed by the same keyway or pin. The third limiting end 521 is a tooth, protrusion, or step formed by radially extending the outer edge of the disc-shaped second limiting member 52. The circumferential position of the third limiting end 521 can be offset from the first limiting end 511 and the second limiting end 512 by a set angle, so as not to interfere with the abutment and cooperation between the first limiting end 511 and the second limiting end 512 and the first limiting block 2311.

[0047] The second limiting seat 232 is a movable limiting base that supports the second limiting block 2321 and can slide relative to the stationary first limiting seat 231 between a first position (limiting effective position) and a second position (avoidance position). The elastic element 53 provided between the second limiting seat 232 and the first limiting seat 231 can be a return spring, continuously applying a pushing force towards the first position to the second limiting seat 232, causing it to automatically reset after the external intervention force disappears. In a non-limiting example, the second limiting seat 232 can be mounted on the first limiting seat 231 or the bracket 1 via a slide rail, guide pin, or linear bearing to achieve linear sliding. The elastic element 53 can be a compression coil spring, a disc spring, or an elastic rubber block. The second limiting block 2321 can be a pin or boss protruding from the second limiting seat 232 towards the second limiting element 52.

[0048] The first position is the normal position of the second limiting seat 232. At this time, the second limiting block 2321 abuts against the third limiting end 521, and the first rotating shaft 31 is locked and cannot rotate. The second position is the manually pushed-away position. At this time, the second limiting seat 232 slides against the elastic force, the second limiting block 2321 avoids the third limiting end 521, and the first rotating shaft 31 is released, allowing free rotation for docking.

[0049] During the docking phase before testing, the operator can manually push the second limiting seat 232 from the first position to the second position, causing the second limiting block 2321 to move away from its blocking position, thereby exposing the first rotating shaft 31 and its docking interface, providing unobstructed operating space for the installation and docking of the inspection robot's end effector. After the test, when the inspection robot's end effector exits the docking assembly 2, the elastic element 53 automatically pushes the second limiting seat 232 back to the first position, locking the first rotating shaft 31. This prevents the transmission assembly 3 and the ground knife mechanism 4 from rotating freely due to external interference when the inspection robot moves or is accidentally collided with.

[0050] See Figure 5In one embodiment, the device further includes a first sleeve 6 and a torque acquisition device 7. The first sleeve 6 is fixedly sleeved on the first end 311 of the first rotating shaft 31. The outer peripheral surface of the first sleeve 6 extends radially outward along the first rotating shaft 31 to form an annular protrusion 61. The torque acquisition device 7 is fixedly disposed on the annular protrusion 61 and is used to acquire dynamic torque data of the first rotating shaft 31 in real time.

[0051] In this embodiment, the first sleeve 6 is a bushing-shaped part fixedly sleeved on the first end 311 of the first rotating shaft 31. It can be understood as an adapter or fitting ring for sensor mounting and can rotate synchronously with the first rotating shaft 31. In a non-limiting example, the first sleeve 6 can be fixedly sleeved on the first rotating shaft 31 by means of key connection, expansion sleeve, or interference fit; its material can be the same as or different from the shaft, for example, aluminum alloy can be used to reduce weight, or alloy steel can be used to increase rigidity. The torque acquisition device 7 is installed on the first sleeve 6 to facilitate the disassembly, assembly, and maintenance of the sensor.

[0052] The annular protrusion 61 is a ring-shaped structure protruding outward from the outer circumference of the first sleeve 6, which can be understood as a flange or flange. It provides a circumferentially uniform mounting plane or attachment surface for the torque acquisition device 7. In a non-limiting example, the annular protrusion 61 can be integrally machined with the first sleeve 6, for example, by turning an annular step; or it can be a separate part, fixed to the first sleeve 6 by welding or threaded connection. Its cross-sectional shape can be rectangular, trapezoidal, or other shapes suitable for attaching strain gauges or mounting sensing elements. It provides an ideal measurement location for the installation of surface-mounted or embedded torque acquisition devices 7.

[0053] The torque acquisition device 7 can be a resistance strain gauge, which is directly attached to the outer cylindrical surface or end face of the annular protrusion 61; or it can be a torque sensing module using wireless transmission, which is fastened to the protrusion by bolts or clamps.

[0054] See Figure 7 In some embodiments, the first end 311 of the first rotating shaft 31 is coaxially provided with a hexagonal drive shaft section 313, which at least partially extends into the docking assembly 2 for docking of the ground knife test robot; a shoulder limiting surface 314 is formed between the hexagonal drive shaft section 313 and the first rotating shaft 31, and the first limiting member 51 abuts against the shoulder limiting surface 314 in the axial direction.

[0055] In this embodiment, the hexagonal drive shaft segment 313 is a section of the shaft body machined into a hexagonal cross-section on the first end 311 of the first rotating shaft 31, which can be understood as a standardized external hexagonal drive interface. The hexagonal drive shaft, through its hexagonal geometry, forms a form-locking connection with the corresponding internal hexagonal interface of the ground tool testing robot, achieving torque transmission without relative slippage. The hexagonal drive shaft segment 313 is inserted axially into the inner cavity or docking hole of the docking assembly 2 to provide sufficient engagement depth. In a non-limiting example, the cross-section of the hexagonal drive shaft segment 313 can be a standard hexagon, and its dimensions can be designed with reference to national standards or industry-standard hexagonal sleeve dimensions; this shaft segment can be integrally machined with the first rotating shaft 31, or it can be a separate part fixed to the shaft end by welding or threaded connection. Its length extending into the docking assembly 2 can be determined according to the magnitude of the transmitted torque and the docking reliability requirements.

[0056] Since the operating mechanism of the grounding switch typically has an exposed square or hexagonal operating end, the hexagonal shaft segment in this solution is geometrically equivalent to it. The end effector of the inspection robot only needs to carry a matching internal hexagonal sleeve to complete the docking. This form-locking connection method requires no additional fasteners or tools, and the docking and disengagement actions are simple, making it particularly suitable for the needs of automated or semi-automated robot operations.

[0057] The shoulder limiting surface 314 is an annular stepped surface formed on the first rotating shaft 31 due to the diameter change of the hexagonal transmission shaft section 313, located between the hexagonal transmission shaft section 313 and the main body of the first rotating shaft 31. It is a plane perpendicular to the axis, serving as a reference surface and stop surface for the axial installation of the first limiting member 51. One end face of the first limiting member 51 is tightly fitted with the shoulder limiting surface 314. The abutment relationship can be achieved by applying an axial preload to the shaft, for example, by using a lock nut, snap ring, or spacer to press on the other side of the first limiting member 51, clamping the first limiting member 51 between the shoulder limiting surface 314 and the locking member. Alternatively, a heat-fit or transition fit can be used to allow the first limiting member 51 to naturally abut against the shoulder.

[0058] See Figure 11 In some embodiments, the first rotating shaft 31 includes a first shaft segment 315 and a second shaft segment 316 that are coaxially connected. One end of the first shaft segment 315 extends into the docking assembly 2. The docking ends of the first shaft segment 315 and the docking ends of the second shaft segment 316 are provided with semi-cylindrical overlapping portions 317 that cooperate with each other. The other end of the second shaft segment 316 is rotatably connected to the bracket 1.

[0059] The fixing collar 33 is fixedly sleeved on the outer closing part of the two semi-cylindrical overlapping parts 317 to realize coaxial torque transmission between the first shaft segment 315 and the second shaft segment 316.

[0060] In this embodiment, the first rotating shaft 31 is axially divided into two independent segments: a first shaft segment 315 and a second shaft segment 316. These two segments are coaxially connected to form a complete torque transmission main shaft. The first shaft segment 315 is responsible for docking with the docking assembly 2 and the grounding knife testing robot; the second shaft segment 316 is responsible for rotatably connecting with the bracket 1 and outputting torque to the subsequent transmission assembly 3. The first shaft segment 315 and the second shaft segment 316 can be made of the same or different materials, and their diameters can be the same or different, depending on structural requirements. When the first shaft segment 315 needs to be replaced due to long-term docking wear, it can be disassembled separately without disassembling the second shaft segment 316 and the transmission assembly 3 and the grounding knife mechanism 4 connected to it, making maintenance more convenient and efficient.

[0061] The mating ends of the first shaft segment 315 and the second shaft segment 316 are each machined into approximately semi-cylindrical shapes, which, when joined together, form a complete cylinder. When the two shaft segments are joined, the cylindrical surfaces of the semi-cylindrical overlaps naturally guide each other to achieve radial alignment, reducing the difficulty of coaxiality adjustment during assembly, making it particularly suitable for testing scenarios requiring frequent disassembly and assembly. A fixing collar 33 is fitted around the outer closure of the two semi-cylindrical overlaps 317, radially tightening the two semi-cylindrical overlaps to prevent radial separation or loosening under stress, thus ensuring the reliability of the overlap. The fixing collar 33 can be a single circular ring, pressed in via heat fitting or interference fit; it can also be an open ring structure, radially clamped by bolts; or it can be a locking sleeve with an inner conical surface, which, through mating with the outer conical surface, achieves axial compression and radial contraction.

[0062] See Figure 1 In some embodiments, it also includes: an image acquisition device 8, mounted on the bracket 1 and located close to the docking assembly 2, for monitoring the docking and testing process.

[0063] The control component 9 is mounted on the bracket 1 and electrically connected to the torque acquisition device 7, and is used to acquire and process the torque data of the torque acquisition device 7.

[0064] In this embodiment, the image acquisition device 8 captures images or videos of the interface and surrounding area of ​​the docking component 2 in real time, obtaining a clear and unobstructed viewing angle, and transmits the images to an external display device or control component 9. The image acquisition device 8 can be an industrial CMOS camera, a CCD camera, or a smart camera module with integrated lighting. It can be installed at a specific position on the bracket 1 using a universal bracket, fixed support, or quick-release plate, and its angle can be adjusted to align with the docking area of ​​the docking component 2 and the end effector of the inspection robot. The camera group provides real-time visual feedback for remote or automated torque testing. Simultaneously, during the test, the camera can record key events such as the rotation angle state and limit action moments of the inspection robot's end effector, providing synchronous image references for subsequent test result analysis.

[0065] The control component 9 receives the raw signal output from the torque acquisition device 7, amplifies, filters, performs analog-to-digital conversion, and performs computational processing to ultimately generate torque data that can be displayed, stored, or transmitted. The control component 9 can be an embedded motherboard (such as an ARM or DSP core board) equipped with signal conditioning circuitry, an A / D conversion module, and a communication interface; or it can be a compact data acquisition unit supporting communication protocols such as Wi-Fi, Bluetooth, or CAN bus, uploading the processed data to a host computer or robot control system. Its installation location should be close to the torque acquisition device 7 to shorten the analog signal transmission distance and reduce interference.

[0066] In summary, this application provides a grounding switch testing device for testing the torque of an end effector of an inspection robot, which is used to operate a grounding switch in a power system. The device includes a bracket 1, a docking assembly 2, a transmission assembly 3, a grounding switch mechanism 4, and a limiting assembly 5.

[0067] The bracket 1 serves as a load-bearing base, providing a stable installation reference for all components. The docking assembly 2, mounted on the bracket 1, includes a torque input end 21 and a torque output end 22. The input end uses a square-hole sleeve (or a hexagonal hole, spline, or flange structure) adapted to the output shaft of the end effector for quick docking and input of rotational torque; the output end transmits the torque backward. The transmission assembly 3 acts as a torque transferor, transmitting the rotational torque to the grounding switch mechanism 4, while its rotational motion provides an angle limit basis for the limiting assembly 5. The grounding switch mechanism 4 uses a torque acquisition device 7, in conjunction with a simulated grounding switch structure as a load simulation device, to receive the rotational torque and measure and display the torque value in real time.

[0068] A limiting component 5 is a first limiting member 51 located between the docking component 2 and the transmission component 3. The first limiting member 51 is fixedly connected to the first rotating shaft 31 and rotates synchronously with it. A limiting part 23 is provided on the non-rotating part of the docking component 2. The first limiting member 51 has a first limiting end 511 and a second limiting end 512 arranged circumferentially, which selectively abut against the limiting part 23 to limit the rotation angle of the transmission component 3. In this embodiment, the first limiting member 51 is a fan-shaped metal sheet with a central angle of approximately 270°. The two limiting ends are circumferentially spaced at approximately 90°, matching the typical operating angle of the grounding switch. This angle can be flexibly adjusted according to the requirements of different models of switches.

[0069] During testing, the output square shaft of the end effector is inserted into the docking assembly 2, and real-time measurement is performed via the torque acquisition device 7. When the torque is rotated to a set angle, the corresponding limit end of the first limit member 51 and the limit part 23 form a limit, preventing further rotation. This prevents overload damage to the torque acquisition device 7, and at the same time, the bidirectional limit meets the reciprocating operation test requirements, making the test process closer to the actual opening and closing conditions.

[0070] Based on the above-mentioned grounding device, this embodiment provides a grounding device testing method. Please refer to [link / reference]. Figure 12 The details are as follows: S101. When the ground knife mechanism is detected to be switching states, torque data and working images are acquired during the state switching process of the ground knife mechanism. The working images include at least images of the ground knife test robot performing rotation operations.

[0071] It should be noted that the term "grounding switch testing robot" refers to the object being tested, i.e., the device whose output torque needs to be measured and verified by grounding switch testing equipment. Specifically, it refers to the end effector on an inspection robot used to operate the power system grounding switch, or its integrated rotary drive module. The grounding switch testing robot can be a rotary joint of an inspection robot, an end effector mechanism, a servo drive unit with torque control function, or any rotary power output device that requires precise calibration of its output torque. Their common feature is that they possess an output interface that matches the docking component 2 of the grounding switch testing equipment. The following explanation uses the actuator on an inspection robot used to operate the power system grounding switch as an example.

[0072] Specifically, the torque sensing module, image acquisition device 8, and controller are connected for communication. The zero point of the torque acquisition device 7 is calibrated, and the camera's focal length and shooting angle are adjusted. When testing is required, the robot's ground blade rotation mechanism is aligned with and inserted into the docking component 2 of the test equipment, and a preset rotation operation is performed to switch the state of the ground blade mechanism 4. At the same time, the image acquisition device 8 acquires images of the target area to obtain the working image, and the torque acquisition device 7 acquires the torque of the docking component 2 to obtain torque data.

[0073] The state switching includes closing and opening the grounding switch mechanism 4.

[0074] Among them, the torque data is a continuous curve of the rotation angle or operation time of the ground knife test robot on the docking component 2. The torque data can reflect whether there is a mechanical state such as jamming, foreign objects or contact disconnection in the transmission of the ground knife test equipment. The target area includes the actuator of the ground tool testing robot, the interface of docking component 2, and the transmission component 3. The operational images can reflect the appearance characteristics of the ground tool testing equipment, such as interface fit, mechanical wear, and rotation angle. The operational images can serve as a second independent test basis for torque data, increasing the accuracy and reliability of the ground tool testing.

[0075] For example, the operation images may include single frames or consecutive frames of the ground knife test robot performing the rotation operation. Specifically, the images need to completely cover the docking component 2 and the robot's execution end, such as the robotic arm or dedicated docking interface, so as to clearly record whether the robot's execution end is accurately inserted into the docking component 2, whether the rotation action is smooth, and whether the rotation direction is correct.

[0076] For example, in order to adapt to the dim working environment of the floor knife cabinet, supplementary lights can be added to record the operation process more clearly, which will facilitate the subsequent identification of the mechanical coordination status and improve the accuracy of judging abnormal conditions such as the degree of wear on the mechanical surface.

[0077] S102. Perform feature recognition on the operation image to determine the mechanical feature data of the ground tool testing equipment.

[0078] Specifically, feature recognition is performed on the operation images to extract quantifiable information such as the equipment operation status, structural form, and motion trajectory of the ground tool testing equipment, forming mechanical feature data that can be used for analysis and judgment.

[0079] Please see Figure 13 This includes steps S1021 to S1023.

[0080] S1021. Perform target detection processing on the work image to determine the target object in the work image.

[0081] Specifically, a target detection algorithm is used to locate and identify components related to the ground knife test in the operation image, and the components are identified as target objects. The target objects include at least docking component 2 in docking component 2 and the execution end of the ground knife test robot. The image including the above-mentioned target objects can show the docking status, rotation angle, etc. between the ground knife test robot and docking component 2, and can also intuitively show the surface wear status of the target objects.

[0082] For example, object detection processing can employ deep learning-based object detection algorithms, such as convolutional neural network models like YOLO, Faster R-CNN, or SSD. These models have dedicated datasets that include the contours, feature points, and corresponding labels of various target objects, such as labeling the operating port as "port" and the robot's gripper as "gripper." The model is trained based on the actual detection environment of the ground tool. The trained model is then used to process the work image, outputting the category of each detected target object and its specific coordinates in the image. This transforms the image content into structured target information for subsequent analysis.

[0083] S1022. Extract features from the target object in the work image to obtain the appearance features of the target object.

[0084] Specifically, after locating the target object in the work image, the appearance features are quantitatively calculated from the image region of the target object through image processing, which is used for operation status judgment and fault diagnosis.

[0085] In some embodiments, image detection is performed on the work image to identify the contour information and texture information of the target object; based on the contour information and texture information of the target object, at least one of the surface state, the docking gap, and the rotation angle is determined.

[0086] Specifically, the pixel information in the image is converted into geometric and optical parameters, and the geometric and optical parameters are processed to obtain the contour information and texture information of the target object; the feature points of the target object are determined based on the contour information of the target object, and the docking gap and rotation angle are determined through the geometric relationship between the feature points; the surface state of the target object is determined based on the texture information of the target object.

[0087] Specifically, the coordinates of the feature points corresponding to the two target objects are extracted from the contour information, the pixel distance between the coordinates of the two feature points is calculated, and the physical size is converted according to the camera calibration parameters to determine the docking gap between the two target objects; the geometric axis is fitted based on the contour information, and the rotation angle of the two target objects is determined by calculating the angle between the axes corresponding to the two target objects; the contrast and gray-scale distribution features of the pixels are extracted from the texture information, and the surface state is determined based on the contrast and gray-scale distribution features.

[0088] For example, edge detection identifies the contour information of the target object, and the pixel gray-level gradient change is calculated to lock the boundary position where the gray level changes drastically in the image, thereby outlining the contour line of the target object. After morphological processing (such as dilation, erosion, and connected component analysis), these contour lines form closed and complete boundaries, providing accurate geometric references for subsequent measurements. On this basis, corner detection algorithms can locate geometrically significant feature points on the contour lines, such as the vertices of docking component 2 and the execution tip of the ground knife testing robot.

[0089] For example, the surface condition can be obtained by statistically analyzing the distribution pattern and frequency of change of pixel grayscale values ​​in local areas of an image, reflecting surface roughness, scratch density, or degree of corrosion. For instance, the metal surface of a normal docking component 2 exhibits a uniform grayscale distribution in the image, with a low contrast value; if its surface is corroded, its grayscale characteristics will appear darker and multi-peaked, with an increased contrast value.

[0090] S1023. Compare the appearance features with preset features, and determine the mechanical feature data of the ground knife testing equipment based on the comparison results.

[0091] Specifically, the extracted appearance features are compared with pre-set standard reference values ​​by difference calculation or similarity assessment to obtain the degree of deviation, which is used to measure whether the operating status of the ground knife testing robot and the ground knife testing equipment meets the requirements for normal safe operation.

[0092] In some embodiments, the surface damage degree of the target object is calculated based on the surface state and a preset surface state; the docking position deviation between the docking component 2 in the ground knife mechanism 4 and the ground knife testing robot is calculated based on the docking gap and a preset gap threshold; the angular deviation between the docking component 2 in the ground knife mechanism 4 and the ground knife testing robot is calculated based on the rotation angle and a preset angle threshold; at least one of the surface damage degree, docking position deviation, and angular deviation is used as the mechanical feature data.

[0093] Specifically, surface damage refers to the assessment result of the degree of damage to the surface of a target object, such as rust, scratches, and foreign matter adhesion, based on extracted texture information and grayscale statistical features. Quantitative parameters characterizing the surface state are obtained based on the texture information of the target object, including grayscale histogram distribution, contrast, homogeneity, and other indicators calculated from the grayscale co-occurrence matrix.

[0094] Specifically, the grayscale histogram of the current target area is compared with the pre-established standard grayscale histogram of a normal surface. A higher similarity indicates a surface condition closer to normal, while a similarity closer to 0 indicates a greater difference between the surface and the standard condition. Simultaneously, the contrast value of the current area is compared with a preset contrast threshold. A higher contrast value indicates more drastic changes in surface grayscale, reflecting more surface roughness or defects. Combining the grayscale histogram similarity and contrast deviation, the surface damage degree is calculated using a weighted average.

[0095] Specifically, the docking position deviation refers to the alignment accuracy deviation between the execution end of the ground knife test robot and the docking component 2 in the horizontal or vertical direction, which is calculated based on the coordinate values ​​of the corner points and edge feature points extracted from the contour information.

[0096] For example, by obtaining the vertex coordinates of the left and right edges of two target objects, and calculating the left and right gaps based on these coordinates, the docking position deviation is the absolute value of the difference between the average gap on both sides and the standard value. Similarly, the docking position deviation in any direction can be calculated, and the final docking position deviation value can be the maximum value in all directions.

[0097] Specifically, angular deviation refers to the degree of torsion or deflection between the operating axes, calculated based on the direction angle of the geometric axes fitted from the contour. A straight line representing the operating axis is fitted based on the contour information, the tilt angle of the line in the image coordinate system is calculated, and the absolute value of the difference between the tilt angles of the two lines is calculated; this absolute value represents the angular deviation.

[0098] In summary, at least one of the calculated surface damage degree, docking position deviation, and angular deviation is output as mechanical characteristic data for subsequent test result determination and fault diagnosis. These three types of data quantitatively describe whether the current operating conditions meet safety requirements from the perspectives of the target object's physical state and attitude accuracy, providing a comprehensive and accurate basis for system decision-making.

[0099] In some embodiments, target detection processing is performed on the work image and the adjacent frame image to determine the target object in the work image and the adjacent frame image; feature extraction is performed on the target object in the work image and the adjacent frame image to obtain the transmission feature of the target object, and the transmission feature is used as the mechanical feature data.

[0100] Specifically, feature points of the ground-operated test robot or docking component 2 are identified as preset marker points. By comparing the preset marker points in adjacent frames for displacement analysis, motion stability indicators such as rotational angular velocity and angular acceleration can be calculated. Comparing these data with preset motion thresholds can determine whether there are abnormal states such as jitter, pauses, or abnormal speeds during operation. The target object is the ground-operated test robot or docking component 2, and the motion stability indicators are used to represent the transmission characteristics of the target object.

[0101] For example, preset markers that can be visually stable and identified are pre-set on the surface of these target objects. These markers can be coated reflective patches, screw caps, intersections of scribing lines, or natural feature points automatically extracted by corner detection algorithms.

[0102] For example, during the test, the camera continuously acquires a sequence of images of the operation. The target region containing the aforementioned preset marker points is located in each frame of the image using a target detection algorithm. Based on this, the pixel coordinates of these marker points in the image coordinate system are further extracted precisely. The pixel displacement of the same marker point in adjacent frames is quantitatively calculated, and the rotational angular velocity is derived by combining the shooting time interval. The angular velocity is calculated frame by frame to obtain the angular velocity change curve over time and the angular acceleration curve, which are used to characterize the degree of torque change during rotation. The curves are compared with a preset motion threshold to determine whether there are any abnormalities in the operation process.

[0103] The motion stability indicators include: whether the angular velocity curve has a peak exceeding the preset upper limit (corresponding to sudden jamming during operation), whether the angular velocity curve has a continuous zero value range (corresponding to pauses in the middle of operation), and whether the angular velocity curve has unexpected large fluctuations (corresponding to the shaking of docking component 2), etc.

[0104] S103. Perform feature recognition on the torque data to determine torque fluctuation feature data.

[0105] In some embodiments, at least one of the peak torque, average torque, and torque fluctuation amplitude is determined based on the torque data, and the peak torque, average torque, and torque fluctuation amplitude are used as the torque fluctuation characteristic data.

[0106] Specifically, the acquired torque data is a curve showing the change of torque over time. The peak torque, average torque, and torque fluctuation amplitude can be extracted from the curve. The torque data originates from the torque acquisition device 7 on the grounding tool testing equipment. As the shaft rotates, when the drive shaft receives a torque from the docking assembly 2, this torque causes deformation of the shaft. After being converted by sensor signals, the raw torque data is generated.

[0107] Among them, the peak torque is the maximum value among the local maxima reached by the torque value during the entire operation process. It reflects the maximum resistance that the grounding knife mechanism 4 bears during the operation process. It usually corresponds to the critical position where the contact just makes contact or there are jammed foreign objects, and can realize early warning of jamming faults.

[0108] The average torque value is the arithmetic mean of the torque values ​​within the effective range. It reflects the average resistance level of the grounding mechanism 4 during this operating stroke and can monitor the lubrication status of the grounding drive and assess long-term wear.

[0109] Torque fluctuation amplitude refers to the maximum deviation of the torque value from its mean during the entire operation process. It is taken as half the difference between the maximum and minimum values ​​of the torque-time series within the effective range. It reflects the smoothness of the rotational resistance of the grounding mechanism 4. This indicator can be used to diagnose mechanical defects in the transmission, such as poor gear meshing, excessive clearance, and tooth surface wear.

[0110] In summary, combining these three parameters can effectively pinpoint the root cause of a fault. For example, when both the peak torque and torque fluctuation amplitude exceed the standard, while the average torque is normal, localized jamming can be identified as the cause of the fault. Multi-dimensional analysis can enhance the ability to distinguish fault types, thereby improving the reliability of the test results.

[0111] For example, to further improve the accuracy of test results, a preprocessing step is included before feature recognition. Since the raw torque signal inevitably contains high-frequency noise (such as servo motor PWM modulation noise, vibration interference, electromagnetic interference, etc.) and possible outliers, data denoising and preprocessing must be performed first. The preprocessing step can use filtering to smooth the raw signal and suppress the influence of random noise.

[0112] For example, to further improve the accuracy of the test results, a low-pass filter can be used to remove high-frequency components while retaining low-frequency components that reflect the mechanical transmission characteristics. After preprocessing, the following three types of characteristic parameters can be extracted from the clean and effective torque-time series data: peak torque, mean torque, and torque fluctuation amplitude.

[0113] S104. Determine the state test results of the grounding bar test equipment based on the torque fluctuation characteristic data and the mechanical characteristic data.

[0114] Specifically, by combining torque fluctuation characteristic data and mechanical characteristic data, the accuracy and reliability of the final test results are increased, providing reliable support for subsequent fault location and diagnostic analysis, while reducing the complexity of manual testing.

[0115] In some embodiments, the torque fluctuation characteristic data is compared with a first determination threshold to obtain a first determination result; the mechanical characteristic data is compared with a second determination threshold to obtain a second determination result; and the state test result of the grounding bar test equipment is determined based on the first determination result and the second determination result.

[0116] Specifically, the first judgment threshold is an evaluation standard set for torque fluctuation characteristic data, which includes three sub-thresholds: the upper limit of peak torque, exceeding which indicates that the grounding mechanism 4 has serious jamming or foreign object obstruction; the upper limit of average torque, exceeding which indicates that the overall lubrication condition has deteriorated or that the transmission chain has continuous abnormal resistance; and the upper limit of torque fluctuation amplitude, exceeding which indicates that the transmission system has micro-defects such as clearance wear and uneven tooth surface.

[0117] Specifically, the second judgment threshold is an evaluation standard set for mechanical feature data, which also includes several sub-thresholds: the upper limit of surface damage, which indicates that there is rust, scratches or foreign matter attached to the surface of the target object; the upper limit of docking position deviation, which indicates that the alignment accuracy between the ground knife test robot and the docking component 2 is insufficient, and there is a risk of insertion jamming or poor meshing; and the upper limit of angle deviation, which indicates that there is torsion in the rotational attitude between the ground knife test robot and the docking component 2.

[0118] Specifically, the extracted torque fluctuation feature data and mechanical feature data after preprocessing are compared with their respective preset upper limits. If the current value is greater than or equal to the upper limit, the item is deemed unqualified; if it is less than the upper limit, the item is deemed qualified.

[0119] For example, the second determination threshold also includes an upper limit for angular velocity fluctuation and an upper limit for the pause time of the ground knife rotation.

[0120] Specifically, the first and second judgment results are divided into "qualified" and "unqualified". If all the sub-items under the first or second judgment result are "qualified", then the first or second judgment result is determined to be "qualified". Otherwise, it is marked as "unqualified" and the unqualified sub-items are marked.

[0121] In some embodiments, if the first determination result and the second determination result meet the preset conditions, the status test result of the grounding bar test device is determined to be in a normal state; if the first determination result and the second determination result do not meet the preset conditions, the status test result of the grounding bar test device is determined to be in an abnormal state.

[0122] Specifically, the final status test result is determined by the first judgment result and the second judgment result. Only when both the first judgment result and the second judgment result are "qualified" will the status test result of the grounding knife test equipment be finally determined as "test passed"; if either result is "unqualified" or both are unqualified, the status test result will be "test failed".

[0123] For example, in order to assist in the initiation judgment of subsequent fault diagnosis, the system will further distinguish the source of non-compliance if the test fails.

[0124] Specifically, if the first judgment result is unqualified but the second judgment result is qualified, it indicates that the resistance characteristics of the transmission system of the grounding knife mechanism 4 are abnormal, but the alignment and posture of the grounding knife testing robot are normal, then the fault is located inside the grounding knife mechanism 4. If the first judgment result is qualified but the second judgment result is unqualified, it indicates that the grounding knife mechanism 4 is normal, but the operating conditions of the grounding knife testing robot do not meet the requirements, and the fault is located at the robot's operating end; if both are unqualified, it indicates that there are problems with both the equipment status and operating conditions, and it is recommended to stop the operation first.

[0125] For example, the docking component 2 in this application embodiment can be matched with different robot models. Different robot models and ground knife operation ports have different parameters. The corresponding judgment threshold can be input according to different models to adapt to different devices and improve the versatility of the ground knife testing equipment.

[0126] For example, since torque can only reflect changes in resistance and cannot distinguish the specific location and manifestation of a fault, in order to enhance the accuracy and comprehensiveness of the grounding bar test, a fault diagnosis step can also be included when the test fails.

[0127] Specifically, after torque data is combined with image feature recognition, if an abnormal peak in torque occurs, the controller can automatically retrieve the corresponding time series of operation images and analyze the docking component 2 area in the operation image through a visual recognition algorithm. If there is a foreign object blocking docking component 2, a cleaning prompt will be output to the maintenance personnel. If there is no foreign object in docking component 2, but there are rust spots, the fault diagnosis will be output as corrosion. This can more accurately locate the cause of the fault and avoid misjudgment and missed judgment.

[0128] For example, in order to achieve retrospective management of the operation process, the mechanical feature data, test results and other relevant information extracted each time can be stored for post-event playback, comparison and trend analysis. Based on this, maintenance personnel can assess the long-term performance degradation trend of the grounding knife mechanism 4, formulate predictive maintenance plans, thereby extending the service life of the equipment and reducing the probability of sudden failures.

[0129] This application also provides a grounding chaff testing device for testing the state of the grounding chaff mechanism 4. The grounding chaff testing device includes an image acquisition device 8, a torque acquisition device 7, a docking assembly 2, a grounding chaff testing robot, and a controller (i.e., a control assembly 9).

[0130] The image acquisition device 8 is used to acquire working images of the ground knife mechanism 4 when it is switching states. The torque acquisition device 7 is used to acquire torque data of the ground knife mechanism when it is switching states. The docking component 2 is driven to the ground knife mechanism 4. The ground knife testing robot is driven to the docking component 2. The ground knife mechanism 4 is controlled to switch states by rotating the docking component 2. The controller (i.e., the control component 9) is connected to the image acquisition device 8 and the torque acquisition device 7 and is used to execute the ground knife testing method described above.

[0131] The controller includes a processor and memory, which are connected via a bus, which can be any applicable bus such as the I2C (Inter-integrated Circuit) bus.

[0132] The memory may include a storage medium and internal memory. The storage medium may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause the processor to perform the light emission control method described in any of the embodiments.

[0133] The processor provides computing and control capabilities to support the operation of the controller.

[0134] The processor can be a Central Processing Unit (CPU), but it can also be a general-purpose processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor, or it can be any conventional processor.

[0135] The processor is used to run computer programs stored in memory, and performs the following steps when executing the computer programs: When the ground blade mechanism is detected to be switching states, torque data and working images are acquired during the state switching process of the ground blade mechanism. The working images include at least images of the ground blade test robot performing rotation operations. The mechanical feature data of the ground tool testing equipment are determined by performing feature recognition on the operation image. The torque data is subjected to feature recognition to determine torque fluctuation characteristic data; Based on the torque fluctuation characteristic data and the mechanical characteristic data, the state test results of the ground knife test equipment are determined.

[0136] In some embodiments, the processor performs feature recognition on the work image to determine the mechanical feature data of the grounding bar testing equipment, for the purpose of: The task image is subjected to target detection processing to identify the target object in the task image; Feature extraction is performed on the target object in the work image to obtain the appearance features of the target object; The appearance features are compared with preset features, and the mechanical feature data of the ground knife testing equipment are determined based on the comparison results.

[0137] In some embodiments, the processor performs feature extraction on a target object in the task image to obtain the appearance features of the target object, for the purpose of: Image detection is performed on the work image to identify the contour and texture information of the target object; Based on the contour and texture information of the target object, at least one of the surface state, the docking gap, and the rotation angle is determined.

[0138] In some embodiments, the processor compares the appearance features with preset features and determines the mechanical feature data based on the comparison result, for the purpose of: The surface damage degree of the target object is calculated based on the surface state and the preset surface state. Based on the docking gap and the preset gap threshold, calculate the docking position deviation between the docking component in the ground knife mechanism and the ground knife test robot; Based on the rotation angle and the preset angle threshold, the angular deviation between the docking component in the ground knife mechanism and the ground knife test robot is calculated; At least one of surface damage, docking position deviation, and angular deviation is used as the mechanical characteristic data.

[0139] In some embodiments, the processor determines torque fluctuation characteristic data based on the torque data to achieve: Based on the torque data, at least one of the peak torque, average torque, and torque fluctuation amplitude is determined, and the peak torque, average torque, and torque fluctuation amplitude are used as the torque fluctuation characteristic data.

[0140] In some embodiments, the processor performs feature recognition on the work image to determine the mechanical feature data of the grounding bar testing equipment, for the purpose of: Target detection processing is performed on the task image and the adjacent frame images to determine the target object in the task image and the adjacent frame images; Feature extraction is performed on the target object in the operation image and the adjacent frame image to obtain the transmission features of the target object, and the transmission features are used as the mechanical feature data.

[0141] In some embodiments, the processor determines the state test result of the grounding bar testing device based on the torque fluctuation characteristic data and the mechanical characteristic data, for the following purposes: The torque fluctuation characteristic data is compared with the first determination threshold to obtain the first determination result; The mechanical feature data is compared with the second determination threshold to obtain the second determination result; Based on the first determination result and the second determination result, the status test result of the ground knife test equipment is determined.

[0142] In some embodiments, the processor determines the state test result of the grounding bar test device based on the first determination result and the second determination result, for the following purposes: If the first determination result and the second determination result meet the preset conditions, then the status test result of the ground knife test device is determined to be in a normal state; If the first determination result and the second determination result do not meet the preset conditions, the status test result of the ground knife test device is determined to be an abnormal state.

[0143] This application embodiment integrates a torque acquisition device and an image acquisition device on the grounding switch testing equipment to acquire torque signals and operational images during operation. On one hand, peak values, average values, and fluctuation amplitudes are extracted from the torque data to characterize the resistance characteristics and transmission smoothness of the grounding switch. On the other hand, target objects are identified from the operational images, and appearance and transmission features are extracted, forming torque fluctuation feature data and mechanical feature data, respectively. Finally, the two types of data are compared item by item, and the final test result is generated through dual judgment. This fully utilizes the complementarity of mechanics and vision, increasing the accuracy and reliability of grounding switch testing through multi-dimensional analysis, and can provide fault location, improving the efficiency of test maintenance.

[0144] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0145] The above embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of protection of this application. Any non-substantial changes and substitutions made by those skilled in the art based on this application shall fall within the scope of protection claimed by this application.

Claims

1. A method for testing ground blades, characterized in that, An application is made in a grounding bar testing device, which includes a docking assembly, a grounding bar mechanism, and a grounding bar testing robot. The grounding bar mechanism is connected to the grounding bar testing robot via the docking assembly. When the docking assembly detects a rotational operation of the grounding bar testing robot, the device switches the state of the grounding bar mechanism. This includes: When the ground blade mechanism is detected to be switching states, torque data and working images are acquired during the state switching process of the ground blade mechanism. The working images include at least images of the ground blade test robot performing rotation operations. The mechanical feature data of the ground tool testing equipment are determined by performing feature recognition on the operation image. The torque data is subjected to feature recognition to determine torque fluctuation characteristic data; Based on the torque fluctuation characteristic data and the mechanical characteristic data, the state test results of the ground knife test equipment are determined.

2. The method according to claim 1, characterized in that, The step of performing feature recognition on the operational image to determine the mechanical feature data of the grounding bar testing equipment includes: The task image is subjected to target detection processing to identify the target object in the task image; Feature extraction is performed on the target object in the work image to obtain the appearance features of the target object; The appearance features are compared with preset features, and the mechanical feature data of the ground knife testing equipment are determined based on the comparison results.

3. The method according to claim 2, characterized in that, The appearance features include at least one of the following: the surface state of the docking component in the ground-edge testing equipment, the docking gap between the docking component in the ground-edge testing equipment and the ground-edge testing robot, and the rotation angle between the docking component in the ground-edge testing equipment and the ground-edge testing robot. The step of extracting features from the target object in the operational image to obtain the appearance features of the target object includes: Image detection is performed on the work image to identify the contour and texture information of the target object; Based on the contour and texture information of the target object, at least one of the surface state, the docking gap, and the rotation angle is determined.

4. The method according to claim 2, characterized in that, The step of comparing the appearance features with preset features and determining the mechanical feature data based on the comparison results includes: The surface damage degree of the target object is calculated based on the surface state and the preset surface state. Based on the docking gap and the preset gap threshold, calculate the docking position deviation between the docking component in the ground knife mechanism and the ground knife test robot; Based on the rotation angle and the preset angle threshold, the angular deviation between the docking component in the ground knife mechanism and the ground knife test robot is calculated; At least one of surface damage, docking position deviation, and angular deviation is used as the mechanical characteristic data.

5. The method according to claim 1, characterized in that, The step of determining torque fluctuation characteristic data based on the torque data includes: Based on the torque data, at least one of the peak torque, average torque, and torque fluctuation amplitude is determined, and the peak torque, average torque, and torque fluctuation amplitude are used as the torque fluctuation characteristic data.

6. The method according to claim 1, characterized in that, The operation image also includes adjacent frame images, and the step of performing feature recognition on the operation image to determine the mechanical feature data of the grounding bar testing equipment further includes: Target detection processing is performed on the task image and the adjacent frame images to determine the target object in the task image and the adjacent frame images; Feature extraction is performed on the target object in the operation image and the adjacent frame image to obtain the transmission features of the target object, and the transmission features are used as the mechanical feature data.

7. The method according to claim 1, characterized in that, The step of determining the state test result of the grounding bar testing equipment based on the torque fluctuation characteristic data and the mechanical characteristic data includes: The torque fluctuation characteristic data is compared with the first determination threshold to obtain the first determination result; The mechanical feature data is compared with the second determination threshold to obtain the second determination result; Based on the first determination result and the second determination result, the status test result of the ground knife test equipment is determined.

8. The method according to claim 7, characterized in that, The step of determining the status test result of the grounding bar test equipment based on the first determination result and the second determination result includes: If the first determination result and the second determination result meet the preset conditions, then the status test result of the ground knife test device is determined to be in a normal state; If the first determination result and the second determination result do not meet the preset conditions, the status test result of the ground knife test device is determined to be an abnormal state.

9. A ground-mounted blade testing device, characterized in that, The grounding switch testing equipment is used to test the condition of the grounding switch mechanism and includes: Image acquisition device, used to acquire working images of the ground knife mechanism when it is switching states; A torque acquisition device is used to acquire torque data of the grounding knife mechanism when it switches states. The docking assembly is connected to the grounding knife mechanism via a transmission; The ground knife testing robot is connected to the docking assembly via a transmission. The state switching of the ground knife mechanism is controlled by rotating the docking assembly. The controller, connected to the image acquisition device and the torque acquisition device, is used to execute the ground knife test method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the ground knife testing method as described in any one of claims 1-8.

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