阅读说明：本技术 一种挂放接地线智能运维辅助系统及其工作方法 (Intelligent operation and maintenance auxiliary system for hanging grounding wire and working method thereof ) 是由 尹愈 顾晨 眭仁杰 刘凤展 蔡天渊 杨维全 赵磊 杨晨曦 朱健 周嘉俊 于 2021-09-01 设计创作，主要内容包括：一种挂放接地线智能运维辅助系统及其工作方法。包括空间定位传感子系统、挂放接地线辅助机器装置和智能接地线,所述空间定位传感子系统用于为挂放接地线辅助机器装置提供粗识别定位坐标与细识别定点坐标；所述挂放接地线辅助机器装置用于依据空间定位传感子系统提供的坐标信息,完成智能接地线对母线的自动化挂放动作；所述智能接地线用于夹紧或松开母线上的接地点。本发明提升了敞开式变电站大型检修现场挂放接点线的智能化、自动化程度,提升了工作效率,实现检修作业的全程机器监管。(An intelligent operation and maintenance auxiliary system for hanging a grounding wire and a working method thereof. The system comprises a spatial positioning sensing subsystem, an auxiliary machine device for hanging and placing a grounding wire and an intelligent grounding wire, wherein the spatial positioning sensing subsystem is used for providing a coarse identification positioning coordinate and a fine identification fixed point coordinate for the auxiliary machine device for hanging and placing the grounding wire; the auxiliary machine device for hanging the grounding wire is used for completing the automatic hanging action of the intelligent grounding wire on the bus according to the coordinate information provided by the space positioning sensing subsystem; the intelligent grounding wire is used for clamping or loosening a grounding point on the bus. The intelligent and automatic hanging and placing device improves the intelligent and automatic degree of hanging and placing the contact line on the large-scale maintenance site of the open-type transformer substation, improves the working efficiency and realizes the whole-process machine supervision of maintenance operation.)

1. An intelligent operation and maintenance auxiliary system for hanging a grounding wire is characterized by comprising a space positioning sensing subsystem, an auxiliary machine device for hanging the grounding wire and an intelligent grounding wire,

the space positioning sensing subsystem is used for providing a coarse identification positioning coordinate and a fine identification fixed point coordinate for the auxiliary machine device for hanging the grounding wire;

the auxiliary machine device for hanging the grounding wire is used for completing the automatic hanging action of the intelligent grounding wire on the bus according to the coordinate information provided by the space positioning sensing subsystem;

the intelligent grounding wire is used for clamping or loosening a grounding point on the bus.

2. The intelligent operation and maintenance auxiliary system for the hanging ground wire according to claim 1, further comprising a forward and backward motion trajectory planning algorithm module, wherein the forward and backward motion trajectory planning algorithm module is configured to provide a motion action instruction of a mechanical arm on the hanging ground wire auxiliary machine device on the basis of given coordinate information.

3. The intelligent operation and maintenance auxiliary system for hanging and placing the grounding wire according to claim 2, wherein the auxiliary machinery device for hanging and placing the grounding wire comprises an electric chassis and a mechanical arm arranged on the electric chassis,

the mechanical arm is provided with a mechanical arm, the mechanical arm is used for clamping an intelligent grounding wire, and the intelligent grounding wire stretches out of a copper wire body used for grounding.

4. The intelligent operation and maintenance auxiliary system for hanging a grounding wire according to claim 3, further comprising a safe operation range point coordinate set,

the safety key point three-dimensional coordinate set is used for constructing an operation safety perimeter, acquiring three-dimensional coordinates of an intelligent grounding wire and three-dimensional coordinates of a mechanical arm in real time, and providing a movable space range for hanging the mechanical arm of the grounding wire auxiliary machine device and the intelligent grounding wire.

5. The intelligent operation and maintenance auxiliary system for the hanging grounding wire is characterized in that the space positioning sensing subsystem comprises a binocular camera, a 3D laser radar, a communication interface, a coarse identification positioning algorithm module, a fine identification positioning algorithm module and a wireless communication module;

the binocular camera and the 3D laser radar are positioned on the same side or two sides of a grounding point on the bus;

the binocular camera is connected with the coarse identification positioning algorithm module through a communication interface,

the 3D laser radar is connected with a fine identification positioning algorithm module through a communication interface,

the communication interface is used for completing data transmission between the collected data and the MCU processor,

the coarse identification positioning algorithm module is used for outputting real-time space coordinates of the intelligent grounding wire,

the fine identification positioning algorithm module is used for outputting the coordinates of the intelligent ground wire marking line,

then the real-time space coordinates of the intelligent grounding wire and the coordinates of the marking wire of the intelligent grounding wire are transmitted to the auxiliary machine device for hanging the grounding wire through the wireless communication module,

and the coarse identification positioning algorithm module and the fine identification positioning algorithm module are respectively realized in the MCU processor.

6. The intelligent operation and maintenance auxiliary system for the hanging ground wire as claimed in claim 5, wherein the head end of the intelligent ground wire is a chuck, the tail end of the intelligent ground wire is a handle, and the chuck and the handle are both provided with marking wires.

7. The intelligent operation and maintenance auxiliary system for the hanging and grounding wire is characterized in that the binocular camera and the 3D laser radar are respectively provided with a ranging module, and the ranging module is used for measuring the distance between the binocular camera and the grounding point;

binocular camera and 3D laser radar have identification module respectively, identification module is used for discerning intelligent earth connection and arm.

8. The intelligent operation and maintenance auxiliary system for the hanging ground wire as claimed in claim 1, wherein the marking wire is a reflective film.

9. An operating method of the intelligent operation and maintenance auxiliary system for the hanging ground wire according to any one of claims 1 to 8,

it is characterized by comprising a ground wire hanging work flow and a ground wire releasing work flow,

the ground wire hanging work flow comprises the following steps:

firstly, hanging a grounding wire to assist a machine device to cruise to a working area, and preparing for working; the intelligent grounding wire is manually installed on a manipulator of the mechanical arm;

secondly, the space positioning sensing subsystem starts to collect data of the intelligent grounding wire and the mechanical arm, and performs primary identification and positioning to complete coarse positioning work;

then, on the basis of the safety monitoring of surrounding key points, the mechanical arm acts to enable the intelligent grounding wire to move and be positioned at a position near the grounding point;

then, finely positioning and identifying a marking line of the intelligent ground wire chuck, gradually adjusting the relative position relation between the intelligent ground wire chuck and the grounding point, issuing an instruction to the intelligent ground wire by a ground wire hanging auxiliary machine device, closing the chuck to clamp the bus, and feeding back a pressure value through the intelligent ground wire to finish automatic clamping work to realize bus grounding;

finally, the mechanical arm loosens the intelligent grounding wire grab handle, and the mechanical arm moves to reset while the safety of surrounding key points is monitored, so that the process is finished;

the grounding wire discharging work flow comprises the following steps:

firstly, hanging a grounding wire to assist a machine device to autonomously cruise to reach a working area, and preparing for working; then, the space positioning sensing subsystem starts to identify the grab handle of the intelligent grounding wire, and performs primary identification and positioning to complete coarse positioning work;

secondly, on the basis of safety monitoring of surrounding key points, the mechanical arm acts to enable the mechanical arm to move and be positioned at a position near a grab handle of the intelligent grounding wire;

then, finely positioning and identifying the marking line on the grab handle at the tail end of the intelligent grounding wire, gradually adjusting the relative position relation between the manipulator and the grab handle at the tail end of the intelligent grounding wire, closing the manipulator to grab the grab handle of the intelligent grounding wire, and feeding back the pressure value on the manipulator in real time;

after the bus is gripped, the auxiliary machine device for hanging the grounding wire sends an instruction to the intelligent grounding wire, the chuck of the intelligent grounding wire is opened, the grounding point on the bus is loosened, and a pressure value is fed back through the intelligent grounding wire;

and finally, realizing the resetting of the mechanical arm while monitoring the safety of the surrounding key points, and manually assisting to take off the intelligent grounding wire to finish the process.

Technical Field

The invention relates to the field of open type transformer substation maintenance, in particular to an intelligent operation and maintenance auxiliary system for a hanging grounding wire and a working method thereof.

Background

The earth connection guarantees staff's safe important instrument when voltage appears in order to accident on the equipment that has had a power failure and the circuit among the power system, and its effect is when high-voltage equipment carries out the maintenance that has a power failure or carries out other work, prevents that equipment from coming suddenly and adjacent high-voltage live equipment from producing induced voltage to the harm of human body, the residual charge of the outage equipment of releasing simultaneously. Installing and removing temporary grounding lines is an important maintenance operation in electrical power systems.

At present, a portable short-circuit grounding wire is usually adopted in the maintenance work of the transformer equipment in a transformer substation, and an insulating operation rod is mainly adopted to hang the short-circuit grounding wire on maintenance equipment or a conducting wire. However, in the transformer substation maintenance site, the grounding points of some devices are too high, and it is very difficult for workers to hang the grounding wires only by manpower; therefore, the manual hanging mode is suitable for 10kV to 110kV equipment with small insulation distance and short distance between the equipment and the ground. However, for open-type extra-high voltage equipment with a voltage level of 500kV and 1000kV extra-high voltage equipment above, the equipment installation height is also high due to the large insulation distance of the equipment, and the mode of manually hanging the ground wire by using the insulation rod is often difficult to realize.

Disclosure of Invention

Aiming at the problems, the invention provides an intelligent operation and maintenance auxiliary system for hanging and placing the grounding wire, which has the advantages of intelligent hanging, high automation degree and efficiency improvement, and a working method thereof.

The technical scheme of the invention is as follows: comprises a space positioning sensing subsystem, an auxiliary machine device for hanging a grounding wire and an intelligent grounding wire,

the space positioning sensing subsystem is used for providing a coarse identification positioning coordinate and a fine identification fixed point coordinate for the auxiliary machine device for hanging the grounding wire;

the auxiliary machine device for hanging the grounding wire is used for completing the automatic hanging action of the intelligent grounding wire on the bus according to the coordinate information provided by the space positioning sensing subsystem;

the intelligent grounding wire is used for clamping or loosening a grounding point on the bus.

The grounding wire auxiliary machine device further comprises a forward and reverse motion trajectory planning algorithm module, and the forward and reverse motion trajectory planning algorithm module is used for providing motion action instructions of a mechanical arm on the grounding wire auxiliary machine device on the basis of given coordinate information.

The auxiliary machine device for hanging the grounding wire comprises an electric chassis and a mechanical arm arranged on the electric chassis,

the mechanical arm is provided with a mechanical arm, the mechanical arm is used for clamping an intelligent grounding wire, and the intelligent grounding wire stretches out of a copper wire body used for grounding.

Also comprises a safe operation range point coordinate set,

the safety key point three-dimensional coordinate set is used for constructing an operation safety perimeter, acquiring three-dimensional coordinates of an intelligent grounding wire and three-dimensional coordinates of a mechanical arm in real time, and providing a movable space range for hanging the mechanical arm of the grounding wire auxiliary machine device and the intelligent grounding wire.

The space positioning sensing subsystem comprises a binocular camera, a 3D laser radar, a communication interface, a coarse identification positioning algorithm module, a fine identification positioning algorithm module and a wireless communication module;

the binocular camera and the 3D laser radar are positioned on the same side or two sides of a grounding point on the bus;

the binocular camera is connected with the coarse identification positioning algorithm module through a communication interface,

the 3D laser radar is connected with a fine identification positioning algorithm module through a communication interface,

the communication interface is used for completing data transmission between the collected data and the MCU processor,

the coarse identification positioning algorithm module is used for outputting real-time space coordinates of the intelligent grounding wire,

the fine identification positioning algorithm module is used for outputting the coordinates of the intelligent ground wire marking line,

then the real-time space coordinates of the intelligent grounding wire and the coordinates of the marking wire of the intelligent grounding wire are transmitted to the auxiliary machine device for hanging the grounding wire through the wireless communication module,

and the coarse identification positioning algorithm module and the fine identification positioning algorithm module are respectively realized in the MCU processor.

The head end of the intelligent grounding wire is a chuck, the tail end of the intelligent grounding wire is a grab handle, and the chuck and the grab handle are both provided with marking wires.

The binocular camera and the 3D laser radar are respectively provided with a ranging module, and the ranging module is used for measuring the distance between the binocular camera and the grounding point;

binocular camera and 3D laser radar have identification module respectively, identification module is used for discerning intelligent earth connection and arm.

The marking lines are reflective films.

A working method of an intelligent operation and maintenance auxiliary system for hanging a grounding wire,

comprises a ground wire hanging work flow and a ground wire releasing work flow,

the ground wire hanging work flow comprises the following steps:

firstly, hanging a grounding wire to assist a machine device to cruise to a working area, and preparing for working; the intelligent grounding wire is manually installed on a manipulator of the mechanical arm;

secondly, the space positioning sensing subsystem starts to collect data of the intelligent grounding wire and the mechanical arm, and performs primary identification and positioning to complete coarse positioning work;

then, on the basis of the safety monitoring of surrounding key points, the mechanical arm acts to enable the intelligent grounding wire to move and be positioned at a position near the grounding point;

then, finely positioning and identifying a marking line of the intelligent ground wire chuck, gradually adjusting the relative position relation between the intelligent ground wire chuck and the grounding point, issuing an instruction to the intelligent ground wire by a ground wire hanging auxiliary machine device, closing the chuck to clamp the bus, and feeding back a pressure value through the intelligent ground wire to finish automatic clamping work to realize bus grounding;

finally, the mechanical arm loosens the intelligent grounding wire grab handle, and the mechanical arm moves to reset while the safety of surrounding key points is monitored, so that the process is finished;

the grounding wire discharging work flow comprises the following steps:

firstly, hanging a grounding wire to assist a machine device to autonomously cruise to reach a working area, and preparing for working; then, the space positioning sensing subsystem starts to identify the grab handle of the intelligent grounding wire, and performs primary identification and positioning to complete coarse positioning work;

secondly, on the basis of safety monitoring of surrounding key points, the mechanical arm acts to enable the mechanical arm to move and be positioned at a position near a grab handle of the intelligent grounding wire;

then, finely positioning and identifying the marking line on the grab handle at the tail end of the intelligent grounding wire, gradually adjusting the relative position relation between the manipulator and the grab handle at the tail end of the intelligent grounding wire, closing the manipulator to grab the grab handle of the intelligent grounding wire, and feeding back the pressure value on the manipulator in real time;

after the bus is gripped, the auxiliary machine device for hanging the grounding wire sends an instruction to the intelligent grounding wire, the chuck of the intelligent grounding wire is opened, the grounding point on the bus is loosened, and a pressure value is fed back through the intelligent grounding wire;

and finally, realizing the resetting of the mechanical arm while monitoring the safety of the surrounding key points, and manually assisting to take off the intelligent grounding wire to finish the process.

The invention comprises an auxiliary machine device for hanging and placing a grounding wire, a space positioning sensing subsystem and an intelligent grounding wire in work,

the space positioning sensing subsystem provides identification and positioning information, the auxiliary machine device for hanging the grounding wire completes standard maintenance actions of automatically hanging the grounding wire on the basis of a global space three-dimensional map and trajectory planning based on the kinematics principle, real-time safety supervision of the process is realized, and finally a highly-automatic intelligent operation and maintenance auxiliary method for hanging the grounding wire is formed.

The intelligent and automatic hanging and placing device improves the intelligent and automatic degree of hanging and placing the contact line on the large-scale maintenance site of the open-type transformer substation, improves the working efficiency and realizes the whole-process machine supervision of maintenance operation.

Drawings

Figure 1 is a block diagram of the system of the present invention,

figure 2 is a schematic block diagram of the present invention,

figure 3 is a diagram of the operating state of the invention,

figure 4 is a schematic perspective view of an auxiliary machine device for hanging a grounding wire,

figure 5 is a schematic perspective view of an intelligent ground wire,

figure 6 is a system block diagram of a spatial location sensing subsystem of the present invention,

FIG. 7 is a flow chart of a method of the present invention;

in the figure, 1 is an auxiliary machine device for hanging and placing a grounding wire, 11 is an electric chassis, 12 is a mechanical arm, and 13 is a mechanical arm;

2 is an intelligent grounding wire, 21 is a chuck, and 22 is a handle.

Detailed Description

As shown in fig. 1 to 7, the present invention comprises: the system comprises three physical modules, namely a space positioning sensing subsystem, a grounding wire hanging auxiliary machine device and an intelligent grounding wire, and five soft modules, namely a binocular camera-based identification and ranging algorithm module, a 3D laser radar-based identification and ranging algorithm module, a dynamics principle-based positive and negative motion trajectory planning algorithm module, a safe operation range point coordinate set and an open type transformer substation overhaul site three-dimensional coordinate graph.

The acting object is a bus to be operated.

The space positioning sensing subsystem is used for providing coarse identification positioning coordinates, fine identification fixed point coordinates and target coordinates for the auxiliary machine device for hanging the grounding wire.

The method comprises the steps of firstly identifying and monitoring an intelligent grounding wire according to the position coordinate of the grounding point, enabling an auxiliary machine device for hanging the grounding wire to place the intelligent grounding wire near the grounding point on a bus, and then utilizing the position coordinate of a chuck of the intelligent grounding wire and combining a motion control algorithm to realize accurate positioning action of the chuck of the intelligent grounding wire for automatically clamping the grounding point on the bus. In application, the grounding point is preset, and then the grounding wire is hung to assist the machine device to run below the grounding point.

The auxiliary machine device for hanging the grounding wire is used for finishing the automatic hanging action of the intelligent grounding wire according to the coordinate information given by the space positioning sensing subsystem.

The intelligent grounding wire has the function of completing the automatic hanging action of the grounding point of the bus according to the wireless instruction of the auxiliary machine device for hanging the grounding wire.

The binocular camera-based recognition and ranging algorithm module has the functions of realizing recognition of the bus and actual ground point position coordinate calibration, combining with mechanical arm motion trail planning of the auxiliary machine device for hanging the grounding wire, and placing the intelligent grounding wire near the ground point.

The recognition and ranging algorithm module based on the 3D laser radar is used for recognizing and positioning coordinates of the mark line on the intelligent grounding line chuck, is combined with the planning of the motion track of a mechanical arm of the auxiliary machine device for hanging the grounding line, and achieves accurate positioning action of automatically clamping the grounding point on the bus by the intelligent grounding line chuck through fine control.

The open type transformer substation overhaul site three-dimensional coordinate graph has the function of providing global reference coordinates for the space positioning sensing subsystem and the auxiliary machine device for hanging and placing the grounding wire.

The forward and inverse motion trajectory planning algorithm module based on the dynamics principle is used for providing motion action instructions of a mechanical arm on the auxiliary machine device for hanging the grounding wire on the basis of given target coordinates.

The function of the safe operation range point coordinate set is to provide a movable space range for a mechanical arm of the auxiliary machine device for hanging the grounding wire and the intelligent grounding wire.

The method comprises the steps that a binocular camera-based identification and ranging algorithm, a 3D laser radar-based identification and ranging algorithm and an open-type substation overhaul site three-dimensional coordinate graph are used for providing data support for a space positioning sensing subsystem;

the safe operation range point coordinate set provides constraint for a forward and reverse motion trajectory planning algorithm based on a dynamics principle; the space positioning sensing subsystem and the open type transformer substation overhaul site three-dimensional coordinate graph provide coordinate data support for the auxiliary machine device for hanging the grounding wire, and a forward and backward motion trajectory planning algorithm based on a dynamics principle provides action support for the auxiliary machine device for hanging the grounding wire;

the auxiliary machine device for hanging and placing the grounding wire controls the automatic clamping or loosening operation of the intelligent grounding wire, and the intelligent grounding wire feeds back clamping pressure to the auxiliary machine device for hanging and placing the grounding wire, so that the intelligent operation level is improved; the intelligent grounding wire is used for clamping or loosening a grounding point on the bus.

As shown in fig. 6, the spatial positioning sensing subsystem includes a binocular camera, a 3D laser radar, a communication interface, a coarse identification positioning algorithm module, a fine identification positioning algorithm module, and a wireless communication module;

the binocular camera and the 3D laser radar are positioned on the same side or two sides of a grounding point on the bus;

the binocular camera is connected with the coarse identification positioning algorithm module through a communication interface,

the 3D laser radar is connected with a fine identification positioning algorithm module through a communication interface,

the communication interface is used for completing data transmission between the collected data and the MCU processor,

the coarse identification positioning algorithm module is used for outputting real-time space coordinates of the intelligent grounding wire,

the fine identification positioning algorithm module is used for outputting the coordinates of the intelligent ground wire marking line,

then the real-time space coordinates of the intelligent grounding wire and the coordinates of the marking wire of the intelligent grounding wire are transmitted to the auxiliary machine device for hanging the grounding wire through the wireless communication module,

and the coarse identification positioning algorithm module and the fine identification positioning algorithm module are respectively realized in the MCU processor.

And the thickness/fineness identification positioning algorithm module provides coordinates for the hanging and placing actions of the grounding wire auxiliary machine device and prepares for the next hanging and placing action track planning of the mechanical arm.

And the wireless communication module is used for transmitting the data information to the auxiliary machine device for hanging the grounding wire in a wireless communication mode, and the wireless communication protocol can be selected from the modes of ZigBee, LoRa, NBIoT and the like, but is not limited to the modes.

The auxiliary machine device 1 for hanging the grounding wire comprises an electric chassis 11 and a mechanical arm 12 arranged on the electric chassis,

the mechanical arm is provided with a mechanical arm 13, the mechanical arm is used for clamping an intelligent grounding wire 2, and the intelligent grounding wire extends out of a copper wire body used for grounding.

The head end of the intelligent grounding wire 2 is a chuck 21, the tail end of the intelligent grounding wire is a grab handle 22, and the chuck and the grab handle are both provided with marking wires.

The binocular camera and the 3D laser radar are respectively provided with a ranging module, and the ranging module is used for measuring the distance between the binocular camera and the grounding point;

binocular camera and 3D laser radar have identification module respectively, identification module is used for discerning intelligent earth connection and arm.

In application, the grounding point is preset, and then the grounding wire is hung to assist the machine device to run below the grounding point.

As shown in fig. 7, a ground wire hanging flow and a ground wire releasing flow are introduced.

Fig. 7(a) is a work flow of hanging the ground wire, and the ground wire is firstly hung to assist the machine device to autonomously cruise to reach a working area, so as to make a preparation for work; then, manually assisting to mount the intelligent grounding wire on a mechanical arm for hanging a grounding wire auxiliary machine device; secondly, the space positioning sensing subsystem starts to collect data of the intelligent grounding wire and the mechanical arm, and performs primary identification and positioning to complete the coarse positioning work of system operation; then, on the basis of the data and the safety monitoring of the surrounding key points, the intelligent grounding wire starts to be planned based on the kinetic motion track, so that the intelligent grounding wire is positioned near the grounding point in a motion mode; then, accurately positioning and identifying the marking line on the intelligent grounding line chuck, gradually adjusting the relative position relation between the intelligent grounding line and the grounding point, finishing the clamping work and realizing the grounding of the bus; and finally, the mechanical arm loosens the ground wire, and the mechanical arm resets based on reverse kinetic motion trajectory planning while the safety of surrounding key points is monitored, so that the ground wire hanging action of the auxiliary ground wire hanging system is completed.

Fig. 7(b) is a work flow of the grounding wire, firstly, the grounding wire is hung to assist the machine device to autonomously cruise to reach a working area, and a working preparation is made; then, the space positioning sensing subsystem starts to identify the data of the intelligent grounding wire grab handle, and performs primary identification and positioning on the operation device to complete the coarse positioning work of system operation; secondly, on the basis of the data and the safety monitoring of surrounding key points, planning based on a kinetic motion track is started, so that the motion of a mechanical arm on the auxiliary machine device for hanging the grounding wire is positioned near the grab handle of the intelligent grounding wire; then, accurately positioning and identifying the marking line on the grab handle at the tail end of the grounding wire, gradually adjusting the relative position relation between the manipulator and the intelligent grounding wire grab handle, finishing grasping work, and feeding back pressure to confirm grasping action; then, the auxiliary machine device for hanging the grounding wire issues a bus loosening instruction to the intelligent grounding wire through a wireless signal, and the intelligent grounding wire completes actions; and finally, while the safety of surrounding key points is monitored, based on the reverse dynamic motion trajectory planning, the mechanical arm is reset, the ground wire hanging action of the auxiliary ground wire hanging system is completed, and the intelligent ground wire is manually and auxiliarily picked down.

The intelligent operation and maintenance auxiliary system for the hanging grounding wire comprises the following concrete implementation processes:

step 1: the intelligent operation and maintenance auxiliary system for hanging and placing the grounding wire is shown in figure 2, and the specific application scene is shown in figure 3, the system comprises three physical modules, namely a space positioning sensing subsystem, an auxiliary machine device for hanging and placing the grounding wire and an intelligent grounding wire,

and the system comprises a binocular camera-based identification and ranging algorithm module, a 3D laser radar-based identification and ranging algorithm module, a forward and reverse motion trajectory planning algorithm module based on a dynamics principle, a safe operation range point coordinate set and an open type transformer substation overhaul site three-dimensional coordinate graph.

The acting object is a bus to be operated. After an operation maintenance instruction is issued, the auxiliary machine device for hanging and placing the grounding wire shown in fig. 4 automatically cruises to reach a designated operation area based on the SLAM technology under the support of the coordinates of the target operation area and a spatial three-dimensional full data map of an open type transformer substation overhaul field.

Step 2: after the auxiliary machine device for hanging the grounding wire reaches a designated area, preparation work before hanging the grounding wire is done. The intelligent ground wire is installed on the top end of a mechanical arm of the ground wire hanging auxiliary machine device in a manual assisting mode, the space positioning sensing subsystem (shown in figure 6) identifies the intelligent ground wire and the mechanical arm in the current state and collects coordinates, and coordinate data are transmitted to the ground wire hanging auxiliary machine device in real time.

And step 3: the auxiliary machine device for hanging the grounding wire utilizes the data information of the space positioning sensing subsystem to realize the primary positioning work of the intelligent grounding wire at the grounding point. The space information between the intelligent grounding wire chuck and the grounding point and the constraint information of the three-dimensional coordinates of safety key points around the operation are utilized, the positive motion track planning of the mechanical arm is formed based on the dynamics principle, the intelligent grounding wire moves near the grounding point, and the coarse positioning of the intelligent grounding wire is formed.

And 4, step 4: after the coarse positioning of the intelligent ground wire is completed, the marking line on the intelligent ground wire chuck is identified and positioned for collection, the position of the ground wire chuck is finely adjusted by combining the coordinate of the ground point, and when the difference between the three dimensions of the coordinate of the ground wire chuck and the coordinate of the ground point is smaller than delta (the value is determined according to the physical size of the intelligent ground wire chuck), the auxiliary machine device for hanging and placing the ground wire issues an instruction to the intelligent ground wire, so that the closed chuck clamps the ground point on the bus, and the closed control of the action of hanging and placing the ground wire is formed through the pressure value fed back by the intelligent ground wire. Then, the intelligent grounding wire is loosened by the mechanical arm, and the reverse motion trail planning of the mechanical arm is formed based on the dynamics principle, so that the mechanical arm recovers the initial motion state. The whole process of hanging the ground wire is finished, and the specific flow is shown in fig. 7 (a).

And 5: after the maintenance work is finished, the automatic grounding wire releasing work is carried out. Firstly, the auxiliary machine device for hanging and placing the grounding wire automatically navigates to enter an operation area, and the grounding wire placing device is ready for placing the grounding wire. And then, according to the information provided by the space positioning sensing subsystem, the preliminary positioning work of the mechanical arm at the hooked intelligent grounding wire grab handle is realized. The positive motion trajectory planning of the mechanical arm is formed by utilizing space information between the grab handle of the intelligent grounding wire and the mechanical arm and constraint information of three-dimensional coordinates of safety key points around operation based on a dynamics principle, so that the mechanical arm moves near the grab handle at the tail end of the grounding wire to form coarse positioning of the mechanical arm.

Step 6: after the rough positioning of the mechanical arm is completed, the marking lines on the intelligent grounding wire grab handle are identified and positioned for collection, the current coordinates of the mechanical arm are combined, the position of the mechanical arm on the fine mechanical arm is determined, when the three dimensional differences of the coordinates of the mechanical arm and the coordinates of the marking lines of the intelligent grounding wire tail end grab handle are smaller than delta' (the value is determined according to the physical size of the mechanical arm), the mechanical arm is closed to grab the grounding wire tail end grab handle, the pressure value on the mechanical arm in real time is fed back, and whether the mechanical arm is tightly grasped is judged. After the ground wire is grasped, the auxiliary machine device for hanging the ground wire sends an instruction to the intelligent ground wire, so that the auxiliary machine device opens the chuck to loosen the ground point on the bus, and the closed control of the action of hanging the ground wire is formed through the pressure value fed back by the intelligent ground wire. And then, forming a reverse motion trajectory plan of the mechanical arm based on the dynamics principle, so that the mechanical arm recovers the initial motion state. And finally, manually assisting to remove the intelligent grounding wire from the auxiliary machine device for hanging the grounding wire. The whole process of grounding wire discharge is ended, and the specific flow is shown in fig. 7 (b).

According to the invention, the space positioning sensing subsystem provides identification positioning information, the auxiliary machine device for hanging the grounding wire completes standard maintenance actions of automatically hanging the grounding wire on the basis of a global space three-dimensional map and trajectory planning based on the kinematics principle, and realizes real-time safety supervision of the process, thereby finally forming a highly-automatic intelligent operation and maintenance auxiliary method for hanging the grounding wire.

The disclosure of the present application also includes the following points:

(1) the drawings of the embodiments disclosed herein only relate to the structures related to the embodiments disclosed herein, and other structures can refer to general designs;

(2) in case of conflict, the embodiments and features of the embodiments disclosed in this application can be combined with each other to arrive at new embodiments;

the above embodiments are only embodiments disclosed in the present disclosure, but the scope of the disclosure is not limited thereto, and the scope of the disclosure should be determined by the scope of the claims.