CN-116276975-B - Arrangement method and device of security fence, electronic equipment and storage medium

CN116276975BCN 116276975 BCN116276975 BCN 116276975BCN-116276975-B

Abstract

The embodiment of the invention discloses a method and a device for arranging security fences, electronic equipment and a storage medium. The method is executed by a robot library, the robot comprises at least one fence robot, the method comprises the steps of responding to a safety fence arrangement instruction, determining whether an overlapping area exists in the target safety fence arrangement area or not, determining the number of the fence robots corresponding to the target safety fence arrangement area if the overlapping area does not exist in the target safety fence arrangement area, screening according to the number and the states of the fence robots to obtain the target fence robots, and determining the target positions of the target fence robots respectively so that the fence robots enclose the safety fence corresponding to the safety fence arrangement instruction. According to the scheme provided by the embodiment of the invention, the safety fence can be rapidly and accurately arranged when the substation equipment is overhauled.

Inventors

CHEN ANHUI
ZHOU YINYU

Assignees

广东电网有限责任公司
广东电网有限责任公司惠州供电局

Dates

Publication Date: 20260505
Application Date: 20230214

Claims (8)

1. The utility model provides a method for arranging security fence, characterized by is carried out by the robot warehouse, the robot warehouse includes at least one rail robot, the rail robot includes at least one rail dolly, the rail dolly is used for arranging the security fence, rail dolly moves and fixes along rail system, rail system divide into upper and lower two-layer sub-track, and lower layer sub-track is used for the holistic removal of rail robot, and upper layer sub-track is used for the removal of portable telescopic fence, the method for arranging security fence includes: Analyzing the safety fence arrangement instruction in response to the safety fence arrangement instruction, and determining vertex information of each vertex of the safety fence arrangement area corresponding to the safety fence arrangement instruction; determining longitude and latitude intervals of the boundary of the target security fence arrangement area in the same track according to the vertex information of each vertex; If intersection exists between longitude and latitude intervals of the boundary of the target safety fence arrangement area and the reference safety fence arrangement area in the same track, determining that an overlapping area exists between the target safety fence arrangement area and the reference safety fence arrangement area; Determining the number of fence robots corresponding to the target security fence arrangement area in the case where there is no overlapping area in the target security fence arrangement area; and screening according to the number and the states of the fence robots to obtain target fence robots, and respectively determining the target positions of the target fence robots so as to enable the fence robots to enclose a safety fence corresponding to the safety fence arrangement instruction.
2. The method of claim 1, wherein the determining the number of rail robots corresponding to the target security rail arrangement area in the absence of an overlap area of the target security rail arrangement area comprises: Determining area information of the target security fence arrangement area; and determining the number of fence robots corresponding to the target security fence arrangement area according to the area information.
3. The method of claim 1, further comprising, after determining whether the target security fence arrangement area has an overlap area: Determining an overlapping region and dividing the overlapping region into independent safety fence arrangement regions under the condition that the overlapping region exists in the target safety fence arrangement region; accordingly, after dividing the overlapping area into independent security fence arrangement areas, the method further comprises: and respectively arranging the independent safety fence arrangement areas and non-independent safety fence arrangement areas except the independent safety fence arrangement areas in the target safety fence arrangement areas.
4. The method of claim 1, wherein the screening each target rail robot according to the number and the status of each rail robot, determining the target position of each target rail robot, so that each rail robot encloses a safety rail corresponding to the safety rail arrangement instruction, comprises: determining idle fence robots, and screening the idle fence robots according to the number to obtain target fence robots; Determining a target position of each target fence robot according to the size of the target fence arrangement area and the number of each target fence robot; After each target fence robot reaches a target position, a safety fence arrangement instruction is sent to each target fence robot respectively, so that each target fence robot releases a safety fence to form a target safety fence.
5. The method according to claim 1, wherein the method further comprises: Responding to a fault instruction of a first fence robot, and determining fault information of the first fence robot according to the fault instruction; determining whether to recall the first rail robot according to the fault information; And under the condition that the first fence robot is confirmed to be recalled, driving a second fence robot to travel to the position where the first fence robot is located, so that the second fence robot replaces the first fence robot to carry out subsequent work.
6. An arrangement device of a safety fence, characterized in that, be applied to the robot hangar, the robot hangar includes at least one rail robot, the rail robot includes at least one rail dolly, the rail dolly is used for arranging the safety fence, the rail dolly moves along the rail system and fixes, the rail system divide into upper and lower two-layer sub-track, and lower layer sub-track is used for the holistic removal of rail robot, and upper layer sub-track is used for the removal of portable flexible rail, the device includes: The response module of the safety fence arrangement instruction is used for responding to the safety fence arrangement instruction, analyzing the safety fence arrangement instruction, determining vertex information of each vertex of the safety fence arrangement area corresponding to the safety fence arrangement instruction, and forming a target safety fence arrangement area according to the vertex information of each vertex; The overlapping area determining module is used for determining longitude and latitude intervals of the boundary of the target security fence arrangement area in the same track according to vertex information of each vertex; if intersection exists between longitude and latitude intervals of the boundary of the target safety fence arrangement area and the reference safety fence arrangement area in the same track, determining that an overlapping area exists between the target safety fence arrangement area and the reference safety fence arrangement area; A number determination module for determining the number of fence robots corresponding to the target security fence arrangement area in the case where there is no overlapping area in the target security fence arrangement area; And the security fence enclosing module is used for screening each target fence robot according to the number and the states of each fence robot, and determining the target position of each target fence robot so as to enclose each fence robot into a security fence corresponding to the security fence arrangement instruction.
7. An electronic device, the electronic device comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of arranging security fences as claimed in any one of claims 1 to 5.
8. A computer readable storage medium storing computer instructions for causing a processor to perform the method of arranging security fences according to any one of the claims 1-5.

Description

Arrangement method and device of security fence, electronic equipment and storage medium Technical Field The embodiment of the invention relates to the technical field of robots, in particular to a method and a device for arranging security fences, electronic equipment and a storage medium. Background When overhauling substation equipment, after power failure is carried out on the equipment by a power-change operator, a safety fence is required to be arranged around a working place, so that the operator is prevented from unauthorized expansion of the working range and mistaken entering into a live interval. The traditional safety fence arrangement mode is that discus is placed around a work place, fence rods are inserted into discus one by one, and finally, a safety fence is hung on a fence rod to form a work area with a single opening. Because discus is usually more than 2kg, and the rail is easy to tie, the traditional safety rail arrangement mode has the defects of inconvenient transportation, low arrangement efficiency, large physical consumption of personnel and the like. How to quickly and accurately arrange security fences by means of automated robots when overhauling substation equipment is a key issue for research in the industry. Disclosure of Invention The embodiment of the invention provides a method, a device, electronic equipment and a storage medium for arranging a safety fence, which are used for rapidly and accurately arranging the safety fence when overhauling substation equipment. According to an aspect of the embodiments of the present invention, there is provided a method for arranging a security fence, which is performed by a robot library, the robot including at least one fence dolly for arranging the security fence, the method for arranging a security fence comprising: In response to a security fence arrangement instruction, determining a target security fence arrangement area corresponding to the security fence arrangement instruction; Determining whether an overlapping area exists in the target security fence arrangement area; Determining the number of fence robots corresponding to the target security fence arrangement area in the case where there is no overlapping area in the target security fence arrangement area; and screening according to the number and the states of the fence robots to obtain target fence robots, and respectively determining the target positions of the target fence robots so as to enable the fence robots to enclose a safety fence corresponding to the safety fence arrangement instruction. According to another aspect of the embodiment of the present invention, there is provided an arrangement device of a security fence, which is characterized by comprising: a response module of the security fence arrangement instruction, configured to determine a target security fence arrangement area corresponding to the security fence arrangement instruction in response to the security fence arrangement instruction; an overlapping region determining module, configured to determine whether an overlapping region exists in the target security fence arrangement region; A number determination module for determining the number of fence robots corresponding to the target security fence arrangement area in the case where there is no overlapping area in the target security fence arrangement area; And the security fence enclosing module is used for screening each target fence robot according to the number and the states of each fence robot, and determining the target position of each target fence robot so as to enclose each fence robot into a security fence corresponding to the security fence arrangement instruction. According to another aspect of an embodiment of the present invention, there is provided an electronic apparatus including: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of arranging security fences according to any one of the embodiments of the present invention. According to another aspect of the embodiments of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the method for arranging security fences according to any one of the embodiments of the present invention when executed. According to the technical scheme, the target safety fence arrangement area corresponding to the safety fence arrangement instruction is determined through the robot library in response to the safety fence arrangement instruction, whether the target safety fence arrangement area has an overlapping area or not is determined, the number of fence robots corresponding to the target safety fence arrangement area is determined under the condition that the target safety fence arrangement area does not have the overlapping ar