Power distribution station indoor equipment floor space collaborative routing inspection device and routing inspection method thereof

Abstract

The invention provides a power distribution station indoor equipment floor space collaborative routing inspection device and a routing inspection method thereof. The top of a four-wheel walking robotbody is provided with a parking apron allowing an unmanned aerial vehicle to take off and stop, a positioning mark for determining the position of the unmanned aerial vehicle is arranged on the parking apron, and the front part of the robot body is provided with an ultrasonic sensor and a laser sensor; four rotor wings of the four-rotor unmanned aerial vehicle are provided with rotor wing protection shells correspondingly, a UWB positioning label is arranged at the top of the four-rotor unmanned aerial vehicle, and a landing gear is arranged at the lower part of the four-motor unmanned aerialvehicle; the routing inspection device is installed on the unmanned aerial vehicle; a robot is connected with the unmanned aerial vehicle through a telescopic cable, the collecting and releasing of the telescopic cable is controlled by an electric winder installed on the robot, and the cable is composed of an unmanned aerial vehicle power line powered by the unmanned aerial vehicle and a communication line between the cable and the unmanned aerial vehicle power line. According to the power distribution station indoor equipment floor space collaborative routing inspection device, high-precisionpositioning is realized by utilizing the robot, the unmanned aerial vehicle can detect the vertical direction of a power distribution station large-scale frame machine, and the power distribution station indoor equipment floor space collaborative routing inspection device has the characteristics that the routing inspection is free of dead corners, the detection precision is high, and the detection efficiency is high.

Description

technical field [0001] The invention relates to an automatic inspection device and method for indoor equipment in a distribution station, in particular to a device and a method for realizing inspection of indoor instruments and meters in a distribution station by using a combination of a robot and an unmanned aerial vehicle. Background technique [0002] With the development of the city and the improvement of the cable rate, the number of distribution station buildings and equipment such as subways, high-speed rails and urban rails has increased rapidly. The proper functioning of indoor equipment is critical. On the one hand, indoor equipment needs to have sufficient reliability, on the other hand, it also needs to be detected in time to find and repair equipment with potential hidden dangers to ensure the normal operation of the system. Real-time detection of indoor equipment is of great significance to ensure its reliable and safe operation. The robot can conveniently an...

AI Technical Summary

Problems solved by technology

This solution has the following defects. First, it cannot meet the inspection requirements of the indoor equipment of the distribution station: 1. The indoor equipment is often arranged in columns and layers. The total height of each column is different according to different specifications, and the height of some cabinets can reach 2 meters. The detection equipment (i.e. inspection equipment) cannot reach a specific height

2. Due to the light reflection, the detection equipment cannot identify the instrumentation at a certain elevation angle

3. Part of the currently designed cabinet is embedded in the cabinet, and there will be a certain blind area when testing instruments and meters from the perspective of the robot.

Second, the power supply problem of the UAV is not solved. The UAV body carries a battery, which increases the flight weight of the UAV and limits the flight time of the UAV.

[0005] If the drone is used alone to inspect the indoor equipment, because the GPS signal cannot penetrate the wall, the traditional miniature drone cannot receive the outdoor GPS signal when flying indoors, and cannot realize its own positioning, thus failing to complete the inspection work.

However, indoor inspection drones based on UWB technology rely on UWB technology for indoor positioning, and there are the following problems: 1. The total height of each column of indoor equipment varies according to specifications, and the height of some cabinets can reach 2 meters. During the inspection process UAVs inevitably enter blind spots, resulting in inaccurate positioning signals, seriously affecting inspection tasks, and even destroying indoor equipment

2. Indoor inspection drones have a common problem in the field of drones: battery life

The endurance time determines the efficiency of the drone's work. The existing drone is not enough to support the long-term inspection mission after loading the inspection equipment.

3. The indoor inspection drone cannot guarantee that the equipment in the distribution station such as the cabinet will be damaged under the condition that the drone is out of control.

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