Robot for detecting large oil-immersed transformer and intelligent control method

Abstract

The invention relates to a robot for detecting a large oil-immersed transformer. The robot is characterized in that the robot is flat, the overall appearance of an outer shell of the robot is streamline-shaped, the upper surface of an overlooked outer shell is trapezoidal, and the width of the front end of the robot is less than the width of the tail part of the robot; a binocular camera is arranged in the middle of the side surface of the front end of a trapezoidal shell body, and a first ultrasonic detector and a second ultrasonic detector, and a first light source and a second light sourceare symmetrically arranged on the two sides of the binocular camera. The invention further relates to an intelligent control method of the robot for detecting the large oil-immersed transformer. The method comprises the steps that the robot is controlled to shoot, flashover traces are sensed, and obstacles are bypassed. According to the robot for detecting the large oil-immersed transformer, the detection work of the transformer is convenient to operate, and secondary pollution is reduced; the robot is unique in appearance design and suitable for sailing in low-density and high-viscosity transformer oil; the robot moves efficiently and comprehensively; the camera, the light sources and the ultrasonic detectors of the robot are unique in position arrangement, and the fewest ultrasonic detectors are used for meeting the detection requirement of the transformer.

Description

technical field [0001] The invention belongs to the technical field of oil-immersed power transformers, in particular to a robot for detecting large-scale oil-immersed transformers. Background technique [0002] Large oil-immersed power transformer is the core equipment of the power grid, with large capacity, high value and complex structure, it is the focus of attention in power transformation operation. When there is an abnormality in the transformer, it is often necessary to detect and locate the internal defect after a power outage in order to confirm the type of fault and then determine the maintenance plan. [0003] Since the transformer oil tank is closed, it is impossible to directly observe the internal conditions. Internal inspection often needs to drain the oil, and then professional technicians wear one-piece work clothes, climb into the equipment box through the manhole, and manually find the fault points inside the equipment. . Traditional manual internal ins...

AI Technical Summary

Problems solved by technology

The present invention solves the defects such as danger, low efficiency and high cost of internal detection of transformers in the past, and the technical scheme adopted in the present invention is as follows:

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