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A semantic intelligent substation inspection robot autonomous inspection method and system

A technology for intelligent substations and inspection robots, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as heavy workload, identification and fault diagnosis of unfavorable equipment states, and error in the preset position of stops, and achieve automatic The effect of computing and motion servos, solving the large workload of manual configuration, and reducing the limitation of network bandwidth

Active Publication Date: 2021-10-29
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] (1) The robot preset position information depends on manual configuration. The inspection point setting process of the inspection equipment is cumbersome and the workload is heavy, and the inspection efficiency is low. Different field personnel are greatly affected by subjective judgments on the configuration of inspection points, resulting in The configuration standards of the substation inspection robot are inconsistent; the existing substation inspection robot stop-preset operation method must stop at each stop, the inspection efficiency is low, and the robot starts and stops frequently, which has a certain impact on the stability of the robot operation. Impact
[0006] (2) There are many devices in the substation and they are located in different spatial orientations. The robot runs for a long time. Due to mechanical wear and other conditions, there are errors in the preset position of the stop, and the robot cannot accurately collect the image of the equipment; under different time and different weather conditions , affected by the sensor observation angle, image capture angle, and lighting conditions, etc., will cause the data quality of the inspection data to decline, which is not conducive to subsequent equipment status identification and fault diagnosis
[0007] (3) Control the position of the robot pan / tilt through the visual servo system of the inspection robot. The conventional pan / tilt only has the control of two degrees of freedom of left and right swing and up and down pitch, which cannot ensure the acquisition of equipment images at the best shooting angle.
[0008] (4) Traditional power inspection robots are limited by the lack of front-end analysis and computing capabilities, and need to send image data back to the background for analysis. This processing method is highly dependent on the network situation between the robot and the background, and the real-time analysis cannot be guaranteed. As a result, the defects of the equipment cannot be found in time, which brings great risks to the operation of the power grid

Method used

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  • A semantic intelligent substation inspection robot autonomous inspection method and system
  • A semantic intelligent substation inspection robot autonomous inspection method and system
  • A semantic intelligent substation inspection robot autonomous inspection method and system

Examples

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Embodiment 1

[0040] According to an embodiment of the present invention, an embodiment of an autonomous inspection method for a semantic intelligent substation inspection robot is provided, figure 1 A flow chart of a semantic intelligent substation inspection robot autonomous inspection method is given, which specifically includes the following steps:

[0041] Step S101: Based on the prior knowledge of the substation, automatically obtain the location information of the equipment in the substation, and realize the automatic construction of the three-dimensional semantic map of the substation in the case of robot configuration-free information injection;

[0042] Specifically, refer to figure 2 , the method of independently constructing a three-dimensional semantic map of a substation is as follows:

[0043] Obtain prior knowledge data such as substation design drawings and electrical design drawings, and use knowledge graphs and knowledge understanding technology to form a coarse-precisi...

Embodiment 2

[0092] According to an embodiment of the present invention, an embodiment of an autonomous inspection system of a semantically intelligent substation inspection robot is provided. Refer to image 3 ,include:

[0093] The 3D semantic map building module is used to autonomously plan the walking path of the robot based on the 3D semantic map, combined with the inspection task and the current location of the robot;

[0094] The walking path planning module is used to independently plan the walking path of the robot in combination with the inspection task and the current location of the robot;

[0095] The non-stop inspection module is used to control the robot to move according to the planned path, and to carry out inspection operations during the traveling process;

[0096] Wherein, the non-stop inspection module includes:

[0097] The image acquisition unit of the target inspection equipment is used to control the movement of the robot according to the planned path, and carry ...

Embodiment 3

[0105] In one or more embodiments, a robot controller is disclosed, comprising a server comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, the processor executing the A semantic intelligent substation inspection robot autonomous inspection method in Embodiment 1 is implemented when the program is described. For the sake of brevity, details are not repeated here.

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PUM

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Abstract

The invention provides a semantic intelligent substation inspection robot autonomous inspection method and system, including: based on the prior knowledge of the substation, independently constructing a three-dimensional semantic map of the substation; Plan the walking path of the robot; control the robot to move according to the planned path, and carry out inspection operations during the travel process; during the inspection operation, drive the mechanical arm to move according to the positional relationship between the robot and the equipment to be inspected, so that the mechanical arm The terminal image acquisition device acquires the image of the target inspection equipment at the best shooting angle; based on the acquired image, it automatically performs target recognition. The invention can realize the automatic collection of inspection data without stopping the robot, breaks the traditional substation inspection robot's "stopping point - preset position" operation mode, and solves the problem of low efficiency of docking operation existing in the traditional robot inspection.

Description

technical field [0001] The invention belongs to the technical field of substation robots, and in particular relates to an autonomous inspection method and system for a semantic intelligent substation inspection robot. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] At present, existing substation inspection robots do not have the ability to perceive unknown environments. For a new substation with unknown environmental information, a large amount of manual work is required to complete the configuration and deployment. The inspection points of substation inspection robots are usually manually set by on-site personnel according to the inspection tasks. When setting, the on-site personnel first remotely control the robot to run along the inspection route, and then stop when it runs to the periphery of the power equipment to be inspected; then ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00B25J19/02
CPCB25J9/1664B25J11/00B25J19/023
Inventor 王振利李建祥王万国慕世友王克南杨波孙晓斌肖鹏郝永鑫郭锐王海鹏
Owner STATE GRID INTELLIGENCE TECH CO LTD