Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method

Abstract

The invention relates to a transformer substation inspection robot carrying an unmanned aerial vehicle and an inspection method. The transformer substation inspection robot comprises a robot moving platform, the unmanned aerial vehicle, a robot body controller, a wireless router and a background monitoring system. The robot moving platform is connected with the robot body controller, the robot body controller performs information transmission with the background monitoring system through the wireless router and controls the robot moving platform to walk and stop on a preset inspection line ina transformer substation according to a control instruction of the background monitoring system, and the unmanned aerial vehicle is arranged on the robot moving platform. The unmanned aerial vehicle is in wireless information transmission with the robot body controller, is controlled by the robot body controller to take off and land, and a camera assembly on the unmanned aerial vehicle shoots equipment and instruments of the transformer substation . The transformer substation inspection robot is not influenced by the walking inclination angle of the inspection robot, the inspection robot is close to or far away from the equipment of the transformer substation, the equipment and the instruments of the transformer substation can be clearly shot, and inspection work of the transformer substation is completed safely and reliably.

Description

technical field [0001] The invention relates to the technical field of substation inspection, in particular to a substation inspection robot equipped with a drone and an inspection method. Background technique [0002] Substation is a kind of power equipment, specifically refers to the place in the power system that transforms voltage and current, receives electric energy and distributes electric energy. In order to ensure the safe use of substations, it is necessary to conduct inspections on substations on a regular basis. Manual inspections are the traditional operation method for inspections of substations. Sometimes due to factors such as work fatigue and boredom, inspection personnel can easily cause missed inspections and wrong inspections. According to China Statistics from the Electric Power Research Institute show that the annual direct economic loss due to missed and wrong inspections exceeds 2.6 billion yuan, which shows that manual inspections are difficult to en...

AI Technical Summary

Problems solved by technology

However, there are the following problems in using the inspection robot to complete the inspection task: 1. When the inspection robot walks to the shooting position and stops, it will be affected by factors such as inertia and tilt, so that the shooting target exceeds the shooting range of the camera component.

Second, there is a maximum upward angle between the camera component of the inspection robot and the inspection robot. If the inspection robot travels close to the equipment in the substation, the camera component is limited by the maximum upward angle, and there is still no way to move up to the maximum angle. The problem of capturing the target; in addition, if the inspection robot travels far away from the equipment in the substation, the shooting target will deviate from the shooting range as long as the camera assembly rotates a small angle

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