Provisioning vehicle-mounted intelligent inspection robot system and method

Abstract

The invention provides a provisioning vehicle-mounted intelligent inspection robot system and method, and belongs to the technical field of power distribution inspection. The system comprises a robot body arranged on a vehicle and a detection device carried on the robot body; the detection device at least comprises an ultrasonic detection mechanism, an infrared detection mechanism and a visible light shooting mechanism which are fixed on a rotating pan-tilt, the ultrasonic detection mechanism and the visible light shooting mechanism are coaxially and reversely arranged, or the included angle between the ultrasonic detection mechanism and the visible light shooting mechanism is a preset value; the rotating pan-tilt, the ultrasonic detection mechanism and the visible light shooting mechanism are all in communication with a control terminal of the robot body, and the control terminal of the robot body can carry out inspection on a power distribution line, a power distribution tower and power distribution equipment according to data transmitted by the detection device. According to the system and the method, non-stop inspection of the power distribution line can be realized, comprehensive inspection of the power distribution line, the power distribution equipment and the power distribution tower is realized, and omission in inspection of the power distribution line is avoided.

Description

technical field [0001] The invention relates to the technical field of power distribution inspection, in particular to a vehicle-mounted intelligent inspection robot system and method for a distribution network. Background technique [0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art. [0003] Power transmission and distribution lines are responsible for power transmission. The lines are long, have many equipments, and have a wide geographical range, which brings great difficulties to the operation and maintenance of the power grid and rapid fault repair. [0004] At present, the inspection of power transmission and distribution lines mostly adopts the method of on-board inspection of distribution network. The automatic inspection of transmission and distribution lines is realized through various inspection equipment installed on inspection vehicles, which effectively avoids manual...

AI Technical Summary

Problems solved by technology

[0006] (1) When the inspection vehicle is driving in a normal state, the ultrasonic equipment is directly used to inspect the discharge point, and it is impossible to visually display the source of the ultrasonic signal of the discharge point. If a visible light camera is simply added, due to mechanical interference, the axis where it is located It is inevitable that the image at the source of the ultrasonic receiving signal cannot be collected at the same time as the axis of the ultrasonic equipment.

[0007] (2) Inspection vehicles are equipped with infrared detection equipment, and abnormal analysis is performed through infrared images, but the overall distribution of infrared image gray levels is relatively low and concentrated, and due to the random interference brought by the surrounding environment to the infrared imaging process and the thermal imaging system itself The imperfection of the infrared image makes the signal-to-noise ratio and contrast of the infrared image relatively low; the traditional image segmentation algorithm based on threshold and edge is sensitive to noise, and it is easy to produce segmentation results with poor continuity, which reduces the accuracy of image segmentation and thus affects the fault. recognition result

[0008] (3) Due to the complex distribution of power distribution lines, the distribution of poles and towers in each area is more staggered. When using inspection vehicles to conduct tower inspections, it is often necessary to stop and inspect multiple times, and the inspection efficiency is low; at the same time, it requires a lot of manpower to distinguish Distinguish information such as inspection areas, lines, pole towers, etc. Therefore, inspection personnel in the area are prone to problems such as missing poles, missing lines, and false inspections during the inspection process

[0009] (4) The existing distribution line inspection strategy is that the daily inspection personnel need to plan which lines and towers to inspect this time before the inspection, and configure the lines and towers to be inspected into multiple inspection tasks. During the inspection, the inspection must start from the No. 1 tower of the specified task, and the task line cannot be changed in the middle. This inspection strategy needs to set up many inspection tasks in advance, and the workload of task configuration is heavy, and the inspection needs to follow the route planned by the task. Inspection with pole tower, less flexibility

[0010] (5) In the existing distribution network vehicle inspection strategy, the real-time position of the inspection vehicle and the tower is used to calculate the tracking angle. This calculation method is accurate when the vehicle is stationary, but it cannot be applied to the vehicle running state. detection; because in the driving state of the vehicle, according to the position of the vehicle and the tower at the current time node, it is calculated that the pan-tilt needs to track the rotation angle, and the rotation command is sent to the pan-tilt, and the pan-tilt rotates to the specified angle after receiving the command. , the inspection vehicle is still in the driving state, and the position of the vehicle has changed. At this time, it is no longer accurate to use the previously calculated angle to track

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