Inspection robot for electric power system operation planning and inspection method thereof

Abstract

The invention relates to the technical field of inspection robots, and discloses an inspection robot for electric power system operation planning and an inspection method thereof, a rack and inspection mechanisms, the inspection mechanisms are assembled at the two ends of the bottom of the rack, moving mechanisms are connected to the two sides of the top of the rack, a guide mechanism is assembled at the top of the rack, and the guide mechanism comprises a crankshaft; the two ends of the crankshaft are connected with guide rubber wheels, the outer portions of the guide rubber wheels are connected with transverse shafts, the outer portions of the transverse shafts are sleeved with limiting bearings, and the limiting bearings are connected with the rack. According to the inspection robot for electric power system operation planning, the flowing speed of insect repelling smoke is increased through the additionally-arranged exhaust mechanism, the mosquito killing effect is greatly improved, extra energy driving is not needed, then energy loss is reduced, the inspection robot is environmentally friendly, the mosquito killing range is widened, the smoke diffusion speed is increased, and the safety and reliability of the inspection robot are improved. The normal use of the inspection mechanism is prevented from being affected by smoke gathering, and the inspection effect of the power system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an inspection robot for power system operation planning and an inspection method thereof. Background Art

[0002] As one of the indispensable infrastructures of modern society, the complexity and importance of the power system are self-evident. It ingeniously integrates the four core links of power generation, transmission, distribution and consumption. These four parts work closely together to build a full-chain system from the generation of electricity to the final consumption. The power generation link converts natural energy or fossil energy into electricity through various energy conversion equipment, such as thermal power plants, hydropower plants, wind farms, etc.; the transmission link uses high-voltage transmission lines to efficiently and long-distance transmit electricity to the load center; the distribution link reduces the voltage of high-voltage electricity and distributes it to various user areas through the distribution network; finally, the power consumption link realizes the conversion of electricity into various equipment and services to meet the needs of social production and life.

[0003] In order to ensure that this large and complex system can operate safely, stably and efficiently, regular and detailed inspections are particularly important. However, traditional manual inspections are not only inefficient, but also pose safety risks, especially in remote or harsh power stations. Therefore, the application of inspection robots has become an effective way to solve this problem. With its automation, intelligence and efficiency, inspection robots can replace humans in performing inspection tasks in harsh environments, greatly improving inspection efficiency and safety.

[0004] However, inspection robots also face some challenges in practical applications, especially during summer night inspections, when flying insects gather. Flying insects surround the outside of the inspection robot's lens, not only blocking the lens's field of view, but also contaminating the lens with dead insects or their secretions, causing blurred and distorted images, which seriously affects the inspection robot's accurate monitoring and judgment of the power system equipment status. Summary of the invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides an inspection robot for power system operation planning and an inspection method thereof, so as to solve some challenges faced by the above-mentioned inspection robot in practical applications, especially when inspecting at night in summer, the problem of flying insects gathering is particularly prominent. Flying insects surround the outside of the lens of the inspection robot, which not only blocks the lens field of view, but also may contaminate the lens due to the dead bodies or secretions of the flying insects, resulting in blurred and distorted images, thereby seriously affecting the technical problem of the inspection robot's accurate monitoring and judgment of the status of power system equipment.

[0006] The present invention adopts the following technical solution.

[0007] An inspection robot for power system operation planning, comprising: a frame and an inspection mechanism, and the inspection mechanism is assembled at both ends of the bottom of the frame. Moving mechanisms are connected to both sides of the top of the frame, and a guiding mechanism is assembled on the top of the frame. The guiding mechanism includes a crankshaft;

[0008] An exhaust mechanism is assembled at the bottom of the frame for accelerating the flow rate of the insect-repelling smoke. The exhaust mechanism includes a trachea, which is connected to the frame. A storage mechanism is assembled at the bottom of the frame for storing and automatically igniting solid mosquito coils. The storage mechanism includes a solid mosquito coil storage box. Diffusion mechanisms are assembled on both sides of the solid mosquito coil storage box for expanding the spraying range of the smoke. The diffusion mechanisms include nozzles.

[0009] As an improvement, an inspection component is embedded inside the inspection mechanism, and the inspection mechanism is connected to the frame through a hinge bracket.

[0010] As an improvement, the moving mechanism includes track blocks, and a motor group is assembled inside the track blocks. Track wheels are connected to the output ends on both sides inside the motor group, and the motor group is connected to the frame.

[0011] As an improvement, guiding rubber wheels are connected to both ends of the crankshaft. A cross shaft is connected to the outside of the guiding rubber wheels, and a limit bearing is sleeved on the outside of the cross shaft. The limit bearing is connected to the frame;

[0012] A guiding cross plate is assembled on the top of the guiding rubber wheel, and mounting brackets are assembled on the top of both the guiding cross plate and the track block.

[0013] As an improvement, a piston block is slidably connected inside the trachea. A connecting rod is connected to the top of the piston block through a hinge, and the top of the connecting rod is connected to the crankshaft. A first one-way valve pipe is communicated with the outside of the trachea, and a second one-way valve pipe is communicated with the bottom of the trachea;

[0014] The frame is a square plate with a groove opened at the top, and the groove is slidably connected with the connecting rod.

[0015] As an improvement, a drawer plate is embedded on the front of the solid mosquito coil storage box. A sliding plate is slidably connected to the top of the drawer plate. A short arm is connected to the back of the sliding plate through a hinge, and a U-shaped arm is connected to the top of the short arm through a hinge. The U-shaped arm is connected to the piston block;

[0016] A storage box is slidably connected to the inner bottom of the solid mosquito coil storage box, and handles are assembled on the front of both the storage box and the sliding plate.

[0017] As an improvement, sieve plates are embedded on both sides of the top of the drawer plate and the sliding plate, and openings are evenly distributed on the top of the sieve plates.

[0018] As an improvement, a chute is provided at the top of the drawer board, and a slider is slidably connected inside the chute, and the slider is connected to the skateboard.

[0019] As an improvement, a spray pipe is communicated with the outside of the nozzle, fan blades are uniformly arranged on the outside of the spray pipe, a transmission belt is assembled on the outside of the spray pipe, and the other end inside the transmission belt is in transmission connection with the horizontal shaft;

[0020] A sealed bearing is sleeved on the outside of the spray pipe, and the sealed bearing is embedded in the outside of the solid mosquito-repellent incense storage box;

[0021] Both sides inside the transmission belt are connected with belt wheels, and the two belt wheels are respectively connected with the spray pipe and the horizontal shaft.

[0022] A patrol method for a patrol robot used for power system operation planning. First, fix the guiding cross plate and the track block in the path to be patrolled, pull out the drawer board, place the solid mosquito-repellent incense on the top of the skateboard, start the generator set to drive the track wheels to rotate, and then drive the frame to move inside the track block. Start the patrol mechanism to patrol and monitor the power generation system and optimize the operation planning of the power system at the same time;

[0023] When the frame moves, it drives the guiding rubber wheels to move together, and then rotates at the bottom of the guiding cross plate, drives the crankshaft to move, and then drives the piston block to do piston motion through the connecting rod. Cooperate with the first one-way valve pipe to pump out the external air flow, and then pump it out through the second one-way valve pipe inside the solid mosquito-repellent incense storage box to accelerate the air flow inside the solid mosquito-repellent incense storage box;

[0024] When the piston block moves up and down, it drives the C-shaped arm to move accordingly, and then drives the skateboard to move back and forth through the short arm, and then shakes off the dust generated when the solid mosquito-repellent incense burns, and drops it into the storage box through the sieve plate for collection and treatment;

[0025] When the horizontal shaft rotates, it drives the spray pipe to rotate through the transmission belt, and then expands the range of the mosquito-repellent smoke sprayed by the nozzle, and the fan blades generate air flow during movement to accelerate the flow and diffusion of the mosquito-repellent smoke.

[0026] The beneficial effects of the present invention are as follows. Compared with the prior art,

[0027] 1. This patrol robot used for power system operation planning emits insect-repellent smoke through the added solid mosquito-repellent incense, and then drives away and kills the mosquitoes in summer nights, avoiding the influence of mosquitoes on the patrol mechanism. At the same time, the added exhaust mechanism accelerates the flow rate of the insect-repellent smoke, greatly improving the killing effect on mosquitoes;

[0028] 2. The inspection robot used in the power system operation planning has an exhaust mechanism that automatically recovers the kinetic energy generated by the rack during movement for driving. No additional energy is required to drive it, thereby saving energy loss and being green and environmentally friendly.

[0029] 3. The inspection robot for power system operation planning is automatically driven to move when the solid mosquito coil is burning through the added storage mechanism, thereby accelerating the falling of the burning ash outside the solid mosquito coil to avoid affecting the normal movement of the solid mosquito coil, and at the same time preventing dust accumulation from causing the mosquito coil to be extinguished, thereby improving the killing effect on mosquitoes;

[0030] 4. The inspection robot used for power system operation planning, through the added diffusion mechanism, automatically expands the spraying range of smoke when the solid mosquito coils are burning, thereby increasing the killing range of mosquitoes and accelerating the diffusion speed of smoke, avoiding smoke accumulation and thus affecting the normal use of the inspection mechanism, and improving the inspection effect of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a front schematic diagram of the present invention;

[0032] Figure 2 It is a partial enlarged schematic diagram of the frame of the present invention;

[0033] Figure 3 It is a partial cross-sectional view of the moving mechanism of the present invention;

[0034] Figure 4 It is a front schematic diagram of the guide mechanism of the present invention;

[0035] Figure 5 It is a partial cross-sectional view of the exhaust mechanism of the present invention;

[0036] Figure 6 It is a partial cross-sectional view of the storage mechanism of the present invention;

[0037] Figure 7 This is a schematic diagram of the top of the sieve plate of the present invention;

[0038] Figure 8 It is an enlarged schematic diagram of the front view of the diffusion mechanism of the present invention.

[0039] In the figure:

[0040] 1. Frame;

[0041] 2. Inspection agencies;

[0042] 21. Inspection components;

[0043] 3. Mobile mechanism;

[0044] 31. Track block;

[0045] 32. Motor group;

[0046] 33. Orbital wheel;

[0047] 4. Guide mechanism;

[0048] 41. Guide rubber wheel;

[0049] 42. Cross shaft;

[0050] 43. Crankshaft;

[0051] 44. Limit bearing;

[0052] 45. Guide cross plate;

[0053] 5. Exhaust mechanism;

[0054] 51. Air pipe;

[0055] 52. Piston block;

[0056] 53. Connecting rod;

[0057] 54. First one-way valve pipe;

[0058] 55. Second one-way valve pipe;

[0059] 6. Storage mechanism;

[0060] 61. Solid mosquito-repellent incense storage box;

[0061] 62. Drawer board;

[0062] 63. Slide plate;

[0063] 64. Short arm;

[0064] 65. C-shaped arm;

[0065] 66. Storage box;

[0066] 67. Sieve plate;

[0067] 68. Slide groove;

[0068] 69. Slide block;

[0069] 7. Diffusion mechanism;

[0070] 71. Nozzle;

[0071] 72. Spray pipe;

[0072] 73. Sealing bearing;

[0073] 74. Transmission belt;

[0074] 75. Pulley;

[0075] 76. Fan blade. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0077] Example 1

[0078] See also Figure 1 A patrol robot for power system operation planning includes: a frame 1 and a patrol mechanism 2. The frame 1 can support and protect the top of the patrol mechanism 2. The patrol mechanism 2 is composed of a monitoring and analysis system, a control system and a power supply system in a common patrol robot in the prior art, and the patrol mechanism 2 is assembled at both ends of the bottom of the frame 1. Both sides of the top of the frame 1 are connected with a moving mechanism 3. The moving mechanism 3 is a moving system in a common patrol robot in the prior art, which can drive the frame 1 and the patrol mechanism 2 to perform mobile inspection.

[0079] See also Figure 2 and Figure 3 The mobile mechanism 3 includes a track block 31, and a motor group 32 is installed inside the track block 31. The output ends on both sides of the motor group 32 are connected to track wheels 33, and the motor group 32 is connected to the frame 1. The track block 31 can guide the track wheel 33. A plurality of motors are arranged inside the motor group 32, which then drive the track wheel 33 to move inside the track block 31. The top of the frame 1 is equipped with a guide mechanism 4. The inspection mechanism 2 is embedded with an inspection component 21, and the inspection mechanism 2 is connected to the frame 1 through an articulated frame. The inspection component 21 includes a sensor, a processor, a battery pack and a communication module. The inspection mechanism 2 and the inspection component 21 cooperate to continuously collect various data such as images, sounds, temperatures, etc., and transmit these data to the background or cloud for analysis in real time, thereby realizing the operation of the power system.

[0080] See also Figure 4The guide mechanism 4 includes a crankshaft 43, and both ends of the crankshaft 43 are connected with guide rubber wheels 41. The contact between the guide rubber wheels 41 and the ground or track ensures the stability and direction of the robot during movement. The guide rubber wheels 41 can transmit the crankshaft 43. The outside of the guide rubber wheels 41 is connected with a transverse axis 42, which can support the guide rubber wheels 41, and the outside of the transverse axis 42 is sleeved with a limit bearing 44, which is connected to the frame 1 to prevent the transverse axis 42 from deviating during rotation. The top of the guide rubber wheels 41 is equipped with a guide cross plate 45, and the top of the guide cross plate 45 and the track block 31 are both equipped with a stand. The guide cross plate 45 can increase the friction with the guide rubber wheels 41, and then drive the guide rubber wheels 41 to rotate and transmit, and also play a certain supporting and stabilizing role. Its surface is made of wear-resistant material, which can effectively resist the wear caused by long-term friction and extend its service life. At the same time, an adjustable gap is provided between the guide cross plate 45 and the stand, allowing fine-tuning according to the actual conditions of the ground or track, ensuring that the guide rubber wheel 41 always maintains good contact with the contact surface, further improving the driving stability and guiding accuracy of the inspection robot.

[0081] See also Figure 5 The bottom of the frame 1 is equipped with an exhaust mechanism 5 for accelerating the flow speed of the insect repellent smoke. The design of the mechanism cleverly utilizes the kinetic energy generated by the frame 1 when it moves. The exhaust mechanism 5 includes an air pipe 51, which can support the piston block 52. The air pipe 51 is connected to the frame 1. The piston block 52 is slidably connected inside the air pipe 51. The piston block 52 realizes the up and down piston movement through the cooperation of the connecting rod 53 and the crankshaft 43 to generate air supply. The top of the piston block 52 is connected to the connecting rod 53 through a hinge. The top of the connecting rod 53 is connected to the crankshaft 43. The movement of the crankshaft 43 drives the connecting rod 53 and the piston block 52 to reciprocate. The outside of the air pipe 51 is connected to the crankshaft 43. A first one-way valve pipe 54 is connected to the bottom of the air pipe 51 for air intake, and a second one-way valve pipe 55 is connected to the bottom of the air pipe 51 for air exhaust to form a one-way airflow cycle. The frame 1 is a square plate with a groove on the top, and the groove is slidably connected to the connecting rod 53. The groove facilitates the connecting rod 53 to transmit the piston block 52. The first one-way valve pipe 54 can only be used for one-way air intake, and the second one-way valve pipe 55 can only be used for one-way exhaust. This design enables the exhaust mechanism 5 to automatically recover the kinetic energy generated by the frame 1 during movement for driving, without the need for additional energy, which is both energy-saving and environmentally friendly. The groove on the top of the frame 1 is designed to be precise and smooth, which reduces the friction resistance of the connecting rod 53 during the sliding process and improves the transmission efficiency. The depth and width of the groove are accurately calculated to ensure that the connecting rod 53 will not be separated or shaken during the transmission process, thereby ensuring the reliability and stability of the operation of the exhaust mechanism 5. In addition, a lubrication device is also provided in the groove to automatically apply lubricating oil regularly to reduce mechanical wear and extend the service life of the frame 1 and the connecting rod 53.

[0082] Please refer to Figure 6 and Figure 7 , a storage mechanism 6 is assembled at the bottom of the rack 1 for storing and automatically lighting solid mosquito coils. The storage mechanism 6 includes a solid mosquito coil storage box 61. The second one-way valve pipe 55 is communicated with the solid mosquito coil storage box 61. The inside of the solid mosquito coil storage box 61 can store solid mosquito coils and waste chips. The solid mosquito coils can be selected from the common insect repellent mosquito coils in the prior art. A drawer board 62 is embedded in the front of the solid mosquito coil storage box 61 for taking out or replacing the mosquito coils. The drawer board 62 and the sliding board 63 can support the solid mosquito coils. A sliding board 63 is slidably connected to the top of the drawer board 62. The sliding board 63 automatically slides down during the burning of the mosquito coil, pushing the mosquito coil downward.

[0083] A short arm 64 is connected to the back of the sliding board 63 by a hinge. The short arm 64 can drive the sliding board 63 to vibrate through the drive of the U-shaped arm 65. And the top of the short arm 64 is connected to the U-shaped arm 65 by a hinge. The U-shaped arm 65 is connected to the piston block 52. When the sliding board 63 slides down, the piston block 52 is driven to reciprocate through the short arm 64 and the U-shaped arm 65, so as to realize the automatic lighting of the mosquito coil and the automatic cleaning of the ashes. A storage box 66 is slidably connected to the inner bottom of the solid mosquito coil storage box 61. And handles are assembled on the front of both the storage box 66 and the sliding board 63. The storage box 66 can collect the waste chips generated by the burning of the solid mosquito coils. The handles facilitate driving the storage box 66 and the sliding board 63 to move. The storage box 66 is made of a material that is easy to clean, with a smooth inner wall, which is convenient for the collection and cleaning of waste chips. Its capacity is moderate, which can not only meet the collection requirements of waste chips within a certain period of time, but also will not affect the overall balance of the inspection robot due to being too heavy. The storage box 66 can be easily pulled out through the handle, the waste chips are poured out and then put back in place, and the operation is simple and fast. In addition, the sieve plate on the sliding board is designed ingeniously to prevent the scattering of dust and smaller particles, protecting the cleanliness of the inside and surrounding environment of the inspection robot.

[0084] The drawer plate 62 and the slide plate 63 are both embedded with a sieve plate 67 on both sides of the top, and the top of the sieve plate 67 is evenly distributed with openings. The sieve plate 67 is convenient for filtering and discharging the waste generated by the burning of mosquito coils. The size of the openings on the sieve plate 67 is carefully designed, which can effectively filter out the larger waste generated by the burning of mosquito coils, and allow the passage of air and smaller particles, ensuring the smooth diffusion of smoke. The sieve plate 67 is tightly fitted with the drawer plate 62 and the slide plate 63 to prevent the side leakage and accumulation of waste, and maintain the cleanliness of the inside of the inspection robot. As the inspection robot continues to run, waste will gradually accumulate on the sieve plate 67. Users can regularly clean the waste on the sieve plate 67 as needed to maintain its good filtering effect. A slide groove 68 is provided on the top of the drawer board 62, and a slider 69 is slidably connected inside the slide groove 68. The slider 69 is connected to the slide plate 63. The slide groove 68 cooperates with the slider 69 to guide the slide plate 63 to move linearly. The cooperation between the slide groove 68 and the slider 69 adopts high-precision processing technology, which ensures that the slider 69 can slide smoothly and not shake easily in the slide groove 68. The length and shape of the slide groove 68 are designed according to the movement trajectory of the slide plate 63, ensuring that the slide plate 63 can move linearly along a predetermined path when moving. This design not only improves the movement accuracy and stability of the slide plate 63, but also reduces the noise and wear caused by poor sliding.

[0085] Example 2

[0086] See also Figure 8 Compared with Example 1, both sides of the solid mosquito coil storage box 61 are equipped with diffusion mechanisms 7 for expanding the spraying range of the smoke. The first one-way valve tube 54 is arranged on the back of the air pipe 51 to avoid conflict with the diffusion mechanism 7. The diffusion mechanism 7 includes a nozzle 71, which can discharge the smoke. The outside of the nozzle 71 is connected to a nozzle 72, and a filter is embedded in the nozzle 72. The filter can only allow the smoke to pass through, but not the dust after burning.

[0087] The outside of the nozzle 72 is evenly provided with fan blades 76, which can generate airflow by rotation to accelerate the diffusion of smoke. The outside of the nozzle 72 is equipped with a transmission belt 74, and the other end of the transmission belt 74 is connected to the horizontal shaft 42 by transmission. The rotation of the horizontal shaft 42 drives the nozzle 72 to rotate through the transmission belt 74, thereby further expanding the spraying range of the smoke. The outside of the nozzle 72 is sleeved with a sealed bearing 73, which is embedded in the outside of the solid mosquito coil storage box 61. The sealed bearing 73 can support the nozzle 72. The selection of the sealed bearing 73 fully considers the various forces and vibrations that the nozzle 72 may encounter during the working process. It has excellent material, strong wear resistance and corrosion resistance, and can maintain a stable supporting effect in harsh environments. Sealing elements such as sealing washers are provided between the sealed bearing 73 and the nozzle 72, which effectively prevent the intrusion of smoke and dust, and ensure the cleanliness of the internal environment of the nozzle 72 and the stability of the spray effect. Pulleys 75 are connected to both sides of the transmission belt 74. The two pulleys 75 are connected to the nozzle 72 and the horizontal shaft 42 respectively. The pulleys 75 can increase the transmission effect of the transmission belt 74. The design of the pulleys 75 fully considers the requirements of transmission efficiency and transmission ratio. The two pulleys 75 are connected to the nozzle 72 and the horizontal shaft 42 respectively, and the effective transmission of energy is achieved through the transmission action of the transmission belt 74. The surface of the pulley 75 is made of wear-resistant material and is specially treated to improve its grip and transmission efficiency. The transmission belt 74 is made of high-strength and wear-resistant material, which can withstand large tension and torque without breaking or slipping. This design ensures that the transmission effect of the transmission belt 74 is stable and reliable, and can meet the operation requirements of the inspection robot under various working conditions.

[0088] Example 3

[0089] A patrol method for a patrol robot for power system operation planning, firstly, fix the guide cross plate 45 and the track block 31 in the path to be patrolled, pull out the drawer plate 62, place the solid mosquito coil on the top of the slide plate 63, start the motor group 32 to drive the track wheel 33 to rotate, and then drive the frame 1 to move inside the track block 31, start the patrol mechanism 2 to patrol and monitor the power generation system and plan the operation of the power system;

[0090] When the frame 1 moves, it drives the guide rubber wheel 41 to move together, and then rotates at the bottom of the guide horizontal plate 45, driving the crankshaft 43 to move, and then drives the piston block 52 to do piston movement through the connecting rod 53, cooperates with the first one-way valve pipe 54 to pump out the external airflow, and then pumps it out of the solid mosquito-repellent incense storage box 61 through the second one-way valve pipe 55, speeding up the flow of the airflow inside the solid mosquito-repellent incense storage box 61, and discharges the mosquito-repellent smoke through the nozzle 71;

[0091] When the piston block 52 moves up and down, it drives the C-shaped arm 65 to move accordingly. Then, through the short arm 64 for transmission, it drives the slide plate 63 to move back and forth, thus shaking off the dust generated during the burning of the solid mosquito-repellent incense, and dropping it through the sieve plate 67 into the interior of the storage box 66 for collection and processing;

[0092] When the horizontal shaft 42 rotates, it is driven by the transmission belt 74 to drive the nozzle 72 to rotate, thereby expanding the range of the smoke sprayed by the nozzle 71. Moreover, the fan blade 76 generates an air current during movement, accelerating the flow and diffusion of the mosquito-repellent smoke, and avoiding the influence of the mosquito-repellent smoke on the inspection mechanism 2.

[0093] This solution is aimed at the operation planning of the power system. The designed inspection robot is ingenious, integrating multiple innovative functions to improve its inspection efficiency and effect at night in summer. In particular, effective measures have been taken to address the problem of mosquito interference, including the following aspects:

[0094] Innovative mosquito-repellent design: The inspection robot emits insect-repellent smoke by内置固体蚊香 (built-in solid mosquito-repellent incense), effectively driving away and killing mosquitoes at night in summer, thus avoiding the interference of mosquitoes on the lens and equipment of the inspection mechanism 2, and ensuring the clarity and accuracy of the inspection.

[0095] Energy-saving drive mechanism: The specially designed exhaust mechanism 5 can automatically recover the kinetic energy generated during the movement of the inspection robot for driving, without the need for additional energy support. This design not only reduces energy consumption but also reflects the concept of environmental protection.

[0096] Automatic cleaning and drive system: The design of the storage mechanism 6 enables the solid mosquito-repellent incense to be automatically driven during the burning process, accelerating the shedding of the burning ash, preventing the ash from accumulating and affecting the normal burning of the mosquito-repellent incense, and at the same time avoiding the problem of the mosquito-repellent incense being extinguished due to excessive dust, ensuring the sustainability of the mosquito-repellent effect.

[0097] Efficient diffusion mechanism 7: The inspection robot is also equipped with a diffusion mechanism 7, which automatically works when the mosquito-repellent incense is burning, significantly expanding the spraying range of the smoke and accelerating the diffusion speed of the smoke. This not only increases the killing range of mosquitoes but also effectively avoids the interference that the smoke accumulation may cause to the normal operation of the inspection mechanism 2, thereby further improving the inspection effect of the power system.

[0098] It should be noted that the expression "内置固体蚊香" in the original text seems to be a Chinese description that may need to be further clarified or replaced with a more accurate English equivalent in a real application scenario. Here, a literal translation is provided first for the purpose of translation following the rules.It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A patrol robot for power system operation planning, comprising: A frame (1) and an inspection mechanism (2), and the inspection mechanism (2) is assembled at both ends of the bottom of the frame (1), characterized in that: moving mechanisms (3) are connected to both sides of the top of the frame (1), a guiding mechanism (4) is assembled on the top of the frame (1), and the guiding mechanism (4) includes a crankshaft (43); An exhaust mechanism (5) is assembled at the bottom of the frame (1) for accelerating the flow rate of the insect-repelling smoke. The exhaust mechanism (5) includes an air pipe (51), and the air pipe (51) is connected to the frame (1). A storage mechanism (6) is assembled at the bottom of the frame (1) for storing and automatically igniting solid mosquito coils. The storage mechanism (6) includes a solid mosquito coil storage box (61), and diffusion mechanisms (7) are assembled on both sides of the solid mosquito coil storage box (61) for expanding the spraying range of the smoke. The diffusion mechanism (7) includes a nozzle (71).

2. The inspection robot for power system operation planning according to claim 1, characterized in that: An inspection component (21) is embedded inside the inspection mechanism (2), and the inspection mechanism (2) is connected to the frame (1) through a hinge bracket.

3. The inspection robot for power system operation planning according to claim 1, characterized in that: The moving mechanism (3) includes a track block (31), and a motor group (32) is assembled inside the track block (31). Track wheels (33) are connected to the output ends on both sides inside the motor group (32), and the motor group (32) is connected to the frame (1).

4. The inspection robot for power system operation planning according to claim 3, characterized in that: Guide rubber wheels (41) are connected to both ends of the crankshaft (43). A cross shaft (42) is connected to the outside of the guide rubber wheels (41), and a limit bearing (44) is sleeved on the outside of the cross shaft (42). The limit bearing (44) is connected to the frame (1); A guide cross plate (45) is assembled on the top of the guide rubber wheel (41), and bench frames are assembled on the tops of both the guide cross plate (45) and the track block (31).

5. The inspection robot for power system operation planning according to claim 1, characterized in that: A piston block (52) is slidably connected inside the air pipe (51). A connecting rod (53) is connected to the top of the piston block (52) through a hinge, and the top of the connecting rod (53) is connected to the crankshaft (43). A first one-way valve pipe (54) is communicated with the outside of the air pipe (51), and a second one-way valve pipe (55) is communicated with the bottom of the air pipe (51); The frame (1) is a square plate with a groove opened at the top, and the groove is slidably connected with the connecting rod (53).

6. The inspection robot for power system operation planning according to claim 5, characterized in that: A drawer plate (62) is embedded in the front of the solid mosquito coil storage box (61). A sliding plate (63) is slidably connected to the top of the drawer plate (62). A short arm (64) is connected to the back of the sliding plate (63) through a hinge, and a U-shaped arm (65) is connected to the top of the short arm (64) through a hinge. The U-shaped arm (65) is connected to the piston block (52); A storage box (66) is slidably connected to the inner bottom of the solid mosquito coil storage box (61), and handles are assembled on the fronts of both the storage box (66) and the sliding plate (63).

7. The inspection robot for power system operation planning according to claim 6, characterized in that: Sieve plates (67) are embedded in both sides of the tops of the drawer plate (62) and the sliding plate (63), and openings are evenly distributed on the tops of the sieve plates (67).

8. The inspection robot for power system operation planning according to claim 6, characterized in that: A chute (68) is formed at the top of the drawer board (62), and a slider (69) is slidably connected inside the chute (68). The slider (69) is connected to the slide board (63).

9. The inspection robot for power system operation planning according to claim 4, characterized in that: A spray pipe (72) is communicated with the outside of the spray head (71). A plurality of fan blades (76) are uniformly arranged on the outside of the spray pipe (72). A transmission belt (74) is assembled on the outside of the spray pipe (72), and the other end inside the transmission belt (74) is in transmission connection with a cross shaft (42). A sealing bearing (73) is sleeved on the outside of the spray pipe (72), and the sealing bearing (73) is embedded in the outside of the solid mosquito-repellent incense storage box (61). Both sides inside the transmission belt (74) are connected with belt pulleys (75), and the two belt pulleys (75) are respectively connected with the spray pipe (72) and the cross shaft (42).

10. An inspection method of an inspection robot for power system operation planning, based on an inspection robot for power system operation planning according to any one of claims 1 to 9, characterized in that: First, fix the guiding cross board (45) and the track block (31) in the path to be inspected. Pull out the drawer board (62), place the solid mosquito-repellent incense on the top of the slide board (63), start the generator set (32) to drive the track wheel (33) to rotate, and then drive the machine frame (1) to move inside the track block (31). Start the inspection mechanism (2) to inspect and monitor the power generation system and optimize the operation plan of the power system at the same time. When the machine frame (1) moves, it drives the guiding rubber wheel (41) to move together, and then rotates at the bottom of the guiding cross board (45) to drive the crankshaft (43) to move. Then, drive the piston block (52) to perform a piston motion through the connecting rod (53). Cooperate with the first one-way valve pipe (54) to pump out the external air flow, and then pump it out through the second one-way valve pipe (55) inside the solid mosquito-repellent incense storage box (61) to accelerate the flow of the air flow inside the solid mosquito-repellent incense storage box (61). When the piston block (52) moves up and down, it drives the U-shaped arm (65) to move accordingly, and then transmits through the short arm (64) to drive the slide board (63) to perform a reciprocating motion back and forth, so as to shake off the dust generated when the solid mosquito-repellent incense burns, and fall through the sieve plate (67) into the inside of the storage box (66) for collection and treatment. When the cross shaft (42) rotates, it drives the spray pipe (72) to rotate through the transmission of the transmission belt (74), so as to expand the range of the smoke sprayed by the spray head (71). And the fan blades generate an air flow when moving, which accelerates the flow and diffusion of the mosquito-repellent smoke.

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