Substation remote control and equipment automatic maintenance robot based on image recognition

Abstract

The present invention relates to a substation remote control and equipment automatic maintenance robot based on image recognition, comprising: a mobile base and an intelligent robot. The mobile base comprises: a supporting base plate, a steering wheel, a driving motor, a steering motor and a balancing wheel. The intelligent robot is fixedly connected to the supporting base plate. The steering motor is mounted on the supporting base plate. The steering wheel is connected to the main shaft end of the steering motor. The driving motor is mounted on the steering wheel, and the main shaft end of the driving motor is connected to the steering wheel. The balancing wheel is mounted to the supporting base plate. The substation remote control and equipment automatic maintenance robot based on image recognition also includes: a steering auxiliary translation mechanism. The steering auxiliary translation mechanism includes: an elastic trigger switch group, a hydraulic telescopic rod, a cross arm, a roller and an energy storage drive mechanism. The benefit of the present invention is that it is convenient for the robot to automatically move sideways to get rid of the obstacle when encountering a blind spot obstacle during steering, so as to complete the steering.

Description

Technical Field

[0001] The present invention relates to the technical field of remote-controlled maintenance robots for transformer substations, and in particular to a remote-controlled transformer substation and equipment automatic maintenance robot based on image recognition. Background Art

[0002] With the development of science and technology, more and more manual work is now done by robots. For example, the inspection and equipment maintenance of substations are generally handled by remote-controlled intelligent robots. The intelligent robots in the substations rely on remote control and their own intelligent systems to cooperate with the motion mechanism to move in the substation. Due to the complex environment in the substation, there are blind spots in the robot's movement and steering process. Once there is an obstacle in the blind spot on the steering side, the robot will be hindered when steering, or even stuck, and it will not be able to turn and move effectively. Summary of the invention

[0003] The purpose of the present invention is to provide a substation remote control and equipment automatic maintenance robot based on image recognition to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A substation remote control and equipment automatic maintenance robot based on image recognition includes: a mobile base and an intelligent robot. The mobile base includes: a supporting base, a steering wheel, a driving motor, a steering motor and a balancing wheel. The intelligent robot is fixedly connected to the supporting base. The steering motor is installed on the supporting base. The steering wheel is connected to the main shaft end of the steering motor. The driving motor is installed on the steering wheel, and the main shaft end of the driving motor is connected to the steering wheel. The balancing wheel is installed on the supporting base. The substation remote control and equipment automatic maintenance robot based on image recognition also includes: a steering auxiliary translation mechanism. The steering auxiliary translation mechanism includes: an elastic trigger switch group, a hydraulic telescopic rod, a cross arm, a roller and an energy storage drive mechanism. The elastic trigger switch group is arranged on the supporting base. The hydraulic telescopic rod is vertically fixedly connected to the supporting base. The cross arm is fixedly connected to the telescopic end of the hydraulic telescopic rod. The roller is rotatably connected to the end of the cross arm. The energy storage drive mechanism is connected between the roller and the cross arm.

[0006] As a further solution of the present invention, the steering auxiliary translation mechanism further comprises: an anti-skid groove for increasing the friction force of the roller. A plurality of anti-skid grooves are arranged on the roller at equal intervals.

[0007] As a further solution of the present invention: the substation remote control and equipment automatic maintenance robot based on image recognition also includes: a support rotation mechanism. The support rotation mechanism includes: an axis frame, a horizontal axis and an adjustment motor. The axis frame is fixedly connected to the support base plate. The horizontal axis is horizontally rotated and connected to the axis frame. The horizontal axis is fixedly connected to the intelligent robot. The adjustment motor is fixedly connected to the axis frame, and the main shaft of the adjustment motor is fixedly connected to the rotating end of the horizontal axis.

[0008] As a further solution of the present invention: the elastic trigger switch group includes: an elastic rubber plate, a first pressure sensing switch, a support frame, and a second pressure sensing switch. The elastic rubber plate is vertically connected to the support base plate. The first pressure sensing switches are evenly distributed at the elastic rubber plate. The first pressure sensing switch is electrically connected to the extension control circuit of the hydraulic telescopic rod. The support frame is vertically fixedly connected to the support base plate. The second pressure sensing switch is fixedly connected to the support frame, and the second pressure sensing switch is electrically connected to the contraction control circuit of the hydraulic telescopic rod.

[0009] As a further solution of the present invention, the elastic trigger switch group further comprises: a strip slide groove and a slider body. The strip slide groove is vertically opened at the elastic rubber plate. The first pressure sensing switch is slidably connected to the strip slide groove through the slider body.

[0010] As a further solution of the present invention: the elastic trigger switch group further includes: an elastic connecting belt for resetting the first pressure sensing switch. The slider body is connected to the strip-shaped slide groove via the elastic connecting belt.

[0011] As a further solution of the present invention: the energy storage drive mechanism includes: a baffle, a connecting plate, a connecting spring, a linkage assembly and a docking assembly. The baffle is fixedly connected to the supporting base plate. The connecting spring is vertically connected to the cross arm. The connecting plate is horizontally fixedly connected to the connecting spring. The docking assembly is connected to the connecting plate. At the same time, the docking assembly is electrically connected to the first pressure sensing switch. The linkage assembly is connected between the roller and the connecting plate.

[0012] As a further solution of the present invention: the docking assembly includes: a stepper motor, a supporting convex plate, an elastic rubber stopper, a third pressure sensing switch, an iron sheet, a return spring and an electromagnet. The stepper motor is fixedly connected to the connecting plate. The supporting convex plate is connected to the main shaft end of the stepper motor. The elastic rubber stopper slides and penetrates to the end of the supporting convex plate. The third pressure sensing switch is embedded in the elastic rubber stopper. The third pressure sensing switch is electrically connected to the stepper motor. The iron sheet is vertically connected to the elastic rubber stopper. The return spring is horizontally connected between the iron sheet and the supporting convex plate. The electromagnet is fixedly connected to the supporting convex plate, and the electromagnet is electrically connected to the first pressure sensing switch.

[0013] As a further solution of the present invention, the docking assembly further comprises: a ball for the elastic rubber stopper to slide relative to the baffle plate. The ball is embedded and installed on the baffle plate.

[0014] As a further solution of the present invention: the linkage assembly includes: a vertical connecting rod, a linkage rod, a connecting sleeve, a sliding cross bar, a rack and a gear. The vertical connecting rod is vertically fixedly connected to the connecting plate. The linkage rod is movably connected to the vertical connecting rod. The connecting sleeve is fixedly connected to the cross arm. The sliding cross bar slides and penetrates the connecting sleeve. The rack is horizontally fixedly connected to the end of the sliding cross bar. The end of the linkage rod is movably connected to the sliding cross bar. The gear is coaxially connected to the roller. The gear and the rack are meshed.

[0015] Compared with the prior art, the beneficial effect of the present invention is that it is convenient for the robot to automatically move sideways to get away from the obstacle when encountering a blind spot obstacle during turning, so as to complete the turning.

[0016] The first pressure-sensing switch on the elastic rubber plate on the steering side triggers the extension of the hydraulic telescopic rod at the bottom. Then the entire robot is supported by rollers, and the original balance wheel and steering wheel are lifted off the ground. At the same time, during the descent of the hydraulic telescopic rod, the rollers rely on the elastic force stored in the connecting spring as a driving energy source, without the need for additional energy supply. When the critical point is reached, the stored elastic force is released, driving the roller on the steering side to rotate, thereby causing the entire robot to move sideways to get rid of the obstacles in the blind spot, so as to complete the steering.

[0017] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the substation remote control and equipment automatic maintenance robot based on image recognition of the present invention.

[0019] Figure 2 for Figure 1 A partially enlarged structural diagram of the energy storage drive mechanism of the substation remote control and equipment automatic maintenance robot based on image recognition of the present invention, which is cooperatively connected with the hydraulic telescopic rod and the roller.

[0020] Figure 3 for Figure 2 A schematic diagram of the partially enlarged structure of the docking assembly and the baffle of the substation remote control and equipment automatic maintenance robot based on image recognition of the present invention.

[0021] Figure 4 for Figure 1 A schematic diagram of the partially enlarged structure of the elastic trigger switch group of the substation remote control and equipment automatic maintenance robot based on image recognition of the present invention.

[0022] Figure 5 for Figure 1A left-view structural schematic diagram of the supporting base plate, balancing wheel and steering wheel of the substation remote control and equipment automatic maintenance robot based on image recognition of the present invention.

[0023] List of reference numerals: Substation remote control and equipment automatic maintenance robot based on image recognition 100; mobile base 10; supporting base plate 11; steering wheel 12; driving motor 13; steering motor 14; balancing wheel 15; intelligent robot 20; steering auxiliary translation mechanism 30; elastic trigger switch group 31; elastic rubber plate 311; first pressure sensing switch 312; supporting frame 313; second pressure sensing switch 314; strip slide 315; slider body 316; elastic connecting belt 317; hydraulic telescopic rod 32; cross arm 33; roller 34; energy storage drive mechanism 3 5; baffle 351; connecting plate 352; connecting spring 353; linkage assembly 354; vertical connecting rod 3541; linkage rod 3542; connecting sleeve 3543; sliding cross bar 3544; rack 3545; gear 3546; docking assembly 355; stepping motor 3551; supporting convex plate 3552; elastic rubber stopper 3553; third pressure sensing switch 3554; iron sheet 3555; reset spring 3556; electromagnet 3557; ball 3558; anti-skid groove 36; supporting rotating mechanism 40; shaft frame 41; horizontal axis 42; adjusting motor 43. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] like Figures 1 to 5As shown, in an embodiment of the present invention, a substation remote control and equipment automatic maintenance robot 100 based on image recognition includes: a mobile base 10 and an intelligent robot 20. The intelligent robot 20 is installed on the upper side of the mobile base 10, and the intelligent robot 20 is equipped with an identification camera with an image recognition function, and can be remotely connected to the network for control. At the same time, the intelligent robot 20 is also equipped with an intelligent mechanical arm, which is convenient for the maintenance of substation equipment through remote control. The mobile base 10 includes: a supporting base plate 11, a steering wheel 12, a drive motor 13, a steering motor 14 and a balance wheel 15. The intelligent robot 20 is fixedly connected to the supporting base plate 11. The steering motor 14 is installed on the supporting base plate 11 in pairs on the left and right. The steering wheel 12 is connected to the main shaft end of the steering motor 14 through a wheel frame, and the steering motor 14 is electrically connected to the steering control system of the intelligent robot 20. The driving motor 13 is mounted on the steering wheel 12, and the driving motor 13 is fixedly connected to the main shaft end of the steering motor 14. At the same time, the main shaft end of the driving motor 13 is connected to the steering wheel 12, and the main shaft end of the driving motor 13 and the main shaft end of the steering motor 14 are in a mutually perpendicular position. The balance wheels 15 are mounted in pairs on both sides of the rear end of the supporting base plate 11. The balance wheel 15 and the steering wheel 12 jointly balance and support the entire intelligent robot 20. The substation remote control and equipment automatic maintenance robot 100 based on image recognition also includes: a steering auxiliary translation mechanism 30. The steering auxiliary translation mechanism 30 includes: an elastic trigger switch group 31, a hydraulic telescopic rod 32, a cross arm 33, a roller 34 and an energy storage drive mechanism 35. The elastic trigger switch group 31 is arranged in pairs on the left and right sides of the upper end surface of the supporting base plate 11. The hydraulic telescopic rod 32 is vertically fixedly connected to the middle position of the lower end surface of the support base plate 11, and the lower end of the hydraulic telescopic rod 32 is the telescopic end, and the telescopic control circuit of the hydraulic telescopic rod 32 is electrically connected to the elastic trigger switch group 31. The horizontal arms 33 are horizontally fixedly connected to the two sides of the telescopic end of the hydraulic telescopic rod 32 in pairs. The rollers 34 are horizontally rotated to the ends of the horizontal arms 33 through the rotating shafts running forward and backward. When the robot is supported on the ground by the steering wheels 12 and the balance wheels 15, the rollers 34 are suspended at the bottom of the support base plate 11 to avoid hindering the movement of the robot. The energy storage drive mechanism 35 is connected between the rollers 34 and the horizontal arms 33.

[0026] When the robot relies on the steering wheel 12 to turn left or right during the movement, when its steering side hits an obstacle, the elastic trigger switch group 31 generates an induction and causes the hydraulic telescopic rod 32 to extend downward. During the downward extension of the hydraulic telescopic rod 32, the energy storage drive mechanism 35 on the steering side stores energy for the roller 34 connected to it. At the same time, the hydraulic telescopic rod 32 extends downward, pushing the roller 34 to support on the ground, and relying on the extension of the hydraulic telescopic rod 32 to push the supporting base plate 11 upward in the opposite direction, causing the balance wheel 15 and the steering wheel 12 to leave the ground. In this way, only the roller 34 contacts the ground, and when the supporting base plate 11 rises to the corresponding height, the energy storage drive mechanism 35 releases the stored energy and drives the roller 34 on the steering side to rotate. In this way, the roller 34 supported on the ground drives the entire robot to translate horizontally, so that the robot is separated from the obstacles on the steering side, increasing the movement space on the steering side, and facilitating effective steering.

[0027] The steering auxiliary translation mechanism 30 further includes an anti-skid groove 36 for increasing the friction force of the roller 34. A plurality of anti-skid grooves 36 are arranged on the outer wall of the roller 34 at equal intervals.

[0028] The substation remote control and equipment automatic maintenance robot 100 based on image recognition also includes: a support rotation mechanism 40. The support rotation mechanism 40 includes: an axis frame 41, a horizontal axis 42 and an adjustment motor 43. The axis frame 41 is fixedly connected to the upper middle position of the support base plate 11. The horizontal axis 42 is horizontally rotatably connected to the axis frame 41. The horizontal axis 42 is fixedly connected to the bottom of the intelligent robot 20. The adjustment motor 43 is fixedly connected to the axis frame 41, and the main shaft of the adjustment motor 43 is fixedly connected to the rotating end of the horizontal axis 42. The adjustment motor 43 is also electrically connected to the control system of the intelligent robot 20. When it is necessary to adjust the intelligent robot 20 to tilt downward or upward for viewing and identification, the remote control system controls the feeding of the adjustment motor 43 to realize the rotation of the horizontal axis 42. In this way, the intelligent robot 20 rotates in the vertical plane to adjust the tilt angle.

[0029] The elastic trigger switch group 31 includes: an elastic rubber plate 311, a first pressure sensing switch 312, a support frame 313 and a second pressure sensing switch 314. The elastic rubber plates 311 are vertically connected to both sides of the upper end surface of the support base plate 11 in pairs on the left and right. The first pressure sensing switches 312 are evenly distributed on the outward end surface of the elastic rubber plate 311. The first pressure sensing switch 312 is electrically connected to the extension control circuit of the hydraulic telescopic rod 32. The support frame 313 is vertically fixedly connected to the support base plate 11 at the position where the elastic rubber plate 311 is located. The second pressure sensing switch 314 is fixedly connected to the upper end of the support frame 313, and the second pressure sensing switch 314 is electrically connected to the contraction control circuit of the hydraulic telescopic rod 32, and the second pressure sensing switch 314 is attached to the outward end surface of the upper end of the elastic rubber plate 311.

[0030] When the robot turns and squeezes against an obstacle on the steering side, the elastic rubber plate 311 on that side contacts the obstacle and bends toward the position of the intelligent robot 20 due to the squeezing. At this time, the first pressure sensing switch 312 distributed on the elastic rubber plate 311 generates a sense and causes the hydraulic telescopic rod 32 to extend downward and move laterally to assist in steering. When the entire robot moves laterally to break away from the obstacle on the steering side, the elastic rubber plate 311 rebounds and resets. The impact force generated by the elastic rubber plate 311 rebounding and resetting at the moment acts on the second pressure sensing switch 314. Then the second pressure sensing switch 314 causes the hydraulic telescopic rod 32 to retract and reset. Thereby, the roller 34 is retracted and the balance wheel 15 and the steering wheel 12 are lowered.

[0031] The elastic trigger switch group 31 also includes: a strip slide 315 and a slider body 316. The strip slide 315 is vertically opened on the outward end surface of the elastic rubber plate 311, and multiple strips are arranged horizontally. The first pressure sensing switch 312 is slidably connected to the strip slide 315 through the slider body 316. When the first pressure sensing switch 312 is pressed onto the obstacle on the steering side and triggers the hydraulic telescopic rod 32 to extend and lift up the entire robot, the first pressure sensing switch 312 slides along the strip slide 315 due to the longitudinal force relying on the slider body 316. Avoid the first pressure sensing switch 312 from being damaged by friction with obstacles due to fixed installation.

[0032] The elastic trigger switch group 31 also includes an elastic connecting belt 317 for resetting the first pressure sensing switch 312. The slider body 316 is connected to the inner wall of the strip slide groove 315 by the elastic connecting belt 317. When the first pressure sensing switch 312 slides along the strip slide groove 315 due to the longitudinal action by relying on the slider body 316, the elastic connecting belt 317 is stretched to generate a rebound force. When the first pressure sensing switch 312 is separated from the obstacle on the steering side along with the elastic rubber plate 311, the first pressure sensing switch 312 is reset under the action of the rebound force of the elastic connecting belt 317.

[0033] The energy storage drive mechanism 35 includes: a baffle 351, a connecting plate 352, a connecting spring 353, a linkage assembly 354 and a docking assembly 355. The baffles 351 are fixedly connected to the middle positions of the lower end surface of the support base plate 11 in pairs. The connecting spring 353 is vertically connected to the cross arm 33. The connecting plate 352 is horizontally fixedly connected to the upper end of the connecting spring 353. The docking assembly 355 is connected to the connecting plate 352. At the same time, the docking assembly 355 is electrically connected to the first pressure sensing switch 312 on the side. The linkage assembly 354 is connected between the roller 34 and the connecting plate 352.

[0034] The docking assembly 355 includes: a stepper motor 3551, a supporting convex plate 3552, an elastic rubber stopper 3553, a third pressure sensing switch 3554, an iron sheet 3555, a return spring 3556 and an electromagnet 3557. The stepper motor 3551 is fixedly connected to the upper side of the connecting plate 352. The spindle end of the stepper motor 3551 is vertically upward. The supporting convex plate 3552 is vertically fixedly connected to the spindle end of the stepper motor 3551. The elastic rubber stopper 3553 is horizontally slidably inserted into the upper end of the supporting convex plate 3552. The third pressure sensing switch 3554 is embedded and installed on the lower side of the elastic rubber stopper 3553. The third pressure sensing switch 3554 is electrically connected to the stepper motor 3551. The iron sheet 3555 is vertically connected to the lower side of the end of the elastic rubber stopper 3553 away from the baffle 351. The return spring 3556 is horizontally connected between the iron sheet 3555 and the supporting convex plate 3552. The electromagnet 3557 is fixedly connected to the supporting protrusion 3552 , and the electromagnet 3557 is electrically connected to the first pressure sensing switch 312 on the side thereof, and the electromagnet 3557 is laterally aligned with the iron sheet 3555 .

[0035] The docking assembly 355 further includes a ball 3558 for the elastic rubber stopper 3553 to slide relative to the baffle 351. The ball 3558 is embedded and installed on the upper side of the baffle 351.

[0036] The linkage assembly 354 includes: a vertical connecting rod 3541, a linkage rod 3542, a connecting sleeve 3543, a sliding cross bar 3544, a rack 3545 and a gear 3546. The vertical connecting rod 3541 is vertically fixedly connected to the connecting plate 352. The linkage rod 3542 is movably connected to the lower end of the vertical connecting rod 3541 through a hinge. The connecting sleeve 3543 is fixedly connected to the lower side of the cross arm 33. The sliding cross bar 3544 is slidably inserted in the connecting sleeve 3543. The rack 3545 is horizontally fixedly connected to the end of the sliding cross bar 3544. The end of the linkage rod 3542 is movably connected to the sliding cross bar 3544 through a hinge. The gear 3546 is coaxially connected to the front end of the roller 34. The gear 3647 is meshed with the rack 3545.

[0037] When the first pressure sensing switch 312 on the steering side of the robot is squeezed, the first pressure sensing switch 312 triggers the hydraulic telescopic rod 32 to extend downward, and at the same time, the electromagnet 3557 on the same side is energized to generate magnetic force. Then the electromagnet 3557 attracts the iron sheet 3555 to approach it. In this way, the iron sheet 3555 drives the elastic rubber block 3553 to slide, and then the elastic rubber block 3553 slides to the upper side of the baffle 351 on the same side. At the same time, due to the downward extension of the hydraulic telescopic rod 32, the connecting plate 352 connected below the elastic rubber block 3553 and the cross arm 33 move relative to each other, and the distance is increased. In this way, the connecting spring 353 is stretched. At the same time, the connecting plate 352 causes the vertical connecting rod 3541 to pull the linkage rod 3542. Then the linkage rod 3542 pulls the sliding cross bar 3544 to slide along the connecting sleeve 3543. Then the sliding cross bar 3544 drives the rack 3545 to pass through the gear 3546, causing the gear 3546 to rotate. In this way, the gear 3546 drives the connected roller 34 to rotate. When the roller 34 contacts the ground and the hydraulic telescopic rod 32 continues to extend, the roller 34 and the connecting spring 353 remain fixed, and the elastic rubber block 3553 is deformed in this process. When the deformation reaches a certain degree, the third pressure sensing switch 3554 on the lower side of the elastic rubber block 3553 generates induction, causing the stepper motor 3551 to drive the supporting protrusion 3552 to rotate one circle. As a result, the elastic rubber block 3553 is separated from the baffle 351. At the moment of separation, the stretched connecting spring 353 contracts and releases the elastic force. In this process, the connecting plate 352 descends, causing the vertical connecting rod 3541 to push the sliding crossbar 3544 to reset and move horizontally through the linkage rod 3542. Then the sliding crossbar 3544 passes through the gear 3546 with the rack 3545 in the opposite direction. In this way, the gear 3546 causes the roller 34 in contact with the ground to rotate, pushing the entire robot to move horizontally.

[0038] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0039] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A substation remote control and equipment automatic maintenance robot based on image recognition, comprising: Mobile base and intelligent robot; The mobile base includes: a supporting base plate, a steering wheel, a driving motor, a steering motor and a balancing wheel; the intelligent robot is fixedly connected to the supporting base plate; the steering motor is installed on the supporting base plate; the steering wheel is connected to the main shaft end of the steering motor; the driving motor is installed on the steering wheel, and the main shaft end of the driving motor is connected to the steering wheel; the balancing wheel is installed on the supporting base plate; it is characterized in that the substation remote control and equipment automatic maintenance robot based on image recognition also includes: a steering auxiliary translation mechanism; the steering auxiliary translation mechanism includes: an elastic trigger switch group, a hydraulic telescopic rod, a cross arm, a roller and an energy storage drive mechanism; the elastic trigger switch group is arranged on the supporting base plate; the hydraulic telescopic rod is vertically fixedly connected to the supporting base plate; the cross arm is fixedly connected to the telescopic end of the hydraulic telescopic rod; the roller is rotatably connected to the end of the cross arm; the energy storage drive mechanism is connected between the roller and the cross arm; The elastic trigger switch group includes: an elastic rubber plate, a first pressure sensing switch, a support frame, and a second pressure sensing switch; the elastic rubber plate is vertically connected to the support base plate; the first pressure sensing switches are evenly distributed on the elastic rubber plate; the first pressure sensing switch is electrically connected to the extension control circuit of the hydraulic telescopic rod; the support frame is vertically fixedly connected to the support base plate; the second pressure sensing switch is fixedly connected to the support frame, and the second pressure sensing switch is electrically connected to the contraction control circuit of the hydraulic telescopic rod; The energy storage drive mechanism includes: a baffle, a connecting plate, a connecting spring, a linkage assembly and a docking assembly; the baffle is fixedly connected to the supporting base plate; the connecting spring is vertically connected to the cross arm; the connecting plate is horizontally fixedly connected to the connecting spring; the docking assembly is connected to the connecting plate; at the same time, the docking assembly is electrically connected to the first pressure sensing switch; the linkage assembly is connected between the roller and the connecting plate.

2. According to the image recognition-based substation remote control and equipment automatic maintenance robot according to claim 1, it is characterized in that: The steering auxiliary translation mechanism also includes: an anti-skid groove for increasing the friction force of the roller; a plurality of anti-skid grooves are equidistantly arranged on the roller.

3. According to the image recognition-based substation remote control and equipment automatic maintenance robot of claim 1, it is characterized in that: The substation remote control and equipment automatic maintenance robot based on image recognition also includes: a supporting rotation mechanism; the supporting rotation mechanism includes: an axis frame, a horizontal axis and an adjusting motor; the axis frame is fixedly connected to the supporting base plate; the horizontal axis is horizontally rotatably connected to the axis frame; the horizontal axis is fixedly connected to the intelligent robot; the adjusting motor is fixedly connected to the axis frame, and the main shaft of the adjusting motor is fixedly connected to the rotating end of the horizontal axis.

4. The substation remote control and equipment automatic maintenance robot based on image recognition according to claim 1 is characterized in that: The elastic trigger switch group further includes: a strip slide groove and a slider body; the strip slide groove is vertically opened at the elastic rubber plate; the first pressure sensing switch is slidably connected to the strip slide groove through the slider body.

5. The substation remote control and equipment automatic maintenance robot based on image recognition according to claim 4 is characterized in that: The elastic trigger switch group further includes: an elastic connecting belt for resetting the first pressure sensing switch; the slider body and the strip-shaped slide groove are connected by the elastic connecting belt.

6. The substation remote control and equipment automatic maintenance robot based on image recognition according to claim 5 is characterized in that: The docking assembly includes: a stepper motor, a supporting convex plate, an elastic rubber block, a third pressure sensing switch, an iron sheet, a reset spring and an electromagnet; the stepper motor is fixedly connected to the connecting plate; the supporting convex plate is connected to the main shaft end of the stepper motor; the elastic rubber block slides and penetrates to the end of the supporting convex plate; the third pressure sensing switch is embedded and installed in the elastic rubber block; the third pressure sensing switch is electrically connected to the stepper motor; the iron sheet is vertically connected to the elastic rubber block; the reset spring is horizontally connected between the iron sheet and the supporting convex plate; the electromagnet is fixedly connected to the supporting convex plate, and the electromagnet is electrically connected to the first pressure sensing switch.

7. The substation remote control and equipment automatic maintenance robot based on image recognition according to claim 6 is characterized in that: The docking assembly further comprises: a ball bearing used for the elastic rubber stopper to slide relative to the baffle plate; the ball bearing is embedded and installed on the baffle plate.

8. The substation remote control and equipment automatic maintenance robot based on image recognition according to claim 7 is characterized in that: The linkage assembly includes: a vertical connecting rod, a linkage rod, a connecting sleeve, a sliding cross bar, a rack and a gear; the vertical connecting rod is vertically fixedly connected to the connecting plate; the linkage rod is movably connected to the vertical connecting rod; the connecting sleeve is fixedly connected to the cross arm; the sliding cross bar slides through the connecting sleeve; the rack is horizontally fixedly connected to the end of the sliding cross bar; the end of the linkage rod is movably connected to the sliding cross bar; the gear is coaxially connected to the roller; the gear and the rack are meshing.

Images