A remote auxiliary operation and inspection device for power grid equipment based on AR technology

Abstract

The present invention relates to a remote auxiliary operation and inspection device for power grid equipment based on AR technology. The operation and inspection device includes AR glasses and a host. The host is used to process the collected on-site information and transmit it to the AR glasses. The AR glasses are worn by the operation and inspection personnel to inspect the equipment. The operation and inspection device also includes a device base and a walking robot. The host is placed on the device base. The walking robot is placed on the device base and can be separated from the device base. The walking robot can be controlled to walk along the required route. The walking robot is provided with a camera for taking photos and videos of the scene and a sensor for measuring equipment parameters. The host is used to collect information from the camera and the sensor, and transmit it to the AR glasses after processing. The walking robot can move to an area that is inconvenient for the operation and inspection personnel to enter, so that the operation and inspection personnel can observe the operation of the equipment in the area in real time.

Description

Technical Field

[0001] The invention relates to a remote auxiliary operation and inspection device for power grid equipment based on AR technology. Background Art

[0002] The whole of the power system, which consists of substations and transmission and distribution lines of various voltages, is called the power grid, or grid for short. The grid includes three units: substation, transmission, and distribution. In the currently used digital (intelligent) substations, due to the use of optical fiber digital communication, the entire metering device has undergone significant changes in the operation, inspection, and maintenance of related equipment compared to traditional substations. At present, a few companies are still managing by manually registering and counting equipment signals, and some companies are using more advanced electronic PDA handheld devices for operation and inspection. Both of these operation and inspection methods are relatively backward, and both require inspection personnel to check one by one, resulting in high labor intensity. In addition, most of the equipment in the substation is high-voltage equipment, and there are certain safety risks in checking one by one.

[0003] To this end, an operation and inspection method based on AR technology came into being. The method is shown in the Chinese invention patent application with application publication number CN111722714A. During the operation and inspection process, the staff wear AR glasses. The existing cameras and sensors at the substation site transmit the information to the host. The host performs calculations and analysis, and then transmits the information to the AR glasses, allowing the staff to perform operation and inspection as if they were on site. This method does not require staff to perform operation and inspection on site, has low labor intensity and low safety risks.

[0004] However, in actual use, it was found that when abnormal conditions occurred on site, such as smoke, the on-site cameras and sensors were unable to monitor the conditions in the abnormal area in real time, and it was inconvenient for the operation and inspection personnel to directly enter the abnormal area, resulting in the AR glasses being unable to know the actual conditions in the abnormal area; in addition, in actual applications, whether it is the camera or the sensor, there will be blind spots for monitoring, resulting in the AR glasses being unable to know the actual conditions of the blind spots, and the blind spots are generally narrow spaces. Summary of the invention

[0005] The purpose of the present invention is to provide a remote auxiliary operation and maintenance device for power grid equipment based on AR technology to solve the technical problem in the prior art that operation and maintenance personnel cannot use AR glasses to know that it is inconvenient for personnel to enter the area, resulting in an inability to fully understand the operation status of the equipment.

[0006] To achieve the above-mentioned purpose, the technical solution of the remote auxiliary operation and inspection device of power grid equipment based on AR technology provided by the present invention is: a remote auxiliary operation and inspection device of power grid equipment based on AR technology, comprising:

[0007] AR glasses and a host. The host is used to process the collected on-site information and transmit it to the AR glasses. The AR glasses are worn by the inspection personnel to inspect the equipment.

[0008] The inspection device also includes:

[0009] A device base, on which the host is placed;

[0010] A walking robot is placed on the device base and can be separated from the device base, and the walking robot can be controlled to walk along a desired route; the walking robot is provided with a camera for taking photos and videos of the scene and a sensor for measuring equipment parameters;

[0011] The host is used to collect information from the camera and the sensor, and transmit it to the AR glasses after processing.

[0012] Beneficial effects: The walking robot can carry cameras and sensors and move to areas that are inconvenient for maintenance personnel to enter. The host collects information fed back by the camera and sensor and transmits it to the AR glasses after processing, so that the maintenance personnel can observe the operation status of the equipment in the area in real time, thereby gaining a more comprehensive understanding of the operation status of the equipment.

[0013] Furthermore, the walking robot is provided with a telescopic rod that can be telescopically moved, and the sensor is arranged on the telescopic rod;

[0014] The walking robot is also provided with a telescopic rod driving mechanism for driving the telescopic rod to move telescopically. When the telescopic rod is extended, it can drive the transmission device to extend and retract. When in use, when the space is narrower and the walking robot cannot enter, the sensor is driven by the telescopic rod to extend into the narrow space for detection, so as to further fully understand the equipment situation.

[0015] Furthermore, the telescopic rod driving mechanism includes at least two linear motors arranged side by side, and also includes a transition piece fixedly mounted on the output ends of each linear motor, and the telescopic rod is mounted on the transition piece. The same telescopic rod is equipped with two linear motors arranged side by side, which can ensure the stability of the reciprocating movement of the telescopic rod.

[0016] Furthermore, the camera is movably mounted on the walking robot, and the transport and inspection device further comprises a camera driving mechanism for driving the camera to move. The camera driving mechanism can drive the camera to move, so that the shooting position of the camera can be adjusted as needed.

[0017] Furthermore, the device base includes a storage box, the storage box is provided with a partition for dividing the space inside the storage box into upper and lower parts, and the storage box includes an upper chamber at the top and a lower chamber at the bottom;

[0018] The AR glasses are placed in the upper chamber, and the top of the storage box is provided with an opening and a box cover is hingedly installed;

[0019] The walking robot is placed in the lower chamber, and the storage box is provided with a lateral opening corresponding to the lower chamber, and a side door is hinged at the lateral opening. The device base includes a storage box, and the AR glasses are placed in the upper chamber and can be taken out from the top, and the walking robot is placed in the lower chamber and can be taken out from one side, which is more convenient to use.

[0020] Furthermore, a clamping structure for clamping the AR glasses is provided in the upper chamber. The clamping structure can prevent the AR glasses from shaking during use, thereby avoiding damage to the AR glasses.

[0021] Furthermore, the clamping structure includes two clamping plates for clamping the AR glasses, and a compression spring is installed between the two clamping plates and the inner wall of the storage box, and the compression spring is used to drive the two clamping plates to move relatively close to clamp the AR glasses. The compression spring can drive the clamping plates to clamp the AR glasses, thereby realizing elastic clamping and preventing the AR glasses from being injured.

[0022] Furthermore, two of the partitions are arranged at intervals in the up-down direction, and the storage box further includes a middle chamber located between the upper chamber and the lower chamber;

[0023] The host is arranged in the upper chamber;

[0024] The middle chamber is provided with a power supply and a wireless transmission module. The power supply is used to supply power to the host and the wireless transmission module, and the wireless transmission module is used to realize wireless transmission of signals. The power supply can supply power to the host and the wireless transmission module to prevent the wires from flying around, and the wireless transmission module realizes wireless transmission between the components, which is convenient to use.

[0025] Furthermore, at least three running wheels are provided at the bottom of the device base, and a buffer structure is provided between each running wheel and the device base bracket, so that each running wheel is floatingly mounted at the bottom of the device base. The running wheels are floatingly mounted at the bottom of the device base, and each running wheel can be ensured to be in contact with the ground during walking.

[0026] Furthermore, the buffer structure includes a fixed sleeve fixed to the bottom of the device base, and also includes a movable body movably installed in the fixed sleeve along the up and down directions. The walking wheel is fixed on the movable body, and a spring is provided between the movable body and the bottom of the device base. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is an appearance diagram of Embodiment 1 of the remote auxiliary operation and inspection device for power grid equipment based on AR technology of the present invention;

[0028] Figure 2 for Figure 1 The top view after opening the box cover;

[0029] Figure 3 for Figure 1 The main view after opening the side door;

[0030] Figure 4 for Figure 3 Schematic diagram of the camera assembly;

[0031] Figure 5 for Figure 1 and Figure 3 Schematic diagram of the buffer structure;

[0032] Description of reference numerals:

[0033] 1. Storage box; 2. Box cover; 3. Side door; 4. Handrail; 5. Hair dryer; 6. Filter; 7. Buffer structure; 71. Movable body; 72. Fixed sleeve; 73. Spring; 8. Travel wheel; 9. Partition; 10. Guide rod; 11. AR glasses; 12. Compression spring; 13. Clamp; 14. Main unit; 15. Foam board; 16. Wireless transmission module; 17. Camera assembly; 171. Rotating motor; 172. Rotating rod; 173. Mounting plate; 174. Camera; 18. Telescopic rod; 19. Walking robot; 20. Robot travel wheel; 21. Robot body; 22. Linear motor; 23. Sensor; 24. Winding mechanism; 25. Battery. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0036] It should be noted that relational terms such as "first" and "second" are used only 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", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises a..." do not exclude the process or method that includes the elements.

[0037] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" that may appear should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "provided with" that may appear should be understood in a broad sense. For example, the object "provided with" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be a detachable connection or an inseparable connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] The present invention is further described in detail below in conjunction with embodiments.

[0040] Specific embodiment 1 of the remote auxiliary operation and inspection device for power grid equipment based on AR technology provided by the present invention:

[0041] like Figures 1 to 5 As shown, the remote auxiliary operation and maintenance device for power grid equipment based on AR technology (hereinafter referred to as the operation and maintenance device) can realize remote operation and maintenance without the need for operation and maintenance personnel to approach the equipment. On the one hand, it can reduce labor intensity, and on the other hand, it also improves safety performance.

[0042] The operation and inspection device includes a device base, on which AR glasses 11 and a host 14 used in conjunction with the AR glasses 11 are arranged. A walking robot 19 is also arranged in the device base. The walking robot 19 can be controlled to move to a desired position. The camera 174 carried by the walking robot 19 can photograph and record the equipment status in real time. The sensor 23 carried by the walking robot 19 can monitor the required equipment parameters. The images and videos taken by the camera 174 and the parameters monitored by the sensor 23 can be transmitted to the host 14 in real time. The host 14 performs logical processing on the acquired information and transmits it to the AR glasses 11 in real time, so that the operation and inspection personnel can observe the operation status of the equipment in real time.

[0043] Among them, Figures 1 to 3 As shown, the device base in this embodiment includes a storage box 1, which is a structure with a top and side openings. The top of the storage box 1 is hinged with a box cover 2, and the side opening of the storage box 1 is hinged with a side door 3. The box cover 2, the side door 3 and the storage box 1 are locked by a sealing lock. Two partitions 9 are arranged in the storage box 1 in the up and down directions. The two partitions 9 divide the space inside the storage box 1 into three chambers: upper, middle and lower. Among them, the upper chamber is a storage chamber for placing AR glasses 11 and a host 14; the middle chamber is a storage chamber; the lower chamber is a tool chamber, and the walking robot 19 is placed in the lower chamber. Among them, the side door 3 at least corresponds to the lower chamber, and the walking robot 19 can be taken out from one side after the side door 3 is opened. The upper chamber corresponds to the box cover 2, and the AR glasses 11 can be taken out from the top after the box cover 2 is opened.

[0044] like Figure 3 As shown, a battery 25 and a wireless transmission module 16 are placed in the middle chamber. The battery 25 serves as the power source of the transport and inspection device, and provides power for the normal operation of the wireless transmission module 16 and the host 14. In actual use, the power source can also be other types of batteries. The wireless transmission module 16 is used as wifi to provide support for signal transmission between the host 14 and the AR glasses 11 and signal collection by the host 14. Whether it is the battery 25, the wireless transmission module 16 or the host 14, they will generate heat when in use. In order to dissipate heat, in this embodiment, a heat dissipation hole is opened on the side wall of the storage box 1 at the position corresponding to the middle chamber, and a hair dryer 5 is installed at the heat dissipation hole. The hair dryer 5 realizes air flow and can dissipate heat in time. In order to prevent external debris from entering the storage box 1, a filter 6 is installed at the hair dryer 5. At the same time, holes are opened on the partition 9 to connect the chambers, especially the upper chamber and the lower chamber.

[0045] The structure of the walking robot 19 is as follows Figure 3As shown, the walking robot 19 includes a robot body 21 and a robot walking wheel 20 installed at the bottom of the robot body 21. The robot walking wheel 20 is equipped with a motor and can be controlled to walk along a desired path. A camera assembly 17 is installed on the robot body 21 to record the device in real time. The structure of the camera assembly 17 is as shown in FIG. Figure 4 As shown, the camera assembly 17 includes a rotating motor 171 installed on the robot body 21, wherein the motor housing of the rotating motor 171 is fixedly installed on the robot body 21, the motor output shaft is connected to a rotating rod 172 through a coupling, a mounting plate 173 is fixedly installed on the top of the rotating rod 172, and a camera 174 is fixedly mounted on the mounting plate 173. The rotating motor 171 can drive the camera 174 to rotate and adjust the shooting angle of the camera 174.

[0046] Two linear motors 22 are also installed on the robot body 21. The two linear motors 22 are arranged side by side. An inverted U-shaped fixing plate is welded on the top of the two linear motors 22. A telescopic rod 18 is welded on the top of the U-shaped fixing plate. The telescopic rod 18 here is a multi-stage telescopic rod, including a plurality of telescopic rod bodies. A circular plate is welded at the end of the telescopic rod 18, and a sensor 23 is fixedly mounted on the circular plate. The sensor 23 here is composed of a temperature sensor, a humidity sensor, and a smoke sensor. When in use, the linear motor 22 drives the telescopic rod 18 to extend, thereby extending the sensor 23 to a position where the walking robot 19 cannot move to monitor the parameters.

[0047] A winding mechanism 24 is also installed on the robot body 21. The winding mechanism 24 includes a winding reel installed on the robot body 21 and a forward and reverse motor driving the winding reel to rotate forward and reverse. The winding reel includes a frame fixed to the robot body 21 and a disc body rotatably installed on the frame. Wires are wound on the disc body, and the wires are connected to the sensor 23. In actual use, the walking robot 19 has its own power supply to power the sensor 23. In actual use, a signal line can also be wound on the disc body, and the signal line is connected to the transmitter installed on the robot body 21 to transmit the parameters monitored by the sensor 23 to the host 14 in real time. When in use, it is necessary to coordinate the rotation speed of the linear motor 22 and the forward and reverse motor to prevent pulling on the wires and signal lines.

[0048] like Figure 1 and Figure 3 As shown, in this embodiment, a walking wheel 8 is installed at the bottom of the storage box 1 to facilitate dragging and walking, wherein the walking wheel 8 is indirectly installed at the bottom of the storage box 1 through a buffer structure 7. The buffer structure 7 is as shown in FIG. Figure 5As shown, the buffer structure 7 includes a fixed sleeve 72 fixed to the bottom of the storage box 1, a movable body 71 is movably installed on the fixed sleeve 72, and a spring 73 is pressed between the movable body 71 and the bottom of the storage box 1. The buffer structure 7 allows the running wheels 8 to be floatingly installed at the bottom of the storage box 1, and even when walking on an uneven road surface, each running wheel 8 can be ensured to be in reliable contact with the road surface. The running wheels 8 in this embodiment are running wheels with a locking function.

[0049] To facilitate the pushing and pulling of the storage box 1, Figure 1 and Figure 2 As shown, a handrail 4 is fixedly installed on the top of one side of the storage box 1. The handrail 4 includes a push rod and an inclined rod connecting the push rod and the storage box 1. The outside of the push rod is covered with an anti-slip sleeve.

[0050] like Figure 2 As shown, in order to position the AR glasses 11 and prevent the AR glasses 11 from shaking, a clamping structure is installed on the storage box 1, wherein the clamping structure includes two clamping plates 13 for clamping the AR glasses 11, wherein the clamping plates 13 here are arc-shaped plates, and there are compression springs 12 between the two clamping plates 13 and the side walls of the storage box 1, and one end of the compression spring 12 is welded to the clamping plate 13, and the other end is welded to the storage box 1. In order to guide the compression spring 12, a guide rod 10 is movably installed on the storage box 1. In order to prevent the clamping plates 13 from clamping the AR glasses 11, foam plates 15 are fixed on the opposite sides of the two clamping plates 13. Among them, the clamping plates 13 and the foam plates 15 are both arc-shaped plates.

[0051] It should be noted that the transport and inspection device of this embodiment also includes a remote controller, which is used in conjunction with the walking robot 19 to control the walking path of the walking robot 19 and control the rotation motor 171 and the linear motor 22 thereon to work.

[0052] When the present invention is used, the transport and inspection device is first sent to the site, the host 14 is started, the AR glasses 11 are taken out and worn, and the host 14 obtains the pictures, videos and parameters fed back by the existing cameras and sensors in the device, and transmits them to the AR glasses 11 after analysis for motion inspection. If there are some abnormal areas or areas that the camera cannot monitor (such as narrow areas), open the side door 3, take out the walking robot 19, and remotely control the walking robot 19 to move. The camera 174 can record the situation in front, and the sensor 23 can measure the required parameters. The recorded situation and parameters are fed back to the host 14, and the host 14 is analyzed and processed and transmitted to the AR glasses 11 again. When encountering a narrower area, the walking robot 19 cannot enter. At this time, the linear motor 22 is controlled to move, and the telescopic rod 18 drives the sensor 23 to extend to the specified position for detection, and finally presents it in the AR glasses 11.

[0053] In this embodiment, the U-shaped fixing plates on the two linear motors 22 form a transition piece connecting the linear motors 22 and the telescopic rod 18. In actual design, the transition piece can be a fixed block or other structure. The two linear motors 22 and the transition piece on the linear motors 22 together form a telescopic rod driving mechanism that drives the telescopic rod 18 to move telescopically. In fact, the number of linear motors 22 can be increased or decreased. In actual use, the telescopic rod driving mechanism can include only one linear motor, or can include one or two electric push rods, cylinders, oil cylinders and other structures.

[0054] In this embodiment, the rotating motor 171 can drive the camera 174 to rotate, thereby forming a camera driving mechanism that can drive the camera 174 to move.

[0055] Among them, in this embodiment, the sensor realizes power supply and signal transmission through electric wires and signal lines. In actual use, the sensor may have its own battery, in which case the electric wires can be eliminated, or it may have its own wireless transmission module, in which case the signal line can be eliminated. When both the electric wires and signal lines are eliminated, the winding mechanism is correspondingly eliminated.

[0056] Specific embodiment 2 of the remote auxiliary operation and inspection device for power grid equipment based on AR technology of the present invention:

[0057] In Example 1, the buffer structure includes a fixed sleeve, a movable body and a spring. In this embodiment, the buffer structure includes a rubber block and other structures arranged between the device base and the running wheel, which can achieve floating connection. In other embodiments, the running wheel can be directly fixed to the device base to achieve rigid connection. In other embodiments, the number of running wheels can be increased or decreased according to actual conditions, but there must be at least three.

[0058] In actual use, the bottom of the device base may not be provided with running wheels, and the device may be transported to the site by manual handling.

[0059] Specific embodiment 3 of the remote auxiliary operation and inspection device for power grid equipment based on AR technology of the present invention:

[0060] In Example 1, there are two partitions, so that a middle chamber is formed inside the storage box, and a power supply and a wireless transmission module are contained in the middle chamber. In this embodiment, at least one of the power supply and the wireless transmission module is cancelled. After the power supply is cancelled, the components that consume electricity can be supplied with mains power. After the wireless transmission module is cancelled, the signal can be transmitted by wired transmission. When both the power supply and the wireless transmission module are cancelled, the middle chamber can also be cancelled accordingly.

[0061] Specific embodiment 4 of the remote auxiliary operation and inspection device for power grid equipment based on AR technology of the present invention:

[0062] In Example 1, the clamping structure for clamping the AR glasses includes two clamping plates and a compression spring. In this embodiment, the clamping structure may include only one side of the clamping plate and the compression spring to press the AR glasses against the wall of the storage box. In other embodiments, the clamping structure may be eliminated, and a groove may be provided in the storage box to accommodate the AR glasses.

[0063] Specific embodiment 5 of the remote auxiliary operation and inspection device for power grid equipment based on AR technology of the present invention:

[0064] In Example 1, the device base includes a storage box, and the storage box has an upper chamber and a lower chamber. In this embodiment, the device base is a frame structure, and the frame structure is divided into at least two layers, and the corresponding host, walking robot, wireless transmission module, power supply, etc. are placed in each layer. When the device base is a frame structure, in order to prevent the walking robot from escaping from the device base, the walking robot can be limited, such as by tying it with a strap.

[0065] Specific embodiment 6 of the remote auxiliary operation and inspection device for power grid equipment based on AR technology of the present invention:

[0066] In Example 1, the camera driving mechanism is a rotary motor, which drives the camera to rotate and is installed on the walking robot. In this embodiment, the camera is mounted on the walking robot for movement in the up and down directions, and the camera driving mechanism at this time is a direct-acting driving mechanism that can drive the camera to move up and down. Alternatively, in other embodiments, the camera is mounted on the walking robot for pitching and swinging along the horizontal axis, and the camera driving mechanism at this time can be a swing motor.

[0067] In actual use, the movement mode of the camera is not limited to one of them, and can be any two of rotation, translation, and pitch swing, or all three of these movement modes at the same time. Correspondingly, the output end of the camera driving mechanism is a compound motion.

[0068] Specific embodiment 7 of the remote auxiliary operation and inspection device for power grid equipment based on AR technology of the present invention:

[0069] In embodiment 1, the telescopic rod is a multi-stage telescopic rod, including a plurality of rod bodies. In this embodiment, the telescopic rod may include only one section of the rod body. Alternatively, in other embodiments, the rod body is fixedly mounted on the walking robot.

[0070] Specific embodiment 8 of the remote auxiliary operation and inspection device for power grid equipment based on AR technology of the present invention:

[0071] In Example 1, the sensors on the walking robot are composed of a temperature sensor, a humidity sensor and a smoke sensor. In this embodiment, the type and quantity of the sensors are changed according to actual conditions.

[0072] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments without creative work, or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A remote auxiliary operation and inspection device for power grid equipment based on AR technology, comprising: AR glasses and a host. The host is used to process the collected on-site information and transmit it to the AR glasses. The AR glasses are worn by the inspection personnel to inspect the equipment. It is characterized in that: the transport and inspection device also includes: The device base includes a storage box, and two partitions are provided in the storage box for dividing the space inside the storage box into upper and lower parts. The storage box includes an upper chamber at the top, a lower chamber at the bottom, and a middle chamber between the upper chamber and the lower chamber. The AR glasses and the host are placed in the upper chamber, and a power supply and a wireless transmission module are placed in the middle chamber. The power supply is used to supply power to the host and the wireless transmission module, and the wireless transmission module is used to realize wireless transmission of signals. A walking robot is placed in the lower chamber and can be separated from the device base, and the walking robot can be controlled to walk along a desired route; the walking robot is provided with a camera for taking photos and videos of the scene and a sensor for measuring equipment parameters; The host is used to collect information from the camera and the sensor, and transmit it to the AR glasses after processing.

2. The AR-based remote auxiliary operation and inspection device for power grid equipment according to claim 1 is characterized in that: The walking robot is provided with a telescopic rod that can be telescopically moved, and the sensor is arranged on the telescopic rod; The walking robot is also provided with a telescopic rod driving mechanism for driving the telescopic rod to move telescopically.

3. The AR-based remote auxiliary operation and inspection device for power grid equipment according to claim 2 is characterized in that: The telescopic rod driving mechanism includes at least two linear motors arranged side by side, and also includes a transition piece fixedly arranged on the output ends of each linear motor, and the telescopic rod is arranged on the transition piece.

4. The AR-based remote auxiliary operation and inspection device for power grid equipment according to claim 1 is characterized in that: The camera is movably mounted on the walking robot, and the transport and inspection device further comprises a camera driving mechanism for driving the camera to move.

5. The remote auxiliary operation and inspection device for power grid equipment based on AR technology according to any one of claims 1 to 4, characterized in that: The storage box is provided with a lateral opening corresponding to the lower chamber, and a side door is hinged at the lateral opening.

6. The AR-based remote auxiliary operation and inspection device for power grid equipment according to claim 1 is characterized in that: The upper chamber is provided with a clamping structure for clamping the AR glasses.

7. The AR-based remote auxiliary operation and inspection device for power grid equipment according to claim 6 is characterized in that: The clamping structure includes two clamping plates for clamping the AR glasses. A compression spring is installed between the two clamping plates and the inner wall of the storage box. The compression spring is used to drive the two clamping plates to move closer together to clamp the AR glasses.

8. The remote auxiliary operation and inspection device for power grid equipment based on AR technology according to any one of claims 1 to 4, characterized in that: At least three running wheels are arranged at the bottom of the device base, and a buffer structure is arranged between each running wheel and the device base bracket, so that each running wheel is floatingly assembled at the bottom of the device base.

9. The AR technology-based remote auxiliary operation and inspection device for power grid equipment according to claim 8, characterized in that: The buffer structure includes a fixed sleeve fixed to the bottom of the device base, and also includes a movable body movably installed in the fixed sleeve along the up and down directions. The walking wheel is fixed on the movable body, and a spring is arranged between the movable body and the bottom of the device base.

Images