Intelligent power grid inspection robot with laser scanning function

Abstract

The present invention discloses an intelligent power grid inspection robot with a laser scanning function, which belongs to the field of power grids and is used to solve the problem that there are no corresponding solutions and regulatory measures for factors such as fault conditions of power grid lines. The robot includes a scanning and analysis module, an environmental monitoring module, a monitoring level setting module, a historical monitoring module and a region division module. The region division module is used to divide the power grid line into several power grid line segments, the historical monitoring module is used to analyze the fault conditions of the power grid line segments, the environmental monitoring module is used to monitor the environmental conditions of the locations of the power grid line segments, the monitoring level setting module is used to set the monitoring level of the power grid line segments, and the scanning and analysis module is used to analyze the laser scanning images of the power grid line segments in combination with the number of analyses. The present invention differentiates the inspection intensity of the power grid lines based on multi-source data to achieve accurate inspection of the power grid lines.

Description

Technical Field

[0001] The present invention belongs to the field of power grids and relates to inspection robot technology, in particular to an intelligent power grid inspection robot with a laser scanning function. Background Art

[0002] The power grid is a system of substations and transmission and distribution lines at various voltages. It comprises three units: substation, transmission, and distribution. The power grid's mission is to transmit and distribute electrical energy and change voltage.

[0003] In the existing technology, when a power grid line fails, maintenance personnel carry out emergency repairs, but there is no corresponding solution and supervision measure for factors such as the fault condition of the power grid line. That is, accurate inspection of the power grid line is carried out based on multi-source data and different intensities. To this end, we propose a power grid intelligent inspection robot with laser scanning function. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an intelligent power grid inspection robot with laser scanning function.

[0005] The technical problems to be solved by the present invention are:

[0006] How to conduct accurate inspections of power grid lines based on multi-source data and differentiated efforts.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] An intelligent power grid inspection robot with a laser scanning function comprises an inspection robot and a processor disposed inside the inspection robot, wherein the inspection robot is equipped with a laser scanner and an alarm, the processor is communicatively connected to a data acquisition module, an alarm, and a server, and the server is connected to a scanning and analysis module, an environmental monitoring module, a monitoring level setting module, a historical monitoring module, a big data module, a user terminal, and a region division module; the region division module is used to divide the power grid line into several power grid line segments, label them with numbers, and feed them back to the server; the data acquisition module is used to collect laser scanning images of the power grid line segments and real-time environmental data of the locations of the power grid line segments and send them to the processor, the processor sends the laser scanning images and real-time environmental data to the server, and the server sends the laser scanning images to the scanning and analysis module and sends the real-time environmental data to the environmental monitoring module;

[0009] The user terminal is used for power grid workers to input the number of the power grid line segment and send it to the big data module. The big data module is used to obtain historical fault data and standard environmental data of different power grid line segments, and send the historical fault data of the power grid line segment to the historical monitoring module and the standard environmental data to the environmental monitoring module according to the number;

[0010] The historical monitoring module is used to analyze the fault conditions of the power grid line segment, obtain the operation and maintenance coefficient of the power grid line segment and feed it back to the server; the environmental monitoring module is used to monitor the environmental conditions of the location of the power grid line segment, obtain the environmental deviation coefficient of the power grid line segment and feed it back to the server, and the server sends the operation and maintenance coefficient and environmental deviation coefficient of the power grid line segment to the monitoring level setting module;

[0011] The monitoring level setting module is used to set the monitoring level of the power grid line segment, and the monitoring level of the power grid line segment is fed back to the server. The server sets the corresponding analysis times for the power grid line segment according to the monitoring level and sends it to the scanning analysis module. The scanning analysis module is used to analyze the laser scanning image of the power grid line segment in combination with the analysis times, and generates a power grid abnormality signal, a power grid inspection signal or a power grid normal signal and feeds it back to the server.

[0012] Furthermore, the real-time environmental data includes the real-time environmental temperature value and the real-time environmental humidity value of the power grid line section;

[0013] Historical fault data includes the number of faults in the power grid line segment, the fault time of each fault, and the last maintenance time;

[0014] Standard environmental data include standard ambient temperature and standard ambient humidity values ​​of power grid line sections;

[0015] The number of analyses at the first monitoring level is greater than the number of analyses at the second monitoring level, and the number of analyses at the second monitoring level is greater than the number of analyses at the third monitoring level.

[0016] Furthermore, the analysis process of the historical monitoring module is as follows:

[0017] Get the maintenance interval duration of the power grid line segment;

[0018] If the maintenance interval duration is greater than or equal to the duration threshold, the operation and maintenance coefficient of the power grid line segment is the first operation and maintenance coefficient;

[0019] If the maintenance interval is less than the duration threshold, the number of faults and the average fault interval of the power grid line segment are obtained, and the operation and maintenance value of the power grid line segment is calculated;

[0020] If the operation and maintenance value of the power grid line segment is less than the operation and maintenance threshold, the operation and maintenance coefficient of the power grid line segment is the third operation and maintenance coefficient; if the operation and maintenance value of the power grid line segment is greater than or equal to the operation and maintenance threshold, the operation and maintenance coefficient of the power grid line segment is the second operation and maintenance coefficient.

[0021] Furthermore, the value of the third operation and maintenance coefficient is smaller than the value of the second operation and maintenance coefficient, and the value of the second operation and maintenance coefficient is smaller than the value of the first operation and maintenance coefficient.

[0022] Furthermore, the monitoring process of the environmental monitoring module is as follows:

[0023] Set an environmental monitoring period and set several time points within the environmental monitoring period to obtain the real-time ambient temperature and humidity values ​​of the power grid line section at the several time points;

[0024] Calculate the difference between the real-time ambient temperature value and the standard ambient temperature value of the power grid line section at each time point and take the absolute value to obtain the ambient temperature difference of the power grid line section at each time point; calculate the difference between the real-time ambient humidity value of the power grid line section at each time point and take the absolute value to obtain the ambient humidity difference of the power grid line section at each time point;

[0025] The temperature deviation value of the power grid line section is obtained by adding up the ambient temperature differences of the power grid line section at all time points and taking the average value thereof; the humidity deviation value of the power grid line section is obtained by adding up the ambient humidity differences of the power grid line section at all time points and taking the average value thereof;

[0026] An environmental deviation value of the power grid line segment is calculated, and the environmental deviation value is compared with the environmental deviation threshold to determine that the environmental deviation coefficient of the power grid line segment is the third environmental deviation coefficient, the second environmental deviation coefficient, or the first environmental deviation coefficient.

[0027] Furthermore, the value of the first environment deviation coefficient is greater than the value of the second environment deviation coefficient, and the value of the second environment deviation coefficient is greater than the value of the third environment deviation coefficient.

[0028] Furthermore, the setting process of the monitoring level setting module is as follows:

[0029] Obtain the operation and maintenance coefficient and environmental deviation coefficient of the power grid line section and calculate the grade value of the power grid line section;

[0030] If the level value of the power grid line segment is greater than or equal to the first level threshold, the monitoring level of the power grid line segment is the first monitoring level;

[0031] If the level value of the power grid line segment is less than the first level threshold and greater than or equal to the second level threshold, the monitoring level of the power grid line segment is the second monitoring level;

[0032] If the level value of the power grid line segment is less than the second level threshold, the monitoring level of the power grid line segment is the third monitoring level.

[0033] Furthermore, the value of the second level threshold is smaller than the value of the first level threshold, the monitoring intensity of the first monitoring level is greater than the monitoring intensity of the second monitoring level, and the monitoring intensity of the second monitoring level is greater than the monitoring intensity of the third monitoring level.

[0034] Furthermore, the analysis process of the scanning analysis module is as follows:

[0035] Obtain the length and width of the laser scan image and calculate the total pixel points of the laser scan image;

[0036] Traverse to obtain all color pixels in the laser scanning image, extract the flame color pixels from all color pixels, and compare the flame color pixels with all color pixels to obtain the flame color pixel ratio;

[0037] Among them, flame colors include dark red, red, orange, yellow, blue-white and white;

[0038] The percentage of pixels of flame color in the laser scanning image is calculated based on the number of analyses. The percentage of pixels of flame color in each analysis is added up and divided by the number of analyses to obtain the average percentage of pixels of flame color in the laser scanning image.

[0039] A single analysis in which the percentage of flame color pixels exceeds the percentage threshold is marked as an exceeded analysis and the number of exceeded analyses is counted. The number of exceeded analyses is compared with the number of analyses to obtain the exceeded analysis percentage.

[0040] If the average pixel ratio exceeds the average pixel ratio threshold and exceeds the analysis ratio threshold, a power grid abnormality signal is generated;

[0041] If the average pixel ratio exceeds the average pixel ratio threshold or exceeds the analysis ratio threshold, a power grid inspection signal is generated;

[0042] If the average pixel ratio does not exceed the average pixel ratio threshold, and the excess analysis ratio does not exceed the excess analysis ratio threshold, a power grid normal signal is generated.

[0043] Furthermore, if the server receives a signal indicating that the power grid is normal, no action is taken;

[0044] If the server receives a power grid inspection signal, it generates an inspection instruction and loads it into the user terminal. The power grid staff at the user terminal inspects the power grid line section that needs to be inspected.

[0045] If the server receives an abnormal power grid signal, it generates an abnormal instruction and sends it to the user terminal and processor. The processor receives the abnormal instruction and generates an alarm instruction which is loaded into the alarm. The alarm performs the alarm after receiving the alarm instruction. The power grid staff at the user terminal receives the abnormal instruction and goes to the designated power grid line section for maintenance work.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The present invention divides the power grid line into several power grid line segments through the slave area division module, and analyzes the fault conditions of the power grid line segment through the historical monitoring module to obtain the operation and maintenance coefficient of the power grid line segment. The environmental conditions of the location of the power grid line segment are monitored through the environmental monitoring module to obtain the environmental deviation coefficient of the power grid line segment. The operation and maintenance coefficient and the environmental deviation coefficient of the power grid line segment are sent to the monitoring level setting module. The monitoring level of the power grid line segment is set by the monitoring level setting module to obtain the monitoring level of the power grid line segment. The corresponding analysis times are set for the power grid line segment according to the monitoring level and sent to the scanning analysis module. The scanning analysis module analyzes the laser scanning image of the power grid line segment in combination with the analysis times to generate a power grid abnormality signal, a power grid inspection signal or a power grid normal signal. The present invention differentiates the inspection intensity of the power grid line based on multi-source data, thereby realizing accurate inspection of the power grid line. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0049] Figure 1 This is a block diagram of the overall system of the present invention. DETAILED DESCRIPTION

[0050] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] See also Figure 1 As shown, the power grid intelligent inspection robot with laser scanning function includes an inspection robot and a processor set inside the inspection robot. The inspection robot is equipped with a laser scanner and an alarm;

[0052] The processor is communicatively connected to a data acquisition module, an alarm, and a server, and the server is connected to a scanning and analysis module, an environmental monitoring module, a monitoring level setting module, a historical monitoring module, a big data module, a user terminal, and a regional division module;

[0053] In this embodiment, the area division module is used to divide the power grid into a plurality of power grid segments, and add a number u to the power grid segments and feed it back to the server, where u=1, 2, ..., z, where z is a positive integer;

[0054] The data acquisition module is used to collect a laser scan image of the power grid line segment and real-time environmental data of the location of the power grid line segment, and send the laser scan image and real-time environmental data to the processor, the processor sends the laser scan image and real-time environmental data to the server, and the server sends the laser scan image to the scanning analysis module and sends the real-time environmental data to the environmental monitoring module;

[0055] It should be noted that the real-time environmental data includes the real-time ambient temperature value and the real-time ambient humidity value of the power grid line section;

[0056] In specific implementation, the data acquisition module includes laser scanners, various sensor components (temperature sensors, humidity sensors, current sensors, voltage sensors, etc.) and other equipment;

[0057] The user terminal is used for power grid staff to input personal information and register and log in to the server, and the personal information is sent to the server for storage;

[0058] Among them, personal information includes the name of the power grid staff, real-name authenticated mobile phone number, work number, etc.;

[0059] After the grid staff successfully registers and logs in, the user terminal is used for the grid staff to input the number of the grid line segment, and the number of the grid line segment is sent to the big data module. The big data module is used to obtain historical fault data and standard environmental data of different grid line segments, and send the historical fault data of the grid line segment to the historical monitoring module and the standard environmental data to the environmental monitoring module according to the number;

[0060] It should be noted that historical fault data includes the number of faults in the power grid line section, the fault time of each fault, the last maintenance time, etc.; standard environmental data includes the standard ambient temperature value and standard ambient humidity value of the power grid line section, etc.

[0061] The historical monitoring module is used to analyze the fault conditions of the power grid line segment. The analysis process is as follows:

[0062] Step 1: Obtain the last maintenance time of the power grid line segment and the current time of the server. Subtract the last maintenance time from the current time to obtain the maintenance interval duration JTu of the power grid line segment.

[0063] Step 2: If the maintenance interval duration is greater than or equal to the duration threshold, the operation and maintenance coefficient of the power grid line segment is the first operation and maintenance coefficient;

[0064] If the maintenance interval is less than the duration threshold, proceed to the next step;

[0065] Step 3: Obtain the number of faults in the power grid line segment and mark the number of faults as GCu;

[0066] Step 4: Obtain the fault time of each fault in the power grid line section, calculate the fault interval duration of each fault, add up all the fault interval durations and take the average value to obtain the fault interval time JGTu of the power grid line section;

[0067] Step 5: Use the formula The operation and maintenance value YWu of the power grid line segment is calculated; where a1 and a2 are proportional coefficients with fixed values, and the values ​​of a1 and a2 are both greater than zero;

[0068] Step 6: If the operation and maintenance value of the power grid line segment is less than the operation and maintenance threshold, the operation and maintenance coefficient of the power grid line segment is the third operation and maintenance coefficient;

[0069] If the operation and maintenance value of the power grid line segment is greater than or equal to the operation and maintenance threshold, the operation and maintenance coefficient of the power grid line segment is the second operation and maintenance coefficient;

[0070] It is understandable that the value of the third operation and maintenance coefficient is smaller than the value of the second operation and maintenance coefficient, and the value of the second operation and maintenance coefficient is smaller than the value of the first operation and maintenance coefficient;

[0071] The historical monitoring module feeds back the operation and maintenance coefficient of the power grid line segment to the server, and the server sends the operation and maintenance coefficient of the power grid line segment to the monitoring level setting module;

[0072] The environmental monitoring module is used to monitor the environmental conditions of the power grid line segment. The monitoring process is as follows:

[0073] Step S1: setting an environmental monitoring period and setting several time points within the environmental monitoring period;

[0074] Step S2: obtaining the real-time ambient temperature and humidity of the power grid line segment at a plurality of time points;

[0075] Step S3: Calculate the difference between the real-time ambient temperature value of the power grid line section at each time point and the standard ambient temperature value and take the absolute value to obtain the ambient temperature difference of the power grid line section at each time point;

[0076] Calculate the difference in real-time ambient humidity values ​​of the power grid line section at each time point and take the absolute value to obtain the ambient humidity difference of the power grid line section at each time point;

[0077] Step S4: adding and averaging the ambient temperature differences of the power grid line segment at all time points to obtain a temperature deviation value WPu of the power grid line segment;

[0078] The humidity deviation value SPu of the power grid line section is obtained by adding up the differences in the ambient humidity of the power grid line section at all time points and taking the average value;

[0079] Step S5: Calculate the environmental deviation value HPu of the power grid line segment using the formula HPu=WPu×α+SPu×β; where α and β are weight coefficients with fixed values, and the values ​​of α and β are both greater than zero;

[0080] Step S6: If HPu<X1, the environmental deviation coefficient of the power grid line segment is the third environmental deviation coefficient;

[0081] If X1≤HPu<X2, the environmental deviation coefficient of the power grid line section is the second environmental deviation coefficient;

[0082] If X2≤HPu, the environmental deviation coefficient of the power grid line section is the first environmental deviation coefficient; X1 and X2 are both fixed environmental deviation thresholds, and X1<X2;

[0083] It is understandable that the value of the first environment deviation coefficient is greater than the value of the second environment deviation coefficient, and the value of the second environment deviation coefficient is greater than the value of the third environment deviation coefficient;

[0084] The environmental monitoring module feeds back the environmental deviation coefficient of the power grid line segment to the server, and the server sends the environmental deviation coefficient of the power grid line segment to the monitoring level setting module;

[0085] The monitoring level setting module is used to set the monitoring level of the power grid line segment. The setting process is as follows:

[0086] Step SS1: Obtain the operation and maintenance coefficient and environmental deviation coefficient of the power grid line segment obtained by the above calculation, and mark the operation and maintenance coefficient and environmental deviation coefficient as YXu and HXu respectively;

[0087] Step SS2: Calculate the grade value DJu of the power grid line segment using the formula DJu=YXu×b1+HXu×b2; where b1 and b2 are weight coefficients with fixed values, and the values ​​of b1 and b2 are both greater than zero;

[0088] Step SS3: If the level value of the power grid line segment is greater than or equal to the first level threshold, the monitoring level of the power grid line segment is the first monitoring level;

[0089] Step SS4: If the level value of the power grid line segment is less than the first level threshold and greater than or equal to the second level threshold, the monitoring level of the power grid line segment is the second monitoring level;

[0090] Step SS5: If the level value of the power grid line segment is less than the second level threshold, the monitoring level of the power grid line segment is the third monitoring level;

[0091] It should be specifically noted that the value of the second level threshold is smaller than the value of the first level threshold, the monitoring intensity of the first monitoring level is greater than the monitoring intensity of the second monitoring level, and the monitoring intensity of the second monitoring level is greater than the monitoring intensity of the third monitoring level;

[0092] The monitoring level setting module feeds back the monitoring level of the power grid line segment to the server, and the server sets the corresponding analysis times for the power grid line segment according to the monitoring level and sends the result to the scanning analysis module;

[0093] It is understood that the number of analyses at the first monitoring level is greater than the number of analyses at the second monitoring level, and the number of analyses at the second monitoring level is greater than the number of analyses at the third monitoring level;

[0094] In this embodiment, the scanning and analysis module mainly performs scanning and analysis on the fire situation in the power grid. The scanning and analysis module is used to analyze the laser scanning image of the power grid line segment in combination with the analysis times. The analysis process is as follows:

[0095] Step K1: Obtain the length and width of the laser scanning image and calculate the total pixel points of the laser scanning image;

[0096] Step K2: traverse to obtain all color pixels in the laser scanning image, extract flame color pixels from all color pixels, compare the flame color pixels with all color pixels to obtain the flame color pixel ratio;

[0097] Among them, flame colors include dark red, red, orange, yellow, blue-white and white;

[0098] Step K3: Calculate the percentage of pixels of flame color in the laser scanning image based on the number of analyses, add up the percentage of pixels of flame color in each analysis, and divide the sum by the number of analyses to obtain the average percentage of pixels of flame color in the laser scanning image;

[0099] Step K4: Mark a single analysis in which the proportion of flame color pixels exceeds the proportion threshold as an over-analysis and count the number of over-analyses. Compare the number of over-analyses with the number of analyses to obtain the over-analysis proportion.

[0100] Step P5: If the average pixel ratio exceeds the average pixel ratio threshold and exceeds the analysis ratio threshold, a power grid abnormality signal is generated;

[0101] If the average pixel ratio exceeds the average pixel ratio threshold or exceeds the analysis ratio threshold, a power grid inspection signal is generated;

[0102] If the average pixel ratio does not exceed the average pixel ratio threshold, and the percentage exceeding the analysis ratio does not exceed the percentage exceeding the analysis ratio threshold, a power grid normal signal is generated;

[0103] The scanning and analysis module feeds back the abnormal power grid signal, the power grid inspection signal or the normal power grid signal to the server;

[0104] If the server receives a signal that the power grid is normal, no action will be taken;

[0105] If the server receives a power grid inspection signal, it generates an inspection instruction and loads it into the user terminal. The power grid staff at the user terminal inspects the power grid line section that needs to be inspected.

[0106] If the server receives an abnormal power grid signal, it generates an abnormal instruction and sends it to the user terminal and processor. The processor receives the abnormal instruction and generates an alarm instruction which is loaded into the alarm. The alarm performs the alarm after receiving the alarm instruction. The power grid staff at the user terminal receives the abnormal instruction and goes to the designated power grid line section for maintenance work.

[0107] The intelligent power grid inspection robot with laser scanning function, when working, divides the power grid line into several power grid line segments, and adds a number u to the power grid line segments and feeds them back to the server. The data acquisition module collects the laser scanning image of the power grid line segment and the real-time environmental data of the location of the power grid line segment, and sends the laser scanning image and real-time environmental data to the processor. The processor sends the laser scanning image and real-time environmental data to the server. The server sends the laser scanning image to the scanning analysis module and sends the real-time environmental data to the environmental monitoring module.

[0108] The grid staff inputs the grid line segment number through the user terminal and sends the grid line segment number to the big data module. The big data module is used to obtain the historical fault data and standard environmental data of different grid line segments, and sends the historical fault data of the grid line segment to the historical monitoring module and the standard environmental data to the environmental monitoring module according to the number.

[0109] The fault condition of the power line segment is analyzed through the historical monitoring module to obtain the last maintenance time of the power line segment and the current time of the server. The maintenance interval time JTu of the power line segment is obtained by subtracting the last maintenance time from the current time. If the maintenance interval time is greater than or equal to the time threshold, the operation and maintenance coefficient of the power line segment is the first operation and maintenance coefficient. If the maintenance interval time is less than the time threshold, the number of faults GCu and the fault interval time JGTu of the power line segment are obtained. The formula The operation and maintenance value YWu of the power grid line segment is calculated. If the operation and maintenance value of the power grid line segment is less than the operation and maintenance threshold, the operation and maintenance coefficient of the power grid line segment is the third operation and maintenance coefficient. If the operation and maintenance value of the power grid line segment is greater than or equal to the operation and maintenance threshold, the operation and maintenance coefficient of the power grid line segment is the second operation and maintenance coefficient. The historical monitoring module feeds back the operation and maintenance coefficient of the power grid line segment to the server, and the server sends the operation and maintenance coefficient of the power grid line segment to the monitoring level setting module.

[0110] The environmental conditions of the location of the power grid line section are monitored through the environmental monitoring module, the environmental monitoring period is set, and several time points are set within the environmental monitoring period to obtain the real-time environmental temperature value and real-time environmental humidity value of the power grid line section at several time points. The difference between the real-time environmental temperature value of the power grid line section at each time point and the standard environmental temperature value is calculated and taken as the absolute value to obtain the environmental temperature difference of the power grid line section at each time point. The difference between the real-time environmental humidity value of the power grid line section at each time point is calculated and taken as the absolute value to obtain the environmental humidity difference of the power grid line section at each time point. The environmental temperature differences of the power grid line section at all time points are added and averaged to obtain the temperature deviation of the power grid line section. The difference W Pu is obtained by adding the environmental humidity differences of the power grid line segment at all time points and taking the average value to obtain the humidity deviation value S Pu of the power grid line segment. The environmental deviation value HPu of the power grid line segment is calculated by the formula HPu = W Pu × α + SPu × β. If HPu < X1, the environmental deviation coefficient of the power grid line segment is the third environmental deviation coefficient. If X1 ≤ HPu < X2, the environmental deviation coefficient of the power grid line segment is the second environmental deviation coefficient. If X2 ≤ HPu, the environmental deviation coefficient of the power grid line segment is the first environmental deviation coefficient. The environmental monitoring module feeds back the environmental deviation coefficient of the power grid line segment to the server, and the server sends the environmental deviation coefficient of the power grid line segment to the monitoring level setting module.

[0111] The monitoring level of the power grid line segment is set by the monitoring level setting module, the operation and maintenance coefficient and the environmental deviation coefficient of the power grid line segment are obtained, and the operation and maintenance coefficient and the environmental deviation coefficient are marked as YXu and HXu respectively. The level value DJu of the power grid line segment is calculated by the formula DJu=YXu×b1+HXu×b2. If the level value of the power grid line segment is greater than or equal to the first level threshold, the monitoring level of the power grid line segment is the first monitoring level. If the level value of the power grid line segment is less than the first level threshold and greater than or equal to the second level threshold, the monitoring level of the power grid line segment is the second monitoring level. If the level value of the power grid line segment is less than the second level threshold, the monitoring level of the power grid line segment is the third monitoring level. The monitoring level setting module feeds back the monitoring level of the power grid line segment to the server. The server sets the corresponding analysis times for the power grid line segment according to the monitoring level and sends it to the scanning analysis module.

[0112] The scanning analysis module analyzes the laser scanning image of the power grid line section in combination with the number of analyses, obtains the length and width of the laser scanning image, calculates the total pixel points of the laser scanning image, traverses to obtain the pixel points of all colors in the laser scanning image, extracts the pixel points of flame color from the pixel points of all colors, compares the pixel points of flame color with the pixel points of all colors to obtain the pixel point ratio of flame color, calculates the pixel point ratio of flame color in the laser scanning image according to the number of analyses, adds the pixel point ratio of flame color in each analysis and divides it by the number of analyses to obtain the average pixel point ratio of flame color in the laser scanning image, marks a single analysis in which the pixel point ratio of flame color exceeds the ratio threshold as exceeding analysis and counts the number of exceeding analyses, compares the number of exceeding analyses with the number of analyses to obtain the exceeding analysis ratio, if the average pixel point ratio exceeds the average pixel point ratio threshold, and the exceeding analysis ratio exceeds the exceeding analysis ratio threshold, then a power grid abnormality signal is generated, if the ... If the average point ratio exceeds the pixel average ratio threshold or exceeds the analysis ratio threshold, a power grid inspection signal is generated. If the pixel average ratio does not exceed the pixel average ratio threshold and exceeds the analysis ratio but does not exceed the analysis ratio threshold, a power grid normal signal is generated. The scanning and analysis module feeds back the power grid abnormality signal, power grid inspection signal or power grid normal signal to the server. If the server receives the power grid normal signal, no operation is performed. If the server receives the power grid inspection signal, it generates an inspection instruction and loads it into the user terminal. The power grid staff at the user terminal inspects the power grid line section that needs to be inspected. If the server receives the power grid abnormality signal, it generates an abnormal instruction and sends it to the user terminal and the processor. The processor receives the abnormal instruction and generates an alarm instruction and loads it into the alarm. The alarm performs an alarm after receiving the alarm instruction. The power grid staff at the user terminal goes to the designated power grid line section for maintenance after receiving the abnormal instruction.

[0113] The above formulas are all dimensionless and numerically calculated. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions. The size of the weight coefficient and the proportional coefficient is to quantify each parameter to obtain a specific value, which is convenient for subsequent comparison. Regarding the size of the weight coefficient and the proportional coefficient, as long as it does not affect the proportional relationship between the parameter and the quantized value, it is fine.

[0114] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent power grid inspection robot with a laser scanning function, comprising an inspection robot and a processor disposed inside the inspection robot, characterized in that: The inspection robot is equipped with a laser scanner and an alarm; the processor is communicatively connected to a data acquisition module, an alarm and a server; the server is connected to a scanning and analysis module, an environmental monitoring module, a monitoring level setting module, a historical monitoring module, a big data module, a user terminal and a region division module; the region division module is used to divide the power grid line into several power grid line segments and add numbers to the segments and feed them back to the server; the data acquisition module is used to collect laser scanning images of the power grid line segments and real-time environmental data of the locations of the power grid line segments and send them to the processor; the real-time environmental data includes the real-time environmental temperature value and the real-time environmental humidity value of the power grid line segments; the processor sends the laser scanning images and the real-time environmental data to the server; the server sends the laser scanning images to the scanning and analysis module and sends the real-time environmental data to the environmental monitoring module; The user terminal is used for power grid workers to input the number of the power grid line segment and send it to the big data module. The big data module is used to obtain historical fault data and standard environmental data of different power grid line segments, and send the historical fault data of the power grid line segment to the historical monitoring module and the standard environmental data to the environmental monitoring module according to the number. The historical fault data includes the number of faults of the power grid line segment, the fault time of each fault and the last maintenance time. The standard environmental data includes the standard environmental temperature value and the standard environmental humidity value of the power grid line segment; The historical monitoring module is used to analyze the fault conditions of the power grid line segment, obtain the operation and maintenance coefficient of the power grid line segment and feed it back to the server; the environmental monitoring module is used to monitor the environmental conditions of the location of the power grid line segment, obtain the environmental deviation coefficient of the power grid line segment and feed it back to the server, and the server sends the operation and maintenance coefficient and environmental deviation coefficient of the power grid line segment to the monitoring level setting module; The analysis process of the historical monitoring module is as follows: Get the maintenance interval duration JTu of the power grid line segment, where u is the number of the power grid line segment; If the maintenance interval duration is greater than or equal to the duration threshold, the operation and maintenance coefficient of the power grid line segment is the first operation and maintenance coefficient; If the maintenance interval is less than the duration threshold, the number of faults GCu and the average fault interval JGTu of the power grid line segment are obtained, and the formula The operation and maintenance value YWu of the power grid line segment is calculated; where a1 and a2 are proportional coefficients with fixed values, and the values ​​of a1 and a2 are both greater than zero; If the operation and maintenance value of the power grid line segment is less than the operation and maintenance threshold, the operation and maintenance coefficient of the power grid line segment is the third operation and maintenance coefficient; if the operation and maintenance value of the power grid line segment is greater than or equal to the operation and maintenance threshold, the operation and maintenance coefficient of the power grid line segment is the second operation and maintenance coefficient; The monitoring process of the environmental monitoring module is as follows: Set an environmental monitoring period and set several time points within the environmental monitoring period to obtain the real-time ambient temperature and humidity values ​​of the power grid line section at the several time points; Calculate the difference between the real-time ambient temperature value and the standard ambient temperature value of the power grid line section at each time point and take the absolute value to obtain the ambient temperature difference of the power grid line section at each time point; calculate the difference between the real-time ambient humidity value of the power grid line section at each time point and take the absolute value to obtain the ambient humidity difference of the power grid line section at each time point; The temperature deviation value WPu of the power grid line segment is obtained by adding up the ambient temperature differences of the power grid line segment at all time points and taking the average value thereof; the humidity deviation value SPu of the power grid line segment is obtained by adding up the ambient humidity differences of the power grid line segment at all time points and taking the average value thereof; The environmental deviation value HPu of the power grid line segment is calculated by the formula HPu=WPu×α+SPu×β; where α and β are weight coefficients with fixed values, and the values ​​of α and β are both greater than zero; If HPu<X1, the environmental deviation coefficient of the power grid line section is the third environmental deviation coefficient; If X1≤HPu<X2, the environmental deviation coefficient of the power grid line section is the second environmental deviation coefficient; If X2≤HPu, the environmental deviation coefficient of the power grid line section is the first environmental deviation coefficient; X1 and X2 are both fixed environmental deviation thresholds, and X1<X2; The monitoring level setting module is used to set the monitoring level of the power grid line segment, and the obtained monitoring level of the power grid line segment is fed back to the server. The server sets a corresponding analysis number for the power grid line segment according to the monitoring level and sends it to the scanning analysis module. The scanning analysis module is used to analyze the laser scanning image of the power grid line segment based on the analysis number, and generates a power grid abnormality signal, a power grid inspection signal or a power grid normal signal and feeds it back to the server; The specific setting process of the monitoring level setting module is as follows: Obtain the operation and maintenance coefficient and environmental deviation coefficient of the power grid line segment, and mark the operation and maintenance coefficient and environmental deviation coefficient as YXu and HXu respectively; The grade value DJu of the power grid line segment is calculated by the formula DJu=YXu×b1+HXu×b2; where b1 and b2 are weight coefficients with fixed values, and the values ​​of b1 and b2 are both greater than zero; If the level value of the power grid line segment is greater than or equal to the first level threshold, the monitoring level of the power grid line segment is the first monitoring level; If the level value of the power grid line segment is less than the first level threshold and greater than or equal to the second level threshold, the monitoring level of the power grid line segment is the second monitoring level; If the level value of the power grid line segment is less than the second level threshold, the monitoring level of the power grid line segment is the third monitoring level; The number of analyses at the first monitoring level is greater than the number of analyses at the second monitoring level, and the number of analyses at the second monitoring level is greater than the number of analyses at the third monitoring level.

2. The intelligent power grid inspection robot with laser scanning function according to claim 1 is characterized in that: The value of the third operation and maintenance coefficient is smaller than the value of the second operation and maintenance coefficient, and the value of the second operation and maintenance coefficient is smaller than the value of the first operation and maintenance coefficient.

3. The intelligent power grid inspection robot with laser scanning function according to claim 1 is characterized in that: The value of the first environment deviation coefficient is greater than the value of the second environment deviation coefficient, and the value of the second environment deviation coefficient is greater than the value of the third environment deviation coefficient.

4. The intelligent power grid inspection robot with laser scanning function according to claim 1, characterized in that: The value of the second level threshold is smaller than the value of the first level threshold, the monitoring intensity of the first monitoring level is greater than the monitoring intensity of the second monitoring level, and the monitoring intensity of the second monitoring level is greater than the monitoring intensity of the third monitoring level.

5. The intelligent power grid inspection robot with laser scanning function according to claim 1 is characterized in that: The analysis process of the scanning analysis module is as follows: Obtain the length and width of the laser scan image and calculate the total pixel points of the laser scan image; Traverse to obtain all color pixels in the laser scanning image, extract the flame color pixels from all color pixels, and compare the flame color pixels with all color pixels to obtain the flame color pixel ratio; Among them, flame colors include dark red, red, orange, yellow, blue-white and white; The percentage of pixels of flame color in the laser scanning image is calculated based on the number of analyses. The percentage of pixels of flame color in each analysis is added up and divided by the number of analyses to obtain the average percentage of pixels of flame color in the laser scanning image. A single analysis in which the proportion of flame color pixels exceeds the proportion threshold is marked as an exceeded analysis and the number of exceeded analyses is counted. The number of exceeded analyses is compared with the number of analyses to obtain the exceeded analysis proportion; If the average pixel ratio exceeds the average pixel ratio threshold and exceeds the analysis ratio threshold, a power grid abnormality signal is generated; If the average pixel ratio exceeds the average pixel ratio threshold or exceeds the analysis ratio threshold, a power grid inspection signal is generated; If the average pixel ratio does not exceed the average pixel ratio threshold, and the analysis ratio does not exceed the analysis ratio threshold, a power grid normal signal is generated.

6. The intelligent power grid inspection robot with laser scanning function according to claim 1, characterized in that: If the server receives a signal that the power grid is normal, no action will be taken; If the server receives a power grid inspection signal, it generates an inspection instruction and loads it into the user terminal. The power grid staff at the user terminal inspects the power grid line section that needs to be inspected. If the server receives an abnormal power grid signal, it generates an abnormal instruction and sends it to the user terminal and processor. The processor receives the abnormal instruction and generates an alarm instruction which is loaded into the alarm. The alarm performs the alarm after receiving the alarm instruction. The power grid staff at the user terminal receives the abnormal instruction and goes to the designated power grid line section for maintenance work.

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