Power facility inspection robot and inspection method based on laser radar

Abstract

The present invention provides a laser radar-based power facility inspection robot, comprising a body, an AVG base is provided at the bottom of the body, a rotating seat is provided at the top of the body, a pitch seat is provided on the top of the rotating seat, an integrated optical component is provided on the pitch seat, and the integrated optical component is provided with an optical camera, an infrared camera, a brightness sensor and a laser radar component. When in use, the power facility to be inspected is modeled; the path of the inspection robot is set in the model and in reality; the infrared collection path of the inspection robot is set in the model and in reality; if the infrared collected data exceeds the threshold, an alarm is issued; the laser radar component and the optical camera are started; the infrared, optical and laser ranging data are fused and solved; the fault location and the corresponding parameters of the fault are determined and an alarm is issued. The present invention can detect abnormal conditions of power components by infrared detection, and can specifically provide information on what kind of power component it is and the location information data of the specific abnormality.

Description

Technical Field

[0001] The present invention relates to the field of power facility maintenance, and in particular to a laser radar-based power facility inspection robot and inspection method. Background Art

[0002] With the massive development of domestic power facilities, the maintenance and management workload of power facilities is increasing. In the prior art, there is a solution of using patrol robots to patrol power facilities. The current patrol robot mainly adopts the solution of AGV trolley combined with infrared camera to detect the components in the power facilities whose temperature exceeds the preset value, so as to warn the failure of related equipment in advance. For example, the patrol warning solution recorded in the intelligent safety patrol warning system of power facilities in Chinese patent document CN113517757A. However, the existing warning device can only identify the temperature range, and it is difficult to provide more information for maintenance personnel to prepare disposal measures in advance. In order to solve this technical problem, there are also solutions using artificial intelligence infrared recognition in the prior art, such as CN114548446A, a power equipment detection system and method based on artificial intelligence, CN113486877A, a real-time detection and diagnosis method of infrared images of power equipment based on lightweight artificial intelligence model, etc., but there are still problems of slow computing speed and low recognition accuracy in recognizing power equipment from planar infrared images. Moreover, in planar infrared images, it is difficult to identify specific power equipment and other parameters. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a laser radar-based power facility inspection robot and inspection method, which can alarm for abnormal temperature conditions found during the inspection process, and the alarm data can contain more data information to facilitate management and maintenance personnel to make quick decisions based on the data information, so as to improve the timeliness of disposal and ensure safety.

[0004] In order to solve the above-mentioned technical problems, the technical solution of the present invention is: a laser radar-based power facility inspection robot, comprising a body, an AVG base is provided at the bottom of the body, a rotating seat is provided on the top of the body, a pitch seat is provided on the top of the rotating seat, and an integrated optical component is provided on the pitch seat, and the integrated optical component is provided with an optical camera, an infrared camera, a brightness sensor and a laser radar assembly.

[0005] In a preferred solution, the optical camera, the infrared camera and the brightness sensor are arranged on the first main board, and an automatic aperture is provided in the optical camera.

[0006] In a preferred solution, the transmitting component of the laser radar component includes a semiconductor laser tube array, an array aperture diaphragm is provided in front of the optical path of the semiconductor laser tube array, a MEMS micro-electromechanical component is provided behind the array aperture diaphragm, and an array-arranged micro-reflector is provided on the surface of the MEMS micro-electromechanical component. The laser beam of the array is reflected by the micro-reflector and then emitted from the collimating lens of the optical component.

[0007] In a preferred solution, a frequency controller is further provided, and the frequency controller controls the on-off analog laser frequency of each semiconductor laser tube in the semiconductor laser tube array according to the input frequency and light intensity.

[0008] In the preferred solution, a main control device is also provided, and the main control device is electrically connected to the AVG base, the optical camera, the infrared camera, the brightness sensor and the laser radar assembly;

[0009] A server and / or a terminal are also provided, and the server and / or the terminal are communicatively connected with the main control device.

[0010] A patrol method using the above-mentioned power facility patrol robot based on laser radar comprises the following steps:

[0011] S1. Model the power facilities to be inspected;

[0012] S2. Setting the path of the inspection robot in the model and in reality;

[0013] S3, setting the infrared collection path of the inspection robot in the model and in reality;

[0014] S4. If the infrared collected data exceeds the threshold, an alarm is triggered;

[0015] S5, LiDAR assembly and optical camera started;

[0016] S6, infrared, optical and laser ranging data fusion solution;

[0017] S7. Determine the fault location and corresponding parameters and generate an alarm.

[0018] In a preferred solution, step S1 includes the following steps:

[0019] S101, first scan the site with a laser radar, and establish a three-dimensional model of the work site with a data point cloud;

[0020] S102, replacing the power component generated by the data point cloud with the power component modeled by the three-dimensional software;

[0021] S103, setting the power component as a hotspot component, and binding corresponding parameters to the hotspot component;

[0022] The above steps complete the three-dimensional model of the power facility with hot spot components.

[0023] In a preferred solution, step S6 includes the following steps:

[0024] S601, identifying the abnormal area in the infrared image, and centering the abnormal infrared image field of view. If there are multiple abnormalities, the infrared image field of view with a larger area is selected for centering;

[0025] S602, the laser radar component measures the distance to the alarm position;

[0026] S603, introducing vector and distance parameters into the three-dimensional model of the power facility;

[0027] S604, starting hotspot trigger detection according to vector and distance parameters;

[0028] S605, if yes, then mark the abnormal hot spot of infrared image, perform temperature correction according to the distance measurement, superimpose the complete parameters of the hot spot component marked by the optical image and send the alarm data;

[0029] S606: If not, an abnormal infrared image is marked, temperature correction is performed according to the distance measurement, and alarm data is sent after superimposing some parameters of the optical image mark.

[0030] In a preferred solution, in step S602, the frequency controller encodes the brightness of the output laser beam by controlling the on and off of the semiconductor laser tube units in the semiconductor laser tube array according to the coded signal of the main control device, and identifies the emission period of the laser beam by the brightness coding of the laser beam.

[0031] In a preferred solution, in step S603, the vector refers to the detection axis direction of the laser radar component, and the distance refers to the distance between the laser radar component and the component corresponding to the abnormal area in the infrared image;

[0032] In step S604, at the far end of the distance parameter, a volume space of 1 to 10 cm is extended outward to detect whether the volume space intersects with the hot spot component;

[0033] If yes, then proceed to step S605, where the complete parameters refer to the parameters of the hot spot component and the detected temperature parameters of the abnormal position of the infrared image;

[0034] If not, the process proceeds to step S606, where some parameters refer to the detected temperature parameters of the abnormal position of the infrared image.

[0035] The present invention provides a power facility inspection robot and inspection method based on laser radar, which can detect abnormal conditions of power components by infrared detection, and can specifically provide information about what kind of power components are and specific abnormal location information data. The combination of the improved laser radar component with the optical camera, the infrared camera and the brightness sensor greatly reduces the volume of the entire device, so that multiple sensors can be integrated in a volume space that is much smaller than the traditional laser radar. The solution of fusing the three-dimensional model of the power component with the digital point cloud data is adopted, so that the abnormal conditions that occur during the inspection process can be quickly located to the specific location of the specific power component, and more information can be provided for management and maintenance personnel to make decisions, such as the specific model of the power component and the location of the abnormal condition on the power component. Moreover, the positioning of these abnormal conditions is very accurate and rapid, which is much higher than the technical route based on artificial intelligence recognition. The present invention also simplifies the calculation amount of data joint solution, facilitates the implementation of conversion, and facilitates subsequent maintenance, which can greatly improve the real-time nature of inspection and alarm, and improve the reliability of inspection identification and alarm. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0037] Figure 1 It is a structural schematic diagram of the inspection robot in the present invention.

[0038] Figure 2 It is a schematic diagram of the structure of the integrated optical component in the present invention.

[0039] Figure 3 It is a schematic diagram of the structure of the transmitting part of the laser radar component in the present invention.

[0040] Figure 4 The figure is a flow chart of the inspection method of the present invention.

[0041] Figure 5 A flow chart for three-dimensional modeling of electric power facilities of the present invention.

[0042] Figure 6 The figure is a flow chart of the data fusion solution of the present invention.

[0043] In the figure: integrated optical component 1, integrated panel 101, optical camera 102, infrared camera 103, brightness sensor 104, laser radar component 105, frequency controller 106, semiconductor laser tube array 107, MEMS micro-electromechanical component 108, micro reflector 109, optical component 110, first main board 111, array aperture diaphragm 112, pitch seat 2, rotating seat 3, body 4, AGV base 5. DETAILED DESCRIPTION

[0044] Embodiment 1:

[0045] like Figures 1 to 3 In the invention, a laser radar-based power facility inspection robot includes a body 4, an AVG base 5 is provided at the bottom of the body 4, a rotating seat 3 is provided at the top of the body 4, a pitch seat 2 is provided at the top of the rotating seat 3, an integrated optical component 1 is provided on the pitch seat 2, and the integrated optical component 1 is provided with an optical camera 102, an infrared camera 103, a brightness sensor 104 and a laser radar component 105. The optical camera 102, the infrared camera 103, the brightness sensor 104 and the laser radar component 105 are integrated together, that is, the optical camera 102, the infrared camera 103, the brightness sensor 104 and the laser radar component 105 have the characteristic of being coaxial. The laser radar component 105 has a pitch range of ±5~10° and a left and right field range of ±10~20° based on a mems micro-electromechanical component 108.

[0046] The preferred solution is Figure 2 In the embodiment, the optical camera 102, the infrared camera 103 and the brightness sensor 104 are arranged on the first mainboard 111, and an automatic aperture is arranged in the optical camera 102. In this example, the optical camera 102 and the brightness sensor 104 are commercially available mobile phone components. The infrared camera 103 uses the medium-wave cooling type thermal imaging camera movement YM-TC640 and the adapter lens of Yamada Optical Shenzhen Co., Ltd. The images of the optical camera 102 and the infrared camera 103 are calibrated by magnification and distortion compensation to ensure that the images of the optical camera 102 and the infrared camera 103 overlap accurately. The specific steps are: firstly, the image of the infrared camera 103 is subjected to distortion compensation by software, and then the image of the optical camera 102 is subjected to distortion compensation, and then the image of the compensated infrared camera 103 is used as a reference, and the compensated image of the optical camera 102 is subjected to software scaling operation, so that the image of the optical camera 102 is aligned with the image of the infrared camera 103 at the pixel level. The brightness sensor 104 is set to detect the ambient brightness, so that the optical camera 102 automatically adjusts the aperture size to obtain ideal image quality. Preferably, the optical camera 102 and the infrared camera 103 are coaxially arranged, and there is a difference in viewing distance between the two, that is, there is a difference in the center of the field of view of the optical camera 102 and the infrared camera 103, which can usually be ignored. However, in order to improve the inspection accuracy, pixel-level shift processing can be performed after obtaining the image depth of field parameters, that is, shift pixel = (coaxial error × image chip size / depth of field parameter × total number of pixels), so that the center of the field of view of the optical camera 102 and the infrared camera 103 are accurately aligned.

[0047] The preferred solution is Figure 3In the embodiment, the transmitting component of the laser radar component 105 includes a semiconductor laser tube array 107, an array aperture diaphragm 112 is provided in front of the optical path of the semiconductor laser tube array 107, a mems micro-electromechanical component 108 is provided behind the array aperture diaphragm 112, and an array of micro-reflectors 109 are provided on the surface of the mems micro-electromechanical component 108. The laser beam of the array passes through the micro-reflector 109 and is emitted from the optical component 110. The optical component 110 includes at least a collimating lens, and the optical component 110 also includes a receiving component, such as a focusing lens and a steering mirror. The collimating lens is used to align the cone beam of the semiconductor laser tube array 107 into a parallel beam. The focusing lens is used to convert the received reflected beam into a cone beam, and the steering mirror is used to steer the beam.

[0048] The preferred solution is Figure 3 In the embodiment, a frequency controller 106 is also provided. The frequency controller 106 preferably adopts an STM32F series chip. The frequency controller 106 receives a control signal from the main control device to control the output frequency of the semiconductor laser tube array 107, that is, the frequency controller 106 controls the on-off analog laser frequency of each semiconductor laser tube in the semiconductor laser tube array 107 according to the input frequency and light intensity. In the prior art, the frequency modulation of the laser beam is subject to the inherent limitation of the semiconductor laser tube, that is, the adjustment frequency of the semiconductor laser tube is low, which affects the scanning efficiency of the laser radar. The present invention adopts the method of controlling the on-off analog laser frequency of each semiconductor laser tube in the semiconductor laser tube array 107 by the frequency controller 106, so that the output combined beam simulates the frequency change. Since the frequency change is formed after being distributed to each semiconductor laser tube combination, that is, the output frequency of each semiconductor laser tube is lower than the frequency change simulated by the combined beam, the semiconductor laser tube array 107 of the present invention can output a higher frequency, improve the scanning efficiency, and especially reduce the control difficulty. Moreover, the solution of outputting the combined beam by the semiconductor laser tube array 107 can increase the power of the beam, so that the present invention can detect a sufficiently far distance. A main control device is also provided, which is electrically connected to the AVG base 5, the optical camera 102, the infrared camera 103, the brightness sensor 104 and the laser radar component 105, and is used to send control instructions to the AVG base 5, the optical camera 102, the infrared camera 103, the brightness sensor 104 and the laser radar component 105, and collect corresponding data. The main control device in this example adopts an industrial computer; a server and / or a terminal is also provided, and the server and / or the terminal is connected to the main control device in communication. The present invention greatly reduces the computing requirements, especially the computing requirements of digital point clouds.

[0049] Embodiment 2:

[0050] like Figure 4In the present invention, a patrol method using the above-mentioned power facility patrol robot based on laser radar comprises the following steps:

[0051] S1. Model the power facilities to be inspected;

[0052] The preferred solution is Figure 5 In step S1, the following steps are included:

[0053] S101, first scan the site with a laser radar, and establish a three-dimensional model of the work site with a data point cloud;

[0054] S102, replacing the power component generated by the data point cloud with the power component modeled by the three-dimensional software;

[0055] S103, setting the power component as a hotspot component, and binding corresponding parameters to the hotspot component;

[0056] The above steps complete the three-dimensional model of the power facility with hotspot components. This solution makes the dimensions of the established three-dimensional model more accurate, and it is easy to edit and carry more parameters. For example, common power equipment that is prone to failure includes connectors and porcelain parts of substation equipment; tap changers of transformers; vacuum switches, joints, contacts of high-voltage circuit breakers; switches; inductors; capacitors, reactors, insulators, etc. For example, the specific names of each component, the code located in this power facility, the operating temperature characteristics of each component, and the temperature resistance characteristics.

[0057] S2. Setting the path of the inspection robot in the model and in reality; that is, the walking path of the inspection robot.

[0058] S3. Set the infrared collection path of the inspection robot in the model and in reality; the infrared collection path refers to the field of view path of the laser radar component 105 of the inspection robot under the joint control of the AGV base 5, the pitch seat 2 and the rotation seat 3. During the setting process, the field of view of the laser radar component 105 should cover all the power components at least twice each time the inspection is carried out.

[0059] S4. If the infrared collected data exceeds the threshold, an alarm is triggered;

[0060] S5, the laser radar component 105 and the optical camera 102 are started;

[0061] S6, infrared, optical and laser ranging data fusion solution;

[0062] S7. Determine the fault location and corresponding parameters and generate an alarm.

[0063] The preferred solution is Figure 6 In step S6, the following steps are included:

[0064] S601, identifying the abnormal area in the infrared image, and centering the abnormal infrared image field of view. If there are multiple abnormalities, the infrared image field of view with a larger area is selected for centering;

[0065] S602, the laser radar component 105 measures the distance to the alarm position; L=L1COSβ / COSα.

[0066] L1 is the straight-line distance between the temperature measuring device and the plane where the point to be measured is located, α is the inclination angle of the line connecting the infrared imaging mechanism and the point to be measured relative to the horizontal plane, and β is the climbing gradient of the inspection robot;

[0067] The preferred solution is Figure 6 In step S602, the frequency controller 106 encodes the brightness of the output laser beam by controlling the on and off control of the semiconductor laser tube units in the semiconductor laser tube array 107 according to the coding signal of the main control device, and carries the time information in the waveform. The acquisition device of the laser radar component 105 identifies the emission time of the laser beam through the brightness coding of the laser beam, and realizes ranging by the time difference between emission and reception.

[0068] S603, introducing vector and distance parameters into the three-dimensional model of the power facility;

[0069] The preferred solution is Figure 6 In , the vector refers to the detection axis direction of the laser radar component 105, and the distance refers to the distance between the laser radar component 105 and the component corresponding to the abnormal area in the infrared image;

[0070] S604, starting hotspot trigger detection according to vector and distance parameters;

[0071] S605, if yes, then mark the abnormal hot spot of infrared image, perform temperature correction according to the distance measurement, superimpose the complete parameters of the hot spot component marked by the optical image and send the alarm data;

[0072] The temperature correction formula is: T (L, γ) = T0 (L, γ) cos r γ-pL-qL 2

[0073] Among them, T0(L, γ) is the true temperature of the surface of the infrared radiator, T(L, γ) is the actual measured temperature, r is the ambient temperature correction coefficient, p is the air transmittance correction coefficient, q is the distance correction coefficient, γ is the observation angle, and L is the measured distance.

[0074] S606: If not, an abnormal infrared image is marked, temperature correction is performed according to the distance measurement, and alarm data is sent after superimposing some parameters of the optical image mark.

[0075] In step S604, at the far end of the distance parameter, a volume space of 1 to 10 cm is extended outward to detect whether the volume space intersects with the hot spot component, that is, a collision interference detection algorithm is used to calculate whether the volume space and the hot spot component collide and interfere.

[0076] If yes, then go to step S605, the complete parameters refer to the parameters of the hot spot components and the detected temperature parameters of the abnormal position of the infrared image; such as the name, specification, tolerance temperature, service time, service life, empirical service life, maintenance record, heat-prone parts, failure consequences, damage risk, etc. of the hot spot components. If no, then go to step S606, the partial parameters refer to the detected temperature parameters of the abnormal position of the infrared image.

[0077] The above-mentioned embodiments are only preferred technical solutions of the present invention and should not be regarded as limitations of the present invention. The embodiments and features in the embodiments of the present application can be arbitrarily combined with each other without conflict. The protection scope of the present invention shall be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A method for inspecting electric power facilities using a laser radar-based inspection robot, comprising a body (4), an AVG base (5) being provided at the bottom of the body (4), a rotating seat (3) being provided at the top of the body (4), a pitching seat (2) being provided at the top of the rotating seat (3), an integrated optical component (1) being provided on the pitching seat (2), the integrated optical component (1) being provided with an optical camera (102), an infrared camera (103), a brightness sensor (104) and a laser radar component (105), wherein the method is characterized in that: The following steps are involved: S1. Model the power facilities to be inspected; S2. Setting the path of the inspection robot in the model and in reality; S3, setting the infrared collection path of the inspection robot in the model and in reality; S4. If the data collected by infrared exceeds the threshold, an alarm is triggered; S5, the laser radar component (105) and the optical camera (102) are started; S6, infrared, optical and laser ranging data fusion solution; Step S6 includes the following steps: S601, identifying the abnormal area in the infrared image, and centering the abnormal infrared image field of view. If there are multiple abnormalities, the infrared image field of view with a larger area is selected for centering; S602, the laser radar component (105) measures the distance to the alarm position; S603, introducing vector and distance parameters into the three-dimensional model of the power facility; In step S603, the vector refers to the direction of the detection axis of the laser radar component (105), and the distance refers to the distance between the laser radar component (105) and the component corresponding to the abnormal area in the infrared image; S604, starting hotspot trigger detection according to vector and distance parameters; In step S604, at the far end of the distance parameter, a volume space of 1 to 10 cm is extended outward to detect whether the volume space intersects with the hot spot component; If yes, proceed to step S605; If not, proceed to step S606; S605, if yes, then abnormal hotspot marking is performed on the infrared image, temperature correction is performed according to the distance measurement, and the complete parameters of the hotspot component marked by the optical image are superimposed and then the alarm data is sent; The complete parameters refer to the parameters of the hot spot components and the detected temperature parameters of the abnormal positions of the infrared images; S606, if not, then mark the infrared image abnormality, perform temperature correction according to the distance measurement, superimpose some parameters of the optical image mark and send alarm data; Some parameters refer to the detected temperature parameters of the abnormal position of the infrared image; S7. Determine the fault location and corresponding parameters and generate an alarm.

2. The inspection method of the power facility inspection robot based on laser radar according to claim 1 is characterized by: The optical camera (102), the infrared camera (103) and the brightness sensor (104) are arranged on the first mainboard (111), and an automatic aperture is arranged in the optical camera (102).

3. The inspection method of the power facility inspection robot based on laser radar according to claim 1 is characterized by: The transmitting component of the laser radar component (105) comprises a semiconductor laser tube array (107), an array aperture diaphragm (112) is arranged in front of the optical path of the semiconductor laser tube array (107), a mems micro-electromechanical component (108) is arranged behind the array aperture diaphragm (112), and an array of micro-reflectors (109) are arranged on the surface of the mems micro-electromechanical component (108), and the laser beam of the array is reflected by the micro-reflector (109) and then emitted from the collimating lens of the optical component (110).

4. The inspection method of the power facility inspection robot based on laser radar according to claim 3 is characterized by: A frequency controller (106) is also provided. The frequency controller (106) controls the on-off analog laser frequency of each semiconductor laser tube in the semiconductor laser tube array (107) according to the input frequency and light intensity.

5. The inspection method of the power facility inspection robot based on laser radar according to any one of claims 1 to 4, characterized in that: A main control device is also provided, and the main control device is electrically connected to the AVG base (5), the optical camera (102), the infrared camera (103), the brightness sensor (104) and the laser radar component (105); A server and / or a terminal are also provided, and the server and / or the terminal are communicatively connected with the main control device.

6. The inspection method of the power facility inspection robot based on laser radar according to claim 1 is characterized by: Step S1 includes the following steps: S101, first scan the site with a laser radar, and establish a three-dimensional model of the work site with a data point cloud; S102, replacing the power component generated by the data point cloud with the power component modeled by the three-dimensional software; S103, setting the power component as a hotspot component, and binding corresponding parameters to the hotspot component; The above steps complete the three-dimensional model of the power facility with hot spot components.

7. The inspection method of the power facility inspection robot based on laser radar according to claim 1 is characterized by: In step S602, the frequency controller (106) encodes the brightness of the output laser beam by controlling the on and off of the semiconductor laser tube units in the semiconductor laser tube array (107) according to the coded signal of the main control device, and identifies the emission period of the laser beam through the brightness coding of the laser beam.

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