A smart dog for substation inspection based on AI and CV

Abstract

The present invention relates to the field of inspection robot technology, and specifically to an AI and CV-based smart dog for substation inspection, comprising a mechanical dog with a support base installed thereon; the smart dog also comprising a body detection device and a dynamic stabilization device, both of which are installed on the support base; the body detection device comprises a transverse detection component and a longitudinal detection component for detecting the horizontal state of the support base; the dynamic stabilization device comprises a blocking component and a locking component for controlling the transverse detection component and the longitudinal detection component, respectively. The present invention realizes the function of real-time detection of the mechanical dog's body posture and flexible adjustment of the shooting angle through the mechanical dog, the body detection device and the dynamic stabilization device, thereby achieving the effect of controlling the level of the shooting picture and improving the accuracy of the picture contrast, and solving the problem that traditional inspection equipment cannot stabilize the shooting angle.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an AI and CV-based smart dog for substation inspection. Background Art

[0002] Nowadays, machines often replace manual labor for tedious and repetitive tasks, such as processing and inspection. Substations, however, require regular inspections to ensure operational safety and stability. For this purpose, patrol inspection equipment is highly efficient. Currently, most patrol inspection equipment utilizes mobile vehicles or vehicles with fixed tracks. However, these devices often have fixed routes, resulting in a high number of blind spots.

[0003] To this end, Chinese patent application CN115338889A discloses a 5G intelligent inspection and control robot for power equipment. The robot can be manually remotely controlled to move along a custom path along the road surface, as well as to move spatially along the gaps between power equipment or between walls, such as moving up and down, moving sideways at a certain height, etc., and can be adjusted adaptively according to the size of the gap. It has a wide range of applications, does not need to move along a fixed path, increases the detection range, and is more efficient.

[0004] However, it still uses wheels to support and move the equipment, which makes the movement of the equipment too rigid when the operator operates it, and the operation process is relatively cumbersome. Moreover, when it stays on a slope, the equipment cannot flexibly adjust the body to keep the shooting picture level, which in turn affects the comparison of the shooting picture and reduces the inspection quality. Summary of the Invention

[0005] To address the above problems, a smart dog based on AI and CV is provided for substation inspection. Through a mechanical dog, a body detection device and a dynamic stabilization device, the problem that traditional inspection equipment cannot stabilize the shooting angle is solved.

[0006] In order to solve the problems of the prior art, the technical solution adopted by the present invention is:

[0007] A smart dog for substation inspection based on AI and CV, including a mechanical dog with a support base installed on it; the smart dog also includes a body detection device and a dynamic stabilization device, both of which are installed on the support base; the body detection device includes a lateral detection component and a longitudinal detection component for detecting the horizontal state of the support base; the dynamic stabilization device includes a blocking component and a locking component for controlling the lateral detection component and the longitudinal detection component respectively.

[0008] Preferably, the lateral detection assembly includes a detection tube, a detection piston, a first elastic member and a first pressure sensor; the detection tube is installed on a support seat, two detection pistons are provided and both are slidably installed in the detection tube, the two detection pistons cooperate with the inner wall of the detection tube to form a closed space, and the closed space is filled with detection liquid; two first pressure sensors are provided and are respectively installed at both ends of the detection tube, and the two ends of the first elastic member are respectively connected to the detection piston and the first pressure sensor.

[0009] Preferably, the blocking assembly includes a fixed plug, which is installed in the detection tube and is located in the middle position of the detection tube along the axial direction. An overflow channel for the detection liquid to flow is opened on the fixed plug.

[0010] Preferably, the longitudinal detection component includes an arc guide rail and a support shaft; two arc guide rails and two support shafts are provided, the arc guide rail is installed on the support seat, and a resistance bar is installed on the arc guide rail; the two support shafts are respectively installed at both ends of the detection tube, and the two first pressure sensors are respectively installed on the two support shafts, and the support shafts are slidably matched with the resistance bar on the arc guide rail.

[0011] Preferably, the locking assembly includes a mounting seat, a lock tooth, a second elastic member, a first arc-shaped rack, a rotating gear and a second arc-shaped rack; the mounting seat is mounted on the support shaft and is disc-shaped, the lock tooth is slidably mounted on the mounting seat, at least two lock teeth are provided, and the multiple lock teeth are symmetrically arranged about the axis center of the mounting seat, the two ends of the second elastic member are respectively connected to the mounting seat and the lock tooth, the first arc-shaped rack and the second arc-shaped rack are mounted on the support seat, the axis of the first arc-shaped rack and the axis of the second arc-shaped rack are collinear, the rotating gear is sleeved on the support shaft, and the first arc-shaped rack is provided with an inner rack transmission connected to the rotating gear.

[0012] Preferably, the smart dog also includes a position analysis device, the position analysis device includes an analysis component, the analysis component includes a positioning seat, a second pressure sensor and a third elastic member; the positioning seat is slidably installed on the support seat, the second pressure sensor is installed on the positioning seat, and the two ends of the third elastic member are respectively connected to the second pressure sensor and the support seat.

[0013] Preferably, the position analysis device further comprises a slider, a slide groove is provided on the support seat, the slider is slidably installed in the slide groove, and a third pressure sensor is installed at both ends of the slider.

[0014] Preferably, the locking assembly further includes a protective cover, a support cover and a fixing pin; the protective cover is mounted on the mounting seat, the support cover is connected to the protective cover, and the fixing pin passes through the protective cover and the support cover and is plugged into the mounting seat.

[0015] Preferably, a bracket is also installed on the support seat, and a buffer pad is provided on the bracket.

[0016] Preferably, an inertial sensor is also installed on the mechanical dog.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention realizes the function of real-time detection of the body posture of the mechanical dog and flexible adjustment of the shooting angle through the mechanical dog, the body detection device and the dynamic stabilization device, thereby achieving the effect of controlling the level of the shooting picture and improving the accuracy of the picture contrast, and solving the problem that traditional inspection equipment cannot stabilize the shooting angle.

[0019] 2. The present invention realizes the function of detecting the lateral levelness of the support seat through the detection tube, the detection piston, the first elastic member and the first pressure sensor.

[0020] 3. The present invention realizes the function of controlling the flow rate of the liquid inside the detection tube by means of the fixed plug, thereby achieving the effect of reducing the amplitude of the pressure fluctuation experienced by the first pressure sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional schematic diagram of a smart dog for substation inspection based on AI and CV;

[0022] Figure 2 This is a three-dimensional schematic diagram of the support base and dust cover of the smart dog for substation inspection based on AI and CV;

[0023] Figure 3 It is a three-dimensional schematic diagram of the body detection device and position analysis device in the smart dog for substation inspection based on AI and CV;

[0024] Figure 4 This is a cross-sectional diagram of the detection tube in the smart dog for substation inspection based on AI and CV;

[0025] Figure 5 yes Figure 4 A partial enlarged schematic diagram of point A in the middle;

[0026] Figure 6 It is a three-dimensional schematic diagram of the longitudinal detection component of the smart dog for substation inspection based on AI and CV;

[0027] Figure 7 yes Figure 6 A partial enlarged schematic diagram of point B in the middle;

[0028] Figure 8 This is a three-dimensional exploded diagram of the locking components in the smart dog for substation inspection based on AI and CV;

[0029] Figure 9 This is a three-dimensional exploded schematic diagram of a position analysis device in a smart dog for substation inspection based on AI and CV.

[0030] The numbers in the figure are:

[0031] 1-Robotic dog;

[0032] 11- support seat;

[0033] 12-Inertial sensor;

[0034] 13-Dust cover;

[0035] 2-Body detection device;

[0036] 21- transverse detection assembly; 211- detection tube; 212- detection piston; 213- first elastic member; 214- first pressure sensor;

[0037] 22-longitudinal detection assembly; 221-arc guide rail; 2211-resistance bar; 222-support shaft;

[0038] 23- bracket; 231- cushion;

[0039] 3-Dynamic stabilization device;

[0040] 31-blocking assembly; 311-fixed plug; 3111-overflow channel;

[0041] 32-locking assembly; 321-mounting seat; 322-locking tooth; 323-second elastic member; 324-first arc-shaped rack; 3241-inner rack; 325-rotating gear; 326-second arc-shaped rack; 327-protective cover; 328-support cover; 329-fixing pin;

[0042] 4- Position analysis device;

[0043] 41-analysis component; 411-positioning seat; 412-second pressure sensor; 413-third elastic member;

[0044] 42-chute;

[0045] 43-slider; 431-third pressure sensor. DETAILED DESCRIPTION

[0046] In order to further understand the features, technical means, specific objectives and functions achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] Reference Figures 1-4: A smart dog for substation inspection based on AI and CV, including a mechanical dog 1, on which a support base 11 is installed; the smart dog also includes a body detection device 2 and a dynamic stabilization device 3, both of which are installed on the support base 11; the body detection device 2 includes a lateral detection component 21 and a longitudinal detection component 22 for detecting the horizontal state of the support base 11; the dynamic stabilization device 3 includes a blocking component 31 and a locking component 32 for controlling the lateral detection component 21 and the longitudinal detection component 22 respectively.

[0048] The present invention realizes the function of real-time detection of the body posture of the mechanical dog 1 and flexible adjustment of the shooting angle through the mechanical dog 1, the body detection device 2 and the dynamic stabilization device 3, thereby achieving the effect of controlling the level of the shooting picture and improving the accuracy of the picture contrast, and solving the problem that traditional inspection equipment cannot stabilize the shooting angle. The mechanical dog 1 is preferably a four-legged mechanical dog 1 and is equipped with a shooting device for shooting pictures. The shooting device is not shown in the figure. The mechanical dog 1 is electrically connected to the controller. A dust cover 13 is installed on the support base 11. The dust cover 13 prevents external substances from affecting the parts on the support base 11; the operator controls the mechanical dog 1 to inspect along the specified route. In order to ensure the flexibility of the mechanical dog 1, it is designed as a four-legged mechanical dog 1. Therefore, during the movement, the entire body of the mechanical dog 1 will continue to shake. For this reason, the blocking component 31 and the locking component 32 are used to hinder the operation of the horizontal detection component 21 and the longitudinal detection component 22, thereby preventing them from being damaged; after arriving at the inspection location, the designated position is photographed. Before shooting, the horizontal state of the support base 11 is first detected by the horizontal detection component 21 and the longitudinal detection component 22, and the posture of the mechanical dog 1 is adjusted according to the detection results, and the support base 11 is controlled to be in a horizontal state, so that the shooting picture remains horizontal. When performing comparison, the comparison accuracy is improved, thereby improving the inspection quality.

[0049] Reference Figure 2-Figure 4 : The horizontal detection component 21 includes a detection tube 211, a detection piston 212, a first elastic member 213 and a first pressure sensor 214; the detection tube 211 is installed on the support seat 11, and there are two detection pistons 212 and both are slidably installed in the detection tube 211. The two detection pistons 212 cooperate with the inner wall of the detection tube 211 to form a closed space, and the closed space is filled with detection liquid; there are two first pressure sensors 214 and they are respectively installed at both ends of the detection tube 211, and the two ends of the first elastic member 213 are respectively connected to the detection piston 212 and the first pressure sensor 214.

[0050] The present invention realizes the function of detecting the lateral levelness of the support base 11 through the detection tube 211, the detection piston 212, the first elastic member 213 and the first pressure sensor 214. The first pressure sensor 214 is electrically connected to the controller; the operator controls the robot dog 1 to conduct an inspection along a specified route. After arriving at the inspection location, the horizontal state of the horizontal detection component 21 is first detected. The first pressure sensors 214 on both sides of the detection tube 211 feed back the detection value to the controller. The controller compares the pressure values ​​on both sides. If the difference is within the required range, it means that the hydraulic pressure of the detection fluid applied to the detection pistons 212 on both sides is relatively small, and the support base 11 is in a lateral level. Otherwise, it means that the support base 11 is not in a lateral level state. Then, the longitudinal detection component 22 is used to detect the longitudinal levelness of the support base 11. The posture of the robot dog 1 is adjusted according to the detection result, and the support base 11 is controlled to be in a horizontal state, thereby keeping the shooting picture horizontal. The shooting picture is then compared with the reference photo to determine the operating status of the substation equipment.

[0051] Reference Figure 3-Figure 5 The blocking assembly 31 includes a fixed plug 311, which is installed in the detection tube 211 and is located in the middle position of the detection tube 211 along the axial direction. An overflow channel 3111 is provided on the fixed plug 311 for the detection liquid to flow.

[0052] The present invention realizes the function of controlling the flow rate of the liquid inside the detection tube 211 through the fixed plug 311, thereby achieving the effect of reducing the amplitude of the pressure fluctuation experienced by the first pressure sensor 214. During the movement of the mechanical dog 1, its entire body will shake, which will drive the detection liquid to shake along the detection tube 211, pushing the detection piston 212 to slide back and forth. For this reason, a blocking component 31 is designed. The fixed plug 311 is set in the middle position of the detection tube 211 to divide the cavity of the detection tube 211 into two equal parts, and the overflow channel 3111 greatly reduces the circulation speed of the liquid on both sides of the fixed plug 311, thereby avoiding excessive fluctuations of the liquid in the detection tube 211. During the shaking process of the support base 11, the peak fluctuation of the pressure value experienced by the first pressure sensor 214 is greatly reduced, the detection liquid is divided into two parts, and its pressure is also distributed to the two first pressure sensors 214, while also reducing the wear rate of the parts.

[0053] Reference Figure 2 、 Figure 3 and Figure 6: The longitudinal detection component 22 includes an arc-shaped guide rail 221 and a support shaft 222; there are two arc-shaped guide rails 221 and two support shafts 222, the arc-shaped guide rail 221 is installed on the support seat 11, and a resistance bar 2211 is installed on the arc-shaped guide rail 221; the two support shafts 222 are respectively installed at both ends of the detection tube 211, and the two first pressure sensors 214 are respectively installed on the two support shafts 222, and the support shafts 222 slide together with the resistance bar 2211 on the arc-shaped guide rail 221.

[0054] The present invention realizes the function of checking the longitudinal horizontality of the support seat 11 through the arc guide rail 221 and the support shaft 222. The resistor bar 2211 on the arc guide rail 221 is electrically connected to the support shaft 222, and an ammeter is connected in series in its circuit, which is not shown in the figure. The operator controls the mechanical dog 1 to inspect along the specified route. After arriving at the inspection location, the horizontal state of the horizontal detection component 21 is first detected. The first pressure sensor 214 on both sides of the detection tube 211 feeds back the detection value to the controller. The controller compares the pressure values ​​on both sides. If the difference is within the required range, it means that the hydraulic pressure of the detection fluid on the detection pistons 212 on both sides is relatively small, and the support seat 11 is in the horizontal level. Otherwise, This means that the support base 11 is not in a horizontal state. Then the controller obtains the current information passing through the resistor bar 2211 through the ammeter, and then determines the resistance value of the current passing through the resistor bar 2211 through the current information, and determines the position of the support shaft 222 through the resistance value, and then obtains the position of the detection tube 211, determines the longitudinal horizontal state of the support base 11, and adjusts the posture of the mechanical dog 1 according to the detection result, controls the support base 11 to be in a horizontal state, and keeps the shooting picture horizontal. Then, the shooting picture is compared with the reference photo to determine the operating status of the substation equipment.

[0055] Reference Figure 3 、 Figure 4 、 Figure 6 、 Figure 7 and Figure 8 The locking assembly 32 includes a mounting seat 321, a locking tooth 322, a second elastic member 323, a first arc-shaped rack 324, a rotating gear 325 and a second arc-shaped rack 326; the mounting seat 321 is mounted on the support shaft 222 and is disc-shaped, the locking tooth 322 is slidably mounted on the mounting seat 321, and there are at least two locking teeth 322, and the multiple locking teeth 322 are symmetrically arranged about the axis center of the mounting seat 321. The two ends of the second elastic member 323 are respectively connected to the mounting seat 321 and the locking tooth 322, the first arc-shaped rack 324 and the second arc-shaped rack 326 are mounted on the support seat 11, and the axis of the first arc-shaped rack 324 and the axis of the second arc-shaped rack 326 are collinear, the rotating gear 325 is sleeved on the support shaft 222, and the first arc-shaped rack 324 is provided with an inner rack 3241 that is transmission-connected to the rotating gear 325.

[0056] The present invention fixes the support shaft 222 when it rotates rapidly through the mounting base 321, the locking teeth 322, the second elastic member 323 and the first arc-shaped rack 324, thereby preventing the support base 11 from moving rapidly. During the movement of the mechanical dog 1, the detection tube 211 slides along the arc-shaped guide rail 221 as it shakes, and the detection tube 211 drives the support shaft 222 to move, and the support shaft 222 drives the rotating gear 325 to move, while the inner rack 3241 is fixed and is in transmission connection with the rotating gear 325. The movement of the support shaft 222 drives the rotating gear 325 to rotate. When the detection wheel moves rapidly due to inertia, the rotating gear 325 rotates at a higher speed, and the locking teeth 322 are forced to rotate under the action of centrifugal force. The mounting seat 321 is subjected to the elastic force of the second elastic member 323 and slides in the direction away from the axis of the mounting seat 321, and then extends out and cooperates with the first arc-shaped rack 324 and the second arc-shaped rack 326. Under the joint restriction of the first arc-shaped rack 324 and the second arc-shaped rack 326, the mounting seat 321 is locked, thereby limiting the rotation of the support shaft 222, and the rotating gear 325 is engaged with the inner rack 3241, and the support shaft 222 cannot slide along the arc-shaped guide rail 221, thereby limiting the position of the detection tube 211.

[0057] Reference Figure 3 and Figure 9 : The smart dog also includes a position analysis device 4, the position analysis device 4 includes an analysis component 41, the analysis component 41 includes a positioning seat 411, a second pressure sensor 412 and a third elastic member 413; the positioning seat 411 is slidably installed on the support seat 11, the second pressure sensor 412 is installed on the positioning seat 411, and the two ends of the third elastic member 413 are respectively connected to the second pressure sensor 412 and the support seat 11.

[0058] The present invention realizes the function of determining the position of the detection tube 211 through the positioning seat 411, the second pressure sensor 412 and the third elastic member 413, so as to achieve the effect of feeding back a signal to the controller when the detection tube 211 is in a longitudinal horizontal state. The second pressure sensor 412 is electrically connected to the controller; after the mechanical dog 1 adjusts its posture with the cooperation of the body detection device 2, the camera angle is in a horizontal state, and the detection tube 211 moves toward the middle position of the arc guide rail 221 under the action of gravity. As the detection tube 211 moves, it squeezes the positioning seat 411, overcoming the elastic force of the second elastic member 323 to drive the positioning seat 411 downward. The second pressure sensor 412 senses the pressure change and feeds back a signal to the controller. After receiving the signal, the controller determines that the support seat 11 is in a longitudinal horizontal state.

[0059] Reference Figure 3 and Figure 9The position analysis device 4 further includes a slider 43 . A slide groove 42 is provided on the support seat 11 . The slider 43 is slidably installed in the slide groove 42 . A third pressure sensor 431 is installed at both ends of the slider 43 .

[0060] The present invention realizes the function of determining the lateral deflection and reverse direction of the support base 11 through the slide 42 and the slider 43. The third pressure sensor 431 is electrically connected to the controller; when the operator adjusts the longitudinal level of the mechanical dog 1, the operator first determines the longitudinal deflection direction of the support base 11 through the slider 43 and the third pressure sensor 431. When the support base 11 deflects longitudinally, the slider 43 slides along the slide 42 under the action of gravity until one end of the slider contacts the edge of the slide 42. After the third pressure sensor 431 senses the pressure, it feeds back a signal to the controller. The controller determines the tilt direction of the support base 11 based on the feedback information, and then adjusts the posture of the mechanical dog 1 so that the support base 11 tends to be horizontal, thereby completing the adjustment of the camera angle.

[0061] Reference Figure 3 、 Figure 4 、 Figure 6 、 Figure 7 and Figure 8 : The locking assembly 32 also includes a protective cover 327, a support cover 328 and a fixing pin 329; the protective cover 327 is installed on the mounting seat 321, the support cover 328 is connected to the protective cover 327, and the fixing pin 329 passes through the protective cover 327 and the support cover 328 and is plugged into the mounting seat 321.

[0062] The present invention achieves the function of protecting and fixing the mounting base 321 through the protective cover 327, the support cover 328, and the fixing pin 329. When assembling the locking assembly 32, the operator first connects the mounting base 321 to the support shaft 222, then puts the protective cover 327 on the mounting base 321, using the protective cover 327 to protect the locking teeth 322, and then installs the supporting cover 328 on the protective cover 327. Finally, the mounting base 321, the protective cover 327, and the supporting cover 328 are connected via the fixing pin 329.

[0063] Reference Figure 2 、 Figure 3 and Figure 9 : A bracket 23 is also installed on the support seat 11, and a buffer pad 231 is provided on the bracket 23.

[0064] The present invention utilizes the bracket 23 and the buffer pad 231 to achieve the function of buffering the impact between the support shaft 222 and the curved guide rail 221. The bracket 23 is positioned slightly in front of the edge of the curved guide rail 221. Before the support shaft 222 moves to the edge of the curved guide rail 221, it first contacts the buffer pad 231 of the bracket 23. The deformation of the buffer pad 231 then absorbs the impact of the support shaft 222, preventing the support shaft 222 from violently impacting the edge of the curved guide rail 221.

[0065] Reference Figure 1 : The mechanical dog 1 is also equipped with an inertial sensor 12.

[0066] The present invention realizes the function of monitoring the movement speed of the robot dog 1 through the inertial sensor 12. The inertial sensor 12 is electrically connected to the controller; during the movement of the robot dog 1, due to the effect of inertia, the inertial sensor 12 feeds back a signal to the controller, and the controller monitors the movement of the robot dog 1 through the feedback signal.

[0067] The above embodiments merely represent one or several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A smart dog for substation inspection based on AI and CV, comprising a mechanical dog (1), on which a support base (11) is mounted; It is characterized by: The smart dog also includes a body detection device (2) and a dynamic stabilization device (3), and the body detection device (2) and the dynamic stabilization device (3) are both installed on the support base (11); The machine body detection device (2) comprises a transverse detection component (21) and a longitudinal detection component (22) for detecting the horizontal state of the support base (11); The dynamic stabilization device (3) comprises a blocking component (31) and a locking component (32) for controlling the lateral detection component (21) and the longitudinal detection component (22) respectively; The transverse detection assembly (21) includes a detection tube (211), a detection piston (212), a first elastic member (213) and a first pressure sensor (214); The detection tube (211) is installed on the support seat (11), and two detection pistons (212) are provided and both are slidably installed in the detection tube (211). The two detection pistons (212) cooperate with the inner wall of the detection tube (211) to form a closed space, and the closed space is filled with detection liquid; Two first pressure sensors (214) are provided and are respectively installed at both ends of the detection tube (211); both ends of the first elastic member (213) are respectively connected to the detection piston (212) and the first pressure sensor (214); The blocking assembly (31) includes a fixed plug (311), which is installed in the detection tube (211) and is located in the middle of the detection tube (211) along the axial direction. The fixed plug (311) is provided with an overflow channel (3111) for the detection liquid to flow. The longitudinal detection assembly (22) includes an arc-shaped guide rail (221) and a support shaft (222); There are two arc-shaped guide rails (221) and two support shafts (222). The arc-shaped guide rails (221) are installed on the support seat (11). The resistance strips (2211) are installed on the arc-shaped guide rails (221). Two support shafts (222) are respectively installed at both ends of the detection tube (211), and two first pressure sensors (214) are respectively installed on the two support shafts (222). The support shafts (222) are slidably matched with the resistance strip (2211) on the arc-shaped guide rail (221); The locking assembly (32) includes a mounting seat (321), a locking tooth (322), a second elastic member (323), a first arc-shaped rack (324), a rotating gear (325) and a second arc-shaped rack (326); The mounting seat (321) is mounted on the support shaft (222) and is in the shape of a disk. The locking teeth (322) are slidably mounted on the mounting seat (321). There are at least two locking teeth (322), and the multiple locking teeth (322) are symmetrically arranged about the axis center of the mounting seat (321). The two ends of the second elastic member (323) are respectively connected to the mounting seat (321) and the locking teeth (322). The first arc-shaped rack (324) and the second arc-shaped rack (326) are mounted on the support seat (11). The axis of the first arc-shaped rack (324) and the axis of the second arc-shaped rack (326) are collinear. The rotating gear (325) is sleeved on the support shaft (222). The first arc-shaped rack (324) is provided with an inner rack (3241) that is transmission-connected to the rotating gear (325).

2. The smart dog for substation inspection based on AI and CV according to claim 1 is characterized in that: The smart dog also includes a position analysis device (4), the position analysis device (4) includes an analysis component (41), and the analysis component (41) includes a positioning seat (411), a second pressure sensor (412) and a third elastic member (413); The positioning seat (411) is slidably mounted on the support seat (11), the second pressure sensor (412) is mounted on the positioning seat (411), and two ends of the third elastic member (413) are respectively connected to the second pressure sensor (412) and the support seat (11).

3. The smart dog for substation inspection based on AI and CV according to claim 2 is characterized in that: The position analysis device (4) further includes a slider (43). A slide groove (42) is provided on the support seat (11). The slider (43) is slidably installed in the slide groove (42). A third pressure sensor (431) is installed at both ends of the slider (43).

4. The smart dog for substation inspection based on AI and CV according to claim 1 is characterized in that: The locking assembly (32) further includes a protective cover (327), a support cover (328) and a fixing pin (329); The protective cover (327) is mounted on the mounting seat (321), the supporting cover (328) is connected to the protective cover (327), and the fixing pin (329) passes through the protective cover (327) and the supporting cover (328) and is plugged into the mounting seat (321).

5. The smart dog for substation inspection based on AI and CV according to claim 1 is characterized in that: A bracket (23) is also installed on the support seat (11), and a buffer pad (231) is provided on the bracket (23).

6. The smart dog for substation inspection based on AI and CV according to claim 1 is characterized in that: An inertial sensor (12) is also installed on the mechanical dog (1).

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