Intelligent inspection method of substation robot

Abstract

The present invention provides a substation robot intelligent inspection method, which relates to the technical field of inspection robots. The method comprises: establishing a three-dimensional coordinate system; detecting magnetic field data at multiple heights at the i-th detection position of the j-th inspection route through the magnetic field detection device of the robot, determining the magnetic flux impact score corresponding to the j-th inspection route through the magnetic field data at multiple heights at multiple detection positions of the j-th inspection route; determining the magnetic field safety score through the magnetic flux impact score corresponding to the multi-circle inspection route, the radius of the minimum circumscribed circle of the occupied plane area, and the radius of the multi-circle inspection route. According to the present invention, the magnetic field data at multiple positions on the inspection route can be detected during the robot's inspection around the substation, thereby determining the magnetic flux impact score of each inspection route, and then determining the magnetic field safety score, and determining whether the magnetic field generated by the substation has a greater impact on the surrounding environment.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to an intelligent inspection method for transformer substation robots. Background Art

[0002] CN111958591B discloses a semantic intelligent substation inspection robot autonomous inspection method and system, including: autonomously constructing a three-dimensional semantic map of the substation based on prior knowledge of the substation; autonomously planning the robot's walking path based on the three-dimensional semantic map, combined with the inspection task and the current location of the robot; controlling the robot to move along the planned path, and carrying out inspection operations during the movement; during the inspection operation, according to the positional relationship between the robot and the equipment to be inspected, driving the mechanical arm to move, so that the image acquisition device at the end of the mechanical arm can obtain the target inspection equipment image at the best shooting angle; based on the acquired image, automatically performing target recognition. This solution can realize the automatic collection of inspection data without stopping the robot, breaking the traditional substation inspection robot "stop point-preset position" operation mode, and solving the problem of low efficiency of docking operation in traditional robot inspection.

[0003] CN114683272B discloses a stabilization control method, controller and robot for a substation inspection robot. The stabilization control method for the substation inspection robot includes calculating the spatial posture of the center of gravity of the motion platform when the mechanical arm is not in motion and the spatial posture of the center of gravity of the mechanical arm when the motion platform is not in motion under the same coordinates; under the condition of satisfying the posture constraint, taking the current robot and mechanical arm posture as the starting value, obtaining the optimized spatial posture of the center of gravity of the motion platform and the spatial posture of the center of gravity of the mechanical arm through the minimum energy consumption criterion and posture iterative feedback, and sending them to the foot-type motion platform control system and the mechanical arm control system for execution respectively. It uses the active adjustment of the posture of the mechanical arm installed on the foot-type motion platform to assist the foot-type motion platform control system in controlling the platform posture, so that the foot-type motion platform maintains a balanced state of force and torque.

[0004] Therefore, in the related art, the inspection robot can be controlled to inspect the substation to find faults and safety hazards in the substation through visual image processing, etc. However, when there is an abnormality in the equipment in the substation, an abnormal magnetic field may be generated, which may have an adverse effect on the surrounding people or other organisms, or even the surrounding machinery or electronic equipment, for example, disrupting the migration route of organisms, interfering with the signals of electronic equipment, etc., while the inspection robot in the related art cannot inspect the magnetic field of the substation, making it difficult to find the abnormal magnetic field of the substation.

[0005] The information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0006] The present invention provides a substation robot intelligent inspection method, which can solve the technical problem that the related technology cannot inspect the magnetic field of the substation.

[0007] According to a first aspect of the present invention, there is provided a substation robot intelligent inspection method, comprising:

[0008] Determining a floor plan area of ​​the substation and a centroid of the floor plan area;

[0009] Taking the centroid as the origin, a three-dimensional coordinate system is established, wherein the XOY plane of the three-dimensional coordinate system is the ground, and the Z axis of the three-dimensional coordinate system is perpendicular to the ground;

[0010] Placing the robot at the first detection position of the first inspection route outside the floor plan area, wherein the straight-line distance between the first detection position of the first inspection route and the origin is greater than the radius of the minimum circumscribed circle of the floor plan area, the first inspection route is a circular route, and the center of the first inspection route is the origin, and the radius of the first inspection route is the distance between the first detection position of the first inspection route and the origin;

[0011] Detecting magnetic field data at multiple heights at the i-th detection position of the first inspection route by a magnetic field detection device of the robot, where i is a positive integer;

[0012] Determine the magnetic flux impact score corresponding to the first inspection route by using the magnetic field data at multiple heights at multiple detection positions of the first inspection route;

[0013] Detecting magnetic field data at multiple heights at the i-th detection position of the j-th inspection route by a magnetic field detection device of the robot, wherein j is a positive integer, the j-th inspection route is a circular route, the center of the j-th inspection route is the origin, and the radius of the j-th inspection route is greater than the radius of the j-1-th inspection route;

[0014] Determine the magnetic flux impact score corresponding to the j-th inspection route through the magnetic field data at multiple heights at multiple detection positions of the j-th inspection route;

[0015] The magnetic field safety score is determined by the magnetic flux impact score corresponding to the multi-circle inspection route, the radius of the minimum circumscribed circle of the occupied plane area, and the radius of the multi-circle inspection route.

[0016] Technical effect: According to the present invention, in the process of the robot moving along the inspection route around the flat area of ​​the substation, the magnetic field data of multiple positions on the inspection route can be detected by the magnetic field detection device for multiple times, so as to determine the magnetic flux impact score of each inspection route, and then determine the magnetic field safety score, so as to determine whether the magnetic field generated by the substation has a large impact on the surrounding environment, and timely discover the potential abnormality of the substation equipment. When determining the magnetic flux impact score, the magnetic field data detected at multiple positions on the test surface can be fitted to obtain a vector field corresponding to the test surface, so that the test surface matches the vector field, and the accuracy of the magnetic flux calculated by the vector field on the test surface is improved. In addition, in the calculation process, a closed surface is constructed by combining the test surface with the upper bottom surface and the lower bottom surface of the cylindrical surface, so as to reduce the calculation complexity of the magnetic flux, and the upper bottom surface and the lower bottom surface of the cylindrical surface are parallel to the ground. The calculation complexity of the magnetic flux of the upper bottom surface and the lower bottom surface is further reduced, thereby reducing the calculation complexity of the magnetic flux impact score, and obtaining an accurate and objective magnetic flux impact score. When determining the magnetic flux influence function, the quadratic polynomial can be reasonably set as the denominator of the equation of undetermined coefficients by taking into account the law that the intensity of the magnetic field decreases at a speed of the square of the distance and the influence of other factors on the magnetic field intensity, so as to accurately describe the change law between the magnetic flux influence score and the inspection route radius, and improve the rationality and accuracy of the magnetic flux influence function. When determining the magnetic field safety score, the magnetic field safety score can be set by a conditional function, and the relationship between the unit magnetic field intensity at the preset safety position corresponding to the preset safety distance and the preset magnetic flux influence value can be determined, so as to determine the magnetic field safety of the distance, thereby obtaining the magnetic field safety score, and improving the accuracy and objectivity of the magnetic field safety score.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only and do not limit the present invention. Other features and aspects of the present invention will become more apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other embodiments can be obtained based on these drawings without creative work.

[0019] Figure 1 The flowchart of the intelligent inspection method of a substation robot according to an embodiment of the present invention is exemplarily shown. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0022] Figure 1 The following is a flow chart of a substation robot intelligent inspection method according to an embodiment of the present invention, wherein the method comprises:

[0023] Step S101, determining the floor area of ​​the substation and the centroid of the floor area;

[0024] Step S102, establishing a three-dimensional coordinate system with the centroid as the origin, wherein the XOY plane of the three-dimensional coordinate system is the ground, and the Z axis of the three-dimensional coordinate system is perpendicular to the ground;

[0025] Step S103, placing the robot at the first detection position of the first inspection route outside the occupied plane area, wherein the straight-line distance between the first detection position of the first inspection route and the origin is greater than the radius of the minimum circumscribed circle of the occupied plane area, the first inspection route is a circular route, and the center of the first inspection route is the origin, and the radius of the first inspection route is the distance between the first detection position of the first inspection route and the origin;

[0026] Step S104, using the magnetic field detection device of the robot to detect magnetic field data at multiple heights at the i-th detection position of the first inspection route, where i is a positive integer;

[0027] Step S105, determining a magnetic flux impact score corresponding to the first inspection route through magnetic field data at multiple heights at multiple detection positions of the first inspection route;

[0028] Step S106, detecting magnetic field data at multiple heights at the i-th detection position of the j-th inspection route by the magnetic field detection device of the robot, wherein j is a positive integer, the j-th inspection route is a circular route, the center of the j-th inspection route is the origin, and the radius of the j-th inspection route is greater than the radius of the j-1-th inspection route;

[0029] Step S107, determining a magnetic flux impact score corresponding to the j-th inspection route through magnetic field data at multiple heights at multiple detection positions of the j-th inspection route;

[0030] Step S108, determining a magnetic field safety score by using the magnetic flux impact score corresponding to the multi-circle inspection route, the radius of the minimum circumscribed circle of the occupied plane area, and the radius of the multi-circle inspection route.

[0031] According to the intelligent inspection method for substation robots of an embodiment of the present invention, while the robot moves along the inspection route around the flat area occupied by the substation, the magnetic field data of multiple positions on the inspection route can be detected by a magnetic field detection device for multiple times, thereby determining the magnetic flux impact score of each inspection route, and then determining the magnetic field safety score, thereby determining whether the magnetic field generated by the substation has a significant impact on the surrounding environment, and timely discovering potential abnormalities of substation equipment.

[0032] According to one embodiment of the present invention, in step S101, the substation occupies a certain area, which is the floor plan area. The range of the floor plan area can be obtained based on the design parameters of the substation, land use planning and other information. The floor plan area is a two-dimensional area, and the centroid of the floor plan area can be determined. For example, the centroid of the floor plan area in the land use planning map of the substation can be marked, and the position of the centroid in the actual geographic space can be determined, so as to find the centroid of the floor plan area.

[0033] According to an embodiment of the present invention, in step 102, a coordinate system may be established with the centroid of the occupied plane area as the origin. For example, if the occupied plane area is a rectangular area, the origin of the coordinate system is the centroid of the rectangular area, the X-axis of the coordinate system is parallel to the length direction of the rectangular area, the Y-axis of the coordinate system is parallel to the width direction of the rectangular area, and the Z-axis of the coordinate system is perpendicular to the ground.

[0034] According to one embodiment of the present invention, in step S103, the inspection route of the robot may be set, and the robot may be placed at the first detection position of the first inspection route. Each inspection route is a circular route, and the radius of the circular route increases as the number of circles increases, and the radius of the first inspection route is greater than the radius of the smallest circumscribed circle of the floor plan area.

[0035] According to one embodiment of the present invention, in step S104, multiple detection positions may be set on each inspection route, for example, the number of detection positions on each inspection route is the same, and the detection positions are evenly distributed on the inspection route. The robot may move along the inspection route, and when it moves to the detection position, the magnetic field data at multiple heights at the detection position may be detected by the magnetic field detection device.

[0036] According to one embodiment of the present invention, the magnetic field detection device is a coil whose cross-sectional area can change according to a preset change speed, and the cross-sectional orientation of the coil can change; wherein, the magnetic field detection device of the robot is used to detect the magnetic field data at multiple heights at the i-th detection position of the first inspection route, including: at the first height, controlling the normal of the cross-sectional area of ​​the coil to be parallel to the X-axis of the three-dimensional coordinate system; controlling the cross-sectional area of ​​the coil to change according to a preset change speed, and detecting the induced electromotive force at the output end of the coil; determining the magnetic field data in the X-axis direction at the first height through the induced electromotive force and the preset change speed; controlling the normal of the cross-sectional area of ​​the coil to be parallel to the Y-axis of the three-dimensional coordinate system; controlling ... The area changes at a preset change speed, and the induced electromotive force at the output end of the coil is detected; the magnetic field data in the Y-axis direction at the first height is determined by the induced electromotive force and the preset change speed; the normal of the cross section of the coil is controlled to be parallel to the Z-axis of the three-dimensional coordinate system; the cross-sectional area of ​​the coil is controlled to change at a preset change speed, and the induced electromotive force at the output end of the coil is detected; the magnetic field data in the Z-axis direction at the first height is determined by the induced electromotive force and the preset change speed; the magnetic field data at the first height is determined according to the magnetic field data in the X-axis direction, the magnetic field data in the Y-axis direction and the magnetic field data in the Z-axis direction at the first height; the height of the magnetic field detection device is adjusted to obtain the magnetic field data at multiple heights.

[0037] According to one embodiment of the present invention, since the magnetic field is a vector, the magnetic field strength in different directions is also different. Therefore, the cross-sectional orientation of the coil of the magnetic field detection device can be changed, thereby detecting magnetic field data in multiple directions, and the cross-sectional area of ​​the coil can be changed according to a preset change speed. For example, the coil is a coil surrounded by a movable metal conductor, and the movement of the metal conductor can be controlled to change the cross-sectional area of ​​the coil. When the cross-sectional area is changed, an induced electromotive force can be generated due to electromagnetic induction. The intensity of the induced electromotive force is related to the intensity of the magnetic field in which the coil is located and the change speed of the cross-sectional area. In this case, the change speed of the cross-sectional area changes according to the preset change speed, that is, the change speed of the cross-sectional area is a constant, and the intensity of the induced electromotive force is only related to the intensity of the magnetic field.

[0038] According to one embodiment of the present invention, during detection, the robot can lift the magnetic field detection device to different heights, so as to measure the magnetic field data at different heights. Moreover, when measuring the magnetic field data at a height, the normal of the coil can be made parallel to the X-axis direction, the Y-axis direction, and the Z-axis direction, so that after adjusting the parallelism, the cross-sectional area of ​​the coil is adjusted according to a preset change rate, and the induced electromotive force generated by the coil is measured, so as to respectively determine the magnetic field intensity of the magnetic field at the position along the X-axis direction, the magnetic field intensity along the Y-axis direction, and the magnetic field intensity along the Z-axis direction, that is, the magnetic field data in the X-axis direction at the height, the magnetic field data in the Y-axis direction at the height, and the magnetic field data in the Z-axis direction at the height. After measuring the height, the height of the magnetic field detection device can be adjusted to measure the magnetic field data in the X-axis direction, the magnetic field data in the Y-axis direction, and the magnetic field data in the Z-axis direction at the next height. After multiple height measurements are completed, the robot can move to the next detection position and measure the magnetic field data again in the above manner until the magnetic field data at multiple heights at multiple detection positions of the first inspection route are obtained, wherein the magnetic field data at each height of each detection position may include magnetic field data in the X-axis direction, magnetic field data in the Y-axis direction, and magnetic field data in the Z-axis direction.

[0039] According to one embodiment of the present invention, in step S105, the multiple detection positions of the first inspection route may respectively have their own two-dimensional coordinates, which can be combined with the height of the magnetic field detection device during detection to obtain the three-dimensional coordinates of the magnetic field detection device at each detection. By combining the magnetic field data obtained from multiple detections at multiple heights of the multiple detection positions and the three-dimensional coordinates of the magnetic field detection device at each detection, the magnetic flux impact score corresponding to the first inspection route can be determined.

[0040] According to one embodiment of the present invention, the magnetic field data at multiple heights at multiple detection positions of the first inspection route are used to determine the magnetic flux impact score corresponding to the first inspection route, including: obtaining the coordinates of the multiple detection positions of the first inspection route in the three-dimensional coordinate system, and the multiple heights, and determining the position coordinates of each height at each detection position; fitting the magnetic field data in the X-axis direction at each height at each detection position with the position coordinates of each height at each detection position to obtain the magnetic field function in the X-axis direction of the first inspection route; fitting the magnetic field data at each height at each detection position with the position coordinates of each height at each detection position to obtain the magnetic field function in the X-axis direction of the first inspection route; fitting the magnetic field data at each height at each detection position with the position coordinates of each height at each detection position to obtain the magnetic field function in the X-axis direction of the first inspection route. The magnetic field data in the Y-axis direction are fitted with the position coordinates at each height of each detection position to obtain the magnetic field function in the Y-axis direction of the first inspection route; the magnetic field data in the Z-axis direction at each height at each detection position are fitted with the position coordinates at each height of each detection position to obtain the magnetic field function in the Z-axis direction of the first inspection route; the magnetic field function in the X-axis direction of the first inspection route, the magnetic field function in the Y-axis direction of the first inspection route, the magnetic field function in the Z-axis direction of the first inspection route and the radius of the first inspection route are used to determine the magnetic flux impact score corresponding to the first inspection route.

[0041] According to one embodiment of the present invention, the position coordinates are the three-dimensional coordinates of the magnetic field detection device at each detection. Since the magnetic field is a vector, the position coordinates can be fitted with the magnetic field data in each direction respectively to obtain the variation law of the magnetic field along each axial direction, that is, the magnetic field function in each axial direction. The magnetic field functions in the three axial directions can constitute a vector field, which can be used to describe the variation law of the magnetic field along the three axial directions.

[0042] According to one embodiment of the present invention, the magnetic field data in the X-axis direction measured at each position coordinate can be fitted with the corresponding position coordinate to obtain the magnetic field function in the X-axis direction of the first inspection route, which is used to describe the law of the magnetic field intensity in the X-axis direction at each position. For example, the magnetic field function in the X-axis direction of the first inspection route is , which is a function with position coordinates as independent variables and magnetic field data (i.e., magnetic field strength) as dependent variables. The strength of the magnetic field along the X-axis direction at each position can be determined based on this function. Similarly, the magnetic field function in the Y-axis direction of the first inspection route and the magnetic field function in the Z-axis direction of the first inspection route can be obtained. Further, based on the magnetic field function in the X-axis direction of the first inspection route, the magnetic field function in the Y-axis direction of the first inspection route, and the magnetic field function in the Z-axis direction of the first inspection route, the vector field can be obtained, that is, ,in, is the magnetic field function in the X-axis direction of the first inspection route, is the magnetic field function in the Y-axis direction of the first inspection route, is the magnetic field function in the Z-axis direction of the first inspection route, is the direction vector of the X-axis, is the direction vector along the y-axis, is the direction vector in the z-axis direction, and the vector field can be used to describe the variation law of the magnetic field along the three axial directions. In addition, since the acquisition position (i.e., the position coordinate) of the data in the determination process of the vector field is on the side of the cylindrical surface with the first inspection route as the lower bottom edge, the accuracy of the vector field on the side of the cylindrical surface is higher, and the accuracy at other positions is relatively lower.

[0043] According to one embodiment of the present invention, the magnetic flux impact score corresponding to the first inspection route is determined based on the magnetic field function of the first inspection route in the X-axis direction, the magnetic field function of the first inspection route in the Y-axis direction, the magnetic field function of the first inspection route in the Z-axis direction and the radius of the first inspection route, including: establishing a test surface corresponding to the first inspection route according to the radius of the first inspection route and the center of the first inspection route, wherein the test surface corresponding to the first inspection route is a cylindrical surface The side of the cylindrical surface, and the lower bottom surface of the cylindrical surface is the area enclosed by the circle of the first inspection route, and the height of the cylindrical surface is the maximum value of the height of the magnetic field detection device; determine the surface area of ​​the test curved surface corresponding to the first inspection route; determine the magnetic flux impact score corresponding to the first inspection route according to the test curved surface corresponding to the first inspection route and its surface area, as well as the magnetic field function of the first inspection route in the X-axis direction, the magnetic field function of the first inspection route in the Y-axis direction, and the magnetic field function of the first inspection route in the Z-axis direction.

[0044] According to one embodiment of the present invention, the test surface is the side surface of the cylindrical surface with the first inspection route as the lower bottom edge, and the above-mentioned vector field is more accurate on the test surface. That is, the data required for determining the above vector field are all taken from the data measured at the position on the test surface, so the vector field has a higher accuracy on the test surface. Compared with the method of measuring the magnetic field at any multiple positions and then solving the data of the magnetic field on the test surface, this method of directly obtaining the vector field from the data measured at the position on the test surface makes the vector field match the test surface more closely and makes the vector field more accurate on the test surface.

[0045] According to one embodiment of the present invention, according to the test curved surface corresponding to the first inspection route and its surface area, as well as the magnetic field function in the X-axis direction of the first inspection route, the magnetic field function in the Y-axis direction of the first inspection route, and the magnetic field function in the Z-axis direction of the first inspection route, the magnetic flux impact score corresponding to the first inspection route is determined, including: determining the magnetic flux impact score corresponding to the first inspection route according to formula (1): ,

[0046] (1),

[0047] in, is the magnetic field function in the X-axis direction of the first inspection route, is the magnetic field function in the Y-axis direction of the first inspection route, is the magnetic field function in the Z-axis direction of the first inspection route, This is the test surface corresponding to the first inspection route. is the space enclosed by the cylindrical surface, is the surface area of ​​the test surface corresponding to the first inspection route, is the upper base of the cylindrical surface corresponding to the test surface corresponding to the first inspection route, It is the lower base surface of the cylindrical surface corresponding to the test surface corresponding to the first inspection route.

[0048] According to one embodiment of the present invention, the combination of the test curved surface, the upper bottom surface of the cylindrical surface and the lower bottom surface of the cylindrical surface can form a closed cylindrical surface, and the surface integral of the vector field on the closed cylindrical surface is represents the magnetic flux of the above vector field through the closed cylindrical surface, and the surface integral of the vector field on the closed cylindrical surface is equal to And, as mentioned above, the vector field on the test surface The accuracy is higher on the upper bottom surface of the cylinder. and the lower surface of the cylinder The accuracy is low, and it is usually not necessary to calculate the impact of the magnetic field on the area directly below and directly above, that is, there is no need to calculate the magnetic field passing through the upper bottom surface directly above. and the bottom surface directly below Therefore, the magnetic flux of the above vector field through the upper and lower base surfaces of the cylinder can be Remove, further, the upper and lower bases of the cylinder are parallel to the ground, so the differential values ​​of these two planes in the height direction are is always 0, so the magnetic flux of the above vector field through the upper and lower bases of the cylinder is equal to . After subtracting the magnetic flux, the magnetic flux of the above-mentioned vector field on the test surface can be obtained. Due to the matching of the vector field and the test surface, the accuracy of the magnetic flux of the vector field on the test surface is relatively high. Furthermore, the unit magnetic flux on the test surface can be represented by the ratio of the magnetic flux of the vector field on the test surface to the surface area of ​​the test surface, that is, the unit magnetic field intensity on the test surface, and the average influence of the magnetic field outside the test surface can also be represented, which can be used as the magnetic flux influence score corresponding to the first round of inspection route.

[0049] In this way, the magnetic field data detected at multiple positions on the test surface can be fitted to obtain a vector field corresponding to the test surface, so that the test surface matches the vector field, thereby improving the accuracy of the magnetic flux calculated by the vector field on the test surface. In addition, during the calculation process, a closed surface is constructed by combining the test surface with the upper and lower bases of the cylinder, thereby reducing the calculation complexity of the magnetic flux. The characteristic that the upper and lower bases of the cylinder are parallel to the ground further reduces the calculation complexity of the magnetic flux of the upper and lower bases, thereby reducing the calculation complexity of the magnetic flux impact score, and obtaining an accurate and objective magnetic flux impact score.

[0050] According to one embodiment of the present invention, in step S106, after detecting the magnetic field data at multiple positions of the first inspection route and obtaining the magnetic flux impact score corresponding to the first inspection route, the robot can be controlled to come to the first detection position of the second inspection route, and the processing of detecting the magnetic field data is performed again, so as to obtain the test surface corresponding to the second inspection route, the magnetic field data obtained at multiple positions on the test surface corresponding to the second inspection route, and in step S107, the vector field corresponding to the test surface is determined based on the magnetic field data, so as to determine the magnetic flux impact score corresponding to the second inspection route based on the vector field corresponding to the test surface and the test surface. Steps S106 and S107 can be repeatedly performed to obtain the magnetic flux impact scores corresponding to multiple inspection routes. In addition, since the test surface corresponds to the vector field when calculating the magnetic flux impact score corresponding to each inspection route, the accuracy of the magnetic flux impact score corresponding to each inspection route is relatively high.

[0051] According to one embodiment of the present invention, in step S108, after determining the magnetic flux impact score corresponding to the multi-lap inspection route, the magnetic field safety score can be determined, that is, based on the magnetic flux impact score corresponding to the multi-lap inspection route, it is judged whether the magnetic field of the substation has an abnormal impact on the surrounding environment and whether the equipment in the substation has an abnormal magnetic field. It can also be used to determine whether the equipment in the substation has a fault.

[0052] According to one embodiment of the present invention, the magnetic field safety score is determined by the magnetic flux impact score corresponding to the multi-circle inspection route, the radius of the minimum circumscribed circle of the occupied plane area, and the radius of the multi-circle inspection route, including: determining the undetermined coefficient equation of the magnetic flux impact function according to formula (2),

[0053] (2),

[0054] in, is the magnetic flux impact score corresponding to the j-th inspection route, is the radius of the j-th inspection route, , and is an undetermined coefficient; the undetermined coefficient is solved by the magnetic flux impact score corresponding to the multi-circle inspection route and the radius of the multi-circle inspection route to obtain the solution value of the undetermined coefficient; according to the solution value of the undetermined coefficient, the magnetic flux impact function is obtained; according to the magnetic flux impact function and the radius of the minimum circumscribed circle of the occupied flat area, the magnetic field safety score is determined.

[0055] According to one embodiment of the present invention, the magnetic field strength decays as the distance increases, and the decay rate is the square of the distance. Since as the distance increases, the area of ​​the closed surface surrounding the source of the magnetic field (for example, a spherical surface with the distance to the source of the magnetic field as the radius) increases at the square of the distance, therefore, as the distance increases, the distribution density of the magnetic field on the closed surface decreases at the speed of the square of the distance. In addition, the strength of the magnetic field not only decreases at the speed of the square of the distance, but may also decay due to other reasons, for example, the magnetic field generated by the substation is attenuated by the interference of the equipment in the surrounding area, etc. Therefore, the denominator of formula (2) can be set not only to the square of the radius, but also to a quadratic polynomial, so as to express the law that the magnetic field decays as the distance increases through the quadratic polynomial, that is, the law that the magnetic flux influence score decays as the radius of the inspection route increases.

[0056] According to one embodiment of the present invention, the magnetic flux influence score corresponding to the multi-circle inspection route and the radius of the multi-circle inspection route can be substituted into formula (2) to solve the undetermined coefficients and obtain the solution values ​​of the undetermined coefficients. After obtaining the solution values ​​of the undetermined coefficients, the magnetic flux influence function can be obtained.

[0057] In this way, when determining the magnetic flux influence function, the quadratic polynomial can be reasonably set as the denominator of the equation of unknown coefficients through the law that the intensity of the magnetic field decreases at a speed of the square of the distance, and the influence of other factors on the magnetic field intensity, so as to accurately describe the change law between the magnetic flux influence score and the inspection route radius, and improve the rationality and accuracy of the magnetic flux influence function.

[0058] According to one embodiment of the present invention, determining a magnetic field safety score according to the magnetic flux influence function and the radius of the minimum circumscribed circle of the occupied plane area includes: determining the magnetic field safety score according to formula (3): ,

[0059] (3),

[0060] in, To set a safe distance, is the radius of the minimum circumscribed circle of the floor area, is the preset magnetic flux influence value, for The solution value of for The solution value of for The solution value of is the conditional function.

[0061] According to one embodiment of the present invention, is the distance between the preset safety position and the centroid of the substation’s floor area, is the magnetic flux impact score at the safety position determined based on the magnetic flux impact function, and is also the unit magnetic field strength at the safety position. The conditional function in formula (3) indicates that if the unit magnetic field strength at the safety position is higher than the preset magnetic flux impact value, the magnetic field safety score is directly set to 0, indicating that the magnetic field strength here is too high, the magnetic field safety is low, and it does not meet the safety standards. If the unit magnetic field strength at the safety position is lower than or equal to the preset magnetic flux impact value, then To determine the magnetic field safety score, that is, the closer the unit magnetic field strength at the safety position is to the preset magnetic flux influence value, the lower the magnetic field safety score is, indicating that the magnetic field safety is lower; conversely, the greater the difference between the unit magnetic field strength at the safety position and the preset magnetic flux influence value, the higher the magnetic field safety score is, indicating that the magnetic field safety is higher.

[0062] In this way, the magnetic field safety score can be set through a conditional function, and the relationship between the unit magnetic field intensity at a preset safety position corresponding to a preset safety distance and the preset magnetic flux influence value can be determined, thereby determining the magnetic field safety of the distance, thereby obtaining the magnetic field safety score and improving the accuracy and objectivity of the magnetic field safety score.

[0063] According to one embodiment of the present invention, the method also includes: setting a binocular camera on the robot, wherein the binocular camera includes an RGB camera and an infrared camera; in the process of the robot moving along a multi-circle inspection route, taking RGB images and infrared images in the substation through the binocular camera; detecting the area where the line is located in the RGB image through an image detection model; determining the area where the line is located in the infrared image based on the area where the line is located in the RGB image; determining the temperature data in the area where the line is located in the infrared image through the pixel value of the infrared image; if the maximum value of the temperature data in the area where the line is located in the infrared image exceeds a preset temperature threshold, a warning message is generated.

[0064] According to one embodiment of the present invention, during the movement of the robot along the multi-circle inspection route, the binocular camera can capture images from multiple perspectives in the substation, that is, RGB images and infrared images from multiple perspectives, and detect the area where the line is located in the RGB image through an image detection model (e.g., a convolutional neural network model), and select the area. In addition, since the field of view of the RGB camera and the infrared camera is the same, the area where the line is located in the infrared image can be determined based on the area selected in the RGB image. The pixel value of the pixel point of the infrared image can be used to represent the temperature of the actual position corresponding to the pixel point. If the maximum value of the temperature data in the area where the line is located in the infrared image is too high and exceeds the preset temperature threshold, it indicates that there is a fault in the line, for example, there is a line contact problem, resulting in increased resistance, and then abnormal temperature. In this case, a warning message can be generated. In the warning message, the shooting position of the infrared image and the position of the line captured can be marked to facilitate the staff to find.

[0065] According to the intelligent inspection method of a substation robot of an embodiment of the present invention, during the process of the robot moving along the inspection route around the flat area of ​​the substation, the magnetic field data of multiple positions on the inspection route can be detected by a magnetic field detection device for multiple times, thereby determining the magnetic flux impact score of each inspection route, and then determining the magnetic field safety score, so as to determine whether the magnetic field generated by the substation has a large impact on the surrounding environment, and timely discover potential abnormalities of the substation equipment. When determining the magnetic flux impact score, the magnetic field data detected at multiple positions on the test surface can be fitted to obtain a vector field corresponding to the test surface, so that the test surface matches the vector field, and the accuracy of the magnetic flux calculated by the vector field on the test surface is improved. In addition, in the calculation process, a closed surface is constructed by combining the test surface with the upper bottom surface and the lower bottom surface of the cylindrical surface, thereby reducing the calculation complexity of the magnetic flux, and the upper bottom surface and the lower bottom surface of the cylindrical surface are parallel to the ground. The calculation complexity of the magnetic flux impact score is further reduced, thereby reducing the calculation complexity of the magnetic flux impact score, and obtaining an accurate and objective magnetic flux impact score. When determining the magnetic flux influence function, the quadratic polynomial can be reasonably set as the denominator of the equation of undetermined coefficients by taking into account the law that the intensity of the magnetic field decreases at a speed of the square of the distance and the influence of other factors on the magnetic field intensity, so as to accurately describe the change law between the magnetic flux influence score and the inspection route radius, and improve the rationality and accuracy of the magnetic flux influence function. When determining the magnetic field safety score, the magnetic field safety score can be set by a conditional function, and the relationship between the unit magnetic field intensity at the preset safety position corresponding to the preset safety distance and the preset magnetic flux influence value can be determined, so as to determine the magnetic field safety of the distance, thereby obtaining the magnetic field safety score, and improving the accuracy and objectivity of the magnetic field safety score.

[0066] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A substation robot intelligent inspection method, characterized in that: include: Determining a floor plan area of ​​the substation and a centroid of the floor plan area; Taking the centroid as the origin, a three-dimensional coordinate system is established, wherein the XOY plane of the three-dimensional coordinate system is the ground, and the Z axis of the three-dimensional coordinate system is perpendicular to the ground; Placing the robot at the first detection position of the first inspection route outside the floor plan area, wherein the straight-line distance between the first detection position of the first inspection route and the origin is greater than the radius of the minimum circumscribed circle of the floor plan area, the first inspection route is a circular route, and the center of the first inspection route is the origin, and the radius of the first inspection route is the distance between the first detection position of the first inspection route and the origin; Detecting magnetic field data at multiple heights at the i-th detection position of the first inspection route by a magnetic field detection device of the robot, where i is a positive integer; Determine the magnetic flux impact score corresponding to the first inspection route by using the magnetic field data at multiple heights at multiple detection positions of the first inspection route; Detecting magnetic field data at multiple heights at the i-th detection position of the j-th inspection route by a magnetic field detection device of the robot, wherein j is a positive integer, the j-th inspection route is a circular route, the center of the j-th inspection route is the origin, and the radius of the j-th inspection route is greater than the radius of the j-1-th inspection route; Determine the magnetic flux impact score corresponding to the j-th inspection route through the magnetic field data at multiple heights at multiple detection positions of the j-th inspection route; The magnetic field safety score is determined by the magnetic flux impact score corresponding to the multi-circle inspection route, the radius of the minimum circumscribed circle of the occupied plane area, and the radius of the multi-circle inspection route.

2. The substation robot intelligent inspection method according to claim 1 is characterized in that: The magnetic field detection device is a coil whose cross-sectional area can change according to a preset change speed, and the cross-sectional orientation of the coil can change; The magnetic field detection device of the robot detects magnetic field data at multiple heights at the i-th detection position of the first inspection route, including: At the first height, the normal direction of the cross section of the coil is controlled to be parallel to the X-axis of the three-dimensional coordinate system; Controlling the cross-sectional area of ​​the coil to change at a preset change speed, and detecting the induced electromotive force at the output end of the coil; Determine the magnetic field data in the X-axis direction at the first height by using the induced electromotive force and the preset change speed; Controlling the normal direction of the cross section of the coil to be parallel to the Y axis of the three-dimensional coordinate system; Controlling the cross-sectional area of ​​the coil to change at a preset change speed, and detecting the induced electromotive force at the output end of the coil; Determine the magnetic field data in the Y-axis direction at the first height by using the induced electromotive force and the preset change speed; Controlling the normal direction of the cross section of the coil to be parallel to the Z axis of the three-dimensional coordinate system; Controlling the cross-sectional area of ​​the coil to change at a preset change speed, and detecting the induced electromotive force at the output end of the coil; Determine the magnetic field data in the Z-axis direction at the first height by using the induced electromotive force and the preset change speed; Determine the magnetic field data at the first height according to the magnetic field data in the X-axis direction, the magnetic field data in the Y-axis direction, and the magnetic field data in the Z-axis direction at the first height; The height of the magnetic field detection device is adjusted to obtain magnetic field data at multiple heights.

3. The substation robot intelligent inspection method according to claim 2 is characterized in that: Determining a magnetic flux impact score corresponding to the first inspection route by using magnetic field data at multiple heights at multiple detection positions of the first inspection route, including: Obtaining coordinates of a plurality of detection positions of the first inspection route in the three-dimensional coordinate system and the plurality of heights, and determining position coordinates of each height at each detection position; The magnetic field data in the X-axis direction at each height at each detection position are fitted with the position coordinates at each height at each detection position to obtain the magnetic field function in the X-axis direction of the first inspection route; The magnetic field data in the Y-axis direction at each height at each detection position are fitted with the position coordinates at each height at each detection position to obtain the magnetic field function in the Y-axis direction of the first inspection route; The magnetic field data in the Z-axis direction at each height at each detection position are fitted with the position coordinates at each height at each detection position to obtain the magnetic field function in the Z-axis direction of the first inspection route; The magnetic flux impact score corresponding to the first inspection route is determined based on the magnetic field function in the X-axis direction of the first inspection route, the magnetic field function in the Y-axis direction of the first inspection route, the magnetic field function in the Z-axis direction of the first inspection route and the radius of the first inspection route.

4. The substation robot intelligent inspection method according to claim 3 is characterized in that: According to the magnetic field function in the X-axis direction of the first inspection route, the magnetic field function in the Y-axis direction of the first inspection route, the magnetic field function in the Z-axis direction of the first inspection route and the radius of the first inspection route, the magnetic flux impact score corresponding to the first inspection route is determined, including: According to the radius of the first inspection route and the center of the first inspection route, a test curved surface corresponding to the first inspection route is established, wherein the test curved surface corresponding to the first inspection route is the side surface of a cylinder, and the lower bottom surface of the cylinder is the area surrounded by the circle of the first inspection route, and the height of the cylinder is the maximum value of the height of the magnetic field detection device; Determine the surface area of ​​the test surface corresponding to the first inspection route; According to the test surface and its surface area corresponding to the first inspection route, as well as the magnetic field function in the X-axis direction of the first inspection route, the magnetic field function in the Y-axis direction of the first inspection route, and the magnetic field function in the Z-axis direction of the first inspection route, the magnetic flux impact score corresponding to the first inspection route is determined.

5. The substation robot intelligent inspection method according to claim 4 is characterized in that: According to the test curved surface and its surface area corresponding to the first inspection route, as well as the magnetic field function in the X-axis direction of the first inspection route, the magnetic field function in the Y-axis direction of the first inspection route, and the magnetic field function in the Z-axis direction of the first inspection route, the magnetic flux impact score corresponding to the first inspection route is determined, including: According to the formula ， Determine the magnetic flux impact score corresponding to the first inspection route ,in, is the magnetic field function in the X-axis direction of the first inspection route, is the magnetic field function in the Y-axis direction of the first inspection route, is the magnetic field function in the Z-axis direction of the first inspection route, This is the test surface corresponding to the first inspection route. is the space enclosed by the cylindrical surface, is the surface area of ​​the test surface corresponding to the first inspection route, is the upper base of the cylindrical surface corresponding to the test surface corresponding to the first inspection route, It is the lower base surface of the cylindrical surface corresponding to the test surface corresponding to the first inspection route.

6. The substation robot intelligent inspection method according to claim 1 is characterized in that: The magnetic field safety score is determined by the magnetic flux impact score corresponding to the multi-circle inspection route, the radius of the minimum circumscribed circle of the occupied plane area, and the radius of the multi-circle inspection route, including: According to the formula ， Determine the equation of the unknown coefficients of the magnetic flux influence function, where, is the magnetic flux impact score corresponding to the j-th inspection route, is the radius of the j-th inspection route, , and is the coefficient to be determined; The undetermined coefficients are solved by the magnetic flux influence score corresponding to the multi-circle inspection route and the radius of the multi-circle inspection route to obtain the solution values ​​of the undetermined coefficients; Obtaining a magnetic flux influence function according to the solved values ​​of the undetermined coefficients; A magnetic field safety score is determined based on the magnetic flux influence function and the radius of the minimum circumscribed circle of the floor plan area.

7. The substation robot intelligent inspection method according to claim 6 is characterized in that: Determining a magnetic field safety score according to the magnetic flux influence function and the radius of the minimum circumscribed circle of the occupied plane area includes: According to the formula ， Determining the Magnetic Field Safety Rating ,in, To set a safe distance, is the radius of the minimum circumscribed circle of the floor area, is the preset magnetic flux influence value, for The solution value of for The solution value of for The solution value of is the conditional function.

8. The substation robot intelligent inspection method according to claim 1 is characterized in that: The method further comprises: A binocular camera is arranged on the robot, wherein the binocular camera includes an RGB camera and an infrared camera; As the robot moves along the multi-circle inspection route, it uses a binocular camera to capture RGB and infrared images of the substation; Detect the area where the line is located in the RGB image through the image detection model; According to the area where the line is located in the RGB image, determine the area where the line is located in the infrared image; Determine the temperature data of the area where the line is located in the infrared image through the pixel value of the infrared image; If the maximum value of the temperature data in the area where the line is located in the infrared image exceeds a preset temperature threshold, a warning message is generated.

Images