An adaptive protocol parsing method for robots in the power industry

Abstract

The present invention provides an adaptive protocol parsing method for power industry robots, which relates to the application field of power industry robots, including: parsing user demand instructions, obtaining all inspection tasks, and determining the target type robot of the inspection robot according to the inspection span and inspection mode; determining all idle inspection robots, and screening out target inspection robots that meet the communication protocol type according to the real-time requirements, data transmission requirements, and task cross-platform compatibility requirements corresponding to the inspection tasks; indicating the completion of adaptive access, and receiving inspection data corresponding to all inspection tasks from the target inspection robot, parsing the inspection data according to adaptive protocols of different communication protocol types, and obtaining inspection results. The present invention can realize intelligent task scheduling, improve inspection efficiency and accuracy, and parse inspection data according to adaptive protocols of different communication protocol types to ensure that data can be effectively converted into usable inspection results and equipment information.

Description

Technical Field

[0001] The present invention relates to the application field of robots in the electric power industry, and in particular to an adaptive protocol parsing method for robots in the electric power industry. Background Art

[0002] At present, the operation and maintenance of centralized mountain photovoltaic stations mainly rely on the front-line operation and maintenance personnel stationed on site. There are many problems such as difficult inspection, low timeliness, difficult troubleshooting, untimely feedback of management data, and great safety hazards to personnel and equipment. Due to the complex road conditions and numerous equipment of centralized mountain photovoltaic stations, the inspection task needs to ensure stable data transmission under the premise of ensuring real-time performance. Different inspection robots have different communication protocol types due to different manufacturers. At present, it is impossible to find a high matching relationship between the current inspection task and the inspection robot that performs the task from the perspective of the communication protocol type. As a result, when the inspection robot performs the current inspection task, due to the mismatch of the communication protocol type, data loss, unstable transmission, untimely response to instructions, etc. occur, thereby reducing the efficiency and accuracy of work execution, requiring a large amount of human resources for data review, and increasing labor costs.

[0003] How to find a highly matched relationship between the current inspection task and the inspection robot that performs the task, how to consider the inspection distances between different inspection tasks of centralized mountain photovoltaic stations while also considering the need to provide the most appropriate inspection method for different inspection tasks, so as to select the most suitable robot for this inspection task, has become a technical problem that needs to be solved urgently. However, there is currently no technical solution that can solve the above technical problems, and there is no adaptive protocol parsing method for robots in the power industry. Summary of the invention

[0004] The present invention provides an adaptive protocol parsing method for robots in the power industry. By uniformly managing inspection robots of multiple communication protocol types, inspection robots of different communication protocol types are assigned according to different inspection tasks. In the operation and maintenance of centralized mountain photovoltaic stations with harsh environments and complex climatic conditions, adaptive parsing of the communication protocols of the inspection robots is ensured, real-time and stable communication is ensured, and the robustness of the selection and deployment of the inspection robots is improved.

[0005] The present invention provides an adaptive protocol parsing method for robots in the power industry, comprising:

[0006] Parse the user demand instructions to obtain all inspection tasks, and determine the target type of inspection robot according to the inspection span and inspection method of all inspection tasks, wherein the target type of inspection robot includes a wheeled robot and a stepping robot;

[0007] According to the working status of the robot, all idle inspection robots corresponding to the target type robot are determined. According to the real-time requirements, data transmission requirements, and task cross-platform compatibility requirements corresponding to all inspection tasks, the target inspection robots that meet the communication protocol type are screened out from all idle inspection robots;

[0008] The user demand instruction is issued to the target inspection robot to instruct the target inspection robot to complete adaptive access, receive inspection data corresponding to all inspection tasks from the target inspection robot, and parse the inspection data according to the adaptive protocol of different communication protocol types to obtain the inspection result.

[0009] According to the adaptive protocol parsing method for power industry robots provided by the present invention, the target type robot of the inspection robot is determined according to the inspection span and inspection mode of all inspection tasks, including:

[0010] Determine the inspection location for each inspection task;

[0011] According to the inspection task sequence, each relative distance between adjacent inspection locations is determined, and each relative distance is determined as the inspection span corresponding to each inspection location;

[0012] Determine an inspection method for each inspection task according to the inspection location of each inspection task, wherein the inspection method includes inspecting the equipment to be inspected outside a first preset distance, or inspecting the equipment to be inspected within a second preset distance, wherein the first preset distance is greater than the second preset distance;

[0013] The target type of the inspection robot is determined according to the inspection span corresponding to each inspection location and the inspection method of each inspection task.

[0014] According to the adaptive protocol parsing method for power industry robots provided by the present invention, the target type robot of the inspection robot is determined according to the inspection span corresponding to each inspection location and the inspection mode of each inspection task, including:

[0015] ;

[0016] The value is 0 or 1. When the value is 0, the target robot is determined to be a wheeled robot. When the value is 1, the target type robot is determined to be a stepping robot. is the inspection span, is the inspection span threshold, It is the inspection mode, the value is 0 or 1. The total number of inspection locations for all inspection tasks.

[0017] According to the adaptive protocol parsing method for power industry robots provided by the present invention, when any inspection task is to obtain infrared temperature measurement images or visible light images in booster stations and switch room equipment, an inspection method of inspecting the equipment to be inspected outside the first preset distance is adopted, and the value of the inspection method is 0;

[0018] When any inspection task is to obtain the switch status, knife switch status, indicator light status, pressure plate status, instrument readings, SF6 gas leakage monitoring, partial discharge monitoring, transformer oil leakage, transformer oil temperature reading, transformer oil level reading, lightning arrester meter reading or SF6 gas density reading in the booster station and switch room equipment, an inspection method of inspecting the equipment to be inspected within a second preset distance is adopted, and the value of the inspection method is 1.

[0019] According to the adaptive protocol parsing method for power industry robots provided by the present invention, before selecting a target inspection robot that meets the communication protocol type from all idle inspection robots, the method further includes:

[0020] According to the power industry's real-time requirements, data transmission requirements, and task cross-platform compatibility requirements for different preset tasks, inspection robots with different communication protocol types are preset;

[0021] The type of communication protocol that each inspection robot has is determined by different manufacturers when producing the inspection robot;

[0022] The real-time requirement includes ensuring real-time control of the inspection robot, and the communication protocol types corresponding to the real-time requirement include CANopen, an open communication protocol standard based on CAN bus, Profinet, a communication protocol used in the field of industrial automation, PROFIBUS, an industrial control network protocol based on CAN bus, DeviceNet, or an electric power system communication protocol IEC 104;

[0023] The data transmission requirements include ensuring the data transmission rate and data transmission volume, and the communication protocol types corresponding to the data transmission requirements include Ethernet / IP, ModbusTCP, Modbus RTU, Modbus ASCII, Modbus TCP / IP, and MQTT;

[0024] The task cross-platform compatibility requirement includes ensuring data exchange and connection of multiple cross-platform devices, and the communication protocol type corresponding to the task cross-platform compatibility requirement includes an open cross-platform industrial communication protocol OPC UA or an application programming interface API.

[0025] According to the adaptive protocol parsing method for power industry robots provided by the present invention, the method of screening out target inspection robots that meet the communication protocol type from all idle inspection robots includes:

[0026] Filter out all patrol robots to be assigned that meet the communication protocol type from all idle patrol robots;

[0027] Determine the relative distance between each inspection robot to be assigned and the inspection location corresponding to the first inspection task in the current state;

[0028] The inspection robot to be assigned with the smallest relative distance is determined as the target inspection robot.

[0029] According to the method for adaptive protocol parsing of power industry robots provided by the present invention, before issuing the user demand instruction to the target inspection robot, the method further includes:

[0030] Constructing a preset protocol converter architecture, wherein the preset protocol converter architecture includes a protocol plug-in corresponding to each communication protocol type;

[0031] The protocol plug-in is communicatively connected with the communication interface corresponding to each inspection robot;

[0032] The preset protocol converter architecture is used to convert data received from different inspection robots into a preset unified format, and the preset unified format is determined based on all communication protocol types and data fields corresponding to each communication protocol type to adapt to different communication protocol types and different data formats.

[0033] According to the adaptive protocol parsing method for power industry robots provided by the present invention, after obtaining the inspection results, the method further includes:

[0034] For each inspection picture in the inspection result, extract characteristic elements in the inspection picture, wherein the characteristic elements include switches, knife switches, indicator lights, pressure plates, different fonts, and the font size and color of each font;

[0035] Determine each target device in the inspection task according to the characteristic elements in the inspection picture, and obtain device information of the target device corresponding to each inspection picture, wherein the device information includes a target state corresponding to the target device, or a target value corresponding to the target device;

[0036] When the target device is a switch, a knife switch, an indicator light or a pressure plate, the inspection picture is input into a preset device state model to obtain a target state corresponding to the target device output by the preset device state model;

[0037] In the case where the target device is a device with characteristic elements of different fonts, the inspection image is processed using a preset OCR recognition algorithm to obtain a target value corresponding to the target device;

[0038] The preset device state model is determined after training based on different sample images and the sample state corresponding to the target device in each sample image.

[0039] According to the adaptive protocol parsing method for power industry robots provided by the present invention, after obtaining the device information of the target device corresponding to each inspection picture, the method further includes:

[0040] When it is determined that there is an abnormality in the device information, an alarm instruction is generated, which is used to indicate that there is an abnormality in the target state or target value corresponding to the target device. The alarm instruction is sent to the management terminal and any inspection robot is instructed to recheck the target device again.

[0041] According to the adaptive protocol parsing method for power industry robots provided by the present invention, before or after parsing user demand instructions and obtaining all inspection tasks, the method further includes:

[0042] When the current time matches any task execution time in the preset inspection form, determine the form task corresponding to the task execution time to determine the inspection result corresponding to the form task;

[0043] The preset inspection form is constructed based on a weekly cycle, and different form tasks corresponding to different task execution times corresponding to each day are preset.

[0044] The beneficial effects of the present invention include:

[0045] All inspection tasks are obtained by parsing the user's required instructions, and the target type of robot is determined according to the inspection span and inspection method of the inspection task, including wheeled robots and stepping robots, to ensure that the appropriate robot is selected to perform different inspection tasks and improve inspection efficiency and accuracy;

[0046] According to the real-time requirements, data transmission requirements and task cross-platform compatibility requirements, select the target inspection robots that meet the communication protocol type from all idle inspection robots to ensure that different inspection tasks can transmit and interact data through appropriate communication protocols as required. By parsing user demand instructions and considering the target type of robot based on factors such as the span, method and real-time requirements of the inspection task, intelligent task scheduling is achieved, thereby improving inspection efficiency and accuracy;

[0047] Parse inspection data based on adaptive protocols of different communication protocol types to obtain accurate inspection results, ensuring that data collected from the robot can be effectively converted into usable inspection results and equipment information;

[0048] When it is determined that there is an abnormality in the equipment information, an alarm instruction is generated and sent to the management terminal, instructing the robot to conduct a recheck, so that equipment abnormalities can be discovered in time and corresponding measures can be taken to ensure the safe and stable operation of the equipment, and to achieve real-time monitoring of the equipment status and abnormality handling;

[0049] The target device information is determined based on the characteristic elements of the inspection image, and the device status is analyzed according to the preset device status model, and finally the inspection results are generated to further optimize the task execution and result analysis process. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 This is one of the flow charts of the adaptive protocol parsing method for power industry robots provided by the present invention;

[0052] Figure 2 This is the second flow chart of the adaptive protocol parsing method for power industry robots provided by the present invention;

[0053] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0055] During the operation and maintenance of centralized photovoltaic stations, it is necessary to conduct regular inspections and maintenance of photovoltaic modules, inverters, box transformers, protection equipment, transmission lines, distribution equipment, and metering equipment to promptly detect equipment operating failures and eliminate potential faults in a timely manner to ensure the normal operation of the equipment, thereby improving the power generation efficiency of the power station. Abnormal equipment operation will have a significant impact on the production efficiency of the power station, such as reduced power generation efficiency, increased safety risks, shortened equipment life, equipment damage, and data abnormalities, which will lead to a decrease in the revenue of the power station and an increase in operation and maintenance costs, seriously affecting the revenue of the power station. Therefore, it is particularly important to conduct inspections and operation and maintenance of centralized photovoltaic power stations in a timely manner.

[0056] At present, the operation and maintenance of centralized photovoltaic power generation mostly relies on the on-site front-line personnel. Due to various factors such as harsh environment and complex climatic conditions, there are many pain points and difficulties in the operation and maintenance of new energy. The traditional operation and maintenance and operation management mode can no longer meet the needs of the operating units, and it is imperative to explore new operation and maintenance modes. Therefore, relevant technologies are actively promoting the in-depth application of advanced equipment such as robots and drones in the new energy industry, replacing the repetitive and inefficient inspection operations carried out manually with the automatic inspection operations of intelligent equipment. Artificial intelligence technology will carry out more in-depth data analysis and processing, intelligent judgment of inspection results, and intelligent early warning, which will minimize the personnel input of the station. Some stations have been completely unmanned, and the operation and maintenance costs are much lower than other new energy stations.

[0057] The present invention provides an adaptive protocol parsing method for robots in the power industry. Aiming at the inspection of equipment in booster stations and distribution rooms, a set of robot inspection application subsystems is constructed. The LTE base station is used to meet network communication, and the inspection of equipment at the lower part of the booster station and the equipment in the switch room is supported. The equipment status and readings can be automatically identified by automatic photography and analysis, and alarms can be triggered. The system supports remote control of robot start and stop, remote issuance of tasks and control of execution, and is deeply integrated with the new energy smart production and operation platform.

[0058] Figure 1 This is one of the flow charts of the adaptive protocol parsing method for the power industry robot provided by the present invention, and the adaptive protocol parsing method for the power industry robot includes:

[0059] Step 101: parse the user demand instruction to obtain all inspection tasks, and determine the target type robot of the inspection robot according to the inspection span and inspection mode of all inspection tasks, wherein the target type robot includes a wheeled robot and a stepping robot;

[0060] Step 102: According to the working status of the robot, all idle inspection robots corresponding to the target type robot are determined, and according to the real-time requirements, data transmission requirements, and task cross-platform compatibility requirements corresponding to all inspection tasks, the target inspection robot that meets the communication protocol type is screened out from all idle inspection robots;

[0061] Step 103: Send the user demand instruction to the target inspection robot to instruct the target inspection robot to complete adaptive access and receive inspection data corresponding to all inspection tasks from the target inspection robot, parse the inspection data according to the adaptive protocol of different communication protocol types, and obtain the inspection result.

[0062] In step 101, by parsing the user demand instructions, relevant information of all inspection tasks, including the inspection span and inspection method, is obtained. According to the characteristics of the inspection task, the target type robot suitable for performing the task is determined, which may include wheeled robots and stepping robots, to achieve intelligent task scheduling, ensure that the most suitable robot is selected to perform a specific inspection task, and improve inspection efficiency and accuracy.

[0063] Optionally, determining the target type robot of the inspection robot according to the inspection span and inspection mode of all inspection tasks includes:

[0064] Determine the inspection location for each inspection task;

[0065] According to the inspection task sequence, each relative distance between adjacent inspection locations is determined, and each relative distance is determined as the inspection span corresponding to each inspection location;

[0066] Determine an inspection method for each inspection task according to the inspection location of each inspection task, wherein the inspection method includes inspecting the equipment to be inspected outside a first preset distance, or inspecting the equipment to be inspected within a second preset distance, wherein the first preset distance is greater than the second preset distance;

[0067] The target type of the inspection robot is determined according to the inspection span corresponding to each inspection location and the inspection method of each inspection task.

[0068] Optionally, for each inspection task, it is first necessary to determine the specific location that needs to be inspected, which can be confirmed through a pre-set map or location information, and determine the distance between adjacent inspection locations in each inspection task, which can be obtained through map data or GPS information. According to the relative distance between adjacent inspection locations, the distance is defined as the inspection span corresponding to the inspection location, and the inspection method at each inspection location is determined according to the inspection task sequence and equipment requirements. The first preset distance is greater than the second preset distance. In an optional embodiment, the first preset distance is 5 meters and the second preset distance is 0.5 meters. Then one of the inspection methods is: inspecting the equipment to be inspected outside 5 meters, and the other inspection method is: inspecting the equipment to be inspected within 0.5 meters. Finally, according to the inspection location, inspection span and inspection method of each inspection task, determine the type of robot suitable for performing the task. Specifically, select a wheeled robot or a stepping robot.

[0069] Optionally, a wheeled robot has mobility, can move quickly over a large range, and is suitable for inspecting equipment at different locations. It is usually equipped with cameras and sensors, can obtain videos, images and various status data, and can also carry various sensors, which are suitable for monitoring and detecting various status data; while a walking robot is more suitable for detailed inspection and monitoring around the equipment, such as infrared temperature measurement, partial discharge monitoring, etc. It is usually equipped with visual sensors and local monitoring equipment, which is suitable for close-range monitoring and detection. It has more flexible mobility and is suitable for fine inspection work around the equipment. Based on the above reasons, the present invention usually prefers to use a wheeled robot when the inspection span is large; it prefers to use a walking robot when the inspection span is small; it prefers to use a wheeled robot when inspecting the equipment to be inspected at a distance of 5 meters; and it prefers to use a walking robot when inspecting the equipment to be inspected within 0.5 meters.

[0070] Optionally, the step of determining the target type robot of the inspection robot according to the inspection span corresponding to each inspection location and the inspection method of each inspection task includes:

[0071] ;

[0072] The value is 0 or 1. When the value is 0, the target robot is determined to be a wheeled robot. When the value is 1, the target type robot is determined to be a stepping robot. is the inspection span, is the inspection span threshold, It is the inspection mode, the value is 0 or 1. The total number of inspection locations for all inspection tasks.

[0073] Optionally, traverse all inspection locations that need to be inspected, calculate the robot type selected for each inspection location, and add it to the robot type calculation result of each location. For each inspection location, the formula Part of it is used to determine what type of robot should be used at the location, specifically, The calculation is the difference between the inspection span distance of the location and the inspection span threshold divided by the threshold plus one. This part is used to determine the relative size of the span of the location and the threshold. The round function rounds the result of the previous step and rounds it up. The max function compares the above calculation result with the inspection method t of the location and takes the maximum value as the robot type calculation result; then the robot type calculation results of each inspection location are accumulated to get x_sum, which is used to comprehensively consider the robot type information of all locations. Therefore, The first part shows the process of accumulating the robot type calculation results of all inspection locations. Such accumulation operation helps determine the basis for the final selection of wheeled robots or stepping robots. Finally, the value of the target type robot is calculated. If the calculation result is 0, the wheeled robot is selected. If the calculation result is 1, the stepping robot is selected.

[0074] By determining the inspection location and distance, the present invention can optimize task allocation and scheduling to ensure that the robot can efficiently cover the entire inspection area; by reasonably determining the inspection span and method, the inspection robot resources can be effectively utilized, repeated inspections can be avoided and energy can be saved; and by determining the inspection method according to the inspection location and distance, it can ensure that the inspection robot can take appropriate inspection measures at the correct location, thereby improving inspection efficiency and accuracy.

[0075] Optionally, when any inspection task is to obtain infrared temperature measurement images or visible light images in the booster station and the switch room equipment, an inspection method of inspecting the equipment to be inspected outside the first preset distance is adopted, and the value of the inspection method is 0;

[0076] When any inspection task is to obtain the switch status, knife switch status, indicator light status, pressure plate status, instrument readings, SF6 gas leakage monitoring, partial discharge monitoring, transformer oil leakage, transformer oil temperature reading, transformer oil level reading, lightning arrester meter reading or SF6 gas density reading in the booster station and switch room equipment, an inspection method of inspecting the equipment to be inspected within a second preset distance is adopted, and the value of the inspection method is 1.

[0077] Optionally, the inspection mode value is 0, indicating that the inspection robot inspects the inspection equipment outside the first preset distance. In this case, the inspection robot usually uses its onboard infrared camera or visible light camera to photograph the substation and switch room equipment to obtain temperature images or visible light images, and can also record them in the form of video; the inspection mode value is 1, indicating that the inspection robot inspects the equipment within the second preset distance. In this case, the inspection robot will approach the equipment and use corresponding sensors or devices to obtain information on various parameters such as switch status and knife switch status. By determining the inspection methods for different inspection tasks, the present invention helps the robot to adopt the most suitable inspection strategy in different situations, thereby improving the accuracy and reliability of the inspection; adopting different inspection methods can reduce the dependence on manpower, and the robot can independently select the appropriate inspection method according to preset conditions to reduce the interference of human operation; in inspection tasks that need to obtain information such as images, the use of long-distance inspection methods can save time and energy, and in tasks that need to obtain parameter status, close-range inspections can improve the accuracy of data collection; setting different inspection methods to meet different needs makes the robot system more intelligent, can better adapt to complex inspection scenarios, and enhances the intelligence of the system. In summary, the present invention sets the inspection method according to the needs of specific inspection tasks, which can make the inspection robot system more intelligent and efficient, improve the inspection quality, reduce human interference, and thus improve the overall operation and maintenance efficiency and reliability.

[0078] In step 102, the present invention selects idle inspection robots that meet the communication protocol type according to the working status of the target type robot and the real-time requirements, data transmission requirements, and cross-platform compatibility requirements of all inspection tasks to ensure smooth communication and data transmission, thereby improving the adaptability of the communication protocol and ensuring that different inspection tasks can transmit and interact data through appropriate communication protocols, thereby completing the inspection tasks stably and effectively.

[0079] Optionally, before selecting a target inspection robot that meets the communication protocol type from all idle inspection robots, the method further includes:

[0080] According to the power industry's real-time requirements, data transmission requirements, and task cross-platform compatibility requirements for different preset tasks, inspection robots with different communication protocol types are preset;

[0081] The type of communication protocol that each inspection robot has is determined by different manufacturers when producing the inspection robot;

[0082] The real-time requirement includes ensuring real-time control of the inspection robot, and the communication protocol types corresponding to the real-time requirement include CANopen, an open communication protocol standard based on CAN bus, Profinet, a communication protocol used in the field of industrial automation, PROFIBUS, an industrial control network protocol based on CAN bus, DeviceNet, or an electric power system communication protocol IEC 104;

[0083] The data transmission requirements include ensuring the data transmission rate and data transmission volume, and the communication protocol types corresponding to the data transmission requirements include Ethernet / IP, ModbusTCP, Modbus RTU, Modbus ASCII, Modbus TCP / IP, and MQTT;

[0084] The task cross-platform compatibility requirement includes ensuring data exchange and connection of multiple cross-platform devices, and the communication protocol type corresponding to the task cross-platform compatibility requirement includes an open cross-platform industrial communication protocol OPC UA or an application programming interface API.

[0085] Those skilled in the art understand that, for each inspection robot, it may have one or more of the communication protocol types corresponding to the real-time requirements, one or more of the communication protocol types corresponding to the data transmission requirements, and one or more of the communication protocol types corresponding to the cross-platform compatibility requirements of the task; each inspection task includes obtaining infrared temperature measurement images or visible light images in the booster station and the switch room equipment, and also includes obtaining the switch status, knife switch status, indicator light status, pressure plate status, instrument readings, SF6 gas leakage monitoring, partial discharge monitoring, transformer oil leakage, transformer oil temperature reading, transformer oil level reading, lightning arrester meter reading or SF6 gas density reading in the booster station and the switch room equipment. One or more tasks, and each inspection task has different requirements for the communication protocol type. For all inspection tasks, the inspection robot needs to perform all inspection tasks, that is, it needs to integrate the requirements for the communication protocol type of each inspection task in all inspection tasks, determine which communication protocol type requirements the inspection robot corresponding to the execution of all inspection tasks should have, and then select the target inspection robot that meets the communication protocol type based on the actual communication protocol type requirements of the inspection robot.

[0086] Optionally, before screening the target inspection robot that meets the communication protocol type, the present invention presets inspection robots with different communication protocol types. At the operation and maintenance site, the inspection robot may need to communicate with other equipment or systems to achieve functions such as data interaction and control instruction transmission. When choosing a communication protocol type, the following factors can be considered: real-time requirements include ensuring real-time control of the inspection robot. The corresponding communication protocol types include CANopen, Profinet, PROFIBUS, DeviceNet and IEC 104. These protocols are based on the CAN bus or power system communication standards. If the operation status of the robot needs to be monitored and controlled in real time at the operation and maintenance site, a communication protocol that supports real-time communication can be selected to ensure the timeliness and stability of data transmission; data transmission requirements include ensuring data transmission rate and data transmission volume. The relevant communication protocol types include Ethernet / IP, Modbus TCP, Modbus RTU, Modbus ASCII, Modbus TCP / IP and MQTT, etc. According to the amount of data to be transmitted and the transmission rate requirements, a communication protocol that can support higher-speed data transmission is selected to ensure that data can be transmitted in time and maintain data integrity to meet different data transmission requirements; if there are devices produced by different manufacturers on site, a communication protocol that supports better cross-platform compatibility can be selected to achieve data exchange and connection between different devices. The task cross-platform compatibility requirements include ensuring data exchange and connection of multiple cross-platform devices. The corresponding communication protocol types include OPC UA and API, these protocols are used to realize data exchange and connection between devices on different platforms, and have high cross-platform compatibility.

[0087] In addition to the above considerations, the present invention can also select open standard communication protocols according to customized communication functions or future expansion needs, so as to flexibly expand and customize the development of specific functions; the equipment support provided by the inspection robot manufacturer should also be considered to ensure that the selected communication protocol type can obtain good technical support and maintenance services.

[0088] Optionally, the step of selecting a target inspection robot that meets the communication protocol type from all idle inspection robots includes:

[0089] Filter out all patrol robots to be assigned that meet the communication protocol type from all idle patrol robots;

[0090] Determine the relative distance between each inspection robot to be assigned and the inspection location corresponding to the first inspection task in the current state;

[0091] The inspection robot to be assigned with the smallest relative distance is determined as the target inspection robot.

[0092] Optionally, from all idle inspection robots, first select target inspection robots that meet the requirements of the communication protocol type to ensure that the selected inspection robots can effectively communicate with the specific task or system, and then determine the relative distance between the inspection robot to be assigned and the first inspection task. For all inspection robots to be assigned that meet the communication protocol type, determine their relative distance to the inspection location corresponding to the first inspection task through positioning technology, sensor data or other methods. This can be achieved by using GPS, laser positioning and other technologies; compare the relative distances of all inspection robots to be assigned to the location corresponding to the first inspection task, and select the inspection robot with the smallest relative distance as the target inspection robot to ensure that the selected robot can quickly reach the target location and improve the inspection efficiency.

[0093] Optionally, the present invention can quickly send the inspection robot to the target location by screening the target inspection robot that meets the communication protocol type and selecting the robot with the smallest relative distance for task assignment, thereby improving the inspection efficiency and accuracy. It uses positioning technology and intelligent algorithms to calculate and select the distance of the assigned inspection robot, thereby realizing the intelligent allocation and automatic scheduling of inspection tasks by the system, improving the intelligence level of the system, and automatically selecting the target inspection robot with the smallest relative distance, thereby reducing manual intervention and scheduling time and improving the response speed of inspection tasks.

[0094] In step 103, a user demand instruction is issued to the target inspection robot, instructing it to complete adaptive access and perform inspection tasks, receive inspection data sent by the target inspection robot, and implement protocol parsing according to different communication protocol types to obtain accurate inspection results, realize adaptive data parsing for different inspection tasks, ensure that the data collected from the robot is accurately converted into usable inspection results, and make timely decisions and adjustments based on the inspection results.

[0095] Optionally, before issuing the user demand instruction to the target inspection robot, the method further includes:

[0096] Constructing a preset protocol converter architecture, wherein the preset protocol converter architecture includes a protocol plug-in corresponding to each communication protocol type;

[0097] The protocol plug-in is communicatively connected with the communication interface corresponding to each inspection robot;

[0098] The preset protocol converter architecture is used to convert data received from different inspection robots into a preset unified format, and the preset unified format is determined based on all communication protocol types and data fields corresponding to each communication protocol type to adapt to different communication protocol types and different data formats.

[0099] Optionally, the present invention constructs a preset protocol converter architecture for inspection robots corresponding to different communication protocol types, including a protocol plug-in for each communication protocol type, each plug-in is responsible for connecting to the communication interface of the corresponding inspection robot, and each protocol plug-in is connected to the communication interface of the corresponding inspection robot to receive data transmitted from the inspection robot. The preset protocol converter architecture is designed to convert data from different inspection robots into a unified preset format, and the preset unified format is determined based on all communication protocol types and the data fields corresponding to each communication protocol type to adapt to the differences in different communication protocol types and data formats. By constructing a preset protocol converter architecture, the present invention can achieve compatibility of multiple different communication protocols in the system, ensure that data exchange and communication between different inspection robots can proceed smoothly, improve the unity and interoperability of the system, integrate the processing logic of different communication protocols into the system, simplify the management and maintenance of the system, and reduce the adaptation work for different inspection robots.

[0100] Optionally, before or after parsing the user demand instruction and obtaining all inspection tasks, the method further includes:

[0101] When the current time matches any task execution time in the preset inspection form, determine the form task corresponding to the task execution time to determine the inspection result corresponding to the form task;

[0102] The preset inspection form is constructed based on a weekly cycle, and different form tasks corresponding to different task execution times corresponding to each day are preset.

[0103] Optionally, the preset inspection form is constructed according to a weekly cycle, and different task execution times and corresponding inspection tasks are corresponding to each day. For example, for each day, corresponding inspection tasks are set at different times, and the week is used as the setting cycle to determine the preset inspection form. The preset inspection form helps the system to arrange the inspection tasks according to the preset schedule to ensure the orderly execution of the tasks. If the current moment matches a certain task execution time, the system determines the form task corresponding to the task, so as to perform the corresponding inspection work and obtain the results. The system can perform various inspection tasks in an orderly manner according to the arrangement in the preset inspection form, and obtain the inspection results of the task execution in a timely manner. The present invention matches the preset inspection form with the task execution time, so that the system can execute the inspection task at the right time, improve the execution efficiency and accuracy of the inspection task, help the system to reasonably arrange the inspection plan, ensure that various tasks are executed in an orderly manner according to the predetermined schedule, and improve the overall operation efficiency of the system.

[0104] Optionally, the present invention can intuitively control the inspection robot to perform inspections in the form of large-screen visualization or based on the site GIS+3D model. Inspection tasks can be set for each robot to perform periodic inspections along the specified route, or temporary inspection instructions can be directly issued to perform temporary inspections, or according to the technical solution disclosed in the present invention, the target inspection robot can be determined and then periodic inspections can be performed; during the inspection process, the inspection robot's visible light video and infrared video images, driving trajectory and real-time position, and data or status of the inspection object can be remotely viewed, and the robot can be controlled to remotely take photos, pause inspections, or continue inspections; and each latest data or status of the robot inspection equipment can be displayed on the site 3D model.

[0105] Optionally, the present invention can view the basic information of the inspection robots deployed at each station, including the robot's name, equipment status, and task status. Through the platform, the robot can be remotely operated to start and stop, and the robot can be controlled to perform inspection tasks along the specified route. The robot can be controlled to return to charge, suspend inspection, or continue inspection; and batch control of all robots can be supported to start, stop, continue, or return to charge at the same time. The present invention can also formulate periodic inspection tasks and temporary inspection tasks through the platform, including task name, task execution time, execution cycle, and task validity period.

[0106] During the inspection process, the inspection robot can automatically record each inspection record according to the inspection task, which should include the result record of the inspected equipment: inspection time, inspection duration, name of the inspected equipment, name of the inspection location, inspection video, infrared temperature measurement image of the equipment, visible light image, switch status, knife switch status, indicator light status, pressure plate status, instrument readings, SF6 gas leakage monitoring, partial discharge monitoring, transformer oil leakage, transformer oil temperature reading, transformer oil level reading, lightning arrester meter reading, SF6 gas density reading and other information. At the same time, for each inspection point, the controversial pictures can be reviewed with one click: when the robot is idle, it can be controlled by one click to go directly to the review point to take pictures for repeated comparison; the results of each inspection record can be displayed on the three-dimensional model of the station in a one-to-one correspondence with the equipment model; the historical results of the robot inspection can be compared and analyzed with the historical data collected by the power plant production control system to find the differences in equipment status inspections using different inspection and monitoring methods; the present invention also supports the storage and playback of video clips in the inspection records; an inspection report can be automatically generated to record the data or status of all inspection objects in this inspection task, analyze the anomalies found in the inspection according to the alarm rules, and include information such as the inspection summary, and the report can be downloaded as a PDF document.

[0107] Optionally, the inspection summary should include the cause analysis and treatment suggestions of the identified equipment abnormalities, and centrally manage the inspection report automatically generated after each complete inspection, which can be searched, viewed, downloaded and exported to PDF format; the historical identification data of the inspection object is summarized, compared and analyzed to assist users in making equipment status maintenance decisions. The present invention also supports the configuration of alarm conditions for each inspection object. According to the data or status identified by the robot inspection, when the alarm conditions are met, the alarm is triggered in time and the alarm information is pushed to the platform; when the alarm is triggered, the robot can trigger an audible and visual reminder.

[0108] Optionally, the present invention provides an intelligent fusion and multi-mode compatible protocol to achieve rapid access to mainstream robots. The protocol should meet the following requirements: support adaptive access to mainstream communication protocols, including API, MQTT, TCP, IEC104, FTPS; should be able to ensure the security and compliance of data during transmission and storage; the basic principles and mechanisms of multi-mode fusion data conversion should include data format conversion, data encoding and decoding, data compression, and data encryption; it needs to be deeply integrated with the new energy smart production and operation platform; the protocol application should meet the number of standardized functional interfaces that can be called by the application is not less than 20.

[0109] The present invention parses all inspection tasks according to user demand instructions, and determines the target type of robot, including wheeled robots and stepping robots, according to the inspection span and inspection method of the inspection task, to ensure that suitable robots are selected to perform different inspection tasks, thereby improving inspection efficiency and accuracy; based on real-time requirements, data transmission requirements and task cross-platform compatibility requirements, target inspection robots that meet the communication protocol type are screened out from all idle inspection robots to ensure that different inspection tasks can perform data transmission and interaction through suitable communication protocols as required, and intelligent task scheduling is achieved by parsing user demand instructions and considering the target type of robot according to factors such as the span, method and real-time requirements of the inspection task, thereby improving inspection efficiency and accuracy; inspection data is parsed according to adaptive protocols of different communication protocol types, thereby obtaining accurate inspection results, thereby ensuring that the data collected from the robot can be effectively converted into usable inspection results and equipment information.

[0110] Figure 2 This is the second flow chart of the adaptive protocol parsing method for the power industry robot provided by the present invention. After obtaining the inspection result, the method further includes:

[0111] For each inspection picture in the inspection result, extract characteristic elements in the inspection picture, wherein the characteristic elements include switches, knife switches, indicator lights, pressure plates, different fonts, and the font size and color of each font;

[0112] Determine each target device in the inspection task according to the characteristic elements in the inspection picture, and obtain device information of the target device corresponding to each inspection picture, wherein the device information includes a target state corresponding to the target device, or a target value corresponding to the target device;

[0113] When the target device is a switch, a knife switch, an indicator light or a pressure plate, the inspection picture is input into a preset device state model to obtain a target state corresponding to the target device output by the preset device state model;

[0114] In the case where the target device is a device with characteristic elements of different fonts, the inspection image is processed using a preset OCR recognition algorithm to obtain a target value corresponding to the target device;

[0115] The preset device state model is determined after training based on different sample images and the sample state corresponding to the target device in each sample image.

[0116] Optionally, for each inspection picture, the system extracts characteristic elements therein, including switches, knife switches, indicator lights, pressure plates, different fonts, font sizes and colors, etc. Different characteristic elements represent the differences in the inspection tasks corresponding to the inspection pictures, that is, different characteristic elements in the inspection picture represent the differences in each target device in the inspection task. Each target device in the inspection task is determined based on the characteristic elements in the inspection picture. The present invention adopts different acquisition methods for different target devices to obtain the device information of the target device corresponding to each inspection picture. The device information includes the target state corresponding to the target device, or the target value corresponding to the target device.

[0117] Optionally, for equipment such as switches, knife switches, indicator lights or pressure plates, the system inputs the inspection image into a preset equipment state model to obtain the target state corresponding to the target equipment. The preset equipment state model is determined after training based on different sample images and the sample state corresponding to the target equipment in each sample image. It can accurately predict the state of the equipment, such as the on or off state of the switch, the on or off state of the knife switch, the on or off state of the indicator light, etc.

[0118] Optionally, for devices with different font features, the system uses a preset OCR recognition algorithm to process the inspection image to obtain the numerical information corresponding to the target device, to accurately identify different fonts in the image, and to obtain the specific numerical information of the device. Different processing methods are adopted for different types of equipment. Using a preset device state model or OCR recognition algorithm, the system can effectively obtain the information of the target device, making the system more flexible and applicable. The present invention uses OCR image recognition technology to identify the image features of primary and secondary equipment in photovoltaic power stations. During the recognition process, the influence of factors such as lighting conditions, image shooting angle, and image compression rate on the recognition results must be considered, and ultimately the effective recognition of equipment data, status, temperature, appearance, and instrument readings is achieved, with an accuracy rate greater than or equal to 96%.

[0119] Optionally, after obtaining device information of a target device corresponding to each inspection picture, the method further includes:

[0120] When it is determined that there is an abnormality in the device information, an alarm instruction is generated, which is used to indicate that there is an abnormality in the target state or target value corresponding to the target device. The alarm instruction is sent to the management terminal and any inspection robot is instructed to recheck the target device again.

[0121] Optionally, for each target device, the present invention will compare it with the preset normal device information. If an abnormality is found in the device information, such as the switch is in the wrong position, the indicator light displays abnormally, the value deviates from the expected range, etc., the device information will be determined to be abnormal. When it is determined that the device information is abnormal, the present invention will generate an alarm instruction to indicate that the target state or value corresponding to the target device is abnormal. The alarm instruction includes the device ID, abnormal information description and other contents for subsequent processing and recording; the generated alarm instruction will be sent to the management terminal so that relevant personnel can be informed of the equipment abnormality in time and take necessary measures to handle and repair it. The management terminal can be a mobile device of the monitoring center or the relevant person in charge. At the same time, the system will instruct any inspection robot to re-inspect the target device where the abnormality is found. The inspection robot will return to the target site, re-check the equipment status, and upload the latest inspection results to the preset display system to confirm the equipment abnormality. The present invention can detect abnormalities in target device information in real time through abnormality detection, generate an alarm instruction and send it to the management terminal, so that relevant personnel can deal with equipment abnormalities in time and reduce possible safety risks; sending alarm instructions and instructing inspection robots to review helps to quickly respond to equipment abnormalities, reduce fault handling time, and improve equipment reliability; inspection robots can review specific equipment, reduce the influence of human factors, and improve inspection efficiency and accuracy.

[0122] Figure 3Schematic diagram of the structure of the electronic device provided by the present invention. Figure 3 As shown, the electronic device may include: a processor (processor) 310 , a communication interface (CommunicationsInterface) 320 , a memory (memory) 330 and a communication bus 340 , wherein the processor 310 , the communication interface 320 , and the memory 330 communicate with each other through the communication bus 340 . The processor 310 can call the logic instructions in the memory 330 to execute an adaptive protocol parsing method for robots in the power industry, the method comprising: parsing user demand instructions to obtain all inspection tasks, and determining the target type robot of the inspection robot according to the inspection span and inspection method of all inspection tasks, wherein the target type robot includes a wheeled robot and a stepping robot; determining all idle inspection robots corresponding to the target type robot according to the working status of the robot, and screening out target inspection robots that meet the communication protocol type from all idle inspection robots according to the real-time requirements, data transmission requirements, and task cross-platform compatibility requirements corresponding to all inspection tasks; issuing the user demand instruction to the target inspection robot to instruct the target inspection robot to complete adaptive access, and receiving inspection data corresponding to all inspection tasks from the target inspection robot, parsing the inspection data according to the adaptive protocol of different communication protocol types, and obtaining inspection results.

[0123] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0124] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute an adaptive protocol parsing method for power industry robots provided by the above methods, the method including: parsing user demand instructions to obtain all inspection tasks, and determining the target type robot of the inspection robot according to the inspection span and inspection method of all inspection tasks, wherein the target type robot includes a wheeled robot and a stepping robot; determining all idle inspection robots corresponding to the target type robot according to the working status of the robot, and screening out the target inspection robot that meets the communication protocol type from all idle inspection robots according to the real-time requirements, data transmission requirements, and task cross-platform compatibility requirements corresponding to all inspection tasks; issuing the user demand instruction to the target inspection robot to instruct the target inspection robot to complete adaptive access, and receiving inspection data corresponding to all inspection tasks from the target inspection robot, parsing the inspection data according to the adaptive protocol of different communication protocol types, and obtaining the inspection result.

[0125] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the adaptive protocol parsing method for power industry robots provided by the above-mentioned methods, the method comprising: parsing user demand instructions to obtain all inspection tasks, and determining the target type robot of the inspection robot according to the inspection span and inspection method of all inspection tasks, the target type robot including a wheeled robot and a stepping robot; determining all idle inspection robots corresponding to the target type robot according to the working status of the robot, and screening out the target inspection robot that meets the communication protocol type from all idle inspection robots according to the real-time requirements, data transmission requirements, and task cross-platform compatibility requirements corresponding to all inspection tasks; issuing the user demand instruction to the target inspection robot to instruct the target inspection robot to complete adaptive access, and receiving inspection data corresponding to all inspection tasks from the target inspection robot, parsing the inspection data according to the adaptive protocol of different communication protocol types, and obtaining the inspection result.

[0126] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0127] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0128] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adaptive protocol analysis of robots in the power industry, characterized in that: include: Parse the user demand instructions to obtain all inspection tasks, and determine the target type of inspection robot according to the inspection span and inspection method of all inspection tasks, wherein the target type of inspection robot includes a wheeled robot and a stepping robot; According to the working status of the robot, all idle inspection robots corresponding to the target type robot are determined. According to the real-time requirements, data transmission requirements, and task cross-platform compatibility requirements corresponding to all inspection tasks, the target inspection robots that meet the communication protocol type are screened out from all idle inspection robots; Sending the user demand instruction to the target inspection robot to instruct the target inspection robot to complete adaptive access, and receiving inspection data corresponding to all inspection tasks from the target inspection robot, parsing the inspection data according to the adaptive protocol of different communication protocol types, and obtaining the inspection result; The target type robot of the inspection robot is determined according to the inspection span and inspection mode of all inspection tasks, including: Determine the inspection location for each inspection task; According to the inspection task sequence, each relative distance between adjacent inspection locations is determined, and each relative distance is determined as the inspection span corresponding to each inspection location; Determine an inspection method for each inspection task according to the inspection location of each inspection task, wherein the inspection method includes inspecting the equipment to be inspected outside a first preset distance, or inspecting the equipment to be inspected within a second preset distance, wherein the first preset distance is greater than the second preset distance; Determine the target type robot of the inspection robot according to the inspection span corresponding to each inspection location and the inspection method of each inspection task; The step of determining the target type robot of the inspection robot according to the inspection span corresponding to each inspection location and the inspection method of each inspection task includes: ； The value is 0 or 1. When the value is 0, the target robot is determined to be a wheeled robot. When the value is 1, the target type robot is determined to be a stepping robot. is the inspection span, is the inspection span threshold, It is the inspection mode, the value is 0 or 1. The total number of inspection locations for all inspection tasks; When any inspection task is to obtain infrared temperature measurement images or visible light images in the booster station and switch room equipment, an inspection method of inspecting the equipment to be inspected outside the first preset distance is adopted, and the value of the inspection method is 0; In the case where any inspection task is to obtain the switch status, knife switch status, indicator light status, pressure plate status, instrument readings, SF6 gas leakage monitoring, partial discharge monitoring, transformer oil leakage, transformer oil temperature reading, transformer oil level reading, lightning arrester meter reading or SF6 gas density reading in the booster station and switch room equipment, an inspection mode of inspecting the equipment to be inspected within the second preset distance is adopted, and the value of the inspection mode is 1; Before selecting a target inspection robot that meets the communication protocol type from all idle inspection robots, the method further includes: According to the power industry's real-time requirements, data transmission requirements, and task cross-platform compatibility requirements for different preset tasks, inspection robots with different communication protocol types are preset; The type of communication protocol that each inspection robot has is determined by different manufacturers when producing the inspection robot; The real-time requirement includes ensuring real-time control of the inspection robot, and the communication protocol type corresponding to the real-time requirement includes the open communication protocol standard CANopen based on the CAN bus, the communication protocol Profinet used in the field of industrial automation, the communication protocol PROFIBUS used in the field of industrial automation, the industrial control network protocol DeviceNet based on the CAN bus, or the power system communication protocol IEC 104; The data transmission requirements include ensuring the data transmission rate and data transmission volume, and the communication protocol types corresponding to the data transmission requirements include Ethernet / IP, a communication protocol based on Ethernet, Modbus TCP, Modbus RTU, Modbus ASCII, Modbus TCP / IP, and MQTT; The task cross-platform compatibility requirement includes ensuring data exchange and connection of multiple cross-platform devices, and the communication protocol type corresponding to the task cross-platform compatibility requirement includes an open cross-platform industrial communication protocol OPC UA or an application programming interface API.

2. The adaptive protocol parsing method for power industry robots according to claim 1 is characterized in that: The target inspection robot that meets the communication protocol type is selected from all idle inspection robots, including: Filter out all patrol robots to be assigned that meet the communication protocol type from all idle patrol robots; Determine the relative distance between each inspection robot to be assigned and the inspection location corresponding to the first inspection task in the current state; The inspection robot to be assigned with the smallest relative distance is determined as the target inspection robot.

3. The adaptive protocol parsing method for power industry robots according to claim 1 is characterized in that: Before issuing the user demand instruction to the target inspection robot, the method further includes: Constructing a preset protocol converter architecture, wherein the preset protocol converter architecture includes a protocol plug-in corresponding to each communication protocol type; The protocol plug-in is communicatively connected with the communication interface corresponding to each inspection robot; The preset protocol converter architecture is used to convert data received from different inspection robots into a preset unified format, and the preset unified format is determined based on all communication protocol types and data fields corresponding to each communication protocol type to adapt to different communication protocol types and different data formats.

4. The adaptive protocol parsing method for power industry robots according to claim 1 is characterized in that: After obtaining the inspection result, the method further includes: For each inspection picture in the inspection result, extract characteristic elements in the inspection picture, wherein the characteristic elements include switches, knife switches, indicator lights, pressure plates, different fonts, and the font size and color of each font; Determine each target device in the inspection task according to the characteristic elements in the inspection picture, and obtain device information of the target device corresponding to each inspection picture, wherein the device information includes a target state corresponding to the target device, or a target value corresponding to the target device; When the target device is a switch, a knife switch, an indicator light or a pressure plate, the inspection picture is input into a preset device state model to obtain a target state corresponding to the target device output by the preset device state model; In the case where the target device is a device with characteristic elements of different fonts, the inspection image is processed using a preset OCR recognition algorithm to obtain a target value corresponding to the target device; The preset device state model is determined after training based on different sample images and the sample state corresponding to the target device in each sample image.

5. The adaptive protocol parsing method for power industry robots according to claim 4 is characterized in that: After obtaining the device information of the target device corresponding to each inspection picture, the method further includes: When it is determined that there is an abnormality in the device information, an alarm instruction is generated, which is used to indicate that there is an abnormality in the target state or target value corresponding to the target device. The alarm instruction is sent to the management terminal and any inspection robot is instructed to recheck the target device again.

6. The adaptive protocol parsing method for power industry robots according to claim 1 is characterized in that: Before or after parsing the user demand instruction and obtaining all inspection tasks, the method further includes: When the current time matches any task execution time in the preset inspection form, determine the form task corresponding to the task execution time to determine the inspection result corresponding to the form task; The preset inspection form is constructed based on a weekly cycle, and different form tasks corresponding to different task execution times corresponding to each day are preset.

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