Transformer automatic flexible docking oil extraction system and method

Abstract

The present invention belongs to the technical field of electric power robots. A transformer automatic flexible docking oil extraction system and method is provided, including: an oil extraction tank and an oil extraction robot, the oil extraction robot including an oil extraction robot chassis and an automatic docking device and an oil sample extraction device installed on the oil extraction robot chassis; the oil extraction tank includes a flexible docking oil extraction port, a fixed rod and a movable rod assembly fixed on the oil extraction tank body, the automatic docking device includes a guide docking mechanism and a flexible docking oil extraction mechanism, the guide docking mechanism is used to cooperate with the fixed rod and the movable rod assembly for guided docking, and the flexible docking oil extraction mechanism is used to flexibly dock with the flexible docking oil extraction port; the present invention replaces manual work by the automated cooperation between the oil extraction robot and the oil extraction tank, applies an automatic docking device, optimizes the operation process, improves the operation and maintenance efficiency and safety of the power system, and reduces the risk of manual work.

Description

Technical Field

[0001] The invention relates to the technical field of electric power robots, and in particular to a transformer automatic flexible docking oil extraction system and method. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] The transformer is one of the key equipment in the power system, and its operating status directly affects the safety and stability of the power grid. Regular collection and analysis of transformer oil samples can detect the oil quality inside the transformer, and timely discover and diagnose abnormal faults such as arc discharge and overheating inside the equipment, so as to provide early warning and avoid major accidents. When manually collecting transformer oil samples, the oil extraction process is complicated, the operation is labor-intensive, the operation efficiency is low, it is easily affected by the environment, and there are serious safety risks. Therefore, an automated transformer automatic flexible docking oil extraction system is proposed.

[0004] However, the existing transformer automatic flexible docking oil extraction system has the following problems: (1) Most of them need to rely on a robotic arm to drive the oil extraction connector to dock with the oil extraction port, which requires high-precision robotic arm control, increases computing power costs, and the control of the robotic arm is easily affected by high temperature and electromagnetic fields in the power scene; (2) Most of the existing oil extraction docking methods rely on precise control of the oil extraction connector. Even if there is a certain floating design, high-precision coordination of the robotic arm is required to achieve docking, and there is a problem of difficulty in docking the oil extraction connector and the oil extraction port; (3) The current automated oil extraction system lacks a self-check function before work. The automated oil extraction system must work near the transformer. The automated oil extraction system's own failures (such as line failures or battery failures) will bring greater safety risks to the transformer. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a transformer automatic flexible docking oil extraction system and method, which replaces manual operations through the automated coordination of an oil extraction robot and an oil extraction tank, and uses an automatic multiple flexible docking device to optimize the operation process, improve the operation and maintenance efficiency and safety of the power system, reduce the risks of manual operations, and ensure the high reliability of power supply, thereby having important application value.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides an automatic flexible docking and oil extraction system for a transformer.

[0008] A transformer automatic flexible docking oil extraction system, comprising: an oil extraction tank and an oil extraction robot, wherein the oil extraction robot comprises an oil extraction robot chassis and an automatic docking device and an oil sample extraction device installed on the oil extraction robot chassis;

[0009] The oil extraction tank includes a flexible docking oil extraction port, a fixed rod and a movable rod assembly fixed on the oil extraction tank body; the automatic docking device includes a guide docking mechanism and a flexible docking oil extraction mechanism; the guide docking mechanism is used to cooperate with the fixed rod and the movable rod assembly for guided docking; the flexible docking oil extraction mechanism is used to flexibly dock with the flexible docking oil extraction port.

[0010] As a further limitation of the first aspect of the present invention, the oil tank further includes: an oil tank door, a silicone waterproof strip is installed on the inner surface of the oil tank door, a flat lock is installed on the oil tank door, the oil tank door is connected to the oil tank body, a grounding bar is arranged on the outer side of the oil tank body, and a control unit is installed in the oil tank body, and the control unit is used to control and detect the operating status of the oil tank and communicate with the host computer.

[0011] As a further limitation of the first aspect of the present invention, a characteristic marker is connected to the top of the oil tank body, and the laser radar of the oil extraction robot performs characteristic recognition through the characteristic marker, and locates and navigates the oil tank so as to dock the oil extraction robot with the oil tank when extracting oil.

[0012] As a further limitation of the first aspect of the present invention, the flexible docking oil outlet comprises: a tapered docking port, a plane self-locking male joint, an adapter, a first joint bearing, a first bearing retaining ring, a first adjustment joint, a first docking port adjustment spring, a first baffle, a docking port base and a docking port bracket;

[0013] The docking interface bracket is fixed on the oil tank body, a fixing rod is fixed below, the front end of the fixing rod is a semicircular spherical surface, the docking interface base is fixed above the docking interface bracket, and the first bearing retaining ring and the first baffle plate fix the outer ring of the first joint bearing on the docking interface base;

[0014] One end of the first adjustment joint passes through the inner ring of the first joint bearing and is connected to one end of the adapter, and the other end of the first adjustment joint leads to the oil inlet. A first interface adjustment spring is installed between the first adjustment joint and the first baffle, and the tightness of the first interface adjustment spring is adjusted by screwing the first adjustment joint;

[0015] A planar self-locking male joint is fixed at the other end of the adapter, and a conical docking port is fixed at the other end of the planar self-locking male joint. Under the joint action of the inner ring, outer ring and first docking port adjustment spring of the first joint bearing, the flexible docking oil outlet performs flexible rotation and swing at multiple angles.

[0016] As a further limitation of the first aspect of the present invention, the oil tank further comprises an oil tank lifting door, the oil tank lifting door is connected to the door frame of the oil tank body, and the oil tank lifting door comprises a lifting door, a limit switch, a through-screw motor, a through-screw and a lifting door guide rail;

[0017] The lifting door guide rail and the limit switch are arranged on the door frame of the oil tank body, the lifting door is slidably connected with the lifting door guide rail, and the screw motor is fixed on the oil tank body;

[0018] The output shaft of the through-screw motor is connected to the through-type screw, and the through-type screw is installed on the lifting door. The output shaft of the through-screw motor rotates, driving the through-type screw to move up and down, thereby driving the lifting door to rise and fall along the lifting door guide rail.

[0019] As a further limitation of the first aspect of the present invention, the movable rod assembly is fixed on the oil tank body, the movable rod assembly is located at the lower side of the fixed rod, and the movable rod assembly includes two sets of linear bearing assemblies, a movable rod fixing seat, two sets of movable rod limit sensors, movable rod limit baffles of different lengths, and a reset spring;

[0020] The movable rod is fixed on a movable rod fixing seat, and the movable rod fixing seat is connected to two sets of linear bearing assemblies and slides along the linear bearing assemblies. Different lengths of limit baffles are triggered according to different compression amounts of the linear bearing assemblies. A reset spring for achieving reset is arranged on the linear bearing assemblies.

[0021] As a further limitation of the first aspect of the present invention, the oil extraction tank further includes: an oil extraction pipeline assembly; the oil extraction pipeline assembly is installed in the oil extraction tank body, the upper part of the oil extraction pipeline assembly is connected to the oil inlet of the flexible docking oil extraction port, and the lower part of the oil extraction pipeline assembly is divided into three parts and connected to the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch of the transformer, and returns to the transformer through the circulation pump and the return oil branch;

[0022] The upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch are all equipped with a first solenoid valve and a ball valve. The first solenoid valve adopts a normally closed valve. The circulating pump is installed at the front end of the return oil branch to realize the circulation of the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch of the transformer and the oil in the transformer.

[0023] As a further limitation of the first aspect of the present invention, a walking wheel set is connected to the chassis of the oil extraction robot, and a charging port for autonomous charging is installed at the front end of the chassis of the oil extraction robot.

[0024] As a further limitation of the first aspect of the present invention, the oil extraction robot further comprises: an oil extraction robot housing; the oil extraction robot housing is mounted on the oil extraction robot chassis;

[0025] The shell of the oil extraction robot is provided with a laser radar, a laser radar support, a depth camera, an ultrasonic sensor, a front door, a communication antenna, a left door, an emergency stop switch, an anti-collision strip, a rubber strip, a docking sealing cover, a right door, a rear door and an oil sample detection camera. The oil extraction robot is provided with a GPS and an IMU;

[0026] The oil extraction robot shell is connected to the oil extraction robot chassis through a rubber strip. An anti-collision strip and ultrasonic sensors distributed on both sides of the bottom are installed at the front end of the oil extraction robot shell. A touch switch is installed in the anti-collision strip. When the oil extraction robot is docked and has a deflection angle with the oil extraction tank, the ultrasonic sensors on both sides measure the distance and calculate the deflection angle data so that the automatic docking device can adjust the deflection angle.

[0027] The laser radar support is arranged above the front end of the oil extraction robot shell, the laser radar is installed above the laser radar support, a depth camera is arranged below the laser radar support, a docking sealing cover is arranged inside the front end of the oil extraction robot shell, and the oil sample detection camera is located inside the oil extraction robot shell;

[0028] The oil extraction robot shell is surrounded by a front door, a rear door, a left door and a right door, each of which is equipped with a magnetic door lock. The front door is a lifting door for automatic lifting during automatic docking, and a reflector is installed on the inner side of the left door to facilitate the oil sample detection camera to detect the details of the oil sample extraction from the syringe through the reflector.

[0029] As a further limitation of the first aspect of the present invention, assuming that the distance between the two ultrasonic sensors is a , by detecting the distance between the two ultrasonic sensors and the oil tank cabinet surface l 1 and l 2. Through the formula θ=arctan(( l 2- l 1) / a ) Calculate the deflection angle between the oil-collecting robot and the oil tank when it stops θ Value, if θ If the value is positive, the automatic docking device rotates clockwise. θ If the value is negative, the automatic docking device rotates counterclockwise.

[0030] As a further limitation of the first aspect of the present invention, the automatic docking device comprises: a guiding docking mechanism, a flexible docking oil extraction mechanism, an X-axis movable slide, a Y-axis movable slide, a telescopic mechanism, a vertical frame and a rotating mechanism; the flexible docking oil extraction mechanism is arranged on the telescopic mechanism and moves with the movement of the telescopic mechanism, and the telescopic mechanism is rigidly connected to the automatic docking device through a connecting plate;

[0031] The guide docking mechanism is fixed on the vertical frame through the guide docking mechanism fixing plate, and includes a holding rod mechanism adjustment plate, a holding rod mechanism connecting piece, a holding rod mechanism, a guide plate, a guide plate bracket, a movable rod trigger plate, a trigger plate bracket, a fixed rod front sensor, a fixed rod rear sensor and a holding rod mechanism fixing plate;

[0032] The arm mechanism is fixed on the guide docking mechanism fixing plate through the arm mechanism adjusting plate and the arm mechanism connecting piece. The guide plate is connected and fixed on the guide docking mechanism fixing plate with two sets of guide plate brackets. The guide plate is in a slope structure. During operation, the fixing rod of the oil tank does not move. The front end of the guide plate contacts the spherical surface of the fixing rod and slides passively along the slope to lift the guide docking mechanism.

[0033] The movable rod trigger plate is connected to the guide plate bracket through two sets of trigger plate brackets. During operation, the movable rod trigger plate moves toward the oil tank. The front of the movable rod trigger plate contacts the movable rod in the movable rod assembly, pushing the movable rod to move, thereby triggering movable rod limit baffles of different lengths to achieve the lifting and lowering control of the oil tank lifting door and the on-off control of the first solenoid valve. The fixed rod front sensor and the fixed rod rear sensor are installed at the front and rear ends of the guide plate bracket and are triggered by the fixed rod during operation.

[0034] As a further limitation of the first aspect of the present invention, the pole holding mechanism is fixed on the guide docking mechanism fixing plate through the pole holding mechanism adjustment plate and the pole holding mechanism connecting piece, and the pole holding mechanism includes a pole holding seat, a holding claw, an opposite side holding claw, a gear, a rack, a guide rail pair, a pole holding drive motor and a motor output shaft;

[0035] The pole holding drive motor is fixed on the pole holding base, the motor output shaft is connected to the output end of the pole holding drive motor, the gear is connected to the motor output shaft, the racks are arranged on both sides of the gear and mesh with the gear, a guide pair is arranged on the rack, the claws and the opposite side claws are installed on both sides of the rack, the claws and the opposite side claws are designed as single claw and double claw structures respectively, when the gear rotates, the rack and the claws are driven to move relative to each other, the claws and the opposite side claws are forked and overlapped together to hold the fixed pole tightly.

[0036] As a further limitation of the first aspect of the present invention, the flexible docking oil extraction mechanism comprises: a plane self-locking female joint, a pagoda joint, a fixed seat adapter plate, a docking joint fixed seat, a flange joint, a female joint sleeve and a second joint bearing, a second bearing retaining ring, a second adjustment joint, a second docking interface adjustment spring and a second baffle;

[0037] The fixed seat adapter plate is arranged on the telescopic mechanism, the butt joint fixed seat is arranged on the fixed seat adapter plate, the second bearing retaining ring and the second retaining plate fix the outer ring of the second joint bearing on the butt joint fixed seat, one end of the second adjustment joint passes through the inner ring of the second joint bearing and is connected to one end of the flange joint, and the other end is connected to the pagoda joint and leads to the oil outlet, and the pagoda joint is connected to the oil sample extraction device through a pipeline;

[0038] A second docking interface adjustment spring is installed between the second adjustment joint and the second baffle, and a plane self-locking female joint is fixed to the other end of the flange joint. A female joint sleeve is installed on the outside of the plane self-locking female joint, and smooth docking and locking with the plane self-locking male joint is achieved under the guiding action of the tapered docking interface. Under the joint action of the inner ring, outer ring and second docking interface adjustment spring of the second joint bearing, the flexible docking oil extraction mechanism performs multi-angle flexible rotation and swing control.

[0039] As a further limitation of the first aspect of the present invention, the X-axis movable slide is fixed on the chassis of the oil extraction robot, the Y-axis movable slide is arranged on the upper part of the X-axis movable slide, and the vertical frame is fixed on the upper part of the rotating mechanism;

[0040] The rotating mechanism includes a rotating drive motor, a first gear and a second gear. The first gear is fixed to the upper part of the Y-axis movable slide, the rotating drive motor is installed at the bottom of the vertical frame, and the second gear is installed on the output shaft of the rotating drive motor. The first gear is meshed with the second gear. When the rotating drive motor rotates, it drives the second gear to rotate along the first gear to realize the rotation of the vertical frame.

[0041] As a further limitation of the first aspect of the present invention, the oil extraction robot further comprises: an oil sample extraction device installed on the chassis of the oil extraction robot, the oil sample extraction device comprising: an oil sample pushing device and a pipeline switching system;

[0042] The oil sample pushing device comprises: a syringe nylon seat, a syringe baffle, a syringe, a two-position two-way valve, a hose, an elastic pin, an online detection sensor, a syringe tray, a linear module limit sensor, a syringe pushing module and a module fixing seat, wherein the syringe pushing module is fixed on the module fixing seat, and the syringe pushing module pushes the syringe oil sample through the hose and the pipeline switching system to the waste oil collection device, and is limited by the linear module limit sensor;

[0043] The syringe nylon seat is provided with a plurality of syringe barrel D-shaped opening grooves, and a syringe baffle is provided at the opening of the syringe barrel D-shaped opening groove to fix the syringe. An online detection sensor is provided on the inner surface of the syringe barrel D-shaped opening groove to detect whether the syringe is installed in place. A handle is provided on each side of the syringe nylon seat, and the syringe nylon seat is installed on the module fixing seat through elastic pins at both ends. The syringe tray is provided on the syringe pushing module to support the piston handle of the syringe. The oil outlet of the syringe is installed with a two-position two-way valve and corresponds to the multi-way oil outlet of the pipeline switching system through a hose.

[0044] As a further limitation of the first aspect of the present invention, the pipeline switching system is fixed on the valve group bracket, and the valve group bracket is also connected to a rubber cap column and a rubber cap, and the rubber cap is sleeved on the rubber cap column to block the oil outlet of the injector;

[0045] The pipeline switching system includes a second solenoid valve, a valve group fixing seat, a pressure sensor, a temperature sensor, a booster pump and a pump fixing seat. The second solenoid valve realizes the on-off and switching of the pipeline. The booster pump is fixed on the pump fixing seat. A connecting pipeline is designed inside the valve group fixing seat.

[0046] The primary oil inlet of the pipeline switching system is connected with the primary oil outlet of the pipeline switching system, the secondary oil inlet of the pipeline switching system is connected with the secondary oil outlet, waste oil outlet and reserved oil outlet of the multi-channel pipeline switching system, and a booster pump is installed between the primary oil outlet of the pipeline switching system and the secondary oil inlet of the pipeline switching system to flush the pipeline and extract oil samples;

[0047] A temperature sensor and a pressure sensor are arranged between the primary oil inlet and the primary oil outlet of the pipeline switching system to detect the temperature and pressure of the transformer oil. The secondary oil outlet of the multi-channel pipeline switching system is connected to the syringe through a hose to inject the oil sample into the syringe. A pressure sensor is installed at the front end of each secondary oil outlet of the multi-channel pipeline switching system to detect the pressure injected into the syringe.

[0048] As a further limitation of the first aspect of the present invention, a first oil receiving box and a second oil receiving box are respectively connected to the valve group bracket, the oil sample leaked from the pipeline switching system is collected by the first oil receiving box and transported to the second oil receiving box through a hose, the oil sample leaked from the oil sample pushing device is collected by the second oil receiving box, and the oil in the second oil receiving box is taken out manually.

[0049] As a further limitation of the first aspect of the present invention, the oil extraction robot also includes: a waste oil collection device installed on the chassis of the oil extraction robot, the waste oil collection device includes a weighing sensor, a waste oil tank, a fixed plate and a strap, the weighing sensor is used to measure the amount of waste oil discharged, the waste oil tank is used to collect the waste oil in the rinse pipeline, and the fixed plate and the strap are used to fix the waste oil tank above the weighing sensor.

[0050] In a second aspect, the present invention provides an active adaptive flexible docking method, using the transformer automatic flexible docking oil extraction system described in the first aspect of the present invention, including the following process:

[0051] The oil collection robot quickly approaches the oil collection tank, moves slowly after reaching the set initial position in front of the oil collection tank, and stops moving after reaching the set position in the oil collection tank;

[0052] The automatic docking device moves horizontally along the X direction. After the fixed rod hits the guide docking mechanism, it continues to move. After moving the set distance and confirming that the state is normal, it continues to move forward. At this time, the movable rod assembly begins to be compressed. After being compressed for a certain distance, the door of the oil tank is opened and the automatic docking device stops moving forward.

[0053] After the door of the oil tank is opened, the automatic docking device continues to move horizontally in the X direction, stops moving after moving a set distance, detects the deflection angle data, and rotates and adjusts the automatic docking device to make it perpendicular to the oil tank cabinet surface, which is convenient for automatic docking and oil extraction;

[0054] The guide docking mechanism firmly holds the fixed rod. During the holding process, the automatic docking device moves and adjusts along the Y direction to make the flexible docking oil extraction mechanism and the flexible docking oil extraction port relative to each other, and the flexible docking oil extraction mechanism moves forward until the flexible docking oil extraction port and the flexible docking oil extraction mechanism complete docking, wherein the X direction is the front of the movement of the oil extraction robot, and the Y direction is the direction in the horizontal plane perpendicular to the X direction.

[0055] In a third aspect, the present invention provides an active rinsing method for oil sample collection, using the transformer automatic flexible docking oil extraction system described in the first aspect of the present invention, including the following process:

[0056] First, the pipeline is flushed with an oil sample, and the flushed waste oil enters the waste oil collection device, and then the first syringe and the pipeline are flushed N times, and then the first syringe is used to take oil, where N is greater than or equal to 2;

[0057] The above process is followed to flush and extract oil from each syringe and pipeline until all the syringes have been completely extracted and the oil samples have been collected. Then, the oil extraction robot begins to withdraw.

[0058] In a fourth aspect, the present invention provides a key landmark assisted precise navigation and positioning method, using the transformer automatic flexible docking oil extraction system described in the first aspect of the present invention, comprising the following process:

[0059] In the substation scenario, key landmarks are selected, key nodes and target positions of the oil extraction robot's working path are calibrated, and a key landmark image library is constructed;

[0060] Use a depth camera to capture key landmarks from multiple angles, perform geometric correction and denoising after collecting images, extract feature points, generate a feature image library of key landmarks, bind the feature images of key landmarks with GPS coordinates and azimuth information, and store them as a searchable database;

[0061] Use GPS and IMU to preliminarily determine the relative position of the oil extraction robot, navigate according to the predetermined path, monitor the robot's movement path in real time, analyze the movement trajectory of the depth camera, and estimate the robot's displacement and posture relative to the environment;

[0062] Plan the path according to the target location and key landmark locations. When the GPS signal is normal, rely on GPS to provide global location information. If the GPS signal is weakened, switch to IMU-assisted navigation. Adjust the robot's movement trajectory in real time according to the navigation data, so that it is always on the optimal path when approaching the target location.

[0063] When the oil extraction robot approaches the target position, it retrieves the relevant landmark images from the searchable database, performs feature point matching, retrieves the best matching image between the current environment and the searchable database, and performs image mapping based on the image matching results to determine the position and posture deviation of the oil extraction robot in the current environment;

[0064] Calculate the relative position and posture of the depth camera relative to the key landmarks, and correct the displacement and posture of the robot relative to the key landmarks based on the position and posture deviation of the oil extraction robot in the current environment and the known landmark position information;

[0065] When approaching the target position, the robot continuously collects real-time images and performs landmark comparison and position fine-tuning. A fixed collection interval is set to perform multiple image comparisons to correct the robot's position and posture.

[0066] When the oil extraction robot approaches the target position, it confirms that the robot has accurately reached the target point based on the results of multiple landmark image comparisons and the convergence of postures after multiple comparisons.

[0067] In a fifth aspect, the present invention provides a fault self-detection and remote auxiliary repair method, which is used in the transformer automatic flexible docking oil extraction system described in the first aspect of the present invention;

[0068] The transformer automatic flexible docking oil extraction system also includes: an autonomous operation master controller, a robot host computer control system, a navigation and positioning system, a mobile platform control system, a power management system and an oil sample collection and detection control system arranged on the robot chassis, wherein the power management system is connected to a power supply battery of the oil extraction robot, and the oil sample collection and detection control system is respectively connected to the telescopic mechanism and the grasping mechanism to perform telescopic and grasping control;

[0069] The navigation and positioning system includes a navigation controller, the autonomous operation master controller is respectively connected to the robot host computer control system and the mobile platform control system in communication, the mobile platform control system includes a motion controller, a drive motor driver, a drive motor, a steering motor driver and a steering motor, the motion controller is connected to the navigation controller in communication, the motion controller is connected to the drive motor driver, the drive motor driver is connected to the drive motor, the motion controller is connected to the steering motor driver, and the steering motor driver is connected to the steering motor;

[0070] The power management system self-check, autonomous operation master controller self-check, robot host computer control system self-check, navigation and positioning system self-check, mobile platform control system self-check and oil sample collection and detection control system self-check are performed respectively. The robot host computer control system sends all self-check results to the cloud server, so that the cloud server generates an auxiliary repair strategy based on all self-check results and sends it to the robot host computer control system. The robot host computer control system automatically repairs according to the received auxiliary repair strategy or sends it to the maintenance personnel.

[0071] In a sixth aspect, the present invention provides a multi-modal deep fusion embodied perception task monitoring method, which is used in the transformer automatic flexible docking oil extraction system described in the first aspect of the present invention, and includes the following process:

[0072] The large model receives multimodal information from multiple sensors, conducts comprehensive analysis on the multimodal information collected in real time, makes judgments on anomalies or task deviations, and generates warnings or processing plans;

[0073] When the big model determines that anomalies or task deviations may occur, the built-in expert knowledge base is queried to find expert advice and historical experience related to the anomalies or task deviations, and the oil extraction docking process is optimized based on the expert advice and historical experience.

[0074] As a further limitation of the sixth aspect of the present invention, the large model can adjust the task monitoring strategy in real time, and generate an optimized oil extraction task operation process based on the multimodal perception results. By combining with the expert knowledge base, the actual operation status of the oil extraction task is fed back to the knowledge base, and the rule base is continuously optimized and expanded.

[0075] As a further limitation of the sixth aspect of the present invention, the large model automatically generates an in-depth analysis report on operation abnormalities by fusing visual data and sensor data, and automatically corrects the in-depth analysis report in combination with the processing solution of the expert knowledge base.

[0076] Compared with the prior art, the present invention has the following beneficial effects:

[0077] 1. The present invention provides an active adaptive flexible docking method for an automatic transformer oil sample collection robot, and develops an adaptive flexible docking mechanism. Through the strategy of "fixed rod clamping and positioning + active detection and rotation adjustment of deflection angle", a dual flexible adjustment method of the docking mechanism is adopted, and it has automatic docking buffer and universal flexible adjustment functions, so that the automatic docking device and the oil tank docking mechanism can be actively and flexibly adjusted to reliably dock, which solves the problems of unsuccessful docking, joint slippage and oil sample leakage, and realizes universal flexible adjustment, fast and accurate docking, joint self-locking and automatic separation functions during mechanism docking, reduces the safety hazards caused by frequent docking of the mechanism, and improves the accuracy and success rate of automatic docking; the claws of the holding mechanism adopt a fork-overlapping structure, which can firmly hold the fixed rod without slipping, effectively ensuring the automatic docking.

[0078] 2. The key landmark-assisted precise navigation and positioning method for the automatic transformer oil sample collection robot provided by the present invention performs key landmark fusion positioning based on image mapping, compares the image information in the actual environment with the pre-stored key landmark image, and corrects and fine-tunes the current posture through an image mapping algorithm, thereby solving the problem of inaccurate positioning caused by problems such as limited or failed GPS signals and accumulated odometer errors in complex environments, and realizes the high-precision positioning docking function of the automatic transformer oil sample collection robot, reduces the navigation deviation caused by the accumulation of GPS and IMU errors, and improves the robot's operating efficiency.

[0079] 3. The present invention provides an active lubrication method for transformer oil sample automatic collection robot oil sample collection, and develops an automatic oil sample flushing and pipeline switching device, which adopts a solenoid valve and valve block structure with a compact structure and small size. It can flush and collect multiple oil samples through solenoid valve switching, and pre-extract and flush the oil sample through the oil sample extraction device, and circulate it through a circulating pump and various branches to repeatedly lubricate the inner wall of the pipeline and remove waste oil, thereby solving the problem of inaccurate detection results caused by residual oil sample in the oil extraction pipeline and impurity contamination of the oil sample, realizing the automatic lubrication function of the inner wall of the pipeline and the syringe, and improving the cleanliness of the oil sample and the accuracy of the automatic detection results.

[0080] 4. The transformer oil sample collection robot fault self-inspection and remote assisted repair method provided by the present invention designs a system fault self-inspection and pre-repair strategy technology. Before oil sample collection, the autonomous operation master controller, robot host computer control system, power management system, navigation and positioning system, mobile platform control system and oil sample collection and detection control system are used for functional self-inspection and fault data is uploaded to the cloud server to assist in pre-repair of the fault, which solves the problem that the robot may work with safety hazards, realizes the functional self-inspection and active fault repair function of the transformer automatic flexible docking oil extraction system, and improves the safety of the robot's work.

[0081] 5. The present disclosure provides a multi-modal deep fusion embodied perception task monitoring method, which constructs a multi-modal information real-time collection and deep fusion model, monitors the task status of the robot in the oil sample collection process in real time, perceives the robot's task status, environmental changes and potential abnormal situations, captures abnormal behaviors, and optimizes through preset safety control strategies and query expert knowledge bases to reduce the risk of dangerous operations, solve the problem of unmanned operation during oil sample collection and susceptibility to interference from factors such as bubbles and impurities, realizes intelligent judgment and response during oil sample collection and automatic optimization of oil extraction tasks, and improves the safety, accuracy and operation success rate of the automated oil extraction process; through large models and expert knowledge bases, the automated oil extraction process is improved. Safety, accuracy and operation success rate are enhanced through real-time collection and fusion of multimodal information, and real-time monitoring of the task status of the oil extraction robot during the process of collecting transformer oil samples. The system can judge the progress of the operation, perceive the robot's task status, environmental changes and potential abnormal conditions, and capture abnormal behaviors (such as docking failure, oil sample abnormalities, etc.). The system reduces the risk of dangerous operations through preset safety control strategies, and realizes intelligent judgment and response. When the large model determines possible abnormalities or task deviations, it queries the built-in expert knowledge base to find expert advice and historical experience related to the current abnormalities or task deviations, and realizes automatic optimization of the oil extraction task. The coordinated optimization of the large model and the expert knowledge base further improves the monitoring accuracy of the oil extraction task.

[0082] 6. A reflector is installed on the back of the left door of the oil extraction robot of the present invention, which is convenient for the oil sample detection camera to detect the details of the syringe oil sample extraction through the reflector reflection, and realizes observation within a smaller visual range; the syringe nylon seat of the oil sample pushing device is installed on the module fixing seat through elastic pins at both ends. After the elastic pins are pulled out, the syringe nylon seat can be grabbed by the handle to remove the multiple groups of syringe oil samples that have been extracted and sent to the laboratory for testing, which is convenient for disassembly and assembly; the waste oil collection device adopts a weighing sensor to measure the amount of discharged waste oil, which is convenient and easy to use.

[0083] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0085] Figure 1 A schematic diagram of the overall structure of the transformer automatic flexible docking oil extraction system provided by the present invention;

[0086] Figure 2A schematic diagram of the partial structure of the transformer automatic flexible docking oil extraction system provided by the present invention;

[0087] Figure 3 A schematic diagram of the overall structure of the oil tank provided by the present invention;

[0088] Figure 4 A schematic diagram of the local structure of the oil tank provided by the present invention;

[0089] Figure 5 A schematic diagram of the overall structure of the flexible docking oil extraction port provided by the present invention;

[0090] Figure 6 A schematic diagram of the local structure of the oil tank provided by the present invention;

[0091] Figure 7 A schematic diagram of the overall structure of the oil extraction robot shell provided by the present invention;

[0092] Figure 8 A schematic diagram of the overall structure of the oil sample extraction device provided by the present invention;

[0093] Fig. 9 A schematic diagram of the overall structure of the pipeline switching system provided by the present invention;

[0094] Fig.10 A schematic diagram of the overall structure of the automatic docking device provided by the present invention;

[0095] Fig.11 A schematic diagram of the local structure of the automatic docking device provided by the present invention;

[0096] Fig.12 A schematic diagram of the structure of the flexible docking oil extraction mechanism provided by the present invention;

[0097] Fig.13 A schematic diagram of the structure of the pole holding mechanism provided by the present invention;

[0098] Fig.14 A schematic diagram of a deflection angle detection method provided by the present invention;

[0099] Fig.15 A schematic diagram of each control system provided by the present invention;

[0100] Fig.16 A schematic diagram of a navigation and positioning system provided by the present invention;

[0101] Fig.17 A schematic diagram of a mobile platform control system provided by the present invention;

[0102] in:

[0103] 1. Take the oil tank; 101. Characteristic identifier; 102. Fixed rod; 103. Movable rod; 104. Base; 105. Flexible docking oil port; 10501. Conical docking port; 10502. Flat self-locking male joint; 10503. Adapter; 10504. First joint bearing; 10505. First bearing retaining ring; 10506. First adjustment joint; 10507. First docking port adjustment spring; 10508. First baffle; 10509. Dock base; 105010. Dock bracket; 106. Take the oil tank lifting door; 107. Take the oil tank body; 108. Fuel tank access door; 109, plane lock; 110, grounding bar; 111, transformer upper branch; 112, transformer middle branch; 113, transformer lower branch; 114, circulation pump; 115, oil return branch; 116, ball valve; 117, first solenoid valve; 118, oil access branch; 119, movable rod limit sensor; 120, movable rod limit baffle; 121, linear bearing assembly; 122, movable rod fixing seat; 123, control unit; 124, limit switch; 125, through-screw motor; 126, through-screw; 127, lifting door guide rail; 128, fuel tank access door frame;

[0104] 2. Shell of the oil extraction robot; 201. Laser radar; 202. Laser radar support; 203. Depth camera; 204. Front side door; 205. Communication antenna; 206. Left side door; 207. Magnetic door lock; 208. Emergency stop switch; 209. Anti-collision strip; 210. Rubber strip; 211. Reflector; 212. Docking seal cover; 213. Right side door; 214. Rear side door; 215. Ultrasonic sensor;

[0105] 3. Oil extraction robot chassis; 301. Wheel and leg assembly; 302. Charging port; 303. Debug interface assembly;

[0106] 4. Oil extraction robot motion control module;

[0107] 5. Oil sample extraction device; 501. Syringe nylon seat; 502. Syringe baffle; 503. Syringe; 504. Two-position two-way valve; 505. PU pipe; 506. Valve group bracket; 507. Rubber cap column; 508. Pipeline switching system; 50801. Second solenoid valve; 50802. System secondary oil outlet; 50803. Pressure sensor; 50804. Valve group fixing seat; 50805. Booster pump; 50806. Pump fixing seat; 50807. Switching system secondary oil inlet; 50808. System primary oil outlet; 50809, system primary oil inlet; 50810, temperature sensor; 50811, reserved oil outlet; 50812, waste oil outlet; 509, rubber cap; 510, first oil receiving box; 511, elastic pin; 512, online detection sensor; 513, syringe tray; 514, oil extraction system electrical control module; 515, linear module limit sensor; 516, syringe push module; 517, module fixing seat; 518, second oil receiving box; 519, oil sample detection camera;

[0108] 6. Waste oil collection device;

[0109] 7. Automatic docking device; 701. Flexible docking oil extraction mechanism; 70101. Plane self-locking female joint; 70102. Pagoda joint; 70103. Fixed seat adapter plate; 70104. Butt joint fixed seat; 70105. Flange joint; 70106. Female joint sleeve; 70107. Second joint bearing; 70108. Second bearing retaining ring; 70109. Second adjustment joint; 70110. Second docking interface adjustment spring; 70111. Second baffle;

[0110] 702, telescopic mechanism; 703, vertical frame; 704, guide docking mechanism; 70401, pole holding mechanism connector; 70402, fixed pole rear sensor; 70403, trigger plate bracket; 70404, movable pole trigger plate; 70405, guide plate bracket; 70406, fixed pole front sensor; 70407, guide plate; 70408, pole holding mechanism; 704081, pole holding seat; 704082, claw; 704083, rack; 704084, guide rail pair; 704085, drive motor housing; 704086, pole holding drive motor; 704087, motor output shaft; 704088, gear; 704089, bearing; 70408 10. Opposite side claw; 7040811. Holding rod mechanism fixing plate; 70409. Docking detection camera; 704010. Guide docking mechanism fixing plate; 704011. Holding rod mechanism adjustment plate; 705. Rotating mechanism; 70501. Large gear; 70502. Rotating drive motor; 70503. Small gear; 706. Y-axis moving slide; 70601. Drag chain; 70602. Y-axis compression spring; 70603. Zero position scale; 70604. Pointer; 70605. Linear motion assembly; 70606. Y-axis guide rail pair; 707. X-axis moving slide; 70701. X-axis drive motor; 70702. X-axis guide rail pair; 70703. X-axis lead screw nut pair;

[0111] 8. Charging pile; 801. Charging connector. DETAILED DESCRIPTION

[0112] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0113] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0114] In this implementation, a transformer automatic flexible docking oil extraction system is proposed, such as Figure 1 and Figure 2 As shown, it includes an oil tank 1, an oil robot, and a charging pile 8, wherein the oil robot includes an oil robot chassis 3, an oil robot shell 2, an automatic docking device 7, an oil sample extraction device 5, a waste oil collection device 6, and a motion control module.

[0115] like Figure 3 As shown, the oil tank 1 mainly includes an oil tank body 107, a characteristic marker 101, a flexible docking oil extraction port 105, an oil tank lifting door 106, an oil tank door 108, a fixed rod 102, a movable rod assembly, an oil extraction pipeline assembly, a grounding bar 110 and a control unit 123, etc.

[0116] The oil tank 1 is installed on a base 104 (the base 104 is fixed to the ground), a silicone waterproof strip is installed on the inner surface of the oil tank door 108, a flat lock 109 is installed on the oil tank door 108, the oil tank door 108 and the oil tank body 107 are pressed together to achieve a waterproof function, and a grounding bar 110 is provided on the outer side of the oil tank body 107 to achieve grounding; a control unit 123 is installed in the oil tank body 107 to control and detect the operating status of the oil tank 1 and communicate with the host computer.

[0117] The characteristic marker 101 is fixed above the oil tank body 107 for the laser radar 201 of the oil extraction robot to perform characteristic recognition, so as to locate and navigate the oil extraction tank 1 and achieve docking between the oil extraction robot and the oil extraction tank 1 when extracting oil.

[0118] like Figure 5 As shown, the flexible docking oil extraction port 105 includes a conical docking port 10501, a flat self-locking male joint 10502, an adapter 10503, a first joint bearing 10504, a first bearing retaining ring 10505, a first adjustment joint 10506, a first docking port adjustment spring 10507, a first baffle 10508, a docking port base 10509 and a docking port bracket 105010. The docking port bracket 105010 is fixed to the oil extraction tank body 107, and a fixing rod 102 is fixed at the bottom. The front end of the fixing rod 102 is designed to be a semicircular spherical surface and is made of solid stainless steel. When the automatic docking device 7 of the oil extraction robot is docked, it cooperates with the holding rod mechanism 70408 on the automatic docking device 7 to realize the positioning, adjustment and correction of the automatic docking device 7 in the up and down and left and right directions.

[0119] The docking interface base 10509 is fixed above the docking interface bracket 105010, the first bearing retaining ring 10505 and the first baffle 10508 fix the outer ring of the first spherical bearing 10504 on the docking interface base 10509, the first adjustment joint 10506 passes through the inner ring of the first spherical bearing 10504 and is connected to the adapter 10503, and the first docking interface adjustment spring 10507 is installed between the first adjustment joint 10506 and the first baffle 10508. The tightness of the first docking interface adjustment spring 10507 can be adjusted by screwing the first adjustment joint 10506.

[0120] The other end of the adapter 10503 is fixed to the plane self-locking male connector 10502, which has the functions of self-locking, anti-leakage, dust-proof and impact-resistant. The conical docking port 10501 is fixed to the other end of the plane self-locking male connector 10502, which can guide the plane self-locking female connector 70101 to achieve smooth docking and locking with the plane self-locking male connector 10502. Under the joint action of the inner ring, outer ring of the first joint bearing 10504 and the first docking port adjustment spring 10507, the docking oil port can achieve flexible rotation and swing at multiple angles.

[0121] like Figure 6 As shown, the oil tank lifting door 106 is fixed on the door frame of the oil tank body 107, and mainly includes a lifting door, a limit switch 124, a through-screw motor 125, a through-type screw 126, and two sets of lifting door guide rails 127. The lifting door guide rails 127 and the limit switch 124 are arranged on the oil tank door frame 128, the through-screw motor 125 is fixed on the oil tank body 107, and the through-type screw 126 is installed on the lifting door. The rotor rotation of the through-screw motor 125 drives the through-type screw 126 to move up and down, thereby realizing the lifting and lowering of the oil tank lifting door 106.

[0122] The movable rod assembly is fixed on the oil tank body 107 and is located on the lower side of the fixed rod 102. It includes two sets of linear bearing assemblies 121, a movable rod fixing seat 122, two sets of movable rod limit sensors 119, movable rod limit baffles 120 of different lengths and a reset spring. The movable rod 103 is fixed on the movable rod fixing seat 122 and slides along the linear bearing assembly 121. The limit baffle is triggered according to the different compression amounts to realize the opening and closing of the lifting door and the opening and closing of the first solenoid valve 117 on the oil extraction pipeline assembly, and reset is achieved through the reset spring.

[0123] The oil extraction pipeline assembly is installed in the oil extraction tank 1, and the upper part is connected to the oil inlet of the flexible docking oil extraction port 105, such as Figure 4As shown, the lower part of the oil extraction branch 118 is divided into three parts and connected with the upper branch 111 of the transformer, the middle branch 112 of the transformer and the lower branch 113 of the transformer, and returns to the transformer through the circulating pump 114 and the return oil branch 115. The upper branch 111 of the transformer, the middle branch 112 of the transformer and the lower branch 113 of the transformer are all equipped with a first solenoid valve 117 and a ball valve 116 to manually or automatically realize the opening and closing of the oil circuit. The first solenoid valve 117 is a normally closed valve. A circulating pump 114 is installed at the front end of 15, and a first solenoid valve 117 and a ball valve 116 are also installed in the oil return branch 115, which are mainly used to realize the circulation of the transformer upper branch 111, the transformer middle branch 112 and the transformer lower branch 113 with the oil in the transformer, so as to obtain a qualified oil sample. The oil extraction pipeline assembly can realize the connection between the transformer upper branch 111, the transformer middle branch 112 and the transformer lower branch 113 and the oil extraction branch 118, and complete the collection of three-way oil samples.

[0124] The oil extraction robot chassis 3 includes an oil extraction robot body and a wheel-leg assembly 301. A charging port 302 and a debugging interface assembly 303 are installed at the front end of the oil extraction robot body, which can be charged and debugged autonomously. A control panel is provided at the rear end, which has interfaces such as debugging, oil extraction robot switch, and manual charging. The wheel-leg assembly 301 adopts a four-wheel drive form, with flexible steering, stability and reliability.

[0125] The oil extraction robot chassis 3 is equipped with an automatic docking device 7, an oil sampling device 5, a waste oil collection device 6, and a motion control module. The oil extraction robot housing 2 is installed on the oil extraction robot chassis 3. Figure 7 As shown, the oil extraction robot chassis 3 is tightly integrated with the oil extraction robot through a rubber strip 210, including a laser radar 201, a laser radar support 202, a depth camera 203, an ultrasonic sensor 215, a front door of the oil extraction robot, a communication antenna 205, a left door 206, an emergency stop switch 208, an anti-collision strip 209, a rubber strip 210, a docking sealing cover 212, a right door 213, and a rear door 214; the oil extraction robot chassis 3 is provided with a GPS and an IMU.

[0126] An anti-collision strip 209 and ultrasonic sensors 215 are installed at the front end of the oil extraction robot shell 2. A touch switch is installed in the anti-collision strip 209, which has the functions of reducing impact and alarming when a collision occurs. When the oil extraction robot is docked and has a deflection angle with the oil extraction tank 1, the ultrasonic sensors 215 on both sides measure the distance, calculate the deflection angle data, and transmit it to the motion control module, and the automatic docking device 7 adjusts the deflection angle.

[0127] The laser radar support 202 is arranged above the front end of the oil extraction robot shell 2. The laser radar 201 is installed above the laser radar support 202 to realize the positioning and navigation of the oil extraction robot. A depth camera 203 is arranged below the laser radar support 202 to monitor the working task environment in real time.

[0128] A docking seal cover 212 is provided inside the front end of the oil extraction robot housing 2 to prevent dust from being applied to the automatic docking device 7. The oil extraction robot housing 2 is provided with a front door 204, a rear door 214, a left door 206, and a right door 213 around the periphery thereof, and adopts an ABS structure. The rear door 214, the left door 206, and the right door 213 are all equipped with magnetic door locks 207 to facilitate on-site operation and overhaul and maintenance. The front door 204 is a lifting door that can be automatically lifted and lowered during automatic docking. A reflector 211 is installed on the inner side of the left door 206 to facilitate the oil sample detection camera 519 to reflect the detection syringe 503 oil sample extraction details through the reflector 211.

[0129] The ultrasonic sensor 215 deflection angle detection method, such as Fig.14 As shown, the distance a between the two ultrasonic sensors 215 is known. By detecting the distances l1 and l2 between the two sensors and the surface of the oil tank 1, the formula θ=arctan(( l2 - l1 ) / a) can calculate the deflection angle θ between the oil extraction robot and the oil extraction tank 1 when the oil extraction robot is docked. If the θ value is positive, the automatic docking device 7 rotates clockwise. If the θ value is negative, the automatic docking device 7 rotates counterclockwise to ensure that the automatic docking device 7 is perpendicular to the cabinet surface of the oil extraction tank 1, which is convenient for automatic docking and oil extraction.

[0130] like Fig.10 , Fig.11 , Fig.12 and Fig.13 As shown, the automatic docking device 7 includes a guide docking mechanism 704, a flexible docking oil extraction mechanism 701, an X-axis movable slide 707, a Y-axis movable slide 706, a telescopic mechanism 702, a vertical frame 703, a rotating mechanism 705, etc. The guide docking mechanism 704 is fixed on the vertical frame 703 through a guide docking mechanism fixing plate 704010, and includes a holding rod mechanism adjustment plate 704011, a holding rod mechanism connecting piece 70401, a holding rod mechanism 70408, a guide plate 70407, a guide plate bracket 70405, a movable rod trigger plate 70404, a trigger plate bracket 70403, a fixed rod front sensor 70406, a fixed rod rear sensor 70402, a holding rod mechanism fixing plate 7040811, and a guide docking mechanism fixing plate 704010.

[0131] The holding rod mechanism 70408 is fixed on the guide docking mechanism fixing plate 704010 through the holding rod mechanism adjusting plate 704011 and the holding rod mechanism connecting piece 70401, and includes a holding rod seat 704081, a holding claw 704082, an opposite side holding claw 7040810, a gear 704088, a rack 704083, a guide rail pair 704084, a holding rod drive motor 704086, a drive motor housing 704085, a motor output shaft 704087, a bearing 704089, and a holding rod mechanism fixing plate 7040811. By adjusting the position of the holding rod mechanism fixing plate 7040811 on the holding rod mechanism adjusting plate 704011, the position of the holding rod mechanism 70408 can be adjusted to facilitate better grasping of the fixed rod 102.

[0132] The pole drive motor 704086 is fixed on the pole base 704081. The gear 704088 and the bearing 704089 are arranged on the motor output shaft 704087. The bearing 704089 supports the operation. The rack 704083 is arranged on both sides of the gear 704088 and is tightly meshed with the gear 704088. The rack 704083 is arranged with a guide pair 704084 to guide and carry the claw 704082 and the opposite claw 7040810. On both sides of the rack 704083, the claw 704082 and the opposite claw 7040810 are designed as a single claw and a double claw structure respectively. When the gear 704088 rotates, the rack 704083 and the claw 704082 are driven to move relative to each other. The claw 704082 and the opposite claw 7040810 are forked and overlapped together, so that the fixed rod 102 can be firmly clamped without slipping. A drive motor housing 704085 is installed on the outside of the holding rod drive motor 704086 to play a protective role.

[0133] The guide plate 70407 is connected to two sets of guide plate brackets 70405 and fixed on the guide docking mechanism fixed plate 704010. The guide plate 70407 is designed to be a smooth slope structure and is made of hard and wear-resistant material. During operation, the fixed rod 102 of the oil tank 1 is kept stationary, and the front end of the guide plate 70407 is in spherical contact with the fixed rod 102 and passively slides along the inclined surface to lift the guide docking mechanism 704.

[0134] The movable rod trigger plate 70404 is connected to the guide plate bracket 70405 through two sets of trigger plate brackets 70403. It is made of hard and wear-resistant material. During operation, the movable rod trigger plate 70404 moves toward the oil tank 1, and the front of the movable rod trigger plate 70404 contacts the movable rod 103, pushing the movable rod 103 to move, thereby triggering different switches to realize the lifting and lowering of the oil tank lifting door 106 and the on and off functions of the first solenoid valve 117.

[0135] The fixed rod front sensor 70406 and the fixed rod rear sensor 70402 are installed at the front and rear ends of the guide plate bracket 70405, and are triggered by the fixed rod 102 during operation.

[0136] The docking detection camera 70409 is installed at the front of the guiding docking mechanism 704, which can observe the docking status in real time and provide timely feedback when problems are found.

[0137] The flexible docking oil extraction mechanism 701 is arranged on the telescopic mechanism 702, and moves with the movement of the telescopic mechanism 702. The flexible docking oil extraction mechanism 701 mainly includes a plane self-locking female joint 70101, a pagoda joint 70102, a fixed seat adapter plate 70103, a docking joint fixed seat 70104, a flange joint 70105, a female joint sleeve 70106 and a second joint bearing 70107, a second bearing retaining ring 70108, a second adjustment joint 70109, a second docking interface adjustment spring 70110, a second baffle 70111, etc. The fixed seat adapter plate 70103 is arranged on the telescopic mechanism 702, and the butt joint fixed seat 70104 is arranged on the fixed seat adapter plate 70103.

[0138] The second bearing retaining ring 70108 and the second baffle 70111 fix the outer ring of the second spherical bearing 70107 on the butt joint fixing seat 70104. The second adjustment joint 70109 passes through the inner ring of the second spherical bearing 70107 and is connected to the flange joint 70105. The other end is connected to the pagoda joint 70102 and leads to the oil inlet. The pagoda joint 70102 transports the oil sample to the oil sample extraction device 5 through the PU tube 505. A second butt joint adjustment spring 70110 is installed between the second adjustment joint 70109 and the second baffle 70111. The tightness of the spring can be adjusted by screwing the second adjustment joint 70109. The other end of the flange joint 70105 is fixed with a plane self-locking female joint 70101, which has the functions of self-locking, anti-leakage, dustproof and impact resistance. A female joint sleeve 70106 is installed on the outside, and under the guidance of the conical docking port 10501, it can be smoothly docked and locked with the plane self-locking male joint 10502. Under the joint action of the inner ring, outer ring and adjustment spring of the second joint bearing 70107, the docking oil outlet can achieve flexible rotation and swing at multiple angles.

[0139] The X-axis movable slide 707 includes two sets of guide rail pairs, a set of lead screw nut pairs, a driving motor, a structural body, etc. The X-axis movable slide 707 mainly realizes the contact between the driving docking device and the oil extraction pile guide rod and the movable rod 103, and specifically includes an X-axis driving motor 70701, an X-axis guide rail pair 70702 and an X-axis lead screw nut pair 70703.

[0140] The Y-axis movable slide 706 adopts a follow-up structure, including a Y-axis guide rail pair 70606, a linear motion assembly 70605 (linear bearing + light rod assembly), a Y-axis compression spring 70602, a drag chain 70601, a zero position scale 70603 and a pointer 70604, etc. Y-axis compression springs 70602 are respectively arranged on the light rods on both sides of the linear bearing. When there is no external force, the Y-axis movable slide 706 is at the zero position. When subjected to the external force of the system, it follows within the allowed range.

[0141] The telescopic mechanism 702 is rigidly connected to the automatic docking device 7 through a connecting plate, and adopts the form of a lead screw + guide rail. The driving unit uses a steering gear to accurately and stably realize the telescopic function.

[0142] The vertical frame 703 adopts a multi-ribbed plate structure, which is light and strong and can withstand the large thrust impact when the automatic docking device 7 is horizontally docked.

[0143] The rotating mechanism 705 includes a rotating drive motor 70502, a large gear 70501, and a small gear 70503. The large gear 70501 is fixed on the upper part of the Y-axis movable slide 706. The rotating drive motor 70502 is installed at the bottom of the vertical frame 703. The small gear 70503 is installed on the motor output shaft 704087. The small gear 70503 is meshed with the large gear 70501. When the rotating drive motor 70502 rotates, the small gear 70503 is driven to rotate along the large gear 70501, thereby realizing the rotation of the vertical frame 703.

[0144] like Figure 8 and Fig. 9 As shown, the oil sample extraction device 5 includes an oil sample pushing device, a pipeline switching system 508 , a first oil receiving box 510 , a second oil receiving box 518 , and an oil extraction system electrical control module 514 .

[0145] The oil sample pushing device includes a syringe nylon seat 501, a syringe baffle 502, a syringe 503, a two-position two-way valve 504, a PU tube 505, an elastic pin 511, an online detection sensor 512, a syringe tray 513, a linear module limit sensor 515, a syringe pushing module 516, and a module fixing seat 517. Six syringe barrel D-shaped opening slots are arranged on the syringe nylon seat 501, and a syringe baffle 502 is arranged at the opening to fix the syringe 503 to prevent it from falling off. An online detection sensor 512 is arranged on the inner surface of the syringe barrel D-shaped opening slot to detect whether the syringe 503 is installed in place. A handle is arranged on each side of the syringe nylon seat 501. The syringe nylon seat 501 is installed on the module fixing seat 517 through the elastic pins 511 at both ends. After the elastic pins 511 are pulled out, the syringe nylon seat 501 can be taken down together with the six groups of syringe 503 oil samples extracted and sent to the laboratory for testing by grabbing the handle.

[0146] The syringe tray 513 is arranged on the syringe pushing module 516, and is used to hold up the piston handle of the syringe 503. The syringe 503 is made of glass, which is convenient for observing the internal liquid. The oil outlet of the syringe is installed with a two-position two-way valve 504 and corresponds to the six-way oil outlet of the pipeline switching system 508 through the PU tube 505. The two-position two-way valve 504 is closed when the oil sample extraction is completed. The PU tube 505 adopts a high-temperature resistant, corrosion-resistant and explosion-proof oil pipe.

[0147] The syringe pushing module 516 is fixed on the module fixing seat 517, and is mainly composed of a motor, a lead screw, a guide rail, a structural body, and a linear module limit sensor 515. The syringe pushing module 516 pushes the syringe 503 oil sample through the PU tube 505 and the pipeline switching system 508 to the waste oil collection device 6. The oil sample is pushed smoothly and accurately, and is limited by the limit sensor.

[0148] The valve group bracket 506 is provided with a pipeline switching system 508, an oil sample detection camera 519, a rubber cap column 507, and a rubber cap 509. The rubber cap 509 is put on the rubber cap column 507 to block the oil outlet of the syringe 503. The oil sample detection camera 519 is automatically illuminated, and the oil sample collection details can be observed by observing the image of the syringe 503 in the reflector 211 on the back of the left door 206. The pipeline switching system 508 includes a second solenoid valve 50801, a valve group fixing seat 50804, a pressure sensor 50803, a temperature sensor 50810, a booster pump 50805, and a pump fixing seat 50806. The second solenoid valve 50801 realizes pipeline on-off and switching. The booster pump 50805 is fixed on the pump fixing seat 50806. A connecting pipeline is designed inside the valve group fixing seat 50804. The system primary oil inlet 50809 is connected with the system primary oil outlet 50808. The switching system secondary oil inlet 50807 is connected with the six-way system secondary oil outlet 50802, the waste oil port 50812, and the reserved oil outlet 50811. A booster pump 50805 is installed between the system primary oil outlet 50808 and the switching system secondary oil inlet 50807 for flushing the pipeline and extracting oil samples. A temperature sensor 50810 and a pressure sensor 50803 are provided between the primary oil inlet 50809 and the primary oil outlet 50808 of the system, which are used to detect the temperature and pressure of the oil from the transformer, initiate an alarm or stop the operation. The secondary oil outlet 50802 of the six-way system is connected to the syringe 503 through the PU tube 505, which is used to inject the oil sample into the syringe 503. A pressure sensor 50803 is installed at the front end of each oil outlet, which is used to detect the pressure injected into the syringe 503 to prevent the syringe 503 from bursting due to excessive pressure.

[0149] The electrical control module 514 of the oil extraction system is arranged on the back side of the module fixing seat 517. The oil sample leaked from the pipeline switching system 508 is collected by the first oil receiving box 510 and transported to the first oil receiving box 510 through the PU tube 505. The oil sample leaked from the oil sample pushing device is collected by the second oil receiving box 518. When the second oil receiving box 518 is full, the oil can be taken out manually.

[0150] The waste oil collection device 6 includes a weighing sensor, a waste oil tank, a fixing plate and a binding strap. The weighing sensor is used to measure the amount of waste oil discharged, the waste oil tank is used to collect the waste oil in the lubrication pipeline, and the fixing plate and the binding strap are used to fix the waste oil tank above the weighing sensor.

[0151] The motion control module includes the oil extraction robot motion control module 4 and the oil extraction system electrical control module 514. The oil extraction robot motion control module 4 has the functions of navigation, mobile oil extraction robot trajectory planning, real-time monitoring of the on-site operating environment, real-time monitoring of the on-site picture, data transmission, etc. The oil extraction system electrical control module 514 can perform oil sampling tasks such as automatic docking of the docking device, opening and closing of the first solenoid valve 117 in the oil extraction tank 1, lifting and lowering of the lifting door, flushing and extraction of the oil sampling extraction device 5, etc., to ensure that the operation tasks are completed accurately and in real time.

[0152] The charging pile 8 is arranged at a suitable position of the substation, and the charging connector 801 adopts a telescopic structure. The oil collection robot stops at a suitable position of the charging pile 8 through positioning navigation, and the charging connector 801 automatically extends to connect to the charging port 302 of the oil collection robot to achieve autonomous charging.

[0153] The working method of the above transformer automatic flexible docking oil extraction system includes:

[0154] According to the positioning and navigation of the laser radar, the oil extraction robot moves quickly close to the oil extraction tank, moves slowly after reaching an appropriate initial position in front of the oil extraction pile, and stops moving forward after reaching an appropriate position in front of the oil extraction pile;

[0155] At this time, the automatic docking device moves horizontally along the X direction. After the fixed rod touches the bottom of the guide plate, it continues to move, triggering the front sensor of the fixed rod. After confirming that the state is normal, it continues to move forward. At this time, the movable rod trigger plate touches the movable rod, and the movable rod begins to be compressed. After a certain distance, the switch is triggered, the oil tank lift door rises, and the automatic docking device stops moving forward;

[0156] After the oil tank lifting door is raised, the automatic docking device continues to move horizontally in the X direction, and the sensor behind the fixed rod is triggered to stop moving forward. The ultrasonic sensor detects the deflection angle data, and the automatic docking device is rotated and adjusted to make the automatic docking device perpendicular to the oil tank cabinet surface, which is convenient for automatic docking and oil extraction;

[0157] The rod holding mechanism starts to move and firmly holds the fixed rod. During the holding process, the automatic docking device moves and adjusts along the Y direction to make the plane self-locking female joint of the flexible docking oil extraction mechanism within the range of the conical docking interface of the flexible docking oil extraction port;

[0158] The telescopic mechanism moves, driving the flexible docking oil extraction mechanism forward, and the plane self-locking female joint of the flexible docking oil extraction mechanism enters into the conical docking port of the flexible docking oil extraction port, until the plane self-locking male joint of the flexible docking oil extraction port and the plane self-locking female joint of the flexible docking oil extraction mechanism are docked;

[0159] The oil tank is connected with appropriate pipelines, and the oil sampling device starts to collect oil samples;

[0160] The temperature sensor and pressure sensor provide real-time feedback of oil circuit information, and the booster pump provides real-time boost pressure.

[0161] First, flush the pipeline with oil sample, and the waste oil enters the waste oil collection device, then flush the No. 1 syringe and pipeline 3 times, and then use the No. 1 syringe to take oil;

[0162] The same goes for syringes No. 2 to No. 6. The oil samples taken by each syringe may be different oil samples from different transformers.

[0163] After the oil sample is collected, the oil extraction robot begins to exit, and the exit operation process is the opposite of the docking process.

[0164] Optionally, in some other implementations, the transformer oil sample collection machine system, such as Fig.15 As shown, it can also include a host computer control system, an autonomous operation master controller, a power management system, a navigation and positioning system, a mobile platform control system, and an oil sample collection and detection control system.

[0165] The host computer control system includes a remote control and a background system. The user can choose to issue operation commands through the background system, and the transformer oil sample collection robot will perform tasks autonomously. The user can also choose to use a remote control, and the operator can control the transformer oil sample collection robot to perform oil sample collection tasks.

[0166] The autonomous operation master controller exchanges information with other systems through communication modules such as the network, serial port, and CAN bus. After receiving the task from the host control system, the autonomous operation master controller decomposes the task into subtasks and issues them to the corresponding system according to the operation logic, and waits for the system to feedback the execution status of the subtask. After receiving the feedback of successful execution, it executes the next subtask until the total task is completed.

[0167] The power management system includes a voltage conversion module and a charging management module. The voltage conversion module converts the 48VDC power supply of the mobile platform into 12VDC and 24VDC to power the corresponding equipment. The charging management module monitors the current power in real time, issues an alarm when the power is lower than 20%, stops the current task when it is lower than 10%, and autonomously goes to the charging pile location for charging. After the battery is fully charged, it detaches from the charging pile and resumes task execution.

[0168] Optionally, in some other implementations, such as Fig.16 As shown in the figure, the navigation and positioning system includes a navigation controller, a laser radar, an inertial measurement unit IMU, a depth camera, and a GPS (i.e., a positioning unit). The laser radar and the depth camera collect external environmental information, the IMU obtains the posture and acceleration information of the mobile platform and cooperates with the GPS to provide accurate positioning information, and the navigation controller receives the above information to build an external environment map to realize the navigation and positioning function of the oil extraction robot.

[0169] Optionally, in some other implementations, such as Fig.17 As shown, the mobile platform control system includes a motion controller, a motor driver (including a first motor driver, a second motor driver, a third motor driver, and a fourth motor driver), a drive motor (including a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor), a steering motor driver (including a first steering motor driver, a second steering motor driver, a third steering motor driver, and a fourth steering motor driver) and a steering motor (including a first steering motor, a second steering motor, a third steering motor, and a fourth steering motor); the motion controller receives a movement command from the navigation controller, controls the oil sample collection robot to reach the oil sample collection operation position, and sends a control instruction to the motor driver through the CAN bus. The motor driver generates a corresponding PWM signal according to the command to control the speed and direction of the motor.

[0170] It can be understood that in some other implementations, the oil sample collection and detection control system may include an oil sample collection and detection controller, an oil sample collection module, an oil-gas separation module, a gas detection module and a data analysis module. After the oil circuit is opened, according to the instructions of the robot's autonomous operation general controller, the oil sample collection and detection controller sends commands to the oil sample collection module, the oil-gas separation module, the gas detection module and the data analysis module, and independently completes the entire process from oil sample collection to data analysis based on the feedback information from each module.

[0171] Optionally, the present implementation also provides a power-on self-test method for an automatic flexible docking oil extraction system for a transformer, including the following process:

[0172] (1) After the oil extraction robot is powered on, the power indicator light turns on, indicating that the power is connected. At this time, the power management system inside the robot begins to preliminarily check the status of the battery pack, including whether the battery power, voltage and temperature are within the normal range;

[0173] Battery power detection: The built-in power sensor accurately measures the current remaining battery power and compares it with the preset safety threshold. If the power is lower than the threshold, a low-battery warning is issued and the user is prompted to charge.

[0174] Power management check of each subsystem: By reading the voltage and current data of the power management unit of each subsystem, it is determined whether the power supply part of each system is normal.

[0175] (2) The main controller conducts self-inspection. After the main controller is powered on, it automatically runs the bootloader (i.e., the boot loader). The bootloader first checks whether the serial port, network port, USB port and other hardware of the main controller are working properly. If any component is abnormal, an error alarm will be issued. If the inspection is normal, it will start to check whether there is a new version of the code in the download area that has not been updated. If so, the new version of the code will be copied from the download area to the APP area, and then the application in the APP area will be booted. If there is no new version of the code, the application in the APP area will be directly booted.

[0176] (3) Self-check of the host control system. After the host control system is powered on, it first reads the version information of the host software and compares it with the compatible version list stored internally. If there is a new version, the application is updated; then, it starts to check the network connection between the host control system and the autonomous operation master controller. If the network connection fails, an error alarm is issued; after the connection is normal, it starts to read the relevant configuration parameters of the autonomous operation master controller and display them on the screen, and verifies whether the relevant configuration parameters meet the current operation requirements. If not, an error alarm is issued to prompt the operator to check and reset.

[0177] (4) Navigation and positioning system self-test: After the navigation and positioning system is powered on, it first checks whether the hardware of the GPS receiver, inertial measurement unit (IMU), and lidar are normal. If there is any hardware abnormality, a corresponding error alarm is issued. At the same time, it confirms whether each sensor has been correctly initialized and is in working condition. Then it starts power-on repositioning and positioning accuracy calibration. The accuracy of the positioning system is evaluated by comparing the difference between the actual position and the expected position. For the IMU, zero bias calibration and gyroscope drift test are performed to determine whether the accuracy is met. If not, an alarm message is issued.

[0178] (5) Mobile platform control system self-check. After the mobile platform is powered on, first check the motors and drivers on the mobile platform one by one to confirm that the communication is normal and there is no fault alarm. If there is an error, a corresponding alarm will be issued.

[0179] (6) The oil sample collection detection control system performs self-test. After the oil sample collection detection control system is powered on, it first resets the six groups of syringes. During the reset, it detects the photoelectric detection switches of each syringe drive module. When there is a signal output, it stops resetting and reads the value of the motor encoder as the zero point of the syringe movement. During the reset process, it continuously detects the output torque of the six syringe drive motors. When the alarm threshold is reached, it immediately stops the movement of the drive motor and issues an alarm message to prompt the user that the syringe reset is abnormal.

[0180] After the above six parts have completed the power-on self-test, the robot enters the ready state and waits for operation control instructions.

[0181] Optionally, a process of navigating the oil pickup robot to reach the oil pickup tank is also provided, including:

[0182] Before the first operation, it is necessary to build a map of the operating environment. Click the "Build Map" button in the background system, and the oil extraction robot will confirm the connection status of sensors such as lidar, IMU, depth camera, GPS, etc. If no sensor data is received, the system will issue a corresponding prompt to remind the staff to check the corresponding sensor hardware connection. If all sensors are connected in good condition, the system will enter the mapping mode.

[0183] After entering the mapping mode, the operator controls the oil extraction robot with a remote control to move in the outdoor environment and uses various sensors to collect environmental information. During this process, the oil extraction robot will continuously update its position and posture, and record the feature points of the surrounding environment.

[0184] After traversing the surrounding environment, click the Build Map button in the background system. The background system will generate the current environment map based on the collected environmental information. After the map is successfully generated, it can be manually edited. Generate virtual walls in the prohibited areas of the substation in the map and mark the operation location as the target point. When the oil extraction robot is working on the way to the target point, the navigation and positioning system will automatically block the prohibited area when planning the path to avoid safety accidents. After the map editing is completed, click the Save Map button to name the created map. The map will be saved for use in executing tasks.

[0185] When executing the oil extraction task, select the corresponding map, check the target point, click the task execution, and the oil extraction robot will start to navigate to the operation point. When the oil extraction robot navigates, it first confirms the position relationship between itself and the map, and performs self-positioning by rotating around the center position to scan the surrounding environment features and match them with the map features. In order to simplify the matching process and shorten the operation time, the program sets a preset point as the starting position of the oil extraction robot by default, and prioritizes the feature matching of the surrounding environment features of the current oil extraction robot with the location in the map. If the oil extraction robot is started at this default point, the matching process will be completed instantly;

[0186] After the oil extraction robot completes self-positioning, it generates an optimal global path planning by combining the current position information, the target position information and the obstacle information between the two positions. The oil extraction robot will move along this path, and generate a local path planning based on the real-time path information to adjust the global path planning, so that the oil extraction robot can avoid obstacles and move along the relatively optimal path in real time.

[0187] Among them, the cable trench cover information in the map is introduced in the process of generating global path planning and local path planning. In the process of mapping, the position of the cable trench cover is visually identified and the position information is recorded. When generating the global path planning, the weight is added to make the path with a large cable trench cover coverage rate the optimal path, and when generating the local path, the cable trench cover path is selected as the local optimal path, so that the oil extraction robot tries to walk along the cable trench cover during the navigation process instead of walking on the outdoor lawn, ensuring that the oil extraction robot moves smoothly and safely to the target position. After reaching the target position, the position of the oil extraction robot is fine-tuned by identifying the position of the characteristic marker 101 on the top of the oil extraction pile, so that the oil extraction robot moves accurately to the operation point, ensuring the accuracy of the oil extraction robot docking.

[0188] Optionally, this implementation also proposes an embodied perception operation task monitoring method, which can further improve the safety, accuracy and operation success rate of the automated oil extraction process through large models and expert knowledge bases. It is based on the real-time collection and fusion of multimodal information and can perform intelligent judgment and response by perceiving the robot's task status, environmental changes and potential abnormal situations.

[0189] This implementation method collects and integrates multimodal information from different sensors (such as vision, lidar, ultrasound, IMU, force sensor, etc.) to monitor the task status of the oil collection robot in the process of collecting transformer oil samples in real time. It can judge the progress of the operation, capture abnormal behaviors (such as docking failure, oil sample abnormality, etc.), and reduce the risk of dangerous operations through preset safety control strategies.

[0190] In this implementation, the large model receives data from a variety of sensors, including visual cameras, lidar, ultrasonic sensors, IMUs, force sensors, etc. (all of which can be mounted on the oil extraction robot).

[0191] The big model conducts a comprehensive analysis of the multimodal information collected in real time, determines the current docking status of the oil extraction robot through visual information, and uses force sensor data to detect abnormal forces that may exist during the docking process; during the operation, if abnormal sensor data is detected, the big model can use semantic understanding, compare historical data and failure modes, infer potential causes of failure, and generate warnings or treatment plans.

[0192] When the big model identifies a possible anomaly or task deviation, it queries the built-in expert knowledge base to find expert advice and historical experience related to the current anomaly or task deviation. For example, during the oil sample collection process, if an oil pressure anomaly is detected, the system can match the process based on the fault type in the knowledge base and recommend shutdown or recalibration.

[0193] The expert knowledge base includes best practices for transformer maintenance, troubleshooting strategies, oil sample testing standards, etc. For example, when the system determines that the oil extraction docking has failed, the expert knowledge base will provide specific troubleshooting processes (such as checking the docking angle, cleaning the docking interface), and recommend adjusting the posture of the oil extraction robot and its accessories.

[0194] Optionally, this implementation also realizes the collaborative optimization of the large model and the expert knowledge base, specifically including:

[0195] (1) Dynamic decision-making and feedback learning: The large model can adjust the task monitoring strategy in real time and generate optimized operation procedures based on multimodal perception results. By combining with the expert knowledge base, the system can feed back the actual operation status of the task into the knowledge base and continuously optimize and expand the rule base. For example, during the oil sample collection process, the system gradually optimizes the pressure control algorithm for oil extraction through multiple operation feedback learning.

[0196] (2) Abnormality capture and emergency handling: The big model automatically generates an in-depth analysis report on operation abnormalities by fusing visual and sensor data. For example, if a docking posture deviation is detected during the operation, the big model will generate posture adjustment suggestions and automatically correct them in combination with the processing solution of the expert knowledge base.

[0197] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A transformer automatic flexible docking oil extraction system, characterized in that: include: An oil tank and an oil extraction robot, wherein the oil extraction robot comprises an oil extraction robot chassis and an automatic docking device and an oil sample extraction device installed on the oil extraction robot chassis; The oil extraction tank comprises a flexible docking oil extraction port, a fixed rod and a movable rod assembly fixed on the oil extraction tank body, the automatic docking device comprises a guiding docking mechanism and a flexible docking oil extraction mechanism, the guiding docking mechanism is used to cooperate with the fixed rod and the movable rod assembly for guiding docking, and the flexible docking oil extraction mechanism is used to flexibly dock with the flexible docking oil extraction port; The oil extraction robot further comprises: an oil extraction robot shell; the oil extraction robot shell is mounted on the oil extraction robot chassis, an ultrasonic sensor is arranged on the oil extraction robot shell, and a front door, a rear door, a left door and a right door are respectively arranged around the oil extraction robot shell, and a reflector is installed on the inner side of the left door to facilitate the oil sample detection camera to detect the details of the oil sample extraction of the syringe through the reflector reflection; Two ultrasonic sensors are distributed on both sides of the front bottom of the oil extraction robot shell. When the oil extraction robot is docked and has a deflection angle with the oil extraction tank, the ultrasonic sensors on both sides measure the distance and calculate the deflection angle data so that the automatic docking device can adjust the deflection angle. Assuming that the distance between the two ultrasonic sensors is a , by detecting the distance between the two ultrasonic sensors and the oil tank cabinet surface l 1 and l 2. Through the formula θ=arctan(( l 2- l 1) / a ) Calculate the deflection angle between the oil-collecting robot and the oil tank when it stops θ Value, if θ If the value is positive, the automatic docking device rotates clockwise. θ If the value is negative, the automatic docking device rotates counterclockwise; The guide docking mechanism comprises a holding rod mechanism adjusting plate, a holding rod mechanism connecting piece, a holding rod mechanism and a holding rod mechanism fixing plate; the holding rod mechanism is fixed on the guide docking mechanism fixing plate through the holding rod mechanism adjusting plate and the holding rod mechanism connecting piece; The pole holding mechanism comprises a pole holding seat, a holding claw, an opposite side holding claw, a gear, a rack, a guide rail pair, a pole holding drive motor and a motor output shaft; The pole holding drive motor is fixed on the pole holding base, the motor output shaft is connected to the output end of the pole holding drive motor, the gear is connected to the motor output shaft, the racks are arranged on both sides of the gear and mesh with the gear, a guide pair is arranged on the rack, the claws and the opposite side claws are installed on both sides of the rack, the claws and the opposite side claws are designed as single claw and double claw structures respectively, when the gear rotates, the rack and the claws are driven to move relative to each other, the claws and the opposite side claws are forked and overlapped together to hold the fixed pole tightly.

2. The transformer automatic flexible docking oil extraction system according to claim 1, characterized in that: The oil tank also includes: an oil tank door, a silicone waterproof strip is installed on the inner surface of the oil tank door, a flat lock is installed on the oil tank door, the oil tank door is connected to the oil tank body, a grounding bar is arranged on the outer side of the oil tank body, and a control unit is installed in the oil tank body, and the control unit is used to control and detect the operating status of the oil tank and communicate with the host computer.

3. The transformer automatic flexible docking oil extraction system according to claim 2, characterized in that: A characteristic marker is connected to the top of the oil tank body. The laser radar of the oil extraction robot performs characteristic recognition through the characteristic marker, and locates and navigates the oil extraction tank so that the oil extraction robot can dock with the oil extraction tank when extracting oil.

4. The transformer automatic flexible docking oil extraction system according to any one of claims 1 to 3, characterized in that: The flexible docking oil outlet comprises: a tapered docking port, a plane self-locking male joint, an adapter, a first joint bearing, a first bearing retaining ring, a first adjustment joint, a first docking port adjustment spring, a first baffle, a docking port base and a docking port bracket; The docking interface bracket is fixed on the oil tank body, a fixing rod is fixed below, the front end of the fixing rod is a semicircular spherical surface, the docking interface base is fixed above the docking interface bracket, and the first bearing retaining ring and the first baffle plate fix the outer ring of the first joint bearing on the docking interface base; One end of the first adjustment joint passes through the inner ring of the first joint bearing and is connected to one end of the adapter, and the other end of the first adjustment joint leads to the oil inlet. A first interface adjustment spring is installed between the first adjustment joint and the first baffle, and the tightness of the first interface adjustment spring is adjusted by screwing the first adjustment joint; A planar self-locking male joint is fixed at the other end of the adapter, and a conical docking port is fixed at the other end of the planar self-locking male joint. Under the joint action of the inner ring, outer ring and first docking port adjustment spring of the first joint bearing, the flexible docking oil outlet performs flexible rotation and swing at multiple angles.

5. The transformer automatic flexible docking oil extraction system according to any one of claims 1 to 3, characterized in that: The oil tank further comprises an oil tank lifting door, the oil tank lifting door is connected to the door frame of the oil tank body, and the oil tank lifting door comprises a lifting door, a limit switch, a through-screw motor, a through-screw and a lifting door guide rail; The lifting door guide rail and the limit switch are arranged on the door frame of the oil tank body, the lifting door is slidably connected with the lifting door guide rail, and the screw motor is fixed on the oil tank body; The output shaft of the through-screw motor is connected to the through-type screw, and the through-type screw is installed on the lifting door. The output shaft of the through-screw motor rotates, driving the through-type screw to move up and down, thereby driving the lifting door to rise and fall along the lifting door guide rail.

6. The transformer automatic flexible docking oil extraction system according to any one of claims 1 to 3, characterized in that: The movable rod assembly is fixed on the oil tank body, the movable rod assembly is located at the lower side of the fixed rod, and the movable rod assembly includes two sets of linear bearing assemblies, a movable rod fixing seat, two sets of movable rod limit sensors, movable rod limit baffles of different lengths, and a reset spring; The movable rod is fixed on a movable rod fixing seat, and the movable rod fixing seat is connected to two sets of linear bearing assemblies and slides along the linear bearing assemblies. Different lengths of limit baffles are triggered according to different compression amounts of the linear bearing assemblies. A reset spring for achieving reset is arranged on the linear bearing assemblies.

7. The transformer automatic flexible docking oil extraction system according to any one of claims 1 to 3, characterized in that: The oil extraction tank further comprises: an oil extraction pipeline assembly; the oil extraction pipeline assembly is installed in the oil extraction tank body, the upper portion of the oil extraction pipeline assembly is connected to the oil inlet of the flexible docking oil extraction port, the lower portion of the oil extraction pipeline assembly is divided into three parts and connected to the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch of the transformer, and returns oil to the transformer through the circulation pump and the return oil branch; The upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch are all equipped with a first solenoid valve and a ball valve. The first solenoid valve adopts a normally closed valve. The circulating pump is installed at the front end of the return oil branch to realize the circulation of the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch of the transformer and the oil in the transformer.

8. The transformer automatic flexible docking oil extraction system according to any one of claims 1 to 3, characterized in that: A walking wheel set is connected to the chassis of the oil extraction robot, and a charging port for autonomous charging is installed at the front end of the chassis of the oil extraction robot.

9. The transformer automatic flexible docking oil extraction system according to any one of claims 1 to 3, characterized in that: The shell of the oil extraction robot is provided with a laser radar, a laser radar support, a depth camera, a front door, a communication antenna, a left door, an emergency stop switch, an anti-collision strip, a rubber strip, a docking seal cover, a right door, a rear door and an oil sample detection camera. The oil extraction robot is provided with a GPS and an IMU; The oil extraction robot shell is connected to the oil extraction robot chassis through a rubber strip, an anti-collision strip is installed at the front end of the oil extraction robot shell, and a touch switch is installed in the anti-collision strip; The laser radar support is arranged above the front end of the oil extraction robot shell, the laser radar is installed above the laser radar support, a depth camera is arranged below the laser radar support, a docking sealing cover is arranged inside the front end of the oil extraction robot shell, and the oil sample detection camera is located inside the oil extraction robot shell; The oil extraction robot housing is provided with a front door, a rear door, a left door and a right door on the four sides thereof. The rear door, the left door and the right door are all equipped with magnetic door locks. The front door is a lifting door for automatic lifting during automatic docking.

10. The transformer automatic flexible docking oil extraction system according to any one of claims 1 to 3, characterized in that: The automatic docking device comprises: a guiding docking mechanism, a flexible docking oil extraction mechanism, an X-axis movable slide, a Y-axis movable slide, a telescopic mechanism, a vertical frame and a rotating mechanism; the flexible docking oil extraction mechanism is arranged on the telescopic mechanism and moves with the movement of the telescopic mechanism, and the telescopic mechanism is rigidly connected to the automatic docking device through a connecting plate; The guide docking mechanism is fixed on the vertical frame through the guide docking mechanism fixing plate, and includes a holding rod mechanism adjustment plate, a holding rod mechanism connecting piece, a holding rod mechanism, a guide plate, a guide plate bracket, a movable rod trigger plate, a trigger plate bracket, a fixed rod front sensor, a fixed rod rear sensor and a holding rod mechanism fixing plate; The arm mechanism is fixed on the guide docking mechanism fixing plate through the arm mechanism adjusting plate and the arm mechanism connecting piece. The guide plate is connected and fixed on the guide docking mechanism fixing plate with two sets of guide plate brackets. The guide plate is in a slope structure. During operation, the fixing rod of the oil tank does not move. The front end of the guide plate contacts the spherical surface of the fixing rod and slides passively along the slope to lift the guide docking mechanism. The movable rod trigger plate is connected to the guide plate bracket through two sets of trigger plate brackets. During operation, the movable rod trigger plate moves toward the oil tank. The front of the movable rod trigger plate contacts the movable rod in the movable rod assembly, pushing the movable rod to move, thereby triggering movable rod limit baffles of different lengths to achieve the lifting and lowering control of the oil tank lifting door and the on-off control of the first solenoid valve. The fixed rod front sensor and the fixed rod rear sensor are installed at the front and rear ends of the guide plate bracket and are triggered by the fixed rod during operation.

11. The transformer automatic flexible docking oil extraction system according to claim 10, characterized in that: The flexible docking oil extraction mechanism comprises: a plane self-locking female joint, a pagoda joint, a fixed seat adapter plate, a docking joint fixed seat, a flange joint, a female joint sleeve, a second joint bearing, a second bearing retaining ring, a second adjustment joint, a second docking interface adjustment spring and a second baffle; The fixed seat adapter plate is arranged on the telescopic mechanism, the butt joint fixed seat is arranged on the fixed seat adapter plate, the second bearing retaining ring and the second retaining plate fix the outer ring of the second joint bearing on the butt joint fixed seat, one end of the second adjustment joint passes through the inner ring of the second joint bearing and is connected to one end of the flange joint, and the other end is connected to the pagoda joint and leads to the oil outlet, and the pagoda joint is connected to the oil sample extraction device through a pipeline; A second docking interface adjustment spring is installed between the second adjustment joint and the second baffle, and a plane self-locking female joint is fixed to the other end of the flange joint. A female joint sleeve is installed on the outside of the plane self-locking female joint, and smooth docking and locking with the plane self-locking male joint is achieved under the guiding action of the tapered docking interface. Under the joint action of the inner ring, outer ring and second docking interface adjustment spring of the second joint bearing, the flexible docking oil extraction mechanism performs multi-angle flexible rotation and swing control.

12. The transformer automatic flexible docking oil extraction system according to claim 10, characterized in that: The X-axis movable slide is fixed on the chassis of the oil extraction robot, the Y-axis movable slide is arranged on the upper part of the X-axis movable slide, and the vertical frame is fixed on the upper part of the rotating mechanism; The rotating mechanism includes a rotating drive motor, a first gear and a second gear. The first gear is fixed to the upper part of the Y-axis movable slide, the rotating drive motor is installed at the bottom of the vertical frame, and the second gear is installed on the output shaft of the rotating drive motor. The first gear is meshed with the second gear. When the rotating drive motor rotates, it drives the second gear to rotate along the first gear to realize the rotation of the vertical frame.

13. The transformer automatic flexible docking oil extraction system according to any one of claims 1 to 3, characterized in that: The oil extraction robot further comprises: an oil sample extraction device installed on the chassis of the oil extraction robot, the oil sample extraction device comprising: an oil sample pushing device and a pipeline switching system; The oil sample pushing device comprises: a syringe nylon seat, a syringe baffle, a syringe, a two-position two-way valve, a hose, an elastic pin, an online detection sensor, a syringe tray, a linear module limit sensor, a syringe pushing module and a module fixing seat, wherein the syringe pushing module is fixed on the module fixing seat, and the syringe pushing module pushes the syringe oil sample through the hose and the pipeline switching system to the waste oil collection device, and is limited by the linear module limit sensor; The syringe nylon seat is provided with a plurality of syringe barrel D-shaped opening grooves, and a syringe baffle is provided at the opening of the syringe barrel D-shaped opening groove to fix the syringe. An online detection sensor is provided on the inner surface of the syringe barrel D-shaped opening groove to detect whether the syringe is installed in place. A handle is provided on each side of the syringe nylon seat, and the syringe nylon seat is installed on the module fixing seat through elastic pins at both ends. The syringe tray is provided on the syringe pushing module to support the piston handle of the syringe. The oil outlet of the syringe is installed with a two-position two-way valve and corresponds to the multi-way oil outlet of the pipeline switching system through a hose.

14. The transformer automatic flexible docking oil extraction system according to claim 13, characterized in that: The pipeline switching system is fixed on the valve group bracket, and the valve group bracket is also connected with a rubber cap column and a rubber cap, and the rubber cap is sleeved on the rubber cap column to block the oil outlet of the injector; The pipeline switching system includes a second solenoid valve, a valve group fixing seat, a pressure sensor, a temperature sensor, a booster pump and a pump fixing seat. The second solenoid valve realizes the on-off and switching of the pipeline. The booster pump is fixed on the pump fixing seat. A connecting pipeline is designed inside the valve group fixing seat. The primary oil inlet of the pipeline switching system is connected with the primary oil outlet of the pipeline switching system, the secondary oil inlet of the pipeline switching system is connected with the secondary oil outlet, waste oil outlet and reserved oil outlet of the multi-channel pipeline switching system, and a booster pump is installed between the primary oil outlet of the pipeline switching system and the secondary oil inlet of the pipeline switching system to flush the pipeline and extract oil samples; A temperature sensor and a pressure sensor are arranged between the primary oil inlet and the primary oil outlet of the pipeline switching system to detect the temperature and pressure of the transformer oil. The secondary oil outlet of the multi-channel pipeline switching system is connected to the syringe through a hose to inject the oil sample into the syringe. A pressure sensor is installed at the front end of each secondary oil outlet of the multi-channel pipeline switching system to detect the pressure injected into the syringe.

15. The transformer automatic flexible docking oil extraction system according to claim 14, characterized in that: The valve group bracket is respectively connected to a first oil receiving box and a second oil receiving box. The oil sample leaked from the pipeline switching system is collected by the first oil receiving box and transported to the second oil receiving box through a hose. The oil sample leaked from the oil sample pushing device is collected by the second oil receiving box. The oil in the second oil receiving box is taken out manually.

16. The transformer automatic flexible docking oil extraction system according to claim 15, characterized in that: The oil extraction robot also includes: a waste oil collection device installed on the chassis of the oil extraction robot, the waste oil collection device includes a weighing sensor, a waste oil tank, a fixed plate and a binding strap, the weighing sensor is used to measure the amount of waste oil discharged, the waste oil tank is used to collect the waste oil of the rinse pipeline, and the fixed plate and the binding strap are used to fix the waste oil tank above the weighing sensor.

17. An active adaptive flexible docking method, characterized in that: The transformer automatic flexible docking oil extraction system according to any one of claims 1 to 16 comprises the following process: The oil collection robot quickly approaches the oil collection tank, moves slowly after reaching the set initial position in front of the oil collection tank, and stops moving after reaching the set position in the oil collection tank; The automatic docking device moves horizontally along the X direction. After the fixed rod hits the guide docking mechanism, it continues to move. After moving the set distance and confirming that the state is normal, it continues to move forward. At this time, the movable rod assembly begins to be compressed. After being compressed for a certain distance, the door of the oil tank is opened and the automatic docking device stops moving forward. After the door of the oil tank is opened, the automatic docking device continues to move horizontally in the X direction, stops moving after moving a set distance, detects the deflection angle data, and rotates and adjusts the automatic docking device to make it perpendicular to the oil tank cabinet surface, which is convenient for automatic docking and oil extraction; The guide docking mechanism firmly holds the fixed rod. During the holding process, the automatic docking device moves and adjusts along the Y direction to make the flexible docking oil extraction mechanism and the flexible docking oil extraction port relative to each other, and the flexible docking oil extraction mechanism moves forward until the flexible docking oil extraction port and the flexible docking oil extraction mechanism complete docking, wherein the X direction is the front of the movement of the oil extraction robot, and the Y direction is the direction in the horizontal plane perpendicular to the X direction.

18. An active rinsing method for oil sample collection, characterized in that: The transformer automatic flexible docking oil extraction system according to claim 13 or 14 includes the following process: First, the pipeline is flushed with an oil sample, and the flushed waste oil enters the waste oil collection device, and then the first syringe and the pipeline are flushed N times, and then the first syringe is used to take oil, where N is greater than or equal to 2; The above process is followed to flush and extract oil from each syringe and pipeline until all the syringes have been completely extracted and the oil samples have been collected. Then, the oil extraction robot begins to withdraw.

19. A key landmark assisted precise navigation and positioning method, using the transformer automatic flexible docking oil extraction system according to claim 9, characterized in that: The process includes: In the substation scenario, key landmarks are selected, key nodes and target positions of the oil extraction robot's working path are calibrated, and a key landmark image library is constructed; Use a depth camera to capture key landmarks from multiple angles, perform geometric correction and denoising after collecting images, extract feature points, generate a feature image library of key landmarks, bind the feature images of key landmarks with GPS coordinates and azimuth information, and store them as a searchable database; Use GPS and IMU to preliminarily determine the relative position of the oil extraction robot, navigate according to the predetermined path, monitor the robot's movement path in real time, analyze the movement trajectory of the depth camera, and estimate the robot's displacement and posture relative to the environment; Plan the path according to the target location and key landmark locations. When the GPS signal is normal, rely on GPS to provide global location information. If the GPS signal weakens, switch to IMU-assisted navigation and adjust the robot's movement trajectory in real time based on the navigation data. When the distance between the oil extraction robot and the target position is less than the set threshold, the relevant landmark image is retrieved from the searchable database, feature point matching is performed, the best matching image between the current environment and the searchable database is retrieved, and image mapping is performed based on the image matching results to determine the position and posture deviation of the oil extraction robot in the current environment; Calculate the relative position and posture of the depth camera relative to the key landmarks, and correct the displacement and posture of the robot relative to the key landmarks based on the position and posture deviation of the oil extraction robot in the current environment and the known landmark position information; Continuously collect real-time images and perform landmark comparison and position fine-tuning. Set a fixed collection interval to perform multiple image comparisons to correct the robot's posture. Based on the results of multiple landmark image comparisons and the convergence of postures after multiple comparisons, it is confirmed that the robot has accurately reached the target point.

20. A fault self-detection and remote assisted repair method, characterized in that: Used for the transformer automatic flexible docking oil extraction system as claimed in claim 9; The transformer automatic flexible docking oil extraction system also includes: an autonomous operation master controller, a robot host computer control system, a navigation and positioning system, a mobile platform control system, a power management system and an oil sample collection and detection control system arranged on the robot chassis, wherein the power management system is connected to a power supply battery of the oil extraction robot, and the oil sample collection and detection control system is respectively connected to the telescopic mechanism and the grasping mechanism to perform telescopic and grasping control; The navigation and positioning system includes a navigation controller, the autonomous operation master controller is respectively connected to the robot host computer control system and the mobile platform control system in communication, the mobile platform control system includes a motion controller, a drive motor driver, a drive motor, a steering motor driver and a steering motor, the motion controller is connected to the navigation controller in communication, the motion controller is connected to the drive motor driver, the drive motor driver is connected to the drive motor, the motion controller is connected to the steering motor driver, and the steering motor driver is connected to the steering motor; The power management system self-check, autonomous operation master controller self-check, robot host computer control system self-check, navigation and positioning system self-check, mobile platform control system self-check and oil sample collection and detection control system self-check are performed respectively. The robot host computer control system sends all self-check results to the cloud server, so that the cloud server generates an auxiliary repair strategy based on all self-check results and sends it to the robot host computer control system. The robot host computer control system automatically repairs according to the received auxiliary repair strategy or sends it to the maintenance personnel.

21. The fault self-detection and remote assisted repair method according to claim 20, characterized in that: The power management system self-check includes: after the oil extraction robot is powered on, the power indicator light turns on, indicating that the power is on, and the power management system inside the oil extraction robot checks the status of the battery pack, including whether the battery power, voltage and temperature are within the normal range; The self-check of the autonomous operation master controller includes: automatically running the boot loader after the autonomous operation master controller is powered on, the boot loader checking whether the serial port, network port and USB port of the operation master controller are working normally, and issuing an error alarm if there is an abnormality, and if the check is normal, starting to check whether there is a new version of the code in the download area that has not been updated, and if there is, first copying the new version of the code from the download area to the APP area, and then starting to boot the application in the APP area, and if there is no new version of the code, directly starting to boot the application in the APP area; The robot host computer control system self-check includes: after the host computer control system is powered on, it first reads the version information of the host computer software and compares it with the internally stored compatible version list. If there is a new version, it will apply the update; then, it starts to check the network connection between the host computer control system and the autonomous operation master controller. If the network connection fails, an error alarm will be issued; after the connection is normal, it starts to read the relevant configuration parameters of the autonomous operation master controller and display them on the screen to verify whether the relevant configuration parameters meet the current operation requirements. If not, an error alarm will be issued to prompt the operator to check and reset; The navigation and positioning system self-check includes: after the navigation and positioning system is powered on, it first checks whether the hardware of the positioning unit, inertial measurement unit, and laser radar are normal. If there is any hardware abnormality, a corresponding error alarm is issued, and at the same time, it is confirmed whether the positioning unit, inertial measurement unit, and laser radar have been correctly initialized and are in working condition; then, it starts power-on repositioning and positioning accuracy calibration, and evaluates the accuracy of the positioning unit by comparing the difference between the actual position and the expected position; for the inertial measurement unit, zero bias calibration and gyroscope drift test are performed to determine whether the use accuracy is met, and if not, an alarm message is issued; The mobile platform control system self-check includes: after the mobile platform control system is powered on, check the drive motor driver, drive motor, steering motor driver and steering motor one by one to confirm that the communication is normal and there is no fault alarm. If there is an error, issue a corresponding alarm; The oil sample collection detection control system self-test includes: after the oil sample collection detection control system is powered on, it first resets the various syringes on the oil extraction robot, detects the photoelectric detection switches of each syringe drive module during resetting, stops resetting when there is a signal output, and reads the encoder value of each syringe drive motor as the zero point of the syringe movement. During the resetting process, the output torque of each syringe drive motor is continuously detected. When the alarm threshold is reached, the movement of the syringe drive motor is immediately stopped, and an alarm message is issued to indicate that the syringe reset is abnormal.

22. A multi-modal deep fusion embodied perception task monitoring method, characterized in that: Used for the transformer automatic flexible docking oil extraction system as claimed in claim 9, The process includes: The large model receives multimodal information from multiple sensors, conducts comprehensive analysis on the multimodal information collected in real time, makes judgments on anomalies or task deviations, and generates warnings or processing plans; When the big model determines that anomalies or task deviations may occur, the built-in expert knowledge base is queried to find expert advice and historical experience related to the anomalies or task deviations, and the oil extraction docking process is optimized based on the expert advice and historical experience.

23. The multi-modal deep fusion embodied perception task monitoring method according to claim 22, characterized in that: The large model can adjust the task monitoring strategy in real time and generate an optimized oil extraction task operation process based on the multimodal perception results. By combining with the expert knowledge base, the actual operation status of the oil extraction task can be fed back to the knowledge base, continuously optimizing and expanding the rule base.

24. The multi-modal deep fusion embodied perception task monitoring method according to claim 22 or 23, characterized in that: The big model automatically generates an in-depth analysis report on operation anomalies by fusing visual data and sensor data, and automatically corrects the in-depth analysis report based on the processing solution of the expert knowledge base.

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