Transformer oil sample active acquisition robot system and method

Abstract

The invention belongs to the technical field of power robots. The invention provides an active acquisition robot system and method for a transformer oil sample. The system comprises an oil taking tank and an oil taking robot, the oil taking tank comprises an oil taking tank body and an oil sample extracting device located in the oil taking tank body, and the oil taking robot comprises a robot chassis and an automatic docking device arranged on the robot chassis; the oil sample extraction device comprises an injector rotating mechanism, a plurality of injectors for oil sample extraction are arranged on the injector rotating mechanism, the automatic docking device comprises a telescopic mechanism and a grabbing mechanism located on the telescopic mechanism, and the grabbing mechanism is used for taking out the injectors from the oil extraction tank body; potential safety hazards caused by frequent oil way butt joint are avoided, and the oil extraction efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power robots, and in particular to a transformer oil sample active collection robot 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 transformer oil sampling and analysis can detect the oil quality inside the transformer, 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. The existing transformer oil sampling work is mostly completed manually, the oil collection 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. The use of transformer oil sampling robots to replace manual operations, the application of automated docking devices, and the optimization of operation processes have important application value for improving the operation and maintenance efficiency and safety of the power system, reducing the risks of manual operations, and ensuring the high reliability of power supply.

[0004] How to realize the automatic active collection of transformer oil samples is a technical problem that needs to be solved urgently. In order to solve this technical problem, it is necessary to conduct a comprehensive design from the aspects of the collection robot system structure, the collection robot system self-check control (the existing method lacks self-check strategy) and the robot navigation control (the existing method has low navigation control accuracy). For example, in the design of the collection robot system structure, the existing solution mainly combines the oil extraction robot and the oil extraction tank to extract oil. The robot is equipped with an oil extraction syringe. Every time the oil is extracted, the robot needs to walk to the oil extraction tank to connect the pipeline and extract the oil. Fill each syringe in turn, and the oil line needs to be connected each time. Not only is the safety poor, but the oil extraction efficiency is also low. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a transformer oil sample active collection robot system and method. The oil sample extraction device in the oil tank can extract the oil sample in advance and circulate it through a circulating pump and various branches. After the robot arrives, it only needs to take away the syringe that has completed the oil sample collection. There is no need to dock the oil collection port or to extract the oil sample on site. While avoiding the safety hazards caused by frequent oil line docking, the oil extraction efficiency is greatly improved.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: In a first aspect, the present invention provides a transformer oil sample active collection robot system.

[0007] A transformer oil sample active collection robot system, comprising: an oil tank and an oil collection robot, wherein the oil tank comprises an oil tank body and an oil sample extraction device located in the oil tank body, and the oil collection robot comprises a robot chassis and an automatic flexible docking device arranged on the robot chassis; The oil sample extraction device includes a syringe rotating mechanism, on which a plurality of syringes for oil sample extraction are arranged. The automatic flexible docking device includes a telescopic mechanism and a gripping mechanism located on the telescopic mechanism, and the gripping mechanism is used to remove the syringe from the oil tank body.

[0008] As a further limitation of the first aspect of the present invention, the gripping mechanism comprises: a syringe clamping assembly, a telescopic bracket, a bracket connecting plate, a piston handle lifting mechanism, a height adjustment block, a gripping rotating base and a flexible adjustment mechanism; The grabbing and rotating base is fixed on the telescopic mechanism, and a height adjustment block is installed above the grabbing and rotating base, the height adjustment block is connected to the flexible adjustment mechanism, the flexible adjustment mechanism is connected to the bracket connecting plate, the bracket connecting plate is connected to the telescopic bracket, the syringe is equipped with a piston, the piston is connected to the syringe piston handle, the piston handle lifting mechanism is fixed on the telescopic bracket, and the piston handle lifting mechanism is used to lift the syringe piston handle from the bottom of the syringe piston handle.

[0009] As a further limitation of the first aspect of the present invention, the flexible adjustment mechanism comprises: a fixed end cover, a docking fixed seat, a large adjustment spring, a bearing retaining ring, a spherical bearing, a small adjustment spring and a flexible adjustment rod; The height adjustment block is connected to the docking fixing seat, the fixed end cover and the bearing retaining ring fix the outer ring of the joint bearing on the docking fixing seat, the flexible adjustment rod passes through the inner ring of the joint bearing and is connected to the bracket connecting plate, a large adjustment spring is installed between the flexible adjustment rod and the bearing retaining ring, and a small adjustment spring is installed between the fixed end cover and the bracket connecting plate.

[0010] As a further limitation of the first aspect of the present invention, the piston handle lifting mechanism comprises: a driving gear, a driving rack, a lifting driving motor and a telescopic lifting rod, the telescopic bracket is provided with a guide groove inside, the telescopic lifting rod is arranged in the guide groove and can move up and down along the guide groove; The front end of the telescopic lifting rod is used to hold up the syringe piston handle. A driving rack is installed on the telescopic lifting rod. The lifting drive motor is installed on the telescopic bracket. The driving gear is installed on the output shaft of the drive motor. The syringe clamping assembly is installed on the telescopic bracket.

[0011] As a further limitation of the first aspect of the present invention, the automatic flexible docking device further includes a guiding docking mechanism, an X-direction movable slide, a Y-direction movable slide, a vertical frame and a docking rotation mechanism, wherein the X-direction movable slide is fixed on the robot bottom plate; The guide docking mechanism and the telescopic mechanism are both fixed on the vertical frame, the Y-direction movable slide is arranged on the upper part of the X-direction movable slide and can move along the X-direction, the top of the Y-direction movable slide is connected to the rotating mechanism, the docking rotating mechanism is connected to the vertical frame, and the grabbing mechanism is connected to the telescopic part of the telescopic mechanism.

[0012] As a further limitation of the first aspect of the present invention, a sliding assembly is connected to the vertical frame, the guide docking mechanism is fixed to the connecting plate through a guide docking mechanism fixing plate, the connecting plate is connected to the sliding assembly on the vertical frame to slide up and down, and the guide docking mechanism 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 fixed rod front sensor, a fixed rod rear sensor and a holding rod mechanism fixing plate, and the holding rod mechanism is used to hold the fixed rod on the oil tank body; The guide plate is connected to two sets of guide plate brackets and fixed on the fixed plate of the guide docking mechanism. The guide plate has a slope structure. During operation, the fixed rod of the oil tank remains stationary, and the front end of the guide plate contacts the spherical surface of the fixed rod and passively slides along the inclined surface of the slope structure to lift the guide docking mechanism. The front sensor of the fixed rod and the rear sensor of the fixed rod are installed at the front and rear ends of the guide plate bracket and are triggered by the fixed rod during operation. A docking detection camera is installed at the front of the guide docking mechanism.

[0013] 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; The pole holding drive motor is fixed on the pole holding base, the gear is connected to the motor output shaft, the racks are arranged on both sides of the gear and mesh with the gear, the racks are provided with guide rail pairs, 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.

[0014] As a further limitation of the first aspect of the present invention, the docking rotation mechanism includes a rotation drive motor, a first gear and a second gear. The first gear is fixed to the upper part of the Y-axis moving slide, the rotation drive motor is installed at the bottom of the vertical frame, and the second gear is installed on the output shaft of the rotation drive motor. The first gear is meshed with the second gear. When the rotation drive motor rotates, it drives the second gear to rotate along the first gear to realize the rotation of the vertical frame.

[0015] As a further limitation of the first aspect of the present invention, the robot chassis is connected to a wheel-leg assembly, and a charging port for autonomous charging is installed at the front end of the robot chassis; the oil extraction robot further includes: a robot housing; the robot housing is installed on the robot chassis; The robot housing is connected with a laser radar, a depth camera, an inertial measurement unit, a positioning unit, an ultrasonic sensor and an oil sample detection camera; A reflector is installed on the inner side of the robot housing, and the oil sample detection camera is used to detect the details of the oil sample extraction of the syringe through the reflection of the reflector.

[0016] As a further limitation of the first aspect of the present invention, the collection robot 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 detection control system arranged on the robot chassis, the power management system is connected to the power supply battery of the oil collection robot, and the oil sample collection 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 communicated with the robot host computer control system and the mobile platform control system. 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 communicated with the navigation controller, the motion controller is connected with the drive motor driver, the drive motor driver is connected with the drive motor, the motion controller is connected with the steering motor driver, the steering motor driver is connected with the steering motor, and the drive motor and the steering motor are both connected with the wheel-leg assembly.

[0017] As a further limitation of the first aspect of the present invention, an ultrasonic sensor is arranged on both sides of the bottom of the front end of the robot shell, and the two ultrasonic sensors are used to detect the distance from the oil tank cabinet surface, so as to calculate the deflection angle between the oil collection robot and the oil tank when it is docked.

[0018] As a further limitation of the first aspect of the present invention, the oil extraction robot further comprises: an oil sample storage and retrieval device disposed on the robot chassis, the oil sample storage and retrieval device comprising a syringe docking mechanism, a rubber cap mounting mechanism and a mounting seat; The telescopic rotating mechanism of the syringe docking mechanism is connected to the rubber cap docking rod, the inside of the rubber cap docking rod is a gas passage, the lower part of the rubber cap docking rod is connected to the negative pressure gas source through a pipeline, and the blowing and suction port of the rubber cap docking rod is a conical groove, which brings up the rubber cap when inhaling and pushes the rubber cap out when blowing; The rubber cap installation mechanism is installed on the syringe rotating mechanism. The rubber cap installation mechanism includes a rubber cap column, a rubber cap and a rubber cap bracket. The rubber cap bracket is a multi-branch rod structure, and the far end of each branch rod is provided with a rubber cap column.

[0019] As a further limitation of the first aspect of the present invention, it also includes a syringe docking mechanism, which is arranged on the upper part of the syringe rotating mechanism and includes an upper and lower telescopic mechanism and a syringe docking rod; The upper and lower telescopic mechanism is used to drive the syringe docking rod to move. The interior of the syringe docking rod is an oil passage. The lower part of the syringe docking rod is connected to the oil outlet branch of the transformer through a pipeline. The oil outlet of the syringe docking rod is used to cooperate with the syringe barrel head of the syringe.

[0020] As a further limitation of the first aspect of the present invention, the oil outlet of the syringe docking rod is a tapered groove, and a sealing rubber ring is installed at the bottom of the tapered groove.

[0021] As a further limitation of the first aspect of the present invention, the syringe rotating mechanism includes: a syringe rotating seat and a rotating base, the rotating base is fixed in the oil extraction tank body, the syringe rotating seat is connected to the rotating base, and is driven by a motor to rotate around the rotating base, the upper and lower telescopic mechanism is fixed on the syringe rotating seat, and the syringe docking rod is connected to the movable end of the upper and lower telescopic mechanism.

[0022] As a further limitation of the first aspect of the present invention, the oil sample extraction device further includes: a plurality of oil sample pushing mechanisms, the plurality of oil sample pushing mechanisms are evenly arranged on the syringe rotating seat, each group of oil sample pushing mechanisms includes a syringe pushing module, a piston pushing seat, a syringe clamping seat, a syringe, a syringe pushing module limit sensor, a syringe clamping mechanism and an online detection sensor; The syringe pushing module, the syringe clamping seat, the syringe, the syringe pushing module limit sensor, the syringe clamping mechanism and the online detection sensor are all fixed on the syringe rotating seat. The online sensor is used to detect whether the syringe is in place. The piston pushing seat is connected to the movable end of the syringe pushing module. The syringe is limited and fixed by the syringe clamping mechanism and the syringe clamping seat.

[0023] As a further limitation of the first aspect of the present invention, the syringe clamping mechanism includes a clamping motor, a syringe claw, a claw gear assembly and a syringe claw frame. The clamping motor, the syringe claw and the claw gear assembly are arranged on the syringe claw frame. The clamping motor drives the claw gear assembly to move to drive the paired syringe claws to move in the same direction, thereby clamping or releasing the syringe syringe.

[0024] As a further limitation of the first aspect of the present invention, the syringe clamping seat is provided with a D-shaped opening groove for the syringe syringe, and a limiting groove is provided at the lower part for limiting the movement of the syringe, and the online detection sensor is installed above the syringe clamping seat.

[0025] As a further limitation of the first aspect of the present invention, the piston pushing seat is arranged on the syringe pushing module and is provided with a piston D-shaped opening groove, the piston is connected to the piston handle, and the piston D-shaped opening groove is used to fit with the piston handle to push the piston.

[0026] As a further limitation of the first aspect of the present invention, the syringe is made of glass, the inner surface of the syringe claw is designed to be an arc-shaped structure that matches the outer wall of the syringe, and is provided with a rubber gasket.

[0027] As a further limitation of the first aspect of the present invention, the fuel tank further includes a characteristic marker, a fuel tank door, a fixing rod, a grounding bar and a control unit; A silicone waterproof strip is installed on the inner surface of the fuel tank door, a flat lock is installed on the fuel tank door, the fuel tank door is connected to the fuel tank body, a grounding bar is provided on the outer side of the fuel tank body, a control unit is installed in the fuel tank body, and a characteristic marker is fixed above the fuel tank body.

[0028] 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 fixed on 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 to the lifting door guide rail. The through-screw motor is fixed on the oil tank body. The output shaft of the through-screw motor is connected to the through-type screw. 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.

[0029] 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 lower part of the oil extraction pipeline assembly is divided into three parts and connected with 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; The upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch are all equipped with solenoid valves and ball valves. The 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 oil in the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch of the transformer and the transformer, so as to obtain qualified oil samples.

[0030] As a further limitation of the first aspect of the present invention, a pressure sensor is provided at the bottom of the oil extraction pipeline assembly in the oil extraction tank body, and a visual module for photographing the oil level is provided in the oil extraction tank body.

[0031] In a second aspect, the present invention provides an active adaptive flexible docking method, using the transformer oil sample active collection robot system described in the first aspect of the present invention, comprising the following process: Each injector in the oil tank extracts and stores oil samples according to remote instructions or set time periods; After the syringe is filled with oil sample, the telescopic mechanism of the automatic flexible docking device of the oil extraction robot is activated, and the syringe is taken out from the oil extraction tank body through the grasping mechanism.

[0032] In a third aspect, the present invention provides a method for determining the state of a sampled oil level by integrating a pressure sensor and image recognition, using the transformer oil sample active collection robot system described in the first aspect of the present invention, comprising the following process: The first oil level is obtained according to the value of the pressure sensor, the second oil level is obtained according to the image processing result of the vision module, and the weighted sum of the first oil level and the second oil level is taken as the final oil level.

[0033] In a fourth aspect, the present invention provides an active rinsing method for oil sample collection, using the transformer oil sample active collection robot system described in the first aspect of the present invention, comprising the following process: Set the circulation time period. When the waiting time of the oil samples in the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch exceeds the circulation time period, turn on the circulation pump to circulate the oil in the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch of the transformer and the transformer, so as to obtain qualified oil samples.

[0034] In a fifth aspect, the present invention provides a key landmark assisted navigation and positioning method, using the transformer oil sample active collection robot system described in the first aspect of the present invention, comprising the following process: Before the first operation, according to the mapping instructions, the oil extraction robot is controlled to move around in the operating environment for one week. The navigation and positioning system will automatically generate a navigation map, mark the oil extraction operation points and generate an operation map. During the mapping process, the position of the cable trench cover is visually identified and the position information is recorded; When performing an oil extraction task, select the corresponding operation map and the oil sample collection task to be performed. The oil extraction robot automatically locates the current position, autonomously plans the global path according to the operation target position, and generates a local path in real time according to the road condition information during the journey. The global path is adjusted in real time through the local path until it reaches the oil extraction operation location. When generating the global path planning, weights are added to make the path with the largest cable trench cover coverage 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 can walk along the cable trench cover as much as possible during the navigation process.

[0035] In a sixth aspect, the present invention provides a key landmark assisted navigation and positioning method, using the transformer oil sample active collection robot system described in the first aspect of the present invention, comprising the following process: In the substation scenario, prominent and stable equipment is selected as key landmarks, key nodes and target positions of the oil extraction robot's working path are calibrated, and a key landmark image library is constructed; Photograph 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 the coordinates and azimuth information of the positioning unit, and store them as a searchable database; The relative position of the oil extraction robot is initially determined using the positioning unit and inertial measurement unit, and navigation is performed according to the predetermined path. The moving path of the oil extraction robot is monitored in real time using the visual odometer, and the moving trajectory of the depth camera is analyzed to estimate the displacement and posture of the oil extraction robot relative to the environment. Plan the path according to the target location and key landmark locations. When the positioning unit signal is normal, rely on the positioning unit to provide global location information. If the positioning unit signal weakens, switch to visual odometer-assisted navigation. Adjust the movement trajectory of the oil extraction robot in real time according to the navigation data, so that it is always on the optimal path when approaching the target location. 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; Calculate the relative position and posture of the depth camera relative to the key landmarks, and correct the displacement and posture of the oil extraction 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; When approaching the target position, real-time images are continuously collected and landmark comparison and position fine-tuning are performed. Each posture correction after image mapping will further reduce the error range. A fixed collection interval is set to perform multiple image comparisons to gradually correct the posture of the oil extraction robot. When the oil extraction robot approaches the target position, the results of multiple landmark image comparisons are used to confirm that the oil extraction robot has accurately reached the target point through the pose convergence results after multiple comparisons.

[0036] In the seventh aspect, the present invention provides a remote assisted repair method for a transformer oil sample collection robot fault, which is used for the transformer oil sample active collection robot system described in the first aspect of the present invention, and performs self-inspection of the power management system, self-inspection of the autonomous operation master controller, self-inspection of the robot host computer control system, self-inspection of the navigation and positioning system, self-inspection of the mobile platform control system and self-inspection of the oil sample collection and detection control system respectively. The robot host computer control system sends all self-inspection results to the cloud server, so that the cloud server generates an auxiliary repair strategy according to all self-inspection 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.

[0037] As a further limitation of the seventh aspect of the present invention, the power management system self-check includes: after the oil extraction robot is powered on, the power indicator light is 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 a 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.

[0038] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention innovatively develops a transformer oil sample active collection robot system, including an oil tank and an oil collection robot. An oil sample extraction device is arranged in the oil tank. The oil collection robot includes a robot chassis and an automatic flexible docking device arranged on the robot chassis. The oil sample extraction device includes a syringe rotating mechanism. A plurality of syringes for oil sample extraction are arranged on the syringe rotating mechanism. The automatic flexible docking device includes a telescopic mechanism and a grasping mechanism located on the telescopic mechanism. The grasping mechanism is used to take the syringe out of the oil tank body. The oil sample extraction device in the oil tank can extract oil samples in advance and circulate them through a circulating pump and various branches. After the robot arrives, it only needs to take away the syringe that has completed the oil sample collection, thereby avoiding the safety hazards caused by frequent oil circuit docking and greatly improving the oil extraction efficiency.

[0039] 2. The present invention provides an active adaptive flexible docking method for an automatic transformer oil sample collection robot, and develops an automatic docking system for transformer oil sample collection. Each syringe of the oil tank extracts and stores oil samples according to remote instructions or a set time period. After the syringe is full of oil samples, the telescopic mechanism of the automatic flexible docking device of the oil collection robot is actuated, and the syringe is taken out of the oil tank body through a grasping mechanism. During docking, the robot has load-bearing, buffering and universal flexible adjustment functions, so that the automatic docking device and the docking mechanism of the oil tank can be actively flexibly adjusted and reliably docked, which solves the problems of unsuccessful docking and grasping, falling of syringe oil samples and leakage of oil samples, realizes the automatic, efficient and precise docking and grasping function of oil sample collection, reduces the safety hazards caused by frequent docking of oil circuits, and improves the oil collection efficiency.

[0040] 3. The present invention makes the automatic docking device passively adjusted along the Y direction and the angle actively deflected and adjusted by clamping the fixed rod and actively detecting the rotation adjustment of the deflection angle, so that the plane self-locking female joint of the flexible docking oil extraction mechanism is within the range of the conical docking interface of the flexible docking oil extraction port. The clamping claws of the clamping mechanism adopt a fork-overlapping structure, which can firmly clamp the fixed rod without slipping, so that the position of the oil extraction robot and the oil extraction tank is relatively fixed, and the posture of the automatic docking device is also passively adjusted and rotated in the up and down, left and right directions, providing convenience for automatic oil extraction.

[0041] 4. The present invention provides an active lubrication method for automatic oil sampling robot for transformer oil sampling, an oil tank device is developed, a circulation time period is set, and after the waiting time of the oil samples in the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch exceeds the circulation time period, the circulation pump is turned on to circulate the oil in 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, so as to obtain a qualified oil sample, and the oil sample is extracted and flushed in advance through the oil sampling device in the oil tank, and circulated through the circulation pump and each branch, the inner wall of the pipeline is lubricated multiple times and the waste oil is removed, which solves the problem of inaccurate detection results caused by residual oil samples in the oil extraction pipeline and impurity contamination of the oil sample, realizes the automatic lubrication function of the inner wall of the pipeline and the syringe, and improves the cleanliness of the oil sample and the accuracy of the automatic detection result.

[0042] 5. The present invention designs an automatic oil sample flushing and pipeline switching mechanism. A circulating pump is designed in the oil extraction pipeline assembly to realize the circulation of the oil in the upper, middle and lower branches of the transformer and the oil in the transformer, so as to obtain qualified oil samples, and can automatically switch and collect the oil samples in the upper, middle and lower branches of the transformer. The oil samples can be extracted in advance and circulated through the circulating pump and each branch. After the robot arrives, it only needs to take away the syringe with the oil sample collected. The oil sample taking and placing device adopts a rotating form, which can realize the rotation, replacement and collection of oil samples from multiple syringes. It is easy to operate and has high automation efficiency, avoiding the safety hazards caused by frequent oil circuit docking, and greatly improving the oil extraction efficiency.

[0043] 6. The method for judging the oil level status of a transformer oil sample automatic collection robot that integrates pressure sensors and image recognition, provided by the present invention, constructs a deep fusion model of physical sensors and visual perception, and adopts a weighted fusion algorithm to comprehensively calculate the real-time monitoring data of the pressure sensor and the image recognition data to accurately judge the sampling oil level status. This solves the problem of unmanned operation during the oil sample collection process and susceptibility to interference from factors such as bubbles and impurities, achieves accurate oil level status judgment, and improves the accuracy of the system oil sample collection and detection results.

[0044] 7. 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 the image mapping algorithm, thereby solving the problem of inaccurate positioning caused by problems such as limited or failed positioning unit 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 accumulated errors of the positioning unit and the inertial measurement unit, and improves the robot's operating efficiency.

[0045] 8. The transformer oil sample collection robot fault self-inspection and remote auxiliary repair method provided by the present invention designs system fault self-inspection and pre-repair strategy technology. Before oil sample collection, the power management system self-inspection, autonomous operation master controller self-inspection, robot host computer control system self-inspection, navigation and positioning system self-inspection, mobile platform control system self-inspection and oil sample collection detection control system self-inspection are respectively performed. The robot host computer control system sends all self-inspection results to the cloud server, so that the cloud server generates an auxiliary repair strategy according to all self-inspection 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. The cloud server assists 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 oil sample collection robot system, and improves the safety of the robot's work.

[0046] 9. The present invention adopts the blowing and suction methods of a negative pressure air source to achieve the sealing installation of the syringe rubber cap to prevent the oil sample from leaking; a reflector is installed on the back of the left door of the robot body 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 reflection of the reflector, and realizes observation within a smaller visual range.

[0047] 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

[0048] 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.

[0049] Figure 1 A schematic diagram of the overall structure of the transformer oil sample active collection robot system provided by the present invention; Figure 2 A schematic diagram of the local structure of the transformer oil sample active collection robot system provided by the present invention; Figure 3 A schematic diagram of the overall structure of the oil tank provided by the present invention; Figure 4 A schematic diagram of the partial structure of the rear part of the fuel tank provided by the present invention; Figure 5 A schematic diagram of the overall structure of the oil sample extraction device provided by the present invention; Figure 6 A schematic diagram of the local structure of the oil tank provided by the present invention; Figure 7 A schematic diagram of the overall structure of the robot shell provided by the present invention; Figure 8 A schematic diagram of the overall structure of the oil sample storage and access device provided by the present invention; Fig. 9 A schematic diagram of the overall structure of the automatic docking device provided by the present invention; Fig.10 A schematic diagram of the local structure of the automatic docking device provided by the present invention; Fig.11 A schematic diagram of the structure of the grabbing mechanism provided by the present invention; Fig.12 A schematic diagram of the structure of the pole holding mechanism provided by the present invention; Fig.13 A schematic diagram of a deflection angle detection method provided by the present invention; Fig.14 A connection diagram of each control system provided by the present invention; Fig.15 A schematic diagram of a navigation and positioning system provided by the present invention; Fig.16 A schematic diagram of a mobile platform control system provided by the present invention; Among them; 1. Take the oil tank; 101. Characteristic identifier; 102. Fixing rod; 103. Base; 104. Limit switch; 105. Oil sample extraction device; 1051. Piston push seat; 1052. Syringe clamping seat; 1053. Syringe; 1054. Clamping motor; 1055. Syringe clamping claw; 1056. Clamping claw gear assembly; 1057. Syringe clamping claw frame; 1058. Up and down telescopic mechanism; 1059. Syringe docking rod; 105901. Sealing rubber ring; 105902. Conical groove; 10510. Online detection sensor; 10511. Syringe push module; 10512. Syringe rotating seat; 10513. Rotating base; 10514. Syringe push module limit sensor; 106. Fuel tank lift door; 107. Fuel tank body; 108. Fuel tank door; 109. Flat 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. Solenoid valve; 118. Oil extraction branch; 119. Control unit; 120. Through-screw motor; 121. Through-screw; 122. Lift door guide rail; 123. Fuel tank door frame; 2. Robot shell; 201. LiDAR; 202. LiDAR support; 203. Depth camera; 204. Front door; 205. Communication antenna; 206. Left door; 207. Magnetic door lock; 208. Emergency stop switch; 209. Anti-collision strip; 210. Rubber strip; 211. Reflector; 212. Right door; 213. Rear door; 214. Ultrasonic sensor; 3. Robot chassis; 301. Wheel-leg assembly; 302. Charging port; 303. Debug interface assembly; 4. Autonomous operation master controller; 5. Oil sample storage and retrieval device; 501. Rubber cap column; 502. Rubber cap; 503. Rubber cap bracket; 504. Telescopic rotating assembly; 505. Rubber cap docking rod; 506. Mounting seat; 6. Negative pressure gas source; 601, PU air pipe; 7. Automatic docking device; 701. Grabbing mechanism; 7011. Telescopic bracket; 7012. Bracket connecting plate; 7013. Fixed end cover; 7014. Docking fixed seat; 7015. Large adjustment spring; 7016. Bearing retaining ring; 7017. Spherical bearing; 7018. Small adjustment spring; 7019. Flexible adjustment rod; 70110. Height adjustment block; 70111. Grasping rotating base; 70112. Driving gear; 7011 3. Drive rack; 70114. Lifting drive motor; 70115. Telescopic lifting rod; 702. Telescopic mechanism; 703. Vertical rack; 7031. Slide block; 7032. Sliding damper; 704. Guide docking mechanism; 7041. Holding rod mechanism connector; 7042. Rear sensor of fixed rod; 7043. Guide plate bracket; 7044. Front sensor of fixed rod; 7045. Guide plate; 7046. Holding rod mechanism; 70461 , pole holder; 70462, claw; 70463, rack; 70464, guide rail pair; 70465, drive motor housing; 70466, pole drive motor; 70467, flange; 70468, gear; 70469, bearing; 704610, opposite side claw; 704611, pole mechanism fixing plate; 7047, docking detection camera; 7048, guide docking mechanism fixing plate; 7049, connecting plate; 70 5. Rotating mechanism; 7051. Big gear; 7052. Rotating drive motor; 7053. Pinion; 706. Y-axis moving slide; 7061. Drag chain; 7062. Y-axis compression spring; 7063. Zero position scale; 7064. Pointer; 7065. Linear drive mechanism; 7066. Y-axis guide rail pair; 707. X-axis moving slide; 7071. X-axis drive motor; 7072. X-axis guide rail pair; 7073. X-axis screw nut pair; 8. Charging pile; 801. Charging connector. DETAILED DESCRIPTION

[0050] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0051] 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.

[0052] Embodiment 1: In this implementation, a transformer oil sample active collection robot system is proposed. Figure 1 and Figure 2 As shown, it includes an oil tank 1, an oil collection robot, and a charging pile 8, wherein the oil collection robot includes a robot chassis 3, a robot shell 2, an automatic docking device 7, an oil sample storage and retrieval device 5, and an autonomous operation master controller 4.

[0053] like Figure 3 As shown, the oil tank 1 mainly includes an oil tank body 107, a characteristic marker 101, an oil sample extraction device 105, an oil tank lifting door 106, an oil tank door 108, a fixing rod 102, an oil extraction pipeline assembly, a grounding bar 110, a control unit 119, etc. The oil tank 1 is installed on a base 103 (the base 103 is fixed on 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, a grounding bar 110 is arranged on the outer side of the oil tank body 107 to achieve grounding, and a control unit 119 is installed in the oil tank 1 to control and detect the operating status of the oil tank 1 and communicate with the host computer.

[0054] 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.

[0055] The oil sample extraction device 105 is arranged in the oil extraction tank 1. Figure 5 As shown, the oil sample extraction device 105 includes an oil sample pushing device, a syringe rotating mechanism, and a syringe docking mechanism.

[0056] The syringe rotating mechanism includes a syringe rotating seat 10512 and a rotating base 10513. The rotating base 10513 is fixed in the oil extraction tank 1. The syringe rotating seat 10512 is connected to the rotating base 10513 and rotates around the rotating base 10513 through a motor drive.

[0057] The syringe docking mechanism is arranged on the upper part of the syringe rotating mechanism, including an upper and lower telescopic mechanism 1058 and a syringe docking rod 1059. The upper and lower telescopic mechanism 1058 is fixed on the syringe rotating seat 10512. The syringe docking rod 1059 is connected to the movable end of the upper and lower telescopic mechanism 1058. The upper and lower telescopic mechanism 1058 can be telescopically moved up and down by 30 mm, driving the syringe docking rod 1059 to move together. The interior of the syringe docking rod 1059 is an oil passage, and the lower part is connected to the oil outlet of the oil extraction pipeline assembly through a PU tube. The oil outlet is a conical groove, which is matched with the syringe 1053 syringe head structure. A sealing rubber ring 105901 is installed at the bottom of the conical groove 105902, which plays a role in preventing oil leakage during docking.

[0058] The oil sample pushing device is evenly arranged on the syringe rotating seat 10512 and includes six groups of structures, each group of structures includes a syringe pushing module 10511, a piston pushing seat 1051, a syringe clamping seat 1052, a syringe 1053, a syringe pushing module limit sensor 10514, a syringe clamping mechanism, and an online detection sensor 10510.

[0059] The syringe pushing module 10511 includes a motor, a lead screw, a guide rail, a structural body and a syringe pushing module limit sensor 10514. The syringe pushing module 10511 pushes the syringe 1053 oil sample in and out, and pushes the oil sample smoothly and accurately, and is limited by the limit sensor.

[0060] The syringe clamping mechanism includes a clamping motor 1054, a syringe claw 1055, a claw gear assembly 1056, and a syringe claw frame 1057. The clamping motor 1054, the syringe claw 1055, and the claw gear assembly 1056 are arranged on the syringe claw frame 1057. The clamping motor 1054 drives the claw gear assembly 1056 to move, driving the paired syringe claws 1055 to move in the same direction, which is used to clamp or release the syringe of the syringe 1053. The inner surface of the syringe claw 1055 is designed to be an arc-shaped mechanism that matches the outer wall of the syringe, and is attached with a rubber gasket, which acts as a buffer when clamping to prevent the syringe 1053 from being damaged.

[0061] The syringe clamping seat 1052 is provided with a D-shaped opening groove for the syringe syringe, and a limiting groove is provided at the bottom to limit the movement of the syringe 1053 when the push piston moves. An online detection sensor 10510 is provided above the syringe clamping seat 1052 to detect whether the syringe 1053 is installed in place.

[0062] The piston push seat 1051 is set on the syringe pushing module 10511, and is provided with a piston D-shaped opening groove and a U-shaped notch. The piston in the syringe 1053 is connected to the piston handle. The piston D-shaped opening groove is convenient for fitting with the piston handle to push the piston. The U-shaped notch is used for taking and placing the syringe 1053. The syringe 1053 is made of glass, which is convenient for observing the internal liquid.

[0063] The fuel tank lifting door 106 is fixed on the door frame of the fuel tank body 107. Figure 6 As shown, it mainly includes a limit switch 104 for controlling the lifting door up and down, a through-screw motor 120, a through-type screw 121, and two sets of lifting door guide rails 122. The lifting door guide rails 122 and the lower limit switch 104 are arranged on the oil tank door frame 123, the through-screw motor 120 is fixed on the oil tank body 107, the through-type screw 121 is installed on the lifting door, the lifting door is slidably connected to the lifting door guide rail 122, the output shaft of the through-screw motor 120 is connected to the through-type screw 121, and the output shaft of the through-screw motor 120 rotates to drive the through-type screw 121 to move up and down, thereby driving the lifting door to rise and fall along the lifting door guide rail 122.

[0064] like Figure 4As shown, the oil extraction pipeline assembly is installed in the oil extraction tank 1, the upper part is connected to the oil inlet of the oil sample extraction device 105, and the lower part is divided into three parts and connected to the upper, middle and lower oil extraction branches 118 of the transformer, and returns to the transformer through the return oil branch 115, including the upper branch 111 of the transformer, the middle branch 112 of the transformer, the lower branch 113 of the transformer, the circulating pump 114, the return oil branch 115, the ball valve 116, the solenoid valve 117 and the oil extraction branch 118. Each branch is installed with a solenoid valve 117 and a ball valve 116 to realize the opening and closing of the oil circuit manually or automatically, and the solenoid valve 117 adopts a normally closed valve. A circulation pump 114 is installed at the front end of the oil return branch 115, which is mainly used to realize the circulation of the oil in the upper, middle and lower branches of the transformer and the oil in the transformer, so as to obtain qualified oil samples. The oil extraction pipeline assembly can realize the connection between the upper branch 111 of the transformer, the middle branch 112 of the transformer, the lower branch 113 of the transformer and the oil extraction branch 118, thereby completing the collection of three-way oil samples.

[0065] The robot chassis 3 includes a robot body, a wheel-leg assembly 301, etc. A charging port 302 and a debugging interface assembly 303 are installed at the front end of the robot body, which can be charged autonomously and debugged. A control panel is provided at the rear end of the robot body, which has interfaces such as debugging, switching, and manual charging. The wheel-leg assembly 301 adopts a four-wheel drive form, with flexible steering, stability and reliability.

[0066] An automatic docking device 7 , an oil sample storage and retrieval device 5 , an autonomous operation master controller 4 , and a negative pressure gas source 6 are installed on the robot chassis 3 .

[0067] The robot housing 2 is installed on the robot chassis 3, and is tightly combined with the robot chassis 3 through the rubber strip 210, including a laser radar 201, a laser radar support 202, a depth camera 203, an ultrasonic sensor 214, a communication antenna 205, a left door 206, an emergency stop switch 208, an anti-collision strip 209, a rubber strip 210, a docking device sealing cover, a right door 212, a rear door 213, and an oil sample detection camera. An anti-collision strip 209 and ultrasonic sensors 214 distributed on both sides of the bottom are installed at the front end of the robot housing 2. A touch switch is installed in the anti-collision strip 209, which has the functions of mitigating 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 214 on both sides are used to measure the distance, and the deflection angle data is calculated and transmitted to the autonomous operation master controller 4, and the automatic docking device 7 adjusts the deflection angle. The laser radar support 202 is arranged above the front end of the robot shell 2, and the laser radar 201 is installed on the top to realize the positioning and navigation of the oil extraction robot. The depth camera 203 is arranged below to monitor the working task environment in real time.

[0068] like Figure 7As shown, the robot housing 2 is provided with a front door 204, a rear door 213, a left door 206, and a right door 212 around it, which are made of ABS (acrylonitrile-butadiene-styrene). The rear door 213, the left door 206, and the right door 212 are all equipped with magnetic door locks 207 to facilitate on-site operations and inspection and maintenance. The front door 204 is a lifting door that can be automatically lifted and lowered during automatic docking. The oil sample detection camera is installed inside the robot housing 2 and has an automatic lighting function. A reflector 211 is installed on the back of the left door 206, which is convenient for the oil sample detection camera to reflect the image through the reflector 211 to detect the details of oil sample extraction from the syringe 1053 in a narrow space.

[0069] The distance between the two ultrasonic sensors 214 is , by detecting the distance between the two sensors and the oil tank 1 cabinet surface l1 and l2 , through the formula θ = arctan (( l2 - l1 ) / a ) can be used to calculate the deflection angle between the oil-collecting robot and the oil tank 1 when it is docked θ Value; if θ If the value is positive, the automatic docking device 7 rotates clockwise, and if the value is negative, the automatic docking device 7 rotates counterclockwise. This ensures that the automatic docking device 7 is perpendicular to the cabinet surface of the oil tank 1, which is convenient for automatic docking and oil extraction.

[0070] The automatic docking device 7 includes a guiding docking mechanism 704, a grasping 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., and the X-axis movable slide 707 is fixed on the robot chassis 3.

[0071] The guide docking mechanism 704 is fixed on the connecting plate 7049 through the guide docking mechanism fixing plate 7048. The vertical frame 703 is provided with a slide block 7031 and a sliding damper 7032. The guide docking mechanism 704 includes a holding rod mechanism adjustment plate, a holding rod mechanism connecting piece 7041, a holding rod mechanism 7046, a guide plate 7045, a guide plate bracket 7043, a fixed rod front sensor 7044, a fixed rod rear sensor 7042, a holding rod mechanism fixing plate 704611 and a guide docking mechanism fixing plate 7048.

[0072] The slide block 7031 (for example, a vertical slider) on the vertical frame is located in the vertical slide of the connecting plate 7049, and the bottom end of the slide block 7031 is connected to the sliding damper 7032 (for example, an elastic member such as a spring), and the connecting plate 7049 can achieve a small upward and downward sliding motion under the cooperation of the slide block 7031 and the sliding damper 7032. It can be understood that in some other implementations, a sliding damper connected to the top wall of the vertical slide can also be set at the top of the slide block 7031, and the upward and downward floating can be achieved through the two upper and lower sliding dampers. The pole holding mechanism 7046 is fixed on the guide docking mechanism fixing plate 7048 through the pole holding mechanism adjusting plate and the pole holding mechanism connecting piece 7041, and includes a pole holding seat 70461, a holding claw 70462, an opposite side holding claw 704610, a gear 70468, a rack 70463, a guide rail pair 70464, a pole holding drive motor 70466, a drive motor housing 70465, a flange 70467, a bearing 70469, and a pole holding mechanism fixing plate 704611. By adjusting the position of the pole holding mechanism fixing plate 704611 on the pole holding mechanism adjusting plate, the position of the pole holding mechanism 7046 can be adjusted to facilitate better grasping and fixing of the fixed pole 102. The pole driving motor 70466 is fixed on the pole base 70461, and the output shaft of the pole driving motor 70466 is fixedly connected to the flange 70467 with the central axis. The central axis of the flange 70467 passes through the gear 70468 and is connected to the inner ring of the bearing 70469. The outer ring of the bearing 70469 is connected to the pole base 70461, and the gear 70468 is fixedly connected to the central axis of the flange 70467. The rack 70463 is arranged on both sides of the gear 70468 (the inner side of the rack 70463 is a tooth) and is tightly meshed with the gear 70468. The rack 70463 is provided with a guide rail pair 70464 to guide and carry the load. The claw 70462 and the opposite claw 704610 are installed on both sides of the rack 70463. The claw 70462 and the opposite claw 704610 are designed as a single claw and a double claw structure respectively. When the gear 70468 rotates, it drives the rack 70463 and the claw 70462 to move relative to each other. The claw 70462 and the opposite claw 704610 overlap each other in a fork, which can firmly hold the fixed rod 102 without slipping. The drive motor housing 70465 is installed on the outer side of the holding rod drive motor 70466 to protect it. During the specific installation, Fig.12 The arm mechanism 7046 is installed upside down. Fig. 9 In the middle, the drive motor housing 70465 is on the top.

[0073] The guide plate 7045 is connected and fixed to the guide docking mechanism fixing plate 7048 with two sets of guide plate brackets 7043. The guide plate 7045 is designed as a slope structure (the slope must ensure a certain degree of smoothness) and is made of hard and wear-resistant material. When working, the fixed rod 102 of the oil tank 1 is not moved, and the front end of the guide plate 7045 contacts the front end ball of the fixed rod 102. The front end ball of the fixed rod 102 passively slides along the inclined surface of the slope structure to lift the guide docking mechanism 704. The fixed rod front sensor 7044 and the fixed rod rear sensor 7042 are installed at the front and rear ends of the guide plate bracket 7043 and are triggered by the fixed rod 102 during operation.

[0074] The docking detection camera 7047 is installed in 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.

[0075] The grabbing mechanism 701 is arranged on the telescopic mechanism 702 and moves with the movement of the telescopic mechanism 702. It mainly includes a syringe clamping mechanism and a telescopic bracket 7011, a bracket connecting plate 7012, a fixed end cover 7013, a docking fixing seat 7014, a large adjustment spring 7015 (i.e., a first adjustment spring), a bearing retaining ring 7016, a joint bearing 7017, a small adjustment spring 7018 (i.e., a second adjustment spring), a flexible adjustment rod 7019, a height adjustment block 70110, a grabbing rotating base 70111, a driving gear 70112, a driving rack 70113, a lifting drive motor 70114, a telescopic lifting rod 70115, etc.

[0076] The grabbing rotating base 70111 is fixed on the telescopic mechanism 702 and can rotate 180° clockwise. A height adjustment block 70110 and a docking fixing seat 7014 are installed on the top in sequence. The fixed end cover 7013 and the bearing retaining ring 7016 fix the outer ring of the joint bearing 7017 on the docking fixing seat 7014. The flexible adjustment rod 7019 passes through the inner ring of the joint bearing 7017 and is connected to the bracket connecting plate 7012.

[0077] A large adjustment spring 7015 and a small adjustment spring 7018 are installed between the flexible adjustment rod 7019 and the bearing retaining ring 7016, the fixed end cover 7013 and the bracket connecting plate 7012 respectively. The tightness of the spring can be adjusted by adjusting the flexible adjustment rod 7019. Under the joint action of the inner ring, outer ring and adjustment spring of the spherical bearing 7017, the docking oil outlet can realize flexible rotation and swing docking at multiple angles.

[0078] The telescopic bracket 7011 is arranged at the front end of the bracket connecting plate 7012, and a guide groove is arranged inside the telescopic bracket 7011. The telescopic lifting rod 70115 is arranged in the middle and can move up and down along the guide groove. The front end of the telescopic lifting rod 70115 is used to hold up the piston handle of the syringe 1053. A driving rack 70113 is installed on the telescopic lifting rod 70115, and the lifting drive motor 70114 is installed on the telescopic bracket 7011. The driving gear 70112 is installed on the output shaft of the driving motor. The lifting drive motor 70114 moves, driving the driving gear 70112 and the rack 70463 to move, thereby realizing the lifting and lowering of the telescopic lifting rod 70115.

[0079] The syringe clamping mechanism is mounted on the telescopic bracket 7011, and the follower clamping mechanism realizes the elevator rotation function.

[0080] The X-direction movable slide 707 includes two sets of X-direction guide rail pairs 7072, a set of X-direction screw nut pairs 7073, an X-direction drive motor 7071 and an X-direction movable slide body. The X-direction movable slide 707 mainly realizes the contact between the driving docking device and the guide rod and movable rod of the oil extraction pile.

[0081] The Y-axis movable slide 706 adopts a follow-up structure, including a Y-axis guide rail pair 7066, a linear drive mechanism 7065 (linear bearing + light rod assembly), a Y-axis compression spring 7062, a drag chain 7061, a zero position scale 7063 and a pointer 7064, etc. Y-axis compression springs 7062 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.

[0082] 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.

[0083] 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.

[0084] The rotating mechanism 705 includes a rotating drive motor 7052, a large gear 7051 (i.e., a first gear), and a small gear 7053 (i.e., a second gear). The large gear 7051 is fixed to the upper part of the Y-axis movable slide 706, the rotating drive motor 7052 is installed at the bottom of the vertical frame 703, and the small gear 7053 is installed on the output shaft of the rotating drive motor 7052. The small gear 7053 is meshed with the large gear 7051. When the rotating drive motor 7052 rotates, it drives the small gear 7053 to rotate along the large gear 7051, thereby realizing the rotation of the vertical frame 703.

[0085] The oil sample storage and retrieval device 5 is arranged on the robot chassis 3, as shown in FIG. Figure 8 As shown, the oil sample storage and access device 5 includes an oil sample pushing device, a syringe rotating mechanism, a syringe docking mechanism, a rubber cap mounting mechanism and a mounting seat 506 .

[0086] The telescopic rotating assembly 504 of the syringe docking mechanism can also realize a separate 360° rotation function. The inside of the rubber cap docking rod 505 is a gas passage, and the lower part is connected to the negative pressure gas source 6 through the PU air pipe 601. The oil outlet is a conical groove, which is consistent with the external structure of the rubber cap 502. The rubber cap 502 can be lifted up during inhalation and pushed out during blowing.

[0087] The rubber cap mounting mechanism is installed on the syringe rotating seat 10512, and includes a rubber cap column 501, a rubber cap 502, and a rubber cap bracket 503. The rubber cap bracket 503 is a six-branch rod structure, and a rubber cap column 501 is provided at the far end of each branch rod. The rubber cap 502 is placed on the rubber cap column 501. The rubber cap mounting mechanism is mainly used to store the rubber cap 502 and automatically realize the sealing of the rubber cap 502.

[0088] The autonomous operation master controller 4 is arranged on the robot chassis 3 to realize the motion control of the oil extraction robot and the electrical control functions of the oil extraction system. The motion control functions of the oil extraction robot include navigation, trajectory planning, real-time monitoring of the on-site operation environment, real-time monitoring of the on-site picture, data transmission, etc.; the electrical control function of the oil extraction system realizes the automatic docking of the docking device, the opening and closing of the solenoid valve 117 of the oil extraction tank 1, the lifting and lowering of the lifting door, the flushing and extraction of the oil sample extraction device 105 and other oil sampling tasks, ensuring the accurate and real-time completion of the operation tasks.

[0089] 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.

[0090] The negative pressure gas source 6 is fixed on the robot chassis 3 and connected to the oil sample storage and retrieval device 5 through an air pipe, so as to perform blowing and exhausting.

[0091] The automatic oil sample collection process of the above system includes: After powering on, the oil extraction robot is in standby state after initialization and setting. After the task is issued, it starts to execute the command; The oil tank 1 is first used to collect oil samples, the appropriate pipeline is connected, the syringe rotating mechanism is rotated, the appropriate syringe 1053 is selected, the syringe docking mechanism is docked, and the oil sample extraction device 105 starts to collect oil samples. If the oil sample pressure is low, the booster pump can be used to increase the pressure in real time; First, flush the pipeline with oil sample, and the return oil flows back to the transformer through the oil return pipeline. Then flush the first syringe and pipeline three times, and then take oil from the first syringe; Then, the second to sixth syringes are flushed and oiled in sequence; According to the positioning and navigation of the laser radar 201, the oil extraction robot moves quickly close to the oil extraction tank 1, moves slowly after reaching an appropriate initial position in front of the oil extraction pile, and stops moving after reaching an appropriate position of the oil extraction pile. The oil extraction tank lifting door 106 is raised, and the deflection angle data is detected by the ultrasonic sensor. The automatic docking device 7 is rotated and adjusted together with the lifting frame to make the automatic docking device 7 perpendicular to the cabinet surface of the oil extraction tank 1, which is convenient for automatic docking and oil extraction; At this time, the automatic docking device 7 moves horizontally along the X direction, and the fixed rod 102 continues to move after hitting the bottom of the guide plate 7045. The guide docking mechanism 704, the telescopic mechanism 702, and the grabbing mechanism 701 are passively lifted to a certain height (less than 30 mm). The fixed rod 102 triggers the fixed rod front sensor 7044. After confirming that the state is normal, it continues to move forward until the fixed rod rear sensor 7042 is triggered, and then the automatic docking device 7 stops moving forward. The holding rod mechanism 7046 starts to move, and firmly holds the fixed rod 102. During the holding process, the automatic docking device 7 moves and adjusts along the Y direction, so that the clamping claw of the grasping mechanism 701 is in the corresponding range that can just grasp the syringe 1053. The telescopic lifting rod 70115 of the grabbing mechanism 701 is adjusted to a suitable length according to the telescopic length of the piston handle of the syringe 1053 in the oil tank, so as to support the bottom of the piston handle of the syringe 1053 in the oil sample extraction device 105; The telescopic mechanism 702 moves forward, driving the grasping mechanism 701 forward until the sensor in the syringe 1053 of the grasping mechanism 701 is triggered and stops, the syringe clamping mechanism of the grasping mechanism 701 begins to hold the syringe 1053 on the oil sample extraction device 105 that has been collected in a qualified manner, the syringe clamping mechanism on the oil sample extraction device 105 releases the syringe 1053, the telescopic lifting rod 70115 of the grasping mechanism 701 rises, slightly lifting the bottom of the piston handle of the syringe 1053 to prevent the piston from slipping, the telescopic mechanism 702 moves backward, and the syringe 1053 is taken out of the oil sample extraction device 105 of the oil tank 1. After moving to a suitable position, the grasping mechanism 701 rotates 180° clockwise, and the telescopic mechanism 702 continues to move backward, pushing the syringe 1053 to the corresponding position of the oil sample storage and access device 5, and storing the syringe 1053 in the corresponding position of the oil sample storage and access device 5; The rubber cap docking rod 505 is raised to a certain position and then rotates, and the rubber cap 502 is removed from the rubber cap bracket 503 of the rubber cap installation mechanism by negative pressure suction, and then rotated to the top of the newly placed syringe 1053, and then lowered, and the rubber cap 502 is placed on the bottom position of the syringe 1053, and then the positive pressure blowing is withdrawn, and the rubber cap 502 is automatically sealed; 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.

[0092] In this implementation, if Fig.14 As shown, it also includes a robot 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.

[0093] The host computer control system includes a remote control and a background system. Users can choose to issue operation commands through the background system, and the oil sampling robot will perform tasks autonomously. They can also choose to use a remote control and have the operator control the transformer oil sampling robot to perform oil sampling tasks.

[0094] The autonomous operation master controller exchanges information with the robot's host computer control system, power management system, navigation and positioning system, mobile platform control system and oil sample collection and detection control system through communication modules such as the network, serial port, and CAN bus. After receiving the task from the robot's host computer control system, the autonomous operation master controller decomposes the task into subtasks and issues it to the corresponding system according to the operation logic, and waits for the system to feedback on the execution status of the subtask. After receiving the feedback of successful execution, it executes the next subtask until the total task is completed.

[0095] 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.

[0096] like Fig.15 As shown, the navigation and positioning system includes a navigation controller, a laser radar, an inertial measurement unit, a depth camera, and a positioning unit. The laser radar and the depth camera collect external environment information. The inertial measurement unit obtains the posture and acceleration information of the mobile platform and cooperates with the positioning unit to provide accurate positioning information. The navigation controller receives the above information to build an external environment map to realize the navigation and positioning function of the transformer oil sample collection robot.

[0097] like Fig.16As shown, the mobile platform control system includes a motion controller, a drive motor driver (i.e., a first drive motor driver, a second drive motor driver, a third drive motor driver, and a fourth drive motor driver), a drive motor (i.e., a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor), a steering motor driver (i.e., 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 (i.e., a first steering motor, a second steering motor, a third steering motor, and a fourth steering motor); The motion controller is connected to the motor driver, the motor driver is connected to the drive motor, the motion controller is connected to the steering motor driver, the steering motor driver is connected to the steering motor, and the drive motor and the steering motor are respectively used for the linear and steering motion control of the walking wheel in the wheel-leg assembly 301.

[0098] In this implementation, the motion controller receives the movement command of the navigation controller, controls the oil extraction robot to reach the oil sample collection operation position, and sends the control instructions to the motor driver and the steering motor driver through the CAN bus. The motor driver and the steering motor driver generate corresponding PWM signals according to the commands to control the speed and direction of the motor.

[0099] In this implementation, the oil sample collection and detection control system includes an oil sample collection and detection controller, which is respectively communicated with the telescopic mechanism and the gripping mechanism to perform telescopic and gripping control, and performs automatic detection through a carried automatic analysis instrument.

[0100] Embodiment 2: This implementation provides an active adaptive flexible docking method, which is implemented using the automatic flexible docking device described in Example 1, and includes: Each injector of the oil tank extracts and stores oil samples according to remote instructions or a set time period; after the injector is full of oil samples, the telescopic mechanism of the automatic flexible docking device of the oil extraction robot is actuated, and the injector is taken out of the oil tank body through the gripping mechanism; The specific structure and working method of the automatic flexible docking device are described in Example 1 and will not be repeated here.

[0101] Embodiment 3: This implementation provides an active rinsing method for oil sample collection, including the following process: Set the circulation time period. When the waiting time of the oil samples in the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch exceeds the circulation time period, turn on the circulation pump to circulate the oil in the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch of the transformer and the transformer, so as to obtain qualified oil samples.

[0102] The connection relationship between the upper oil extraction branch, the middle oil extraction branch, the lower oil extraction branch and the circulation pump in this implementation is as described in Example 1 and will not be repeated here.

[0103] Embodiment 4: 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 faults (such as line faults or battery faults, etc.) will bring greater safety risks to the transformer. In view of this, the present implementation also provides a transformer oil sample collection robot fault self-check and remote auxiliary repair method, which performs self-checks of the power management system, the autonomous operation master controller, the robot host computer control system, the navigation and positioning system, the mobile platform control system, and the oil sample collection and detection control system. The robot host computer control system sends all self-check results to the cloud server, so that the cloud server generates auxiliary repair strategies based on all self-check results and sends them to the robot host computer control system. The robot host computer control system automatically repairs or sends them to the maintenance personnel based on the received auxiliary repair strategies.

[0104] In this implementation, the power management system self-checks, including: 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; In this implementation, 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 checks whether the serial port, network port and USB port of the operation master controller are working properly, and issues an error alarm if there is an abnormality, and if the check is normal, starts 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 copies the new version of the code from the download area to the APP area, and then starts to boot the application in the APP area, and if there is no new version of the code, directly starts to boot the application in the APP area; In this implementation, the robot host computer control system self-checks, including: 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 compatible version list stored internally, and if there is a new version, it updates the application; then, it starts to check the network connection between the host computer control system and the autonomous operation master controller, and if the network connection fails, it issues an error alarm; after the connection is normal, it starts to read the relevant configuration parameters of the autonomous operation master controller and displays them on the screen to verify whether the relevant configuration parameters meet the current operation requirements, and if they do not meet the requirements, it issues an error alarm to prompt the operator to check and reset; In this implementation, the navigation and positioning system self-checks, including: after the navigation and positioning system is powered on, first check whether the hardware of the positioning unit, the inertial measurement unit, and the laser radar are normal, if the hardware is abnormal, issue a corresponding error alarm, and at the same time confirm whether the positioning unit, the inertial measurement unit, and the laser radar have been correctly initialized and are in a working state; then, start power-on repositioning and positioning accuracy calibration, and evaluate the accuracy of the positioning unit by comparing the difference between the actual position and the expected position; for the inertial measurement unit, perform zero bias calibration and gyroscope drift test to determine whether the use accuracy is met, if not, issue an alarm message; In this implementation, the mobile platform control system self-checks, including: after the mobile platform control system is powered on, the drive motor driver, the drive motor, the steering motor driver and the steering motor are checked one by one to confirm that the communication is normal and there is no fault alarm, and if there is an error, a corresponding alarm is issued; In the present implementation, the oil sample collection detection control system performs a self-check, including: after the oil sample collection detection control system is powered on, it first resets each syringe on the oil extraction robot, detects the photoelectric detection switch 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.

[0105] Embodiment 5: In this implementation, a method for judging the sampling oil level status by integrating pressure sensor and image recognition is also proposed. By combining the real-time monitoring data of the pressure sensor with image recognition technology, accurate oil level status judgment is achieved. The specific process includes the following steps: (1) Pressure sensor measures the initial value of the oil level: The pressure sensor is installed at the bottom of the oil extraction pipeline assembly to measure the static pressure of the oil in real time. P , according to the fluid statics formula: P=ρgh (1); in, ρ is the density of the oil, g is the acceleration due to gravity, h is the oil level height. Through this formula, the system preliminarily calculates the oil level height h1 (ie the first oil level): h1=P / ρg (2); The initial oil level value provided by the pressure sensor h1 As the first level of judgment basis.

[0106] (2) Image recognition-assisted correction: The oil level image is captured by a depth camera, and the oil level is detected using an image recognition algorithm based on deep learning. The image recognition model is trained to identify the exact position of the oil level under different lighting conditions and interference factors, and to obtain the oil level height h2 (i.e., the second oil level). Image recognition can also detect interference factors such as bubbles and impurities, and determine whether there is interference in the image through feature extraction and classifiers, thereby further enhancing the robustness of detection.

[0107] (3) Multi-source fusion algorithm: In order to improve the accuracy of oil level judgment, a weighted fusion algorithm is used to combine the pressure sensor data h1 and image recognition data h2 For comprehensive calculation, the weighted average formula is as follows: h = αh1 + (1 − α)h2 (3); in, α It is the fusion weight, which is dynamically adjusted based on the accuracy and confidence of the sensor and image recognition.

[0108] This implementation method deeply integrates physical sensors with visual perception, making full use of the advantages of both and reducing the errors caused by a single sensor. For example, in the case of oil density changes or sensor drift, the visual feedback provided by image recognition can effectively correct it, and when the image interference is large, the pressure sensor provides stable physical measurement values ​​as a supplement.

[0109] Embodiment 6: In this implementation, a key landmark assisted navigation positioning method is provided, including the following process: Before the first operation, it is necessary to build a map of the working environment. Click the "Build Map" button in the background system, and the oil extraction robot will confirm the connection status of sensors such as the lidar, inertial measurement unit, depth camera, and positioning unit. 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 enters the map building mode. After entering the map building mode, the operator controls the oil extraction robot to move in the outdoor environment with the remote control, 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. After traversing the surrounding environment, click the "Build Map" button in the background system, and 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 to generate virtual walls in the areas where the substation is prohibited from passing, and mark the operation location as the target point, so that when the oil extraction robot is working on the way to the target point, the navigation system automatically blocks 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, and the map will be saved for task execution.

[0110] 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 current surrounding environment features of the 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; after the oil extraction robot completes self-positioning, it combines the current position information, the target position information and the obstacle information between the two positions to generate an optimal global path planning. 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 avoids obstacles and moves along the real-time relatively optimal path. The cable trench cover information in the map is introduced in the process of generating global path planning and local path planning. The position of the cable trench cover is visually identified and the position information is recorded during the mapping process. Weights are added when generating the global path planning to make the path with a large cable trench cover coverage rate the optimal path. 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 follow the cable trench cover during navigation instead of walking on the outdoor lawn, ensuring that the oil extraction robot moves smoothly and safely to the target position; after arriving at the target position, the position of the oil extraction robot is fine-tuned by identifying the position of the characteristic marker on the top of the oil extraction pile, so that the oil extraction robot can move accurately to the operation point, ensuring the accuracy of the oil extraction robot docking.

[0111] Embodiment 7: This implementation provides the following key landmark assisted navigation positioning method, which performs key landmark fusion positioning based on image mapping; in autonomous navigation tasks, positioning usually relies on positioning units, odometers or visual SLAM; however, problems such as limited or failed positioning unit signals in complex environments and accumulated odometer errors may lead to inaccurate positioning, especially in the last section of navigation to the target location, which often requires extremely high positioning accuracy. In order to solve this problem, this implementation proposes a key landmark fusion positioning algorithm based on image mapping, which combines known landmark information with real-time images for comparison, and performs position fine-tuning when navigating to the target location to ensure positioning accuracy and stability.

[0112] The present invention compares the image information in the actual environment with the pre-stored key landmark images, and corrects and fine-tunes the current posture through the image mapping algorithm. This technology is particularly suitable for accurate positioning when navigating to the target position, and can significantly improve the final posture accuracy and avoid navigation deviations caused by the accumulation of errors in the positioning unit and the inertial measurement unit. The specific process is as follows: S1: Construction of key landmark image library.

[0113] S1.1: Landmark selection.

[0114] In the substation scenario, prominent and stable equipment is selected as key landmarks (such as transformers, transmission towers, and iconic equipment components); in particular, detailed calibration is carried out for key nodes and target locations (such as oil storage cabinets and oil filling ports next to transformers) of the oil extraction robot's working path.

[0115] S1.2: Image acquisition and processing.

[0116] Use high-resolution cameras to capture key landmarks from multiple angles to ensure image stability under different weather and lighting conditions. After collecting the images, perform geometric correction and denoising, and extract feature points such as SIFT and ORB to generate a feature image library of key landmarks. Bind the landmark images with their precise positioning unit coordinates and azimuth information, and store them as a searchable database.

[0117] S2: Preliminary navigation and rough positioning.

[0118] S2.1: Preliminary navigation methods.

[0119] The positioning unit and inertial measurement unit are used to preliminarily determine the relative position of the oil extraction robot, and navigate according to the predetermined path; the visual odometry (VIO) is used to monitor the movement path of the oil extraction robot in real time, analyze the movement trajectory of the depth camera, and estimate the displacement and posture of the oil extraction robot relative to the environment.

[0120] S2.2: Navigation path planning.

[0121] The system plans the path according to the target location and key landmark locations. When the positioning unit signal is normal, it relies on the positioning unit to provide global position information. If the positioning unit signal weakens, it switches to VIO assisted navigation. The system adjusts the movement trajectory of the oil extraction robot in real time according to the navigation data to ensure that it is always on the optimal path when approaching the target location.

[0122] S3: Image mapping and landmark comparison.

[0123] S3.1: Landmark retrieval and comparison.

[0124] When the oil extraction robot approaches the target location, the system retrieves relevant landmark images from the key landmark image library, uses the SIFT algorithm to match feature points, and retrieves the best matching image between the current environment and the landmark library; during the comparison process, the system quickly matches the real-time image with the image in the library, and combines the rough position information provided by the positioning unit to narrow the search range and speed up the matching speed.

[0125] S3.2: Landmark image mapping.

[0126] The system determines the position and posture deviation of the oil extraction robot in the current environment based on the image matching results.

[0127] S4: Posture correction and fine-tuning.

[0128] Using the image mapping results, the PnP (Perspective-n-Point) algorithm is used to calculate the relative position of the depth camera relative to the landmark. Combined with the known landmark position information, the displacement and posture of the oil extraction robot relative to the landmark are accurately corrected to ensure the accuracy of the current position.

[0129] S5: Multiple iterations and precise positioning.

[0130] S5.1: Iterative fine-tuning.

[0131] When approaching the target position, the system continuously collects real-time images and performs landmark comparison and position fine-tuning. Each posture correction after image mapping will further reduce the error range; the system sets a fixed collection interval of 0.5s to perform multiple image comparisons, gradually correcting the posture of the oil extraction robot to ensure continuous improvement in accuracy.

[0132] S5.2: Final precise positioning.

[0133] When the oil extraction robot approaches the target position, the system confirms that the oil extraction robot has accurately reached the target point based on the results of multiple landmark image comparisons and the convergence of postures after multiple comparisons.

[0134] 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 oil sample active collection robot system, characterized in that: include: An oil extraction tank and an oil extraction robot, wherein the oil extraction tank comprises an oil extraction tank body and an oil sample extraction device located in the oil extraction tank body, and the oil extraction robot comprises a robot chassis and an automatic flexible docking device arranged on the robot chassis; The oil sample extraction device includes a syringe rotating mechanism, on which a plurality of syringes for oil sample extraction are arranged. The automatic flexible docking device includes a telescopic mechanism and a gripping mechanism located on the telescopic mechanism, and the gripping mechanism is used to remove the syringe from the oil tank body.

2. The transformer oil sample active collection robot system according to claim 1, characterized in that: The grabbing mechanism comprises: a syringe clamping assembly, a telescopic bracket, a bracket connecting plate, a piston handle lifting mechanism, a height adjustment block, a grabbing rotating base and a flexible adjustment mechanism; The grabbing rotating base is fixed on the telescopic mechanism, and a height adjustment block is installed above the grabbing rotating base. The height adjustment block is connected to the flexible adjustment mechanism, and the flexible adjustment mechanism is connected to the bracket connecting plate, and the bracket connecting plate is connected to the telescopic bracket. The piston handle lifting mechanism is fixed on the telescopic bracket, and the syringe has a built-in piston, and the piston is connected to the syringe piston handle. The piston handle lifting mechanism is used to lift the syringe piston handle from the bottom of the syringe piston handle.

3. The transformer oil sample active collection robot system according to claim 2, characterized in that: The flexible adjustment mechanism comprises: a fixed end cover, a docking fixed seat, a first adjustment spring, a bearing retaining ring, a joint bearing, a second adjustment spring and a flexible adjustment rod; The height adjustment block is connected to the docking fixing seat, the fixed end cover and the bearing retaining ring fix the outer ring of the joint bearing on the docking fixing seat, the flexible adjustment rod passes through the inner ring of the joint bearing and is connected to the bracket connecting plate, a first adjustment spring is installed between the flexible adjustment rod and the bearing retaining ring, and a second adjustment spring is installed between the fixed end cover and the bracket connecting plate.

4. The transformer oil sample active collection robot system according to claim 2, characterized in that: The piston handle lifting mechanism comprises: a driving gear, a driving rack, a lifting driving motor and a telescopic lifting rod, a guide groove is provided inside the telescopic bracket, and the telescopic lifting rod is arranged in the guide groove and can move up and down along the guide groove; The front end of the telescopic lifting rod is used to hold up the syringe piston handle. A driving rack is installed on the telescopic lifting rod. The lifting drive motor is installed on the telescopic bracket. The driving gear is installed on the output shaft of the drive motor. The syringe clamping assembly is installed on the telescopic bracket.

5. The transformer oil sample active collection robot system according to claim 1, characterized in that: The automatic flexible docking device also includes a guiding docking mechanism, an X-direction movable slide, a Y-direction movable slide, a vertical frame and a docking rotation mechanism, wherein the X-direction movable slide is fixed on the robot bottom plate; The guide docking mechanism and the telescopic mechanism are both fixed on the vertical frame, the Y-direction movable slide is arranged on the upper part of the X-direction movable slide and can move along the X-direction, the top of the Y-direction movable slide is connected to the rotating mechanism, the docking rotating mechanism is connected to the vertical frame, and the grabbing mechanism is connected to the telescopic part of the telescopic mechanism.

6. The transformer oil sample active collection robot system according to claim 5, characterized in that: The vertical frame is connected with a sliding assembly, the guide docking mechanism is fixed on the connecting plate through a guide docking mechanism fixing plate, the connecting plate is connected to the sliding assembly on the vertical frame to slide up and down, the guide docking mechanism comprises: a holding rod mechanism adjustment plate, a holding rod mechanism connecting piece, a holding rod mechanism, a guide plate, a guide plate bracket, a fixed rod front sensor, a fixed rod rear sensor and a holding rod mechanism fixing plate, the holding rod mechanism is used to hold the fixed rod on the oil tank body; The guide plate is connected to two sets of guide plate brackets and fixed on the fixed plate of the guide docking mechanism. The guide plate has a slope structure. During operation, the fixed rod of the oil tank does not move, and the front end of the guide plate contacts the front end ball of the fixed rod. The front end ball of the fixed rod passively slides along the inclined surface of the slope structure to lift the guide docking mechanism. The front sensor of the fixed rod and the rear sensor of the fixed rod are installed at the front and rear ends of the guide plate bracket and are triggered by the fixed rod during operation. The docking detection camera is installed at the front of the guide docking mechanism.

7. The transformer oil sample active collection robot system according to claim 6, characterized in that: 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; 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.

8. The transformer oil sample active collection robot system according to claim 5, characterized in that: The docking rotation mechanism includes a rotation 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 rotation drive motor is installed at the bottom of the vertical frame, and the second gear is installed on the output shaft of the rotation drive motor. The first gear is meshed with the second gear. When the rotation drive motor rotates, it drives the second gear to rotate along the first gear to realize the rotation of the vertical frame.

9. The transformer oil sample active collection robot system according to any one of claims 1 to 8, characterized in that: The robot chassis is connected with a wheel-leg assembly, and the front end of the robot chassis is equipped with a charging port for autonomous charging; the oil extraction robot also includes: a robot shell; the robot shell is installed on the robot chassis; The robot housing is connected with a laser radar, a depth camera, an inertial measurement unit, a positioning unit, an ultrasonic sensor and an oil sample detection camera; A reflector is installed on the inner side of the robot housing, and the oil sample detection camera is used to detect the details of the oil sample extraction of the syringe through the reflection of the reflector; An ultrasonic sensor is arranged on both sides of the bottom of the front end of the robot shell. The two ultrasonic sensors are used to detect the distance from the oil tank cabinet surface to calculate the deflection angle between the oil extraction robot and the oil extraction tank when it is docked.

10. The transformer oil sample active collection robot system according to claim 9, characterized in that: The collection robot 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 collection robot, and the oil sample collection and detection control system is respectively connected to a telescopic mechanism and a gripping mechanism to perform telescopic and gripping control; The navigation and positioning system includes a navigation controller. The autonomous operation master controller is respectively communicated with the robot host computer control system and the mobile platform control system. 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 communicated with the navigation controller, the motion controller is connected with the drive motor driver, the drive motor driver is connected with the drive motor, the motion controller is connected with the steering motor driver, the steering motor driver is connected with the steering motor, and the drive motor and the steering motor are both connected with the wheel-leg assembly.

11. The transformer oil sample active collection robot system according to any one of claims 1 to 8, characterized in that: The oil extraction robot further comprises: an oil sample storage and retrieval device arranged on the robot chassis, the oil sample storage and retrieval device comprising a syringe docking mechanism, a rubber cap mounting mechanism and a mounting seat; The telescopic rotating mechanism of the syringe docking mechanism is connected to the rubber cap docking rod, the inside of the rubber cap docking rod is a gas passage, the lower part of the rubber cap docking rod is connected to the negative pressure gas source through a pipeline, and the blowing and suction port of the rubber cap docking rod is a conical groove, which brings up the rubber cap when inhaling and pushes the rubber cap out when blowing; The rubber cap installation mechanism is installed on the syringe rotating mechanism. The rubber cap installation mechanism includes a rubber cap column, a rubber cap and a rubber cap bracket. The rubber cap bracket is a multi-branch rod structure, and the far end of each branch rod is provided with a rubber cap column.

12. The transformer oil sample active collection robot system according to any one of claims 1 to 8, characterized in that: It also includes a syringe docking mechanism, which is arranged on the upper part of the syringe rotating mechanism and includes an upper and lower telescopic mechanism and a syringe docking rod; The upper and lower telescopic mechanism is used to drive the syringe docking rod to move. The interior of the syringe docking rod is an oil passage. The lower part of the syringe docking rod is connected to the oil outlet branch of the transformer through a pipeline. The oil outlet of the syringe docking rod is used to cooperate with the syringe barrel head of the syringe.

13. The transformer oil sample active collection robot system according to claim 12, characterized in that: The oil outlet of the syringe docking rod is a tapered groove, and a sealing rubber ring is installed at the bottom of the tapered groove.

14. The transformer oil sample active collection robot system according to claim 12, characterized in that: The syringe rotating mechanism includes: a syringe rotating seat and a rotating base, the rotating base is fixed in the oil extraction tank body, the syringe rotating seat is connected to the rotating base, and is driven by a motor to rotate around the rotating base, the upper and lower telescopic mechanism is fixed on the syringe rotating seat, and the syringe docking rod is connected to the movable end of the upper and lower telescopic mechanism.

15. The transformer oil sample active collection robot system according to claim 14, characterized in that: The oil sample extraction device further comprises: a plurality of oil sample pushing mechanisms, the plurality of oil sample pushing mechanisms being evenly arranged on the syringe rotating seat, each group of oil sample pushing mechanisms comprising a syringe pushing module, a piston pushing seat, a syringe clamping seat, a syringe, a syringe pushing module limit sensor, a syringe clamping mechanism and an online detection sensor; The syringe pushing module, the syringe clamping seat, the syringe, the syringe pushing module limit sensor, the syringe clamping mechanism and the online detection sensor are all fixed on the syringe rotating seat. The online sensor is used to detect whether the syringe is in place. The piston pushing seat is connected to the movable end of the syringe pushing module. The syringe is limited and fixed by the syringe clamping mechanism and the syringe clamping seat.

16. The transformer oil sample active collection robot system according to claim 15, characterized in that: The syringe clamping mechanism includes a clamping motor, a syringe clamping claw, a clamping claw gear assembly and a syringe clamping claw frame. The clamping motor, the syringe clamping claw and the clamping claw gear assembly are arranged on the syringe clamping claw frame. The clamping motor drives the clamping claw gear assembly to move to drive the paired syringe clamps to move in the same direction, thereby clamping or releasing the syringe barrel.

17. The transformer oil sample active collection robot system according to claim 15, characterized in that: The syringe clamping seat is provided with a D-shaped opening groove for the syringe syringe, and a limiting groove is provided at the lower part for limiting the movement of the syringe. The online detection sensor is installed above the syringe clamping seat.

18. The transformer oil sample active collection robot system according to claim 15, characterized in that: The piston pushing seat is arranged on the syringe pushing module and is provided with a piston D-shaped opening groove. The piston is connected to the piston handle. The piston D-shaped opening groove is used to fit with the piston handle to push the piston.

19. The transformer oil sample active collection robot system according to claim 15, characterized in that: The syringe is made of glass, and the inner surface of the syringe clamp is designed to be an arc-shaped mechanism that matches the outer wall of the syringe, and is provided with a rubber gasket.

20. The transformer oil sample active collection robot system according to claim 12, characterized in that: The oil tank also includes a characteristic marker, an oil tank door, a fixing rod, a grounding bar and a control unit; A silicone waterproof strip is installed on the inner surface of the fuel tank door, a flat lock is installed on the fuel tank door, the fuel tank door is connected to the fuel tank body, a grounding bar is provided on the outer side of the fuel tank body, a control unit is installed in the fuel tank body, and a characteristic marker is fixed above the fuel tank body.

21. The transformer oil sample active collection robot system according to claim 12, characterized in that: The oil tank further comprises an oil tank lifting door, the oil tank lifting door is fixed on 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 to the lifting door guide rail. The through-screw motor is fixed on the oil tank body. The output shaft of the through-screw motor is connected to the through-type screw. 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.

22. The transformer oil sample active collection robot system according to claim 12, characterized in that: The oil extraction tank also includes an oil extraction pipeline assembly, which is installed in the oil extraction tank body. The lower part of the oil extraction pipeline assembly is divided into three parts, which are connected to the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch of the transformer, and return 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 solenoid valves and ball valves. The 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 oil in the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch of the transformer and the transformer, so as to obtain qualified oil samples.

23. The transformer oil sample active collection robot system according to any one of claims 1 to 8, characterized in that: A pressure sensor is provided at the bottom of the oil extraction pipeline assembly in the oil extraction tank body, and a visual module for photographing the oil level is provided in the oil extraction tank body.

24. An active adaptive flexible docking method, using the transformer oil sample active collection robot system according to any one of claims 1 to 8, comprising the following process: Each injector in the oil tank extracts and stores oil samples according to remote instructions or set time periods; After the syringe is filled with oil sample, the telescopic mechanism of the automatic flexible docking device of the oil extraction robot is activated, and the syringe is taken out from the oil extraction tank body through the grasping mechanism.

25. A method for judging the state of sampled oil level by integrating pressure sensor and image recognition, characterized in that: Utilizing the transformer oil sample active collection robot system as claimed in claim 23, The process includes: The first oil level is obtained according to the value of the pressure sensor, the second oil level is obtained according to the image processing result of the vision module, and the weighted sum of the first oil level and the second oil level is taken as the final oil level.

26. An active rinsing method for oil sample collection, characterized in that: Utilizing the transformer oil sample active collection robot system as claimed in claim 22, The process includes: Set the circulation time period. After the waiting time of the oil samples in the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch exceeds the circulation time period, turn on the circulation pump to circulate the oil between 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.

27. A key landmark assisted navigation positioning method, characterized in that: Utilizing the transformer oil sample active collection robot system as claimed in claim 10, The process includes: Before the first operation, according to the mapping instructions, the oil extraction robot is controlled to move around in the operating environment for one week. The navigation and positioning system will automatically generate a navigation map, mark the oil extraction operation points and generate an operation map. During the mapping process, the position of the cable trench cover is visually identified and the position information is recorded; When performing an oil extraction task, select the corresponding operation map and the oil sample collection task to be performed. The oil extraction robot automatically locates the current position, autonomously plans the global path according to the operation target position, and generates a local path in real time according to the road condition information during the journey. The global path is adjusted in real time through the local path until it reaches the oil extraction operation location. When generating the global path planning, weights are added to make the path with the largest cable trench cover coverage 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 can walk along the cable trench cover as much as possible during the navigation process.

28. A key landmark assisted navigation positioning method, characterized in that: Utilizing the transformer oil sample active collection robot system as claimed in claim 10, 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; Photograph 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 the coordinates and azimuth information of the positioning unit, and store them as a searchable database; The relative position of the oil extraction robot is initially determined using the positioning unit and inertial measurement unit, and navigation is performed according to the predetermined path. The moving path of the oil extraction robot is monitored in real time using the visual odometer, and the moving trajectory of the depth camera is analyzed to estimate the displacement and posture of the oil extraction robot relative to the environment. Plan the route based on the target location and key landmark locations. When the positioning unit signal is normal, the positioning unit provides global location information. If the positioning unit signal weakens, it switches to visual odometer-assisted navigation. The moving trajectory of the oil extraction robot is adjusted in real time according to the navigation data, so that it is always on the optimal path when approaching the target location; 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; Calculate the relative position and posture of the depth camera relative to the key landmarks, and correct the displacement and posture of the oil extraction 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; When approaching the target position, real-time images are continuously collected and key landmarks are compared and the position is fine-tuned. Each posture correction after image mapping will further reduce the error range. A fixed collection interval is set to perform multiple image comparisons to gradually correct the posture of the oil extraction robot. When the oil extraction robot approaches the target position, the pose convergence results after multiple image comparisons confirm that the oil extraction robot has accurately reached the target point.

29. A remote auxiliary repair method for a transformer oil sampling robot fault, characterized in that: The transformer oil sample active collection robot system described in claim 10 performs self-inspection of the power management system, the autonomous operation master controller, the robot host computer control system, the navigation and positioning system, the mobile platform control system and the oil sample collection and detection control system, respectively. The robot host computer control system sends all self-inspection results to the cloud server, so that the cloud server generates an auxiliary repair strategy based on all self-inspection results and sends it to the robot host computer control system. The robot host computer control system performs automatic repair according to the received auxiliary repair strategy or sends it to the maintenance personnel.

30. The transformer oil sampling robot fault remote auxiliary repair method according to claim 29, 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.

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