Active Sampling Robot System and Method for Transformer Oil Samples

Abstract

The present invention belongs to the technical field of power robots. A transformer oil sample active collection robot system and method are provided, including: an oil extraction tank and an oil extraction robot; the oil extraction tank includes an oil extraction tank body and an oil sample extraction device located within the oil extraction tank body, and the oil extraction robot includes a robot chassis and an automatic docking device arranged on the robot chassis; the oil sample extraction device includes a syringe rotation mechanism, and a plurality of syringes for oil sample extraction are arranged on the syringe rotation mechanism, and the automatic docking device includes a telescopic mechanism and a grasping mechanism located on the telescopic mechanism, and the grasping mechanism is used to take out the syringe from the oil extraction tank body; the present invention avoids the safety hazards brought by frequent oil circuit docking and greatly improves the oil extraction efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of power robots, and particularly to an active sampling robot system and method for transformer oil samples. Background Art

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

[0003] The transformer is one of the key devices in the power system, and its operating state directly affects the safety and stability of the power grid. Regular collection and analysis of transformer oil samples can detect the internal oil quality condition of the transformer, timely discover and diagnose abnormal faults such as arc discharge and overheating inside the equipment, so as to give early warnings and avoid the occurrence of major accidents. The existing transformer oil sample collection work is mostly completed manually. The oil sampling process is complex, the labor intensity of the operation is large, the operation efficiency is low, it is easily affected by the environment, and there are serious safety risks. Using a transformer oil sampling robot to replace manual operation, applying an automatic docking device, and optimizing the operation process have important application values for improving the operation and maintenance efficiency and safety of the power system, reducing the risks of manual operation, and ensuring the high reliability of power supply.

[0004] How to achieve the automatic and active collection of transformer oil samples is a technical problem that urgently needs to be solved. To solve this technical problem, a comprehensive design needs to be carried out from aspects such as the structure of the collection robot system, the self-check control of the collection robot system (the existing self-check strategy is lacking), and the navigation control of the robot (the existing navigation control accuracy is low). For example, in the design of the collection robot system structure, the existing solutions mainly combine an oil sampling robot and an oil sampling tank for oil sampling. The robot is equipped with a syringe for oil sampling. Each time oil is sampled, the robot needs to walk to the side of the oil sampling tank for pipeline docking and then sample the oil, and fill each syringe in turn. Each time, oil pipeline docking is required, which not only has poor safety but also low oil sampling efficiency. Summary of the Invention

[0005] To solve the deficiencies of the prior art, the present invention provides an active sampling robot system and method for transformer oil samples. The oil sample extraction device in the oil sampling tank can pre-extract the oil samples and circulate them through a circulating pump and each branch. After the robot arrives, it only needs to take away the syringe filled with the oil sample, without the need for docking of the oil sampling port or on-site extraction of the oil sample. While avoiding the safety hazards brought by frequent oil pipeline docking, the oil sampling efficiency is greatly improved.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides an active sampling robot system for transformer oil samples.

[0008] An active sampling robot system for transformer oil samples, comprising: an oil sampling tank and an oil sampling robot. The oil sampling tank includes an oil sampling tank body and an oil sample extraction device located inside the oil sampling tank body. The oil sampling robot includes a robot chassis and an automatic flexible docking device arranged on the robot chassis;

[0009] 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 grasping mechanism located on the telescopic mechanism. The grasping mechanism is used to take out the syringe from the oil sampling tank body.

[0010] As a further limitation of the first aspect of the present invention, the grasping mechanism includes: a syringe clamping assembly, a telescopic bracket, a bracket connecting plate, a piston handle lifting mechanism, a height adjustment block, a grasping rotating base and a flexible adjustment mechanism;

[0011] The grasping rotating base is fixed on the telescopic mechanism. A height adjustment block is installed above the grasping 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. A piston is arranged inside the syringe, and 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.

[0012] As a further limitation of the first aspect of the present invention, the flexible adjustment mechanism includes: a fixed end cover, a docking fixed seat, a large adjustment spring, a bearing retaining ring, a spherical plain bearing, a small adjustment spring and a flexible adjustment rod;

[0013] The height adjustment block is connected to the docking fixed seat. The fixed end cover and the bearing retaining ring fix the outer ring of the spherical plain bearing on the docking fixed seat. The flexible adjustment rod passes through the inner ring of the spherical plain 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. A small adjustment spring is installed between the fixed end cover and the bracket connecting plate.

[0014] As a further limitation of the first aspect of the present invention, the piston handle lifting mechanism includes: a driving gear, a driving rack, a lifting driving motor and a telescopic lifting rod. A guide groove is arranged 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;

[0015] The front end of the telescopic lifting rod is used to lift the syringe piston handle. A driving rack is installed on the telescopic lifting rod. The lifting driving motor is installed on the telescopic bracket. The driving gear is installed on the output shaft of the driving motor. The syringe clamping assembly is installed on the telescopic bracket.

[0016] As a further limitation of the first aspect of the present invention, the automatic flexible docking device further includes a guiding and docking mechanism, an X-direction moving slide, a Y-direction moving slide, a vertical frame, and a docking rotating mechanism. The X-direction moving slide is fixed on the robot base plate;

[0017] The guiding and docking mechanism and the telescopic mechanism are both fixed on the vertical frame. The Y-direction moving slide is arranged on the upper part of the X-direction moving slide and can move along the X-direction. The top of the Y-direction moving slide is connected to the rotating mechanism. The docking rotating mechanism is connected to the vertical frame, and the grasping mechanism is connected to the telescopic member of the telescopic mechanism.

[0018] As a further limitation of the first aspect of the present invention, a sliding component is connected to the vertical frame. The guiding and docking mechanism is fixed on the connecting plate through the guiding and docking mechanism fixing plate. The connecting plate is connected to the sliding component on the vertical frame for up and down sliding. The guiding and docking mechanism includes: a holding rod mechanism adjusting plate, a holding rod mechanism connecting piece, a holding rod mechanism, a guiding plate, a guiding 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 fuel tank body;

[0019] The guiding plate is connected to two groups of guiding plate brackets and fixed on the guiding and docking mechanism fixing plate. The guiding plate has a slope structure. During operation, the fixed rod of the fuel tank does not move. The front end of the guiding plate is in spherical contact with the fixed rod and slides passively along the inclined surface of the slope structure to lift the guiding and docking mechanism. The fixed rod front sensor and the fixed rod rear sensor are installed at the front and rear ends of the guiding plate bracket and are triggered by the fixed rod during operation. The docking detection camera is installed at the front of the guiding and docking mechanism.

[0020] As a further limitation of the first aspect of the present invention, the holding rod mechanism is fixed on the guiding and docking mechanism fixing plate through the holding rod mechanism adjusting plate and the holding rod mechanism connecting piece. The holding rod mechanism includes a holding rod seat, a holding claw, a counter-side holding claw, a gear, a rack, a guide rail pair, a holding rod driving motor, and a motor output shaft;

[0021] The holding rod driving motor is fixed on the holding rod seat. The gear is connected to the motor output shaft. The rack is arranged on both sides of the gear and meshes with the gear. A guide rail pair is arranged on the rack. The holding claw and the counter-side holding claw are installed on both sides of the rack. The holding claw and the counter-side holding claw are respectively designed as a single-claw and a double-claw structure. When the gear rotates, it drives the rack and the holding claw to move relative to each other. The holding claw and the counter-side holding claw overlap and cross each other to hold the fixed rod tightly.

[0022] As a further limitation of the first aspect of the present invention, the docking and rotating mechanism includes a rotation driving motor, a first gear, and a second gear. The first gear is fixed on the upper part of the Y-direction moving slide, the rotation driving motor is installed at the bottom of the vertical frame, the second gear is installed on the output shaft of the rotation driving motor, and the first gear meshes with the second gear. When the rotation driving motor rotates, it drives the second gear to rotate along the first gear to achieve the rotation of the vertical frame.

[0023] As a further limitation of the first aspect of the present invention, a wheel-leg assembly is connected to the robot chassis, 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;

[0024] A lidar, a depth camera, an inertial measurement unit, a positioning unit, an ultrasonic sensor, and an oil sample detection camera are connected to the robot housing;

[0025] A reflector is installed on the inner side surface of the robot housing, and the oil sample detection camera is used to detect the details of syringe oil sample extraction through the reflection of the reflector.

[0026] As a further limitation of the first aspect of the present invention, the collection robot system further includes: an autonomous operation general controller, a robot upper 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. The power management system is connected to the power supply battery of the oil extraction robot, and the oil sample collection and detection control system is respectively connected to the telescopic mechanism and the grasping mechanism for telescopic and grasping control;

[0027] The navigation and positioning system includes a navigation controller. The autonomous operation general controller is respectively communicatively connected to the robot upper 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 communicatively connected to the navigation controller, the motion controller is connected to the drive motor driver, the drive motor driver is connected to the drive motor, the motion controller is connected to the steering motor driver, and the steering motor driver is connected to the steering motor. The drive motor and the steering motor are both connected to the wheel-leg assembly.

[0028] As a further limitation of the first aspect of the present invention, two ultrasonic sensors are respectively arranged on both sides of the bottom of the front end of the robot housing. The two ultrasonic sensors are used to detect the distance from the cabinet surface of the oil extraction tank to calculate the deflection angle of the oil extraction robot when docking with the oil extraction tank.

[0029] As a further limitation of the first aspect of the present invention, the oil sampling robot further includes: an oil sample access device disposed on the robot chassis, and the oil sample access device includes a syringe docking mechanism, a rubber cap mounting mechanism, and a mounting seat;

[0030] The telescopic and 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 a negative pressure air source through a pipeline. The blowing and suction port of the rubber cap docking rod is a conical groove, which lifts the rubber cap during suction and pushes out the rubber cap during blowing;

[0031] The rubber cap mounting mechanism is mounted on the syringe rotating mechanism. The rubber cap mounting 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 distal end of each branch rod is provided with a rubber cap column.

[0032] As a further limitation of the first aspect of the present invention, it further includes a syringe docking mechanism. The syringe docking mechanism is disposed above the syringe rotating mechanism and includes an up-and-down telescopic mechanism and a syringe docking rod;

[0033] The up-and-down telescopic mechanism is used to drive the movement of the syringe docking rod. The inside 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 head of the syringe barrel for connection.

[0034] As a further limitation of the first aspect of the present invention, the oil outlet of the syringe docking rod is a conical groove, and a sealing rubber ring is installed at the bottom of the conical groove.

[0035] 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 inside the oil sampling box. The syringe rotating seat is connected to the rotating base and rotates around the rotating base driven by a motor. The up-and-down telescopic mechanism is fixed on the syringe rotating seat, and the syringe docking rod is connected to the movable end of the up-and-down telescopic mechanism.

[0036] 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 barrel clamping seat, a syringe, a syringe pushing module limit sensor, a syringe clamping mechanism, and an on-line detection sensor;

[0037] The syringe pushing module, the syringe barrel clamping seat, the syringe, the syringe pushing module limit sensor, the syringe clamping mechanism and the on-line detection sensor are all fixed on the syringe rotating seat. The on-line 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 barrel clamping seat.

[0038] As a further limitation of the first aspect of the present invention, the syringe clamping mechanism includes a clamping motor, syringe barrel grippers, a gripper gear assembly and a syringe gripper frame. The clamping motor, the syringe barrel grippers and the gripper gear assembly are arranged on the syringe gripper frame. The clamping motor drives the gripper gear assembly to move so as to drive the paired syringe barrel grippers to move in the same direction, realizing clamping or loosening of the syringe barrel.

[0039] As a further limitation of the first aspect of the present invention, the syringe barrel clamping seat is provided with a D-shaped opening groove for the syringe barrel and a limit groove at the lower part for limiting the movement of the syringe. The on-line detection sensor is installed above the syringe barrel clamping seat.

[0040] 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 D-shaped opening groove for the piston. The piston is connected to the piston rod. The D-shaped opening groove for the piston is used for fitting with the piston rod to push the piston.

[0041] As a further limitation of the first aspect of the present invention, the syringe is made of glass. The inner surface of the syringe barrel gripper is designed as an arc mechanism that fits the outer wall of the syringe barrel and is attached with a rubber gasket.

[0042] As a further limitation of the first aspect of the present invention, the oil extraction tank further includes a feature identifier, an oil extraction tank door, a fixing rod, a grounding bar and a control unit;

[0043] A silica gel waterproof strip is installed on the inner surface of the oil extraction tank door. A flat lock is installed on the oil extraction tank door. The oil extraction tank door is connected to the oil extraction tank body. A grounding bar is arranged on the outer side of the oil extraction tank body. A control unit is installed inside the oil extraction tank body. The feature identifier is fixed above the oil extraction tank body.

[0044] As a further limitation of the first aspect of the present invention, the oil extraction tank further includes an oil extraction tank lifting door. The oil extraction tank lifting door is fixed on the door frame of the oil extraction tank body. The oil extraction tank lifting door includes a lifting door, a limit switch, a through screw motor, a through screw and a lifting door guide rail;

[0045] The lifting door guide rail and the limit switch are arranged on the door frame of the oil extraction tank body. The lifting door is slidably connected to the lifting door guide rail. The through screw motor is fixed on the oil extraction tank body. The output shaft of the through screw motor is connected to the through screw. The through screw is installed on the lifting door. When the output shaft of the through screw motor rotates, it drives the through screw to move up and down, and then drives the lifting door to move up and down along the lifting door guide rail.

[0046] 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 inside the oil extraction tank body. The lower part of the oil extraction pipeline assembly is divided into three paths and is connected to the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch of the transformer, and returns to the transformer through a circulation pump and a return oil branch.

[0047] Electromagnetic valves and ball valves are installed on the upper oil extraction branch, the middle oil extraction branch and the lower oil extraction branch. The electromagnetic valves are normally closed valves. The circulation 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 oil in the transformer, so as to obtain qualified oil samples.

[0048] 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 inside the oil extraction tank body, and a vision module for photographing the oil level is provided inside the oil extraction tank body.

[0049] In the second aspect, the present invention provides an active adaptive flexible docking method, which uses the transformer oil sample active collection robot system described in the first aspect of the present invention, including the following processes:

[0050] Each syringe of the oil extraction tank extracts and stores oil samples according to remote instructions or a set time period.

[0051] After the syringe is filled with the oil sample, the telescopic mechanism of the automatic flexible docking device of the oil extraction robot acts, and the syringe is taken out of the oil extraction tank body through the grasping mechanism.

[0052] In the third aspect, the present invention provides a sampling oil level state judgment method integrating a pressure sensor and image recognition, which uses the transformer oil sample active collection robot system described in the first aspect of the present invention, including the following processes:

[0053] The first oil level is obtained according to the value of the pressure sensor, and the second oil level is obtained according to the image processing result of the vision module. The weighted sum of the first oil level and the second oil level is used as the final oil level.

[0054] In the fourth aspect, the present invention provides an oil sample collection active flushing method, which uses the transformer oil sample active collection robot system described in the first aspect of the present invention, including the following processes:

[0055] Set the cycle time period. After the waiting time of the oil samples in the upper oil extraction branch, middle oil extraction branch, and lower oil extraction branch exceeds the cycle time period, turn on the circulation pump to perform the circulation of the oil in the upper oil extraction branch, middle oil extraction branch, and lower oil extraction branch of the transformer and the oil inside the transformer, so as to obtain qualified oil samples.

[0056] In a fifth aspect, the present invention provides a key landmark assisted navigation and positioning method, which utilizes the transformer oil sample active collection robot system described in the first aspect of the present invention, including the following processes:

[0057] Before the first operation, according to the mapping instruction, control the oil extraction robot to move around in the operation environment. The navigation and positioning system will automatically generate a navigation map, generate an operation map after marking the oil extraction operation points, and identify the position of the cable trench cover plate through vision and record the position information during the mapping process;

[0058] When performing the oil extraction task, select the corresponding operation map, select the oil sample collection task to be carried out. The oil extraction robot automatically locates its current position, autonomously plans the global path according to the operation target position, and generates the local path in real time according to the road condition information during the traveling process, and adjusts the global path in real time through the local path until it reaches the oil extraction operation position;

[0059] Add weights when generating the global path planning, so that the path with a large cable trench cover plate coverage rate is the optimal path, and select the cable trench cover plate path as the local optimal path when generating the local path, so that the oil extraction robot walks along the cable trench cover plate as much as possible during navigation.

[0060] In a sixth aspect, the present invention provides a key landmark assisted navigation and positioning method, which utilizes the transformer oil sample active collection robot system described in the first aspect of the present invention, including the following processes:

[0061] In the substation scenario, select significant and stable equipment as key landmarks, calibrate the key nodes and target positions of the working path of the oil extraction robot, and construct a key landmark image library;

[0062] Take pictures of the key landmarks from multiple angles, perform geometric correction and denoising processing after collecting the images, extract the feature points, generate a feature image library of the key landmarks, bind the feature images of the key landmarks with the coordinate and azimuth information of the positioning unit, and store them as a retrievable database;

[0063] Use the positioning unit and inertial measurement unit to initially determine the relative position of the oil extraction robot, and perform navigation according to the predetermined path. Use visual odometry to monitor the moving path of the oil extraction robot in real time, analyze the moving trajectory of the depth camera, and estimate the displacement and attitude of the oil extraction robot relative to the environment;

[0064] Plan a path based on the target position and the positions of key landmarks. When the signal of the positioning unit is normal, rely on the positioning unit to provide global position information. If the signal of the positioning unit weakens, switch to visual odometry-aided navigation; adjust the moving trajectory of the oil sampling robot in real time according to the navigation data, so that it is always on the optimal path when approaching the target position;

[0065] When the oil sampling robot approaches the target position, retrieve relevant landmark images from the retrievable database, perform feature point matching, retrieve the image in the retrievable database that best matches the current environment, and perform image mapping according to the image matching result to judge the position and pose deviation of the oil sampling robot in the current environment;

[0066] Calculate the relative pose of the depth camera with respect to the key landmark. According to the position and pose deviation of the oil sampling robot in the current environment and combined with the known landmark position information, correct the displacement and pose of the oil sampling robot with respect to the key landmark;

[0067] When approaching the target position, continuously collect real-time images and perform landmark comparison and position fine-tuning. The pose correction after each image mapping will further narrow the error range. Set a fixed acquisition interval for multiple image comparisons to gradually correct the pose of the oil sampling robot;

[0068] When the oil sampling robot approaches the target position, according to the results of multiple landmark image comparisons and through the pose convergence results after multiple comparisons, confirm that the oil sampling robot has accurately reached the target point.

[0069] In a seventh aspect, the present invention provides a method for remotely assisting in the repair of faults of a transformer oil sample collection robot, which is used for the transformer oil sample active collection robot system described in the first aspect of the present invention. Self-checks are respectively performed on the power management system, the autonomous operation master controller, the robot upper computer control system, the navigation and positioning system, the mobile platform control system, and the oil sample collection and detection control system. The robot upper computer control system sends all self-check results to the cloud server, so that the cloud server generates an auxiliary repair strategy according to all self-check results and sends it to the robot upper computer control system. The robot upper computer control system performs automatic repair according to the received auxiliary repair strategy or sends it to the maintenance personnel.

[0070] As a further limitation of the seventh aspect of the present invention, the self-check of the power management system includes: after the oil sampling robot is powered on, the power indicator light is on, indicating that the power supply is connected. The power management system inside the oil sampling robot checks the status of the battery pack, including whether the battery power, voltage, and temperature are within the normal range;

[0071] The self-check of the autonomous operation master controller includes: after the autonomous operation master controller is powered on, the bootloader runs automatically. The bootloader checks whether the serial port, network port, and USB port of the operation master controller are working properly. If there are any abnormalities, an error warning is issued. If the check is normal, it starts to check whether there is a new version of the code in the download area that has not been updated. If there is, the new version of the code is first copied from the download area to the APP area, and then the application program in the APP area is started. If there is no new version of the code, the application program in the APP area is directly started;

[0072] The self-check of the robot host control system includes: after the host control system is powered on, it first reads the version information of the host software and compares it with the compatible version list stored internally. If there is a new version, an application update is performed. Then, it starts to check the network connection between the host control system and the autonomous operation master controller. If the network connection fails, an error warning is issued. 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 requirements of the current operation. If they do not meet the requirements, an error warning is issued to prompt the operator to check and reset;

[0073] The self-check of the navigation and positioning system includes: after the navigation and positioning system is powered on, it first checks whether the hardware of the positioning unit, inertial measurement unit, and lidar is normal. If there are any hardware abnormalities, corresponding error warnings are issued, and at the same time, it is confirmed whether the positioning unit, inertial measurement unit, and lidar have been correctly initialized and are in the working state. Then, it starts the 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-offset calibration and gyroscope drift test are performed to determine whether the usage accuracy is met. If it does not meet the requirements, an alarm message is issued;

[0074] The self-check of the mobile platform control system includes: after the mobile platform control system is powered on, it checks the drive motor driver, drive motor, steering motor driver, and steering motor one by one to confirm normal communication and no fault alarm. If there are any errors, corresponding warnings are issued;

[0075] The self-check of the oil sample collection and detection control system includes: after the oil sample collection and detection control system is powered on, it first resets each syringe on the oil sampling robot. During the reset, the photoelectric detection switch of each syringe drive module is detected. When a signal is output, the reset is stopped, and the value of the encoder of the drive motor of each syringe is read as the zero point of the syringe movement. During the reset process, the output torque of the drive motor of each syringe is continuously detected. When the warning threshold is reached, the movement of the drive motor of the syringe is immediately stopped, and a warning message is issued to prompt that the syringe reset is abnormal.

[0076] Compared with the prior art, the beneficial effects of the present invention are:

[0077] 1. The present invention innovatively develops an active sampling robot system for transformer oil samples, which includes an oil sampling tank and an oil sampling robot. An oil sample extraction device is provided in the oil sampling tank. The oil sampling robot includes a robot chassis and an automatic flexible docking device arranged on the robot chassis. The oil sample extraction device includes a syringe rotation mechanism, and a plurality of syringes for oil sample extraction are arranged on the syringe rotation 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 out the syringe from the oil sampling tank body. The oil sample extraction device in the oil sampling tank can pre-extract the oil sample and circulate it through a circulation pump and each branch. After the robot arrives, it only needs to take away the syringe with the oil sample collected, avoiding the safety hazards caused by frequent oil circuit docking and greatly improving the oil sampling efficiency.

[0078] 2. The active adaptive flexible docking method for the automatic transformer oil sample collection robot provided by the present invention develops an automatic docking system for transformer oil sample collection. Each syringe in the oil sampling tank extracts and stores the oil sample according to a remote instruction or a set time period. After the syringe is filled with the oil sample, the telescopic mechanism of the automatic flexible docking device of the oil sampling robot acts, and the syringe is taken out from the oil sampling tank body through the grasping mechanism. During docking, it has functions of bearing, buffering and universal flexible adjustment, enabling the automatic docking device to actively and flexibly adjust and reliably dock with the docking mechanism of the oil sampling tank, solving the problems of unsuccessful docking and grasping, dropping of the oil sample in the syringe and oil sample leakage, realizing the functions of automatic, efficient, accurate docking and grasping of oil sample collection, reducing the safety hazards caused by frequent oil circuit docking, and improving the oil sampling efficiency.

[0079] 3. The present invention makes the automatic docking device passively adjust along the Y direction and actively deflect and adjust the angle through fixing rod clamping and active detection and rotation adjustment of the deflection angle, so that the plane self-locking female joint of the flexible docking oil sampling mechanism is within the conical docking port range of the flexible docking oil sampling port. The claw of the holding rod mechanism adopts a fork-overlapping structure, which can firmly clamp the fixing rod without slipping, making the position of the oil sampling robot and the oil sampling tank relatively fixed, and the attitude of the automatic docking device is also passively adjusted in the up-down, left-right directions and rotated, providing convenience for automatic oil sampling.

[0080] 4. The automatic flushing method for sampling of the transformer oil sample collection robot provided by the present invention develops an oil tank taking device and sets a cyclic time period. After the waiting time of the oil samples in the upper oil taking branch, the middle oil taking branch, and the lower oil taking branch exceeds the cyclic time period, the circulation pump is turned on to circulate the oil in the upper oil taking branch, the middle oil taking branch, and the lower oil taking branch of the transformer and the oil inside the transformer, so as to obtain qualified oil samples. The oil sample extraction device in the oil tank is used to extract and flush the oil sample in advance, and the circulation is carried out through the circulation pump and each branch to flush the inner wall of the pipeline and remove waste oil for multiple times, solving the problem of inaccurate detection results caused by oil sample residue in the oil taking pipeline and impurity pollution of the oil sample, realizing the automatic flushing function of the pipeline and the inner wall of the syringe, and improving the cleanliness of the oil sample and the accuracy of the automatic detection result.

[0081] 5. The present invention designs an automatic oil sample flushing and pipeline switching mechanism. A circulation pump is designed in the oil sample taking pipeline assembly, which can realize the circulation of the oil in the upper, middle, and lower three branches of the transformer and the oil inside the transformer, so as to obtain qualified oil samples, and can automatically switch and collect the oil samples in the upper, middle, and lower three roads of the transformer. It can extract the oil sample in advance and circulate through the circulation pump and each branch. After the robot arrives, only the syringe with the oil sample collected needs to be taken away. The oil sample taking and placing device adopts a rotating form, which can realize the rotating replacement and collection of oil samples of multiple syringes, with convenient operation and high automation efficiency, avoiding the safety hazards brought by frequent oil circuit docking, and greatly improving the oil taking efficiency.

[0082] 6. The method for judging the sampling oil level state of the transformer oil sample collection robot integrating a pressure sensor and image recognition provided by the present invention constructs a physical sensor and visual perception deep fusion model, adopts a weighted fusion algorithm, comprehensively calculates the real-time monitoring data of the pressure sensor and the image recognition data, and accurately judges the sampling oil level state, solving the problem of unattended operation during the oil sample collection process and being easily interfered by factors such as bubbles and impurities, realizing accurate oil level state judgment, and improving the accuracy of the system oil sample collection and detection results.

[0083] 7. The key landmark assisted precise navigation and positioning method for the 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 images, and corrects and fine-tunes the current pose through the image mapping algorithm, solving the problem of inaccurate positioning caused by limited or invalid signals of the positioning unit and cumulative odometer errors in a complex environment, realizing the high-precision position docking function of the transformer oil sample collection robot, reducing the navigation deviation caused by the cumulative errors of the positioning unit and the inertial measurement unit, and improving the operation efficiency of the robot.

[0084] 8. The transformer oil sample collection robot fault self - detection and remote auxiliary repair method provided by the present invention designs the system fault self - detection and pre - repair strategy technology. Before oil sample collection, self - detection is respectively carried out on the power management system, the autonomous operation general controller, the robot upper computer control system, the navigation and positioning system, the mobile platform control system, and the oil sample collection detection control system. The robot upper computer control system sends all self - detection results to the cloud server, so that the cloud server generates an auxiliary repair strategy according to all self - detection results and sends it to the robot upper computer control system. The robot upper computer control system performs automatic repair according to the received auxiliary repair strategy or sends it to the maintenance personnel. The cloud server assists in the pre - repair of faults, solves the problem that the robot may work with potential safety hazards, realizes the function self - detection and active fault repair function of the transformer oil sample collection robot system, and improves the safety of the robot's work.

[0085] 9. The present invention uses the blowing and suction methods of a negative - pressure gas source to achieve the sealed installation of the rubber cap of the syringe, preventing oil sample leakage. 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 oil sample extraction from the syringe through the reflection of the reflector, realizing observation within a relatively small viewing distance.

[0086] Advantages of additional aspects of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0088] Figure 1 It is a schematic diagram of the overall structure of the transformer oil sample active collection robot system provided by the present invention;

[0089] Figure 2 It is a schematic diagram of the partial structure of the transformer oil sample active collection robot system provided by the present invention;

[0090] Figure 3 It is a schematic diagram of the overall structure of the oil - taking tank provided by the present invention;

[0091] Figure 4 It is a schematic diagram of the partial structure of the rear part of the oil - taking tank provided by the present invention;

[0092] Figure 5 It is a schematic diagram of the overall structure of the oil sample extraction device provided by the present invention;

[0093] Figure 6 It is a schematic diagram of the partial structure of the oil - taking tank provided by the present invention;

[0094] Figure 7 Schematic diagram of the overall structure of the robot housing provided by the present invention;

[0095] Figure 8 Schematic diagram of the overall structure of the oil sample access device provided by the present invention;

[0096] Figure 9 Schematic diagram of the overall structure of the automatic docking device provided by the present invention;

[0097] Figure 10 Schematic diagram of the partial structure of the automatic docking device provided by the present invention;

[0098] Figure 11 Schematic diagram of the structure of the grasping mechanism provided by the present invention;

[0099] Figure 12 Schematic diagram of the structure of the pole holding mechanism provided by the present invention;

[0100] Figure 13 Schematic diagram of the deflection angle detection method provided by the present invention;

[0101] Figure 14 Schematic diagram of the connection of each control system provided by the present invention;

[0102] Figure 15 Schematic diagram of the navigation and positioning system provided by the present invention;

[0103] Figure 16 Schematic diagram of the mobile platform control system provided by the present invention;

[0104] Among them; 1. Oil extraction tank; 101. Feature identifier; 102. Fixed 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 claw; 1056. Claw gear assembly; 1057. Syringe claw rack; 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;

[0105] 106. Take the fuel tank lift door; 107. Take the fuel tank body; 108. Take the 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. Return oil 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

[0106] 2. Robot housing; 201. LiDAR; 202. LiDAR support; 203. Depth camera; 204. Front door; 205. Communication antenna; 206. Left door; 207. Magnetic lock; 208. Emergency stop switch; 209. Anti-collision strip; 210. Rubber strip; 211. Reflector; 212. Right door; 213. Rear door; 214. Ultrasonic sensor

[0107] 3. Robot chassis; 301. Wheel-leg assembly; 302. Charging port; 303. Debugging interface assembly

[0108] 4. Autonomous operation master controller

[0109] 5. Oil sample access device; 501. Rubber cap column; 502. Rubber cap; 503. Rubber cap bracket; 504. Telescopic rotary assembly; 505. Rubber cap docking rod; 506. Mounting seat

[0110] 6. Negative pressure air source; 601. PU air pipe

[0111] 7. Automatic docking device; 701. Gripping mechanism; 7011. Telescopic bracket; 7012. Bracket connecting plate; 7013. Fixed end cap; 7014. Docking fixing seat; 7015. Large adjustment spring; 7016. Bearing retainer ring; 7017. Spherical plain bearing; 7018. Small adjustment spring; 7019. Flexible adjustment rod; 70110. Height adjustment block; 70111. Gripping rotation base; 70112. Driving gear; 70113. Driving rack; 70114. Lifting driving motor; 70115. Telescopic lifting rod; 702. Telescopic mechanism; 703. Vertical frame; 7031. Slide block; 7032. Sliding damping; 704. Guiding and docking mechanism; 7041. Connecting piece of pole-holding mechanism; 7042. Sensor behind fixed rod; 7043. Guide plate bracket; 7044. Sensor in front of fixed rod; 7045. Guide plate; 7046. Pole-holding mechanism; 70461. Pole-holding seat; 70462. Claw; 70463. Rack; 70464. Guide rail pair; 70465. Driving motor housing; 70466. Pole-holding driving motor; 70467. Flange; 70468. Gear; 70469. Bearing; 704610. Opposite claw; 704611. Fixing plate of pole-holding mechanism; 7047. Docking detection camera; 7048. Fixing plate of guiding and docking mechanism; 7049. Connecting plate; 705. Rotating mechanism; 7051. Large gear; 7052. Rotating driving motor; 7053. Small gear; 706. Y-direction moving slide; 7061. Drag chain; 7062. Y-direction compression spring; 7063. Zero position scale; 7064. Pointer; 7065. Linear driving mechanism; 7066. Y-direction guide rail pair; 707. X-direction moving slide; 7071. X-direction driving motor; 7072. X-direction guide rail pair; 7073. X-direction screw-nut pair;

[0112] 8. Charging pile; 801. Charging connector. Detailed implementation mode

[0113] The present invention will be further described below in conjunction with the drawings and embodiments.

[0114] It should be noted that the following detailed description is exemplary and is intended to provide further description of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0115] Embodiment 1:

[0116] In this implementation mode, an active sampling robot system for transformer oil samples is proposed, as shown in Figure 1 and Figure 2As shown in the figure, it includes an oil tank 1, an oil extraction robot, and a charging pile 8. The oil extraction robot includes a robot chassis 3, a robot housing 2, an automatic docking device 7, an oil sample storage and retrieval device 5, and a total autonomous operation controller 4.

[0117] As Figure 3 shown, the oil tank 1 mainly includes an oil tank body 107, a feature identifier 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, and a flat lock 109 is installed on the oil tank door 108. The oil tank door 108 and the oil tank body 107 are structurally pressed to achieve a waterproof function. A grounding bar 110 is provided on the outer side of the oil tank body 107 to achieve grounding. A control unit 119 is installed inside the oil tank 1 to control and detect the operating state of the oil tank 1 and communicate with the upper computer.

[0118] The feature identifier 101 is fixed above the oil tank body 107 for the lidar 201 of the oil extraction robot to perform feature recognition, so as to position and navigate the oil tank 1 and realize the docking between the oil extraction robot and the oil tank 1 when taking oil.

[0119] The oil sample extraction device 105 is arranged inside the oil tank 1. As Figure 5 shown, the oil sample extraction device 105 includes an oil sample pushing device, a syringe rotating mechanism, and a syringe docking mechanism.

[0120] The syringe rotating mechanism includes a syringe rotating seat 10512 and a rotating base 10513. The rotating base 10513 is fixed inside the oil tank 1, and the syringe rotating seat 10512 is connected to the rotating base 10513 and rotates around the rotating base 10513 driven by a motor.

[0121] The syringe docking mechanism is arranged on the upper part of the syringe rotating mechanism and includes an up and down telescoping mechanism 1058 and a syringe docking rod 1059. The up and down telescoping mechanism 1058 is fixed on the syringe rotating seat 10512, and the syringe docking rod 1059 is connected to the moving end of the up and down telescoping mechanism 1058. The up and down telescoping mechanism 1058 can perform telescoping movement of 30 mm up and down, driving the syringe docking rod 1059 to move together. The inside 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 pipe. The oil outlet is a conical groove, which is matched and connected with the head structure of the syringe 1053. A sealing rubber ring 105901 is installed at the bottom of the conical groove 105902 to play a role in preventing oil leakage and sealing during docking.

[0122] The oil sample pushing devices are evenly arranged on the syringe rotating base 10512 and include six groups of structures. Each group of structures includes a syringe pushing module 10511, a piston pushing seat 1051, a syringe barrel clamping seat 1052, a syringe 1053, a syringe pushing module limit sensor 10514, a syringe clamping mechanism, and an on-line detection sensor 10510.

[0123] 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 oil sample of the syringe 1053 to achieve entry and exit, and the pushing of the oil sample is stable and accurate, and is limited by the limit sensor.

[0124] The syringe clamping mechanism includes a clamping motor 1054, syringe barrel grippers 1055, a gripper gear assembly 1056, and a syringe gripper frame 1057. The clamping motor 1054, the syringe barrel grippers 1055, and the gripper gear assembly 1056 are arranged on the syringe gripper frame 1057. The clamping motor 1054 drives the gripper gear assembly 1056 to move, driving the paired syringe barrel grippers 1055 to move in the same direction, for clamping or loosening the syringe barrel of the syringe 1053. The inner surface of the syringe barrel grippers 1055 is designed as an arc mechanism that fits the outer wall of the syringe barrel and is attached with a rubber gasket, which plays a buffering role during clamping to prevent damage to the syringe 1053.

[0125] The syringe barrel clamping seat 1052 is provided with a D-shaped opening groove for the syringe barrel and a limit groove at the lower part, which limits the movement of the syringe barrel of the syringe 1053 during the movement of the pushing piston. An on-line detection sensor 10510 is arranged above the syringe barrel clamping seat 1052 to detect whether the syringe 1053 is installed in place.

[0126] The piston pushing seat 1051 is arranged on the syringe pushing module 10511 and is provided with a D-shaped opening groove for the piston and a U-shaped notch. The piston in the syringe 1053 is connected to the piston handle. The D-shaped opening groove for the piston facilitates the fitting of the piston handle to push the piston, and the U-shaped notch is used for the picking and placing of the syringe 1053. The syringe 1053 is made of glass material, which is convenient for observing the internal liquid.

[0127] The fuel tank access door 106 is fixed to the door frame of the fuel tank body 107, as Figure 6As shown in the figure, it mainly includes a limit switch 104 for controlling the up and down movement of the lifting door, a through screw motor 120, a through screw 121, and two groups of lifting door guide rails 122. The lifting door guide rails 122 and the lower limit switch 104 are arranged on the fuel tank access door frame 123. The through screw motor 120 is fixed on the fuel tank body 107. The through screw 121 is installed on the lifting door. The lifting door is slidably connected to the lifting door guide rails 122. The output shaft of the through screw motor 120 is connected to the through screw 121. When the output shaft of the through screw motor 120 rotates, it drives the through screw 121 to move up and down, and then drives the lifting door to move up and down along the lifting door guide rails 122.

[0128] As Figure 4 As shown in the figure, the oil sampling pipeline assembly is installed in the fuel tank 1. The upper part is connected to the oil inlet of the oil sampling device 105. The lower part is divided into three branches and connected to the upper, middle, and lower oil sampling branches 118 of the transformer, and returns to the transformer through the oil return branch 115. It includes the upper transformer branch 111, the middle transformer branch 112, the lower transformer branch 113, a circulation pump 114, an oil return branch 115, a ball valve 116, a solenoid valve 117, and an oil sampling branch 118. A solenoid valve 117 and a ball valve 116 are installed on each branch to manually or automatically control the on-off of the oil circuit. The solenoid valve 117 is 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 sampling pipeline assembly can connect the upper transformer branch 111, the middle transformer branch 112, and the lower transformer branch 113 with the oil sampling branch 118 to complete the collection of three oil samples.

[0129] 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 used for autonomous charging and debugging connection. A control panel is provided at the rear end of the robot body, which has interfaces for debugging, switching, manual charging, etc. The wheel-leg assembly 301 adopts a four-wheel drive form, with flexible steering, stable and reliable.

[0130] An automatic docking device 7, an oil sample storage and retrieval device 5, an autonomous operation master controller 4, and a negative pressure air source 6 are installed on the robot chassis 3.

[0131] The robot housing 2 is installed on the robot chassis 3 and is tightly combined with the robot chassis 3 through a rubber strip 210. It includes a lidar 201, a lidar support 202, a depth camera 203, ultrasonic sensors 214, a communication antenna 205, a left door 206, an emergency stop switch 208, a bumper strip 209, a rubber strip 210, a docking device seal cover, a right door 212, a rear door 213, and an oil sample detection camera. A bumper 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 inside the bumper strip 209, which can slow down the impact and give an alarm when a collision occurs. When the oil extraction robot docks and has a deflection angle with the oil extraction tank 1, the distance is measured by the ultrasonic sensors 214 on both sides, 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 lidar support 202 is set above the front end of the robot housing 2, and a lidar 201 is installed above to realize the positioning and navigation of the oil extraction robot. A depth camera 203 is arranged below to monitor the operation task environment in real time.

[0132] As Figure 7 shown, front side doors 204, rear doors 213, left doors 206, and right doors 212 are respectively arranged around the robot housing 2. They are made of ABS material (i.e., acrylonitrile-butadiene-styrene). Magnetic lock 207 is installed on the rear door 213, left door 206, and right door 212, which is convenient for on-site operation and maintenance. The front side door 204 is a lifting door that can automatically lift 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 detect the details of the oil sample extraction of the syringe 1053 through the reflection of the reflector 211 in a narrow space.

[0133] The distance between the two ultrasonic sensors 214 is , and by detecting the distances from the two sensors to the surface of the oil extraction tank 1 l1 and l2 , through the formula θ = arctan (( l2 - l1 ) / a ), the deflection angle θ value of the oil extraction robot when docking with the oil extraction tank 1 can be obtained; if θ the value is positive, the automatic docking device 7 rotates clockwise, and if the θ value is negative, the automatic docking device 7 rotates counterclockwise. To ensure that the automatic docking device 7 is perpendicular to the surface of the oil extraction tank 1 for convenient automatic docking and oil extraction.

[0134] The automatic docking device 7 includes a guiding and docking mechanism 704, a grasping mechanism 701, an X-direction moving slide 707, a Y-direction moving slide 706, a telescopic mechanism 702, a vertical frame 703, a rotating mechanism 705, etc. The X-direction moving slide 707 is fixed on the robot chassis 3.

[0135] The guiding and docking mechanism 704 is fixed on the connecting plate 7049 through the guiding and docking mechanism fixing plate 7048. The vertical frame 703 is provided with a chute block 7031 and a sliding damper 7032. The guiding and docking mechanism 704 includes a pole holding mechanism adjusting plate, a pole holding mechanism connecting piece 7041, a pole holding mechanism 7046, a guiding plate 7045, a guiding plate bracket 7043, a front fixed pole sensor 7044, a rear fixed pole sensor 7042, a pole holding mechanism fixing plate 704611, and a guiding and docking mechanism fixing plate 7048.

[0136] The chute block 7031 (which can be a vertical slider, for example) on the vertical frame is located in the vertical chute of the connecting plate 7049. The bottom end of the chute block 7031 is connected to the sliding damper 7032 (which can be an elastic component such as a spring). The connecting plate 7049 can achieve small-amplitude up-and-down sliding under the cooperation of the chute block 7031 and the sliding damper 7032. It can be understood that in some other implementation manners, a sliding damper connected to the inner top wall of the vertical chute can also be provided at the top end of the chute block 7031, and up-and-down floating can be achieved through the two up-and-down sliding dampers. The pole-holding mechanism 7046 is fixed to the guiding and docking mechanism fixing plate 7048 through the pole-holding mechanism adjusting plate and the pole-holding mechanism connecting member 7041, and includes a pole-holding seat 70461, a holding claw 70462, an opposite holding claw 704610, a gear 70468, a rack 70463, a guide rail pair 70464, a pole-holding driving motor 70466, a driving 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 fixing rod 102. The pole-holding driving motor 70466 is fixed on the pole-holding seat 70461. The output shaft of the pole-holding driving motor 70466 is fixedly connected to the flange 70467 with a central shaft. The central shaft of the flange 70467 passes through the gear 70468 and is then connected to the inner ring of the bearing 70469. The outer ring of the bearing 70469 is connected to the pole-holding seat 70461. The gear 70468 is fixedly connected to the central shaft of the flange 70467. The racks 70463 are arranged on both sides of the gear 70468 (the inner sides of the racks 70463 are teeth) and are in close meshing with the gear 70468. Guide rail pairs 70464 are arranged on each of the racks 70463, playing a guiding and load-bearing role. The holding claw 70462 and the opposite holding claw 704610 are installed on both sides of the rack 70463. The holding claw 70462 and the opposite holding claw 704610 are respectively designed into a single-claw and a double-claw structure. When the gear 70468 rotates, it drives the rack 70463 and the holding claw 70462 to move relatively. The holding claw 70462 and the opposite holding claw 704610 are overlapped in a fork shape, and the fixing rod 102 can be firmly held and will not slip off. A driving motor housing 70465 is installed outside the pole-holding driving motor 70466, playing a protective role. During specific installation, Figure 12 the pole-holding mechanism 7046 in Figure 9 is installed upside down, that is, the driving motor housing 70465 is on the top.

[0137] The guide plate 7045 is connected and fixed to the two sets of guide plate brackets 7043 on the guide docking mechanism fixing plate 7048. The guide plate 7045 is designed as a ramp structure (the ramp should ensure a certain smoothness) and is made of a hard and wear-resistant material. During operation, the fixed rod 102 of the fuel tank 1 remains stationary. The front end of the guide plate 7045 contacts the spherical body at the front end of the fixed rod 102, and the spherical body at the front end of the fixed rod 102 slides passively along the inclined surface of the ramp structure, lifting the guide docking mechanism 704. The front sensor 7044 and the rear sensor 7042 of the fixed rod are installed at the front and rear ends of the guide plate bracket 7043 and are triggered by the fixed rod 102 during operation.

[0138] The docking detection camera 7047 is installed at the front of the guide docking mechanism 704, which can observe the state during docking in real time and feedback problems in a timely manner.

[0139] The grasping 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, as well as 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., the first adjustment spring), a bearing retainer 7016, a spherical plain bearing 7017, a small adjustment spring 7018 (i.e., the second adjustment spring), a flexible adjustment rod 7019, a height adjustment block 70110, a grasping rotating base 70111, a driving gear 70112, a driving rack 70113, a lifting driving motor 70114, a telescopic lifting rod 70115, etc.

[0140] The grasping rotating base 70111 is fixed on the telescopic mechanism 702 and can rotate 180° clockwise. The height adjustment block 70110 and the docking fixing seat 7014 are installed above it in sequence. The fixed end cover 7013 and the bearing retainer 7016 fix the outer ring of the spherical plain bearing 7017 on the docking fixing seat 7014, and the flexible adjustment rod 7019 passes through the inner ring of the spherical plain bearing 7017 and is connected to the bracket connecting plate 7012.

[0141] The large adjustment spring 7015 and the small adjustment spring 7018 are respectively installed between the flexible adjustment rod 7019 and the bearing retainer 7016, and between the fixed end cover 7013 and the bracket connecting plate 7012. By adjusting the flexible adjustment rod 7019, the tightness of the spring can be adjusted. Under the combined action of the inner ring, outer ring of the spherical plain bearing 7017 and the adjustment spring, the docking oil intake port can achieve flexible rotation and swinging docking at multiple angles.

[0142] The telescopic support 7011 is arranged at the front end of the support connecting plate 7012. A guiding groove is provided inside the telescopic support 7011. The telescopic lifting rod 70115 is arranged in the middle and can move up and down along the guiding 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. The lifting driving motor 70114 is installed on the telescopic support 7011. The driving gear 70112 is installed on the output shaft of the driving motor. When the lifting driving motor 70114 moves, it drives the driving gear 70112 and the rack 70463 to move, realizing the lifting of the telescopic lifting rod 70115.

[0143] The syringe clamping mechanism is installed on the telescopic support 7011 and realizes the rotating function of the elevator following the clamping mechanism.

[0144] The X-direction moving slide 707 includes two groups of X-direction guide rail pairs 7072, one group of X-direction lead screw nut pairs 7073, the X-direction driving motor 7071 and the X-direction moving slide body. The X-direction moving slide 707 mainly realizes the contact of the driving docking device with the guiding rod and the movable rod of the oil extraction pile.

[0145] The Y-direction moving slide 706 adopts a follow-up structure, including a Y-direction guide rail pair 7066, a linear driving mechanism 7065 (linear bearing + optical rod assembly), a Y-direction compression spring 7062, a drag chain 7061, a zero position scale 7063 and a pointer 7064, etc. Y-direction compression springs 7062 are respectively arranged on the optical rods on both sides of the linear bearing. When there is no external force, the Y-direction moving slide 706 is in the zero position. When affected by the external force of the system, it follows up within the allowable range.

[0146] The telescopic mechanism 702 is rigidly connected to the automatic docking device 7 through a connecting plate, adopts the form of a lead screw + guide rail, and the driving single machine selects a servo motor to accurately and stably realize the telescopic function.

[0147] The vertical frame 703 adopts a multi-ribbed plate structure, which is light and firm in structure and can withstand the large thrust impact during the horizontal docking of the automatic docking device 7.

[0148] The rotating mechanism 705 includes a rotating driving motor 7052, a large gear 7051 (i.e., the first gear), and a small gear 7053 (i.e., the second gear). The large gear 7051 is fixed on the upper part of the Y-direction moving slide 706. The rotating driving motor 7052 is installed at the bottom of the vertical frame 703. The small gear 7053 is installed on the output shaft of the rotating driving motor 7052. The small gear 7053 meshes with the large gear 7051. When the rotating driving motor 7052 rotates, it drives the small gear 7053 to rotate along the large gear 7051, thus realizing the rotation of the vertical frame 703.

[0149] The oil sample access device 5 is arranged on the robot chassis 3, such asFigure 8 As shown in the figure, the oil sample 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 base 506.

[0150] Among them, the telescopic rotation assembly 504 of the syringe docking mechanism can also achieve a separate 360° rotation function. The inside of the rubber cap docking rod 505 is a gas passage. The lower part is connected to the negative pressure air source 6 through a PU air pipe 601. The oil outlet is a conical groove, which fits the external structure of the rubber cap 502. The rubber cap 502 can be lifted during inhalation and pushed out during exhalation.

[0151] 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 has a six-branch rod structure. A rubber cap column 501 is provided at the distal 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 seal the rubber cap 502.

[0152] The autonomous operation master controller 4 is arranged on the robot chassis 3 to realize the motion control of the oil sampling robot and the electrical control function of the oil sampling system. The motion control function of the oil sampling robot includes 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 sampling system realizes the automatic docking of the docking device, the on-off of the solenoid valve 117 of the oil sampling tank 1, the lifting of the lifting door, the flushing and extraction of the oil sample extraction device 105, etc., to ensure the accurate and real-time completion of the operation task.

[0153] The charging pile 8 is arranged at a suitable position in the substation. The charging connector 801 adopts a telescopic structure. The oil sampling robot stops at a suitable position of the charging pile 8 through positioning and navigation. The charging connector 801 automatically extends to dock with the charging port 302 of the oil sampling robot to realize autonomous charging.

[0154] The negative pressure air source 6 is fixed on the robot chassis 3 and is connected to the oil sample access device 5 through an air pipe, and can blow and extract air.

[0155] The automatic oil sample collection operation process of the above system includes:

[0156] Power on. After the oil sampling robot is initialized, it is in a standby state. After the task is issued, it starts to execute the command;

[0157] The oil sampling tank 1 first collects the oil sample. The appropriate pipeline is connected. The syringe rotating mechanism rotates to select a suitable syringe 1053. The syringe docking mechanism docks. The oil sample extraction device 105 starts to collect the oil sample. When the oil sample pressure is low, it can be pressurized in real time through the booster pump;

[0158] First, flush the pipeline with oil sample. The oil returns to the transformer through the return pipeline. Then, flush the first syringe and the pipeline three times, and then take oil with the first syringe;

[0159] Then, the second to the sixth syringes are flushed and oil is taken in sequence;

[0160] According to the positioning and navigation of the lidar 201, the oil sampling robot moves quickly towards the oil sampling tank 1. After reaching an appropriate initial position in front of the oil sampling pile, it moves slowly. After reaching a suitable position relative to the oil sampling pile, it stops advancing. The lifting door 106 of the oil sampling tank rises. The deflection angle data is detected by the ultrasonic sensor. The automatic docking device 7, together with the lifting frame, rotates and adjusts to make the automatic docking device 7 perpendicular to the cabinet surface of the oil sampling tank 1, facilitating automatic docking and oil extraction;

[0161] At this time, the automatic docking device 7 moves horizontally along the X direction. After the fixed rod 102 touches the lower edge of the guide plate 7045, it continues to move. The guiding docking mechanism 704, the telescopic mechanism 702, and the grasping mechanism 701 are lifted passively by a certain height (less than 30 mm) together. The fixed rod 102 triggers the front sensor 7044 of the fixed rod. After confirming that the state is normal, it continues to advance until it triggers the rear sensor 7042 of the fixed rod, and then the automatic docking device 7 stops advancing;

[0162] 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 following the Y direction to make the jaws of the grasping mechanism 701 within the corresponding range where the syringe 1053 can be just grasped;

[0163] The telescopic lifting rod 70115 of the grasping mechanism 701 is adjusted to an appropriate length according to the telescopic length of the piston handle of the syringe 1053 in the oil sampling tank, with the bottom of the piston handle of the syringe 1053 in the oil sample extraction device 105 being held as the standard;

[0164] 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 starts to firmly hold the qualified collected syringe 1053 on the oil sample extraction device 105. 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, taking out the syringe 1053 from the oil sample extraction device 105 of the oil sampling tank 1. After moving to a suitable position, the grasping mechanism 701 rotates 180° clockwise. The telescopic mechanism 702 continues to move backward, pushing the syringe 1053 to the corresponding position of the oil sample storage and retrieval device 5, and storing the syringe 1053 at the corresponding position of the oil sample storage and retrieval device 5;

[0165] After the rubber cap docking rod 505 rises to a certain position and rotates, it sucks the rubber cap 502 from the rubber cap support 503 of the rubber cap installation mechanism by negative pressure, then rotates above the newly placed syringe 1053, descends, and after putting the rubber cap 502 on the bottom position of the syringe 1053, blows air out by positive pressure to automatically seal the rubber cap 502.

[0166] After the oil sample collection is completed, the oil sampling robot starts to withdraw, and the withdrawal operation process is opposite to the docking process.

[0167] In this implementation method, as Figure 14 shown, it also includes a robot host computer control system, an autonomous operation general controller, a power management system, a navigation and positioning system, a mobile platform control system, and an oil sample collection and detection control system.

[0168] The host computer control system includes a remote controller and a background system. Users can choose to issue operation commands through the background system, and the oil sampling robot will execute tasks autonomously. They can also choose to use the remote controller, and the operator can control the transformer oil sample collection robot to perform the oil sample collection task.

[0169] The autonomous operation general controller conducts information interaction with the robot host computer control system, the power management system, the navigation and positioning system, the mobile platform control system, and the oil sample collection and detection control system through communication modules such as network, serial port, and CAN bus. After receiving the task from the robot host computer control system, the autonomous operation general controller decomposes the task into subtasks and issues them to the corresponding systems according to the operation logic, and waits for the feedback on the execution situation of the subtasks from this system. After receiving the successful execution feedback, it then executes the next subtask until the total task is completed.

[0170] The power management system includes a voltage conversion module and a charging management module. The voltage conversion module converts the 48VDC power of the mobile platform into 12VDC and 24VDC to supply power to the corresponding devices. The charging management module monitors the current power in real time. When the power is lower than 20%, it sends an alarm message. When it is lower than 10%, it stops the current task, 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.

[0171] As Figure 15 shown, the navigation and positioning system includes a navigation controller, a lidar, an inertial measurement unit, a depth camera, and a positioning unit. The lidar and the depth camera collect external environment information. The inertial measurement unit obtains the attitude 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 construct an external environment map, realizing the navigation and positioning function of the transformer oil sample collection robot.

[0172] As Figure 16As shown in the figure, the mobile platform control system includes a motion controller, drive motor drivers (i.e., the first drive motor driver, the second drive motor driver, the third drive motor driver, and the fourth drive motor driver), drive motors (i.e., the first drive motor, the second drive motor, the third drive motor, and the fourth drive motor), steering motor drivers (i.e., the first steering motor driver, the second steering motor driver, the third steering motor driver, and the fourth steering motor driver), and steering motors (i.e., the first steering motor, the second steering motor, the third steering motor, and the fourth steering motor);

[0173] The motion controller is connected to the motor drivers, the motor drivers are connected to the drive motors, the motion controller is connected to the steering motor drivers, the steering motor drivers are connected to the steering motors, and the drive motors and the steering motors are respectively used for the linear and steering motion control of the walking wheels in the wheel-leg assembly 301.

[0174] In this implementation, the motion controller receives the movement commands from the navigation controller, controls the oil sampling robot to reach the oil sample collection operation position, and sends control instructions to the motor drivers and the steering motor drivers through the CAN bus. The motor drivers and the steering motor drivers generate corresponding PWM signals according to the commands to control the speed and direction of the motors.

[0175] In this implementation, the oil sample collection and detection control system includes an oil sample collection and detection controller, which is respectively communicatively connected to the telescopic mechanism and the grasping mechanism for telescopic and grasping control, and performs automatic detection through the carried automatic analysis instrument.

[0176] Embodiment 2:

[0177] This implementation provides an active adaptive flexible docking method, which is realized by using the automatic flexible docking device described in Embodiment 1 and includes:

[0178] Each syringe of the oil sampling tank extracts and stores oil samples according to remote instructions or a set time period; after the syringe is filled with the oil sample, the telescopic mechanism of the automatic flexible docking device of the oil sampling robot acts, and the syringe is taken out of the oil sampling tank body through the grasping mechanism;

[0179] For the specific structure and working method of the automatic flexible docking device, see the introduction in Embodiment 1 and will not be elaborated here.

[0180] Embodiment 3:

[0181] This implementation provides an oil sample collection active rinsing method, including the following process:

[0182] Set the cycle time period. After the waiting time of the oil samples in the upper oil extraction branch, middle oil extraction branch, and lower oil extraction branch exceeds the cycle time period, turn on the circulation pump to circulate the oil in the upper oil extraction branch, middle oil extraction branch, and lower oil extraction branch of the transformer with the oil inside the transformer, so as to obtain qualified oil samples.

[0183] For the connection relationships of the upper oil extraction branch, middle oil extraction branch, lower oil extraction branch, and circulation pump in this implementation manner, refer to the introduction in Embodiment 1, which will not be elaborated here.

[0184] Embodiment 4:

[0185] The current automated oil extraction system lacks a self-check function before operation. The automated oil extraction system needs to operate near the transformer, and its own faults (such as line faults or battery faults, etc.) will pose a greater safety risk to the transformer. In view of this, this implementation manner also provides a method for self-checking faults and remotely assisting in repair of a transformer oil sample collection robot, which respectively performs self-checks on the power management system, the autonomous operation master controller, the robot upper computer control system, the navigation and positioning system, the mobile platform control system, and the oil sample collection and detection control system. The robot upper computer control system sends all self-check results to the cloud server, so that the cloud server generates an auxiliary repair strategy based on all self-check results and sends it to the robot upper computer control system. The robot upper computer control system performs automatic repair according to the received auxiliary repair strategy or sends it to the maintenance personnel.

[0186] In this implementation manner, the self-check of the power management system includes: after the oil extraction robot is powered on, the power indicator light is on, indicating that the power is connected. 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;

[0187] In this implementation manner, the self-check of the autonomous operation master controller includes: after the autonomous operation master controller is powered on, it automatically runs the bootloader. The bootloader checks whether the serial port, network port, and USB port of the operation master controller are working properly. If there are any abnormalities, an error warning is issued. If the check is normal, it starts to check whether there is a new version of the code in the download area that has not been updated. If there is, it first copies the new version of the code from the download area to the APP area, and then starts to boot the application program in the APP area. If there is no new version of the code, it directly starts to boot the application program in the APP area;

[0188] In this implementation method, the self-check of the robot host control system includes: after the host control system is powered on, it first reads the version information of the host software and compares it with the compatible version list stored internally. If there is a new version, an application update is performed. Then, it starts to check the network connection between the host control system and the autonomous operation master controller. If the network connection fails, an error alarm is issued. After the connection is normal, it starts to read the relevant configuration parameters of the autonomous operation master controller and displays them on the screen to verify whether the relevant configuration parameters meet the requirements of the current operation. If they do not meet the requirements, an error alarm is issued to prompt the operator to check and reset them.

[0189] In this implementation method, the self-check of the navigation and positioning system includes: after the navigation and positioning system is powered on, it first checks whether the hardware of the positioning unit, inertial measurement unit, and lidar is normal. If there is an abnormality in the hardware, corresponding error alarms are issued, and at the same time, it is confirmed whether the positioning unit, inertial measurement unit, and lidar have been correctly initialized and are in a working state. Then, it starts the 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-offset calibration and gyroscope drift test are performed to determine whether the use accuracy is met. If it is not met, an alarm message is issued.

[0190] In this implementation method, the self-check of the mobile platform control system includes: after the mobile platform control system is powered on, it checks the drive motor driver, drive motor, steering motor driver, and steering motor one by one to confirm normal communication and no fault alarm. If there is an error, corresponding alarms are issued.

[0191] In this implementation method, the self-check of the oil sample collection and detection control system includes: after the oil sample collection and detection control system is powered on, it first resets each syringe on the oil extraction robot. During the reset, the photoelectric detection switch of each syringe drive module is detected. When a signal is output, the reset is stopped, and the numerical value of the encoder of the drive motor of each syringe is read as the zero point of the syringe movement. During the reset process, the output torque of the drive motor of each syringe is continuously detected. When the alarm threshold is reached, the movement of the drive motor of the syringe is immediately stopped, and an alarm message is issued to prompt that the syringe reset is abnormal.

[0192] Embodiment 5:

[0193] In this implementation method, a method for judging the sampling oil level state by fusing a pressure sensor and image recognition is also proposed. By combining the real-time monitoring data of the pressure sensor and image recognition technology, accurate judgment of the oil level state is realized. The specific process includes the following steps:

[0194] (1) The pressure sensor measures the initial oil level value: 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 hydrostatic formula:

[0195] P = ρgh (1);

[0196] Wherein, ρ is the density of the oil fluid, 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 (i.e., the first oil level):

[0197] h1 = P / ρg (2);

[0198] The initial value of the oil level provided by the pressure sensor h1 is used as the first layer of judgment basis.

[0199] (2) Image recognition assisted correction: The oil level image is captured by a depth camera, and an image recognition algorithm based on deep learning is used to detect the oil level; through training, the image recognition model can identify the accurate position of the oil level under different lighting conditions and interference factors, and 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 a classifier, further enhancing the robustness of the detection.

[0200] (3) Multi-source fusion algorithm: In order to improve the accuracy of oil level judgment, a weighted fusion algorithm is adopted to comprehensively calculate the pressure sensor data h1 and the image recognition data h2 The weighted average formula is as follows:

[0201] h = αh1+(1−α)h2 (3);

[0202] Wherein, α is the fusion weight, which is dynamically adjusted based on the accuracy and confidence of the sensor and image recognition.

[0203] This implementation method deeply fuses physical sensors with visual perception, makes full use of the advantages of both, and reduces the errors brought by a single sensor. For example, in the case of changes in oil fluid density or sensor drift, the visual feedback provided by image recognition can be effectively corrected, and when there is a large amount of image interference, the pressure sensor provides a stable physical measurement value as a supplement.

[0204] Embodiment 6:

[0205] In this implementation method, a key landmark assisted navigation and positioning method is provided, including the following process:

[0206] Before the first operation, it is necessary to construct a map of the operation environment. Click the mapping button in the background system, and the oil extraction robot will confirm the connection status of sensors such as 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 hardware connection of the corresponding sensor. If the connection status of all sensors is intact, the system enters the mapping mode; after entering the mapping mode, the operator holds the remote control to control the oil extraction robot to move in the outdoor environment, and uses various sensors to collect environmental information. During this process, the oil extraction robot will continuously update its position and attitude, and at the same time 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. Generate a virtual wall in the area where passage is prohibited in the substation on the map, and mark the operation position as the target point, so that when the oil extraction robot goes to the target point for operation, the navigation system will automatically shield the restricted area when planning the path, avoiding 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 use in performing tasks.

[0207] When performing the oil extraction task, select the corresponding map, check the target point, and click task execution. The oil extraction robot will start navigating to the operation point; when the oil extraction robot is navigating, it first confirms its position relationship with the map, and performs self-positioning by rotating around the central position and scanning the surrounding environmental features for matching with the map features. To simplify the matching process and shorten the operation time, the program default sets a preset point as the starting position of the oil extraction robot, and preferentially matches the surrounding environmental features of the current oil extraction robot with the features at this position in the map. If the oil extraction robot starts at this default point, the matching process will be completed instantly; after the self-positioning of the oil extraction robot is completed, combined with the current position information, target position information, and obstacle information between the two positions, an optimal global path plan is generated. The oil extraction robot will move along this path and generate a local path plan based on the real-time path information to adjust the global path plan, so that the oil extraction robot can avoid obstacles and move along the relatively optimal real-time path. The information of the cable trench cover in the map is introduced in the generation process of the global path plan and the local path plan. During the mapping process, the position of the cable trench cover is recognized by vision and the position information is recorded. When generating the global path plan, a weight is added to make the path with a large cable trench cover coverage rate the optimal path, and when generating the local path, the cable trench cover path is selected as the local optimal path, so that the oil extraction robot tries to move along the cable trench cover as much as possible during navigation instead of walking on the outdoor lawn, ensuring the smooth and safe movement of the oil extraction robot to the target position; after reaching the target position, the position of the oil extraction robot is fine-tuned by recognizing the position of the feature marker on the top of the oil extraction pile, so that the oil extraction robot can accurately move to the operation point and ensure the accuracy of the docking of the oil extraction robot.

[0208] Example 7:

[0209] This implementation provides a key landmark assisted navigation and positioning method as follows, 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 signals of positioning units in complex environments and error accumulation of odometers may lead to inaccurate positioning, especially in the last section of navigating to the target position, where extremely high positioning accuracy is often required. To solve this problem, this implementation proposes a key landmark fusion positioning algorithm based on image mapping, which compares the known landmark information with the real-time image and makes position fine-tuning when navigating to the target position to ensure the accuracy and stability of positioning.

[0210] 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 pose through the image mapping algorithm. This technology is particularly suitable for precise positioning when navigating to the target position, can significantly improve the final pose accuracy, and avoid navigation deviation caused by error accumulation of the positioning unit and inertial measurement unit. The specific process is as follows:

[0211] S1: Construction of the key landmark image library.

[0212] S1.1: Landmark selection.

[0213] In the substation scenario, select significant and stable equipment as key landmarks (such as transformers, transmission line towers, iconic equipment components); specifically calibrate the key nodes and target positions (such as oil storage cabinets, oil injection ports beside transformers) of the working path of the oil extraction robot in detail.

[0214] S1.2: Image acquisition and processing.

[0215] Use a high-resolution camera to take pictures of key landmarks from multiple angles to ensure the stability of images under different weather and lighting conditions; after image acquisition, perform geometric correction, denoising processing, 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 retrievable database.

[0216] S2: Initial navigation and rough positioning.

[0217] S2.1: Initial navigation method.

[0218] The relative position of the oil extraction robot is initially determined using the positioning unit and the inertial measurement unit, and navigation is carried out according to the predetermined path; the visual odometer (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 attitude of the oil extraction robot relative to the environment.

[0219] S2.2: Navigation path planning.

[0220] The system plans the path based on the target position and the key landmark positions. When the signal of the positioning unit is normal, it relies on the positioning unit to provide the global position information. If the signal of the positioning unit weakens, it switches to VIO-assisted navigation; the movement trajectory of the oil extraction robot is adjusted in real time according to the navigation data to ensure that it is always on the optimal path when approaching the target position.

[0221] S3: Image mapping and landmark comparison.

[0222] S3.1: Landmark retrieval and comparison.

[0223] When the oil extraction robot approaches the target position, the system retrieves the relevant landmark images from the key landmark image library, uses the SIFT algorithm for feature point matching, and retrieves the most matching image in 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 retrieval range and speed up the matching speed.

[0224] S3.2: Landmark image mapping.

[0225] The system judges the position and attitude deviation of the oil extraction robot in the current environment according to the image matching result.

[0226] S4: Pose correction and fine-tuning.

[0227] Using the image mapping result, the relative pose of the depth camera relative to the landmark is calculated through the PnP (Perspective-n-Point) algorithm; combined with the known landmark position information, the displacement and attitude of the oil extraction robot relative to the landmark are accurately corrected to ensure the accuracy of the current position.

[0228] S5: Multiple iterations and precise positioning.

[0229] S5.1: Iterative fine-tuning.

[0230] When approaching the target position, the system continuously collects real-time images and performs landmark comparison and position fine-tuning. Each pose correction after image mapping will further narrow the error range; the system sets a fixed acquisition interval of 0.5 s for multiple image comparisons to gradually correct the pose of the oil extraction robot and ensure continuous improvement of the accuracy.

[0231] S5.2: Final precise positioning.

[0232] When the oil extraction robot approaches the target position, the system confirms that the oil extraction robot has accurately reached the target point according to the results of multiple landmark image comparisons and the pose convergence results after multiple comparisons.

[0233] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within 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 comprises a syringe rotating mechanism, on which a plurality of syringes for oil sample extraction are arranged, and the automatic flexible docking device comprises a telescopic mechanism and a gripping mechanism located on the telescopic mechanism, and the gripping mechanism is used to take the syringe out of the oil extraction tank body; 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 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 fixed seat, the fixed end cover and the bearing retaining ring fix the outer ring of the joint bearing on the docking fixed 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; 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, and 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 a rubber cap column is arranged at the distal end of each branch rod; 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; By combining the real-time monitoring data of the pressure sensor with image recognition technology, accurate oil level status judgment can be achieved.

2. The transformer oil sample active collection robot system according to claim 1, characterized in that: 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 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.

4. 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.

5. The transformer oil sample active collection robot system according to claim 4, 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.

6. The transformer oil sample active collection robot system according to claim 5, 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.

7. The transformer oil sample active collection robot system according to claim 4, 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.

8. The transformer oil sample active collection robot system according to any one of claims 1 to 7, 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.

9. The transformer oil sample active collection robot system according to claim 8, 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.

10. The transformer oil sample active collection robot system according to any one of claims 1 to 7, 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.

11. The transformer oil sample active collection robot system according to claim 10, 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.

12. The transformer oil sample active collection robot system according to claim 10, 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.

13. The transformer oil sample active collection robot system according to claim 12, 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.

14. The transformer oil sample active collection robot system according to claim 13, 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.

15. The transformer oil sample active collection robot system according to claim 13, 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.

16. The transformer oil sample active collection robot system according to claim 13, 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.

17. The transformer oil sample active collection robot system according to claim 13, 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.

18. The transformer oil sample active collection robot system according to claim 10, 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.

19. The transformer oil sample active collection robot system according to claim 10, 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.

20. The transformer oil sample active collection robot system according to claim 10, 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.

21. An active adaptive flexible docking method, using the transformer oil sample active collection robot system according to any one of claims 1 to 7, 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.

22. 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 1, 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.

23. An active rinsing method for oil sample collection, characterized in that: Utilizing the transformer oil sample active collection robot system as claimed in claim 20, 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.

24. A key landmark assisted navigation positioning method, characterized in that: Using the transformer oil sample active collection robot system as claimed in claim 9, 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.

25. A key landmark assisted navigation positioning method, characterized in that: Using the transformer oil sample active collection robot system as claimed in claim 9, 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.

26. 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 9 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.

27. The transformer oil sampling robot fault remote auxiliary repair method according to claim 26, 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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