Power system regular checking method and system based on historical data

Abstract

The invention discloses an electric power system regular inspection method and system based on historical data. The method comprises the following steps: establishing a walking path of a regular inspection robot; establishing a high-strength bolt torque value library, a period standard database and a loosening degree range standard database; setting a work cycle of the robot according to the cycle standard database; the types of sensing devices and processing devices installed on the robot are set according to the torque numerical value library; the detected disjunction height is transmitted to an analysis module, and an analysis result is generated; an analysis result is fed back to the processing device, the action of the processing device on the bolt is controlled according to the analysis result and the looseness degree database, data generated when the bolt is rotated are recorded, and the data are correspondingly stored in the database; manual boarding regular inspection and maintenance work is replaced, and the workload of manual regular inspection and maintenance is reduced; the regular checking period of the equipment is ensured, and regular checking maintenance cannot be carried out timely due to external reasons; an intelligent regular checking robot is formed; a database is established based on existing high-strength bolt specification parameters.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine generator sets, and more particularly to a method and system for regular inspection of a power system based on historical data. Background Art

[0002] With the development of the wind power industry, the current mainstream maintenance mode is dynamic maintenance plus annual inspection. The inspection work is mostly outsourced. Maintenance units mainly carry out high-strength bolt torque inspections. The technical levels of maintenance personnel are uneven, and the hydraulic station is not used in a standardized manner, resulting in inaccurate adjustment of the torque value, resulting in the bolt torque over-inspection or failure to meet the required value.

[0003] At present, the transportation of hydraulic stations and torque wrenches in the tower depends entirely on the maintenance personnel carrying them on their backs, during which people or equipment may easily fall; the torque inspection of high-strength bolts can only manually determine how many threads the bolts have been turned, without an accurate judgment standard, no specific numerical statistics on the looseness of the bolts, and no historical data on the tightening of the bolts throughout their life cycle; there is no reference basis for the failure analysis of high-strength bolts; during the operation of the wind turbine equipment, maintenance personnel are not allowed to board the equipment to ensure their safety, especially during strong wind seasons and when the wind turbine runs at full load for a long time, resulting in the problem that the regular inspection of the wind turbine cannot be carried out on time according to the prescribed cycle. Summary of the invention

[0004] The present invention provides a fixed inspection robot which can perform various bolt torque tightening, record bolt looseness numerical values, and perform corresponding tightening work on bolts according to different specifications; can perform high-strength bolt torque calibration work on fans according to a pre-configured route; and can carry out fan bolt torque tightening and fixing inspection work when the fan is operating normally.

[0005] To solve the above problems, the present invention provides the following technical solutions:

[0006] A method for regular inspection of a power system based on historical data, characterized in that it comprises the following steps:

[0007] Step 1: Set up a regular inspection robot and establish a walking path for the regular inspection robot; establish a high-strength bolt torque value library, establish a cycle standard database for tightening bolts of different specifications and models, and establish a standard database for the range of bolt looseness;

[0008] Step 2: setting the working cycle of the inspection robot according to the data in the bolt tightening cycle standard database; setting the type of sensing device and processing device installed on the inspection robot according to the data in the bolt torque value library, so as to detect the bolt disengagement height and the torque data when the bolt is rotated, and process the bolt;

[0009] Step 3: Transmit the detected disconnection height to the analysis module, and generate analysis results by comparing the disconnection height data with the corresponding value of the preset height range;

[0010] Step 4, feeding back the analysis result to the processing device, controlling the action of the processing device on the bolt according to the analysis result and the data in the looseness range standard database, recording the torque value, operation time and torque data when rotating the bolt, and storing the above data in the torque value database, the period standard database and the looseness range standard value database accordingly;

[0011] Step 5: Repeat steps 2 to 4.

[0012] Preferably, in the above-mentioned method for regular inspection of a power system based on historical data, the step of establishing a walking path of the regular inspection robot comprises:

[0013] A rolling device is installed on the inspection robot and the artificially set path to limit the inspection robot to move on a fixed route; the rolling device is provided with a driving component, and the driving component is used to control the movement of the inspection robot on the fixed route.

[0014] Preferably, in the above-mentioned method for regular inspection of a power system based on historical data, the establishment of a high-strength bolt torque value library, the establishment of a cycle standard database for tightening bolts of different specifications and models, and the establishment of a bolt looseness range standard database include:

[0015] Establish a high-strength bolt torque numerical library based on existing high-strength bolt specification parameters;

[0016] Establish a standard database of tightening cycles for bolts of different specifications and models based on existing high-strength bolt specifications and parameters;

[0017] A database of standard values ​​for bolt loosening range is established based on the existing high-strength bolt specification parameters.

[0018] Preferably, in the above-mentioned method for regular inspection of a power system based on historical data, the working cycle of the regular inspection robot is set according to the data in the standard database of the bolt tightening cycle, and the types of the sensing device and the processing device installed on the regular inspection robot are set according to the data in the bolt torque value library, including:

[0019] The database of bolt tightening cycle standards of different specifications and models is connected to the driving component, and the operation cycle of the driving component is limited according to the mode range of the bolt tightening cycle standards of different specifications and models;

[0020] The sensing device having a corresponding sensitivity is defined according to the mode range of the bolt torque value.

[0021] Preferably, in the above-described power system regular inspection method based on historical data, the installation of the induction device and the processing device on the regular inspection robot includes:

[0022] The induction device includes a displacement sensor and a torque detection clamp; the displacement sensor is used to detect the lifting value of the bolt being rotated; the length of the force arm of the torque detection clamp is the same as the set force arm length in the high-strength bolt torque value library; the torque sensor is used to detect the torque data during the process of rotating the bolt in real time;

[0023] The processing device is connected to the torque detection clamp and is used to drive the torque detection clamp to rotate.

[0024] Preferably, in the above-described power system regular inspection method based on historical data, the process of transmitting the detected disconnection height to the analysis module and generating an analysis result by comparing the disconnection height data with the corresponding value in the preset height range includes:

[0025] Set the disconnection height data as A, and the preset height range threshold matrix A0(A1, A2), where A1 is the first height value and A2 is the second height value; sorted by numerical size as A1 < A2;

[0026] When A ≤ A1, the generated analysis result is severe looseness E1;

[0027] When A1 < A ≤ A2, the generated analysis result is mild looseness E2;

[0028] When A > A2, the generated analysis result is no looseness E3.

[0029] Preferably, in the above-described power system regular inspection method based on historical data, the process of feeding back the analysis result to the processing device and controlling the action of the processing device on the bolt according to the analysis result and the data in the looseness degree range standard database includes:

[0030] The processing device is connected to the analysis module. When it receives the analysis result of severe looseness E1, it provides the first torque value F1 to the torque detection clamp; when it receives the analysis result of mild looseness E2, it provides the second torque value F2 to the torque detection clamp; when it receives the analysis result of no looseness E3, it provides the third torque value F3 to the torque detection clamp; where F1 > F2 > F3 and F1, F2, F3 belong to the mode range of the looseness degree range standard database.

[0031] A power system regular inspection system based on historical data includes the regular inspection robot and the database:

[0032] A setting module, which is connected to the scheduled inspection robot and the database, and is used to set the action route of the scheduled inspection robot, and set the inspection cycle, device type and operation parameters according to the reference data in the database;

[0033] A detection module, which is arranged on the fixed inspection robot and connected to the setting module, and is used to install the set device and detect the bolts;

[0034] An operating module, which is disposed on the inspection robot and connected to the setting module, and is used to rotate the bolt according to the set operating parameters;

[0035] A feedback module is connected to the detection module and the database, and is used to send the detected data to the database for storage.

[0036] Preferably, in the above-mentioned power system regular inspection system based on historical data, the database includes the torque value library, the cycle standard database and the looseness degree range standard database; the setting module sets the detection cycle determined by the data in the cycle standard database, sets the device type determined by the data in the torque value library, and sets the operating parameters determined by the data in the looseness degree range standard database.

[0037] Preferably, in the above-mentioned power system regular inspection system based on historical data, it also includes a calculation unit, which is respectively arranged in the torque value library, the period standard database and the looseness degree range standard database, and is used to calculate the mode range of the data in each database, and send the mode range to the setting module as reference data for the setting module.

[0038] It can be seen from the above technical solutions that compared with the prior art, the present application has the following beneficial effects:

[0039] 1. Replace manual inspection and maintenance work, reduce the workload of manual inspection and maintenance; automatically set the time route to automatically inspect the equipment; standardize the inspection and eliminate the influence of human factors;

[0040] 2. Ensure the equipment inspection cycle, and do not fail to carry out inspection and maintenance in time due to human factors and equipment operation during strong winds. Through multiple data monitoring and analysis, a historical account of the inspection results is issued. Through professional torque data and bolt looseness diagnosis, hidden defects of bolt failure are discovered in time to avoid equipment damage. Remote control can be carried out to avoid manual boarding. Remote inspection can be carried out when strong winds do not meet the conditions for boarding or at night, which can reduce the downtime of inspection and improve the availability of equipment.

[0041] 3. Develop intelligent inspection robots, develop cycle standards for tightening bolts of different specifications, and develop standard values ​​for the range of bolt looseness;

[0042] 4. Establish a high-strength bolt torque value library based on the existing high-strength bolt specification parameters, establish a bolt torque tightening cycle database within the life cycle of wind turbine high-strength bolts, establish cycle standards for tightening bolts of different specifications and models, form a standard value library for the range of bolt looseness, and establish a vibration and force analysis early warning system for early warning equipment through the looseness of high-strength bolts. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0044] Figure 1 is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0046] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0048] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0049] Example 1

[0050] In one embodiment, see Figure 1 , a power system regular inspection method based on historical data, comprising the following steps:

[0051] Step 1: Set up the inspection robot and establish the walking path of the inspection robot; establish a high-strength bolt torque value library, establish a cycle standard database for tightening bolts of different specifications and models, and establish a standard database for the range of bolt looseness;

[0052] Step 2: Set the working cycle of the inspection robot according to the data in the bolt tightening cycle standard database; set the type of sensing device and processing device installed on the inspection robot according to the data in the bolt torque value database, so as to detect the bolt disengagement height and the torque data when the bolt is rotated, and process the bolt;

[0053] Step 3: Transmit the detected disconnection height to the analysis module, and generate analysis results by comparing the disconnection height data with the corresponding value of the preset height range;

[0054] Step 4: Feedback the analysis results to the processing device, control the action of the processing device on the bolt according to the analysis results and the data in the looseness range standard database, record the torque value, operation time and torque data when rotating the bolt, and store the above data in the torque value database, cycle standard database and looseness range standard value database;

[0055] Step 5: Repeat steps 2 to 4.

[0056] The principle of the above embodiment is: the inspection robot can realize all-round autonomous inspection of the equipment, replacing the manual inspection target; the torque calibration of the high-strength bolts of the fan is carried out through a pre-configured route, and finally the intelligent identification automatic inspection and automatic statistical analysis are realized; at the same time, through a large amount of fan bolt loosening time and loosening degree data records, the operating conditions of each high-strength bolt of the fan are analyzed, and the cycle standards for tightening bolts of different specifications are formed, and the standard values ​​of the bolt loosening degree range are formed. When the bolt loosening degree exceeds the standard value, the vibration and stress health level of the corresponding components are reflected; the quality and efficiency of the inspection work are improved, and the inspection work is standardized.

[0057] The beneficial effects of the above embodiments are: replacing manual boarding and scheduled inspection and maintenance work, reducing the workload of manual scheduled inspection and maintenance; automatically setting the time route for automatic scheduled inspection of equipment; standardizing scheduled inspections to eliminate the impact of human factors; ensuring the equipment scheduled inspection cycle, and not failing to carry out scheduled inspections and maintenance in a timely manner due to human factors and equipment operation during strong winds. Through multiple data monitoring and analysis, a historical ledger is issued for the scheduled inspection results, and hidden defects of bolt failure are discovered in time through professional torque data and bolt looseness diagnosis to avoid equipment damage. Remote control can be performed to avoid manual boarding. Remote inspections can be performed in situations such as strong winds that do not allow boarding conditions or at night, which can reduce scheduled inspection downtime and improve equipment availability.

[0058] Example 2

[0059] In one embodiment, see Figure 1 , a method for regular inspection of a power system based on historical data, step one comprises:

[0060] A rolling device is installed on the fixed inspection robot and the artificially set path, which is used to limit the fixed inspection robot to move on a fixed route; the rolling device is provided with a driving component, which is used to control the movement of the fixed inspection robot on the fixed route;

[0061] Among them, it is preferred to install a guide rail on the path, and set a roller or a slider at the bottom of the fixed inspection robot so that it is slidably connected to the guide rail; the driving component controls the robot to dock at fixed positions in sequence by linking with the bolt position information;

[0062] In some embodiments, the path setting can also be achieved by automatic identification or manual background control;

[0063] Establish a high-strength bolt torque numerical library based on existing high-strength bolt specification parameters;

[0064] Establish a standard database of tightening cycles for bolts of different specifications and models based on existing high-strength bolt specifications and parameters;

[0065] A database of standard values ​​for bolt loosening range is established based on the existing high-strength bolt specification parameters.

[0066] The beneficial effects of the above embodiments are: the time route can be automatically set to perform automatic regular inspection of the equipment; the regular inspection is standardized to eliminate the influence of human factors; and a database is established to enhance the accuracy of the regular inspection process.

[0067] Example 3

[0068] In one embodiment, see Figure 1 , a power system regular inspection method based on historical data, step 2 includes:

[0069] The standard database of bolt tightening cycles of different specifications and models is connected with the driving component, and the operation cycle of the driving component is limited according to the majority range of the standards of bolt tightening cycles of different specifications and models;

[0070] According to the mode range of the bolt torque value, the sensing device with corresponding sensitivity is limited; wherein the calculation method is not unique, and it is preferred to calculate the mode range, and it can also be realized by calculating the average;

[0071] The sensing device includes a displacement sensor and a torque detection clamp; the displacement sensor is used to detect the lifting value of the rotated bolt; the arm length of the torque detection clamp is the same as the arm length set in the high-strength bolt torque value library; the torque sensor is used to detect the torque data in the process of rotating the bolt in real time; wherein, the displacement sensor and the torque detection clamp are existing technical means, which are used to detect the difference between the height of the current bolt and the height of the bolt when it is not loose;

[0072] The processing device is connected to the torque detection clamp and is used to drive the torque detection clamp to rotate; preferably, the processing device is connected to the torque detection clamp as a driving end, and the force of the torque detection clamp is increased by adjusting the output value of the driving end.

[0073] The beneficial effects of the above-mentioned embodiments are: through professional torque data and bolt looseness diagnosis, hidden defects of bolt failure can be discovered in time to avoid equipment damage; remote control can be carried out to avoid manual boarding, and remote inspection can be carried out in situations such as strong winds that do not allow boarding conditions or at night, which can reduce the downtime of scheduled inspections and improve the availability of equipment.

[0074] Example 4

[0075] In one embodiment, see Figure 1 , a power system regular inspection method based on historical data, step three includes:

[0076] Set the disconnected height data as A, preset the height range threshold matrix A0 (A1, A2), where A1 is the first height value and A2 is the second height value; sort by value as A1 <A2;

[0077] When A ≤ A1, the generated analysis result is severe looseness E1;

[0078] When A1 < A ≤ A2, the generated analysis result is mild looseness E2;

[0079] When A > A2, the generated analysis result is no looseness E3.

[0080] The beneficial effects of the above embodiments are as follows: By detecting the looseness degree of the bolt through a displacement sensor, the degree that can only be observed by the naked eye is converted into data that can be calculated by a computer, enhancing the accuracy of regular inspections;

[0081] Embodiment 5

[0082] In one embodiment, please refer to Figure 1 , a method for regular inspection of a power system based on historical data, and step four includes:

[0083] The processing device is connected to the analysis module. When it receives the analysis result of severe looseness E1, it provides the first turning force value F1 for the torque detection pliers; when it receives the analysis result of mild looseness E2, it provides the second turning force value F2 for the torque detection pliers; when it receives the analysis result of no looseness E3, it provides the third turning force value F3 for the torque detection pliers; where F1 > F2 > F3 and F1, F2, F3 belong to the mode range of the looseness degree range standard database;

[0084] Among them, when calculating the mode range without displacement, when setting the inspection cycle and looseness data, the method of calculating the average value can also be used.

[0085] The beneficial effects of the above embodiments are as follows: By obtaining the mode range of various types of data in the database, the actual inspection cycle and various parameters can be better reflected.

[0086] Embodiment 6

[0087] In one embodiment, please refer to Figure 1 , a power system regular inspection system based on historical data, including a regular inspection robot and a database:

[0088] A setting module, which is connected to the regular inspection robot and the database, is used to set the action route of the regular inspection robot, and set the inspection cycle, device type, and operation parameters according to the reference data in the database;

[0089] A detection module, which is arranged on the regular inspection robot and is connected to the setting module, is used to install the set device and detect the bolt;

[0090] An operation module, which is arranged on the regular inspection robot and is connected to the setting module, is used to rotate the bolt according to the set operation parameters;

[0091] The feedback module is connected to the detection module and the database, and is used to send the detected data to the database for storage.

[0092] Among them, the database includes a torque numerical library, a cycle standard database and a looseness range standard database; the setting module sets the detection cycle based on the data in the cycle standard database, sets the device type based on the data in the torque numerical library, and sets the operating parameters based on the data in the looseness range standard database.

[0093] The principle of the above embodiment is to achieve the technical effect of the present application by means of system components.

[0094] The beneficial effects of the above embodiments are: replacing manual boarding and scheduled inspection and maintenance work, reducing the workload of manual scheduled inspection and maintenance; automatically setting the time route for automatic scheduled inspection of equipment; standardizing scheduled inspections to eliminate the impact of human factors; ensuring the equipment scheduled inspection cycle, and not failing to carry out scheduled inspections and maintenance in a timely manner due to human factors and equipment operation during strong winds. Through multiple data monitoring and analysis, a historical ledger is issued for the scheduled inspection results, and hidden defects of bolt failure are discovered in time through professional torque data and bolt looseness diagnosis to avoid equipment damage. Remote control can be performed to avoid manual boarding. Remote inspections can be performed in situations such as strong winds that do not allow boarding conditions or at night, which can reduce scheduled inspection downtime and improve equipment availability.

[0095] In one embodiment, it also includes a calculation unit, which is respectively set in the torque value library, the period standard database and the looseness degree range standard database, for calculating the mode range of the data in each database and sending the mode range to the setting module as reference data of the setting module.

[0096] The beneficial effect of the above embodiment is to increase the accuracy and correspondence between historical data and operating parameters.

[0097] Example 6

[0098] In one embodiment, a power system inspection system based on historical data is further provided with an identification module and a matching module; the identification module is used to identify different types of bolts, and the matching module is used to classify the data about the bolts in the database according to the types of the bolts.

[0099] The beneficial effects of the above embodiment are: by recording a large amount of data on the loosening time and degree of loosening of the fan bolts, the operating conditions of the high-strength bolts of the fan are analyzed, a cycle standard for tightening bolts of different specifications is formed, and a standard value for the range of bolt loosening is formed. When the degree of bolt loosening exceeds the standard value, the vibration and stress health level of the corresponding components is reflected; the quality and efficiency of regular inspection work are improved, and the regular inspection work is standardized.

[0100] It should be noted that the system provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiments can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0101] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0102] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0103] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations in the above description of the disclosed embodiments, so that professionals and technicians in the field can implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features disclosed herein.

Claims

1. A method for regular inspection of a power system based on historical data, characterized in that: The following steps are involved: Step 1: Set up a regular inspection robot and establish a walking path for the regular inspection robot; establish a high-strength bolt torque value library, establish a cycle standard database for tightening bolts of different specifications and models, and establish a standard database for the range of bolt looseness; Step 2: setting the working cycle of the inspection robot according to the data in the bolt tightening cycle standard database; setting the type of sensing device and processing device installed on the inspection robot according to the data in the bolt torque value library, so as to detect the bolt disengagement height and the torque data when the bolt is rotated, and process the bolt; Step 3: Transmit the detected disconnection height to the analysis module, and generate analysis results by comparing the disconnection height data with the corresponding value of the preset height range; Step 4, feeding back the analysis result to the processing device, controlling the action of the processing device on the bolt according to the analysis result and the data in the looseness range standard database, recording the torque value, operation time and torque data when rotating the bolt, and storing the above data in the torque value database, the period standard database and the looseness range standard value database accordingly; Step 5: Repeat steps 2 to 4.

2. A method for regular inspection of a power system based on historical data according to claim 1, characterized in that: The step of establishing the walking path of the inspection robot comprises: A rolling device is installed on the inspection robot and the artificially set path to limit the inspection robot to move on a fixed route; the rolling device is provided with a driving component, and the driving component is used to control the movement of the inspection robot on the fixed route.

3. The method for regular inspection of a power system based on historical data according to claim 2, characterized in that: The establishment of a high-strength bolt torque value library, the establishment of a period standard database for tightening bolts of different specifications and models, and the establishment of a bolt loosening degree range standard database include: Establish a high-strength bolt torque numerical library based on existing high-strength bolt specification parameters; Establish a standard database of tightening cycles for bolts of different specifications and models based on existing high-strength bolt specifications and parameters; A database of standard values ​​for bolt loosening range is established based on the existing high-strength bolt specification parameters.

4. The method for regular inspection of a power system based on historical data according to claim 3, characterized in that: The working cycle of the inspection robot is set according to the data in the bolt tightening cycle standard database, and the types of the sensing device and processing device installed on the inspection robot are set according to the data in the bolt torque value library, including: The database of bolt tightening cycle standards of different specifications and models is connected to the driving component, and the operation cycle of the driving component is limited according to the mode range of the bolt tightening cycle standards of different specifications and models; The sensing device having a corresponding sensitivity is defined according to the mode range of the bolt torque value.

5. The method for regular inspection of a power system based on historical data according to claim 4, characterized in that: The sensing device and the processing device installed on the inspection robot include: The sensing device includes a displacement sensor and a torque detection clamp; the displacement sensor is used to detect the lifting value of the rotated bolt; the arm length of the torque detection clamp is the same as the arm length set in the high-strength bolt torque value library; the torque sensor is used to detect the torque data in the process of rotating the bolt in real time; The processing device is connected to the torque detection clamp and is used to drive the torque detection clamp to rotate.

6. A method for regular inspection of a power system based on historical data according to claim 5, characterized in that: The process of transmitting the detected disconnection height to the analysis module and generating an analysis result by comparing the disconnection height data with the corresponding values in the preset height range includes: Set the disconnection height data as A, and the preset height range threshold matrix A0(A1, A2), where A1 is the first height value and A2 is the second height value; sorted by numerical size as A1 < A2; When A ≤ A1, the generated analysis result is severe looseness E1; When A1 < A ≤ A2, the generated analysis result is mild looseness E2; When A > A2, the generated analysis result is no looseness E3.

7. A method for regular inspection of a power system based on historical data according to claim 6, characterized in that: The process of feeding back the analysis result to the processing device and controlling the action of the processing device on the bolt according to the analysis result and the data in the looseness degree range standard database includes: The processing device is connected to the analysis module. When it receives the analysis result of severe looseness E1, it provides the first turning force value F1 to the torque detection pliers; when it receives the analysis result of mild looseness E2, it provides the second turning force value F2 to the torque detection pliers; when it receives the analysis result of no looseness E3, it provides the third turning force value F3 to the torque detection pliers; where F1 > F2 > F3 and F1, F2, F3 belong to the mode range of the looseness degree range standard database.

8. A power system regular inspection system based on historical data, based on the regular inspection method described in 1-7 above, characterized in that: Including the regular inspection robot and the database: A setting module, which is connected to the regular inspection robot and the database, is used to set the action route of the regular inspection robot, and set the inspection period, device type and operation parameters according to the reference data in the database; A detection module, which is arranged on the regular inspection robot and connected to the setting module, is used to install the set device and detect the bolt; An operation module, which is arranged on the regular inspection robot and connected to the setting module, is used to rotate the bolt according to the set operation parameters; A feedback module, which is connected to the detection module and the database, is used to send the detected data to the database for storage.

9. The power system scheduled inspection system based on historical data according to claim 8, characterized in that: The database includes the torque value database, the period standard database and the looseness degree range standard database; the setting module sets the inspection period determined by the data in the period standard database, sets the device type determined by the data in the torque value database, and sets the operation parameters determined by the data in the looseness degree range standard database.

10. The power system scheduled inspection system based on historical data according to claim 9, characterized in that: It further includes a calculation unit, which is respectively arranged in the torque value database, the period standard database and the looseness degree range standard database, and is used to calculate the mode range of the data in each database and send the mode range to the setting module as the reference data of the setting module.

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