A robot-based substation inspection and processing method

Abstract

The present invention provides a substation inspection and processing method based on a robot, belonging to the technical field of robots, and specifically including: determining the inspection period of manual inspection of the substation by using the failure influence range of different identified deviation power equipment. During the inspection period of manual inspection of the substation, based on the analysis results of matching inspection images of different power equipment within a preset time period, when it is determined that the reliability of substation inspection and processing does not meet the requirements, obtaining weather data within the preset time period and abnormal operation data of different power equipment under the weather data, and combining the identified deviation power equipment to determine the inspection and processing types of different power equipment, and performing manual inspection and processing of the power equipment in the substation according to the inspection and processing types, thereby improving the reliability of substation inspection and processing.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a substation inspection and processing method based on a robot. Background Art

[0002] When the existing technical solutions perform inspection and processing of substations, they often use manual inspection to perform inspection and processing of electrical equipment in substations, making the inspection and processing difficult and unreliable to meet the requirements. In the invention patent application CN202410668126.X, "A Substation Inspection Robot and Its Operation Method", by effectively processing the 360° panoramic image data obtained by the inspection robot, the accuracy of the inspection arrangement of the model is improved, not only reducing the manual inspection cost, but also assisting the operation and maintenance personnel in planning the inspection route. However, there are the following technical problems:

[0003] When performing inspection and processing of substations, due to the differences in the equipment parameters of the inspection robot, there may be some blind spots or unreliable inspection points during its inspection and processing. At the same time, external environmental factors will also have a certain impact on the inspection images of the robot. Therefore, if a differentiated manual inspection strategy cannot be generated based on the inspection data of the inspection robot, the reliability of the substation inspection and processing cannot be guaranteed.

[0004] In view of the above technical problems, specifically, the present application provides a substation inspection and processing method based on a robot. Summary of the Invention

[0005] To achieve the object of the present invention, the present invention adopts the following technical solutions:

[0006] According to one aspect of the present invention, a substation inspection and processing method based on a robot is provided.

[0007] A substation inspection and processing method based on a robot specifically includes:

[0008] S1 Determine the misdetection data and missed detection data of different power equipment of the robot in the substation based on the historical inspection data of the robot in the substation, and combine the historical inspection images of different power equipment to determine the power equipment with identification deviation in the substation;

[0009] S2 According to the types of the power equipment with identification deviation in the substation, determine the fault influence ranges of different power equipment with identification deviation, and use the fault influence ranges of different power equipment with identification deviation to determine the inspection cycle of the manual inspection of the substation;

[0010] During the inspection cycle of manual inspection of the substation, when it is determined that the reliability of the inspection process of the substation does not meet the requirements based on the analysis results of the matching inspection images of different power equipment within a preset time period, proceed to the next step;

[0011] S4 Obtain the weather data within a preset time period and the abnormal operation data of different power equipment under the weather data, and combine the identified deviated power equipment to determine the inspection process types of different power equipment, and perform manual inspection processing of the power equipment in the substation according to the inspection process types.

[0012] The beneficial effects of the present invention are as follows:

[0013] Based on the analysis results of the matching inspection images of different power equipment within a preset time period, determine whether the reliability of the inspection process of the substation meets the requirements, thereby avoiding the technical problem of insufficient reliability of the inspection process of the substation caused by using a fixed inspection cycle, and using the analysis results of the matching inspection images of the power equipment to realize the screening of the power equipment with deviation in image clarity of the matching inspection images in the substation, and further realize the determination of the strategy of differential manual inspection processing according to the difference in the reliability of the inspection process of the substation.

[0014] Utilize the weather data within a preset time period and the abnormal operation data of different power equipment under the weather data to determine the inspection process types of different power equipment, fully consider the abnormal probabilities of different power equipment within the preset time period, and use the abnormal probabilities to determine the inspection process types, ensuring the reliability of the inspection process and also ensuring the reliability of the identification and processing of the identified deviated power equipment.

[0015] A further technical solution lies in that the historical inspection data includes the historical inspection images and fault inspection results corresponding to different power equipment.

[0016] A further technical solution lies in that the misdetection data includes the number of misdetections of the power equipment and the misdetection processing duration for different numbers of misdetections.

[0017] A further technical solution lies in that the undetected data includes the number of undetected cases of the power equipment and the undetected processing duration for different numbers of undetected cases.

[0018] A further technical solution lies in that the method for determining the identified deviated power equipment in the substation is as follows:

[0019] Based on the misdetection data and undetected data of the power equipment by the robot in the substation, determine the proportion of the number of misdetections and the proportion of the number of undetected cases of the power equipment;

[0020] Determine the image features of the power equipment in different historical inspection images according to the historical inspection images of the power equipment, and determine the recognition deviation coefficient based on the proportion of the size in the historical inspection images.

[0021] Determine the comprehensive recognition deviation coefficient of the power equipment according to the proportion of false detection times, the proportion of missed detection times and the recognition deviation coefficient, and use the comprehensive recognition deviation coefficient to determine whether the power equipment is a power equipment with recognition deviation.

[0022] A further technical solution is that the inspection processing types of the power equipment include the attention inspection processing type, the key inspection processing type and the general inspection processing type.

[0023] A further technical solution is that the manual inspection of the power equipment in the substation is carried out according to the inspection processing type, which specifically includes:

[0024] Determine the inspection processing strategies of different power equipment according to the inspection processing type of the power equipment, and carry out the manual inspection of the power equipment in the substation according to the inspection processing strategies of different power equipment.

[0025] Other features and advantages will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0026] In order to make the above objectives, features and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows: Brief Description of the Drawings

[0027] By referring to the accompanying drawings and describing its exemplary embodiments in detail, the above and other features and advantages of the present invention will become more obvious.

[0028] Figure 1 is a flowchart of a substation inspection processing method based on a robot;

[0029] Figure 2 is a flowchart of a method for determining an identified deviation power equipment in a substation;

[0030] Figure 3 is a flowchart of a method for determining the inspection cycle of manual inspection of a substation;

[0031] Figure 4 is a flowchart for determining that the reliability of substation inspection processing does not meet the requirements. Detailed Embodiments

[0032] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on the embodiments of this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this specification.

[0033] To solve the above problems, according to one aspect of the present invention, as Figure 1 shown, according to one aspect of the present invention, a substation inspection and processing method based on a robot is provided, specifically including:

[0034] S1 Determine the misdetection data and missed detection data of different power equipment of the robot in the substation based on the historical inspection data of the robot in the substation, and combine the historical inspection images of different power equipment to determine the power equipment with identification deviation in the substation;

[0035] Further, the historical inspection data includes historical inspection images corresponding to different power equipment and fault inspection results.

[0036] Optionally, the misdetection data includes the number of misdetections of the power equipment and the misdetection processing duration for different numbers of misdetections.

[0037] Specifically, the missed detection data includes the number of missed detections of the power equipment and the missed detection processing duration for different numbers of missed detections.

[0038] It should be noted that, as Figure 2 shown, the method for determining the power equipment with identification deviation in the substation is:

[0039] Determine the misdetection rate and missed detection rate of the power equipment based on the misdetection data and missed detection data of the power equipment of the robot in the substation;

[0040] Determine the image features of the power equipment in different historical inspection images based on the historical inspection images of the power equipment, and determine the identification deviation coefficient based on the size ratio of the image in the historical inspection image;

[0041] Determine the comprehensive identification deviation coefficient of the power equipment according to the misdetection rate, missed detection rate and identification deviation coefficient, and use the comprehensive identification deviation coefficient to determine whether the power equipment is a power equipment with identification deviation.

[0042] Further, determining the comprehensive identification deviation coefficient of the power equipment according to the misdetection rate, missed detection rate and identification deviation coefficient specifically includes:

[0043] Determine the comprehensive identification deviation coefficient of the power equipment based on the product of the misdetection rate ratio and the identification deviation coefficient and the sum of the missed detection rate ratio and the identification deviation coefficient.

[0044] Optionally, when the comprehensive identification deviation coefficient of the power equipment is greater than the preset deviation coefficient threshold, determine that the power equipment is an identification deviation power equipment.

[0045] In another embodiment, the method for determining the identification deviation power equipment in the substation is as follows:

[0046] S11 Determine the misdetection rate ratio and the missed detection rate ratio of the power equipment based on the misdetection data and the missed detection data of the power equipment in the substation by the robot, and determine the identification anomaly coefficient of the power equipment in combination with the number of misdetections and the number of missed detections of the power equipment;

[0047] S12 Determine the image features of the power equipment in different historical inspection images based on the historical inspection images of the power equipment, and determine the identification deviation coefficient based on the size ratio of the image size in the historical inspection images;

[0048] S13 Determine the comprehensive identification deviation coefficient of the power equipment based on the identification anomaly coefficient and the identification deviation coefficient, and use the comprehensive identification deviation coefficient to determine whether the power equipment is an identification deviation power equipment.

[0049] S2 Determine the fault influence range of different identification deviation power equipment according to the type of the identification deviation power equipment in the substation, and use the fault influence range of different identification deviation power equipment to determine the inspection period of the manual inspection of the substation;

[0050] Furthermore, the fault influence range of the identification deviation power equipment is determined according to the power supply range affected when the identification deviation power equipment fails.

[0051] Specifically, as Figure 3 shown, the method for determining the inspection period of the manual inspection of the substation is as follows:

[0052] Determine the power users affected by the faults of different identification deviation power equipment based on the fault influence range of different identification deviation power equipment;

[0053] Determine the total number of power users affected by the faults according to the power users affected by the faults of different identification deviation power equipment;

[0054] Determine the inspection period of the manual inspection of the substation based on the total number of the power users.

[0055] Further, the inspection cycle of manual inspection of the substation is determined according to the preset inspection cycle corresponding to the total number of the power users.

[0056] In addition, it should be noted that the method for determining the inspection cycle of manual inspection of the substation is as follows:

[0057] S21 Determine the power users affected by the faults of different identified deviation power equipment according to the fault influence ranges of different identified deviation power equipment, and use them as the power users affected by the faults.

[0058] Optionally, the above step S21 includes the following content:

[0059] S211 Determine the power users affected by the faults of different identified deviation power equipment according to the fault influence ranges of different identified deviation power equipment, and use them as the power users affected by the faults. When the total number of the power users affected by the faults is greater than the preset user number threshold, the inspection cycle of manual inspection of the substation is determined by using the preset inspection cycle. When the total number of the power users affected by the faults is not greater than the preset user number threshold, go to step S212;

[0060] S212 When it is determined that there are identified deviation power equipment with power users affected by the faults greater than the preset number of power users affected by the faults according to the power users affected by the faults of different identified deviation power equipment, go to step S213. When there are no identified deviation power equipment with power users affected by the faults greater than the preset number of power users affected by the faults, go to step S22;

[0061] S213 Use the identified deviation power equipment with power users affected by the faults greater than the preset number of power users affected by the faults as the screened deviation power equipment. When the number of the screened deviation power equipment does not meet the requirements, the inspection cycle of manual inspection of the substation is determined by using the preset inspection cycle. When the number of the screened deviation power equipment meets the requirements, go to step S22.

[0062] S22 Determine the abnormal weight coefficients of different power users affected by the faults according to the number of identified deviation power equipment corresponding to different power users affected by the faults.

[0063] Optionally, the above step S22 includes the following content:

[0064] S221 Determine the abnormal weight coefficients of different power users affected by the faults according to the number of identified deviation power equipment corresponding to different power users affected by the faults. When there are power users affected by the faults with abnormal weight coefficients not meeting the requirements, go to step S222. When there are no power users affected by the faults with abnormal weight coefficients not meeting the requirements, go to step S23;

[0065] S222 regards the power users affected by faults with abnormal weight coefficients not meeting the requirements as abnormal power users. When the number of the abnormal power users does not meet the requirements, the inspection cycle of manual inspection of the substation is determined by using a preset inspection cycle. When the number of the abnormal power users meets the requirements, it proceeds to step S223;

[0066] S223 is based on the abnormal weight coefficients of different abnormal power users to determine the sum of the abnormal weight coefficients of the abnormal power users. When the sum of the abnormal weight coefficients of the abnormal power users does not meet the requirements, the inspection cycle of manual inspection of the substation is determined by using a preset inspection cycle. When the sum of the abnormal weight coefficients of the abnormal power users meets the requirements, it proceeds to step S23.

[0067] S23 determines the sum of abnormal weight coefficients based on the abnormal weight coefficients of different power users affected by faults, and uses the sum of the abnormal weight coefficients to determine the inspection cycle of manual inspection of the substation.

[0068] S3 During the inspection cycle of manual inspection of the substation, when it is determined that the inspection processing reliability of the substation does not meet the requirements based on the analysis results of the matching inspection images of different power equipment within a preset time period, it proceeds to the next step;

[0069] Further, as Figure 4 shown, determining that the inspection processing reliability of the substation does not meet the requirements specifically includes:

[0070] Based on the matching inspection images of different power equipment within a preset time period, determine the image clarity of the matching inspection images of different power equipment within the preset time period;

[0071] According to the image clarity of the matching inspection images of different power equipment within a preset time period, determine the power equipment whose proportion of the number of matching inspection images with image clarity within a preset clarity range in the preset proportion interval, and regard it as the inspection deviation power equipment;

[0072] According to the number of the inspection deviation power equipment, determine whether the inspection processing reliability of the substation meets the requirements.

[0073] Optionally, the matching inspection image is an inspection image with the power equipment present.

[0074] Specifically, when the number of the inspection deviation power equipment does not meet the requirements, it is determined that the inspection processing reliability of the substation does not meet the requirements.

[0075] Optionally, determining that the inspection processing reliability of the substation does not meet the requirements specifically includes:

[0076] Determine the image sharpness of the matching inspection images of different power equipment within a preset time period, and use the matching inspection images with the image sharpness within the preset sharpness range as sharpness deviation images;

[0077] When the quantity ratio of the sharpness deviation images in the matching inspection images is greater than the preset image quantity ratio, it is determined that the reliability of the inspection process of the substation does not meet the requirements;

[0078] When the quantity ratio of the sharpness deviation images in the matching inspection images is not greater than the preset image quantity ratio:

[0079] Determine the basic deviation coefficient based on the quantity ratio of the sharpness deviation images in the matching inspection images and the image sharpness of different sharpness deviation images. When the basic deviation coefficient does not meet the requirements, it is determined that the reliability of the inspection process of the substation does not meet the requirements;

[0080] When the basic deviation coefficient meets the requirements:

[0081] Obtain the quantity ratio of the sharpness deviation images of different power equipment, and when it is determined that there is no power equipment with inspection deviation among the power equipment by using the quantity ratio, it is determined that the reliability of the inspection process of the substation meets the requirements;

[0082] When it is determined that there is power equipment with inspection deviation among the power equipment by using the quantity ratio:

[0083] When the quantity of the power equipment with inspection deviation does not meet the requirements, it is determined that the reliability of the inspection process of the substation does not meet the requirements;

[0084] When the quantity of the power equipment with inspection deviation meets the requirements:

[0085] Determine the equipment identification deviation coefficient of different power equipment based on the quantity ratio of the sharpness deviation images of different power equipment and the image sharpness of different matching inspection images. When the number of power equipment with the equipment identification deviation coefficient not meeting the requirements is greater than the preset equipment quantity, it is determined that the reliability of the inspection process of the substation does not meet the requirements;

[0086] When the number of power equipment with the equipment identification deviation coefficient not meeting the requirements is not greater than the preset equipment quantity,

[0087] Determine the equipment identification reliability coefficient based on the equipment identification deviation coefficient of different power equipment, and use the equipment identification reliability coefficient to determine whether the reliability of the inspection process of the substation meets the requirements.

[0088] Further, when the device recognition reliability coefficient is less than the preset reliability coefficient threshold, it is determined that the inspection processing reliability of the substation does not meet the requirements.

[0089] In addition, it should be noted that when the inspection processing reliability of the substation meets the requirements, there is no need to perform manual inspection processing on the power equipment in the substation until the inspection processing reliability of the substation does not meet the requirements or reaches the inspection cycle of the manual inspection of the substation.

[0090] S4 Obtain the weather data within a preset time period and the abnormal operation data of different power equipment under the weather data, combine the identified deviation power equipment to determine the inspection processing types of different power equipment, and perform manual inspection processing on the power equipment in the substation according to the inspection processing types.

[0091] Specifically, the method for determining the inspection processing type of the power equipment is as follows:

[0092] When the power equipment is the identified deviation power equipment, it is determined that the inspection processing type of the power equipment is the attention inspection processing type;

[0093] When the power equipment does not belong to the identified deviation power equipment:

[0094] Based on the weather data within the preset time period, determine the proportion of the division duration under different weather types;

[0095] According to the abnormal operation data under different weather types, determine the number of fault occurrences of different power equipment under different weather types;

[0096] Determine the correction times of the power equipment by multiplying the proportion of the division duration under different weather types and the number of fault occurrences under different weather types, and determine the inspection processing type of the power equipment according to the correction times.

[0097] Further, the inspection processing types of the power equipment include the attention inspection processing type, the key inspection processing type, and the general inspection processing type.

[0098] It can be understood that the inspection processing type of the power equipment is determined according to the preset inspection processing type corresponding to the correction times.

[0099] Specifically, the weather types include rainfall, snowfall, and haze.

[0100] In addition, it should be noted that performing manual inspection processing on the power equipment in the substation according to the inspection processing type specifically includes:

[0101] Determine the inspection and processing strategies for different power equipment according to the inspection and processing types of power equipment, and perform manual inspection and processing of the power equipment in the substation according to the inspection and processing strategies for different power equipment.

[0102] Optionally, the above step S11 includes the following content:

[0103] S111 Use the misdetection data and missed detection data of the power equipment in the substation by the robot to determine the number of misdetections and the number of missed detections of the power equipment. When any one of the number of misdetections and the number of missed detections of the power equipment does not meet the requirements, determine that the power equipment is an identification deviation power equipment. When both the number of misdetections and the number of missed detections of the power equipment meet the requirements, proceed to step S112;

[0104] S112 Based on the proportion of the number of misdetections and the number of misdetections of the power equipment, determine the misdetection anomaly coefficient of the power equipment. When the misdetection anomaly coefficient of the power equipment does not meet the requirements, determine that the power equipment is an identification deviation power equipment. When the misdetection anomaly coefficient of the power equipment meets the requirements, proceed to step S113;

[0105] S113 Based on the proportion of the number of missed detections and the number of missed detections of the power equipment, determine the missed detection anomaly coefficient of the power equipment. When the missed detection anomaly coefficient of the power equipment does not meet the requirements, determine that the power equipment is an identification deviation power equipment. When the missed detection anomaly coefficient of the power equipment meets the requirements, proceed to step S114;

[0106] S114 Determine the identification anomaly coefficient of the power equipment through the missed detection anomaly coefficient and the misdetection anomaly coefficient of the power equipment. When the identification anomaly coefficient of the power equipment does not meet the requirements, determine that the power equipment is an identification deviation power equipment. When the identification anomaly coefficient of the power equipment meets the requirements, proceed to step S12.

[0107] Optionally, the above step S12 includes the following content:

[0108] S121 Determine the image features of the power equipment in different historical inspection images according to the historical inspection images of the power equipment, and determine the identification deviation coefficient based on the proportion of the image size in the historical inspection images. When the identification deviation coefficient does not meet the requirements, determine that the power equipment is an identification deviation power equipment. When the identification deviation coefficient of the power equipment meets the requirements, proceed to step S122;

[0109] S122 When the identification deviation coefficient of the power equipment is within the preset deviation coefficient range, proceed to step S123. When the identification deviation coefficient of the power equipment is not within the preset deviation coefficient range, proceed to step S13;

[0110] S123 When the recognition anomaly coefficient of the power device is within the preset anomaly coefficient range, it is determined that the power device is a power device with recognition deviation. When the recognition anomaly coefficient of the power device is not within the preset anomaly coefficient range, proceed to step S13.

[0111] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, equipment, and non-volatile computer storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and reference can be made to the relevant parts of the method embodiments for the relevant parts.

[0112] The specific embodiments of this specification are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the specific order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0113] The above description is only for one or more embodiments of this specification and is not intended to limit this specification. For those skilled in the art, various changes and modifications can be made to one or more embodiments of this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of one or more embodiments of this specification shall be included within the scope of the claims of this specification.

Claims

1. A robot-based substation inspection processing method, characterized in that, Specifically include: Determine the misdetection data and missed detection data of different power equipment in the substation based on the historical inspection data of the robot in the substation, and combine the historical inspection images of different power equipment to determine the identified deviation power equipment in the substation; According to the types of the identified deviation power equipment in the substation, determine the fault influence range of different identified deviation power equipment, and use the fault influence range of different identified deviation power equipment to determine the inspection cycle of manual inspection of the substation; During the inspection cycle of manual inspection of the substation, based on the analysis results of the matching inspection images of different power equipment within a preset time period, when it is determined that the reliability of substation inspection processing does not meet the requirements, proceed to the next step; Obtain the weather data within a preset time period and the abnormal operation data of different power equipment under the weather data, combine the identified deviation power equipment to determine the inspection processing types of different power equipment, and perform manual inspection processing of the power equipment in the substation according to the inspection processing types.

2. The substation inspection and processing method based on a robot according to claim 1, characterized in that The historical inspection data includes the historical inspection images and fault inspection results corresponding to different power equipment.

3. The method for substation inspection and processing based on a robot according to claim 1, characterized in that The misdetection data includes the misdetection times of the power equipment and the misdetection processing duration of different misdetection times.

4. The substation inspection and processing method based on a robot according to claim 1, wherein The method for determining the identified deviation power equipment in the substation is as follows: Based on the misdetection data and missed detection data of power equipment in the substation by the robot, determine the misdetection times ratio and missed detection times ratio of the power equipment; Determine the image features of the power equipment in different historical inspection images according to the historical inspection images of the power equipment, and determine the identification deviation coefficient based on the size ratio of the image size in the historical inspection images; Determine the comprehensive identification deviation coefficient of the power equipment according to the misdetection times ratio, missed detection times ratio and identification deviation coefficient, and use the comprehensive identification deviation coefficient to determine whether the power equipment is an identified deviation power equipment.

5. A substation inspection and processing method based on a robot according to claim 1, characterized in that, The fault influence range of the identified deviation power equipment is determined according to the power supply range affected when the identified deviation power equipment fails.

6. The substation inspection and processing method based on a robot according to claim 1, wherein The method for determining the inspection processing types of the power equipment is as follows: When the power equipment is an identified deviation power equipment, determine that the inspection processing type of the power equipment is the attention inspection processing type; When the power equipment does not belong to the identified deviation power equipment: Based on the weather data within a preset time period, determine the division duration ratio under different weather types; According to the abnormal operation data under different weather types, determine the number of fault occurrences of different power equipment under different weather types; Determine the correction times of the power equipment by multiplying the division duration ratio under different weather types and the number of fault occurrences under different weather types, and determine the inspection processing type of the power equipment according to the correction times.

7. The substation inspection and processing method based on a robot according to claim 6, wherein The inspection processing types of the power equipment include the attention inspection processing type, the key inspection processing type, and the general inspection processing type.

8. The method for substation inspection and processing based on a robot according to claim 6, wherein, The inspection processing type of the power equipment is determined according to the preset inspection processing type corresponding to the correction times.

9. The substation inspection and processing method based on a robot according to claim 6, characterized in that, The weather types include rainfall, snowfall, and haze.

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