Substation inspection robot and power equipment grounding fault detection method

Abstract

The substation inspection robot comprises a case, and a protection box is fixedly connected to the left side of the bottom end face of the case; a first sliding rail and a second sliding rail are fixedly connected to the left side and the right side of the bottom side of the protection box respectively, and a first protection cover, a shaking plate and a second protection cover are installed between the first sliding rail and the second sliding rail and sequentially arranged from front to back. The shaking plate is located between the first protective cover and the second protective cover, and the first protective cover and the second protective cover are both arranged to be foldable and retractable soft rubber plates. Safety protection can be carried out on the detection instrument through the protection box, when the inspection robot encounters a ponding road section in the walking process and cannot walk by bypassing, ponding can be prevented from splashing to the detection instrument, and the detection accuracy of the detection instrument is guaranteed; meanwhile, the non-contact ground resistance tester provides quantitative data of the ground resistance, and the thermal infrared imager provides the heat distribution condition of the grounding system. The combination of the two can more comprehensively evaluate the state of the grounding system.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic inspection equipment for transformer substations, and in particular to a transformer substation inspection robot and a method for detecting grounding faults of electric power equipment. Background Art

[0002] Substation equipment is in operation for a long time. In order to ensure the safety and stability of electrical equipment, on-site operating personnel are often required to conduct regular or irregular inspections of on-site equipment. With the advancement of intelligent equipment, substation intelligent inspection robots integrate intelligent inspection, video monitoring, infrared detection and other functions. They can perform daily inspections according to preset paths and check the operating status of substation equipment, which improves the safety and reliability of substation operation and maintenance. At the same time, they can reduce the number of inspection personnel and reduce labor costs.

[0003] The inspection robot carries a contact type ground resistance tester, and after reaching the designated grounding location, it extends a test probe to contact the grounding body to accurately measure the resistance value. Since the walking chassis of some inspection robots are not equipped with special shielding components, the contact type ground resistance tester carried cannot be protected. In extreme weather such as rain and snow, the contact type ground resistance tester is directly exposed to the external environment. If the inspection robot encounters a flooded section during its walking process and cannot walk around it, a large amount of accumulated water will splash onto the detection instrument. If the instrument is flooded, it will easily affect the accuracy of the subsequent detection instrument. In addition, the contact type ground resistance tester requires physical contact with the ground, which limits the application scope of the robot. For grounding devices that are difficult to contact or reach, the robot may not be able to perform effective testing. Summary of the invention

[0004] The embodiment of the present application provides a substation inspection robot and a method for detecting ground faults of power equipment. The protection box can be used to safely protect the detection instrument. When the inspection robot encounters a flooded section and cannot bypass it, it can prevent the accumulated water from splashing onto the detection instrument, thereby ensuring the accuracy of the detection of the detection instrument. At the same time, the non-contact ground resistance tester provides quantitative data of the ground resistance, and the infrared thermal imager provides the thermal distribution of the grounding system. The combination of the two can more comprehensively evaluate the status of the grounding system.

[0005] The embodiment of the present application provides a substation inspection robot, including a chassis, characterized in that: a mounting plate is fixedly connected to the middle of the upper end surface of the chassis, a mounting box is fixedly connected to the upper side of the mounting plate, a mounting rod 1 and a mounting rod 2 are rotatably connected to the front and rear sides of the mounting box respectively, a bottom plate is fixedly connected to the upper side of the mounting rod 1 and the mounting rod 2, a camera is fixedly connected to the upper side of the bottom plate, a protective cover is fixedly connected to the upper side of the bottom plate for protecting the camera; a rotating motor is installed in the mounting box, and the front side of the output shaft of the rotating motor passes through the mounting box and is fixedly connected between the mounting rod 1, for adjusting the angle of the camera; A partition is installed in the chassis, which divides the internal space of the chassis into two layers, the upper and lower layers, and the upper surface of the partition is equipped with a battery panel and a processor; The bottom end surface of the chassis is provided with four installation slots, in which drive wheel 1, drive wheel 2, drive wheel 3 and drive wheel 4 are rotatably connected respectively; drive motor 1 and drive motor 2 are fixedly connected to the inner wall of the bottom side of the chassis, the rear side of the output shaft of drive motor 1 is fixedly connected to drive wheel 1, and the front side of the output shaft of drive motor 2 is fixedly connected to drive wheel 2, which is used to provide power for the rotation of drive wheel 1 and drive wheel 2, thereby realizing the walking of the robot; A protection box is fixedly connected to the left side of the bottom end face of the chassis, and an opening is reserved on the bottom end face of the protection box; a slide rail 1 and a slide rail 2 are fixedly connected to the left and right sides of the bottom side of the protection box, respectively, and a protection cover 1, a shaking plate and a protection cover 2 are installed between the slide rails 1 and 2, which are the protection cover 1, the shaking plate and the protection cover 2 from front to back; The shaking plate is located between the protective cover 1 and the protective cover 2, and the protective cover 1 and the protective cover 2 are both configured as foldable and retractable soft rubber plates; the left and right sides of the protective cover 1 are fixedly connected with sliders 1, and the two sliders 1 are respectively slidably connected in the slide rail 1 and the slide rail 2; the left and right sides of the protective cover 2 are fixedly connected with sliders 2, and the two sliders 2 are respectively slidably connected in the slide rail 1 and the slide rail 2; Transmission components are provided in the slide rail 1 and the slide rail 2, which are used to provide power for the slide block 1 and the slide block 2 to slide, thereby realizing the contraction or extension of the protective cover 1 and the protective cover 2, and realizing the opening and closing of the bottom side opening of the protective box; The transmission assembly includes a transmission motor and a transmission shaft; the transmission shaft is rotatably connected to slide rail 1 and slide rail 2 respectively, and passes through slider 1 and slider 2 from front to back in sequence. The rear end of the transmission shaft is rotatably connected to the rear inner wall of the protective box, and the front side of the transmission shaft passes through the protective box and extends to its outside; the transmission motor is fixedly connected to the front outer wall of the protective box, and the rear side of the output shaft of the transmission motor is fixedly connected to the transmission shaft to provide power for the rotation of the transmission shaft.

[0006] Furthermore, the transmission shaft is configured as a threaded rod, and threaded through holes are provided on slider one and slider two, and the transmission shaft is rotationally connected to slider one and slider two through threads; it should be noted that the thread direction of the threaded through hole on slider one is opposite to the thread direction of the threaded through hole on slider two.

[0007] Furthermore, the protective cover 1, the protective cover 2 and the shaking plate are all slidably installed between the slide rail 1 and the slide rail 2; the front side of the shaking plate is fixedly connected to the rear side of the protective cover 1, and the rear side of the shaking plate is fixedly connected to the front side of the protective cover 2.

[0008] Furthermore, an air bag is selected for the shaking plate, and an air inlet hole and an air outlet hole are reserved on the upper side thereof. A transverse spring is fixedly filled in the shaking plate; an air inlet pipe is fixedly connected in the air inlet hole, and the front side of the air inlet pipe passes through the protective box and extends to the outside thereof.

[0009] Furthermore, a solenoid valve 1 is mounted on the air inlet pipe, and a solenoid valve 2 is mounted on the air outlet.

[0010] Furthermore, a small air pump is fixedly connected to the front outer wall of the protection box, and the air outlet of the small air pump is connected to the air inlet pipe.

[0011] Further, a detection assembly is fixedly connected in the protection box, and two groups of detection components are provided, which are respectively located above the protection cover 1 and the protection cover 2; The detection assembly includes a motor, a rotating shaft, a sleeve and a detection instrument; The motor is fixedly connected to the upper inner wall of the protective box to provide power for the rotation of the shaft; the shaft is fixedly connected to the bottom side of the output shaft of the motor; the sleeve is sleeved on the outside of the shaft, the shaft is made of a threaded rod, a threaded hole is provided in the sleeve, and the shaft is rotatably connected between the thread and the sleeve; the detection instrument is fixedly connected to the bottom side of the sleeve.

[0012] Furthermore, the sleeve is arranged in a square shape, a limiting plate is fixedly connected in the protection box, a square through hole is arranged on the limiting plate, and the sleeve is slidably sleeved in the square through hole arranged on the limiting plate.

[0013] Further testing instruments are selected such as a non-contact ground resistance tester and an infrared thermal imager; the testing instrument above the protective cover one is the non-contact ground resistance tester, and the testing instrument above the protective cover two is the infrared thermal imager.

[0014] The processor further serves as a main control unit, which is electrically connected to the camera, the rotating motor, the battery panel, the drive motor 1, the drive motor 2, the transmission motor, the solenoid valve 1, the solenoid valve 2, the small air pump, the motor and the detection instrument through wires.

[0015] A method for detecting grounding faults in electric power equipment specifically includes the following steps: (1) The inspection robot moves to the vicinity of the detection point of the grounding system according to the planned path, and starts the transmission motor through the processor to drive the transmission shaft to rotate. As the transmission shaft rotates clockwise, the slider 1 and the slider 2 slide in opposite directions, so that the protective cover 1 and the protective cover 2 shrink. After the opening on the bottom side of the protective box is opened, the transmission motor is turned off; (2) Then the motor on the upper side of the protective cover is turned on and the driving sleeve is driven downward via the rotating shaft, so that the detection instrument, the non-contact ground resistance tester, is extended out of the protective box. The non-contact ground resistance tester measures the ground resistance value non-contactly through the principle of electromagnetic induction and transmits the data to the processor. The processor analyzes the ground resistance data in real time to determine whether it is within the normal range; (3) The non-contact ground resistance tester is then retracted into the protective box, the motor on the upper side of the protective cover 2 is turned on and the sleeve is driven downward via the rotating shaft to extend the infrared thermal imager of the detection instrument out of the protective box. The infrared thermal imager scans the grounding equipment and captures the thermal distribution image of the equipment surface. The infrared thermal imager transmits the thermal distribution image and related data to the processor. By analyzing the thermal image, abnormal hot spots in the grounding system are identified. Then the infrared thermal imager is retracted into the protective box, and the protective cover 1 and the protective cover 2 are extended to close the opening on the bottom side of the protective box; (4) Fuse the data from the non-contact ground resistance tester and the infrared thermal imager to comprehensively analyze the status of the grounding system, use the processor to diagnose faults in the grounding system, and identify possible fault causes and locations; (5) If an abnormality or fault is detected in the grounding system, the robot control system will trigger an alarm and notify maintenance personnel.

[0016] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. The inspection robot moves to the vicinity of the detection point of the grounding system according to the planned path, and starts the transmission motor through the processor to drive the transmission shaft to rotate. As the transmission shaft rotates clockwise, the slider 1 and the slider 2 slide in opposite directions to shrink the protective cover 1 and the protective cover 2. After the opening on the bottom side of the protective box is opened, the transmission motor is turned off, and then the motor on the upper side of the protective cover 1 is turned on to drive the sleeve downward through the rotating shaft to extend the detection instrument non-contact ground resistance tester out of the protective box. The non-contact ground resistance tester measures the ground resistance value non-contactly through the principle of electromagnetic induction, and transmits the data to the processor. The device analyzes the grounding resistance data in real time to determine whether it is within the normal range; then the non-contact ground resistance tester is retracted into the protection box, the motor on the upper side of the protective cover 2 is turned on and the sleeve is driven downward via the rotating shaft to extend the infrared thermal imager of the detection instrument out of the protection box, and the infrared thermal imager scans the grounding equipment and captures the thermal distribution image of the equipment surface. The infrared thermal imager transmits the thermal distribution image and related data to the processor, and identifies abnormal hot spots in the grounding system by analyzing the thermal image. Then the infrared thermal imager is retracted into the protection box, and the protective cover 1 and the protective cover 2 are extended to close the bottom opening of the protection box. The protection box can be used to safely protect the detection instrument. When the inspection robot encounters a flooded section during its walking process and cannot bypass it, it can avoid splashing water onto the detection instrument, thereby ensuring the accuracy of the detection of the detection instrument; at the same time, the non-contact ground resistance tester provides quantitative data of the grounding resistance, and the infrared thermal imager provides the thermal distribution of the grounding system. The combination of the two can more comprehensively evaluate the status of the grounding system.

[0017] 2. Inflate the shaking plate with air through a small air pump, and with the cooperation of solenoid valve 2, realize the inflation or deflation of the shaking plate. When the opening on the bottom side of the protection box is always in a closed state, the protective cover 1 and the protective cover 2 can be contracted or extended, and the accumulated water or silt adhering to the bottom outer wall of the protective cover 1, the bottom outer wall of the protective cover 2 and the bottom outer wall of the shaking plate can be shaken off. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The structure of the substation inspection robot for this application is shown in Figure 1. Figure 1 .

[0019] Figure 2 The structure of the substation inspection robot for this application is shown in Figure 1. Figure 2 .

[0020] Figure 3 This is a schematic diagram of the internal structure of the chassis of this application.

[0021] Figure 4 This is a schematic diagram of the bottom structure of the chassis of this application.

[0022] Figure 5 This is a schematic diagram of the internal structure of the installation box for this application.

[0023] Figure 6 This is a schematic diagram of the protective box structure for this application.

[0024] Figure 7 Cutaway view of the protective box for this application Figure 1 .

[0025] Figure 8 Cutaway view of the protective box for this application Figure 2 .

[0026] Fig. 9 This is a schematic diagram of the installation structure of protective cover 1, shaking plate and protective cover 2 for this application.

[0027] Fig.10 This is a top view of the installation of protective cover 1, shaking plate and protective cover 2 for this application.

[0028] Fig.11 This is a structural schematic diagram of the protective cover of this application.

[0029] Fig.12 This is an enlarged structural diagram of Part A of this application.

[0030] Fig.13 This is an enlarged structural diagram of Part B of this application.

[0031] In the figure: 10 chassis, 11 mounting plate, 12 mounting box, 13 rotating motor, 14 mounting rod 1, 15 mounting rod 2, 16 bottom plate, 17 protective cover, 18 camera, 19 battery board, 110 processor, 111 driving motor 1, 112 driving wheel 1, 113 driving motor 2, 114 driving wheel 2, 115 driving wheel 3, 116 driving wheel 4, 20 protective box, 21 slide rail 1, 22 slide rail 2, 30 limit plate, 40 detection component, 41 motor, 42 rotating shaft, 43 sleeve, 44 detection instrument, 50 protective cover 2, 51 slider 2, 60 protective cover 1, 61 slider 1, 70 shaking plate, 71 solenoid valve 2, 72 intake pipe, 73 solenoid valve 1, 74 small air pump, 80 transmission shaft, 81 transmission motor. DETAILED DESCRIPTION

[0032] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0033] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items. Example 1: Please refer to Figure 1-13 A substation inspection robot includes a chassis 10, a mounting plate 11 is fixedly connected to the middle of the upper end surface of the chassis 10, a mounting box 12 is fixedly connected to the upper side of the mounting plate 11, a mounting rod 14 and a mounting rod 15 are rotatably connected to the front and rear sides of the mounting box 12, a bottom plate 16 is fixedly connected to the upper side of the mounting rod 14 and the mounting rod 15, a camera 18 is fixedly connected to the upper side of the bottom plate 16, a protective cover 17 is covered on the outer side of the camera 18, and the protective cover 17 is fixedly connected to the upper side of the bottom plate 16 for protecting the camera 18; a rotating motor 13 is installed in the mounting box 12, and the front side of the output shaft of the rotating motor 13 passes through the mounting box 12 and is fixedly connected between the mounting rods 1 and 14 for adjusting the angle of the camera 18; The chassis 10 is provided with a partition, which divides the internal space of the chassis 10 into two layers, an upper layer and an lower layer, and a battery panel 19 and a processor 110 are installed on the upper surface of the partition; The bottom end surface of the chassis 10 is provided with four installation slots, in which drive wheel 1 112, drive wheel 2 114, drive wheel 3 115 and drive wheel 4 116 are rotatably connected respectively; drive motor 1 111 and drive motor 2 113 are fixedly connected to the inner wall of the bottom side of the chassis 10, the rear side of the output shaft of drive motor 1 111 is fixedly connected to drive wheel 1 112, and the front side of the output shaft of drive motor 2 113 is fixedly connected to drive wheel 2 114, which are used to provide power for the rotation of drive wheel 1 112 and drive wheel 2 114, thereby realizing the walking of the robot.

[0035] A protection box 20 is fixedly connected to the left side of the bottom end face of the chassis 10, and an opening is reserved on the bottom end face of the protection box 20; a slide rail 1 21 and a slide rail 22 are fixedly connected to the left and right sides of the bottom side of the protection box 20, respectively, and a protection cover 1 60, a shaking plate 70 and a protection cover 2 50 are installed between the slide rail 1 21 and the slide rail 2 22, which are the protection cover 1 60, the shaking plate 70 and the protection cover 2 50 from front to back; The shaking plate 70 is located between the protective cover 1 60 and the protective cover 2 50, and the protective cover 1 60 and the protective cover 2 50 are both configured as foldable and retractable soft rubber plates; the left and right sides of the protective cover 1 60 are fixedly connected with sliders 1 61, and the two sliders 1 61 are respectively slidably connected to the slide rail 1 21 and the slide rail 2 22; the left and right sides of the protective cover 2 50 are fixedly connected with sliders 2 51, and the two sliders 2 51 are respectively slidably connected to the slide rail 1 21 and the slide rail 22.

[0036] Transmission components are provided in the slide rail 1 21 and the slide rail 2 22 to provide power for the sliding blocks 1 61 and 2 51 to slide, thereby realizing the contraction or extension of the protective cover 1 60 and the protective cover 2 50, and realizing the opening and closing of the bottom opening of the protective box 20; The transmission assembly includes a transmission motor 81 and a transmission shaft 80; the transmission shaft 80 is rotatably connected to the slide rail 1 21 and the slide rail 2 22 respectively, and passes through the slider 1 61 and the slider 2 51 from front to back in sequence. The rear end of the transmission shaft 81 is rotatably connected to the rear inner wall of the protective box 20, and the front side of the transmission shaft 81 passes through the protective box 20 and extends to its outside; the transmission motor 81 is fixedly connected to the front outer wall of the protective box 20, and the rear side of the output shaft of the transmission motor 81 is fixedly connected to the transmission shaft 80 to provide power for the rotation of the transmission shaft 80.

[0037] The transmission shaft 80 is configured as a threaded rod, and threaded through holes are provided on the slider 1 61 and the slider 2 51. The transmission shaft 80 is rotatably connected to the slider 1 61 and the slider 2 51 through threads; it should be noted that the thread direction of the threaded through hole on the slider 1 61 is opposite to the thread direction of the threaded through hole on the slider 2 51, so that when the transmission shaft 80 rotates clockwise, the slider 1 61 and the slider 2 51 rotate in opposite directions, thereby realizing the contraction of the protective cover 1 60 and the protective cover 2 50.

[0038] The protective cover 1 60 , the protective cover 2 50 and the shaking plate 70 are all slidably installed between the slide rail 1 21 and the slide rail 2 22 ; the front side of the shaking plate 70 is fixedly connected to the rear side of the protective cover 1 60 , and the rear side of the shaking plate 70 is fixedly connected to the front side of the protective cover 2 50 .

[0039] The shaking plate 70 is an air bag, and an air inlet hole and an air outlet hole are reserved on the upper side thereof; an air inlet pipe 72 is fixedly connected in the air inlet hole, and the front side of the air inlet pipe 72 passes through the protective box 20 and extends to the outside thereof.

[0040] An electromagnetic valve 73 is installed on the air inlet pipe 72, and an electromagnetic valve 71 is installed on the air outlet, which are used to realize the inflation and deflation of the shaking plate 70. By expanding or contracting the shaking plate 70, the opening on the bottom side of the protection box 20 is always in a closed state, so that the protective cover 1 60 and the protective cover 2 50 can be contracted or stretched, and the accumulated water or silt adhering to the bottom outer wall of the protective cover 1 60, the bottom outer wall of the protective cover 2 50 and the bottom outer wall of the shaking plate 70 can be shaken off.

[0041] A small air pump 74 is fixedly connected to the front outer wall of the protection box 20 , and its air outlet is communicated with the air inlet pipe 72 , so as to provide a power source for inflating the shaking plate 70 .

[0042] A transverse spring is fixedly filled in the shaking plate 70 , and the deflation speed of the shaking plate 70 can be accelerated when the shaking plate 70 is deflated.

[0043] A detection assembly 40 is fixedly connected in the protection box 20, and is provided with two groups, which are respectively located above the protection cover 1 60 and the protection cover 2 50; The detection assembly 40 includes a motor 41, a rotating shaft 42, a sleeve 43 and a detection instrument 44; The motor 41 is fixedly connected to the upper inner wall of the protective box 20 to provide power for the rotation of the shaft 42; the shaft 42 is fixedly connected to the bottom side of the output shaft of the motor 41; the sleeve 43 is sleeved on the outside of the shaft 42; and the detection instrument 44 is fixedly connected to the bottom side of the sleeve 43.

[0044] The rotating shaft 42 is a threaded rod, a threaded hole is provided in the sleeve 43, and the rotating shaft 42 is rotatably connected to the sleeve 43 through the thread; The sleeve 43 is set in a square shape, and is fixedly connected to the limiting plate 30 in the protective box 20, on which a square through hole is opened, and the sleeve 43 is slidably inserted into the square through hole opened on the limiting plate 30; the rotating shaft 42 is driven to rotate by the motor 41, and the limiting plate 30 limits the position, and the sleeve 43 slides up and down as the rotating shaft 42 rotates clockwise or counterclockwise, so that the detection instrument 44 is extended or retracted from the protective box 20.

[0045] The detection instruments 44 are respectively a non-contact ground resistance tester and an infrared thermal imager; the detection instrument above the protective cover 1 60 is a non-contact ground resistance tester, which is a device that can measure the grounding resistance without direct contact with the grounding body, and usually uses the principle of electromagnetic induction or other non-contact technologies to measure the performance of the grounding system; the detection instrument above the protective cover 2 50 is an infrared thermal imager, which mainly uses the non-contact temperature detection capability of the infrared thermal imager to realize real-time monitoring and fault diagnosis of the status of substation equipment.

[0046] A charging port is reserved on the chassis 10 for charging the battery panel 19 at a later stage.

[0047] The processor 110 serves as a main control unit, which is electrically connected to the camera 18, the rotating motor 13, the battery panel 19, the drive motor 111, the drive motor 113, the transmission motor 81, the solenoid valve 1 73, the solenoid valve 2 71, the small air pump 74, the motor 41 and the detection instrument 44 through wires.

[0048] During the actual operation of the embodiment of the present application, the inspection robot moves to the vicinity of the detection point of the grounding system according to the planned path, and starts the transmission motor 81 through the processor 19 to drive the transmission shaft 80 to rotate. As the transmission shaft 80 rotates clockwise, the slider 1 61 and the slider 2 51 slide in relative directions, thereby shrinking the protective cover 1 60 and the protective cover 2 50. After the opening on the bottom side of the protective box 10 is opened, the transmission motor 81 is closed, and then the motor 41 on the upper side of the protective cover 1 60 is turned on and the drive sleeve 43 is driven downward via the rotating shaft 42, thereby extending the detection instrument 44, a non-contact ground resistance tester, out of the protective box 20. The non-contact ground resistance tester measures the grounding resistance value non-contactly through the principle of electromagnetic induction, and transmits the data to the processor 19. The processor 19 performs real-time analysis on the grounding resistance data to determine whether it is within the normal range; then the non-contact ground resistance tester is retracted into the protection box 20, the motor 41 on the upper side of the protective cover 50 is turned on to drive the sleeve 43 downward via the rotating shaft 42, so that the infrared thermal imager of the detection instrument 44 is extended out of the protection box 20, the infrared thermal imager scans the grounding equipment, and captures the thermal distribution image of the surface of the equipment. The infrared thermal imager transmits the thermal distribution image and related data to the processor 19, and identifies abnormal hot spots in the grounding system by analyzing the thermal image. Then the infrared thermal imager is retracted into the protection box 20, and the protective cover 1 60 and the protective cover 2 50 are extended to close the bottom opening of the protection box 20.

[0049] It should be noted that waterproof covers can be installed on the outside of the small air pump and the transmission motor, and at the same time, the outer wall of the protective cover 1, the protective cover 2 and the bottom side of the shaking plate are coated with a layer of waterproof material.

[0050] The technical solution in the above-mentioned embodiment of the present application has at least the following technical effects or advantages: the detection instrument can be safely protected by the protective box, and when the inspection robot encounters a flooded section during walking and cannot bypass it, it can prevent the accumulated water from splashing onto the detection instrument, thereby ensuring the accuracy of the detection of the detection instrument; at the same time, the non-contact ground resistance tester provides quantitative data of the ground resistance, and the infrared thermal imager provides the thermal distribution of the grounding system. The combination of the two can more comprehensively evaluate the status of the grounding system.

[0051] Embodiment 2: The inspection robot's path planning and accurate positioning to the grounding body position to be inspected is a complex process, which specifically includes the following processes: Use high-precision mapping or laser scanning technology to build a 3D model of the substation and mark the locations of all grounding bodies that need to be inspected; Determine the key points of inspection according to the distribution of grounding bodies; apply Dijkstra algorithm path planning algorithm to calculate the shortest or optimal path from the starting point to all inspection points and then back to the starting point; Beidou navigation is used on the inspection robot for positioning. According to the landmarks or reference points set in the substation, the robot assists in positioning by identifying these landmarks; Combining pre-built maps and real-time sensor data (such as cameras), the robot can achieve centimeter-level positioning accuracy. When the robot approaches the target ground body, more sophisticated sensors (such as ultrasonic sensors) are used to ensure precise docking. After reaching the predetermined position, the robot extends the detection equipment (such as non-contact floor resistance tester and infrared thermal imager) in the existing sequence for detection.

[0052] The method for detecting grounding fault of electric power equipment specifically includes the following processes: (1) The inspection robot moves to the vicinity of the detection point of the grounding system according to the planned path, and starts the transmission motor through the processor to drive the transmission shaft to rotate. As the transmission shaft rotates clockwise, the slider 1 and the slider 2 slide in opposite directions, so that the protective cover 1 and the protective cover 2 shrink. After the opening on the bottom side of the protective box is opened, the transmission motor is turned off; (2) Then the motor on the upper side of the protective cover is turned on and the driving sleeve is driven downward via the rotating shaft, so that the detection instrument, the non-contact ground resistance tester, is extended out of the protective box. The non-contact ground resistance tester measures the ground resistance value non-contactly through the principle of electromagnetic induction and transmits the data to the processor. The processor analyzes the ground resistance data in real time to determine whether it is within the normal range; (3) The non-contact ground resistance tester is then retracted into the protective box, the motor on the upper side of the protective cover 2 is turned on and the sleeve is driven downward via the rotating shaft to extend the infrared thermal imager of the detection instrument out of the protective box. The infrared thermal imager scans the grounding equipment and captures the thermal distribution image of the equipment surface. The infrared thermal imager transmits the thermal distribution image and related data to the processor. By analyzing the thermal image, abnormal hot spots in the grounding system are identified. Then the infrared thermal imager is retracted into the protective box, and the protective cover 1 and the protective cover 2 are extended to close the opening on the bottom side of the protective box; (4) Fuse the data from the non-contact ground resistance tester and the infrared thermal imager to comprehensively analyze the status of the grounding system, use the processor to diagnose faults in the grounding system, and identify possible fault causes and locations; (5) If an abnormality or fault is detected in the grounding system, the robot control system will trigger an alarm and notify maintenance personnel.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A substation inspection robot, comprising a chassis, characterized in that: The left side of the bottom end face of the chassis is fixedly connected with a protection box, and an opening is reserved on the bottom end face of the protection box; the left and right sides of the bottom side of the protection box are respectively fixedly connected with a slide rail 1 and a slide rail 2, and a protection cover 1, a shaking plate and a protection cover 2 are installed between the slide rails 1 and 2, which are the protection cover 1, the shaking plate and the protection cover 2 from front to back; The shaking plate is located between the protective cover 1 and the protective cover 2, and the protective cover 1 and the protective cover 2 are both configured as foldable and retractable soft rubber plates; the left and right sides of the protective cover 1 are fixedly connected with sliders 1, and the two sliders 1 are respectively slidably connected to the slide rail 1 and the slide rail 2; the left and right sides of the protective cover 2 are fixedly connected with sliders 2, and the two sliders 2 are respectively slidably connected to the slide rail 1 and the slide rail 2; A transmission assembly is provided in each of the slide rails one and two; the transmission assembly includes a transmission motor and a transmission shaft; the transmission shaft is rotatably connected to the slide rail one and the slide rail two respectively, and passes through the slider one and the slider two in sequence from front to back, the rear end of the transmission shaft is rotatably connected to the rear inner wall of the protection box, and the front side of the transmission shaft passes through the protection box and extends to its outside; the transmission motor is fixedly connected to the front outer wall of the protection box, and the rear side of the output shaft of the transmission motor is fixedly connected to the transmission shaft.

2. A substation inspection robot according to claim 1, characterized in that: The transmission shaft is configured as a threaded rod, and threaded through holes are provided on both sliders one and two. The transmission shaft is rotationally connected to sliders one and two through threads; the thread direction of the threaded through hole on slider one is opposite to the thread direction of the threaded through hole on slider two.

3. A substation inspection robot according to claim 1, characterized in that: The protective cover 1, the protective cover 2 and the shaking plate are all slidably installed between the slide rail 1 and the slide rail 2; the front side of the shaking plate is fixedly connected to the rear side of the protective cover 1, and the rear side of the shaking plate is fixedly connected to the front side of the protective cover 2.

4. A substation inspection robot as claimed in claim 3, characterized in that: The shaking plate is an air bag, and an air inlet hole and an air outlet hole are reserved on the upper side of the shaking plate. A transverse spring is fixedly filled in the shaking plate; an air inlet pipe is fixedly connected in the air inlet hole, and the front side of the air inlet pipe passes through the protective box and extends to the outside thereof; The air inlet pipe is provided with a first solenoid valve, and the air outlet hole is provided with a second solenoid valve.

5. A substation inspection robot as claimed in claim 1, characterized in that: A small air pump is fixedly connected to the front outer wall of the protection box, and the air outlet of the small air pump is communicated with the air inlet pipe.

6. A substation inspection robot according to claim 1, characterized in that: The protection box is fixedly connected with a detection assembly, which is provided with two groups, respectively located above the protection cover 1 and the protection cover 2; the detection assembly includes a motor, a rotating shaft, a sleeve and a detection instrument; The motor is fixedly connected to the upper inner wall of the protective box; the rotating shaft is fixedly connected to the bottom side of the output shaft of the motor; the sleeve is sleeved on the outside of the rotating shaft, the rotating shaft is a threaded rod, a threaded hole is provided in the sleeve, and the rotating shaft is rotatably connected between the thread and the sleeve; the detection instrument is fixedly connected to the bottom side of the sleeve.

7. A substation inspection robot as claimed in claim 6, characterized in that: The sleeve is arranged in a square shape, and a limiting plate is fixedly connected in the protection box, on which a square through hole is arranged, and the sleeve is slidably sleeved in the square through hole arranged on the limiting plate.

8. A substation inspection robot as claimed in claim 6, characterized in that: The detection instruments are non-contact ground resistance tester and infrared thermal imager respectively; the detection instrument above the protective cover one is the non-contact ground resistance tester, and the detection instrument above the protective cover two is the infrared thermal imager.

9. A substation inspection robot as claimed in claim 1, characterized in that: A mounting plate is fixedly connected in the middle of the upper end surface of the chassis, a mounting box is fixedly connected on the upper side of the mounting plate, a mounting rod 1 and a mounting rod 2 are rotatably connected on the front and rear sides of the mounting box respectively, a bottom plate is fixedly connected on the upper sides of the mounting rod 1 and the mounting rod 2, a camera is fixedly connected on the upper side of the bottom plate, a protective cover is covered on the outer side of the camera, and the protective cover is fixedly connected to the upper side of the bottom plate; a rotating motor is installed in the mounting box, and the front side of the output shaft of the rotating motor passes through the mounting box and is fixedly connected between the mounting rod 1; A partition is installed in the chassis, and the internal space of the chassis is divided into two layers, the upper and lower layers, and the upper surface of the partition is equipped with a battery board and a processor; the processor is used as a main control unit, and is electrically connected to the camera, the rotating motor, the battery board, the driving motor 1, the driving motor 2, the transmission motor, the solenoid valve 1, the solenoid valve 2, the small air pump, the motor and the detection instrument through wires; There are four installation slots on the bottom end surface of the chassis, and drive wheels 1, 2, 3 and 4 are rotatably connected in the installation slots respectively; drive motor 1 and drive motor 2 are fixedly connected to the inner wall of the bottom side of the chassis, the rear side of the output shaft of drive motor 1 is fixedly connected to drive wheel 1, and the front side of the output shaft of drive motor 2 is fixedly connected to drive wheel 2.

10. A method for detecting grounding faults in electric power equipment, using a substation inspection robot according to any one of claims 1 to 9; characterized in that: The specific process includes the following: (1) The inspection robot moves to the vicinity of the detection point of the grounding system according to the planned path, and starts the transmission motor through the processor to drive the transmission shaft to rotate. As the transmission shaft rotates clockwise, the slider 1 and the slider 2 slide in opposite directions, so that the protective cover 1 and the protective cover 2 shrink. After the opening on the bottom side of the protective box is opened, the transmission motor is turned off; (2) Then the motor on the upper side of the protective cover is turned on and the driving sleeve is driven downward via the rotating shaft, so that the detection instrument, the non-contact ground resistance tester, is extended out of the protective box. The non-contact ground resistance tester measures the ground resistance value non-contactly through the principle of electromagnetic induction and transmits the data to the processor. The processor analyzes the ground resistance data in real time to determine whether it is within the normal range; (3) The non-contact ground resistance tester is then retracted into the protective box, the motor on the upper side of the protective cover 2 is turned on and the sleeve is driven downward via the rotating shaft to extend the infrared thermal imager of the detection instrument out of the protective box. The infrared thermal imager scans the grounding equipment and captures the thermal distribution image of the equipment surface. The infrared thermal imager transmits the thermal distribution image and related data to the processor. By analyzing the thermal image, abnormal hot spots in the grounding system are identified. Then the infrared thermal imager is retracted into the protective box, and the protective cover 1 and the protective cover 2 are extended to close the opening on the bottom side of the protective box; (4) Fuse the data from the non-contact ground resistance tester and the infrared thermal imager to comprehensively analyze the status of the grounding system, use the processor to diagnose faults in the grounding system, and identify possible fault causes and locations; (5) If an abnormality or fault is detected in the grounding system, the robot control system will trigger an alarm and notify maintenance personnel.

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