Power equipment inspection robot and control system thereof

Abstract

The invention provides a power equipment inspection robot and a control system thereof, and relates to the technical field of power equipment.The power equipment inspection robot comprises a machine body, two lifting assemblies are symmetrically arranged on the front side and the rear side of the machine body, an auxiliary supporting assembly is fixedly connected to the right end of the machine body, and a traveling crawler belt is arranged at the lower end of the machine body; a first camera assembly is arranged at the left end of the machine body, and a second camera assembly and a signal transmission assembly are sequentially arranged at the upper end of the machine body from left to right. Through the arrangement of the lifting assembly and the auxiliary supporting assembly, the inspection robot has the capability of passing through the steps, so that the inspection robot can pass through all equipment rooms and floors, the inspection space of the inspection robot is expanded, the working intensity of workers is further reduced, and the workload of maintenance and debugging is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power equipment, and in particular to an electric power equipment inspection robot and a control system thereof. Background Art

[0002] With the continuous development of the power system, the substation business is expanding, and the number of primary and secondary equipment is increasing year by year, which has led to a sharp increase in the inspection workload of staff. How to effectively improve the efficiency and quality of substations is the main problem facing the power system. Due to technical limitations, traditional robot components cannot pass through equipment rooms or floors, resulting in a large waste of resources and a large amount of additional post-maintenance and debugging workload. Summary of the invention

[0003] The present invention provides an electric power equipment inspection robot and a control system thereof, which are used to solve the defects in the prior art that wheeled robot components cannot pass between equipment rooms or floors, resulting in a large waste of resources and a large amount of additional post-maintenance and debugging workload.

[0004] On the one hand, the present invention provides an electric power equipment inspection robot, including a fuselage main body, two groups of lifting assemblies are symmetrically arranged on the front and rear sides of the fuselage main body, an auxiliary support assembly is fixedly connected to the right end of the fuselage main body, a traveling track is arranged at the lower end of the fuselage main body, a first camera assembly is arranged at the left end of the fuselage main body, and a second camera assembly and a signal transmission assembly are arranged in sequence from left to right at the upper end of the fuselage main body.

[0005] Preferably, the lifting assembly includes a sliding groove along the left and right direction, the sliding groove is arranged on the front and rear side walls of the fuselage main body, a lifting box is slidably connected in the sliding groove along the left and right direction, the left end face of the lifting box is slidably connected to a measuring plate along the up and down direction, a pressure sensor is arranged on the lower surface of the measuring plate, and a support leg which can be extended and retracted along the up and down direction is arranged at the lower end of the lifting box.

[0006] Preferably, the auxiliary support assembly includes a lifting box, which is fixedly connected to the right end surface of the fuselage body, and a lifting rod that can be extended and retracted along the up and down directions is arranged at the lower end of the lifting box, and the lower end of the lifting rod is rotatably connected to a support wheel.

[0007] A control system for an electric power equipment inspection robot, used to control the above-mentioned electric power equipment inspection robot, comprising: A map storage module stores a map of the inspection robot's working area; The task setting module is used to input inspection task parameters and generate corresponding inspection tasks; The motion control module is used to control the motion of the inspection robot.

[0008] Preferably, the task setting module includes: A parameter input unit is used to input inspection task parameters, including inspection location, inspection frequency and inspection content; A task generation unit, used to generate an inspection task according to inspection task parameters; A task modification unit, used to regenerate an inspection task after the inspection task parameters are modified; The instruction generation unit is used to generate an inspection instruction group according to the inspection task and send the inspection instruction group to the inspection robot.

[0009] Preferably, the task generating unit includes: A transfer route generation subunit, used to generate transfer routes between inspection locations according to the distribution of inspection locations; An inspection route generating unit, used for generating an inspection route at each inspection location according to the inspection content; The task generation unit is used to combine the transfer route, the inspection route and the inspection frequency to obtain the inspection task.

[0010] Preferably, the motion control module includes: A lifting control unit, used to control the lifting and lowering actions of the lifting assembly and the auxiliary support assembly; A remote control unit, used to receive a remote control command sent by a control terminal, and control the inspection robot to stop executing the inspection instruction group and then execute the remote control command; The path analysis unit is used to plan a travel path based on the real-time image taken by the first camera component.

[0011] Preferably, the route analysis unit comprises: The positioning subunit is used to determine the current position of the inspection robot and retrieve the corresponding map of the current position; An image acquisition subunit, used to acquire a real-time image captured by the first camera assembly; The path planning subunit is used to plan the travel path of the inspection robot.

[0012] Preferably, the path planning subunit includes: A path generation block, used to generate an alternative path when an obstacle appears in the real-time image captured by the first camera assembly; A road change evaluation block is used to calculate a road change evaluation value based on the current path condition and the backup path condition; ; Wherein, Q is the road change evaluation value; ln is the logarithmic function with e as the base; e is a natural constant; n is the number of times the inspection robot passes through the current path with obstacles; N is the total number of times the inspection robot passes through the current path; is the total width of the current path; is the width of the i-th obstacle; is the width of the inspection robot; M is the total number of obstacles; is the maximum climbing height of the inspection robot; is the height of the i-th obstacle; is a preset limited height; is the ceiling rounding function; is the assessed value of the road properties of the alternative route; is the evaluation value of the road property of the current path; is the total width of the backup path; is the total length of the backup path; The total length of the current path replaced by the alternate path; The path determination block controls the inspection robot to continue to move along the current path if the road change evaluation value is greater than a preset threshold; otherwise, the inspection robot is controlled to move along the backup path.

[0013] Preferably, the backup path generation block generates the backup path based on the following steps: Step S1, obtaining the current position of the inspection robot; Step S2, selecting a first intersection located in front of the current position and a second intersection located behind the obstacle according to the map; Step S3, based on the passability of each road segment on the map, select the shortest path connecting the first intersection and the second intersection as a backup path.

[0014] Compared with the prior art, the present invention has the following beneficial effects: By setting up lifting components and auxiliary support components, the inspection robot has the ability to pass through stairs, so that the inspection robot can pass between equipment rooms and floors, expanding the inspection space of the inspection robot, further reducing the work intensity of the staff, and reducing the workload of maintenance and debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Reference numerals: 1. Main body; 2. First camera assembly; 3. Travel track; 4. Second camera assembly; 5. Signal transmission assembly; 6. Sliding slot; 7. Lifting box; 8. Measuring plate; 9. Support legs; 10. Lifting box; 11. Lifting rod; 12. Support wheels. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0020] Example 1 An embodiment of the present invention provides an electric power equipment inspection robot, including a body 1, two groups of lifting assemblies are symmetrically arranged on the front and rear sides of the body 1, the right end of the body 1 is fixedly connected to an auxiliary support assembly, the lower end of the body 1 is provided with a traveling track 3, the left end of the body 1 is provided with a first camera assembly 2, and the upper end of the body 1 is provided with a second camera assembly 4 and a signal transmission assembly 5 from left to right.

[0021] Preferably, the lifting assembly includes a sliding groove 6 along the left-right direction, the sliding groove 6 is arranged on the front and rear side walls of the fuselage body 1, a lifting box 7 is slidably connected in the sliding groove 6 along the left-right direction, the left end face of the lifting box 7 is slidably connected to a measuring plate 8 along the up-down direction, a pressure sensor is arranged on the lower surface of the measuring plate 8, and a support leg 9 which is retractable along the up-down direction is arranged at the lower end of the lifting box 7.

[0022] Preferably, the auxiliary support assembly includes a lifting box 10, which is fixedly connected to the right end surface of the fuselage body 1, and a lifting rod 11 that can be extended and retracted along the up and down directions is provided at the lower end of the lifting box 10, and a support wheel 12 is rotatably connected to the lower end of the lifting rod 11.

[0023] The beneficial effects of the above technical solution are: By setting up lifting components and auxiliary support components, the inspection robot has the ability to pass through stairs, so that the inspection robot can pass between equipment rooms and floors, expanding the inspection space of the inspection robot, further reducing the work intensity of the staff, and reducing the workload of maintenance and debugging.

[0024] When the inspection robot needs to cross the stairs or obstacles, the lifting box 7 is first moved to the leftmost side of the sliding slot 6, and then the measuring plate 8 moves downward until the measuring plate 8 contacts the upper surface of the stairs or obstacles. At this time, the pressure sensor detects the pressure, and then controls the support legs 9 and the lifting rod 11 to extend downward at the same speed as the downward movement of the measuring plate 8 until the measuring plate 8 reaches the lowest point. Then the lifting box 7 moves to the right in the sliding slot 6, so that the fuselage body 1 reaches the top of the stairs or obstacles. When the lifting box 7 reaches the rightmost side of the sliding slot 6, the supporting legs 9 and the lifting rod 11 are controlled to contract synchronously, so that the traveling track 3 contacts the ground (the upper surface of the stairs or the upper surface of the obstacle), so that the inspection robot can continue to move.

[0025] When the inspection robot needs to go downstairs or reach the ground from over an obstacle, the support legs 9 are extended in advance to form contact with the ground, and then the main body 1 is suspended in the air by moving the lifting box 7 in the sliding groove 6. Finally, the support legs 9 are retracted to complete the descent of the inspection robot, thereby enabling the inspection robot to go downstairs or reach the ground from over an obstacle.

[0026] Example 2 An embodiment of the present invention provides a control system for an electric power equipment inspection robot, which is used to control an electric power equipment inspection robot as described in Embodiment 1, including: A map storage module stores a map of the inspection robot's working area; The task setting module is used to input inspection task parameters and generate corresponding inspection tasks; The motion control module is used to control the motion of the inspection robot.

[0027] Preferably, the task setting module includes: A parameter input unit is used to input inspection task parameters, including inspection location, inspection frequency and inspection content; A task generation unit, used to generate an inspection task according to inspection task parameters; A task modification unit, used to regenerate an inspection task after the inspection task parameters are modified; The instruction generation unit is used to generate an inspection instruction group according to the inspection task and send the inspection instruction group to the inspection robot.

[0028] Preferably, the task generating unit includes: A transfer route generation subunit, used to generate transfer routes between inspection locations according to the distribution of inspection locations; An inspection route generating unit, used for generating an inspection route at each inspection location according to the inspection content; The task generation unit is used to combine the transfer route, the inspection route and the inspection frequency to obtain the inspection task.

[0029] In this embodiment, the inspection content is the image information of the electric equipment that the inspection robot needs to obtain during the inspection process, for example, the operation image of a certain electric equipment that the inspection robot needs to capture during the inspection process.

[0030] In this embodiment, the transfer route is the path selected by the inspection robot to move between different inspection locations.

[0031] In this embodiment, the inspection route is the path selected by the inspection robot when performing inspection at an inspection location.

[0032] The beneficial effects of the above technical solution are: When controlling the inspection robot to work, the staff first inputs the inspection task parameters, automatically generates the inspection task according to the inspection task parameters, and generates the inspection instruction group according to the inspection task, so as to control the inspection robot to complete the inspection work.

[0033] When generating an inspection task, the transfer route is first generated through the distribution of the inspection locations, thereby realizing the transfer of the inspection robot between the inspection locations. Then, by generating the inspection route at each inspection location, the accurate implementation of the inspection content is ensured. Finally, the transfer route, inspection route, and inspection frequency are combined to obtain the inspection task, which improves the inspection efficiency of the inspection robot and ensures the repeatability of the inspection task.

[0034] Example 3 Based on Example 2, the motion control module includes: A lifting control unit, used to control the lifting and lowering actions of the lifting assembly and the auxiliary support assembly; A remote control unit, used to receive a remote control command sent by a control terminal, and control the inspection robot to stop executing the inspection instruction group and then execute the remote control command; The path analysis unit is used to plan a travel path based on the real-time image taken by the first camera component.

[0035] Preferably, the route analysis unit comprises: The positioning subunit is used to determine the current position of the inspection robot and retrieve the corresponding map of the current position; An image acquisition subunit, used to acquire a real-time image captured by the first camera assembly; The path planning subunit is used to plan the travel path of the inspection robot.

[0036] In this embodiment, the travel path of the inspection robot is the movement route of the inspection robot on the current path, for example, moving from the right side of the road to the left side of the road.

[0037] The beneficial effects of the above technical solution are: The first camera component captures real-time images of the road being traveled, thereby ensuring that the inspection robot can avoid obstacles during movement. When the current road cannot continue to move forward, the inspection robot's route is promptly changed to a backup route to ensure the smooth completion of the inspection task and ensure a high completion rate of the inspection task.

[0038] Example 4 On the basis of Embodiment 2 or Embodiment 3, the path planning subunit includes: A path generation block, used to generate an alternative path when an obstacle appears in the real-time image captured by the first camera assembly; A road change evaluation block is used to calculate a road change evaluation value based on the current path condition and the backup path condition; ; Wherein, Q is the road change evaluation value; ln is the logarithmic function with e as the base; e is a natural constant; n is the number of times the inspection robot passes through the current path with obstacles; N is the total number of times the inspection robot passes through the current path; is the total width of the current path; is the width of the i-th obstacle; is the width of the inspection robot; M is the total number of obstacles; is the maximum climbing height of the inspection robot; is the height of the i-th obstacle; is a preset limited height; is the ceiling rounding function; is the assessed value of the road properties of the alternative route; is the evaluation value of the road property of the current path; is the total width of the backup path; is the total length of the backup path; The total length of the current path replaced by the alternate path; The path determination block controls the inspection robot to continue to move along the current path if the road change evaluation value is greater than a preset threshold; otherwise, the inspection robot is controlled to move along the backup path.

[0039] Preferably, the backup path generation block generates the backup path based on the following steps: Step S1, obtaining the current position of the inspection robot; Step S2, selecting a first intersection located in front of the current position and a second intersection located behind the obstacle according to the map; Step S3, based on the passability of each road segment on the map, select the shortest path connecting the first intersection and the second intersection as a backup path.

[0040] In this embodiment, the limited height is a preset calculation auxiliary value that is greater than the highest height of the obstacle.

[0041] In this embodiment, the evaluation value of the road property is an evaluation value determined based on the road property. The evaluation value corresponding to each road property is a pre-set fixed value. The road properties include: hardened road, dirt road, and muddy road.

[0042] In this embodiment, the passability of a road refers to whether the road is passable, and the passability of a road includes passable and impassable.

[0043] In this embodiment, the front corresponds to the direction of the passed path of the inspection task, and the back corresponds to the direction of the failed path of the inspection task.

[0044] The beneficial effects of the above technical solution are: When an obstacle appears on the inspection robot's path, the road change evaluation value is calculated to determine whether it is necessary to take an alternate path, thereby realizing automatic road selection when the inspection robot faces an obstacle, ensuring that the inspection robot successfully completes the inspection task, can flexibly respond to various emergencies, ensure that the inspection task is not affected, reduce the need for manual intervention and monitoring, and thus reduce human resource investment. By automatically selecting alternate roads, the inspection robot can use time and resources more effectively and improve inspection efficiency.

[0045] When calculating the road change assessment value, the historical traffic conditions of the current road and the current road's passability (based on the height of the obstacle and the size of the gap left by the obstacle) are considered first, and then the road conditions of the backup path are considered, so as to determine the impact of the inspection robot's selection of the backup path on the inspection efficiency. By comprehensively considering the current road's passability and the impact of the selection of the backup path on the inspection efficiency, it is determined whether the inspection robot should go to the backup path, thereby realizing automatic road selection when the inspection robot faces obstacles, reducing the need for manual intervention and monitoring, and improving the degree of automation of the inspection process.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A power equipment inspection robot, characterized in that: The invention comprises a fuselage body (1), wherein two groups of lifting assemblies are symmetrically arranged on the front and rear sides of the fuselage body (1), the right end of the fuselage body (1) is fixedly connected to an auxiliary support assembly, the lower end of the fuselage body (1) is provided with a traveling crawler (3), the left end of the fuselage body (1) is provided with a first camera assembly (2), and the upper end of the fuselage body (1) is provided with a second camera assembly (4) and a signal transmission assembly (5) in sequence from left to right.

2. The power equipment inspection robot according to claim 1, characterized in that: The lifting assembly comprises a sliding groove (6) along the left-right direction, the sliding groove (6) is arranged on the front and rear side walls of the fuselage body (1), a lifting box (7) is slidably connected in the sliding groove (6) along the left-right direction, a measuring plate (8) is slidably connected to the left end surface of the lifting box (7) along the up-down direction, a pressure sensor is arranged on the lower surface of the measuring plate (8), and a supporting leg (9) which is telescopic in the up-down direction is arranged at the lower end of the lifting box (7).

3. The power equipment inspection robot according to claim 1, characterized in that: The auxiliary support assembly comprises a lifting box (10), the lifting box (10) is fixedly connected to the right end surface of the fuselage body (1), a lifting rod (11) which is telescopic in the up-down direction is arranged at the lower end of the lifting box (10), and a support wheel (12) is rotatably connected to the lower end of the lifting rod (11).

4. A control system for an electric power equipment inspection robot, used to control an electric power equipment inspection robot as claimed in any one of claims 1 to 3, characterized in that: include: A map storage module stores a map of the inspection robot's working area; The task setting module is used to input inspection task parameters and generate corresponding inspection tasks; The motion control module is used to control the motion of the inspection robot.

5. The control system of the power equipment inspection robot according to claim 4, characterized in that: The task setting module includes: A parameter input unit is used to input inspection task parameters, including inspection location, inspection frequency and inspection content; A task generation unit, used to generate an inspection task according to inspection task parameters; A task modification unit, used to regenerate an inspection task after the inspection task parameters are modified; The instruction generation unit is used to generate an inspection instruction group according to the inspection task and send the inspection instruction group to the inspection robot.

6. The control system of the power equipment inspection robot according to claim 5, characterized in that: The task generation unit includes: A transfer route generation subunit, used to generate transfer routes between inspection locations according to the distribution of inspection locations; An inspection route generating unit, used for generating an inspection route at each inspection location according to the inspection content; The task generation unit is used to combine the transfer route, the inspection route and the inspection frequency to obtain the inspection task.

7. The control system of the power equipment inspection robot according to claim 4, characterized in that: The motion control module includes: A lifting control unit, used to control the lifting and lowering actions of the lifting assembly and the auxiliary support assembly; A remote control unit, used to receive a remote control command sent by a control terminal, and control the inspection robot to stop executing the inspection instruction group and then execute the remote control command; The path analysis unit is used to plan a travel path based on the real-time image taken by the first camera component.

8. The control system of the power equipment inspection robot according to claim 7, characterized in that: The route analysis unit includes: The positioning subunit is used to determine the current position of the inspection robot and retrieve the corresponding map of the current position; An image acquisition subunit, used to acquire a real-time image captured by the first camera assembly; The path planning subunit is used to plan the travel path of the inspection robot.

9. The control system of the power equipment inspection robot according to claim 8, characterized in that: The path planning subunit includes: A path generation block, used to generate an alternative path when an obstacle appears in the real-time image captured by the first camera assembly; A road change evaluation block is used to calculate a road change evaluation value based on the current path condition and the backup path condition; ; Wherein, Q is the road change evaluation value; ln is the logarithmic function with e as the base; e is a natural constant; n is the number of times the inspection robot passes through the current path with obstacles; N is the total number of times the inspection robot passes through the current path; is the total width of the current path; is the width of the i-th obstacle; is the width of the inspection robot; M is the total number of obstacles; is the maximum climbing height of the inspection robot; is the height of the i-th obstacle; is a preset limited height; is the ceiling rounding function; is the assessed value of the road properties of the alternative route; is the evaluation value of the road property of the current path; is the total width of the backup path; is the total length of the backup path; The total length of the current path replaced by the alternate path; The path determination block controls the inspection robot to continue to move along the current path if the road change evaluation value is greater than a preset threshold; otherwise, the inspection robot is controlled to move along the backup path.

10. The control system of the power equipment inspection robot according to claim 9, characterized in that: The backup path generation block generates the backup path based on the following steps: Step S1, obtaining the current position of the inspection robot; Step S2, selecting a first intersection located in front of the current position and a second intersection located behind the obstacle according to the map; Step S3, based on the passability of each road segment on the map, select the shortest path connecting the first intersection and the second intersection as a backup path.

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