Paint spraying system, method and device for transformer substation and electronic equipment

Abstract

The invention discloses a paint spraying system, method and device for a transformer substation and electronic equipment. The system comprises an unmanned aerial vehicle scanning subsystem which is used for carrying out appearance scanning on equipment to be sprayed in a transformer substation to obtain equipment appearance information of the equipment to be sprayed; the spraying platform subsystem receives the equipment appearance information provided by the unmanned aerial vehicle scanning subsystem in a wireless communication mode, the spraying platform subsystem at least comprises an upper computer, a control subsystem, a mechanical subsystem and a spraying subsystem, the upper computer is used for receiving an interaction instruction issued by a user, and the control subsystem is used for controlling the mechanical subsystem and the spraying subsystem; the control subsystem is used for generating a control instruction based on the equipment appearance information and the interaction instruction, the mechanical subsystem is used for controlling the motion states of the spraying platform subsystem and the spraying subsystem based on the control instruction, and the spraying subsystem is used for spraying paint on the equipment to be sprayed based on the control instruction. The technical problem that the paint spraying efficiency of the transformer substation is low in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of paint spraying for transformer substations, and in particular to a paint spraying system, method, device and electronic equipment for transformer substations. Background Art

[0002] In the power system, the health of substation equipment in the substation directly affects the safety and reliability of the power grid. The high-altitude equipment such as the frame lightning rod, transformer oil pillow, 220kV-500kVGIS, 220kV-500kV switch in the substation is exposed to the natural environment for a long time, and is affected by factors such as sun, rain, and wind, which are prone to rust. Maintenance personnel will apply for a power outage plan based on the defects of the equipment, and carry out rust removal and spraying work regularly. Anti-corrosion treatment is a necessary measure to ensure the safe and stable operation of the equipment. However, if maintenance and treatment are not carried out in time, especially under the influence of coastal and humid factors, rust will continue to intensify, which will seriously affect the performance and life of the equipment, and even endanger the safe operation of the power grid.

[0003] At present, there are two main types of anti-corrosion spraying methods for high-altitude equipment in substations. One is to use manual spraying, that is, maintenance personnel use aerial work platforms to spray and remove rust on equipment with handheld spraying tools. The second is to use simple automated spraying equipment to achieve a certain degree of automated spraying function. However, manual spraying requires operators to perform high-altitude operations, facing safety risks such as falling and electric shock. Especially when maintaining 500kV outdoor equipment, the safety risk increases. Moreover, when working at high altitudes, the operator's actions are restricted and the work efficiency is low. In addition, manual spraying is restricted by factors such as the operator's technical level and working status, and it is easy to have problems such as uneven spraying and missed spraying, resulting in poor anti-corrosion effect and difficult to ensure anti-corrosion quality. In addition, the versatility of simple automated equipment spraying is poor, and it is usually only applicable to equipment of specific shapes and sizes, which is difficult to meet the diverse needs of high-altitude equipment in substations. The degree of intelligence is low, autonomous navigation and positioning cannot be achieved, and manual auxiliary operation is required. The work efficiency and spraying quality are difficult to guarantee, resulting in low efficiency in spraying paint for substations.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a paint spraying system, method, device and electronic equipment for a substation, so as to at least solve the technical problem of low efficiency of paint spraying for a substation in the related art.

[0006] According to one aspect of an embodiment of the present application, a paint spraying system for a substation is provided, including: a drone scanning subsystem, used to perform an appearance scan of a device to be sprayed in the substation to obtain device appearance information of the device to be sprayed; a spraying platform subsystem, which receives the device appearance information provided by the drone scanning subsystem via wireless communication, and the spraying platform subsystem includes at least a host computer, a control subsystem, a mechanical subsystem and a spraying subsystem, wherein the host computer is used to receive interaction instructions issued by a user, the control subsystem is used to generate control instructions based on device appearance information and interaction instructions, the mechanical subsystem is used to control the motion states of the spraying platform subsystem and the spraying subsystem based on the control instructions, and the spraying subsystem is used to spray paint on the device to be sprayed based on the control instructions.

[0007] Optionally, the drone scanning subsystem includes at least one of the following: a radar module, used to perform an appearance radar scan on the spraying equipment to obtain equipment appearance information; a camera module, used to perform an appearance image scan on the spraying equipment to obtain equipment appearance information.

[0008] Optionally, the control subsystem also includes: a sensor subsystem, which includes at least a distance sensor and a position sensor, and the sensor subsystem is used to obtain position and posture information of the spray platform subsystem, wherein the position and posture information is used to characterize the position status and posture status of the spray platform subsystem; the control subsystem is also used to determine the driving path and operating posture of the spray platform subsystem based on the position and posture information, equipment appearance information and interaction instructions, and obtain control instructions.

[0009] Optionally, the mechanical subsystem includes: a tracked mobile platform for controlling the movement of the spraying platform subsystem within the substation based on control instructions; a lifting device for controlling the height of the spraying subsystem based on control instructions; and a mechanical arm for controlling the position and spraying angle of the spraying subsystem based on control instructions.

[0010] Optionally, the spraying subsystem includes: a spraying sensor, which is used to detect the spraying effect on the surface of the equipment to be sprayed and obtain spraying feedback information, wherein the spraying feedback information at least includes the paint spraying thickness and uniformity on the surface of the equipment to be sprayed; a spraying control subsystem, which is used to generate spraying control instructions based on the control instructions and the spraying feedback information; a spray gun, which is used to spray paint on the equipment to be sprayed based on the spraying control instructions; a paint supply system, including a paint tank, a pump and a pipeline, and the paint supply system is used to supply paint to the spray gun.

[0011] According to another aspect of the embodiment of the present application, a paint spraying method for a substation is also provided, including: using a drone scanning subsystem to perform an appearance scan of the equipment to be sprayed in the substation to obtain equipment appearance information of the equipment to be sprayed; using a spraying platform subsystem to receive the equipment appearance information provided by the drone scanning subsystem in a wireless communication manner, receiving interaction instructions issued by a user through a host computer, generating control instructions based on the equipment appearance information and the interaction instructions through a control subsystem, controlling the movement states of a spraying platform subsystem and a spraying subsystem based on the control instructions through a mechanical subsystem, and spraying paint on the equipment to be sprayed through the spraying subsystem based on the control instructions, wherein the spraying platform subsystem includes at least a host computer, a control subsystem, a mechanical subsystem and a spraying subsystem.

[0012] According to another aspect of the embodiment of the present application, a paint spraying device for a substation is also provided, including: a scanning module, used to perform an appearance scan of the equipment to be sprayed in the substation through a drone scanning subsystem, and obtain the equipment appearance information of the equipment to be sprayed; a spraying module, used to receive the equipment appearance information provided by the drone scanning subsystem through a spraying platform subsystem in a wireless communication manner, receive the interaction instructions issued by the user through a host computer, generate control instructions based on the equipment appearance information and the interaction instructions through a control subsystem, control the movement state of the spraying platform subsystem and the spraying subsystem based on the control instructions through a mechanical subsystem, and spray paint on the equipment to be sprayed through the spraying subsystem based on the control instructions, wherein the spraying platform subsystem includes at least a host computer, a control subsystem, a mechanical subsystem and a spraying subsystem.

[0013] According to another aspect of the embodiments of the present application, an electronic device is further provided, including: a memory storing an executable program; and a processor for running the program, wherein the method of each embodiment of the present application is executed when the program is running.

[0014] According to another aspect of an embodiment of the present application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in each embodiment of the present application.

[0015] According to another aspect of the embodiments of the present application, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present application is implemented.

[0016] According to another aspect of an embodiment of the present application, a computer program product is also provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present application is implemented.

[0017] According to another aspect of the embodiments of the present application, a computer program is also provided, and when the computer program is executed by a processor, the methods in the various embodiments of the present application are implemented.

[0018] In an embodiment of the present invention, a paint spraying system for a substation is provided, including: a drone scanning subsystem, which is used to perform an appearance scan on the equipment to be sprayed in the substation to obtain the equipment appearance information of the equipment to be sprayed; a spraying platform subsystem, which receives the equipment appearance information provided by the drone scanning subsystem through wireless communication, and the spraying platform subsystem at least includes a host computer, a control subsystem, a mechanical subsystem and a spraying subsystem, wherein the host computer is used to receive the interactive instructions issued by the user, the control subsystem is used to generate control instructions based on the equipment appearance information and the interactive instructions, the mechanical subsystem is used to control the motion state of the spraying platform subsystem and the spraying subsystem based on the control instructions, and the spraying subsystem is used to spray paint on the equipment to be sprayed based on the control instructions. It is easy to notice that the present application can realize a comprehensive and rapid appearance scan of the equipment to be sprayed in the substation through the application of the drone scanning subsystem, reduce the input of human resources and operation time, and improve the operation efficiency. Through the coordination between the various subsystems, the automatic spraying of the substation equipment is realized, the work efficiency is improved, the labor cost is reduced, and the spraying quality and stability are improved. The automated spraying process reduces errors caused by manual operation and improves the accuracy and consistency of spraying. By combining drone scanning technology and automated spraying technology, intelligent and efficient spraying operation of substation equipment is realized, providing a more convenient, safe and efficient solution for substation equipment maintenance. This solves the technical problem of low efficiency of paint spraying on substations in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 is a schematic diagram of a paint spraying system for a substation according to an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of an optional paint spraying system for a substation according to an embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of another optional paint spraying system for a substation according to an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of an optional paint spraying process of a substation according to an embodiment of the present invention;

[0024] Figure 5 is a flow chart of a paint spraying method for a substation according to an embodiment of the present invention;

[0025] Figure 6 Schematic diagram of a paint spraying device for a substation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, 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 should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] According to an embodiment of the present application, a paint spraying system for a substation is provided. Figure 1 is a schematic diagram of a paint spraying system for a substation according to the present application, such as Figure 1 As shown, the paint spraying system of the substation includes: a drone scanning subsystem 102 and a spraying platform subsystem 104.

[0029] The drone scanning subsystem 102 is used to perform an appearance scan on the equipment to be sprayed in the substation to obtain equipment appearance information of the equipment to be sprayed.

[0030] In an optional embodiment, a drone scanning subsystem can be used to perform an appearance scan on the equipment to be sprayed. Specifically, it can include using a drone to perform an appearance scan on the equipment to be sprayed in the substation, and by carrying a high-resolution camera and sensor, collect equipment appearance information in real time, including data such as the size, shape, and surface condition of the equipment, to provide accurate equipment information and reference data for the paint spraying operation. Image processing algorithms and artificial intelligence technologies can also be used to analyze and process the scanned equipment appearance information. Through intelligent recognition and matching of equipment appearance information, it is possible to accurately calculate and plan the coating requirements on the equipment surface, and optimize the efficiency and quality of the paint spraying operation. Through the application of the drone scanning subsystem, this application can achieve a comprehensive and rapid appearance scan of the equipment to be sprayed in the substation, reduce the input of human resources and operation time, and improve operation efficiency. Using the equipment appearance information collected by high-resolution cameras and sensors, it is possible to accurately evaluate the surface condition of the equipment, provide accurate data support for subsequent paint spraying operations, and ensure the quality and accuracy of paint spraying.

[0031] The spraying platform subsystem 104 receives the equipment appearance information provided by the drone scanning subsystem through wireless communication. The spraying platform subsystem includes at least a host computer, a control subsystem, a mechanical subsystem and a spraying subsystem, wherein the host computer is used to receive interactive instructions issued by the user, the control subsystem is used to generate control instructions based on the equipment appearance information and the interactive instructions, the mechanical subsystem is used to control the motion state of the spraying platform subsystem and the spraying subsystem based on the control instructions, and the spraying subsystem is used to spray paint on the spraying equipment based on the control instructions.

[0032] In an optional embodiment, the present application adopts the equipment appearance information provided by the drone scanning subsystem, and combines the spraying platform subsystem for automated spraying, which can improve work efficiency, reduce labor costs, and reduce safety risks. Specifically, the spraying platform subsystem can receive the equipment appearance information provided by the drone scanning subsystem through wireless communication, and can obtain the appearance information of the equipment in real time, including the surface condition, shape and size, etc., so that the spraying operation can be performed more accurately. The spraying platform subsystem includes a host computer, a control subsystem, a mechanical subsystem and a spraying subsystem. The host computer is used to receive the interactive instructions issued by the user, and the user can operate and monitor the system through the host computer. The control subsystem can generate control instructions according to the equipment appearance information and user instructions to control the entire paint spraying process. The mechanical subsystem is responsible for controlling the motion state of the spraying platform subsystem and the spraying subsystem to ensure the accuracy and stability of the spraying. The spraying subsystem can be specifically responsible for the part of spraying paint on the equipment, and perform corresponding spraying operations according to the control instructions. Through the coordination between various subsystems, the entire system realizes the automated spraying of substation equipment, improves work efficiency, reduces labor costs, and improves the quality and stability of spraying. The automated spraying process reduces errors caused by human operation and improves the accuracy and consistency of spraying; the system can obtain equipment appearance information in real time, realize intelligent spraying operation, and better adapt to the spraying needs of different equipment. By combining drone scanning technology and automated spraying technology, intelligent and efficient spraying operation of substation equipment is realized, providing a more convenient, safe and efficient solution for the maintenance and maintenance of substation equipment.

[0033] In an embodiment of the present invention, a paint spraying system for a substation is provided, including: a drone scanning subsystem, which is used to perform an appearance scan on the equipment to be sprayed in the substation to obtain the equipment appearance information of the equipment to be sprayed; a spraying platform subsystem, which receives the equipment appearance information provided by the drone scanning subsystem through wireless communication, and the spraying platform subsystem at least includes a host computer, a control subsystem, a mechanical subsystem and a spraying subsystem, wherein the host computer is used to receive the interactive instructions issued by the user, the control subsystem is used to generate control instructions based on the equipment appearance information and the interactive instructions, the mechanical subsystem is used to control the motion state of the spraying platform subsystem and the spraying subsystem based on the control instructions, and the spraying subsystem is used to spray paint on the equipment to be sprayed based on the control instructions. It is easy to notice that the present application can realize a comprehensive and rapid appearance scan of the equipment to be sprayed in the substation through the application of the drone scanning subsystem, reduce the input of human resources and operation time, and improve the operation efficiency. Through the coordination between the various subsystems, the automatic spraying of the substation equipment is realized, the work efficiency is improved, the labor cost is reduced, and the spraying quality and stability are improved. The automated spraying process reduces errors caused by manual operation and improves the accuracy and consistency of spraying. By combining drone scanning technology and automated spraying technology, intelligent and efficient spraying operation of substation equipment is realized, providing a more convenient, safe and efficient solution for substation equipment maintenance. This solves the technical problem of low efficiency of paint spraying on substations in related technologies.

[0034] Optionally, the drone scanning subsystem includes at least one of the following: a radar module, used to perform an appearance radar scan on the spraying equipment to obtain equipment appearance information; a camera module, used to perform an appearance image scan on the spraying equipment to obtain equipment appearance information.

[0035] In an optional embodiment, the use of a drone scanning subsystem can improve the efficiency and quality of spraying. Specifically, the drone scanning subsystem may include a radar module and / or a camera module for performing an appearance radar scan and an image scan on the spraying equipment to be sprayed to obtain the appearance information of the equipment. The radar module can obtain the appearance information of the equipment through radar scanning technology, including the shape, size and surface condition of the equipment, etc., which can help to more accurately determine the position and shape of the spraying equipment, and avoid the occurrence of uneven spraying or omissions due to limited viewing angle. Radar scanning can also monitor the status of the equipment to be sprayed in real time, discover abnormal conditions in time and handle them, and ensure the smooth progress of the spraying operation. The camera module can obtain the appearance information of the equipment through image scanning technology, including the color, texture and surface defects of the equipment, etc., which can help to more accurately select the appropriate paint and spraying method, and ensure that the spraying effect meets the expected requirements. Through the setting of the drone scanning subsystem, all-round monitoring and control of the spraying equipment can be achieved, and the accuracy and efficiency of the spraying operation can be improved. The operator can quickly and accurately formulate a spraying plan through the real-time acquired equipment appearance information to avoid the influence of human factors on the spraying quality.

[0036] Optionally, the control subsystem also includes: a sensor subsystem, which includes at least a distance sensor and a position sensor, and the sensor subsystem is used to obtain position and posture information of the spray platform subsystem, wherein the position and posture information is used to characterize the position status and posture status of the spray platform subsystem; the control subsystem is also used to determine the driving path and operating posture of the spray platform subsystem based on the position and posture information, equipment appearance information and interaction instructions, and obtain control instructions.

[0037] In an optional embodiment, a design including a sensor subsystem in the control subsystem can achieve a more accurate and efficient spraying operation. The sensor subsystem includes at least a distance sensor and a position sensor. The distance sensor can be used to measure the distance between the spraying platform subsystem and the surface, and the position sensor can be used to obtain the position and posture information of the spraying platform subsystem, which can help the control subsystem to more accurately guide the spraying operation. The control subsystem uses the position and posture information obtained by the sensor, combined with the device appearance information and the interactive instructions, to determine the driving path and running posture of the spraying platform subsystem, thereby generating control instructions, which can accurately guide the spraying platform subsystem to move on the surface and complete the spraying operation, ensuring that the paint is evenly covered and achieving the desired effect. The present application can realize real-time monitoring and control of the spraying platform subsystem through the position and posture information obtained by the sensor subsystem, ensuring that it maintains a stable position and posture during the working process. Based on the position and posture information and the device appearance information, the spraying path and posture can be determined more accurately, improving the accuracy and efficiency of the spraying. Through the use of interactive instructions, operators can more conveniently control the operation of the spray platform subsystem, improving the convenience and safety of operation. The design of the sensor subsystem in the control subsystem can improve the automation level and operation accuracy of the substation paint spraying system, while also improving work efficiency and quality, bringing more convenience to the maintenance and management of the substation.

[0038] Optionally, the mechanical subsystem includes: a tracked mobile platform for controlling the movement of the spraying platform subsystem within the substation based on control instructions; a lifting device for controlling the height of the spraying subsystem based on control instructions; and a mechanical arm for controlling the position and spraying angle of the spraying subsystem based on control instructions.

[0039] In an optional embodiment, the setting of the mechanical subsystem can improve efficiency, accuracy and safety. The mechanical subsystem can include three main parts: a crawler mobile platform, a lifting device and a mechanical arm. The crawler mobile platform can be used to control the movement of the spraying platform subsystem in the substation. Through the control instructions, the platform can be moved according to a predetermined trajectory to cover the area of ​​the entire substation that needs to be sprayed. The lifting device can be used to control the height of the spraying subsystem. In the substation, there are many equipment and structures of different heights that need to be sprayed, and some positions are difficult to reach. Through the control of the lifting device, it can be ensured that the spraying subsystem can accurately reach the position where the spraying is required, thereby improving the coverage and quality of the spraying. The setting of the mechanical arm can control the position and spraying angle of the spraying subsystem. In the substation, some areas may be narrow or difficult to enter, and the surfaces of some structures may be complex. Through the control of the mechanical arm, the spraying subsystem can be accurately positioned and adjusted to ensure the uniformity and accuracy of the spraying. Through a precise control system, it can be ensured that the position, height and angle of spraying can accurately meet the expected requirements, which can reduce manual operations, reduce safety risks at the work site, ensure the safety of workers, and improve work efficiency, accuracy and safety.

[0040] Optionally, the spraying subsystem includes: a spraying sensor, which is used to detect the spraying effect on the surface of the equipment to be sprayed and obtain spraying feedback information, wherein the spraying feedback information at least includes the paint spraying thickness and uniformity on the surface of the equipment to be sprayed; a spraying control subsystem, which is used to generate spraying control instructions based on the control instructions and the spraying feedback information; a spray gun, which is used to spray paint on the equipment to be sprayed based on the spraying control instructions; a paint supply system, including a paint tank, a pump and a pipeline, and the paint supply system is used to supply paint to the spray gun.

[0041] In an optional embodiment, the paint spraying can effectively protect the equipment surface from corrosion and oxidation, extend the service life of the equipment, improve the stability and reliability of the equipment, and also beautify the appearance of the equipment and improve the overall engineering quality. The spraying sensor in the spraying subsystem can monitor the paint spraying thickness and uniformity on the surface of the equipment to be sprayed in real time, and provide it to the spraying control subsystem through the spraying feedback information. The spraying control subsystem generates a spraying control instruction according to the control instruction and the spraying feedback information, thereby realizing the precise control of the paint spraying. This closed-loop control system can ensure the quality and effect of the paint spraying, avoid the paint spraying being too thick or too thin, and ensure the protective effect of the equipment surface. The paint supply system includes a paint tank, a pump and a pipeline for supplying paint to the spray gun. Through the above settings, the accuracy and consistency of the paint spraying can be improved, the stability of the spraying thickness and uniformity can be ensured, the quality and effect of the paint spraying can be improved, the human error in the paint spraying process can be reduced, and the work efficiency and production efficiency can be improved.

[0042] The technical solution proposed in this application is described below in combination with an optional embodiment. This application proposes a substation high-altitude equipment spraying robot system based on panoramic recognition and automatic positioning, which includes a mechanical system, a spraying system, an intelligent control system, a safety assurance system, and a drone panoramic radar scanning system. This application can improve the efficiency of high-altitude spraying operations in substations, reduce personal safety risks, and ensure the safe and stable operation of substation equipment.

[0043] The drone panoramic radar scanning system, also known as the drone scanning subsystem, can perform a panoramic scan of the equipment to be sprayed, identify key defect locations, and upload equipment appearance data.

[0044] The mechanical system, or the mechanical subsystem, can be composed of a crawler mobile platform, a lifting device, and a mechanical arm. The crawler mobile platform can move flexibly on the ground of the substation to adapt to different working positions, ensuring stability and maneuverability. The lifting device can lift the spraying mechanism to the height of the high-altitude equipment, with sufficient load-bearing capacity and precise height adjustment function. The mechanical arm is used to accurately control the direction and position of the spraying. It has multiple joints and can achieve multi-angle movement to ensure the uniformity and coverage of the spraying.

[0045] The spraying system, also known as the spraying subsystem, can be composed of a spray gun, a paint supply system, and a spray control system. The spray gun is responsible for spraying the paint onto the high-altitude equipment, and the spray gun sprays evenly and has a good atomization effect. The paint supply system includes a paint tank, a pump, and a pipeline to provide a stable supply of paint to the spray gun. The spray control system detects the thickness, uniformity and other parameters of the spraying through sensors, and adjusts the parameters of the spray gun and the movement of the robotic arm according to the feedback information to achieve a good spraying effect.

[0046] The intelligent control system, or control subsystem, can include sensors and automatic positioning algorithms. The sensor system includes distance sensors, position sensors, pressure sensors, etc., which are used to sense the robot's position, posture, and surrounding environment. The spraying process is optimized and intelligently controlled using machine learning and deep learning technologies. By analyzing the equipment appearance data scanned by the drone, the spraying position and path are determined, and the path is automatically planned to efficiently complete the spraying.

[0047] The safety protection system includes protective devices, emergency stop buttons, fault diagnosis and alarm systems. The protective devices provide safety protection for the robot and the operator. In an emergency, the operator can quickly press the emergency stop button to stop the operation of the robot to ensure safety. The fault diagnosis and alarm system can detect the robot's fault in time and send out an alarm signal. The operator can troubleshoot and repair the fault according to the alarm information to ensure the normal operation of the robot.

[0048] The application proposes a substation high-altitude equipment spraying robot system based on panoramic recognition and automatic positioning, which has the following beneficial effects: it can obtain the panoramic appearance status of the equipment and extract the defect location on the equipment appearance. When the operator sets the task on the host computer according to the power outage plan, the application can plan the path of the spraying work according to the key point information of the defect. The precise sensor system of the application can accurately sense the robot's position, posture and surrounding environment, and provide accurate data for the spraying process. By analyzing and learning the spraying data, the spraying parameters and paths can be optimized to improve efficiency and quality.

[0049] The substation high-altitude equipment spraying robot system based on panoramic recognition and automatic positioning proposed in this application can replace manual work in high-altitude dangerous environments, avoid the safety risks such as falling and electric shock faced by personnel when working at high altitudes, and ensure the life safety of the staff. For example, in a special environment such as a substation where high voltage electricity exists, robot operation can effectively reduce the occurrence of casualties. Panoramic recognition and automatic positioning technology enable the robot to quickly and accurately find the location of the equipment that needs to be sprayed, saving the time of manual search and positioning, thereby improving the overall operation efficiency. Compared with traditional manual spraying, the robot can complete more spraying tasks in a shorter time. Through precise positioning and control systems, the robot can ensure the accuracy and consistency of spraying, so that the paint is evenly covered on the surface of the equipment, ensuring the quality of spraying. It avoids problems such as missed spraying, re-spraying, uneven spraying, etc. that may occur during manual spraying, and improves the insulation, anti-corrosion and other properties of the equipment.

[0050] Figure 2 Schematic diagram of an optional paint spraying system for a substation according to an embodiment of the present invention, Figure 2 As shown, the paint spraying system of the substation may include a host computer, a drone, an intelligent control system, a mechanical system and a paint spraying system, wherein the drone can scan and extract the appearance data of the equipment and provide it to the intelligent control system, and the host computer can send instructions to the intelligent control system.

[0051] Figure 3 Schematic diagram of another optional paint spraying system for a substation according to an embodiment of the present invention, Figure 3As shown, the paint spraying system of the substation includes a spraying subsystem and an image recognition subsystem. The host computer in the spraying subsystem can pass instructions to the mechanical subsystem. The mechanical subsystem includes a displacement sensor, an inclination sensor, a crawler mobile platform, a lifting device, and a robotic arm. The mechanical subsystem can interact with the spraying subsystem through the control subsystem, and the mechanical subsystem can be moved to the equipment; the drone in the image recognition subsystem can pass the acquired equipment photos to the intelligent terminal system, and the intelligent terminal system can perform algorithm recognition processing to obtain defect point information and enter the information into the spraying subsystem. The spraying subsystem can call the air compressor, paint supply system, and spray gun in turn, and perform algorithm recognition processing to locate the defect position.

[0052] Figure 4 is a schematic diagram of an optional paint spraying process of a substation according to an embodiment of the present invention, such as Figure 4 As shown, the drone performs a 360° scanning and photographing of the spraying equipment according to the planned route, and the pictures are sent back to the intelligent terminal system for intelligent analysis and identification to determine the defect location information of the equipment; the defect location information of the equipment is entered, and the host computer issues a motion command. The device moves to the appropriate position of the equipment to be sprayed via the crawler platform, adjusts the robotic arm to adjust the nozzle to the appropriate position, and intelligently identifies the defect location; precise spraying operation.

[0053] Figure 5 is a flow chart of a paint spraying method for a substation according to an embodiment of the present application, such as Figure 5 As shown, the method comprises the following steps:

[0054] Step S502: Use the drone scanning subsystem to perform an appearance scan on the equipment to be sprayed in the substation to obtain equipment appearance information of the equipment to be sprayed.

[0055] Step S504, through the spray platform subsystem, receive the equipment appearance information provided by the drone scanning subsystem in a wireless communication manner, receive the interactive instructions issued by the user through the upper computer, generate control instructions based on the equipment appearance information and the interactive instructions through the control subsystem, control the motion state of the spray platform subsystem and the spray subsystem based on the control instructions through the mechanical subsystem, and spray paint on the spraying equipment through the spray subsystem based on the control instructions.

[0056] The spraying platform subsystem at least includes a host computer, a control subsystem, a mechanical subsystem and a spraying subsystem.

[0057] According to another aspect of an embodiment of the present invention, a paint spraying device for a substation is also provided, which can execute the paint spraying method for a substation of the above embodiment. The specific implementation method and preferred application scenario are the same as the above embodiment and will not be repeated here.

[0058] Figure 6 is a schematic diagram of a paint spraying device for a substation according to an embodiment of the present application, such as Figure 6 As shown, the device includes the following: a scanning module 602 and a spraying module 604 .

[0059] Among them, the scanning module is used to perform an appearance scan of the equipment to be sprayed in the substation through the drone scanning subsystem to obtain the equipment appearance information of the equipment to be sprayed; the spraying module is used to receive the equipment appearance information provided by the drone scanning subsystem through the spraying platform subsystem in a wireless communication manner, receive the interactive instructions issued by the user through the host computer, generate control instructions based on the equipment appearance information and the interactive instructions through the control subsystem, control the movement state of the spraying platform subsystem and the spraying subsystem based on the control instructions through the mechanical subsystem, and spray paint on the equipment to be sprayed through the spraying subsystem based on the control instructions, wherein the spraying platform subsystem at least includes a host computer, a control subsystem, a mechanical subsystem and a spraying subsystem.

[0060] An embodiment of the present application further provides an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present application is executed when the program is running.

[0061] The above-mentioned memory may refer to a device inside a computer for storing data and programs, and may include memory, hard disk, etc., wherein the memory may be used to temporarily store running programs and data, the hard disk may be used to store programs and data for a long time, and the memory may be used to enable the computer to read and write data, and execute programs; the above-mentioned processor may be responsible for executing instructions in computer programs and performing data processing, and may be responsible for controlling and executing various operations, including arithmetic operations, logical operations, data transmission, etc.

[0062] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in each embodiment of the present application.

[0063] The above-mentioned computer storage medium may refer to a medium in a computer memory used to store certain discontinuous physical quantities. Computer storage media mainly include semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser disks, etc.; the stored program included in the computer-readable storage medium may be a set of instructions that can be recognized and executed by a computer, running on an electronic computer, and is an information tool that meets certain needs of people.

[0064] The embodiments of the present application also provide a computer program product, including a computer program, which implements the methods in the various embodiments of the present application when executed by a processor.

[0065] The above-mentioned computer program product may refer to a software program that has been written, tested and released and can be run on a computer or other device. The computer program product may include an application, an operating system, tool software, etc., which is used to implement specific functions or solve specific problems.

[0066] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present application is implemented.

[0067] The above-mentioned non-volatile computer-readable storage medium may refer to a medium for storing data. The non-volatile computer-readable storage medium can keep the data from being lost when the power is off, and can be used to store long-term data, such as operating systems, applications, and user files. The non-volatile storage medium may include hard disk drives, solid-state drives, optical disks, and flash memory storage devices, etc.

[0068] The embodiments of the present application also provide a computer program, which implements the methods in the above-mentioned embodiments of the present application when executed by a processor.

[0069] The above-mentioned computer program may refer to a collection of instructions used to tell a computer to perform a specific task or operation. A computer program may be written by a programmer using a specific programming language and may include algorithms, data structures, logic, and control flows. A computer program may be used for a variety of purposes, including application software, operating systems, and the like.

[0070] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0072] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0073] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0074] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0075] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A paint spraying system for a substation, characterized in that: include: The drone scanning subsystem is used to scan the appearance of the equipment to be sprayed in the substation to obtain the equipment appearance information of the equipment to be sprayed; The spraying platform subsystem receives the equipment appearance information provided by the drone scanning subsystem through wireless communication. The spraying platform subsystem includes at least a host computer, a control subsystem, a mechanical subsystem and a spraying subsystem, wherein the host computer is used to receive interaction instructions issued by a user, the control subsystem is used to generate control instructions based on the equipment appearance information and the interaction instructions, the mechanical subsystem is used to control the motion states of the spraying platform subsystem and the spraying subsystem based on the control instructions, and the spraying subsystem is used to spray paint on the equipment to be sprayed based on the control instructions.

2. The paint spraying system for a substation according to claim 1, characterized in that: The drone scanning subsystem includes at least one of the following: A radar module, used for performing an appearance radar scan on the equipment to be sprayed to obtain appearance information of the equipment; The camera module is used to scan the appearance image of the equipment to be sprayed to obtain the appearance information of the equipment.

3. The paint spraying system for a substation according to claim 1, characterized in that: The control subsystem further includes: A sensor subsystem, wherein the sensor subsystem includes at least a distance sensor and a position sensor, and the sensor subsystem is used to obtain position and posture information of the spraying platform subsystem, wherein the position and posture information is used to characterize the position status and posture status of the spraying platform subsystem; The control subsystem is further used to determine the driving path and operating posture of the spray platform subsystem based on the position posture information, the equipment appearance information and the interactive instruction, so as to obtain the control instruction.

4. The paint spraying system for a substation according to claim 1, characterized in that: The mechanical subsystem comprises: A crawler-type mobile platform, used for controlling the spraying platform subsystem to move within the substation based on the control instruction; A lifting device, used to control the height of the spraying subsystem based on the control instruction; The robot arm is used to control the position and spraying angle of the spraying subsystem based on the control instruction.

5. The paint spraying system for a substation according to claim 1, characterized in that: The spraying subsystem comprises: A spraying sensor, used to detect the spraying effect of the surface of the equipment to be sprayed, and obtain spraying feedback information, wherein the spraying feedback information at least includes the paint spraying thickness and uniformity of the surface of the equipment to be sprayed; A spraying control subsystem, used for generating a spraying control instruction based on the control instruction and the spraying feedback information; A spray gun, used for spraying paint on the equipment to be sprayed based on the spray control instruction; The paint supply system comprises a paint tank, a pump and a pipeline, and the paint supply system is used for supplying paint to the spray gun.

6. A paint spraying method for a substation, characterized in that: include: Through the UAV scanning subsystem, the appearance of the equipment to be sprayed in the substation is scanned to obtain the equipment appearance information of the equipment to be sprayed; The device appearance information provided by the drone scanning subsystem is received by the spraying platform subsystem in a wireless communication manner, the interaction instructions issued by the user are received by the host computer, the control subsystem generates control instructions based on the device appearance information and the interaction instructions, the mechanical subsystem controls the motion states of the spraying platform subsystem and the spraying subsystem based on the control instructions, and the spraying subsystem sprays paint on the equipment to be sprayed based on the control instructions, wherein the spraying platform subsystem includes at least the host computer, the control subsystem, the mechanical subsystem and the spraying subsystem.

7. A paint spraying device for a substation, characterized in that: include: A scanning module is used to scan the appearance of the equipment to be sprayed in the substation through the drone scanning subsystem to obtain the equipment appearance information of the equipment to be sprayed; The spraying module is used to receive the device appearance information provided by the drone scanning subsystem in a wireless communication manner through the spraying platform subsystem, receive the interaction instructions issued by the user through the host computer, generate control instructions based on the device appearance information and the interaction instructions through the control subsystem, control the motion states of the spraying platform subsystem and the spraying subsystem based on the control instructions through the mechanical subsystem, and spray paint on the equipment to be sprayed through the spraying subsystem based on the control instructions, wherein the spraying platform subsystem at least includes the host computer, the control subsystem, the mechanical subsystem and the spraying subsystem.

8. An electronic device, characterized in that: include: A memory storing an executable program; A processor is used to run the program, wherein the program executes the paint spraying method for the substation described in claim 6 when running.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the storage medium is located is controlled to execute the paint spraying method for the substation described in claim 6.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the paint spraying method for a substation according to claim 6 when being executed by a processor.

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