Electric power intelligent inspection large model based on extremely cold region

Abstract

The invention belongs to the technical field of electric power inspection, and particularly relates to an electric power intelligent inspection large model based on extremely cold regions, which comprises an electric power intelligent inspection system and an inspection robot, and is characterized in that the electric power intelligent inspection system is arranged in the inspection robot; the electric power intelligent inspection system comprises a prediction simulation module, a large model construction module and an intelligent driving module. The prediction simulation module is electrically connected with the large model construction module, the large model construction module is electrically connected with the intelligent driving module, the intelligent driving module is electrically connected with the inspection robot, and the prediction simulation module is used for predicting the inspection speed of the inspection robot. The device solves the problems that when a current inspection robot inspects electrical equipment in an extremely cold area, the inspection speed cannot be controlled at high precision due to the fact that the current inspection robot is influenced by rain, snow and low temperature and the shooting definition is reduced, and the quality of a shot picture is influenced and the inspection quality of the electrical equipment is influenced.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric power inspection, and specifically relates to a large-scale intelligent electric power inspection model for use in extremely cold regions. Background Art

[0002] Inspections of power equipment in extremely cold regions are all carried out through inspection robots, which can work for a long time, over a long distance, and at a high frequency in extremely cold weather, replacing manual inspections and reducing the labor intensity and safety hazards of manual inspections. For example, the belt conveyor inspection robots installed by Yanbao Energy of the State Energy Group in extremely cold regions can work in an environment of minus 40 degrees Celsius, collect monitoring data of key parts in real time, and identify abnormal conditions, significantly improving production efficiency and the safety of the work site.

[0003] However, for the above-mentioned inspection robots, the low temperature environment in extremely cold areas will have a significant impact on the infrared temperature measurement accuracy and imaging accuracy of the inspection robots. For ordinary robots in low temperature environments, the infrared temperature measurement error increases and the imaging accuracy is also affected. In order to ensure the shooting quality, the current technology cannot control the inspection speed with high precision when the inspection robot passes by power equipment to take pictures, resulting in low clarity of the photos, poor imaging quality, and reduced inspection quality. This phenomenon has become a problem that needs to be urgently solved by people in this field. Summary of the invention

[0004] The purpose of the present invention is to provide a large model of intelligent power inspection for use in extremely cold regions to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a large model of intelligent power inspection for extremely cold areas, including an intelligent power inspection system and an inspection robot, wherein the intelligent power inspection system is arranged inside the inspection robot, and the intelligent power inspection system includes a prediction simulation module, a large model construction module and an intelligent driving module; the prediction simulation module is electrically connected to the large model construction module, the large model construction module is electrically connected to the intelligent driving module, and the intelligent driving module is electrically connected to the inspection robot, the prediction simulation module is used to predict the inspection speed of the inspection robot, the large model construction module is used to automatically construct a model according to the inspection speed of the inspection robot and the layout of on-site power equipment, and identify the inspection points of the inspection robot, and the intelligent driving module is used to control the inspection robot to automatically control the speed along the inspection route according to the constructed model.

[0006] The present invention further illustrates that the prediction simulation module includes a wind force identification unit, a temperature identification unit, a rain and snow identification unit, and a power calculation unit, and the wind force identification unit, the temperature identification unit, and the rain and snow identification unit are all electrically connected to the power calculation unit;

[0007] The present invention further illustrates that the wind force identification unit is used to identify the size of the wind force, and calculate the resistance to the inspection robot according to the wind force, and then calculate the first operating power of the inspection robot according to the resistance; the temperature identification unit is used to identify the ambient temperature, and measure the shooting clarity of the inspection robot according to the ambient temperature, and then calculate the second operating power of the inspection robot according to the clarity; the rain and snow identification unit is used to identify whether it is rainy or snowy weather, and further measure the shooting clarity of the inspection robot according to the rain and snow weather and wind force, and then calculate the third operating power of the inspection robot according to the clarity; the power calculation unit is used to calculate the fourth operating power in rainy and snowy weather according to the resistance of the inspection robot, and uniformly calculate the first, second, third and fourth operating powers to obtain the final operating power.

[0008] The present invention further describes that the large model construction module includes a power regulation unit and an equipment layout unit, the power regulation unit is electrically connected to the equipment layout unit, the equipment layout unit is used to plan the layout of power equipment and the inspection route of the inspection robot, and the power regulation module is used to adjust the normal operating power of the inspection robot on the route according to the layout of the power equipment, and adjust the operating power when passing by the power equipment.

[0009] The present invention further illustrates that the operation steps of the electric power intelligent inspection system include the following: step S1, the prediction simulation module first predicts the inspection speed of the inspection robot, wherein the operating power of the inspection robot is first calculated according to the wind force to obtain the first operating power; step S2, the temperature recognition unit identifies the ambient temperature, and measures the shooting clarity of the inspection robot according to the ambient temperature, and then calculates the second operating power of the inspection robot according to the clarity, calculates the first operating power and the second inspection power, predicts the inspection speed of the inspection robot, and then identifies whether it is rainy or snowy weather through the rain and snow recognition unit, and enters step S3 when it is rainy or snowy weather, otherwise enters step S4; step S3, the pass The shooting clarity of the inspection robot is further measured through rainy, snowy weather and wind, and the third operating power of the inspection robot is calculated based on the clarity. The fourth operating power after the clarity changes in rainy and snowy weather is calculated based on the resistance of the inspection robot. The first, second, third and fourth operating powers are calculated uniformly to predict the inspection speed of the inspection robot. Step S4: plan the layout of power equipment and the inspection route of the inspection robot through the equipment layout unit, and then control the normal speed inspection of the inspection robot on the route through the power regulation module, and adjust the inspection speed when passing by the power equipment. Step S5: control the inspection robot to automatically control the speed of the inspection along the inspection route according to the constructed model through the intelligent drive module.

[0010] The present invention further illustrates that in step S1 and step S2, the first operating power: F = (1 / 2) * C * p * S * V 2 , F is the resistance of the inspection robot, C is the air resistance coefficient, p is the air density, S is the windward area of ​​the inspection robot, and V is the relative movement speed between the inspection robot and the air; Z1 is the first operating power of the inspection robot, Z max is the maximum operating power of the inspection robot, F max is the maximum resistance of the inspection robot; the second operating power: Right now L is the shooting clarity of the inspection robot, L max is the maximum clarity of the inspection robot, C is the ambient temperature, C max is the lowest temperature that the inspection robot can withstand, and Z2 is the second operating power of the inspection robot; that is, V 巡 is the inspection speed of the inspection robot when passing by the power equipment, V max It is the fastest inspection speed of the inspection robot.

[0011] The present invention further illustrates that in the steps S1 to S3, when there is no rain or snow: When it rains or snows: Right now M is the degree of rain and snow. min is the minimum level of rain and snow, L1 is the shooting clarity of the inspection robot in rain and snow, and Z3 is the third operating power of the inspection robot in rain and snow; L2 is the increased clarity after the inspection robot is subjected to resistance and the relative moving speed of the air changes, that is, Z4 is the fourth operating power generated by the change in clarity of the inspection robot in the rainy and snowy environment after the speed is reduced due to the resistance;

[0012] The present invention further illustrates that in step S4, the speed of the inspection robot when walking normally is V1, and the inspection speed of the inspection robot when passing by the power equipment is V 巡 , the inspection speed of the inspection robot can be intelligently controlled.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention accurately controls the inspection speed of the inspection robot according to the resistance of the inspection robot itself and the reduction in clarity of the inspection robot due to low temperature, so that the speed of the inspection robot is slowed down when passing by the power equipment, and the accuracy of the speed reduction is highly controlled, which ensures that the inspection robot can fully take pictures of the power equipment on the one hand, and relatively increases the inspection efficiency and the endurance of the inspection robot on the other hand, and greatly improves the inspection effect;

[0014] In addition, when encountering windy and snowy weather, the clarity of the inspection robot's photography is blocked by rain and snow, thus reducing the clarity. At this time, the inspection speed of the inspection robot is further controlled, and the inspection speed is relatively reduced due to the resistance of the inspection robot itself, and the shooting clarity changes, so as to further control the inspection speed of the inspection robot with high precision, so as to avoid unclear photos affecting the inspection quality, and greatly improve the inspection quality of power equipment;

[0015] By intelligently controlling the inspection speed of the inspection robot, it can quickly inspect the entire power equipment line with high inspection quality. It can take clear pictures of all power equipment and accurately know the status of power equipment. The battery life of the inspection robot is guaranteed, saving the inspection energy consumption of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 It is a schematic diagram of the module connection relationship of the power intelligent inspection system of the present invention;

[0018] Figure 2 is a schematic diagram of an operating unit of a prediction simulation module of the present invention;

[0019] Figure 3 It is a schematic diagram of the operation unit of the large model building module of the present invention. DETAILED DESCRIPTION

[0020] The following is a further non-limiting detailed description of the technical solution of the present invention in conjunction with the preferred embodiments and the accompanying drawings. 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 are within the scope of protection of the present invention.

[0021] See also Figure 1-3The present invention provides a technical solution: a large model of electric power intelligent inspection for extremely cold regions, including an electric power intelligent inspection system and an inspection robot, wherein the electric power intelligent inspection system is arranged inside the inspection robot, and the electric power intelligent inspection system includes a prediction simulation module, a large model construction module and an intelligent driving module;

[0022] The prediction simulation module is electrically connected to the large model construction module, the large model construction module is electrically connected to the intelligent drive module, the intelligent drive module is electrically connected to the inspection robot, the prediction simulation module is used to predict the inspection speed of the inspection robot, the large model construction module is used to automatically construct a model based on the inspection speed of the inspection robot and the layout of on-site power equipment, and identify the inspection points of the inspection robot, and the intelligent drive module is used to control the inspection robot to automatically control the speed along the inspection route according to the constructed model.

[0023] The prediction simulation module includes a wind force identification unit, a temperature identification unit, a rain and snow identification unit and a power calculation unit, and the wind force identification unit, the temperature identification unit and the rain and snow identification unit are all electrically connected to the power calculation unit;

[0024] The wind force identification unit is used to identify the wind force, and calculate the resistance to the inspection robot based on the wind force, and then calculate the first operating power of the inspection robot based on the resistance. The temperature identification unit is used to identify the ambient temperature, and measure the shooting clarity of the inspection robot based on the ambient temperature, and then calculate the second operating power of the inspection robot based on the clarity. The rain and snow identification unit is used to identify whether it is rainy or snowy weather, and further measure the shooting clarity of the inspection robot based on the rainy and snowy weather and wind force, and then calculate the third operating power of the inspection robot based on the clarity. The power calculation unit is used to calculate the fourth operating power in rainy and snowy weather based on the resistance of the inspection robot, and uniformly calculate the first, second, third and fourth operating powers to obtain the final operating power.

[0025] The large model construction module includes a power regulation unit and an equipment layout unit. The power regulation unit is electrically connected to the equipment layout unit. The equipment layout unit is used to plan the layout of power equipment and the inspection route of the inspection robot. The power regulation module is used to adjust the normal operating power of the inspection robot on the route according to the layout of power equipment, and adjust the operating power when passing by the power equipment.

[0026] The operation steps of the power intelligent inspection system include the following:

[0027] Step S1, the prediction simulation module first predicts the inspection speed of the inspection robot, wherein the operating power of the inspection robot is first calculated according to the wind force to obtain a first operating power;

[0028] Step S2, the temperature recognition unit recognizes the ambient temperature, and measures the shooting clarity of the inspection robot according to the ambient temperature, and then calculates the second operating power of the inspection robot according to the clarity, calculates the first operating power and the second inspection power, and predicts the inspection speed of the inspection robot, and then recognizes whether it is rainy or snowy weather through the rain and snow recognition unit, and enters step S3 when it is rainy or snowy weather, otherwise enters step S4;

[0029] Step S3, further measuring the shooting clarity of the inspection robot through rainy and snowy weather and wind, and then calculating the third operating power of the inspection robot according to the clarity, and calculating the fourth operating power after the clarity changes in rainy and snowy weather according to the resistance of the inspection robot, and uniformly calculating the first, second, third and fourth operating powers to predict the inspection speed of the inspection robot;

[0030] Step S4: Plan the layout of power equipment and the inspection route of the inspection robot through the equipment layout unit, and then control the inspection robot to inspect at a normal speed on the route through the power regulation module, and adjust the inspection speed when passing by the power equipment;

[0031] Step S5: Using the intelligent driving module, the inspection robot is controlled to automatically perform speed control inspections along the inspection route according to the constructed model.

[0032] In step S1 and step S2, the first operating power: F = (1 / 2) * C * p * S * V 2 , F is the resistance of the inspection robot, C is the air resistance coefficient, p is the air density, S is the windward area of ​​the inspection robot, and V is the relative movement speed between the inspection robot and the air;

[0033] Z1 is the first operating power of the inspection robot, Z max is the maximum operating power of the inspection robot, F max is the maximum resistance encountered by the inspection robot;

[0034] Second operating power: Right now is the shooting clarity of the inspection robot, L max is the maximum clarity of the inspection robot, C is the ambient temperature, C max is the lowest temperature that the inspection robot can withstand, and z2 is the second operating power of the inspection robot;

[0035] Right now V 巡 is the inspection speed of the inspection robot when passing by the power equipment, V max The fastest inspection speed of the inspection robot;

[0036] According to the resistance encountered by the inspection robot itself and the reduced clarity of the inspection robot due to low temperature, the inspection speed of the inspection robot is precisely controlled so that it slows down when passing by power equipment, and the accuracy of the speed reduction is highly controlled. On the one hand, it ensures that the inspection robot can fully take pictures of the power equipment, and on the other hand, it relatively increases the inspection efficiency and battery life of the inspection robot, and the inspection effect is greatly improved.

[0037] In step S1 to step S3, when there is no rain or snow:

[0038] When it rains or snows: Right now M is the degree of rain and snow. min is the minimum level of rain and snow, L1 is the shooting clarity of the inspection robot in rain and snow, and Z3 is the third operating power of the inspection robot in rain and snow;

[0039] L2 is the increased clarity after the inspection robot is subjected to resistance and the relative moving speed of the air changes, that is, Z4 is the fourth operating power generated by the change in clarity of the inspection robot in a rainy and snowy environment after the speed is reduced due to resistance;

[0040] but

[0041] Under the influence of windy and snowy weather, the clarity of the inspection robot's photos is blocked by rain and snow, thereby reducing the clarity. At this time, the inspection speed of the inspection robot is further controlled, and the inspection speed is relatively reduced due to the resistance the inspection robot itself encounters, causing the shooting clarity to change, thereby further controlling the inspection speed of the inspection robot with high precision to avoid unclear photos affecting the inspection quality, thereby greatly improving the inspection quality of power equipment.

[0042] In step S4, the speed of the inspection robot when walking normally is V1, and the inspection speed of the inspection robot when passing by the power equipment is V 巡 , then the inspection speed of the inspection robot is intelligently controlled;

[0043] By intelligently controlling the inspection speed of the inspection robot, it can quickly inspect the entire power equipment line with high inspection quality. It can take clear pictures of all power equipment and accurately know the status of power equipment. The battery life of the inspection robot is guaranteed, saving the inspection energy consumption of the inspection robot.

[0044] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0045] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents, and 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 large-scale intelligent power inspection model for extremely cold regions, including an intelligent power inspection system and an inspection robot, characterized in that: The electric power intelligent inspection system is arranged inside the inspection robot, and the electric power intelligent inspection system includes a prediction simulation module, a large model construction module and an intelligent driving module; The prediction simulation module is electrically connected to the large model construction module, the large model construction module is electrically connected to the intelligent drive module, the intelligent drive module is electrically connected to the inspection robot, the prediction simulation module is used to predict the inspection speed of the inspection robot, the large model construction module is used to automatically construct a model according to the inspection speed of the inspection robot and the layout of on-site power equipment, and identify the inspection points of the inspection robot, and the intelligent drive module is used to control the inspection robot to automatically control the speed of the inspection along the inspection route according to the constructed model.

2. According to claim 1, a large-scale intelligent power inspection model for extremely cold regions is characterized by: The prediction simulation module includes a wind force identification unit, a temperature identification unit, a rain and snow identification unit and a power calculation unit, and the wind force identification unit, the temperature identification unit and the rain and snow identification unit are all electrically connected to the power calculation unit; The wind force identification unit is used to identify the wind force, and calculate the resistance to the inspection robot according to the wind force, and then calculate the first operating power of the inspection robot according to the resistance. The temperature identification unit is used to identify the ambient temperature, and measure the shooting clarity of the inspection robot according to the ambient temperature, and then calculate the second operating power of the inspection robot according to the clarity. The rain and snow identification unit is used to identify whether it is rainy or snowy weather, and further measure the shooting clarity of the inspection robot according to the rain and snow weather and wind force, and then calculate the third operating power of the inspection robot according to the clarity. The power calculation unit is used to calculate the fourth operating power in rainy and snowy weather according to the resistance of the inspection robot, and uniformly calculate the first, second, third and fourth operating powers to obtain the final operating power.

3. According to claim 2, a large-scale intelligent power inspection model for extremely cold regions is characterized by: The large model construction module includes a power regulation unit and an equipment layout unit. The power regulation unit is electrically connected to the equipment layout unit. The equipment layout unit is used to plan the layout of power equipment and the inspection route of the inspection robot. The power regulation module is used to adjust the normal operating power of the inspection robot on the route according to the layout of the power equipment, and to adjust the operating power when passing by the power equipment.

4. According to claim 3, a large-scale intelligent power inspection model for extremely cold regions is characterized by: The operation steps of the power intelligent inspection system include the following: Step S1, the prediction simulation module first predicts the inspection speed of the inspection robot, wherein the operating power of the inspection robot is first calculated according to the wind force to obtain a first operating power; Step S2, the temperature recognition unit recognizes the ambient temperature, and measures the shooting clarity of the inspection robot according to the ambient temperature, and then calculates the second operating power of the inspection robot according to the clarity, calculates the first operating power and the second inspection power, and predicts the inspection speed of the inspection robot, and then recognizes whether it is rainy or snowy weather through the rain and snow recognition unit, and enters step S3 when it is rainy or snowy weather, otherwise enters step S4; Step S3, further measuring the shooting clarity of the inspection robot through rainy and snowy weather and wind, and then calculating the third operating power of the inspection robot according to the clarity, and calculating the fourth operating power after the clarity changes in rainy and snowy weather according to the resistance of the inspection robot, and uniformly calculating the first, second, third and fourth operating powers to predict the inspection speed of the inspection robot; Step S4: Plan the layout of power equipment and the inspection route of the inspection robot through the equipment layout unit, and then control the inspection robot to inspect at a normal speed on the route through the power regulation module, and adjust the inspection speed when passing by the power equipment; Step S5: Using the intelligent driving module, the inspection robot is controlled to automatically perform speed control inspections along the inspection route according to the constructed model.

5. According to claim 4, a large-scale intelligent power inspection model for extremely cold regions is characterized by: In step S1 and step S2, the first operating power: F = (1 / 2) * C * p * S * V 2 , F is the resistance of the inspection robot, C is the air resistance coefficient, p is the air density, S is the windward area of ​​the inspection robot, and V is the relative movement speed between the inspection robot and the air; Z1 is the first operating power of the inspection robot, Z max is the maximum operating power of the inspection robot, F max is the maximum resistance encountered by the inspection robot; Second operating power: Right now L is the shooting clarity of the inspection robot, L max is the maximum clarity of the inspection robot, C is the ambient temperature, C max is the lowest temperature that the inspection robot can withstand, and Z2 is the second operating power of the inspection robot; Right now V 巡 is the inspection speed of the inspection robot when passing by the power equipment, V max It is the fastest inspection speed of the inspection robot.

6. The large-scale intelligent power inspection model for extremely cold regions according to claim 5 is characterized by: In the steps S1 to S3, when there is no rain or snow: When it rains or snows: Right now M is the degree of rain and snow. min is the minimum level of rain and snow, L1 is the shooting clarity of the inspection robot in rain and snow, and Z3 is the third operating power of the inspection robot in rain and snow; L2 is the increased clarity after the inspection robot is subjected to resistance and the relative moving speed of the air changes, that is, Z4 is the fourth operating power generated by the change in clarity of the inspection robot in a rainy and snowy environment after the speed is reduced due to resistance; but 7. The large-scale intelligent power inspection model for extremely cold regions according to claim 6 is characterized by: In step S4, the speed of the inspection robot when walking normally is V1, and the inspection speed of the inspection robot when passing by the power equipment is V 巡 , the inspection speed of the inspection robot can be intelligently controlled.

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