Control method and device of suspension type electric power inspection robot and electric power inspection system

Abstract

The invention discloses a control method and device of a suspension type electric power inspection robot and an electric power inspection system, and relates to the technical field of electric power inspection robot equipment. The control method comprises the following steps: obtaining a target inspection track of each main electric power inspection robot executing a current inspection task and a detection result on each detection point detected by each main electric power inspection robot, and obtaining an abnormal detection occurrence point based on an association relationship between each detection result and each detection point; then starting a standby electric power inspection robot to enter a target inspection track where the abnormal detection occurrence point is located, and performing secondary detection on the electric power equipment at the abnormal detection occurrence point; and on the basis of the secondary detection result, the detection result of the main power inspection robot at the abnormal detection occurrence point and the detection result of the associated detection point, updating the detection result of the power equipment at the abnormal detection occurrence point. The method can effectively improve the accuracy and inspection efficiency of the inspection result output by the electric inspection robot.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of electric power inspection robot equipment, and specifically to a control method and device for a suspended electric power inspection robot and an electric power inspection system. Background Art

[0002] In today's power system operation and maintenance field, with the continuous expansion of power grid scale and the increase of complexity, ensuring the safe, stable and efficient operation of power lines has become a major challenge facing the power industry.

[0003] In recent years, with the continuous advancement of artificial intelligence technology, inspection robots have gradually replaced manual inspections, and their application in the field of power plant inspections has become more extensive and in-depth.

[0004] As a new type of operation and maintenance tool, inspection robots can greatly improve the efficiency and accuracy of inspections, reduce human errors, and ensure the stable operation of power systems. However, existing power inspections usually rely on fault judgments made by a single inspection robot. This method not only increases the burden on operators, but may also lead to untimely fault handling or inaccurate reporting information, affecting the efficiency and effectiveness of fault handling. To this end, we propose a control method for a suspended power inspection robot. Summary of the invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a control method and device for a suspended electric power inspection robot and an electric power inspection system.

[0006] In a first aspect, the present application provides a control method for a suspended electric power inspection robot, wherein the suspended electric power inspection robot is applied inside a power plant to inspect a plurality of electric power equipment inside the power plant, and each of the electric power equipment is provided with a corresponding detection point; the top of the power plant area includes a plurality of main inspection tracks arranged between two detection points, and at least one of the main inspection tracks is an entry inspection track including a movable turning track segment, and the turning track segment is used to conduct or cut off the connection between the entry inspection track and the introduction track, and two main electric power inspection robots are arranged on the main inspection track and at least one standby electric power inspection robot is arranged on the introduction track; the control method comprises: Obtain the target inspection trajectory of each main power inspection robot performing the current inspection task; Obtain the detection results of each detection point detected by each of the main power inspection robots, and based on the detection results and the correlation relationship between the detected detection points, determine that if the detection result of the current detection point of one of the main power inspection robots is inconsistent with the detection result of the detection point associated with it, then use the current detection point as the abnormal detection occurrence point; According to the position information of the abnormal detection occurrence point, the turning track section is controlled to be connected with the lead-in track, and the standby power inspection robot is started to enter the cut-in inspection track through the lead-in track, so that the standby power inspection robot enters the target inspection track where the abnormal detection occurrence point is located, and performs secondary inspection on the power equipment at the abnormal detection occurrence point; Based on the secondary detection results, the detection results of the main power inspection robot at the abnormal detection point and the detection results of the detection points associated with the abnormal detection point, the detection results of the power equipment at the abnormal detection point are updated.

[0007] According to the technical solution provided by the present application, obtaining the target inspection trajectory of each main power inspection robot performing the inspection task specifically includes: Obtain the total inspection trajectory of the inspection task and the total inspection time of a single main power inspection robot performing the inspection task; If the total inspection time is less than or equal to the preset time threshold, the independent inspection mode is selected, and the total inspection trajectory is used as the target inspection trajectory of one of the main power inspection robots; If the total inspection time is greater than the preset time threshold, the collaborative inspection mode is selected, and based on the total inspection trajectory, the target inspection trajectory of each main power inspection robot performing the current inspection task is obtained.

[0008] According to the technical solution provided by the present application, based on the total inspection trajectory, obtaining the target inspection trajectory of each main power inspection robot performing the current inspection task specifically includes: Dividing the total inspection trajectory according to the number and position of the detection points to obtain a plurality of candidate collaborative path combinations, each of the candidate collaborative path combinations including two candidate inspection trajectories; Calculate the first inspection duration and the second inspection duration corresponding to the two alternative inspection trajectories contained in each of the alternative collaborative path combinations, and use the two alternative inspection trajectories in the alternative collaborative path combination with the smallest difference between the first inspection duration and the second inspection duration as the target inspection trajectories of the two main power inspection robots.

[0009] According to the technical solution provided by the present application, each of the power equipment corresponding to the detection point has at least one detection indicator, and each of the detection indicators corresponds to one detection result; the method further includes: Based on the association relationship between the detection points, a plurality of control detection point sets associated with the current detection point are respectively obtained from the detected detection points according to each detection index of the current detection point; each detection index corresponds to one control detection point set; Based on the detection results of each detection index of the current detection point, for each detection index, respectively compare the detection result of the current detection point with the detection results of each associated detection point in the reference detection point set corresponding to the detection index, and obtain a comparison result; If at least one of the comparison results is inconsistent, it is determined that the detection result of the current detection point is inconsistent with the detection result of the detection point associated therewith.

[0010] According to the technical solution provided by the present application, the turning track section is controlled to be connected with the lead-in track, and the standby power inspection robot is started to enter the cut-in inspection track through the lead-in track, so that the standby power inspection robot enters the target inspection track where the abnormal detection point is located, and performs secondary inspection on the power equipment at the abnormal detection point, specifically including: According to the position information of the abnormal detection occurrence point, a re-inspection trajectory is generated, and the direction-changing track section is controlled to be connected with the introduction track; the re-inspection trajectory is the trajectory of the backup power inspection robot moving from the cut-in inspection track to the abnormal detection occurrence point; The standby power inspection robot is controlled to enter the inspection track, and moves to the abnormal detection occurrence point according to the re-inspection track, and performs a secondary inspection on the power equipment at the abnormal detection occurrence point.

[0011] According to the technical solution provided by this application, the method also includes: When the inspection mode is independent inspection, respectively obtaining a first duration and a second duration for another main power inspection robot and the backup power inspection robot to move to the abnormality detection occurrence point; If the first time length is greater than or equal to the second time length, the direction-changing track is controlled to be connected to the introduction track, and the backup power inspection robot moves to the abnormal detection occurrence point to perform secondary inspection on the corresponding power equipment; If the first time length is less than the second time length, another of the main power inspection robots is controlled to move to the point where the abnormal detection occurs, and perform a secondary inspection on the corresponding power equipment.

[0012] According to the technical solution provided by the present application, based on the secondary detection result, the detection result of the main power inspection robot at the abnormal detection point, and the detection result of the detection point associated with the abnormal detection point, the detection result of the power equipment at the abnormal detection point is updated, specifically including: If the secondary detection result is consistent with the detection result of the main power inspection robot at the abnormal detection occurrence point, the main power inspection robot used to detect the detection point associated with the abnormal detection occurrence point is determined to be a faulty main power inspection robot, and the detection result of the main power inspection robot at the abnormal detection occurrence point is used as the detection result of the abnormal detection occurrence point; If the secondary detection result is inconsistent with the detection result of the main power inspection robot at the abnormal detection point, the main power inspection robot used to detect the abnormal detection point is determined to be a faulty main power inspection robot, and the secondary detection result is used as the detection result of the abnormal detection point.

[0013] According to the technical solution provided by this application, the method also includes: The target inspection trajectory of the faulty main power inspection robot is used as the secondary inspection trajectory of another main power inspection robot or the backup power inspection robot for secondary inspection.

[0014] In a second aspect, the present application provides a control device for a suspended electric power inspection robot, comprising: An acquisition module, the acquisition module is used to obtain the target inspection trajectory of each main power inspection robot performing the current inspection task and the detection results of each detection point detected by each main power inspection robot, and based on the association between each detection result and each detection point that has been detected, if the detection result of the current detection point of one of the main power inspection robots is inconsistent with the detection result of the detection point associated with it, then the current detection point is used as the abnormal detection occurrence point; A control module, the control module is used to control the connection between the turning track section and the lead-in track according to the position information of the abnormal detection occurrence point, and start the standby power inspection robot to enter the cut-in inspection track through the lead-in track, so that the standby power inspection robot enters the target inspection track where the abnormal detection occurrence point is located, and performs secondary inspection on the power equipment at the abnormal detection occurrence point; A processing module, which is used to update the detection results of the power equipment at the abnormal detection point based on the secondary detection results, the detection results of the main power inspection robot at the abnormal detection point, and the detection results of the detection points associated with the abnormal detection point.

[0015] In a third aspect, the present application provides a power inspection system, to which the above control method is applied. The power inspection system is applied inside a power plant, and the system includes: A track module, the track module is arranged on the top of the power plant, and the track module includes: a plurality of main inspection tracks and at least one introduction track that cooperate with each other; the plurality of main inspection tracks are respectively arranged between the detection points of two power equipments, the main inspection tracks include a cut-in inspection track, and the middle part of the cut-in inspection track includes a movable turning track section; The direction-changing track segment has a first station and a second station; when the direction-changing track segment is located at the first station, the direction-changing end of the direction-changing track segment remains connected to the entry inspection track; when the direction-changing track segment is located at the second station, the direction-changing end of the direction-changing track segment is connected to the introduction track; An electric power inspection robot group, the electric power inspection robot group includes at least two main electric power inspection robots and one backup electric power inspection robot, the main electric power inspection robot is used to move along the main inspection track to inspect the corresponding electric power equipment at each inspection point; the backup electric power inspection robot is arranged on the lead-in track, and when the direction-changing track section is located at the second workstation, it can enter the cut-in inspection track through the lead-in track; A control module, wherein the control module is in signal communication with the track module and the electric power inspection robot group, and the control module at least comprises: a control unit, a communication unit and a collection unit; the collection unit is used to receive and parse the detection results output by the electric power inspection robot group through the communication unit, and send them to the control unit; the control unit is used to control the track module and the electric power inspection robot group to perform corresponding actions according to the detection results.

[0016] In summary, the present technical scheme specifically discloses a control method, device and power inspection system for a suspended electric power inspection robot; wherein, the control method comprises: each main electric power inspection robot executes the target inspection trajectory of this inspection task; obtains the detection results of each detection point detected by each main electric power inspection robot, and based on each detection result and the correlation relationship between each detected detection point, judges that if the detection result of the current detection point of one of the main electric power inspection robots is inconsistent with the detection result of the detection point associated with it, then the current detection point is used as the abnormal detection occurrence point; according to the position information of the abnormal detection occurrence point, controls the turning track section to be connected with the introduction track, and starts the standby electric power inspection robot to enter the cutting-in inspection track through the introduction track, so that the standby electric power inspection robot enters the target inspection trajectory where the abnormal detection occurrence point is located, and performs secondary detection on the electric power equipment at the abnormal detection occurrence point; based on the secondary detection result, the detection result of the main electric power inspection robot at the abnormal detection occurrence point and the detection result of the detection point associated with the abnormal detection occurrence point, updates the detection result of the electric power equipment at the abnormal detection occurrence point.

[0017] Existing power inspections usually rely on fault judgment made by a single inspection robot. This approach not only increases the burden on operators, but may also lead to untimely fault handling or inaccurate reporting information. In the present application, a power inspection robot combination consisting of two main power inspection robots and one backup power inspection robot is used to inspect the inside of the power plant. The synchronous inspection of the two main power inspection robots is used to save inspection time. At the same time, by constructing the correlation relationship between the various tests, different test results are used as a control group to quickly judge the occurrence of faults; finally, the backup power inspection robot is used as a robot that can perform rapid secondary inspections to ensure the accuracy of the test results, which not only further ensures the accuracy of the output test results, but also greatly improves the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 The figure is a flow chart of a control method for a suspended electric power inspection robot.

[0019] Figure 2 It is a flowchart of step S100 in the control method of the suspended power inspection robot.

[0020] Figure 3 It is a flowchart diagram of step S103 in the control method of the suspended power inspection robot.

[0021] Figure 4 It is a flowchart of step S300 in the control method of the suspended electric power inspection robot.

[0022] Figure 5 It is a flowchart of step S400 in the control method of the suspended electric power inspection robot.

[0023] Figure 6 This is a first schematic diagram of trajectory planning in the control method of a suspended power inspection robot.

[0024] Figure 7 This is a second schematic diagram of trajectory planning in the control method of the suspended power inspection robot.

[0025] Figure 8 This is a schematic diagram of the first working condition of the track module.

[0026] Fig. 9 Schematic diagram of the second working condition of the track module.

[0027] Fig.10 The figure is a schematic diagram of the principle of a power inspection system.

[0028] Fig.11 This is a schematic diagram of the structure of the control device of the suspended power inspection robot.

[0029] Numbers in the figure: 1. Track module; 2. Main inspection track; 3. Cut-in inspection track; 31. Change-of-direction track section; 4. Import track; 5. Main power inspection robot; 6. Backup power inspection robot; 7. Control module; 71. Control unit; 72. Communication unit; 73. Collection unit; 601. Acquisition module; 602. Control module; 603. Processing module. DETAILED DESCRIPTION

[0030] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0031] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] In today's power system operation and maintenance field, as the scale of power grids continues to expand and the complexity increases, ensuring the safe, stable and efficient operation of power lines has become a major challenge facing the power industry. At the same time, with the development of power systems, power networks are becoming more and more complex, involving many devices and lines. Manual inspections are difficult to cover all equipment and lines, so it is necessary to use scientific and technological means to improve the efficiency and accuracy of inspections.

[0033] In recent years, with the continuous advancement of artificial intelligence technology, inspection robots have gradually replaced human inspections, and their application in the field of power plant inspections has become more extensive and in-depth. As a new type of operation and maintenance tool, inspection robots can greatly improve the efficiency and accuracy of inspections, reduce human errors, and ensure the stable operation of power systems.

[0034] In different usage scenarios, people can choose different types of inspection robots to complete the corresponding inspection work. The types of inspection robots include, for example, hanging inspection robots, wheeled inspection robots, drone inspection robots, and other forms; among them, the hanging power inspection robot has attracted much attention because it can be hung and moved on the top or wall inside the computer room, fits the internal space of the computer room, and can realize 24-hour full-time inspection without blind spots. However, many existing power inspections usually rely on fault judgments made by a single inspection robot. This method not only increases the burden on operators, but may also lead to untimely fault handling or inaccurate reporting information, affecting the efficiency and effectiveness of fault handling.

[0035] In view of this, the present embodiment provides a control method for a suspended electric power inspection robot, which specifically includes: obtaining the target inspection trajectory of each main electric power inspection robot 5 for performing the current inspection task; obtaining the detection results of each detection point that has been detected by each main electric power inspection robot 5, and based on the detection results and the correlation relationship between the detected detection points, judging that if the detection result of the current detection point of one of the main electric power inspection robots 5 is inconsistent with the detection result of the detection point associated with it, then the current detection point is used as the abnormal detection occurrence point; according to the position information of the abnormal detection occurrence point, the turning track segment 31 is controlled to be connected with the introduction track 4, and the standby electric power inspection robot 6 is started to enter the cutting-in inspection track 3 through the introduction track 4, so that the standby electric power inspection robot 6 enters the target inspection trajectory where the abnormal detection occurrence point is located, and performs secondary detection on the electric power equipment at the abnormal detection occurrence point; based on the secondary detection result, the detection result of the main electric power inspection robot 5 at the abnormal detection occurrence point and the detection result of the detection point associated with the abnormal detection occurrence point, the detection result of the electric power equipment at the abnormal detection occurrence point is updated.

[0036] It can be seen that in the embodiment of the present application, not only is an inspection operation mode of a suspended power inspection robot (both the main power inspection robot and the backup inspection robot are suspended power inspection robots) proposed, but the track module on which the suspended power inspection robot relies is also improved, so that when the secondary inspection conditions are triggered, the backup power inspection robot can be introduced in time to perform secondary inspections on the power equipment at the corresponding inspection points, greatly improving the accuracy of the inspection results and the overall inspection efficiency; in addition, in order to further speed up the inspection efficiency, two main power inspection robots that can cooperate with each other are set in the embodiment of the present application. In this way, the two main power inspection robots can save inspection time by performing inspections synchronously on the one hand, and on the other hand, they can form a reference for the inspection results output by each other through the correlation between the various detection points, thereby achieving the role of assisting users to promptly discover faults of the power inspection robots in a different way, and further ensuring the accuracy of the output inspection results.

[0037] In order to make the technical solution of this application clearer and easier to understand, Figure 1 First, the structure of the power inspection system and the corresponding application scenarios are briefly described; specifically, the power inspection system used in the embodiment of the present application is mainly used in power plants or small substations, combined with Figure 8-Figure 10 , the system comprising: Track module 1, track module 1 is arranged on the top of the power plant, track module 1 comprises: a plurality of main inspection tracks 2 and at least one introduction track 4 which cooperate with each other; the plurality of main inspection tracks 2 are respectively arranged between the detection points of two power equipments, the main inspection tracks 2 also comprise a cut-in inspection track 3, the middle part of the cut-in inspection track 3 comprises a movable turning track section 31; The direction-changing track segment 31 has a first station and a second station; when the direction-changing track segment 31 is at the first station, the direction-changing end of the direction-changing track segment 31 remains connected to the cutting-in inspection track 3; when the direction-changing track segment 31 is at the second station, the direction-changing end of the direction-changing track segment 31 is connected to the introduction track 4; The power inspection robot group includes at least two main power inspection robots 5 and one backup power inspection robot 6. The main power inspection robot 5 is used to move along the main inspection track 2 to inspect the corresponding power equipment at each inspection point; the backup power inspection robot 6 is arranged on the introduction track 4, and when the turning track section 31 is located at the second station, it can enter the inspection track 3 through the introduction track 4; Control module 7, control module 7 is signal-connected with track module 1 and electric power inspection robot group, and control module 7 at least includes: control unit 71, communication unit 72 and acquisition unit 73; acquisition unit 73 is used to receive and analyze the detection results output by the electric power inspection robot group through communication unit 72, and send them to control unit 71; control unit 71 is used to control track module 1 and electric power inspection robot group to perform corresponding actions according to the detection results.

[0038] In an embodiment of the present application, the track module 1 is arranged at the top of a power plant or a small substation, and is a mobile support for the power inspection robot, and is used to guide the main power inspection robot 5 and the backup power inspection robot 6 to move to the inspection point corresponding to the power equipment according to the track module 1 to inspect the power equipment; in actual applications, the track layout within the track module 1 is varied, and needs to be laid out according to the current location of the power equipment in the power plant or small substation and the inspection cycle of each power equipment; specifically, the track module 1 implemented in the present application includes multiple main inspection tracks 2 and at least one import track 4, where two main power inspection robots 5 are arranged on the main inspection track 2, and at least one backup power inspection robot 6 is arranged on the import track 4.

[0039] A plurality of main inspection tracks 2 are respectively arranged between two inspection points. The inspection points are the positions where the main power inspection robot 5 or the backup power inspection robot 6 needs to stay or reach when inspecting each power equipment. It should be noted that it is not limited to having a main inspection track 2 between every two inspection points, because this will make the entire track module 1 too complicated. Generally, it is ensured that each inspection point can be reached by passing through different main inspection tracks 2, and the power equipment with very close inspection cycles only needs to have a main inspection track 2; in addition, the inspection point is not a fixed point but can also be a position range, which is convenient for the main power inspection robot 5 or the backup power inspection robot 6 to perform mobile inspection of power equipment.

[0040] In addition to the main inspection track 2, the main inspection track 2 also includes at least one entry inspection track 3, and the middle part of the entry inspection track 3 includes a movable turning track section 31. The turning track section 31 adopts the track changing design of the current train track, so that it can realize the active track changing between the entry inspection track 3 and the introduction track 4 by switching between the first station and the second station. In this way, the standby power inspection robot 6 that is stuck on the introduction track 4 can be connected to the introduction track 4 through the turning track section 31 and quickly enter the main inspection track 2; in order to improve the maneuverability of the overall track module 1, generally, the entry inspection track 3 will be set in the middle of the track module 1, so that the standby power inspection robot 6 can move to each detection point faster; based on such a structural design, the problem of slow activation of the standby power inspection robot 6 or too many power inspection robots stuck on the track module 1 can be well solved, which will not cause additional burden on the track module 1, and can also effectively solve the problem that the current power inspection robot needs to consider too much about the avoidance of the power inspection robots when planning the path.

[0041] The electric power inspection robot group includes two main electric power inspection robots 5 and one backup electric power inspection robot 6. The three electric power inspection robots can meet the daily inspection tasks. First, the main electric power inspection robot 5 is a power inspection robot that can work collaboratively and independently and is responsible for daily inspection tasks. The backup electric power inspection robot 6 is a backup electric power inspection robot that is started in special circumstances such as abnormal detection results or failure of the main electric power inspection robot 5 to operate, thereby ensuring the normal progress of the inspection tasks. The structures of the main electric power inspection robot 5 and the backup electric power inspection robot 6 can refer to the current suspended electric power inspection robots with high integration and high reliability, which can be suspended on the main inspection track 2 and the introduction track 4 through a mounting mechanism (for example, a hook device, a pulley, a wire rope or a chain, etc.); in addition, the suspended electric power inspection robot monitors and collects the status information of the power equipment in real time through the various sensors and cameras carried by itself. The sensors and cameras are, for example, temperature sensors, infrared thermal imagers, high-definition cameras, ultrasonic sensors, etc., which are not specifically limited.

[0042] The control module 7 serves as the core processing unit of the entire power inspection system. It is signal-connected with the track module 1 and the power inspection robot group. The acquisition unit 73 can receive the status information of the power equipment monitored and collected in real time by the main power inspection robot 5 and the backup power inspection robot 6 (for example, detection results), and convert it into a digital signal that can be received by the control unit 71. The control unit 71 makes corresponding decisions based on the status information and the internal preset algorithm, for example, based on the trajectory planning corresponding to the current inspection task, or whether it is necessary to control the movement of the turning track section 31, whether to determine that the current main power inspection robot 5 is faulty, etc.; the communication unit 72 is used to realize the data sharing between the control module 7 and external devices, so that the user can obtain and analyze data in real time; it should be noted that the control module 7 can adopt the current highly integrated controller or a fully functional central control machine. The introduction here is only a brief explanation, and does not limit the structure of the control module 7.

[0043] In order to make the technical solution of the present application clearer and easier to understand, the control method provided in the embodiment of the present application is introduced below in conjunction with the accompanying drawings.

[0044] Specifically, please refer to Figure 1 A flow chart of a control method for a suspended power inspection robot, the control method comprising the following steps: S100, obtaining the target inspection trajectory of each main power inspection robot 5 for executing the current inspection task; In combination with the foregoing content, it can be seen that the track module 1 includes multiple main inspection tracks 2, and the detection cycle of each power equipment is different, so the power equipment that needs to be inspected in different inspection tasks may also be different, and different power equipment will form different inspection tracks. Please refer to the figure here. The two inspection tracks included in the figure are different; accordingly, when controlling the main power inspection robot 5 to perform this inspection task, it is first necessary to obtain the target inspection track of each main power inspection robot 5 under this inspection task.

[0045] Specifically, see Figure 2 , following the above step of "obtaining the target inspection trajectory of each main power inspection robot 5 performing this inspection task", its specific development includes the following steps: S101, obtaining the total inspection trajectory of this inspection task and the total inspection time of a single main power inspection robot performing this inspection task; The total inspection trajectory is used to represent a trajectory planned according to all the power equipment included in this inspection task. The total inspection trajectory can be generated by the control module 7 according to the positions of all the power equipment that need to be inspected, and no further details are given here.

[0046] Since the embodiment of the present application includes two main power inspection robots 5, it is also necessary to select the inspection mode according to the total inspection time required for the current total inspection trajectory, thereby speeding up the inspection efficiency and avoiding waste of time.

[0047] It should be noted that the total inspection time here is the inspection time for a single main power inspection robot to perform this inspection task, which includes both detection time and movement time; at the same time, in the calculation process, the time it takes for the main power inspection robot 5 to move to the first detection point is generally ignored, and the arrival at the first detection point is used as the starting point for timing; in the day-to-day inspection process, the total inspection trajectory and the corresponding total inspection time or the corresponding inspection mode can be quickly obtained by establishing a database after the inspection task is determined.

[0048] S102, if the total inspection time is less than or equal to the preset time threshold, select the independent inspection mode, and use the total inspection trajectory as the target inspection trajectory of one of the main power inspection robots 5; S103. If the total inspection time is greater than the preset time threshold, the collaborative inspection mode is selected, and based on the total inspection trajectory, the target inspection trajectory of each main power inspection robot 5 for performing this inspection task is obtained.

[0049] Specifically, in combination with the above steps S102 and S103, it can be known that the main selection basis of the inspection mode is the comparison relationship between the total inspection time and the preset time threshold. If the total inspection time is less than or equal to the preset time threshold, it is considered that the inspection task is short in time, and one main power inspection robot 5 can be started for inspection, which is the independent inspection mode; on the contrary, if the total inspection time is greater than the preset time threshold, it is considered that the inspection task is long in time, and two main power inspection robots 5 need to be started for inspection, which is the collaborative inspection mode; Among them, the preset time threshold is the boundary value for judging the inspection mode, which can be set according to actual conditions, such as 1h or 40min, etc., and there is no specific limitation; after the inspection mode is confirmed, the target inspection trajectory corresponding to each main power inspection robot 5 will also be generated based on the total inspection trajectory. In the independent inspection mode, the total inspection trajectory will be used as the target inspection trajectory of one main power inspection robot 5, and the other main power inspection robot 5 can remain in place; in the collaborative inspection mode, the total inspection trajectory needs to be further divided according to the following steps S103a and S103b to obtain the target inspection trajectory of each main power inspection robot 5 to perform this inspection task.

[0050] Specifically, see Figure 3 "Based on the total inspection trajectory, obtain the target inspection trajectory of each main power inspection robot 5 performing this inspection task", which specifically includes the following steps: S103a, dividing the total inspection trajectory according to the number and position of the detection points to obtain multiple candidate collaborative path combinations, each candidate collaborative path combination includes two candidate inspection trajectories; In the collaborative inspection mode, the total inspection trajectory needs to be divided according to the number and location of the detection points to obtain multiple candidate collaborative path combinations; for example, Figure 7 The total inspection trajectory shown is a closed path composed of ABDGCA, and the following multiple candidate collaborative path combinations can be obtained, including: {B,ACG}, {BD,ACG}, {BDG,AC}, {BDGC,A}, {ABD,CG} and {ABDC,G}, etc.; among them, Figure 6 and Figure 7The division of trajectory 1 and trajectory 2 shown corresponds to {ABD, CG} and {B, AJG} respectively; in simple terms, the simple standard of division is to divide all continuous detection points into two groups based on the location of the detection points while ensuring the continuity of the detection points. These two groups are the alternative inspection trajectories; since the division situations are diverse, for example, there are a total of 10 detection points, which can be divided according to the number of detection points such as 1 and 9, 2 and 8, 3 and 7, etc., to obtain multiple alternative collaborative path combinations.

[0051] S103b, calculate the first inspection duration and the second inspection duration corresponding to the two alternative inspection trajectories included in each alternative collaborative path combination, and use the two alternative inspection trajectories in the alternative collaborative path combination with the smallest difference between the first inspection duration and the second inspection duration as the target inspection trajectories of the two main power inspection robots 5 respectively.

[0052] Specifically, the distances between different inspection points are different, and the inspection time required for each power equipment is also different. Therefore, the difference in the number of inspection points cannot be used as the final judgment standard. Instead, it is necessary to combine the distance passed, the speed of the power inspection robot, and the inspection time required to pass the inspection points to obtain each alternative inspection trajectory, that is, calculate the first inspection time corresponding to the two alternative inspection trajectories contained in all alternative collaborative path combinations. T1 and the second inspection duration T2 .

[0053] Next, obtain the first inspection duration corresponding to each candidate collaborative path combination T1 and the second inspection duration T2 And the difference between the two inspection times ΔT , the difference ΔT The two alternative inspection trajectories within the smallest alternative cooperative path combination are used as the target inspection trajectories of the two main power inspection robots 5, which can increase the utilization rate of the main power inspection robots 5 and improve the inspection efficiency.

[0054] For example, Figure 6 and Figure 7 The shown tracks 1 and 2, tracks 1* and tracks 2* are respectively used as two sets of alternative collaborative path combinations. If the first inspection duration corresponding to the two alternative inspection tracks 1* and 2* is T1 and the second inspection duration T2 The difference is smaller. At this time, the trajectory formed by ABD is one target inspection trajectory of this inspection task, and the other target inspection trajectory is CG.

[0055] S200, obtaining the detection results of each detection point detected by each main power inspection robot 5, and based on the detection results and the correlation relationship between the detected detection points, judging that if the detection result of the current detection point of one of the main power inspection robots 5 is inconsistent with the detection result of the detection point associated with it, then the current detection point is regarded as the abnormal detection occurrence point; Specifically, after obtaining the target inspection trajectory of each main power inspection robot 5, the main power inspection robot 5 can perform the inspection task according to the corresponding target inspection trajectory and inspect each power equipment; in order to ensure the accuracy of the inspection results, in the embodiment of the present application, it is necessary to obtain the inspection results of each inspection point that has been inspected by each main power inspection robot 5, and at the same time, combine the correlation between the inspection points to review the inspection results.

[0056] The correlation between the various detection points here is essentially the correlation between the various power equipment. When one power equipment fails, the power equipment associated with it will inevitably fail as well. At this time, the detection points of these two power equipment are defined as associated detection points; then when the detection result of the main power inspection robot 5 at the current detection point is inconsistent with the detection result of the detection point associated with it, the risk of incorrect detection result output arises. The current detection point is used as the point where the abnormal detection occurs, which facilitates the subsequent review of the detection results.

[0057] Furthermore, the introduction of associated detection points is entirely based on the fact that the internal components of current power plants or substations are highly correlated, and this characteristic is cleverly used as a key parameter for discovering and verifying whether the output detection results are incorrect; associated detection points, for example, the main transformer, the auxiliary transformer and the high-voltage switchgear connected thereto have a certain correlation in the detection process of current and voltage operating parameters. When the high-voltage switchgear operates abnormally, the electric energy of the main transformer or the auxiliary transformer will inevitably be affected in transmission and distribution. Then the main transformer, the auxiliary transformer, the high-voltage switchgear and the remaining electrical components with a connection relationship can all be used as associated detection points to each other to the first degree; among them, since the main transformer and the auxiliary transformer are often two devices running in parallel, in addition to the electrical correlation between the two, there is also a certain correlation in temperature detection, sound and vibration detection; in addition, the generator and the excitation system, the circuit breaker and the power protection device, the busbar and the corresponding connection equipment, etc. can also be used as associated detection sites, and these associated detection sites are all correlated in at least one aspect such as electrical, appearance, and noise.

[0058] In the application embodiment, the power equipment corresponding to each detection point has at least one detection indicator, and each detection indicator corresponds to a detection result; wherein the detection indicators include at least: appearance, noise, temperature, operating parameters (operating current and voltage) and insulation performance, environmental inspection, etc., and the detection indicators of each power equipment are planned according to the actual type of power equipment inside the power plant and the technical personnel's foresight experience, and when the main power inspection robot 5 and the standby power inspection robot 6 perform inspections, each detection indicator will generate a corresponding detection result.

[0059] In a preferred embodiment, combined with the above content, it can be seen that due to the large number of detection indicators, the correlation of each detection point also requires certain prerequisites. For example, the main transformer and the high-voltage switchgear are correlated in operating parameters, but the two are independent in appearance and noise detection. For the cooling system, if the fan is located inside the cooling system, then the two are correlated in noise, but the operating parameters are indeed independent and controlled by different drivers. Therefore, in the embodiment of the present application, a method is also provided for determining whether the detection result of the current detection point is inconsistent with the detection result of the detection point associated with it based on the complex correlation relationship between the detection points. The process includes the following steps: Step 1: Based on the correlation relationship between the detection points, a plurality of control detection point sets associated with the current detection point are obtained from the detected detection points according to each detection index of the current detection point; each detection index corresponds to a control detection point set; Specifically, since the types, structures, electrical connection relationships and other parameters of the power equipment that need to be inspected inside the power plant are all known parameters, each inspection indicator at each inspection point has its corresponding associated inspection point. For details, please refer to the structure example of the power equipment association database in Table 1 below.

[0060] Table 1 Example of the structure of the power equipment association database

[0061] Among them, N1 and N2, E1, E2 and E3, F1 and M1 are all represented as detection indicators, and the detection indicators represented by the same letter are the same, but they are divided into different groups due to the difference of related power equipment, and the related power equipment in each group are related to each other under the corresponding detection indicators; A, B, D, C, G, J, L, P, W are respectively represented as different related power equipment, and a, b, d, c, g, j, l, p, w are respectively represented as detection points of different related power equipment; the related power equipment and detection points represented by the same letter match each other. It should be noted that the structure of the power equipment association database in Table 1 is only used as an example for reference. The actual structure needs to be established based on the power equipment, circuit connection relationship and other conditions within the power plant, and no special limitation is made here.

[0062] Furthermore, when the correlation between each detection point is clarified, a set of control detection points can be obtained based on each detection indicator; Figure 6 Take the structure of the database associated with the above-mentioned power equipment as an example: assuming that a, b, d, c, and g are currently the detected detection points, and the main power inspection robot 5 is located at the detection point g, then the reference detection point set P1={c} formed for the detection index N2, and the power equipment associated with it is C; the reference detection point set P2={a, b, d} formed for the detection index E1, and the power equipment associated with it are A, B, D; and so on, multiple reference detection point sets can be obtained.

[0063] Step 2: Based on the detection results of each detection index of the current detection point, for each detection index, the detection result of the current detection point is compared with the detection results of each associated detection point in the control detection point set corresponding to the detection index, and a comparison result is obtained; When the correlation between each detection point and the control detection point set are clarified, the detection results of each detection indicator of the current detection point can be compared with the detection results of each associated detection point in the corresponding control detection point set; similarly, using the aforementioned control detection point set P1={c} and control detection point set P2={a, b, d} as an example, the comparison results obtained at this time are the comparison results generated by g and c for the detection indicator N2 and the comparison results generated by g and a, b, d for the detection indicator E1.

[0064] Step 3: If at least one comparison result is inconsistent, it is determined that the detection result of the current detection point is inconsistent with the detection result of the detection point associated with it.

[0065] Combination Figure 6 and Figure 7Continuing with the above example, it is assumed that the test result for the test index N2 output at the current test point g is qualified, and the test result for the test index E1 is unqualified; the test results of the reference test point set P1={c} and the reference test point set P2={a, b, d} are both qualified. It can be seen that the comparison results generated by the current test point g and the associated test points a, b, d are inconsistent. At this time, the current test point g is the point where the abnormal detection occurs.

[0066] S300, according to the location information of the abnormal detection occurrence point, control the turning track section 31 to be connected with the introduction track 4, and start the standby power inspection robot 6 to enter the cutting inspection track 3 through the introduction track 4, so that the standby power inspection robot 6 enters the target inspection track where the abnormal detection occurrence point is located, and performs secondary inspection on the power equipment at the abnormal detection occurrence point; Specifically, in combination with the foregoing content, it can be known that when an abnormal detection point occurs, there is a risk that the output detection result will be erroneous. Therefore, in the embodiment of the present application, it is necessary to timely control the connection between the changing track segment 31 and the import track 4 according to the position information of the abnormal detection point, and start the standby power inspection robot 6 to enter the target inspection track where the abnormal detection point is located, and perform secondary inspection on the power equipment at the abnormal detection point, so as to determine whether the detection result at the abnormal detection point is incorrect. If it is correct, it means that the detection result of the detection point associated with it is incorrect.

[0067] Further, see Figure 4 , Figure 8 and Fig. 9 The aforementioned step S300 is expanded to include the following steps: S301, generating a re-inspection trajectory according to the location information of the abnormal detection occurrence point, and controlling the direction-changing track section 31 to be connected to the introduction track 4; the re-inspection trajectory is the trajectory of the standby power inspection robot 6 moving from the cut-in inspection track 3 to the abnormal detection occurrence point; Specifically, according to the location information of the abnormal detection point and the layout position of the introduction track 4, the re-inspection track is obtained, that is, after the turning track 3 is connected with the introduction track 4 (for details, see Figure 8 and Fig. 9 ), the backup power inspection robot 6 moves from cutting into the inspection track 3 to the trajectory of the abnormality detection occurrence point.

[0068] S302, control the standby power inspection robot to enter the inspection track 3, and move to the abnormal detection point according to the re-inspection track, and perform a secondary inspection on the power equipment at the abnormal detection point.

[0069] After obtaining the above-mentioned re-inspection trajectory, the corresponding control module 7 can control the standby power inspection robot to start, and move to the point where the abnormal detection occurs according to the re-inspection trajectory, perform secondary inspection on the power equipment at the point where the abnormal detection occurs, and generate new secondary inspection results as conditions for judging the fault detection point.

[0070] In a preferred embodiment, since the embodiment of the present application also includes a situation that only one main power inspection robot 5 performs the inspection task in the independent inspection mode, in this mode, if the aforementioned comparison result is inconsistent, it is highly likely that the main power inspection robot 5 has a fault, resulting in inconsistent detection results at the associated inspection points. At this time, the subjects that can perform secondary inspections include the backup power inspection robot 6 and the other main power inspection robot 5, so the control method proposed in the embodiment of the present application also includes the following steps: Step R1, when the inspection mode is independent inspection, respectively obtain the first time duration and the second time duration of another main power inspection robot 5 and the backup power inspection robot 6 moving to the abnormality detection occurrence point; The first duration is obtained based on the path from the parking position of the other main power inspection robot 5 to the abnormal detection occurrence point and its own moving speed, and the second duration is obtained based on the abnormal detection occurrence point, the layout position of the import track 4 and the moving speed of the backup power inspection robot 6 itself.

[0071] Here, the first duration and the second duration are both used to reflect the speed at which the main power inspection robot 5 and the backup power inspection robot 6 move to the point where the abnormality detection occurs.

[0072] Step R2: If the first time length is greater than or equal to the second time length, the direction-changing track 3 is controlled to be connected with the introduction track 4, and the standby power inspection robot 6 moves to the abnormal detection point to perform secondary inspection on the corresponding power equipment; Step R3: If the first time duration is less than the second time duration, another main power inspection robot 6 is controlled to move to the point where the abnormal detection occurs, and perform a secondary inspection on the corresponding power equipment.

[0073] In combination with the aforementioned steps R2 and R3, it can be seen that after obtaining the specific first time length and the second time length, the backup power inspection robot 6 or another main power inspection robot 5 that moves to the abnormal detection point faster can be selected to perform a secondary inspection on the abnormal detection point based on the comparison between the first time length and the second time length; in this way, the entire inspection system can be helped to quickly lock the fault detection point and the faulty main power inspection robot 5.

[0074] S400, based on the secondary detection results, the detection results of the main power inspection robot 5 at the abnormal detection point and the detection results of the detection points associated with the abnormal detection point, update the detection results of the power equipment at the abnormal detection point.

[0075] Specifically, after obtaining the secondary detection results output by the main power inspection robot 5 or the backup power inspection robot 6 for secondary detection, the detection results of the main power inspection robot 5 at the abnormal detection point and the detection results of the detection points related to the abnormal detection point can be combined to make a judgment on the fault detection point and update the detection results of the power equipment at the abnormal detection point.

[0076] Further, see Figure 5 The aforementioned step S400 is expanded to include the following steps: S401, if the secondary detection result is consistent with the detection result of the main power inspection robot 5 at the abnormal detection occurrence point, the main power inspection robot 5 used for detecting the detection point associated with the abnormal detection occurrence point is determined to be a faulty main power inspection robot, and the detection result of the main power inspection robot 5 at the abnormal detection occurrence point is used as the detection result of the abnormal detection occurrence point; S402. If the secondary detection result is inconsistent with the detection result of the main power inspection robot 5 at the abnormal detection point, the main power inspection robot 5 used to detect the abnormal detection point is determined to be a faulty main power inspection robot, and the secondary detection result is used as the detection result of the abnormal detection point.

[0077] Specifically, the detection results of the main power inspection robot 5 at the abnormal detection point are compared with the secondary detection result as the standard. If the detection results of the two are consistent, then the main power inspection robot 5 used to detect the detection point associated with the abnormal detection point is determined to be a faulty main power inspection robot. At this time, the detection result of the abnormal detection point does not need to be updated, and the detection result of the main power inspection robot 5 at the abnormal detection point can be used as the detection result of the abnormal detection point; accordingly, if the detection results of the two are inconsistent, then the main power inspection robot 5 detecting the abnormal detection point is determined to be a faulty main power inspection robot, and the detection result of the abnormal detection point needs to be updated to the secondary detection result. Such a design allows the fault relationship between the abnormal detection point and the detection point associated with it to be quickly identified and locked, preventing the waste of manpower and material resources in the later stage caused by the error in the detection results, and the safety problems or cost problems caused by the failure to timely maintain the faulty power equipment.

[0078] Furthermore, taking the comparison results generated by the current detection point g and the associated detection points a, b, d as inconsistent, the current detection point g is the point where the abnormal detection occurs as an example: at this time, the detection results output by the detection points a, b, d for the detection index E1 are qualified, while the detection result of the current detection point g for the detection index E1 is unqualified, then if the secondary detection result U shows to be qualified, then the main power inspection robot 5 at the current detection point g is considered to be a faulty main power inspection robot, otherwise, the main power inspection robot 5 at the associated detection point is considered to be a faulty main power inspection robot.

[0079] In a preferred embodiment, after the faulty main power inspection robot is determined in the embodiment of the present application, in order to ensure the rigor and accuracy of the detection result, the method further includes the following steps: Step K2: using the target inspection trajectory of the faulty main power inspection robot as the secondary inspection trajectory of another main power inspection robot 5 or the backup power inspection robot 6 for secondary inspection.

[0080] Specifically, after the faulty main power inspection robot is confirmed, its target inspection trajectory can be directly obtained as the secondary inspection trajectory of the other main power inspection robot 5 or the backup power inspection robot 6 that is currently performing the secondary inspection, and the other main power inspection robot 5 or the backup power inspection robot 6 can be controlled to perform secondary inspection on the power equipment on the target inspection trajectory according to the secondary inspection trajectory; of course, if the main power inspection robot 5 at the point where the abnormal detection occurs is a faulty main power inspection robot, when performing the secondary inspection, there is no need to re-inspect the power equipment that has already undergone the secondary inspection.

[0081] Combination of the above Figure 1-Figure 9 The control method of the suspended electric power inspection robot provided in the embodiment of the present application is introduced in detail. The device provided in the embodiment of the present application will be introduced in conjunction with the accompanying drawings.

[0082] See also Figure 6 As shown, this figure is a structural schematic diagram of a control device of a suspended main power inspection robot provided in an embodiment of the present application, and the control device 600 includes: The acquisition module 601 is used to obtain the target inspection trajectory of each main power inspection robot 5 for performing the current inspection task and the detection results of each detection point detected by each main power inspection robot 5, and based on the correlation between each detection result and each detected detection point, if the detection result of the current detection point of one of the main power inspection robots 5 is inconsistent with the detection result of the detection point associated with it, the current detection point is used as the abnormal detection occurrence point; The control module 602 is used to control the direction-changing track section 31 to be connected with the lead-in track 4 according to the position information of the abnormal detection occurrence point, and start the standby power inspection robot 6 to enter the cut-in inspection track 3 through the lead-in track 4, so that the standby power inspection robot 6 enters the target inspection track where the abnormal detection occurrence point is located, and performs secondary inspection on the power equipment at the abnormal detection occurrence point; Processing module 603, processing module 603 is used to update the detection results of the power equipment at the abnormal detection point based on the secondary detection results, the detection results of the main power inspection robot 5 at the abnormal detection point and the detection results of the detection points associated with the abnormal detection point.

[0083] Specifically, in actual applications, the acquisition module 601 is used to acquire the target inspection trajectory of the main power inspection robot 5 for performing this inspection task, and then the control module 602 controls the main power inspection robot 5 to detect the power equipment at the detection points on the target inspection trajectory according to the current target inspection trajectory. In this process, the acquisition module 601 also needs to acquire the detection results output by each main power inspection robot 5, and obtain the abnormal detection point based on the correlation between the detection results and the detected detection points; after the abnormal detection point is confirmed, the control module 602 controls the variable again. The track section 31 is connected to the import track 4, and the standby power inspection robot 6 is started to arrive at the abnormal detection point according to the corresponding re-inspection trajectory generated by the acquisition module 601 to perform secondary inspection on the power equipment at this location to obtain the secondary inspection result; finally, the processing module 603 obtains the actual detection point (fault detection point) with incorrect output detection result through comparison based on the secondary inspection result, the detection result of the main power inspection robot 5 at the abnormal detection point, and the detection result of the detection point associated with the abnormal detection point, and promptly updates the detection result of the power equipment at the abnormal detection point.

[0084] It should be noted that the control device 600 according to the embodiment of the present application may correspond to executing the method described in the embodiment of the present application, and the above and other operations and / or functions of each module of the control device 600 are respectively to achieve Figure 1 For the sake of brevity, the corresponding process of the method in the illustrated embodiment will not be repeated here.

[0085] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A control method for a suspended power inspection robot, characterized in that: The suspended power inspection robot is used inside a power plant and is used to inspect a plurality of power equipment inside the power plant, and each of the power equipment is provided with a corresponding detection point; the top of the power plant area comprises a plurality of main inspection tracks (2) arranged between two detection points, and at least one of the main inspection tracks (2) is an entry inspection track (3) comprising a movable turning track segment (31), the turning track segment (31) being used to conduct or cut off the connection between the entry inspection track (3) and the introduction track (4); two main power inspection robots (5) are arranged on the main inspection track (2), and at least one standby power inspection robot (6) is arranged on the introduction track (4); the control method comprises: Obtaining a target inspection trajectory for each of the main power inspection robots (5) to perform the current inspection task; Obtaining the detection results of each detection point detected by each main power inspection robot (5), and based on the detection results and the association relationship between the detection points that have been detected, determining that if the detection result of a current detection point of one of the main power inspection robots (5) is inconsistent with the detection result of a detection point associated with it, then taking the current detection point as the abnormal detection occurrence point; According to the position information of the abnormal detection occurrence point, the direction-changing track section (31) is controlled to be connected with the introduction track (4), and the backup power inspection robot (6) is started to enter the cut-in inspection track (3) through the introduction track (4), so that the backup power inspection robot (6) enters the target inspection track where the abnormal detection occurrence point is located, and performs secondary inspection on the power equipment at the abnormal detection occurrence point; Based on the secondary detection result, the detection result of the main power inspection robot (5) at the abnormal detection point, and the detection results of the detection points associated with the abnormal detection point, the detection result of the power equipment at the abnormal detection point is updated.

2. The control method of the suspended power inspection robot according to claim 1, characterized in that: Obtaining the target inspection trajectory of each main power inspection robot (5) performing the inspection task, specifically including: Obtain the total inspection trajectory of the inspection task and the total inspection time of a single main power inspection robot performing the inspection task; If the total inspection time is less than or equal to a preset time threshold, an independent inspection mode is selected, and the total inspection trajectory is used as a target inspection trajectory of one of the main power inspection robots (5); If the total inspection time is greater than a preset time threshold, a collaborative inspection mode is selected, and based on the total inspection trajectory, a target inspection trajectory for each main power inspection robot (5) to perform the current inspection task is obtained.

3. The control method of the suspended power inspection robot according to claim 2, characterized in that: Based on the total inspection trajectory, a target inspection trajectory of each main power inspection robot (5) performing the inspection task is obtained, specifically including: Dividing the total inspection trajectory according to the number and position of the detection points to obtain a plurality of candidate collaborative path combinations, each of the candidate collaborative path combinations including two candidate inspection trajectories; The first inspection duration and the second inspection duration corresponding to the two alternative inspection trajectories included in each of the alternative collaborative path combinations are calculated, and the two alternative inspection trajectories in the alternative collaborative path combination with the smallest difference between the first inspection duration and the second inspection duration are respectively used as target inspection trajectories of the two main power inspection robots (5).

4. The control method of the suspended power inspection robot according to claim 1, characterized in that: Each of the detection points corresponds to an electric power device having at least one detection index, and each of the detection indexes corresponds to a detection result; the method further includes: Based on the association relationship between the detection points, a plurality of control detection point sets associated with the current detection point are respectively obtained from the detected detection points according to each detection index of the current detection point; each detection index corresponds to one control detection point set; Based on the detection results of each detection index of the current detection point, for each detection index, respectively compare the detection result of the current detection point with the detection results of each associated detection point in the reference detection point set corresponding to the detection index, and obtain a comparison result; If at least one of the comparison results is inconsistent, it is determined that the detection result of the current detection point is inconsistent with the detection result of the detection point associated therewith.

5. The control method of the suspended electric power inspection robot according to claim 4, characterized in that: Controlling the direction-changing track section (31) to be connected to the introduction track (4), and starting the standby power inspection robot (6) to enter the cut-in inspection track (3) via the introduction track (4), so that the standby power inspection robot (6) enters the target inspection track where the abnormality detection point is located, and performs secondary inspection on the power equipment at the abnormality detection point, specifically comprising: A re-inspection track is generated according to the position information of the abnormality detection occurrence point, and the direction-changing track section (31) is controlled to be connected to the introduction track (4); the re-inspection track is the track of the backup power inspection robot (6) moving from the entry inspection track (3) to the abnormality detection occurrence point; The standby power inspection robot is controlled to enter the inspection track (3), and moves to the abnormal detection occurrence point according to the re-inspection track, and performs a secondary inspection on the power equipment at the abnormal detection occurrence point.

6. The control method of the suspended electric power inspection robot according to claim 4, characterized in that: The method further includes: When the inspection mode is independent inspection, respectively obtaining a first duration and a second duration for another main power inspection robot (5) and the backup power inspection robot (6) to move to the abnormality detection occurrence point; If the first time length is greater than or equal to the second time length, the direction-changing track (3) is controlled to be connected to the introduction track (4), and the backup power inspection robot (6) moves to the abnormal detection occurrence point to perform secondary inspection on the corresponding power equipment; If the first time length is shorter than the second time length, another of the main power inspection robots (6) is controlled to move to the point where the abnormal detection occurs, and perform a secondary inspection on the corresponding power equipment.

7. The control method of the suspended power inspection robot according to claim 5 or 6, characterized in that: Based on the secondary detection result, the detection result of the main power inspection robot (5) at the abnormal detection point, and the detection result of the detection point associated with the abnormal detection point, updating the detection result of the power equipment at the abnormal detection point, specifically includes: If the secondary detection result is consistent with the detection result of the main power inspection robot (5) at the abnormal detection occurrence point, the main power inspection robot (5) used for detecting the detection point associated with the abnormal detection occurrence point is determined to be a faulty main power inspection robot, and the detection result of the main power inspection robot (5) at the abnormal detection occurrence point is used as the detection result of the abnormal detection occurrence point; If the secondary detection result is inconsistent with the detection result of the main power inspection robot (5) at the abnormal detection occurrence point, the main power inspection robot (5) used to detect the abnormal detection occurrence point is determined to be a faulty main power inspection robot, and the secondary detection result is used as the detection result of the abnormal detection occurrence point.

8. The control method of the suspended electric power inspection robot according to claim 7, characterized in that: The method further includes: The target inspection trajectory of the faulty main power inspection robot is used as a secondary inspection trajectory of another main power inspection robot (5) or the backup power inspection robot (6) for secondary inspection.

9. A control device for a suspended power inspection robot, characterized in that: include: An acquisition module (601), the acquisition module (601) is used to acquire the target inspection trajectory of each main power inspection robot (5) performing the current inspection task and the detection results of each detection point detected by each main power inspection robot (5), and based on the association between each detection result and each detection point that has been detected, if the detection result of the current detection point of one of the main power inspection robots (5) is inconsistent with the detection result of the detection point associated with it, then the current detection point is used as the abnormal detection occurrence point; A control module (602), the control module (602) being used to control the direction-changing track section (31) to be connected to the introduction track (4) according to the position information of the abnormal detection occurrence point, and to start the standby power inspection robot (6) to enter the cut-in inspection track (3) through the introduction track (4), so that the standby power inspection robot (6) enters the target inspection track where the abnormal detection occurrence point is located, and performs secondary inspection on the power equipment at the abnormal detection occurrence point; A processing module (603), the processing module (603) is used to update the detection result of the power equipment at the abnormal detection point based on the secondary detection result, the detection result of the main power inspection robot (5) at the abnormal detection point, and the detection result of the detection point associated with the abnormal detection point.

10. A power inspection system, characterized in that: The control method according to any one of claims 1 to 8 is applied to the power inspection system applied inside a power plant, and the system comprises: A track module (1), the track module (1) being arranged on the top of the power plant, the track module (1) comprising: a plurality of main inspection tracks (2) cooperating with each other and at least one introduction track (4); the plurality of main inspection tracks (2) being arranged respectively between detection points of two power equipments, the main inspection tracks (2) comprising a cut-in inspection track (3), the cut-in inspection track (3) comprising a movable turning track section (31) in the middle; The direction-changing track segment (31) has a first station and a second station; when the direction-changing track segment (31) is located at the first station, the direction-changing end of the direction-changing track segment (31) remains connected to the entry inspection track (3); when the direction-changing track segment (31) is located at the second station, the direction-changing end of the direction-changing track segment (31) is connected to the introduction track (4); A power inspection robot group, the power inspection robot group comprising at least two main power inspection robots (5) and one backup power inspection robot (6), the main power inspection robots (5) being used to move along the main inspection track (2) and inspect the corresponding power equipment at each inspection point; the backup power inspection robot (6) being arranged on the introduction track (4) and being able to enter the cut-in inspection track (3) through the introduction track (4) when the change-of-direction track section (31) is located at the second workstation; A control module (7), wherein the control module (7) is in signal communication with the track module (1) and the electric power inspection robot group, and the control module (7) comprises at least: a control unit (71), a communication unit (72) and a collection unit (73); the collection unit (73) is used to receive and analyze the detection results output by the electric power inspection robot group through the communication unit (72), and send them to the control unit (71); the control unit (71) is used to control the track module (1) and the electric power inspection robot group to perform corresponding actions according to the detection results.

Images