Control Method, Device and Power Inspection System of Suspended Power Inspection Robot

Abstract

The present application discloses a control method, device and power inspection system for a suspended power inspection robot, relating to the technical field of power inspection robot equipment. The control method includes: obtaining the target inspection trajectory of each main power inspection robot for performing the current inspection task and the inspection results at each detected point position detected by each main power inspection robot, and obtaining the position where the abnormal detection occurs based on the correlation between each inspection result and each detected point position; subsequently, starting a standby power inspection robot to enter the target inspection trajectory where the abnormal detection occurs, and performing secondary detection on the power equipment at the position where the abnormal detection occurs; updating the inspection result of the power equipment at the position where the abnormal detection occurs based on the secondary detection result, the inspection result of the main power inspection robot at the position where the abnormal detection occurs, and the inspection results of the associated detected point positions. This method can effectively improve the accuracy of the inspection results output by the power inspection robot and its inspection efficiency.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of electric power inspection robot equipment, and in particular 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 in 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 significantly improve inspection efficiency and accuracy, reduce human error, and ensure the stable operation of power systems. However, existing power inspections typically rely on a single inspection robot to determine faults. This approach not only increases the operator's burden but can also lead to delayed fault handling or inaccurate reporting, compromising the efficiency and effectiveness of troubleshooting. To address this issue, 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 desired to provide a control method and device for a suspended power inspection robot and a 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 used inside a power plant to inspect multiple electric power equipment inside the power plant, and each electric power equipment corresponds to a detection point; the top of the power plant area includes multiple 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, two main electric power inspection robots are arranged on the main inspection track, and at least one backup electric power inspection robot is arranged on the introduction track; the control method includes:

[0007] Obtain the target inspection trajectory of each main power inspection robot when performing the inspection task;

[0008] Obtain the detection results at each detected point of each of the main power inspection robots, and based on each of the detection results and the association relationship of each of the detected points that have been detected, determine that if the detection result of the current detected point of one of the main power inspection robots is inconsistent with the detection results of the associated detected points, then use the current detected point as the abnormal detection occurrence point;

[0009] According to the location information of the abnormal detection occurrence point, control the variable-direction track section to be connected to the import track, and start the standby power inspection robot to enter the cut-in inspection track through the import track, so that the standby power inspection robot enters the target inspection track where the abnormal detection occurrence point is located, and perform a secondary detection on the power equipment at the abnormal detection occurrence point;

[0010] Based on the secondary detection result, the detection result of the main power inspection robot at the abnormal detection occurrence point, and the detection results of the detected points associated with the abnormal detection occurrence point, update the detection result of the power equipment at the abnormal detection occurrence point.

[0011] According to the technical solution provided by the present application, obtaining the target inspection track for each of the main power inspection robots to perform the current inspection task specifically includes:

[0012] Obtain the total inspection track of the current inspection task and the total inspection duration of a single main power inspection robot to perform the current inspection task;

[0013] If the total inspection duration is less than or equal to a preset duration threshold, select the independent inspection mode, and use the total inspection track as the target inspection track of one of the main power inspection robots;

[0014] If the total inspection duration is greater than the preset duration threshold, select the collaborative inspection mode, and based on the total inspection track, obtain the target inspection track for each of the main power inspection robots to perform the current inspection task.

[0015] According to the technical solution provided by the present application, obtaining the target inspection track for each of the main power inspection robots to perform the current inspection task based on the total inspection track specifically includes:

[0016] Divide the total inspection track according to the number and location of the detected points to obtain a plurality of alternative collaborative path combinations, and each alternative collaborative path combination includes two alternative inspection tracks;

[0017] Calculate 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, and respectively 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.

[0018] According to the technical solution provided by the present application, each power device corresponding to each detection point has at least one detection index, and each detection index corresponds to one detection result; the method further includes:

[0019] Based on the association relationship of each detection point, respectively obtain a plurality of sets of control detection points associated with the current detection point among the detected detection points according to each detection index of the current detection point; each detection index corresponds to a set of control detection points;

[0020] 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 the associated detection points in the set of control detection points corresponding to the detection index, and obtain a comparison result;

[0021] If at least one of the comparison results is inconsistent, it is determined that the detection result of the current detection point and the detection results of the detection points associated with it are inconsistent.

[0022] According to the technical solution provided by the present application, control the variable-direction track section to be connected to the import track, and start the standby power inspection robot to enter the cut-in inspection track through the import track, so that the standby power inspection robot enters the target inspection track where the abnormal detection occurrence point is located, and perform secondary detection on the power device at the abnormal detection occurrence point, specifically including:

[0023] Generate a re-inspection trajectory according to the position information of the abnormal detection occurrence point, and control the variable-direction track section to be connected to the import track; the re-inspection trajectory is the trajectory for the standby power inspection robot to move from the cut-in inspection track to the abnormal detection occurrence point;

[0024] Control the standby power inspection robot to enter the cut-in inspection track, and move to the abnormal detection occurrence point according to the re-inspection trajectory, and perform secondary detection on the power device at the abnormal detection occurrence point.

[0025] According to the technical solution provided by the present application, the method further includes:

[0026] When the inspection mode is independent inspection, obtain the first duration and the second duration for the other main power inspection robot and the standby power inspection robot to move to the abnormal detection occurrence point respectively;

[0027] If the first duration is greater than or equal to the second duration, control the diversion track to communicate with the import track, and let the standby power inspection robot move to the abnormal detection occurrence point to perform secondary detection on the corresponding power equipment;

[0028] If the first duration is less than the second duration, control the other main power inspection robot to move to the abnormal detection occurrence point to perform secondary detection on the corresponding power equipment.

[0029] 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 occurrence point, and the detection results of the detection points associated with the abnormal detection occurrence point, update the detection result of the power equipment at the abnormal detection occurrence point, specifically including:

[0030] If the secondary detection result is consistent with the detection result of the main power inspection robot at the abnormal detection occurrence point, determine the main power inspection robot used to detect the detection points associated with the abnormal detection occurrence point as a faulty main power inspection robot, and use the detection result of the main power inspection robot at the abnormal detection occurrence point as the detection result of the abnormal detection occurrence point;

[0031] If the secondary detection result is inconsistent with the detection result of the main power inspection robot at the abnormal detection occurrence point, determine the main power inspection robot used to detect the abnormal detection occurrence point as a faulty main power inspection robot, and use the secondary detection result as the detection result of the abnormal detection occurrence point.

[0032] According to the technical solution provided by the present application, the method further includes:

[0033] Use the target inspection trajectory of the faulty main power inspection robot as the secondary inspection trajectory of the other main power inspection robot or the standby power inspection robot for secondary inspection.

[0034] In a second aspect, the present application provides a control device for a suspended power inspection robot, including:

[0035] An acquisition module, which is configured to acquire the target inspection trajectory of each main power inspection robot for performing the current inspection task and the inspection results at each detected point position detected by each main power inspection robot, and based on the inspection results and the association relationship of the detected point positions that have been detected, determine that if the inspection result of the current detected point position of one of the main power inspection robots is inconsistent with the inspection results of the associated detected point positions, then use the current detected point position as the abnormal detection occurrence point position;

[0036] A control module, which is configured to control the variable-direction track section to communicate with the import track according to the position information of the abnormal detection occurrence point position, and start the standby power inspection robot to enter the cut-in inspection track through the import track, so that the standby power inspection robot enters the target inspection trajectory where the abnormal detection occurrence point position is located to perform secondary detection on the power equipment at the abnormal detection occurrence point position;

[0037] A processing module, which is configured to update the inspection result of the power equipment at the abnormal detection occurrence point position based on the secondary detection result, the inspection result of the main power inspection robot at the abnormal detection occurrence point position, and the inspection results of the detected point positions associated with the abnormal detection occurrence point position.

[0038] 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:

[0039] A track module, which is arranged on the top of the power plant. The track module includes: multiple main inspection tracks and at least one import track that cooperate with each other; the multiple main inspection tracks are respectively arranged between the detection point positions of two power equipment, and one of the main inspection tracks includes a cut-in inspection track, and a movable variable-direction track section is included in the middle of the cut-in inspection track;

[0040] Wherein, the variable-direction track section has a first working position and a second working position; when the variable-direction track section is in the first working position, the variable-direction end of the variable-direction track section remains connected to the cut-in inspection track; when the variable-direction track section is in the second working position, the variable-direction end of the variable-direction track section is connected to the import track;

[0041] A power inspection robot group, which includes at least two main power inspection robots and one standby power inspection robot. The main power inspection robots are configured to move along the main inspection tracks and perform inspections on the corresponding power equipment at each detection point position; the standby power inspection robot is arranged on the import track, and when the variable-direction track section is in the second working position, it can enter the cut-in inspection track through the import track;

[0042] A control module, which is in signal connection with both the track module and the power inspection robot group. The control module at least includes: a control unit, a communication unit, and a collection unit; the collection unit is configured to receive and analyze the detection results output by the power inspection robot group through the communication unit and send them to the control unit; the control unit is configured to control the track module and the power inspection robot group to perform corresponding actions according to the detection results.

[0043] In summary, the present technical solution specifically discloses a control method, device, and power inspection system for a suspended power inspection robot; wherein, the control method includes: each main power inspection robot executes the target inspection trajectory of the current inspection task; obtaining the detection results at each detected detection point of each main power inspection robot, and based on the detection results and the association relationship of the detected detection points, determining that if the detection result at the current detection point of one of the main power inspection robots is inconsistent with the detection results at the associated detection points, then the current detection point is used as the abnormal detection occurrence point; according to the position information of the abnormal detection occurrence point, controlling the variable-direction track section to be connected to the import track, and starting the standby power inspection robot to enter the cut-in inspection track through the import track, so that the standby power inspection robot enters the target inspection trajectory where the abnormal detection occurrence point is located to perform secondary detection 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 occurrence point, and the detection results of the detection points associated with the abnormal detection occurrence point, updating the detection results of the power equipment at the abnormal detection occurrence point.

[0044] Existing power inspections usually rely on the fault judgments made by a single inspection robot. This method not only increases the burden on operators but also may lead to untimely fault handling or inaccurate reported information. In this application, a power inspection robot combination consisting of two main power inspection robots and one standby power inspection robot is used to inspect the interior of a power plant. The synchronous inspections of the two main power inspection robots are used to save the inspection duration. At the same time, by constructing the association relationships of various detections, different detection results are used as control groups to quickly judge the occurrence of faults; finally, the standby power inspection robot, as a robot that can perform rapid secondary detection, ensures the accuracy of the detection results. This not only further ensures the accuracy of the output detection results but also greatly improves the inspection efficiency. Description of the Drawings

[0045] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present application will become more apparent:

[0046] Figure 1The figure is a flow chart of the control method of the suspended power inspection robot.

[0047] Figure 2 Schematic diagram of the flow of step S100 in the control method of the suspended power inspection robot.

[0048] Figure 3 Schematic diagram of the flow of step S103 in the control method of the suspended power inspection robot.

[0049] Figure 4 Schematic diagram of the flow of step S300 in the control method of the suspended power inspection robot.

[0050] Figure 5 Schematic diagram of the flow of step S400 in the control method of the suspended power inspection robot.

[0051] Figure 6 This is a schematic diagram of the first trajectory planning in the control method of the suspended power inspection robot.

[0052] Figure 7 This is the second schematic diagram of the trajectory planning in the control method of the suspended power inspection robot.

[0053] Figure 8 Schematic diagram of the first working condition of the track module.

[0054] Figure 9 Schematic diagram of the second working condition of the track module.

[0055] Figure 10 The figure is a schematic diagram of the principle of a power inspection system.

[0056] Figure 11 This is a schematic diagram of the structure of the control device of the suspended power inspection robot.

[0057] Numbers in the figure: 1. Track module; 2. Main inspection track; 3. Cut-in inspection track; 31. Change-direction track section; 4. Lead-in 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

[0058] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0059] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may 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.

[0060] In the field of operation and maintenance of today's power systems, with the continuous expansion of the power grid scale and the increase in complexity, ensuring the safe, stable, and efficient operation of power lines has become a major challenge faced by the power industry. At the same time, with the development of power systems, the power network has become increasingly complex, involving numerous devices and lines, and it is difficult for manual inspections to cover all devices and lines. Therefore, it is necessary to improve the efficiency and accuracy of inspections through technological means.

[0061] In recent years, with the continuous progress of artificial intelligence technology, inspection robots have gradually replaced manual inspections and have become more widely and deeply applied in the field of power plant inspections. 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.

[0062] In different usage scenarios, people can select different types of inspection robots to complete the corresponding inspection work. The types of inspection robots are, for example, suspended inspection robots, wheeled inspection robots, unmanned aerial vehicle (UAV) inspection robots, and other forms; among them, the suspended power inspection robot has attracted much attention because it can be suspended and moved on the top or wall inside the computer room, fits well with the internal space of the computer room, and can achieve 24-hour full-coverage inspection without dead angles. However, many existing power inspections usually rely on the fault judgments made by a single inspection robot. This method not only increases the burden on operators but also may lead to untimely fault handling or inaccurate reporting information, affecting the efficiency and effectiveness of fault handling.

[0063] In view of this, this embodiment provides a control method for a suspended power inspection robot, which specifically includes: obtaining the target inspection trajectory of each main power inspection robot 5 for performing the current inspection task; obtaining the inspection results at each detected point detected by each main power inspection robot 5, and based on the inspection results and the association relationship of the detected points that have been detected, judging that if the inspection result of the current detected point of one of the main power inspection robots 5 is inconsistent with the inspection result of the associated detected point, then the current detected point is used as the abnormal detection occurrence point; according to the position information of the abnormal detection occurrence point, controlling the variable-direction track section 31 to communicate with the import track 4, and starting the standby power inspection robot 6 to enter the cut-in inspection track 3 through the import track 4, so that the standby power inspection robot 6 enters the target inspection trajectory where the abnormal detection occurrence point is located, and performs a secondary inspection on the power equipment at the abnormal detection occurrence point; based on the secondary inspection result, the inspection result of the main power inspection robot 5 at the abnormal detection occurrence point, and the inspection result of the detected point associated with the abnormal detection occurrence point, updating the inspection result of the power equipment at the abnormal detection occurrence point.

[0064] It can be seen that in the embodiment of the present application, not only a patrol operation mode of a suspended power inspection robot (both the main power inspection robot and the standby inspection robot are suspended power inspection robots) is proposed, but also the track module relied on by the suspended power inspection robot is improved, so that when the secondary inspection condition is triggered, the standby power inspection robot can be timely introduced to perform a secondary inspection on the power equipment at the corresponding detected point, greatly improving the accuracy of the inspection result and the overall inspection efficiency; in addition, in order to further improve the inspection efficiency, two main power inspection robots that can cooperate with each other are provided in the embodiment of the present application. In this way, on the one hand, the two main power inspection robots can save the inspection time by synchronously performing inspections, and on the other hand, they can form a reference for the inspection results output by each other through the relevance of each detected point, and achieve the role of assisting the user to timely discover the failure of the power inspection robot in another way, further ensuring the accuracy of the output inspection result.

[0065] In order to make the technical solution of the present application clearer and easier to understand, in combination with Figure 1 , a brief description of the structure of the power inspection system and the corresponding application scenarios is first given; specifically, the power inspection system applied in the embodiment of the present application is mainly applied inside a power plant or a small substation. In combination with Figures 8 - 10 , the system includes:

[0066] The track module 1 is arranged on the top of the power plant. The track module 1 includes: multiple main inspection tracks 2 and at least one guiding track 4 that cooperate with each other; the multiple main inspection tracks 2 are respectively arranged between the detection points of two power equipment, and the main inspection track 2 also includes an inserted inspection track 3, and the middle of the inserted inspection track 3 includes a movable direction-changing track section 31;

[0067] Wherein, the direction-changing track section 31 has a first working position and a second working position; when the direction-changing track section 31 is in the first working position, the direction-changing end of the direction-changing track section 31 remains connected to the inserted inspection track 3; when the direction-changing track section 31 is in the second working position, the direction-changing end of the direction-changing track section 31 is connected to the guiding track 4;

[0068] The power inspection robot group includes at least two main power inspection robots 5 and a standby power inspection robot 6. The main power inspection robots 5 are used to move along the main inspection tracks 2 and detect the corresponding power equipment at each detection point; the standby power inspection robot 6 is arranged on the guiding track 4, and when the direction-changing track section 31 is in the second working position, it can enter the inserted inspection track 3 through the guiding track 4;

[0069] The control module 7 is in signal connection with both the track module 1 and the power inspection robot group. The control module 7 at least includes: 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 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 power inspection robot group to perform corresponding actions according to the detection results.

[0070] In the embodiment of the present application, the track module 1 is arranged on the top of the power plant or a small substation, and is the mobile support of the power inspection robot, used to guide the main power inspection robots 5 and the standby power inspection robot 6 to move to the detection points corresponding to the power equipment according to the track module 1 to detect the power equipment; in actual applications, the track layout in the track module 1 is diverse and needs to be arranged according to the installation positions of the power equipment in the current power plant or small substation and the detection cycles of each power equipment; specifically, the track module 1 implemented in the present application includes multiple main inspection tracks 2 and at least one guiding track 4. There are two main power inspection robots 5 arranged on the main inspection track 2 here, and at least one standby power inspection robot 6 is arranged on the guiding track 4.

[0071] Multiple main inspection tracks 2 are respectively set 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 setting 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.

[0072] In addition to the main inspection track 2, the main inspection track 2 also includes at least one cutting-in inspection track 3, the middle part of which includes a movable changing track section 31. The changing track section 31 adopts the current train track changing design, so that it can realize the active track changing between the cutting-in inspection track 3 and the introduction track 4 by switching between the first workstation and the second workstation. In this way, the standby power inspection robot 6 parked on the introduction track 4 can be connected to the introduction track 4 through the changing track section 31 and quickly enter the main inspection track 2; in order to improve the maneuverability of the overall track module 1, the cutting-in inspection track 3 is generally 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 activating the standby power inspection robot 6 too slowly or too many power inspection robots parked 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 each other when planning the path.

[0073] The power inspection robot group includes two main power inspection robots 5 and one standby power inspection robot 6. The daily inspection tasks can be fulfilled by these three power inspection robots. First, the main power inspection robot 5 is responsible for the daily inspection tasks and can work collaboratively and independently. The standby power inspection robot 6 is used as a backup. It is activated in special situations such as when the detection results are abnormal or the main power inspection robot 5 fails and cannot operate, thus ensuring the normal progress of the inspection tasks. For the structures of the main power inspection robot 5 and the standby power inspection robot 6, reference can be made to the current high-integration and high-reliability suspended power inspection robots, which can be suspended on the main inspection track 2 and the import track 4 through a mounting mechanism (such as a hook device, pulley, steel wire rope or chain, etc.). In addition, the suspended power inspection robot uses various sensors and cameras carried by itself to monitor and collect the status information of power equipment in real time. The sensors and cameras are, for example, temperature sensors, infrared thermal imagers, high-definition cameras, ultrasonic sensors, etc., and are not specifically limited herein.

[0074] The control module 7 serves as the core processing unit of the entire power inspection system and is in signal communication with both the track module 1 and the power inspection robot group. The acquisition unit 73 can receive the status information (such as detection results) of the power equipment monitored and collected in real time by the main power inspection robot 5 and the standby power inspection robot 6, and convert it into digital signals that can be received by the control unit 71. The control unit 71 makes corresponding decisions based on the status information and the internally preset algorithms. For example, based on the trajectory planning corresponding to the current inspection task, or whether to control the movement of the variable-direction track section 31, or whether to determine that the current main power inspection robot 5 is faulty, etc. The communication unit 72 is used to achieve data sharing between the control module 7 and external devices, enabling users to obtain and analyze data in real time. It should be noted that the control module 7 can adopt the current high-integration controllers or well-functioning central control machines. The introduction here is only for a brief description and does not limit the structure of the control module 7.

[0075] To make the technical solution of this application clearer and easier to understand, the control method provided by the embodiments of this application will be introduced below with reference to the accompanying drawings.

[0076] Specifically, please refer to Figure 1 The flow schematic diagram of the control method of the suspended power inspection robot. The control method includes the following steps:

[0077] S100. Obtain the target inspection trajectory for each main power inspection robot 5 to perform the current inspection task;

[0078] As can be seen from the foregoing, the track module 1 includes multiple main inspection tracks 2, and the inspection periods of each power equipment are different. Therefore, the power equipment to be inspected included in different inspection tasks may also be different, and different power equipment will form different inspection trajectories. Here, reference should be made to the figure, and the two inspection trajectories included in the figure are different; correspondingly, when controlling the main power inspection robot 5 to perform this inspection task, it is first necessary to obtain the respective target inspection trajectories of the main power inspection robot 5 under this inspection task.

[0079] Specifically, referring to Figure 2 , following the above step of "obtaining the target inspection trajectory of each main power inspection robot 5 to perform this inspection task", its specific expansion further includes the following steps:

[0080] S101. Obtain the total inspection trajectory of this inspection task and the total inspection duration of a single main power inspection robot to perform this inspection task;

[0081] 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 to be inspected, and no more details will be elaborated here.

[0082] Since there are two main power inspection robots 5 in the embodiment of the present application, it is also necessary to select an inspection mode according to the total inspection duration required for the current total inspection trajectory, so as to improve the inspection efficiency and avoid waste at the same time.

[0083] It should be noted that the total inspection duration here is the inspection duration of a single main power inspection robot to perform this inspection task, that is, it includes both detection time and movement time; at the same time, in the calculation process, generally, the time for the main power inspection robot 5 to move to the first detection point will be ignored, and the arrival at the first detection point is used as the starting point of timing; in the daily inspection process, the total inspection trajectory and the corresponding total inspection duration or the corresponding inspection mode can be quickly obtained by establishing a database after the inspection task is determined.

[0084] S102. If the total inspection duration is less than or equal to the preset duration 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;

[0085] S103. If the total inspection duration is greater than the preset duration threshold, select the collaborative inspection mode and, based on the total inspection trajectory, obtain the target inspection trajectory of each main power inspection robot 5 to perform this inspection task.

[0086] Specifically, combining the above steps S102 and S103, it can be seen that the main basis for selecting the inspection mode is the comparison relationship between the total inspection duration and the preset duration threshold. If the total inspection duration is less than or equal to the preset duration threshold, it is considered that the current inspection task takes a short time, and a main power inspection robot 5 can be started for inspection, which is the independent inspection mode; conversely, if the total inspection duration is greater than the preset duration threshold, it is considered that the current inspection task takes a long time, and two main power inspection robots 5 need to be started for inspection, which is the collaborative inspection mode;

[0087] Among them, the preset duration threshold is the boundary value for judging the inspection mode and can be set according to the actual situation. For example, it can be 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 a main power inspection robot 5, and the other main power inspection robot 5 can stay in place; in the collaborative inspection mode, it is also necessary to further divide the total inspection trajectory according to the following steps S103a and S103b to obtain the target inspection trajectory for each main power inspection robot 5 to perform the current inspection task.

[0088] Specifically, referring to Figure 3 ,"Based on the total inspection trajectory, obtain the target inspection trajectory for each main power inspection robot 5 to perform the current inspection task", which specifically includes the following steps:

[0089] S103a. Divide the total inspection trajectory according to the number and position of detection points to obtain multiple alternative collaborative path combinations, and each alternative collaborative path combination includes two alternative inspection trajectories;

[0090] In the collaborative inspection mode, it is necessary to first divide the total inspection trajectory according to the number and position of detection points to obtain multiple alternative collaborative path combinations; for example, the total inspection trajectory shown in Figure 6 and Figure 7 is a closed path composed of A - B - D - G - C - A, then the following multiple alternative collaborative path combinations can be obtained: {B, A - C - G}, {B - D, A - C - G}, {B - D - G, A - C}, {B - D - G - C, A}, {A - B - D, C - G}, and {A - B - D - C, G}, etc.; among them, Figure 6 and Figure 7The divisions of the shown trajectories 1 and 2 respectively correspond to {A - B - D, C - G} and {B, A - J - G}; simply put, the simple criterion for division is based on the positions of the detection points. On the basis of ensuring the continuity of the detection points, all consecutive detection points are divided into two groups, and these two groups are the alternative inspection trajectories; since there are various division situations, for another example, for a total of 10 detection points, they can be divided according to the number of detection points such as 1 and 9, 2 and 8, 3 and 7, etc., and then multiple alternative collaborative path combinations are obtained.

[0091] 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 respectively 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.

[0092] Specifically, the distances between different detection points are different, and the inspection durations required for each power equipment are also different. Therefore, the number of detection points cannot be used as the final judgment criterion. Instead, it is necessary to combine the passing distances, the speeds of the power inspection robots, and the inspection durations required for passing through the detection points to respectively obtain each alternative inspection trajectory, that is, calculate the first inspection duration corresponding to the two alternative inspection trajectories included in all alternative collaborative path combinations. T1 and the second inspection duration T2 .

[0093] Next, obtain the first inspection duration T1 and the second inspection duration T2 corresponding to each alternative collaborative path combination, as well as the difference between the two inspection durations ΔT . Take the two alternative inspection trajectories within the alternative collaborative path combination with the smallest difference ΔT 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 at the same time improve the inspection efficiency.

[0094] For example, take Figure 6 and Figure 7 the shown trajectories 1 and 2, trajectories 1* and 2* as two groups of alternative collaborative path combinations respectively. If at this time the difference between the first inspection duration T1 and the second inspection duration T2 corresponding to the two alternative inspection trajectories 1* and 2* is smaller, then the trajectory formed by A - B - D at this time is one of the target inspection trajectories of this inspection task, and the other target inspection trajectory is C - G.

[0095] S200. Obtain the detection results at each detected point of each main power inspection robot 5, and based on each detection result and the association relationship of the detected points that have been detected, determine that if the detection result of the current detection point of one of the main power inspection robots 5 is inconsistent with the detection results of the associated detection points, then use the current detection point as the abnormal detection occurrence point.

[0096] Specifically, after obtaining the target inspection trajectory of each main power inspection robot 5, the main power inspection robot 5 can perform inspection tasks according to the corresponding target inspection trajectory to detect various power equipment. To ensure the accuracy of the detection results, in the embodiments of the present application, it is necessary to obtain the detection results at each detected point of each main power inspection robot 5, and at the same time, combine the association relationship between the detected points to review the detection results.

[0097] The association relationship between these detected points is essentially the association between various power equipment. When a power equipment fails, the power equipment associated with it will inevitably also fail. 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 results of the associated detection points, the risk of incorrect output of the detection result will occur. Using the current detection point as the abnormal detection occurrence point is convenient for subsequent review of the detection results.

[0098] Furthermore, the introduction of associated detection points fully takes into account the characteristic that the internal components of the current power plant or substation are highly correlated. This characteristic is cleverly used as a key parameter to discover and review whether the output detection result is incorrect. Associated detection points, for example, there is a certain association during the detection of current and voltage operation parameters of the main transformer, auxiliary transformer, and the high-voltage switchgear connected to them. When the high-voltage switchgear operates abnormally, the electric energy of the main transformer or auxiliary transformer will inevitably be affected to a certain extent during transmission and distribution. Then, the main transformer, auxiliary transformer, high-voltage switchgear, and other electrical components with a connection relationship can all be used as each other's associated detection points to a certain degree. Among them, since the main transformer and the auxiliary transformer often operate in parallel, in addition to the electrical association, there is also a certain association 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 points. These associated detection points are all related in at least one aspect such as electricity, appearance, and noise.

[0099] In the application embodiment, each power device corresponding to a detection point has at least one detection index, and each detection index corresponds to a detection result. Among them, the detection indexes at least include: appearance, noise, temperature, operating parameters (operating current and voltage), insulation performance, environmental inspection, etc. Specifically, according to the type of power devices in the actual power plant and the prior experience of technicians, the detection indexes of each power device are planned. When the main power inspection robot 5 and the standby power inspection robot 6 perform inspections, each detection index will generate a corresponding detection result.

[0100] In a preferred embodiment, combining the foregoing content, since there are many detection indexes, the relevance of each detection point also requires certain preconditions. For example, there is a correlation between the main transformer and the high-voltage switchgear in terms of operating parameters, but they are independent in terms of appearance and noise detection. For the cooling system, if the fan is located inside the cooling system, then there is a correlation between them in terms of noise, but they are independent in terms of operating parameters and are controlled by different drivers. Therefore, in the application embodiment, a method for determining whether the detection result of the current detection point is inconsistent with the detection results of the detection points associated with it according to the complex correlation relationships existing among the detection points is also given. This process includes the following steps:

[0101] Step 1: Based on the correlation relationships of the detection points, for each detection index of the current detection point, respectively obtain a plurality of sets of control detection points associated with the current detection point among the detected detection points; each detection index corresponds to a set of control detection points.

[0102] Specifically, since parameters such as the types, structures, and electrical connection relationships of the power devices to be detected inside the power plant are all known parameters, there are corresponding associated detection points for each detection index of each detection point. For specific details, refer to the structure example of the power device association database in Table 1 below.

[0103] Table 1 Structure example of the power device association database

[0104]

[0105] Among them, N1 and N2, E1, E2 and E3, F1, and M1 are all expressed as detection indicators, and the detection indicators represented by the same letter are the same. They are only divided into different groups due to different associated power equipment. The associated power equipment of each group is correlated with each other under the corresponding detection indicators; A, B, D, C, G, J, L, P, W respectively represent different associated power equipment, while a, b, d, c, g, j, l, p, w respectively represent the detection points of different associated power equipment; the associated 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 for reference as an example. The actual structure needs to be established based on the power equipment and circuit connection relationships within the power plant, etc., and no special restrictions are made here.

[0106] Further, when the association relationships of each detection point are clear, a set of reference detection points can be obtained based on each detection indicator; combined with Figure 6 and the above structure of the power equipment association database for illustration: Suppose that currently a, b, d, c, g are the detected detection points, and at this time the main power inspection robot 5 is located at the detection point g. Then, the set of reference detection points P1 = {c} formed for the detection indicator N2, and the associated power equipment is C; the set of reference detection points P2 = {a, b, d} formed for the detection indicator E1, and the associated power equipment is A, B, D; and so on, multiple sets of reference detection points can be obtained.

[0107] Step 2: Based on the detection results of each detection indicator at the current detection point, for each detection indicator, compare the detection result of the current detection point with the detection results of each associated detection point in the set of reference detection points corresponding to this detection indicator, and obtain the comparison results;

[0108] When the association relationships of each detection point and the set of reference detection points are clear, the detection results of each detection indicator at the current detection point can be compared with the detection results of each associated detection point in the corresponding set of reference detection points; also taking the previously obtained set of reference detection points P1 = {c} and set of reference detection points 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.

[0109] Step 3: If at least one comparison result is inconsistent, it is determined that the detection result of the current detection point and the detection results of the detection points associated with it are inconsistent.

[0110] Combined with Figure 6 and Figure 7Continuing with the above illustrative example, assume that the test result for test index N2 output at the current test point g is qualified, while the test result for test index E1 is unqualified; the test results for both the control test point set P1 = {c} and the control test point set P2 = {a, b, d} are qualified. From this, it can be seen that the comparison results generated by the current test point g and the associated test points a, b, and d show inconsistency. At this time, the current test point g is the location where abnormal detection occurs.

[0111] S300. According to the location information of the abnormal detection occurrence point, control the variable-direction track section 31 to be connected to the import track 4, and start the standby power inspection robot 6 to enter the cut-in inspection track 3 through the import track 4, so that the standby power inspection robot 6 enters the target inspection trajectory where the abnormal detection occurrence point is located to perform a secondary inspection on the power equipment at the abnormal detection occurrence point.

[0112] Specifically, in combination with the foregoing content, when the abnormal detection occurrence point appears, there is also a situation where the output test result has a risk of being incorrect. Therefore, in the embodiment of the present application, it is necessary to timely control the variable-direction track section 31 to be connected to the import track 4 according to the location information of the abnormal detection occurrence point, and start the standby power inspection robot 6 to enter the target inspection trajectory where the abnormal detection occurrence point is located to perform a secondary inspection on the power equipment at the abnormal detection occurrence point, so as to determine whether the test result at the abnormal detection occurrence point is incorrect. If it is correct, it means that the test results of the associated test points are incorrect.

[0113] Further, referring to Figure 4 、 Figure 8 and Figure 9 above, the foregoing step S300 further includes the following steps:

[0114] S301. Generate a re-inspection trajectory according to the location information of the abnormal detection occurrence point, and control the variable-direction track section 31 to be connected to the import 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.

[0115] Specifically, according to the location information of the abnormal detection occurrence point and the layout position of the import track 4, the re-inspection trajectory is obtained, that is, after the variable-direction track 3 is connected to the import track 4 (specifically, refer to the comparison in Figure 8 and Figure 9 ), the trajectory of the standby power inspection robot 6 moving from the cut-in inspection track 3 to the abnormal detection occurrence point.

[0116] S302. Control the standby power inspection robot to enter the cut-in inspection track 3 and move to the abnormal detection occurrence point according to the re-inspection trajectory to perform a secondary inspection on the power equipment at the abnormal detection occurrence point.

[0117] After obtaining the above re-inspection trajectory, the corresponding control module 7 can control the standby power inspection robot to start, and move to the abnormal detection point according to the re-inspection trajectory, perform a secondary detection on the power equipment at the abnormal detection point, and generate a new secondary detection result as a condition for judging the fault detection point.

[0118] In a preferred embodiment, since there is also a situation in the embodiment of the present application, that is, only one main power inspection robot 5 performs the inspection task in the independent inspection mode, so in this mode, if the above-mentioned inconsistent comparison results occur, then it is very likely that the main power inspection robot 5 has a fault, resulting in inconsistent detection results at the associated inspection points. Then at this time, the main bodies that can perform the secondary detection include the standby power inspection robot 6 and another main power inspection robot 5. Therefore, the control method proposed in the embodiment of the present application further includes the following steps:

[0119] Step R1: When the inspection mode is independent inspection, respectively obtain the first duration and the second duration for another main power inspection robot 5 and the standby power inspection robot 6 to move to the abnormal detection point;

[0120] The first duration is obtained according to the path from the parking position of another main power inspection robot 5 to the abnormal detection point at this time and its own moving speed, and the second duration is obtained according to the abnormal detection point, the layout position of the guiding track 4, and the moving speed of the standby power inspection robot 6 itself.

[0121] Here, both the first duration and the second duration are used to reflect the moving speeds of the main power inspection robot 5 and the standby power inspection robot 6 moving to the abnormal detection point.

[0122] Step R2: If the first duration is greater than or equal to the second duration, control the diversion track 3 to be connected to the guiding track 4, and let the standby power inspection robot 6 move to the abnormal detection point to perform a secondary detection on the corresponding power equipment;

[0123] Step R3: If the first duration is less than the second duration, control another main power inspection robot 6 to move to the abnormal detection point to perform a secondary detection on the corresponding power equipment.

[0124] Combining the above steps R2 and R3, it can be seen that after obtaining the specific first duration and second duration, the standby power inspection robot 6 or another main power inspection robot 5 with a faster moving speed to the abnormal detection point can be selected for secondary detection of the abnormal detection point according to the comparison of the first duration and the second duration; in this way, it can help the entire inspection system quickly lock the fault detection point and the faulty main power inspection robot 5.

[0125] S400. Update the detection result of 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 occurrence point, and the detection results of the detection points associated with the abnormal detection occurrence point.

[0126] Specifically, after obtaining the secondary detection result output by the main power inspection robot 5 or the standby power inspection robot 6 for secondary detection, the detection result of the main power inspection robot 5 at the abnormal detection occurrence point and the detection results of the detection points associated with the abnormal detection occurrence point can be combined to make a judgment on the fault detection point, and the detection result of the power equipment at the abnormal detection occurrence point can be updated.

[0127] Further, referring to Figure 5 , the foregoing step S400 further includes the following steps:

[0128] 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, determine that the main power inspection robot 5 for detecting the detection points associated with the abnormal detection occurrence point is a faulty main power inspection robot, and use the detection result of the main power inspection robot 5 at the abnormal detection occurrence point as the detection result of the abnormal detection occurrence point;

[0129] S402. If the secondary detection result is inconsistent with the detection result of the main power inspection robot 5 at the abnormal detection occurrence point, determine that the main power inspection robot 5 for detecting the abnormal detection occurrence point is a faulty main power inspection robot, and use the secondary detection result as the detection result of the abnormal detection occurrence point.

[0130] Specifically, taking the secondary detection result as a standard to compare with the detection result of the main power inspection robot 5 at the abnormal detection occurrence point. If the two detection results are consistent, then determine that the main power inspection robot 5 for detecting the detection points associated with the abnormal detection occurrence point is a faulty main power inspection robot. At this time, the detection result of the abnormal detection occurrence point does not need to be updated, and the detection result of the main power inspection robot 5 at the abnormal detection occurrence point can be used as the detection result of the abnormal detection occurrence point. Correspondingly, if the two detection results are inconsistent, then determine that the main power inspection robot 5 for detecting the abnormal detection occurrence point is a faulty main power inspection robot, and at the same time, the detection result of the abnormal detection occurrence point needs to be updated to the secondary detection result. Such a design enables the fault relationship between the abnormal detection occurrence point and the associated detection points to be quickly identified and locked, preventing waste of later human and material resources caused by incorrect detection results, as well as safety problems or cost problems caused by failure to timely maintain the faulty power equipment.

[0131] Further, taking the case where the comparison results generated by the current detection point g and the associated detection points a, b, and d are shown to be inconsistent, and the current detection point g is the abnormal detection occurrence point as an example: At this time, the detection results output by the detection points a, b, and 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 is shown to be qualified, it is considered that the main power inspection robot 5 at the current detection point g is a faulty main power inspection robot; otherwise, it is considered that the main power inspection robot 5 at the associated detection point is a faulty main power inspection robot.

[0132] In a preferred embodiment, after determining the faulty main power inspection robot in the embodiment of the present application, in order to ensure the rigor and accuracy of the detection results, the method further includes the following steps:

[0133] Step K2: Use 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 standby power inspection robot 6 for secondary inspection.

[0134] Specifically, after confirming the faulty main power inspection robot, its target inspection trajectory can be directly obtained as the secondary inspection trajectory of another main power inspection robot 5 or the standby power inspection robot 6 currently performing secondary inspection, and control another main power inspection robot 5 or the standby power inspection robot 6 to perform secondary detection 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 abnormal detection occurrence point is the faulty main power inspection robot, during secondary detection, there is no need to detect the power equipment that has already been subjected to secondary detection again.

[0135] As described above in combination with Figures 1 - 9 The control method of the suspended power inspection robot provided by the embodiment of the present application has been introduced in detail. Next, the device provided by the embodiment of the present application will be introduced with reference to the accompanying drawings.

[0136] See Figure 6 As shown, this figure is a schematic structural diagram of a control device for a suspended main power inspection robot provided by the embodiment of the present application. The control device 600 includes:

[0137] An acquisition module 601 is configured to acquire the target inspection trajectory of each main power inspection robot 5 for performing the current inspection task, and the inspection results at each detected point detected by each main power inspection robot 5. Based on the inspection results and the association relationship of the detected points that have been detected, if it is determined that the inspection result of the current detected point of one of the main power inspection robots 5 is inconsistent with the inspection result of the associated detected point, then the current detected point is used as the abnormal detection occurrence point.

[0138] A control module 602 is configured to control the variable-direction track section 31 to be connected to the import 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 import track 4, so that the standby power inspection robot 6 enters the target inspection trajectory where the abnormal detection occurrence point is located to perform secondary detection on the power equipment at the abnormal detection occurrence point.

[0139] A processing module 603 is configured to update the inspection result of the power equipment at the abnormal detection occurrence point based on the secondary detection result, the inspection result of the main power inspection robot 5 at the abnormal detection occurrence point, and the inspection results of the detected points associated with the abnormal detection occurrence point.

[0140] Specifically, in actual applications, the acquisition module 601 is configured to acquire the target inspection trajectory of the main power inspection robot 5 for performing the current inspection task. Subsequently, the control module 602 controls the main power inspection robot 5 to detect the power equipment at the detected points on the target inspection trajectory according to the current target inspection trajectory. During this process, the acquisition module 601 also needs to acquire the inspection results output by each main power inspection robot 5, and based on the inspection results and the association relationship of the detected points that have been detected, obtain the abnormal detection occurrence point. After the abnormal detection occurrence point is confirmed, the control module 602 controls the variable-direction track section 31 to be connected to the import track 4 again, and starts the standby power inspection robot 6 to reach the abnormal detection occurrence point according to the corresponding re-inspection trajectory generated by the acquisition module 601 to perform secondary detection on the power equipment here, and obtain the secondary detection result. Finally, the processing module 603 obtains the actually misoutput detection point (fault detection point) through comparison based on the secondary detection result, the inspection result of the main power inspection robot 5 at the abnormal detection occurrence point, and the inspection results of the detected points associated with the abnormal detection occurrence point, and updates the inspection result of the power equipment at the abnormal detection occurrence point in a timely manner.

[0141] It should be noted that the control device 600 according to the embodiment of the present application can correspond to execute 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 for realizing Figure 1The corresponding processes of the methods in the illustrated embodiments are not described herein again for the sake of brevity.

[0142] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solutions formed by the 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 technical solutions formed by mutually replacing the above features with the technical features (but not limited to) disclosed in the present application that have similar functions.

Claims

1. A control method for a suspended main power inspection robot, characterized in that, The suspended main 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 includes a plurality of main inspection rails (2) arranged between two detection points, and at least one of the main inspection rails (2) is an entry inspection rail (3) including a movable turning rail section (31), and the turning rail section (31) is used to conduct or cut off the connection between the entry inspection rail (3) and the introduction rail (4); two main power inspection robots (5) are provided on the main inspection rail (2), and at least one standby power inspection robot (6) is provided on the introduction rail (4); the control method includes: Obtaining the target inspection trajectory of each main power inspection robot (5) performing the 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 correlation relationship between the detection points detected, determining 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; According to the position information of the abnormality 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 inspection track (3) through the introduction track (4), so that the backup power inspection robot (6) enters the target inspection track where the abnormality detection occurrence point is located, and performs secondary inspection on the power equipment at the abnormality detection occurrence point; Based on the secondary detection result, the detection result of the main power inspection robot (5) at the abnormality detection occurrence point and the detection results of the detection points associated with the abnormality detection occurrence point, the detection result of the power equipment at the abnormality detection occurrence point is updated.

2. The control method of the suspended main power inspection robot according to claim 1, wherein Obtaining the target inspection trajectory of each main power inspection robot (5) performing this 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 inspection task is obtained.

3. The control method of the hanging main power inspection robot according to claim 2, characterized in that, Based on the total inspection trajectory, the 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 location 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 included 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 (5) respectively.

4. The control method of the hanging main power inspection robot according to claim 1, characterized in that Each power device corresponding to each of the detection points has at least one detection index, and each detection index corresponds to a detection result; the method further includes: Based on the association relationships of the detection points, respectively obtain, according to each detection index of the current detection point, multiple sets of comparison detection points associated with the current detection point among the detected detection points; each detection index corresponds to a set of comparison detection points; Based on the detection results of the detection indexes of the current detection point, for each detection index, respectively compare the detection result of the current detection point with the detection results of the associated detection points in the set of comparison detection points corresponding to the detection index, and obtain a comparison result; If at least one of the comparison results is inconsistent, determine that the detection result of the current detection point and the detection results of the detection points associated with it are inconsistent.

5. The control method of the suspended main power inspection robot according to claim 4, characterized in that, Control the variable-direction track section (31) to be connected to the guiding track (4), and start the standby power inspection robot (6) to enter the cut-in inspection track (3) through the guiding track (4), so that the standby power inspection robot (6) enters the target inspection trajectory where the abnormal detection occurrence point is located, and perform secondary detection on the power devices at the abnormal detection occurrence point, specifically including: Generate a re-inspection trajectory according to the position information of the abnormal detection occurrence point, and control the variable-direction track section (31) to be connected to the guiding track (4); the re-inspection trajectory is the trajectory for the standby power inspection robot (6) to move from the cut-in inspection track (3) to the abnormal detection occurrence point; Control the standby power inspection robot to enter the cut-in inspection track (3), and move to the abnormal detection occurrence point according to the re-inspection trajectory, and perform secondary detection on the power devices at the abnormal detection occurrence point.

6. The control method of the suspended main power inspection robot according to claim 4, characterized in that The method further includes: When the inspection mode is independent inspection, respectively obtain the first duration and the second duration for the other main power inspection robot (5) and the standby power inspection robot (6) to move to the abnormal detection occurrence point; If the first duration is greater than or equal to the second duration, control the variable-direction track section (31) to be connected to the guiding track (4), and let the standby power inspection robot (6) move to the abnormal detection occurrence point to perform secondary detection on the corresponding power devices; If the first duration is less than the second duration, control the other main power inspection robot (5) to move to the abnormal detection occurrence point to perform secondary detection on the corresponding power devices.

7. The control method of the suspended main 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 occurrence point, and the detection results of the detection points associated with the abnormal detection occurrence point, update the detection result of the power equipment at the abnormal detection occurrence point, specifically including: If the secondary detection result is consistent with the detection result of the main power inspection robot (5) at the abnormal detection occurrence point, determine that the main power inspection robot (5) for detecting the detection points associated with the abnormal detection occurrence point is a faulty main power inspection robot, and use the detection result of the main power inspection robot (5) at the abnormal detection occurrence point 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, determine that the main power inspection robot (5) for detecting the abnormal detection occurrence point is a faulty main power inspection robot, and use the secondary detection result as the detection result of the abnormal detection occurrence point.

8. The control method of the suspended main power inspection robot according to claim 7, characterized in that, The method further includes: Use 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 standby power inspection robot (6) for secondary inspection.

9. A control device for a suspended main power inspection robot, characterized in that, Including: An acquisition module (601), the acquisition module (601) is used to acquire the target inspection trajectory of each main power inspection robot (5) for performing the current inspection task and the detection results at each detected detection point of each main power inspection robot (5), and based on the detection results and the association relationship of the detected detection points, determine that if the detection result of the current detection point of one of the main power inspection robots (5) is inconsistent with the detection results of the detection points associated with it, then use the current detection point as the abnormal detection occurrence point; A control module (602), the control module (602) is used to control the variable-direction track section (31) to communicate with the introduction 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 introduction track (4), so that the standby power inspection robot (6) enters the target inspection trajectory where the abnormal detection occurrence point is located to perform secondary detection 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 occurrence point based on the secondary detection result, the detection result of the main power inspection robot (5) at the abnormal detection occurrence point, and the detection results of the detection points associated with the abnormal detection occurrence point.

10. A power inspection system, characterized in that, Applied to the control method according to any one of claims 1-8, the power inspection system is applied inside a power plant, and the system includes: 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 mutually cooperating main inspection tracks (2) and at least one lead-in track (4); the plurality of main inspection tracks (2) being respectively arranged 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); An electric power inspection robot group, comprising at least two main electric power inspection robots (5) and one backup electric power inspection robot (6), wherein the main electric power inspection robots (5) are used to move along the main inspection track (2) and inspect the corresponding electric power equipment at each inspection point; the backup electric power inspection robot (6) is arranged on the lead-in track (4), and when the direction-changing track section (31) is located at the second work station, it can enter the cut-in inspection track (3) through the lead-in track (4); A control module (7), wherein the control module (7) is in signal communication with the track module (1) and the 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 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 power inspection robot group to perform corresponding actions according to the detection results.

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