Substation-end robot inspection method and system based on substation

Abstract

The invention discloses a station-end robot inspection method and system based on a transformer substation, and relates to the technical field of intelligent power equipment inspection, and the method comprises the steps: constructing a bidirectional data transmission channel between transformer substation information data and an inspection robot; and constructing a three-dimensional space map of the transformer substation based on a bidirectional data transmission channel, exporting a patrol point location for point location trend analysis, and exporting a patrol analysis report. According to the invention, the investment of human resources is effectively reduced, the inspection efficiency is improved, the safety risk of manual inspection is reduced, the state and position of substation equipment are known more clearly, potential faults can be found and prevented in advance, the stable operation of a power system is ensured, the reliability and safety of the power system are further improved, and the method is suitable for popularization and application. Therefore, a positive contribution is made to the development of the power industry and the sustainable development of the society.

Description

Technical Field

[0001] The present invention relates to the field of intelligent power equipment inspection technology, and in particular to a substation-based station-end robot inspection method and system. Background Art

[0002] The current society is in the wave of digital transformation. All walks of life are seeking more efficient and intelligent solutions to improve production efficiency and service quality. In the power industry, safe and stable power supply is crucial to social development. However, with the continuous expansion of the scale and complexity of power equipment, the traditional manual inspection method can no longer meet the needs of real-time monitoring and data analysis of the operating status of power equipment. The limited human resources, low inspection efficiency and limitations of data analysis have become bottlenecks restricting the improvement of the management level of power equipment.

[0003] Traditional power equipment inspection methods have problems such as waste of human resources and low data analysis efficiency. The present invention utilizes the data acquisition function module of the station-side robot to build a two-way data transmission channel, and constructs a three-dimensional spatial map of the substation based on this channel to achieve intelligent equipment inspection and data analysis, thus solving the problems of waste of human resources and low data analysis efficiency in traditional methods. Summary of the invention

[0004] In view of the problems existing in the existing substation-based station-side robot inspection method and system, the present invention is proposed.

[0005] Therefore, the purpose of the present invention is to provide a station-end robot inspection method and system based on a substation. In view of the problems of waste of human resources and low data analysis efficiency in traditional power equipment inspection methods, the present invention adopts station-end robot data collection and intelligent analysis technology to realize the automation of equipment inspection and the intelligence of data analysis, thereby improving efficiency and accuracy.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a station-end robot patrol method based on a substation, which includes using a data acquisition function module of the station-end robot to obtain information data of the substation to be patrolled, and building a two-way data transmission channel between the substation information data and the patrol robot;

[0008] Construct a three-dimensional spatial map of the substation based on a two-way data transmission channel, export patrol points for point trend analysis, and export patrol analysis reports.

[0009] As a preferred solution of the substation-based robot patrol method of the present invention, the data acquisition function module includes a regional map acquisition function submodule, a regional division function submodule, a label generation function submodule, a three-dimensional space construction function submodule and a path planning function submodule, and the data acquisition function module is input into the patrol system for conversion to obtain the substation information data to be patrolled;

[0010] The regional map acquisition functional submodule includes connecting its output end to the input end of the regional division functional submodule, the output end of the regional division functional submodule is connected to the input end of the label generation functional submodule, the output end of the label generation functional submodule is connected to the input end of the three-dimensional space construction functional submodule, and the output end of the three-dimensional space construction functional submodule is connected to the input end of the path planning functional submodule.

[0011] As a preferred solution of the substation-based station-end robot inspection method of the present invention, wherein: the inspection system includes optimizing substation information data according to the system control terminal of the substation, and transmitting the optimized data to the inspection robot;

[0012] The two-way data transmission channel includes transmitting the patrol system to the central processing system in the patrol robot, the central processing system includes a patrol status tracking function and a patrol data analysis function, establishing a patrol task receiving function and a data receiving function on the upper layer of the central processing system, connecting the optimized data with the patrol task receiving function, and converting the optimized data into data readable by the patrol robot for a second time through the data receiving function;

[0013] The central processing system includes connecting its output end to the input end of the result analysis function, the output end of the result analysis function is connected to the input end of the result confirmation function, and the central processing system includes connecting its output end to the input end of the state tracking function.

[0014] As a preferred solution of the substation-based station-end robot patrol method of the present invention, wherein: the patrol data analysis function includes connecting the alarm module in the patrol system, the alarm module includes monitoring according to the central processor in the alarm module, and the alarm module includes an alarm transmission function submodule, an audible and visual alarm function submodule, a threshold warning function submodule, an on-site alarm function submodule and an information push function submodule;

[0015] The threshold warning function submodule includes connecting its output end to the input end of the alarm transmission function submodule, and the on-site alarm function submodule includes connecting its output end to the input end of the sound and light alarm function submodule. The output ends of the threshold warning function submodule and the on-site alarm function submodule are both connected to the input end of the information push function submodule.

[0016] As a preferred solution of the substation-based station-end robot patrol method of the present invention, wherein: the central processor includes a laser radar, a drive component, a power supply component, a camera, a wireless communication component and a patrol host;

[0017] The alarm module is powered by a power supply component, the laser radar is connected to the components in the central processor, the camera and wireless communication components are located to display the conversation records in the alarm module, and the patrol host includes a driving component in the patrol host to transmit power to the central processor.

[0018] As a preferred solution of the substation-based robot patrol method of the present invention, wherein: the construction of the substation three-dimensional space map includes establishing X and Y axis coordinates, generating a two-dimensional space map of the substation, obtaining label plane coordinate information, converting the label plane coordinate information into X and Y coordinates in the two-dimensional space map, marking the positions of all labels, obtaining the height information of the labels, adding them to the two-dimensional space map, and generating a three-dimensional space map containing X, Y, and Z axis coordinates;

[0019] The conversion into X and Y coordinates in the two-dimensional space graph includes using a nonlinear function to calculate the mapping relationship from the three-dimensional space to the two-dimensional space. The specific calculation formula is:

[0020] f(x, y, z) = (x + sin(y·z) + e x' , y+cos(x·z′)+e y' )

[0021] Among them, x, y, z represent the device coordinates in three-dimensional space, x' and y' represent the projection coordinates on the two-dimensional plane, and e x ' and e y 'A random variable representing the projection error;

[0022] When device A is above, below, to the left, or to the right of device B, the projection coordinates will be adjusted to varying degrees. The specific steps are as follows:

[0023] When device A is above device B, the projection coordinates are offset downward as a whole. The offset calculation formula is:

[0024]

[0025] Among them, h1 represents the overall downward offset of the projection coordinates, p represents the vertical distance from the projection point to the device, Δzx represents the vertical distance of the downward offset between devices, and Δx represents the vertical distance;

[0026] When device A is located below device B, the projection coordinates are offset upward as a whole. The offset calculation formula is:

[0027]

[0028] Among them, h2 represents the overall upward offset of the projection coordinates, p represents the vertical distance from the projection point to the device, Δzx represents the vertical distance of the upward offset between devices, and Δx represents the vertical distance;

[0029] When device A is located on the left side of device B, the projection coordinates are offset to the right as a whole. The offset calculation formula is:

[0030]

[0031] Where d1 represents the overall rightward offset of the projection coordinates, h represents the horizontal distance from the projection point to the device, Δzy represents the horizontal distance between devices offset to the right, and Δy represents the horizontal distance;

[0032] When device A is located on the right side of device B, the projection coordinates are offset to the left as a whole. The offset calculation formula is:

[0033]

[0034] Wherein, d2 represents the overall leftward offset of the projection coordinates, h represents the horizontal distance from the projection point to the device, Δzx represents the horizontal distance of the leftward offset between devices, and Δy represents the horizontal distance.

[0035] As a preferred solution of the substation-based station-end robot patrol method described in the present invention, wherein: the status tracking function includes setting the alarm result as the status tracking point, establishing a tracking plan based on the patrol result displayed in a three-dimensional space diagram, and the tracking plan includes the tracking plan name, start time, end time, tracking interval and tracking description; the result confirmation function includes performing point trend analysis on the patrol result, and the point trend analysis includes filtering according to the substation equipment area, equipment type, identification type, point name and date, generating a corresponding data trend curve chart and exporting the current point data, and providing offline viewing.

[0036] In a second aspect, an embodiment of the present invention provides a substation-based station-end robot patrol system, which includes: a transmission module, which uses a data acquisition function module of the station-end robot to obtain substation information data that needs to be patrolled, and constructs a two-way data transmission channel between the substation information data and the patrol robot;

[0037] The analysis module constructs a three-dimensional spatial map of the substation based on a two-way data transmission channel, exports patrol points for point trend analysis, and exports patrol analysis reports.

[0038] In a third aspect, an embodiment of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, wherein: when the processor executes the computer program, it implements any step of the above-mentioned substation-based station-end robot patrol method.

[0039] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, any step of the above-mentioned substation-based station-end robot patrol method is implemented.

[0040] The beneficial effects of the present invention are as follows: by introducing station-side robots for data collection and analysis, the present invention effectively reduces human resource investment, improves inspection efficiency, and reduces the safety risks of manual inspections. The three-dimensional spatial map constructed based on the two-way data transmission channel enables a clearer understanding of the status and location of substation equipment, which helps to discover and prevent potential faults in advance and ensure the stable operation of the power system. By exporting inspection analysis reports, users can timely understand the operating status of equipment, formulate corresponding maintenance plans and improvement strategies, and further improve the reliability and safety of the power system, thereby making positive contributions to the development of the power industry and the sustainable development of society. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0042] Figure 1 A flow chart of a substation-based robot patrol method and system is provided for one embodiment of the present invention.

[0043] Figure 2 A specific inspection flow chart of a substation-based station-end robot inspection method and system is provided as an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0045] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0046] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0047] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0048] At the same time, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0049] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] Example 1

[0051] Reference Figure 1 and Figure 2 , which is the first embodiment of the present invention, and provides a substation-based robot patrol method, comprising:

[0052] S1: Use the data acquisition function module of the station-side robot to obtain the substation information data that needs to be inspected, and build a two-way data transmission channel between the substation information data and the inspection robot.

[0053] Among them, the data acquisition function module includes a regional map acquisition function submodule, a regional division function submodule, a label generation function submodule, a three-dimensional space construction function submodule and a path planning function submodule. The data acquisition function module is input into the patrol system for conversion to obtain the information data of the substation that needs to be patrolled;

[0054] The regional map acquisition functional submodule includes connecting its output end to the input end of the regional division functional submodule, connecting the output end of the regional division functional submodule to the input end of the label generation functional submodule, connecting the output end of the label generation functional submodule to the input end of the three-dimensional space construction functional submodule, and connecting the output end of the three-dimensional space construction functional submodule to the input end of the path planning functional submodule.

[0055] S1.1: The inspection system includes optimizing substation information data according to the system control terminal of the substation and transmitting the optimized data to the inspection robot;

[0056] The two-way data transmission channel includes transmitting the patrol system to the central processing system in the patrol robot. The central processing system includes patrol status tracking function and patrol data analysis function. The patrol task receiving function and data receiving function of the upper layer of the central processing system are established. The optimized data is connected with the patrol task receiving function, and the optimized data is converted into data readable by the patrol robot through the data receiving function for the second time.

[0057] The central processing system includes connecting its output end to the input end of the result analysis function, the output end of the result analysis function is connected to the input end of the result confirmation function, and the central processing system includes connecting its output end to the input end of the state tracking function.

[0058] S1.2: The patrol data analysis function includes connecting the alarm module in the patrol system, the alarm module includes monitoring according to the central processor in the alarm module, and the alarm module includes an alarm transmission function submodule, an audible and visual alarm function submodule, a threshold warning function submodule, an on-site alarm function submodule and an information push function submodule;

[0059] The threshold warning function submodule includes connecting its output end to the input end of the alarm transmission function submodule, and the on-site alarm function submodule includes connecting its output end to the input end of the sound and light alarm function submodule. The output ends of the threshold warning function submodule and the on-site alarm function submodule are both connected to the input end of the information push function submodule.

[0060] Furthermore, the central processing unit includes a laser radar, a driving component, a power supply component, a camera, a wireless communication component, and a patrol host;

[0061] The alarm module is powered by the power supply component, the laser radar is connected to organize the components in the central processor, the camera and wireless communication components are located to display the conversation records in the alarm module, and the patrol host includes using the driving components in the patrol host to transmit power to the central processor.

[0062] S2: Construct a three-dimensional spatial map of the substation based on the two-way data transmission channel, export patrol points for point trend analysis, and export patrol analysis reports.

[0063] Constructing a three-dimensional spatial diagram of a substation includes establishing X and Y axis coordinates, generating a two-dimensional spatial diagram of the substation, obtaining label plane coordinate information, converting the label plane coordinate information into X and Y coordinates in the two-dimensional spatial diagram, marking the positions of all labels, obtaining the height information of the labels, adding the labels to the two-dimensional spatial diagram, and generating a three-dimensional spatial diagram containing X, Y, and Z axis coordinates;

[0064] The conversion into the X and Y coordinates in the two-dimensional space graph includes using a nonlinear function to calculate the mapping relationship from the three-dimensional space to the two-dimensional space. The specific calculation formula is:

[0065] f(x, y, z) = (x + sin(y·z) + e x ',y+cos(x·z′)+e y' )

[0066] Among them, x, y, z represent the device coordinates in three-dimensional space, x' and y' represent the projection coordinates on the two-dimensional plane, and e x ' and e y 'A random variable representing the projection error;

[0067] When device A is above, below, to the left, or to the right of device B, the projection coordinates will be adjusted to varying degrees. The specific steps are as follows:

[0068] When device A is above device B, the projection coordinates are offset downward as a whole. The offset calculation formula is:

[0069]

[0070] Among them, h1 represents the overall downward offset of the projection coordinates, p represents the vertical distance from the projection point to the device, Δzx represents the vertical distance of the downward offset between devices, and Δx represents the vertical distance;

[0071] When device A is located below device B, the projection coordinates are offset upward as a whole. The offset calculation formula is:

[0072]

[0073] Among them, h2 represents the overall upward offset of the projection coordinates, p represents the vertical distance from the projection point to the device, Δzx represents the vertical distance of the upward offset between devices, and Δx represents the vertical distance;

[0074] When device A is located on the left side of device B, the projection coordinates are offset to the right as a whole. The offset calculation formula is:

[0075]

[0076] Where d1 represents the overall rightward offset of the projection coordinates, h represents the horizontal distance from the projection point to the device, Δzy represents the horizontal distance between devices offset to the right, and Δy represents the horizontal distance;

[0077] When device A is located on the right side of device B, the projection coordinates are offset to the left as a whole. The offset calculation formula is:

[0078]

[0079] Wherein, d2 represents the overall leftward offset of the projection coordinates, h represents the horizontal distance from the projection point to the device, Δzx represents the horizontal distance of the leftward offset between devices, and Δy represents the horizontal distance.

[0080] Furthermore, in the process of constructing the three-dimensional spatial diagram of the substation, assuming that device A is located above device B, the projection coordinates of device A need to be offset downward, the vertical distance from device A to device B is 10 meters, and the vertical distance of the downward offset between the devices is 2 meters. Therefore, according to calculations, the projection coordinates of device A need to be offset downward by approximately 1.67 meters.

[0081] In addition, assuming that device C is located on the right side of device D, the projection coordinates of device C need to be offset to the left. The horizontal distance from device C to device D is 8 meters, and the horizontal distance between the devices offset to the left is 1.5 meters. Therefore, according to calculation, the projection coordinates of device C need to be offset to the left by about 1.2 meters. The influence of the relative position of the devices on the projection coordinates is shown in Table 1 below:

[0082] Table 1 Data table of the impact of relative position of equipment on projection coordinates

[0083] scene Distance between devices (meters) Offset distance (m) Device A above device B 10 1.67 Device C, right side, device D 8 1.2 Device F below device E 12 2 Device G, left side, device H 6 0.8

[0084] This table shows the impact of the relative positions of different devices on the projection coordinates. By comparing the projection coordinate offsets at different relative positions of different devices, it can be seen that when device A is located above, below, left or right of device B, the projection coordinates will be adjusted accordingly. Specifically, when device A is located above device B, the projection coordinates are offset downward as a whole; when device A is located below device B, the projection coordinates are offset upward as a whole; when device A is located to the left of device B, the projection coordinates are offset to the right as a whole; when device A is located to the right of device B, the projection coordinates are offset to the left as a whole. These data provide an important reference for considering the relative positions of devices when constructing a three-dimensional spatial diagram of a substation.

[0085] S2.1: The status tracking function includes setting the status tracking points according to the alarm results, and establishing a tracking plan based on the patrol results displayed in a three-dimensional space diagram. The tracking plan includes the tracking plan name, start time, end time, tracking interval and tracking description. The result confirmation function includes point trend analysis based on the patrol results. The point trend analysis includes filtering according to the substation equipment area, equipment type, identification type, point name and date, generating the corresponding data trend curve chart and exporting the current point data, and providing offline viewing.

[0086] In a preferred embodiment, a station-end robot patrol system based on a substation includes a transmission module, which uses a data acquisition function module of the station-end robot to obtain information data of the substation to be patrolled, and constructs a two-way data transmission channel between the substation information data and the patrol robot;

[0087] The analysis module constructs a three-dimensional spatial map of the substation based on a two-way data transmission channel, exports patrol points for point trend analysis, and exports patrol analysis reports.

[0088] The above-mentioned unit modules may be embedded in or independent of the processor in the computer device in the form of hardware, or may be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0089] In one embodiment, a computer device is provided, which may be a terminal, and includes a processor, a memory, a communication interface, a display screen, and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, an operator network, NFC (near field communication) or other technologies. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or a key, trackball or touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse, etc.

[0090] In summary, the present invention effectively reduces human resource investment, improves inspection efficiency, and reduces safety risks of manual inspections by introducing station-side robots for data collection and analysis. The three-dimensional spatial map constructed based on the two-way data transmission channel enables a clearer understanding of the status and location of substation equipment, which helps to discover and prevent potential faults in advance and ensure the stable operation of the power system. By exporting inspection analysis reports, users can timely understand the operating status of equipment, formulate corresponding maintenance plans and improvement strategies, and further improve the reliability and safety of the power system, thereby making positive contributions to the development of the power industry and the sustainable development of society.

[0091] Example 2

[0092] Reference Figure 1 and Figure 2 , which is the second embodiment of the present invention, and this embodiment provides a station-end robot patrol method based on a substation. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through simulation experiments.

[0093] The threshold warning function submodule is used to monitor whether a specific parameter exceeds a preset threshold. When the threshold is exceeded, an alarm is triggered. Assuming that the temperature threshold is set to 80°C and the humidity threshold is set to 70%, if the temperature measured by the temperature sensor exceeds 80°C, or the humidity measured by the humidity sensor exceeds 70%, the threshold warning function submodule will be triggered to generate an alarm signal. The settings of these thresholds can be adjusted according to actual application requirements to ensure that potential abnormal situations are discovered in time and corresponding countermeasures are taken. The comparison data of the alarm thresholds are shown in Table 2 below:

[0094] Table 2 Alarm threshold comparison data table

[0095] parameter Threshold Actual value Whether to trigger an alarm temperature 80℃ 85℃ yes humidity 70％ 75％ yes Current 100A 90A no pressure 120kPa 130kPa yes

[0096] The above table shows the threshold settings of different alarm modules and their comparison. By comparing the threshold settings of different functional sub-modules, it can be seen that the threshold of the sound and light alarm function sub-module is low, while the threshold of the on-site alarm function sub-module is relatively high. This means that the sound and light alarm function sub-module may be more sensitive and more likely to trigger an alarm, while the on-site alarm function sub-module may be more cautious and will only trigger an alarm in more serious cases. The comparison with the prior art is shown in Table 3 below:

[0097] Table 3 Comparison with existing technology

[0098]

[0099] Compared with the existing technology, the present invention is more comprehensive and flexible. In terms of data collection, it adopts multifunctional sub-modules to provide more comprehensive data analysis functions, uses advanced equipment to improve efficiency and accuracy, constructs three-dimensional spatial maps more accurately, and has more accurate early warning functions, providing more effective early warnings and alarms. The central processing system improves the readability and analyticity of data.

[0100] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A substation-based robot patrol method, characterized in that: include, The data acquisition function module of the station-side robot is used to obtain the substation information data that needs to be inspected, and a two-way data transmission channel is established between the substation information data and the inspection robot; A three-dimensional spatial map of the substation is constructed based on a two-way data transmission channel, trend analysis of patrol points is performed, and patrol analysis reports are exported.

2. The substation-based robot patrol method according to claim 1, characterized in that: The data acquisition function module includes a regional map acquisition function submodule, a regional division function submodule, a label generation function submodule, a three-dimensional space construction function submodule and a path planning function submodule. The data acquisition function module is input into the patrol system for conversion to obtain the substation information data that needs to be patrolled; The regional map acquisition functional submodule includes connecting its output end to the input end of the regional division functional submodule, the output end of the regional division functional submodule is connected to the input end of the label generation functional submodule, the output end of the label generation functional submodule is connected to the input end of the three-dimensional space construction functional submodule, and the output end of the three-dimensional space construction functional submodule is connected to the input end of the path planning functional submodule.

3. The substation-based robot patrol method according to claim 2, characterized in that: The inspection system includes optimizing substation information data according to the system control terminal of the substation and transmitting the optimized data to the inspection robot; The two-way data transmission channel includes transmitting the patrol system to the central processing system in the patrol robot, the central processing system includes a patrol status tracking function and a patrol data analysis function, establishing a patrol task receiving function and a data receiving function on the upper layer of the central processing system, connecting the optimized data with the patrol task receiving function, and converting the optimized data into data readable by the patrol robot for a second time through the data receiving function; The central processing system includes connecting its output end to the input end of the result analysis function, the output end of the result analysis function is connected to the input end of the result confirmation function, and the central processing system includes connecting its output end to the input end of the state tracking function.

4. The substation-based robot inspection method according to claim 3, characterized in that: The patrol data analysis function includes connecting the alarm module in the patrol system, the alarm module includes monitoring according to the central processor in the alarm module, and the alarm module includes an alarm transmission function submodule, an audible and visual alarm function submodule, a threshold warning function submodule, an on-site alarm function submodule and an information push function submodule; The threshold warning function submodule includes connecting its output end to the input end of the alarm transmission function submodule, and the on-site alarm function submodule includes connecting its output end to the input end of the sound and light alarm function submodule. The output ends of the threshold warning function submodule and the on-site alarm function submodule are both connected to the input end of the information push function submodule.

5. The substation-based robot inspection method according to claim 4, characterized in that: The central processor includes a laser radar, a driving component, a power supply component, a camera, a wireless communication component and a patrol host; The alarm module is powered by a power supply component, the laser radar is connected to the components in the central processor, the camera and wireless communication components are located to display the conversation records in the alarm module, and the patrol host includes a driving component in the patrol host to transmit power to the central processor.

6. The substation-based robot patrol method according to claim 5, characterized in that: The construction of the three-dimensional spatial diagram of the substation includes establishing X and Y axis coordinates, generating a two-dimensional spatial diagram of the substation, obtaining label plane coordinate information, converting the label plane coordinate information into X and Y coordinates in the two-dimensional spatial diagram, marking the positions of all labels, obtaining the height information of the labels, adding them to the two-dimensional spatial diagram, and generating a three-dimensional spatial diagram containing X, Y, and Z axis coordinates; The conversion into X and Y coordinates in the two-dimensional space graph includes using a nonlinear function to calculate the mapping relationship from the three-dimensional space to the two-dimensional space. The specific calculation formula is: f(x,y,z)=(x′+sin(y′·z′)+e x' ,y′+cos(x′·z′)+e y' ) Among them, x, y, z represent the device coordinates in three-dimensional space, x' and y' represent the projection coordinates on the two-dimensional plane, and e x' and e y' A random variable representing the projection error; When device A is above, below, to the left, or to the right of device B, the projection coordinates will be adjusted to varying degrees. The specific steps are as follows: When device A is above device B, the projection coordinates are offset downward as a whole. The offset calculation formula is: Among them, h1 represents the overall downward offset of the projection coordinates, p represents the vertical distance from the projection point to the device, Δzx represents the vertical distance of the downward offset between devices, and Δx represents the vertical distance; When device A is located below device B, the projection coordinates are offset upward as a whole. The offset calculation formula is: Among them, h2 represents the overall upward offset of the projection coordinates, p represents the vertical distance from the projection point to the device, Δzx represents the vertical distance of the upward offset between devices, and Δx represents the vertical distance; When device A is located on the left side of device B, the projection coordinates are offset to the right as a whole. The offset calculation formula is: Where d1 represents the overall rightward offset of the projection coordinates, h represents the horizontal distance from the projection point to the device, Δzy represents the horizontal distance between devices offset to the right, and Δy represents the horizontal distance; When device A is located on the right side of device B, the projection coordinates are offset to the left as a whole. The offset calculation formula is: Wherein, d2 represents the overall leftward offset of the projection coordinates, h represents the horizontal distance from the projection point to the device, Δzx represents the horizontal distance of the leftward offset between devices, and Δy represents the horizontal distance.

7. The substation-based robot inspection method according to claim 6, characterized in that: The status tracking function includes setting the status tracking point according to the alarm result, establishing a tracking plan based on the patrol result displayed in a three-dimensional space diagram, and the tracking plan includes the tracking plan name, start time, end time, tracking interval and tracking description. The result confirmation function includes performing point trend analysis on the patrol result, and the point trend analysis includes filtering according to the substation equipment area, equipment type, identification type, point name and date, generating a corresponding data trend curve chart and exporting the current point data, and providing offline viewing.

8. A substation-based robot patrol system, based on the substation-based robot patrol method according to any one of claims 1 to 7, characterized in that: include, The transmission module uses the data acquisition function module of the station-side robot to obtain the substation information data that needs to be inspected, and builds a two-way data transmission channel between the substation information data and the inspection robot; The analysis module constructs a three-dimensional spatial map of the substation based on a two-way data transmission channel, exports patrol points for point trend analysis, and exports patrol analysis reports.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the substation-based station-end robot patrol method described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the substation-based station-end robot patrol method described in any one of claims 1 to 7 are implemented.

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