Power transformer detection equipment and detection control method

Abstract

The invention discloses power transformer detection equipment and a detection control method. The invention provides power transformer detection equipment. The power transformer detection equipment comprises a walking supporting mechanism; the first mechanical arm is carried on the walking supporting mechanism; the contact type partial discharge detection sensor is arranged on the first mechanical arm and is used for being in contact with a detected area of the power transformer so as to detect partial discharge parameters of the detected area; the pressure sensor is arranged on the first mechanical arm and used for sensing contact pressure generated between the contact type partial discharge detection sensor and the detected area; the control module is carried on the walking supporting mechanism and used for controlling the walking supporting mechanism and the first mechanical arm to move cooperatively so that the contact type partial discharge detection sensor can be arranged in the detected area in a pressed mode till the contact pressure reaches a preset pressure threshold value, and under the condition that it is determined that the contact pressure reaches the preset pressure threshold value, the contact type partial discharge detection sensor is started. And the contact type partial discharge detection sensor is controlled to detect partial discharge parameters, so that the technical effect of improving the safety of the contact type partial discharge detection process can be realized.

Description

Technical Field

[0001] The present application belongs to the field of detection technology, and in particular relates to a power transformer detection device and a detection control method. Background Art

[0002] Power transformers are core equipment in the power system. Whether power transformers can operate reliably is crucial to the stability of the power grid. It is necessary to conduct live transformer testing and status evaluation on a regular basis. However, since power transformers usually use transformer oil as an insulating medium, and transformer oil is a flammable material, when an insulation failure occurs in a power transformer, about 10% of the transformers will catch fire and explode. If the operation and maintenance personnel operate the detection equipment and conduct manual contact detection, it will seriously threaten the personal safety of the operation and maintenance personnel, while non-contact detection equipment has problems such as inaccurate detection results. Summary of the invention

[0003] The purpose of the present application is to at least solve the problem of high risk of manually performing contact detection of power transformers in the related art. This purpose is achieved through the following technical solutions:

[0004] The first aspect of the present application provides a power transformer detection device, comprising:

[0005] Walking support mechanism;

[0006] A first mechanical arm, mounted on the walking support mechanism;

[0007] A contact-type partial discharge detection sensor, disposed on the first mechanical arm, for contacting a measured area of ​​the power transformer to detect partial discharge parameters at the measured area;

[0008] a pressure sensor, disposed on the first mechanical arm, for sensing the contact pressure generated between the contact-type partial discharge detection sensor and the measured area;

[0009] A control module is mounted on the walking support mechanism, and is used to control the walking support mechanism and the first mechanical arm to move in coordination so that the contact-type partial discharge detection sensor is pressed against the measured area until the contact pressure reaches a preset pressure threshold, and when it is determined that the contact pressure reaches the preset pressure threshold, the contact-type partial discharge detection sensor is controlled to detect the partial discharge parameter.

[0010] In some embodiments, the power transformer detection device further includes:

[0011] Image acquisition sensor;

[0012] A second mechanical arm mounted on the walking support mechanism;

[0013] An oil extraction device, arranged on the second mechanical arm;

[0014] The control module is also used to locate the oil extraction port of the power transformer according to the image captured by the image acquisition sensor, and control the walking support mechanism and the second mechanical arm to move in coordination according to the positioning result so that the oil extraction device can dock with the oil extraction port, and then control the oil extraction device to collect the insulating oil sample of the power transformer from the oil extraction port after docking.

[0015] In some embodiments, the image acquisition sensor in the power transformer detection device includes: a wide-angle camera and a depth camera;

[0016] The control module is also specifically used to search for the power transformer based on the image captured by the wide-angle camera, and control the walking support mechanism and the second robotic arm to move in coordination based on the search results so that the second robotic arm appears in the image captured by the depth camera.

[0017] In some embodiments, the power transformer detection device further includes:

[0018] An area array laser, used for emitting an area array laser and collecting reflected area array laser signals;

[0019] The control module is also specifically used to generate three-dimensional point cloud information of the oil extraction port according to the reflected area array laser signal, and locate the oil extraction port according to the three-dimensional point cloud information.

[0020] In some embodiments, the power transformer detection device further includes:

[0021] A coupling agent releasing device disposed on the first mechanical arm;

[0022] The control module is also used to control the coupling agent releasing device to cover the coupling agent on the contact surface between the measured area and the contact type partial discharge detection sensor.

[0023] In some embodiments, the contact-type partial discharge detection sensor integrates an ultrasonic sensor and a vibration sensor, wherein the ultrasonic sensor is used to emit ultrasonic waves to detect ultrasonic detection signals returned from the inside of the measured area, and the vibration sensor is used to obtain vibration signals of the measured area.

[0024] In some embodiments, the walking support mechanism includes a leg-type walking mechanism and a stable platform coupled to the leg-type walking mechanism, and the components of the power transformer detection equipment except the walking support mechanism are arranged on the stable platform.

[0025] In some embodiments, the power transformer detection device further includes at least one of the following:

[0026] A communication device, used for communicating with other devices other than the power transformer detection device;

[0027] A wireless charging device, used for wireless charging;

[0028] An acoustic imaging device, used to obtain images of the detection site using sound waves;

[0029] An infrared imaging device, used to obtain an image of the detection site using infrared;

[0030] A video shooting device, used to shoot a video of the detection scene;

[0031] The insulating bracket is used to carry at least one component included in the power transformer detection device to achieve electrical isolation between the component carried on the insulating bracket and the component not carried on the insulating bracket.

[0032] The second aspect of the present application proposes a detection control method, which is applied to the power transformer detection device described in the present application, comprising:

[0033] Controlling the walking support mechanism of the power transformer detection device and the first mechanical arm of the power transformer detection device to move in coordination, so that the contact-type partial discharge detection sensor of the power transformer detection device contacts the detected area of ​​the power transformer detection device;

[0034] Acquire the contact pressure sensed by the pressure sensor of the power transformer detection device, wherein the contact pressure is the pressure generated between the contact-type partial discharge detection sensor and the measured area;

[0035] Controlling the first robotic arm until the contact pressure reaches a preset pressure threshold;

[0036] The contact-type partial discharge detection sensor is controlled to detect partial discharge parameters of the detected area.

[0037] In some embodiments, when the power transformer detection device includes an image acquisition sensor, a second mechanical arm, and an oil extraction device, the method further includes:

[0038] Locating the oil extraction port of the power transformer according to the image acquired by the image acquisition sensor;

[0039] Control the walking support mechanism and the second mechanical arm to move in coordination according to the positioning result, so that the oil extraction device is docked with the oil extraction port;

[0040] The oil extraction device is controlled to collect the insulating oil sample of the power transformer from the oil extraction port.

[0041] The power transformer detection equipment and detection control method provided in the present application, through the coordinated cooperation between the walking support mechanism and the first mechanical arm, press the contact partial discharge detection sensor provided on the first mechanical arm to the detected area for detection, replace manual detection with machine detection, thereby improving the safety of the detection process, and detect the contact pressure borne by the contact partial discharge detection sensor through a pressure sensor. When the contact pressure reaches a preset pressure threshold, it is determined that the contact partial discharge detection sensor is pressed against the detected area, and then the detection is performed, thereby ensuring the accuracy of the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0043] Figure 1 is a schematic block diagram of a power transformer detection device provided in an embodiment of the present application;

[0044] Figure 2 It is a structural schematic diagram of a power transformer detection device provided in an embodiment of the present application;

[0045] Figure 3 It is a flow chart of a detection control method provided in an embodiment of the present application.

[0046] Some of the reference numerals are as follows:

[0047] 1. Stable platform, 2. Second robotic arm, 3. Docking port of oil extraction device, 4. Guide port of oil extraction device, 5. Wide-angle camera, 6. Depth camera, 7. Area array laser, 8. First robotic arm, 9. Pressure sensor, 10. Contact partial discharge detection sensor, 11. Coupling agent release device, 12. Coupling agent box, 13. Insulating bracket, 14. Video shooting device, 15. Infrared imaging device, 16. Acoustic imaging device, 17. Communication device, 18. Wireless charging device, 19. Walking mechanism, 20. Walking support mechanism. DETAILED DESCRIPTION

[0048] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0049] It should be understood that the terms used in the text are only for the purpose of describing specific example embodiments, and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used in the text may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0050] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0051] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, then the elements described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both upper and lower orientations. The device can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0052] like Figure 1 and Figure 2 As shown, according to the embodiment of the present application, a power transformer detection device is proposed, including: a walking support mechanism 20, a first mechanical arm 8, a contact partial discharge detection sensor 10 and a pressure sensor 9, and a control module 21 ( Figure 2 not shown).

[0053] The walking support mechanism 20 is used to provide walking ability for the power transformer detection device and to provide support for other components of the power transformer detection device except the walking support mechanism 20. In some embodiments, the walking support mechanism 20 may include a walking mechanism 19 and a stable platform 1 for providing support. Optionally, the walking mode of the walking support mechanism 20 may be crawler-type, wheel-type, jumping-type, leg-type, etc. Figure 2 In the specific embodiment shown, the walking mechanism 19 is a four-legged walking mechanism. Selecting the four-legged walking mode can improve the obstacle-crossing ability of the power transformer detection equipment and can reach the vicinity of the power transformer more flexibly.

[0054] refer to Figure 2 , the first mechanical arm 8 is mounted on the walking support mechanism 20, and the contact partial discharge detection sensor 10 is arranged on the first mechanical arm 8, and is used to contact the measured area of ​​the power transformer to detect the partial discharge parameters at the measured area. In some embodiments, the contact partial discharge detection sensor 10 is integrated with an ultrasonic sensor and a vibration sensor, the ultrasonic sensor is used to emit ultrasonic waves to detect the ultrasonic detection signal returned from the inside of the measured area, and the vibration sensor is used to obtain the vibration signal of the measured area. Accordingly, the partial discharge parameters include the above-mentioned ultrasonic detection signal and vibration signal. Through the ultrasonic-vibration integrated detection sensor, more parameters at the measured area can be obtained to obtain more accurate measurement results.

[0055] The pressure sensor 9 is disposed on the first mechanical arm 8 and is used to sense the contact pressure generated between the contact-type partial discharge detection sensor 10 and the measured area of ​​the power transformer. Figure 2 The contact type partial discharge detection sensor 10 and the pressure sensor 9 are arranged at the front end of the first mechanical arm 8, so that the first mechanical arm 8 can press the contact type partial discharge detection sensor 10 to the measured area. Figure 2 The pressure sensor 9 can be configured to surround the contact type partial discharge detection sensor 10 so as to occupy a larger area between the contact type partial discharge detection sensor 10 and the measured area and sense the contact pressure more accurately.

[0056] The control module 21 is mounted on the walking support mechanism 20. Optionally, the control module 21 may be a central processing unit, an embedded chip, a system on chip SOC, etc. In some embodiments, the control module 21 may be connected to the communication module 17 to communicate with a control device outside the power transformer detection device through the communication module 17, and the control module 21 and the control device cooperate to control the power transformer detection device provided in the embodiment of the present application.

[0057] The control module 21 can control the walking support mechanism 20 and the first mechanical arm 8 to move in coordination so that the contact type partial discharge detection sensor 10 is pressed against the measured area until the contact pressure reaches a preset pressure threshold, and when it is determined that the contact pressure reaches the preset pressure threshold, the contact type partial discharge detection sensor 10 is controlled to detect the partial discharge parameters.

[0058] In some embodiments, the control module 21 can accept manual manipulation based on the communication module to control the walking support mechanism 20 and the first mechanical arm 8 to move in coordination, so that the contact-type partial discharge detection sensor 10 is pressed against the measured area. Alternatively, the power transformer detection equipment may also be provided with sensors for auxiliary positioning, such as image acquisition sensors, infrared sensors, acoustic wave sensors, etc., to locate the measured area, thereby autonomously controlling the walking support mechanism 20 and the first mechanical arm 8 to move in coordination, so that the contact-type partial discharge detection sensor 10 is pressed against the measured area.

[0059] The power transformer detection equipment provided in the present application, through the coordinated cooperation between the walking support mechanism and the first mechanical arm, presses the contact partial discharge detection sensor provided on the first mechanical arm to the measured area for detection, replaces manual detection with machine detection, improves the safety of the detection process, and detects the contact pressure borne by the contact partial discharge detection sensor through a pressure sensor. When the contact pressure reaches a preset pressure threshold, it is determined that the contact partial discharge detection sensor is pressed against the measured area, and then the detection is performed, thereby ensuring the accuracy of the detection.

[0060] In some embodiments, the power transformer detection device provided in the embodiment of the present application may also include the following components: an image acquisition sensor, a second mechanical arm and an oil extraction device. The second mechanical arm is mounted on the walking support mechanism, and the oil extraction device is arranged on the second mechanical arm. Figure 2 The oil extraction device includes a docking port 3 and a guide port 4. The docking port 3 is used to dock with the oil extraction port of the power transformer, and the guide port 4 is used to assist the docking port 3 to dock with the oil extraction port.

[0061] The image acquisition sensor may include one or more sensors, which may be arranged on any mechanical arm of the power transformer detection device, or set on the walking support mechanism 20, or may also be set at other positions of the power transformer detection device, and the embodiment of the present application does not specifically limit this. Accordingly, the control module 21 can locate the oil extraction port of the power transformer according to the image captured by the image acquisition sensor, and control the walking support mechanism and the second mechanical arm to move in coordination according to the positioning result, so that the oil extraction device docks with the oil extraction port, and then control the oil extraction device to collect the insulating oil sample of the power transformer from the oil extraction port after docking.

[0062] In one embodiment, reference Figure 2The image acquisition sensor may include a wide-angle camera 5 and a depth camera 6, which are arranged at the front end of the second mechanical arm 2 to expand the flexibility of the wide-angle camera 5 and the depth camera 6 in framing through the movement of the second mechanical arm 2. Accordingly, the control module 21 can search for the power transformer according to the image acquired by the wide-angle camera 5, and control the second mechanical arm 2 of the walking support mechanism 20 to move in coordination according to the search result, so that the second mechanical arm 2 appears in the image acquired by the depth camera 6, thereby facilitating the subsequent positioning operation of accurately locating the oil extraction port.

[0063] It is understandable that the control module 21 may include one or more. For example, different control modules may be configured for each robot arm and walking mechanism to disperse the data processing pressure of the control module.

[0064] In some embodiments, reference Figure 2 The power transformer detection device may also include a planar array laser 7, which is used to emit a planar array laser and collect reflected planar array laser signals. After the planar array laser is irradiated to the oil extraction port, it will be reflected by the oil extraction port. Therefore, the three-dimensional point cloud information of the oil extraction port can be established according to the reflected planar array laser signal, and the oil extraction port can be located according to the three-dimensional point cloud information. The control module 21 can control the location of the power transformer oil extraction port based on this principle, so as to facilitate the subsequent oil extraction docking process. In some embodiments, the depth camera 6 can also be used to collect images containing planar array laser signals to generate three-dimensional point cloud information, which is not limited in the embodiments of the present application.

[0065] In some embodiments, the power transformer detection device may further include a coupling agent release device disposed on the first mechanical arm 8. The coupling agent release device may be disposed at the front end of the first mechanical arm 8. The control module 21 may control the coupling agent release device to release the coupling agent to the measured area and / or the contact partial discharge detection sensor before controlling the contact partial discharge detection sensor 10 to be pressed on the measured area. The coupling agent release device may specifically cover the coupling agent on the contact surface between the measured area and the contact partial discharge detection sensor by smearing, squeezing, spraying, pushing, etc. Figure 2 The coupling agent releasing device may include a coupling agent releasing device 11 and a coupling agent box 12, the coupling agent box 12 is used to contain the coupling agent, in some embodiments, the control module 21 may first control the walking support mechanism 20 to move to the vicinity of the measured area, and then control the first mechanical arm 8 to move to the coupling agent releasing device 11 close to the measured area, and then under the control of the control module 21, the coupling agent releasing device 11 applies the coupling agent in the coupling agent box 12 to the contact surface, and then the control module 21 controls the first mechanical arm 8 to press the contact partial discharge detection sensor 10 to the measured area.

[0066] In some embodiments, reference Figure 2The power transformer detection device may also include at least one of the following:

[0067] The communication device 17 is used to communicate with other devices besides the power transformer detection device. In some implementations, the communication data sent and received can be encrypted by a data encryption machine to achieve real-time encrypted interaction between the internal and external networks.

[0068] The wireless charging device 18 is used to power the power transformer detection equipment through wireless charging.

[0069] The acoustic imaging device 16 is used to obtain images of the detection site using sound waves, and can also be used to detect the position of the power transformer (which may include the oil extraction port and the detected area).

[0070] The infrared imaging device 15 is used to obtain images of the detection site using infrared, and can also be used to detect the position of the power transformer (which may include the oil extraction port and the detected area).

[0071] The video shooting device 14 is used to shoot a video of the detection scene.

[0072] The insulating support 13 is used to carry at least one component included in the power transformer detection device to achieve electrical isolation between the component carried on the insulating support 13 and the component not carried on the insulating support 13. Figure 2 The insulating bracket 13 is equipped with a video shooting device 14, an infrared imaging device 15, and an acoustic imaging device 16.

[0073] The following is for Figure 2 The example of the power transformer testing equipment shown in the figure describes the oil extraction process and the partial discharge detection process as follows:

[0074] Oil extraction process: The control module 21 controls the wide-angle camera 5 to perform a wide-range imaging search with the power transformer as the target, and then controls the second mechanical arm 2 to move until the oil extraction port of the power transformer appears in the depth camera 6, and then constructs the three-dimensional information of the oil extraction port through the depth camera 6, and at the same time realizes the calibration of the imaging position and viewing angle according to the calibration plate pre-configured on the oil extraction port. Further, the second mechanical arm 2 is controlled to approach the oil extraction port, and the area array laser 7 is used to emit the area array laser to accurately obtain the three-dimensional point cloud information of the oil extraction port, adjust the position and posture of the guide port 4, realize accurate docking, use the docking port 3 to extract oil, and carry out the oil extraction docking movement.

[0075] Partial discharge detection process: the control module 21 controls the walking support mechanism 20 to move to the position to be detected, uses the first mechanical arm 8 to extend the front end to the vicinity of the measured area, and then controls the coupling agent release device 11 to apply coupling agent on the surface of the measured area, and presses the ultrasonic-vibration integrated contact partial discharge detection sensor 10 to the surface of the power transformer and sticks it tightly until the reading of the pressure sensor 9 reaches a certain limit, indicating that the ultrasonic-vibration integrated contact partial discharge detection sensor 10 is in good contact with the measured area of ​​the power transformer, and starts to perform ultrasonic detection and vibration detection on the power transformer.

[0076] refer to Figure 2 The example of the power transformer detection equipment provided provides a four-legged walking robot that can perform live detection on power transformers. It can replace manual labor to carry out live detection and status evaluation of power transformers, improve the quality and safety level of live detection work, and solve the shortcomings of current live detection robots. It has the following beneficial effects: through contact detection with a partial discharge detection sensor integrated with ultrasound and vibration, important information on partial discharge is obtained, and it can collect power transformer oil samples, shoot on-site videos, infrared imaging, acoustic wave imaging, etc., which provides more parameters for comprehensive analysis and judgment of the power transformer status, reduces the risk of misjudgment and missed judgment, and adopts a four-legged walking method to enhance the obstacle crossing ability, and can more conveniently reach the vicinity of the power transformer.

[0077] The second aspect of the present application proposes a detection control method, which can be applied to the power transformer detection device of the present application. For the parts not described in detail in the detection control method provided in the embodiment of the present application, reference can be made to the description of the power transformer detection device provided in the embodiment of the present application. Figure 3 , the method comprises the following steps:

[0078] Step 301, controlling the walking support mechanism of the power transformer detection device and the first mechanical arm of the power transformer detection device to move in coordination, so that the contact partial discharge detection sensor of the power transformer detection device contacts the detected area of ​​the power transformer detection device;

[0079] Step 302, obtaining the contact pressure sensed by the pressure sensor of the power transformer detection equipment, where the contact pressure is the pressure generated between the contact-type partial discharge detection sensor and the detected area;

[0080] Step 303, controlling the first mechanical arm until the contact pressure reaches a preset pressure threshold;

[0081] Step 304: Control the contact-type partial discharge detection sensor to detect partial discharge parameters of the detected area.

[0082] In some embodiments, when the power transformer detection device includes an image acquisition sensor, a second mechanical arm, and an oil extraction device, the method may further include the following steps:

[0083] Step 401, locating the oil inlet of the power transformer according to the image collected by the image acquisition sensor;

[0084] Step 402, controlling the walking support mechanism and the second mechanical arm to move in coordination according to the positioning result, so that the oil extraction device is docked with the oil extraction port;

[0085] Step 403, controlling the oil extraction device to collect the insulating oil sample of the power transformer from the oil extraction port.

[0086] The detection control method provided in the present application, through the coordinated cooperation between the walking support mechanism and the first mechanical arm, presses the contact partial discharge detection sensor provided on the first mechanical arm to the measured area for detection, replaces manual detection with machine detection, improves the safety of the detection process, and detects the contact pressure borne by the contact partial discharge detection sensor through a pressure sensor. When the contact pressure reaches a preset pressure threshold, it is determined that the contact partial discharge detection sensor is pressed against the measured area, and then the detection is performed, thereby ensuring the accuracy of the detection.

[0087] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A power transformer detection device, characterized in that: include: Walking support mechanism; A first mechanical arm, mounted on the walking support mechanism; A contact-type partial discharge detection sensor, disposed on the first mechanical arm, for contacting a measured area of ​​the power transformer to detect partial discharge parameters at the measured area; a pressure sensor, disposed on the first mechanical arm, for sensing the contact pressure generated between the contact-type partial discharge detection sensor and the measured area; A control module is mounted on the walking support mechanism, and is used to control the walking support mechanism and the first mechanical arm to move in coordination so that the contact-type partial discharge detection sensor is pressed against the measured area until the contact pressure reaches a preset pressure threshold, and when it is determined that the contact pressure reaches the preset pressure threshold, the contact-type partial discharge detection sensor is controlled to detect the partial discharge parameter.

2. The power transformer detection device according to claim 1, characterized in that: Also includes: Image acquisition sensor; A second mechanical arm, mounted on the walking support mechanism; An oil extraction device, arranged on the second mechanical arm; The control module is also used to locate the oil extraction port of the power transformer according to the image captured by the image acquisition sensor, and control the walking support mechanism and the second mechanical arm to move in coordination according to the positioning result so that the oil extraction device can dock with the oil extraction port, and then control the oil extraction device to collect the insulating oil sample of the power transformer from the oil extraction port after docking.

3. The power transformer detection device according to claim 2, characterized in that: The image acquisition sensor includes: a wide-angle camera and a depth camera; The control module is also specifically used to search for the power transformer based on the image captured by the wide-angle camera, and control the walking support mechanism and the second robotic arm to move in coordination based on the search results so that the second robotic arm appears in the image captured by the depth camera.

4. The power transformer detection device according to claim 3, characterized in that: Also includes: An area array laser, used for emitting an area array laser and collecting reflected area array laser signals; The control module is also specifically used to generate three-dimensional point cloud information of the oil extraction port according to the reflected area array laser signal, and locate the oil extraction port according to the three-dimensional point cloud information.

5. The power transformer detection device according to claim 1, characterized in that: Also includes: A coupling agent releasing device disposed on the first mechanical arm; The control module is also used to control the coupling agent releasing device to cover the coupling agent on the contact surface between the measured area and the contact type partial discharge detection sensor.

6. The power transformer detection device according to claim 1, characterized in that: The contact-type partial discharge detection sensor integrates an ultrasonic sensor and a vibration sensor. The ultrasonic sensor is used to emit ultrasonic waves to detect ultrasonic detection signals returned from the inside of the detected area, and the vibration sensor is used to obtain vibration signals of the detected area.

7. The power transformer detection device according to claim 1, characterized in that: The walking support mechanism comprises a leg-type walking mechanism and a stable platform coupled to the leg-type walking mechanism, and the components of the power transformer detection equipment except the walking support mechanism are arranged on the stable platform.

8. The power transformer detection device according to claim 1, characterized in that: Also includes at least one of the following: A communication device, used for communicating with other devices other than the power transformer detection device; A wireless charging device, used for wireless charging; An acoustic imaging device, used to obtain images of the detection site using sound waves; An infrared imaging device, used to obtain an image of the detection site using infrared; A video shooting device, used to shoot a video of the detection scene; The insulating bracket is used to carry at least one component included in the power transformer detection device to achieve electrical isolation between the component carried on the insulating bracket and the component not carried on the insulating bracket.

9. A detection control method, characterized in that: The power transformer detection device used in any one of claims 1 to 8 comprises: Controlling the walking support mechanism of the power transformer detection device and the first mechanical arm of the power transformer detection device to move in coordination, so that the contact-type partial discharge detection sensor of the power transformer detection device contacts the detected area of ​​the power transformer detection device; Acquire the contact pressure sensed by the pressure sensor of the power transformer detection device, wherein the contact pressure is the pressure generated between the contact-type partial discharge detection sensor and the measured area; Controlling the first robotic arm until the contact pressure reaches a preset pressure threshold; The contact-type partial discharge detection sensor is controlled to detect partial discharge parameters of the detected area.

10. The detection control method according to claim 9, characterized in that: In the case where the power transformer detection device includes an image acquisition sensor, a second mechanical arm and an oil extraction device, the method further includes: Locating the oil extraction port of the power transformer according to the image acquired by the image acquisition sensor; Control the walking support mechanism and the second mechanical arm to move in coordination according to the positioning result, so that the oil extraction device is docked with the oil extraction port; The oil extraction device is controlled to collect the insulating oil sample of the power transformer from the oil extraction port.

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