Power transformation equipment inspection method and device, storage medium and electronic equipment

Abstract

The invention discloses a power transformation equipment inspection method and device, a storage medium and electronic equipment. The method comprises the following steps: in response to a received planned inspection item, judging whether the inspection robot meets an acquisition requirement of the planned inspection item according to instrument state information of a live detection instrument carried by the inspection robot; if the inspection robot meets the acquisition requirement, determining a first target power transformation device needing to be inspected by the inspection robot according to the inspection time sequence, and sending an instruction to a point location of the first target power transformation device; under the condition that it is determined that the inspection robot reaches the point location of the first target power transformation equipment, a mechanical arm control instruction is sent; and in response to the received inspection data, sending an instruction of going to the point location of the next target power transformation equipment to the inspection robot until the inspection processing of all the target power transformation equipment included in the planned inspection item is completed. The technical problem that the inspection efficiency of the power transformation equipment is not ideal in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of substation detection, and more specifically, to a method, device, storage medium and electronic equipment for inspecting substation equipment. Background Art

[0002] Due to changes in electricity demand, especially the increased quality requirements for the stability of power transmission by the power grid, the reliability requirements of the power grid have also increased accordingly. The power grid includes infrastructure such as substations. Substations include a variety of substation equipment. When maintenance personnel perform maintenance on the substations under their jurisdiction, there are many substations under their jurisdiction, with a wide range of equipment models and complex operating conditions; and there are also a large number of special-grade guarantee stations in the substations under their jurisdiction, and the state control of substation equipment during operation faces severe challenges. Faced with high-standard equipment operation and monitoring requirements, there are problems such as insufficient reliability of online monitoring equipment and high pressure on manual inspections.

[0003] Substations rely on robots and other equipment to replace some of the operation and maintenance personnel in the substation operation and maintenance work. However, traditional patrol robots conduct patrols at fixed times and locations on predetermined routes, and the types of data collected are relatively few. They cannot comprehensively record the operation status of the substation's substation equipment. Power patrol robots have poor flexibility during inspections, and data collection tasks sometimes encounter multiple interference situations, resulting in low task completion and unsatisfactory inspection efficiency.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide a method, device, storage medium and electronic device for inspecting substation equipment, so as to at least solve the technical problem of unsatisfactory inspection efficiency of substation equipment in the related art.

[0006] According to one aspect of an embodiment of the present application, a method for inspecting substation equipment is provided, comprising: in response to receiving a planned inspection item sent by a substation detection server, judging whether the inspection robot meets the collection requirements of the planned inspection item based on the instrument status information of the live detection instrument carried by the inspection robot; if the inspection robot meets the collection requirements, determining the first target substation equipment that needs to be inspected by the inspection robot according to the inspection time sequence of the planned inspection item, and sending an instruction to the inspection robot to go to the location of the first target substation equipment; when it is determined that the inspection robot has arrived at the location of the first target substation equipment, sending a robot arm control instruction to the inspection robot, wherein the robot arm control instruction is used to control the inspection robot to operate the robot arm to grab the live detection instrument and inspect the target substation equipment; in response to receiving the inspection data of the first target substation equipment sent by the live detection instrument, sending an instruction to the inspection robot to go to the location of the next target substation equipment until the inspection processing of all target substation equipment included in the planned inspection item is completed.

[0007] Optionally, the method also includes: obtaining instrument status information of the live detection instrument, wherein the instrument status information includes the remaining power, connection status, and working status of the live detection instrument; judging whether the live detection instrument can complete the inspection project based on the remaining power; judging whether the communication between the live detection instrument and the intelligent mobile terminal is normal based on the connection status, wherein the intelligent mobile terminal is carried on the inspection robot and is used to interact with the substation detection server and the inspection robot respectively; judging whether the live detection instrument can work normally based on the working status; when the live detection instrument can complete the inspection project, the communication between the live detection instrument and the inspection robot is normal, and the live detection instrument can work normally, determining that the inspection robot meets the inspection data collection requirements.

[0008] Optionally, before sending the robot arm control instruction to the inspection robot, the method also includes: obtaining image information collected by the inspection robot on the first target substation; judging whether there are other inspection robots currently inspecting the first target substation based on the image information; if there are other inspection robots in the process of inspecting the first target substation, sending an instruction to the inspection robot to go to the next target substation.

[0009] Optionally, a pressure sensor is provided on the live detection instrument. After sending a robotic arm control instruction to the inspection robot, the method further includes: after the robotic arm places the live detection instrument on the surface of the first target substation, obtaining pressure data collected by the pressure sensor; judging whether the pressure data meets the measurement requirements for the inspection data; if the pressure data meets the measurement requirements, sending a start detection instruction to the live detection instrument to allow the execution of collecting inspection data.

[0010] Optionally, the method also includes: if the pressure data does not meet the measurement requirements, based on the pressure data, sending a pressure adjustment instruction to the inspection robot, wherein the pressure adjustment instruction is used to control the movement of the robot arm to make the live detection instrument away from or close to the substation equipment; obtaining updated data re-collected by the pressure sensor; until the updated data meets the measurement requirements, sending a start detection instruction to the live detection instrument.

[0011] Optionally, the method also includes: in the process of the inspection robot executing the planned inspection items, in response to receiving the temporary inspection items sent by the substation detection server, setting the priority of the temporary inspection items to be higher than the priority of the planned inspection items, wherein the temporary inspection items are generated by the substation detection server according to fault detection requirements and fault troubleshooting requirements; controlling the inspection robot to suspend the execution of the planned inspection items, and start executing the temporary inspection items.

[0012] According to another aspect of an embodiment of the present application, a smart mobile terminal is provided, and the smart mobile terminal applies any one of the inspection methods for substation equipment.

[0013] According to another aspect of an embodiment of the present application, a patrol system for substation equipment is provided, comprising: a patrol robot, a robotic arm, a live detection instrument, and an intelligent mobile terminal, wherein the intelligent mobile terminal applies the patrol method for substation equipment of any one of claims 1 to 6, the intelligent mobile terminal, the live detection instrument, and the robotic arm are mounted on the patrol robot, the intelligent mobile terminal interacts with a substation detection server, and the substation detection server is used to issue planned inspection items to the intelligent mobile terminal.

[0014] Optionally, the smart mobile terminal is used to interact with the substation detection server by using the 5G-APN communication method when the inspection robot is located on the ground, wherein the 5G-APN communication method is a communication method that uses the access point name APN as the gateway in the fifth generation mobile communication system 5G; the smart mobile terminal is used to interact with the substation detection server by using the wireless LAN communication method when the inspection robot is located in the underground scene; the smart mobile terminal is used to interact with the inspection robot by using the Ethernet wired communication method.

[0015] Optionally, the charged detection instrument includes at least one of the following: an infrared thermal imaging detection terminal, a voiceprint imaging detection terminal, an electromagnetic wave partial discharge detection terminal, an ultrasonic partial discharge detection terminal, and a transient ground potential partial discharge detection terminal.

[0016] In an embodiment of the present application, a multifunctional inspection robot is controlled according to an inspection time preset according to an inspection item to inspect the substation equipment. In response to receiving a planned inspection item sent by a substation detection server, the inspection robot is judged whether it meets the collection requirements of the planned inspection item according to the instrument status information of the live detection instrument carried by the inspection robot; if the inspection robot meets the collection requirements, the first target substation equipment that needs to be inspected by the inspection robot is determined according to the inspection time sequence of the planned inspection item, and an instruction to go to the location of the first target substation equipment is sent to the inspection robot; when it is determined that the inspection robot has reached the location of the first target substation equipment, a manipulator arm control instruction is sent to the inspection robot, wherein the manipulator arm control instruction is used to control the inspection robot to operate the manipulator arm to grab the live detection instrument and inspect the target substation equipment; in response to receiving the inspection data of the first target substation equipment sent by the live detection instrument, an instruction to go to the location of the next target substation equipment is sent to the inspection robot until the inspection processing of all target substation equipment included in the planned inspection item is completed. The purpose of efficiently monitoring the status of substation equipment and controlling the inspection robot to go to designated equipment for non-contact inspection as needed is achieved, thereby achieving the technical effect of improving the inspection efficiency of substation equipment, and thus solving the technical problem of unsatisfactory inspection efficiency of substation equipment in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 is a flow chart of an optional inspection method for substation equipment provided according to an embodiment of the present application;

[0019] Figure 2 is a functional schematic diagram of a smart mobile terminal provided according to an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of an optional inspection method for substation equipment provided according to an embodiment of the present application;

[0021] Figure 4 It is a structural block diagram of a patrol inspection system for substation equipment provided according to an embodiment of the present application;

[0022] Figure 5 It is a schematic diagram of cloud-edge collaboration of an optional inspection system for substation equipment provided according to an embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of a computing device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] According to an embodiment of the present application, a method embodiment of inspection of substation equipment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0027] Figure 1 is a flow chart of a method for inspecting a substation according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0028] Step S102, in response to receiving the planned inspection items sent by the substation detection server, judging whether the inspection robot meets the collection requirements of the planned inspection items according to the instrument status information of the live detection instrument carried by the inspection robot;

[0029] It can be understood that the intelligent mobile terminal receives the planned inspection items sent by the substation detection server, and the planned inspection items contain detailed requirements for inspection of specific substation equipment, such as the type of equipment to be inspected, the parameters to be inspected, and the inspection time. The intelligent mobile terminal can check the instrument status information of the live detection instrument connected to the inspection robot, such as the remaining power, the communication status with the terminal, and the working status, to evaluate whether the inspection robot has the detection capability required to complete the planned inspection items. Through the above processing, ineffective movement and detection are avoided, and the allocation and utilization of detection resources are optimized.

[0030] Optionally, the execution subject is an intelligent mobile terminal, and the intelligent mobile terminal can be carried on the inspection robot.

[0031] In an optional embodiment, the method also includes: obtaining instrument status information of the live detection instrument, wherein the instrument status information includes the remaining power, connection status, and working status of the live detection instrument; judging whether the live detection instrument can complete the inspection project based on the remaining power; judging whether the communication between the live detection instrument and the intelligent mobile terminal is normal based on the connection status, wherein the intelligent mobile terminal is carried on the inspection robot and is used to interact with the substation detection server and the inspection robot respectively; judging whether the live detection instrument can work normally based on the working status; when the live detection instrument can complete the inspection project, the communication between the live detection instrument and the inspection robot is normal, and the live detection instrument can work normally, determining that the inspection robot meets the inspection data collection requirements.

[0032] It can be understood that the smart mobile terminal first obtains detailed status information of the live detection instrument connected to it, that is, the instrument status information, including but not limited to the remaining power, connection status (that is, the communication status with the smart mobile terminal) and working status (whether the instrument is in normal working mode). The above instrument status information is crucial for evaluating whether the detection instrument is suitable for performing the upcoming inspection task. The smart mobile terminal analyzes the remaining power of the live detection instrument to determine whether it is sufficient to support a complete inspection task. If the remaining power is lower than the preset threshold, it may indicate that the instrument needs to be charged or replaced to avoid interruption of the inspection due to insufficient power during the inspection process. The smart mobile terminal checks whether the communication connection with the live detection instrument is stable and normal. Effective communication is the basis of data collection and transmission. Any communication failure may result in the failure to obtain inspection data in time, affecting the efficiency and accuracy of the inspection. The smart mobile terminal confirms whether the live detection instrument is in working condition, that is, it can operate normally and perform the inspection task. If the detection instrument fails or is not started, effective data collection will not be possible. When all the above status checks are passed, that is, the remaining power of the detection instrument is sufficient, the communication with the smart mobile terminal is normal, and the instrument is in normal working condition, the smart mobile terminal finally confirms that the inspection robot meets the inspection data collection requirements and can start the inspection task.

[0033] By checking the instrument status before the inspection begins, inspection interruptions caused by insufficient power, communication failures or instrument failures can be prevented, ensuring the continuity of the inspection process and the integrity of the data. Ineffective dispatch of inspection robots and the use of live detection instruments are avoided, ensuring that each inspection is purposeful and efficient, reducing resource waste. The reliability of data during the collection process is ensured, data anomalies caused by poor instrument status are avoided, and the accuracy and reliability of inspection results are improved. The intelligent mobile terminal can automatically determine the instrument status and make corresponding decisions, reflecting the superiority of the automated and intelligent inspection system, reducing the need for manual intervention, and making the inspection system more autonomous and intelligent. Through the above processing, the execution quality of the inspection task is guaranteed from the source, the working stability of the entire live detection system and the accuracy of data collection are enhanced, and a more efficient and reliable solution is provided for the operation and maintenance management of the power system.

[0034] Step S104: if the inspection robot meets the collection requirements, the first target substation equipment to be inspected by the inspection robot is determined according to the inspection time sequence of the planned inspection items, and a command is sent to the inspection robot to go to the location of the first target substation equipment;

[0035] It can be understood that if the evaluation results show that the inspection robot meets the collection requirements of the planned inspection project, that is, the detection instrument is in good condition and can support the inspection project, the intelligent mobile terminal will determine the first target substation equipment to be inspected according to the equipment inspection time sequence set in the planned inspection project. Subsequently, the intelligent mobile terminal sends a command to the inspection robot, instructing it to go to the location of the first target substation equipment. Intelligent scheduling based on the inspection time sequence and equipment status ensures the orderly progress of the inspection project, while improving the flexibility and response speed of the robot inspection.

[0036] Step S106, when it is determined that the inspection robot has reached the location of the first target substation, a manipulator arm control instruction is sent to the inspection robot, wherein the manipulator arm control instruction is used to control the inspection robot to operate the manipulator arm to grab the live detection instrument to detect the target substation;

[0037] It is understandable that when the intelligent mobile terminal confirms that the inspection robot has reached the designated location of the first target substation, it will send a mechanical arm control instruction to the inspection robot. The inspection robot is instructed to operate its mechanical arm, select and grab the appropriate live detection instrument, and perform non-contact detection on the target substation. Using the mechanical arm to carry the live detection instrument for non-contact detection avoids the danger of direct contact with high-voltage equipment and improves the safety of detection.

[0038] Optionally, the robot arm control instruction includes adjusting detailed parameters of the robot arm action to ensure that the live detection instrument can accurately align with the target device for detection.

[0039] In an optional embodiment, before sending a robotic arm control instruction to the inspection robot, the method also includes: obtaining image information collected by the inspection robot on the first target substation; judging, based on the image information, whether there are other inspection robots currently inspecting the first target substation; if there are other inspection robots in the process of inspecting the first target substation, sending an instruction to the inspection robot to go to the next target substation.

[0040] It can be understood that before sending the robot arm control command to the inspection robot to perform the inspection task, a step is added to ensure the efficiency and safety of the inspection process. The intelligent mobile terminal obtains the image information collected by the inspection robot when it arrives at the first target substation. These images can be the appearance, working environment or specific inspection points of the target equipment, which are used to analyze the current inspection scene. The intelligent mobile terminal analyzes the acquired image information to determine whether other inspection robots are inspecting the first target substation. Image recognition technology is used to identify the position and working status of other robots in the image. If the intelligent mobile terminal recognizes that other robots are inspecting, in order to avoid conflicts in on-site equipment inspections (such as interference or equipment load problems that may be caused by multiple robots inspecting the same equipment at the same time), the intelligent mobile terminal will send instructions to the current inspection robot, instructing it to go to the next planned target substation instead of staying and trying to detect the first target equipment.

[0041] By judging in advance whether there are other robots conducting inspections, unnecessary waiting and repetitive work can be avoided, ensuring the smooth progress of the inspection process and improving the overall efficiency of the inspection. In a multi-robot inspection environment, it can effectively avoid the risk of data interference or physical contact that may be caused by multiple robots inspecting the same device, ensuring the orderly progress of the inspection task and the safety of the equipment. When a conflict is found, the inspection robot's task can be quickly adjusted to ensure the rational allocation of resources, avoiding excessive attention to a single device and ignoring other devices to be inspected, and ensuring the comprehensiveness and balance of the inspection coverage. It reflects the intelligent scheduling capability of the inspection system, and the terminal can make real-time decisions based on the on-site situation.

[0042] In an optional embodiment, a pressure sensor is provided on the live detection instrument. After sending a manipulator arm control instruction to the inspection robot, the method further includes: after the manipulator arm places the live detection instrument on the surface of the first target substation, obtaining pressure data collected by the pressure sensor; judging whether the pressure data meets the measurement requirements for the inspection data; if the pressure data meets the measurement requirements, sending a start detection instruction to the live detection instrument to allow the execution of collecting inspection data.

[0043] It can be understood that the live detection instrument is equipped with a pressure sensor to ensure that the pressure when the detection instrument contacts the surface of the target substation equipment reaches the optimal detection condition. The intelligent mobile terminal sends a mechanical arm control instruction to instruct the mechanical arm of the inspection robot to accurately place the live detection instrument on the surface of the first target substation equipment, ensuring that the detection instrument can directly contact the equipment for more accurate detection. Once the detection instrument is placed on the surface of the equipment, the pressure sensor starts working, measures the contact pressure between the detection instrument and the surface of the equipment, and transmits the pressure data back to the intelligent mobile terminal in real time. After receiving the pressure data, the intelligent mobile terminal will compare it with the preset pressure threshold to evaluate whether the data meets the measurement requirements of the inspection data. The preset pressure threshold is set according to the equipment type and detection requirements to ensure the accuracy and effectiveness of the detection. If the evaluation result shows that the pressure data meets the measurement requirements, the intelligent mobile terminal will send a start detection instruction to the live detection instrument, allowing the instrument to start collecting inspection data. This ensures that the detection is carried out under the best conditions and improves the reliability of the data and the accuracy of the detection.

[0044] By using a pressure sensor to adjust the contact pressure between the testing instrument and the equipment surface, it can be ensured that the testing instrument is tested under the optimal pressure conditions, thereby improving the accuracy and reliability of the test results. If the pressure data does not meet the measurement requirements, the system will prevent the testing instrument from collecting data, avoiding mismeasurements or incomplete data caused by poor contact, and reducing false positives and missed reports during the inspection process.

[0045] In an optional embodiment, the method also includes: if the pressure data does not meet the measurement requirements, based on the pressure data, sending a pressure adjustment instruction to the inspection robot, wherein the pressure adjustment instruction is used to control the movement of the robot arm to make the live detection instrument away from or close to the substation equipment; obtaining updated data re-collected by the pressure sensor; until the updated data meets the measurement requirements, sending a start detection instruction to the live detection instrument.

[0046] It can be understood that the smart mobile terminal continuously monitors the contact pressure data collected by the live detection instrument through the pressure sensor. If these data fail to meet the preset measurement requirement standard (that is, the pressure of the detection instrument in contact with the surface of the equipment does not meet the measurement requirement), the pressure adjustment process is entered. The smart mobile terminal sends a pressure adjustment instruction to the inspection robot, and based on the current pressure data, instructs the inspection robot how to operate the mechanical arm to move the live detection instrument in an appropriate manner, or to contact the surface of the equipment more closely, or to move slightly away, until the contact pressure reaches a level that meets the measurement requirements. After the inspection robot executes the pressure adjustment instruction, the pressure sensor will re-collect the contact pressure data. The smart mobile terminal evaluates these updated data again. If the data still does not meet the measurement requirements, the adjustment process will be repeated until the contact pressure meets the requirements. Once the smart mobile terminal confirms that the updated pressure data meets the measurement requirements, it will send a start detection instruction to the live detection instrument, allowing the instrument to start and start collecting inspection data. It ensures that the detection is carried out under the best contact pressure conditions, and improves the accuracy and effectiveness of the detection data.

[0047] Step S108, in response to receiving the inspection data of the first target substation sent by the live detection instrument, sending an instruction to the inspection robot to go to the next target substation until the inspection process of all target substations included in the planned inspection project is completed.

[0048] It can be understood that once the intelligent mobile terminal receives the inspection data of the first target substation sent by the live detection instrument, it will analyze the data and perform preliminary processing if necessary. Subsequently, the intelligent mobile terminal will instruct the inspection robot to inspect the next target substation in the planned inspection project until the inspection data of all target devices have been collected. The inspection data is transmitted back to the server in real time, which is convenient for background analysis and real-time monitoring of equipment status, helping to promptly discover and handle abnormal conditions of substation equipment and ensure the safe and stable operation of the power system.

[0049] In an optional embodiment, the method also includes: in the process of the inspection robot executing the planned inspection items, in response to receiving the temporary inspection items sent by the substation detection server, setting the priority of the temporary inspection items to be higher than the priority of the planned inspection items, wherein the temporary inspection items are generated by the substation detection server according to fault detection requirements and fault troubleshooting requirements; controlling the inspection robot to suspend the execution of the planned inspection items, and start executing the temporary inspection items.

[0050] It can be understood that the intelligent mobile terminal has the ability to handle emergencies and can flexibly adjust the work priority of the inspection robot according to the temporary inspection project requirements sent by the substation detection server during the inspection robot's execution of daily planned inspection projects, in order to respond to emergency fault detection and troubleshooting. When the intelligent mobile terminal receives a temporary inspection project sent by the substation detection server, such as an emergency fault detection or troubleshooting requirement for a specific substation equipment, the system will automatically set the priority of the temporary inspection project to be higher than the priority of the currently ongoing planned inspection project. The intelligent mobile terminal then controls the inspection robot to suspend the current planned inspection project and start executing the temporary inspection project with a higher priority. The inspection robot performs the inspection tasks specified in the temporary inspection project, such as fault detection, data collection, status monitoring, etc., according to the control instructions of the intelligent mobile terminal.

[0051] By setting high-priority temporary inspection items, the inspection robot's tasks can be quickly adjusted in emergency situations, and fault detection and troubleshooting can be prioritized, improving the ability and efficiency of responding to sudden failures.

[0052] Through the above-mentioned step S102, in response to receiving the planned inspection project sent by the substation detection server, according to the instrument status information of the live detection instrument carried by the inspection robot, it is judged whether the inspection robot meets the collection requirements of the planned inspection project; step S104, if the inspection robot meets the collection requirements, then the first target substation equipment that needs to be inspected by the inspection robot is determined according to the inspection time sequence of the planned inspection project, and an instruction to go to the point of the first target substation equipment is sent to the inspection robot; step S106, when it is determined that the inspection robot has arrived at the point of the first target substation equipment, a manipulator arm control instruction is sent to the inspection robot, wherein the manipulator arm control instruction is used to control the inspection robot to operate the manipulator arm to grab the live detection instrument and detect the target substation equipment; step S108, in response to receiving the inspection data of the first target substation equipment sent by the live detection instrument, an instruction to go to the point of the next target substation equipment is sent to the inspection robot until the inspection processing of all target substation equipment included in the planned inspection project is completed. The purpose of efficiently monitoring the status of substation equipment and controlling the inspection robot to go to designated equipment for non-contact inspection as needed is achieved, thereby achieving the technical effect of improving the inspection efficiency of substation equipment, and thus solving the technical problem of unsatisfactory inspection efficiency of substation equipment in related technologies.

[0053] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0054] In an embodiment of the present application, a smart mobile terminal is also provided, which applies any one of the inspection methods for substation equipment provided in the optional embodiments.

[0055] Optionally, the smart mobile terminal may further include a display screen for displaying information.

[0056] According to the above embodiments and optional embodiments, the present application provides an optional implementation mode: Figure 2 is a schematic diagram of an optional inspection method for substation equipment provided according to an embodiment of the present application, such as Figure 2 As shown, the intelligent mobile terminal performs operation management on the received inspection items, inspection tasks and temporary inspection tasks. Inspection items are generated according to inspection tasks, and inspection tasks are generated according to inspection plans. The inspection plan includes the target substation equipment to be inspected and the inspection frequency of each target substation equipment. The generation of inspection tasks includes: generating multiple inspection tasks according to the target substation equipment and inspection frequency of each inspection plan, and the inspection tasks include one or more target substation equipment to be inspected, and the execution frequency of multiple inspection tasks. The multiple inspection tasks to be executed every day are divided into multiple inspection task groups, and the execution frequency of the inspection tasks in each inspection task group is the same; for each inspection task group, the target substation equipment to be inspected for each inspection task and the inspection parameters to be collected are determined, and inspection items are generated according to one or more target substation equipment corresponding to each inspection parameter, and each inspection item includes an inspection parameter and corresponding one or more target substation equipment.

[0057] According to the above embodiments and optional embodiments, the present application provides an optional implementation method, which formulates temporary inspection tasks according to temporary fault detection and troubleshooting requirements, and the temporary inspection tasks include one or more target substations that need to be inspected temporarily, the inspection parameters that need to be collected for each target substation, and the execution time of the temporary inspection tasks. Priorities are set for temporary inspection tasks and inspection tasks, and the priority of temporary inspection tasks is higher than the priority of inspection tasks and higher than the priority of inspection items.

[0058] When the multifunctional inspection robot (i.e., the detection system of the substation equipment, including the intelligent mobile device, the live detection device, and the inspection robot) receives the inspection project or inspection task and is preparing to execute or is executing the inspection task, the intelligent mobile terminal receives the temporary inspection task. At this time, the intelligent mobile terminal controls the multifunctional inspection robot to stop executing the inspection project or inspection task and start executing the temporary inspection task. After the temporary inspection task is completed, the multifunctional inspection robot is controlled to continue executing the inspection project or inspection task.

[0059] The multifunctional inspection robot controls the robot body (i.e., the inspection robot) and the live detection instrument. In response to receiving one or more inspection items sent by the substation detection server, the multifunctional inspection robot is judged whether it meets the inspection data collection requirements of the inspection items according to the one or more live detection instruments carried by the multifunctional inspection robot. Specifically, the intelligent mobile terminal obtains the instrument status information of the live detection instrument, and the instrument status information includes the remaining power, connection status, and working status of the live detection instrument.

[0060] The smart mobile terminal determines whether the live detection instrument can continue to complete the inspection task based on the remaining power, and determines whether the communication between the live detection instrument and the smart mobile terminal and other devices is normal based on the connection status, so as to call the live detection instrument to perform the inspection task, and determines whether the live detection instrument can work normally based on the working status.

[0061] If the status information returned by the smart mobile terminal shows that the multifunctional inspection robot does not carry the required live detection instrument, or the live detection instrument is low on power, has poor communication, or is in an abnormal working state, then one or more stored live detection instruments are obtained from the charging management box.

[0062] The live detection instrument is equipped with an intelligent charging management box. The intelligent charging management box is used for charging, storage, work order distribution, etc. of the live detection instrument, so as to realize the storage and use management of the live detection instrument. The intelligent charging management box can obtain and determine the model, power status, charging status, etc. of each live detection instrument stored in it.

[0063] When obtaining one or more live detection instruments stored in the smart charging management box, the smart mobile terminal obtains the model, power status and charging status of each live detection instrument. Subsequently, it is determined whether the charging management box stores live detection instruments that can complete the corresponding detection tasks, and whether the required live detection instruments of the corresponding models have been charged. If charging has not been completed, it can be determined whether the current charged amount can meet the needs of completing this inspection task. If the corresponding live detection instrument has been charged, or the charged amount can meet the needs of this inspection task, the smart mobile terminal sends an instruction to instruct the multifunctional inspection robot to obtain the corresponding live detection instrument from the charging management box. Subsequently, the smart mobile terminal sends a movement instruction to the robot body, moves to the vicinity of the smart charging management box, and grabs the corresponding live detection instrument from the smart charging management box.

[0064] After the multifunctional inspection robot loads the live detection instrument onto the multifunctional inspection robot, the intelligent mobile terminal obtains the instrument status information of the live detection instrument. If the live detection instrument carried by the multifunctional inspection robot meets the requirements of this inspection task, including power requirements, communication requirements and working status requirements, the inspection task will be started.

[0065] The intelligent mobile terminal stores a map of the substation, in which the locations of the substation equipment are marked. When the intelligent mobile terminal obtains the inspection project from the substation inspection server, it also obtains the inspection time of each target substation equipment in the inspection project.

[0066] The inspection time can be determined by the substation inspection server according to the following steps: when setting each substation to accept only one multifunctional inspection robot to perform tests at the same time, collect the test time length required for each inspection parameter, thereby determining the time period for each substation to receive the test of the multifunctional inspection robot, and arrange other multifunctional inspection robots to test at other times outside this time period to avoid conflicts in the time periods for the multifunctional inspection robots to perform tests. When setting the inspection time of each multifunctional inspection machine for the next target substation according to the action speed of the multifunctional inspection robot, determine the distance to the next target substation according to the time when the multifunctional inspection robot completes the inspection of the previous target substation, and calculate the time to reach the next target substation according to the moving speed of the multifunctional inspection robot, thereby determining the inspection time for the next target substation.

[0067] Then, the earliest target substation to be reached is determined according to the inspection time, and a command to go to the point of the target substation is sent to the robot body through the control signaling interface. The robot body then goes to the point (i.e., position) corresponding to the target substation. During the movement, the real-time coordinates of the robot body are determined at any time and sent to the intelligent mobile terminal, so that the intelligent mobile terminal can determine the real-time position of the multifunctional inspection robot in real time, and send the real-time position to the substation detection server synchronously, so that the substation detection server can observe the position of each intelligent mobile terminal in real time.

[0068] The robot body also collects real-time data about the surrounding environment, including obstacle information and the positions of other multifunctional inspection robots around it, and sends it to the intelligent mobile terminal. The intelligent mobile terminal adjusts the moving direction and speed according to the obstacle avoidance algorithm and controls the robot body to prevent the multifunctional inspection robot from hitting obstacles or other multifunctional inspection robots.

[0069] The intelligent mobile terminal also performs process control. When the robot body reaches the point of the target substation equipment that needs to be inspected, the image information of the target substation equipment is collected and sent to the intelligent mobile terminal. The intelligent mobile terminal determines whether there are other multifunctional inspection robots currently inspecting the target substation equipment based on the image information. If there are other multifunctional inspection robots that are inspecting the target substation equipment, the intelligent mobile terminal determines the next target substation equipment that needs to be inspected according to the inspection time of the assigned inspection items and the inspection time sequence. Subsequently, the intelligent mobile terminal sends an instruction to the robot body to go to the point of the next target substation equipment. After the robot body reaches the next target substation equipment, the image information of the target substation equipment is collected and sent to the intelligent mobile terminal. The intelligent mobile terminal determines whether there are other multifunctional inspection robots currently inspecting the target substation equipment based on the image information. If there are no other multifunctional inspection robots inspecting the target substation equipment, the intelligent mobile terminal starts to control the live detection instrument.

[0070] The intelligent mobile terminal sends the robot arm control command to the robot body through the control signaling interface. The robot body controls the robot arm to grab the corresponding live detection instrument according to the robot arm control command to conduct inspection of the target substation equipment.

[0071] In order to accurately control live detection, a pressure sensor is set on the live detection instrument that needs to be attached to the substation to complete the inspection data collection. When the robot arm attaches the live detection instrument to the surface of the target substation, the pressure data of the pressure sensor is obtained and sent to the smart mobile terminal. The smart mobile terminal determines whether the pressure data meets the measurement requirements of the inspection data. If so, it issues an instruction to the live detection instrument to start collecting inspection data. The live detection instrument collects the inspection data and sends it to the smart mobile terminal.

[0072] If the pressure data does not meet the measurement requirements of the inspection data, the intelligent mobile terminal sends an instruction to adjust the pressure data to the robot body, controls the movement of the robot arm to move the live detection instrument away from or close to the substation equipment, so that the pressure data meets the measurement requirements and starts collecting inspection data.

[0073] When the intelligent mobile terminal collects inspection data for the substation equipment, after collecting one inspection data according to the live detection instrument, all inspection items in the intelligent mobile terminal are traversed to determine whether there is any inspection data that needs to be collected for the current substation equipment. If so, other live detection instruments are continued to be called to collect inspection data until all inspection data that needs to be collected for the substation equipment is collected.

[0074] When the intelligent mobile terminal encounters a situation where the substation equipment is occupied by other multifunctional inspection robots and the corresponding inspection data cannot be collected, the inspection data not collected by the skipped substation equipment will be collected after the inspection data of all other substation equipment is collected.

[0075] When the intelligent mobile terminal encounters a situation where the substation equipment is occupied by other multifunctional inspection robots and the corresponding inspection data cannot be collected, the inspection data not collected by the skipped substation equipment will be collected after the inspection data of all other substation equipment is collected.

[0076] The smart mobile terminal is equipped with edge computing applications, and uses the MQTT / TCP protocol (Message Queuing Telemetry Transport / Transmission Control Protocol) to transmit telemetry and telesignaling data with cloud applications, the MQTT protocol (Message Queuing Telemetry Transport) to transmit control instructions, the HTTP protocol (Hypertext Transfer Protocol) to transmit unstructured data such as maps and photos, the RTSP protocol (Real Time Streaming Protocol) to transmit video stream data, and the TCP protocol (Transmission Control Protocol) to transmit measurement point data and coordinate information.

[0077] Figure 3 is a schematic diagram of an optional inspection method for substation equipment provided according to an embodiment of the present application, such as Figure 3 As shown, first execute step S310, in response to receiving one or more inspection items sent by the substation detection server, judge whether the multifunctional inspection robot meets the inspection data collection requirements of the inspection items according to one or more live detection instruments carried by the multifunctional inspection robot; specifically: obtain the instrument status information of the live detection instrument carried by the multifunctional inspection robot, the instrument status information includes the remaining power, connection status and working status of the live detection instrument; judge whether the live detection instrument can continue to complete the inspection task according to the remaining power; judge whether the communication between the live detection instrument and the smart mobile terminal is normal according to the connection status; judge whether the live detection instrument can work normally according to the working status; if the live detection instrument carried by the multifunctional inspection robot meets the remaining power requirements, communication requirements and working status requirements, start to execute the inspection task.

[0078] Then, step S320 is executed. If the multifunctional inspection robot meets the inspection data collection requirements of the inspection project, the first target substation to be inspected is determined according to the inspection time sequence of the inspection project, and a command to go to the location of the first target substation is sent to the robot body. Then, the image information of the target substation collected after the robot body reaches the location of the target substation is obtained; based on the image information, it is determined whether there are other multifunctional inspection robots currently inspecting the target substation; if there are other multifunctional inspection robots currently inspecting the target substation, a command to go to the next target substation is sent to the robot body so that the next target substation can be inspected.

[0079] Subsequently, step S330 is executed. After the multifunctional inspection robot has arrived at the position of the first substation equipment according to the position data sent by the robot body, a mechanical arm control instruction is sent to the robot body, so that the robot body operates the mechanical arm according to the mechanical arm control instruction to grab the live detection instrument and inspect the target substation equipment. The live detection instrument also includes a pressure sensor. After the mechanical arm attaches the live detection instrument to the surface of the target substation equipment, the intelligent mobile terminal obtains the pressure data collected by the pressure sensor; determines whether the pressure data meets the measurement requirements of the inspection data; if so, sends an instruction to start collecting inspection data to the live detection instrument, so that the live detection instrument collects inspection data. If the pressure data does not meet the measurement requirements of the inspection data, an instruction to adjust the pressure data is sent to the robot body, so as to control the movement of the mechanical arm to make the live detection instrument away from or close to the substation equipment, so that the pressure data meets the measurement requirements, so as to collect inspection data.

[0080] Finally, execute step S340. In response to receiving all the inspection data that need to be collected from the target substation sent by the live detection instrument, send an instruction to the robot body to go to the next target substation until the inspection of all target substations is completed.

[0081] In an embodiment of the present application, a patrol inspection system for a substation equipment is also provided. The patrol inspection system for a substation equipment provided in an embodiment of the present application is introduced below.

[0082] Figure 4 is a structural block diagram of a patrol inspection system for substation equipment provided according to an embodiment of the present application, such as Figure 4As shown, the system includes: an inspection robot 401, a robotic arm 402, a live detection instrument 403, and an intelligent mobile terminal 404, wherein the intelligent mobile terminal 404 applies any one of the inspection methods for substation equipment provided in the above embodiments, the intelligent mobile terminal 404, the live detection equipment 403, and the robotic arm 402 are mounted on the inspection robot 401, and the intelligent mobile terminal 404 interacts with a substation detection server, and the substation detection server is used to send planned inspection items to the intelligent mobile terminal 404.

[0083] In a patrol system for substation equipment provided in an embodiment of the present application, by setting up a patrol robot 401, a robotic arm 402, a live detection instrument 403, and an intelligent mobile terminal 404, efficient monitoring of the status of the substation equipment is achieved, and the patrol robot is controlled to go to the designated equipment for non-contact detection as needed, thereby achieving the technical effect of improving the patrol efficiency of the substation equipment, and further solving the technical problem of unsatisfactory patrol efficiency of the substation equipment in the related technology.

[0084] In an optional embodiment, the smart mobile terminal is used to interact with the substation detection server by using the 5G-APN communication method when the inspection robot is located in a ground scene, wherein the 5G-APN communication method is a communication method that uses the access point name APN as the gateway in the fifth generation mobile communication system 5G; the smart mobile terminal is used to interact with the substation detection server by using the wireless LAN communication method when the inspection robot is located in an underground scene; the smart mobile terminal is used to interact with the inspection robot by using the Ethernet wired communication method.

[0085] It can be understood that the multiple communication strategies between the smart mobile terminal and the substation detection server, and between the smart mobile terminal and the inspection robot, in order to adapt to the communication needs in different scenarios, ensure the stability and security of data transmission. 5G-APN communication method: When the inspection robot is in the ground scene, the smart mobile terminal interacts with the substation detection server through the 5G-APN (Access Point Name) communication method. The 5G-APN communication method is a standard communication method in the fifth generation mobile communication system (5G). It is connected to the Internet through a specific APN gateway to provide high-speed, low-latency wireless data transmission services. It is suitable for open areas and can ensure that a large amount of data is uploaded to the cloud server in real time during the inspection process, while receiving control instructions and update data from the cloud to achieve remote monitoring and scheduling.

[0086] When the inspection robot enters an environment with dense obstacles such as underground scenes or buildings, the smart mobile terminal switches to wireless LAN (such as WIFI, WAPI, etc.) communication to interact with the substation detection server. The wireless LAN communication method provides a relatively stable connection within a short distance, avoiding the signal attenuation and obstacle problems that may be encountered by the ground 5G network, and ensuring the quality and security of data transmission underground or in closed spaces. WIFI (Wireless Fidelity) is a technology that allows electronic devices to connect to a wireless LAN. It is based on the IEEE 802.11 series of communication standards and uses radio frequency technology for data transmission. WAPI (WLAN Authentication and Privacy Infrastructure) provides a higher level of data security and encryption and is suitable for environments that require high security, such as enterprise networks and critical infrastructure.

[0087] The intelligent mobile terminal and the inspection robot interact with each other through Ethernet wired communication. Wired communication provides a high-speed, stable and secure data transmission channel, which is suitable for intensive data exchange between the intelligent mobile terminal and the robot body, such as sending control instructions, receiving inspection data, adjusting the posture of the robot arm, etc. Ethernet connection ensures the real-time and reliability of communication, and can avoid possible interference with wireless communication.

[0088] By adopting a variety of communication strategies, the system can flexibly adapt to various working environments such as ground and underground, open and closed, ensuring the continuity and stability of data transmission and improving the operation flexibility and coverage of the inspection robot.

[0089] Optionally, when using the 5G-APN communication method, the smart mobile terminal will automatically enable the built-in encryption card to establish an encrypted transmission channel to protect the security and privacy of data transmission and prevent information from being stolen or tampered with during transmission.

[0090] In an optional embodiment, the charged detection instrument includes at least one of the following: an infrared thermal imaging detection terminal, a voiceprint imaging detection terminal, an electromagnetic wave partial discharge detection terminal, an ultrasonic partial discharge detection terminal, and a transient ground potential partial discharge detection terminal.

[0091] It can be understood that the live detection instrument is designed as a multifunctional modular system, which can integrate or include at least one of the following detection terminals: infrared thermal imaging detection terminal, voiceprint imaging detection terminal, electromagnetic wave partial discharge detection terminal, ultrasonic partial discharge detection terminal, transient ground potential partial discharge detection terminal.

[0092] Infrared thermal imaging detection terminals are used to detect thermal anomalies generated by substation equipment during operation. Through infrared thermal imaging technology, the temperature distribution on the surface of the equipment can be measured contactlessly, overheating areas can be identified, and possible failures or safety risks can be warned.

[0093] Voiceprint imaging detection terminal uses voiceprint imaging technology to capture and analyze the sound wave patterns generated when the device is running. Voiceprint imaging can help identify abnormal sounds inside the device and locate the source of the fault. It has good recognition capabilities for predicting the health status of the device and diagnosing the source of abnormal sounds.

[0094] The electromagnetic wave partial discharge detection terminal is used to detect partial discharge phenomena in power equipment. Partial discharge is a common problem in the insulation system of power equipment. The electromagnetic wave partial discharge detection terminal can capture the electromagnetic signals generated by these discharges and evaluate the insulation status of the equipment.

[0095] Ultrasonic partial discharge detection terminal detects partial discharge through ultrasonic technology. Ultrasonic waves have good penetration and directivity, and can effectively identify and locate the location of partial discharge inside power equipment, which helps prevent sudden failures of power equipment.

[0096] The transient ground potential partial discharge detection terminal is used to monitor the transient changes of ground potential to detect partial discharge. Ground potential rise is one of the common manifestations of partial discharge. By monitoring the changes in ground potential, it can help determine the insulation performance and health status of power equipment.

[0097] Through the above processing, the integration of multiple detection terminals realizes all-round monitoring of the operating status of substation equipment, including temperature, acoustic characteristics, electromagnetic and acoustic signals, etc., which improves the comprehensiveness and accuracy of detection. Potential fault signs can be discovered early, and early warning of faults can be achieved, which helps to take timely measures. The integration of multiple detection data makes it possible to conduct a comprehensive analysis of the status of power equipment, which helps to more accurately evaluate the health status of equipment and guide maintenance decisions.

[0098] Based on the above embodiments and optional embodiments, the present application proposes an optional implementation method, in which a large number of substations are included in the substation, and each substation performs its own duties to jointly realize the normal operation of the substation. In order to ensure the long-term and safe operation of the substation, it is necessary not only to perform daily inspections on it, but also to check the faults and understand the situation in a timely manner when there is a problem with the equipment at a certain point in the substation. In order to inspect the substation, the present application sets up the cloud, edge and end in a cloud-edge collaborative manner. The cloud-edge collaborative computing platform is an intelligent computing architecture developed to meet the new challenges brought by the development of the Internet of Things (IoT). To manage digital cloud computing, the platform can sink computing power from the centralized cloud to the edge nodes close to the data source, and optimize data processing capabilities through a distributed computing mode. The cloud-edge collaborative computing mode not only extends the capabilities of cloud native, but also deploys edge nodes to enable data processing, business applications and artificial intelligence (AI) models to be executed at the edge close to the data source, solving the problems of real-time response, data privacy, and maintenance convenience encountered by the Internet of Things when it is implemented.

[0099] The cloud-edge collaborative computing platform has significantly improved data processing efficiency and system response speed in practical applications in multiple industries, realized diversified intelligent applications, and helped the digital transformation of various industries. The cloud can be responsible for advanced analysis and global optimization.

[0100] The cloud, edge, and end together constitute the multifunctional patrol robot live detection business system. The system adopts a cloud-edge collaborative strategy, uses robotic arm bionic collaborative control technology and live detection technology, and realizes the autonomous execution of live detection tasks for various types of power equipment, real-time data map collection and transmission, and intelligent identification of defects and hidden dangers.

[0101] Figure 5 is a cloud-edge collaboration schematic diagram of an optional inspection method for substation equipment provided according to an embodiment of the present application, such as Figure 5 As shown, a schematic diagram of the networking of the cloud, edge and end sides of an exemplary embodiment. The cloud is specifically a management end for implementing live detection of substations, which can be formed by one or more servers, such as one or more substation detection servers. The substation detection server can be deployed in the substation, or outside the substation, and can also be deployed at a location far away from the substation. The cloud includes one or more substation detection servers, which can monitor one or more substations and manage the inspection services of each substation separately. There is no restriction on the number of substations managed by the cloud and the type of inspection services.

[0102] The substation detection server has a substation detection digital platform, which serves as the control and dispatching center of the multifunctional patrol robot's live detection business and is integrated and deployed in the digital panorama of power grid production management. The substation detection digital platform includes live detection digital applications and robot inspection applications, which respectively realize live detection business management and control and dispatch of multifunctional patrol robots.

[0103] The multifunctional detection robot (i.e. the inspection system of the above-mentioned substation equipment) includes a robot body (i.e. the above-mentioned inspection robot), a robotic arm, a live detection instrument, and an intelligent mobile terminal. The robot body, the robotic arm, and the live detection instrument serve as end-side devices, and the intelligent mobile terminal serves as a side device. The substation detection server controls the multifunctional detection robot to implement substation detection.

[0104] Applications deployed in the cloud can achieve two-way business interaction with edge devices through the information intranet, send the integrated control signaling to the control center on the edge, and receive the detection data, status information, and map files uploaded by the edge. The information intranet formed by the cloud and the edge can communicate through WIPI and 5G. This optional implementation does not limit the specific networking method of the cloud and the edge.

[0105] In the cloud, it is divided into a management information area and an Internet area according to the access method. The management information area can communicate with the edge using WIPI, and the Internet area can communicate with the edge using 5G. A boundary protection isolation device is set between the management information area and the Internet area. The management information area can specifically include a substation detection server that communicates with the edge using WIPI. The secure access platform can be specifically implemented as a substation detection server that communicates with the edge using 5G. The boundary protection isolation device can specifically include devices such as gateways to improve the security of communication between the cloud and the edge.

[0106] The side equipment includes intelligent mobile terminals. The intelligent mobile terminal can be implemented as the communication control center of the side. The intelligent mobile terminal can be installed in the multifunctional inspection robot, which is responsible for controlling the multifunctional inspection robot to perform various inspection operations at the substation site, controlling the robot body to move in the substation, and realizing the robot arm posture control and detection data feedback and other services.

[0107] The intelligent mobile terminal has the functions of two-way cloud-edge collaboration, data interaction and control command forwarding. The intelligent mobile terminal adopts WAPI and / or 5G-APN hybrid networking in the north direction, and has the ability of autonomous network access and dual-network hot switching; among them, when 5G-APN is used for network access in ground scenarios, the intelligent mobile terminal automatically enables the built-in TF (TransFlash, a security architecture) encryption card, establishes an encrypted transmission channel with the security access platform of the Internet region, and forwards data and control instructions to the management information region through the boundary protection isolation device; in underground scenarios and building scenarios, WAPI is used to directly access the information intranet. The intelligent mobile terminal communicates with the robot body in the multi-functional inspection robot in the south direction using Ethernet wired mode.

[0108] The smart mobile terminal is equipped with edge computing applications, which use the MQTT / TCP protocol to transmit telemetry and telesignaling data with cloud applications, the MQTT protocol to transmit control instructions, the HTTP protocol to transmit unstructured data such as maps and photos, the RTSP protocol to transmit video stream data, and the TCP protocol to transmit measurement point data and coordinate information.

[0109] The end side includes the robot body of the multifunctional inspection robot. As the on-site operation vehicle of the substation, the robot body uses the robotic arm to autonomously grab various live detection instruments to carry out on-site live detection operations. The multifunctional inspection robot includes a controller that can realize robot action control, etc. The controller uses wired Ethernet to access the smart mobile terminal, uses the TCP protocol to receive the real-time control strategy on the cloud forwarded by the smart mobile terminal, drives the four wheels, robotic arms and other components to perform related operations, and uploads the body status information, as well as inspection data and maps (including partial discharge, infrared, voiceprint imaging, etc.) in real time. The robot body uses the RTSP protocol to push video stream data to the cloud through the smart mobile terminal.

[0110] The terminal side also includes infrared thermal imaging detection terminals, voiceprint imaging detection terminals, electromagnetic wave partial discharge detection terminals, ultrasonic partial discharge detection terminals, and transient ground potential partial discharge detection terminals. A variety of live detection terminals use a unified sensor fusion design to form a detection terminal that is easy to mount on a robotic arm. It can be mounted on a robot arm to carry out live detection operations under control.

[0111] The infrared thermal imaging detection terminal uses WIFI to connect to the smart mobile terminal, and the protocol uses HTTP. It receives detection instructions in real time and automatically sends back data maps and status information. The voiceprint imaging detection terminal uses Bluetooth to connect to the smart mobile terminal, and the protocol uses BTSPP (Bluetooth Serial Port Profile). It receives detection instructions in real time and automatically sends back voiceprint imaging maps and status information. Three types of partial discharge monitoring terminals, including electromagnetic wave partial discharge detection terminal, ultrasonic partial discharge detection terminal, and transient ground potential partial discharge detection terminal, can be connected to the smart mobile terminal using Bluetooth, and the protocol uses BTSPP. It receives detection instructions in real time and sends back data messages in hexadecimal format. After forwarding, the cloud uses analysis algorithms to parse them into measurement data and map files.

[0112] The cloud, edge and end sides together constitute the multifunctional inspection robot live detection business system. The system adopts a cloud-edge collaborative strategy, uses robotic arm bionic collaborative control technology and live detection technology to realize autonomous execution of live detection tasks of various power equipment, real-time collection and return of data maps, and intelligent identification of defects and hidden dangers.

[0113] According to the above embodiments, the intelligent mobile terminal, the substation detection server, etc. can all be implemented as a computing device. Figure 6 It is a schematic diagram of a computing device provided according to an embodiment of the present application.

[0114] like Figure 6 As shown, the computing device may include: a central processing unit 610, a memory 620, an input / output interface 630, a communication interface 640 and a bus 650. The central processing unit 610, the memory 620, the input / output interface 630 and the communication interface 640 are connected to each other in communication within the computing device through the bus 650.

[0115] The central processing unit 610 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0116] The memory 620 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 620 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 620 and are called and executed by the central processing unit 610.

[0117] The input / output interface 630 is used to connect the input / output module to realize information input and output. The communication interface 640 is used to realize the communication interaction between the computing device and other devices. The bus 650 includes a path to transmit information between the various components of the computing device (such as the central processing unit 610, the memory 620, the input / output interface 630 and the communication interface 640).

[0118] It should be noted that, although the above computing device only shows the central processing unit 610, the memory 620, the input / output interface 630, the communication interface 640 and the bus 650, in the specific implementation process, the computing device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above computing device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0119] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0120] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0121] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0123] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0124] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0125] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0126] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0127] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0128] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for inspecting substation equipment, characterized in that: include: In response to receiving a planned inspection item sent by a substation detection server, judging whether the inspection robot meets the collection requirements of the planned inspection item according to the instrument status information of the live detection instrument carried by the inspection robot; If the inspection robot meets the collection requirements, the first target substation equipment to be inspected by the inspection robot is determined according to the inspection time sequence of the planned inspection items, and an instruction to the inspection robot to go to the location of the first target substation equipment is sent to the inspection robot; When it is determined that the inspection robot has reached the position of the first target substation, a manipulator arm control instruction is sent to the inspection robot, wherein the manipulator arm control instruction is used to control the inspection robot to operate the manipulator arm to grab the live detection instrument to detect the target substation; In response to receiving the inspection data of the first target substation sent by the live detection instrument, an instruction is sent to the inspection robot to go to the next target substation until the inspection process of all target substations included in the planned inspection project is completed.

2. The method according to claim 1, characterized in that: The method further comprises: Acquire instrument status information of the live detection instrument, wherein the instrument status information includes the remaining power, connection status, and working status of the live detection instrument; According to the remaining power, judging whether the live detection instrument can complete the inspection items; According to the connection status, judging whether the communication between the live detection instrument and the intelligent mobile terminal is normal, wherein the intelligent mobile terminal is mounted on the inspection robot and is used to interact with the substation detection server and the inspection robot respectively; According to the working status, judging whether the live detection instrument can work normally; When the live detection instrument can complete the inspection project, the communication between the live detection instrument and the inspection robot is normal, and the live detection instrument can work normally, it is determined that the inspection robot meets the inspection data collection requirements.

3. The method according to claim 1, characterized in that Before sending the mechanical arm control instruction to the inspection robot, the method further includes: Acquire image information collected by the inspection robot on the first target substation equipment; According to the image information, determining whether there are other inspection robots currently inspecting the first target substation equipment; If there is another inspection robot in the process of inspecting the first target substation, an instruction to go to the next target substation is sent to the inspection robot.

4. The method according to claim 1, characterized in that: The live detection instrument is provided with a pressure sensor. After sending a mechanical arm control instruction to the inspection robot, the method further includes: After the robot arm places the live detection instrument on the surface of the first target substation equipment, obtaining pressure data collected by the pressure sensor; Determining whether the pressure data meets the measurement requirements for the inspection data; If the pressure data meets the measurement requirement, a start detection instruction is sent to the live detection instrument to allow the collection of the inspection data to be executed.

5. The method according to claim 4, characterized in that The method further comprises: If the pressure data does not meet the measurement requirement, a pressure adjustment instruction is sent to the inspection robot based on the pressure data, wherein the pressure adjustment instruction is used to control the movement of the robot arm to move the live detection instrument away from or close to the substation equipment; Acquiring updated data recollected by the pressure sensor; Until the updated data meets the measurement requirement, the start detection instruction is sent to the live detection instrument.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: In the process of the inspection robot executing the planned inspection item, in response to receiving a temporary inspection item sent by the substation detection server, setting the priority of the temporary inspection item to be higher than the priority of the planned inspection item, wherein the temporary inspection item is generated by the substation detection server according to the fault detection requirement and the fault elimination requirement; The inspection robot is controlled to suspend execution of the planned inspection items and start execution of the temporary inspection items.

7. A smart mobile terminal, characterized in that: The intelligent mobile terminal applies the inspection method for substation equipment described in any one of claims 1 to 6.

8. A patrol inspection system for substation equipment, characterized in that: include: An inspection robot, a robotic arm, a live detection instrument, and an intelligent mobile terminal, wherein the intelligent mobile terminal applies the inspection method for substation equipment described in any one of claims 1 to 6, the intelligent mobile terminal, the live detection equipment, and the robotic arm are mounted on the inspection robot, the intelligent mobile terminal interacts with a substation detection server, and the substation detection server is used to send planned inspection items to the intelligent mobile terminal.

9. The system according to claim 8, characterized in that The intelligent mobile terminal is used to interact with the substation detection server using a 5G-APN communication method when the inspection robot is located in a ground scene, wherein the 5G-APN communication method is a communication method that uses an access point name APN as a gateway in the fifth generation mobile communication system 5G; The intelligent mobile terminal is used to interact with the substation detection server by wireless local area network communication when the inspection robot is located in an underground scene; The intelligent mobile terminal is used to interact with the inspection robot by using Ethernet wired communication.

10. The system according to claim 8, characterized in that The charged detection instrument includes at least one of the following: an infrared thermal imaging detection terminal, a voiceprint imaging detection terminal, an electromagnetic wave partial discharge detection terminal, an ultrasonic partial discharge detection terminal, and a transient ground potential partial discharge detection terminal.

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