Automatic inspection robot for state of power equipment

Abstract

The invention discloses a power equipment state automatic inspection robot, the inspection robot comprises a track assembly, a support assembly, an inspection assembly and a control host, the support assembly is slidably connected to the track assembly to provide support for the inspection assembly and the control host, and the track assembly comprises a fixed track, a first sliding plate and a second sliding plate; a first sliding rail is fixed to the first sliding plate, a second sliding rail is fixed to the second sliding plate, the fixed sliding rail, the first sliding rail and the second sliding rail are perpendicular to each other in direction, the fixed sliding rail is fixedly installed on the top of a machine room, and the first sliding plate is slidably connected to the fixed sliding rail and can move in the first direction. The second sliding plate is connected to the first sliding rail in a sliding mode and can move in the second direction, and the supporting assembly is connected to the second sliding rail in a sliding mode and can move in the third direction; the inspection assembly comprises a high-definition camera, and the high-definition camera is configured to shoot a high-definition image of the power equipment and recognize power utilization parameters.

Description

Technical Field

[0001] The invention relates to the technical field of automobile seat assembly detection, and in particular to an automatic inspection robot for power equipment status. Background Art

[0002] With the rapid development of information technology, the power demand of key facilities such as data centers and communication rooms is increasing, and the stable operation of power equipment has become an important factor in ensuring business continuity. At present, the monitoring of power equipment in computer rooms mainly relies on manual inspections. Electricians need to manually check the current, voltage and other power parameters of each power equipment regularly and record the data manually. This manual regular inspection has poor timeliness and cannot monitor the operating status of power equipment in real time. It is difficult to detect and handle equipment failures in time. In addition, manual data transcription is inefficient and prone to recording errors or omissions, which affects the accuracy and reliability of the data. In view of this, the present invention is proposed. Summary of the invention

[0003] In order to solve the problem that the existing seat detection tooling has a single purpose, the present invention provides an automatic inspection robot for the status of power equipment.

[0004] In order to solve the above technical problems, the present invention provides an automatic inspection robot for the status of electric power equipment, the inspection robot comprising a track assembly, a support assembly, an inspection assembly and a control host, the support assembly is slidably connected to the track assembly to provide support for the inspection assembly and the control host, the track assembly comprises a fixed track, a first slide plate and a second slide plate, the first slide plate is fixed with a first slide rail, the second slide plate is fixed with a second slide rail, the directions of the fixed slide rail, the first slide rail and the second slide rail are perpendicular to each other, the fixed track is fixedly installed on the top of the machine room, the first slide plate is slidably connected to the fixed slide rail and can move in a first direction, the second slide plate is slidably connected to the first slide rail and can move in a second direction, the support assembly is slidably connected to the second slide rail and can move in a third direction, the inspection assembly comprises a high-definition camera, and the high-definition camera is configured to capture high-definition images of the electric power equipment and identify power consumption parameters.

[0005] In an embodiment of the present invention, the inspection component also includes a manipulator, which includes a clamp, an articulated arm, a first rotating seat and a second rotating seat. The articulated arm is provided with three sections, and the three sections of the articulated arm are hinged between the first rotating seat and the second rotating seat of the articulated arm. The first rotating seat is rotatably connected to the support assembly, and the clamp is installed on the second rotating seat.

[0006] In an embodiment of the present invention, the automatic inspection robot also includes an installation cabinet, which is fixed on the second slide, and a dry powder fire extinguisher is arranged inside the installation cabinet. A spray pipe connected to the dry powder fire extinguisher is arranged on the side of the installation cabinet, and one end of the spray pipe is mounted on the support assembly for the gripper to grasp.

[0007] In an embodiment of the present invention, a spray gun is connected to one end of the spray pipe close to the support assembly, a first solenoid valve in a normally closed state is arranged in the spray pipe, and a second solenoid valve in a normally closed state is arranged in the spray gun. The first solenoid valve is configured to be adjusted to an open state when the high-definition camera identifies a fire, and the second solenoid valve is configured to be adjusted to an open state when the robot grasps the spray pipe and aims it at the fire source.

[0008] In an embodiment of the present invention, the support assembly includes an L-shaped support base plate and a support side plate, the inspection assembly is installed on the support base plate, and the support side plate is provided with a support frame for placing the spray gun, and a gap is formed between the spray gun and the top of the support side plate for clamping by the clamp.

[0009] In an embodiment of the present invention, an emergency power supply is also provided inside the installation cabinet, and the track assembly also includes a drag chain, one end of the drag chain is connected to the installation cabinet, and the other end is connected to the support assembly, and the emergency power supply supplies power to the track assembly, the inspection assembly and the control host through the drag chain, and the injection pipe is fixed to one side of the drag chain and moves synchronously with the drag chain.

[0010] In an embodiment of the present invention, the support components, inspection components and control host are each provided with two groups, the second slide rails are provided on both sides of the second slide along the second direction, the two groups of the support components are respectively slidably connected to the second slide rails on both sides, and the two groups of the support components are symmetrically arranged, and the two groups of the inspection components and the two groups of the control components are respectively arranged on the support components on both sides.

[0011] In an embodiment of the present invention, the inspection component includes an infrared thermal imager, an industrial camera and a laser radar electrically connected to the control host;

[0012] The infrared thermal imager is configured to collect thermal images of the power equipment.

[0013] The industrial camera is configured to collect a planar image of the power equipment.

[0014] The laser radar is configured to collect point cloud images of the power equipment.

[0015] The control host is configured to determine whether there is any abnormality in the temperature of the power equipment based on the thermal data of the thermal image and the acquisition time, identify the number and actual status of the power equipment based on the image data in the plane image, obtain the position of the power equipment based on the point cloud data in the point cloud image, and control the track assembly to drive the support assembly to move according to a preset inspection path.

[0016] In an embodiment of the present invention, the control host has a built-in deep learning module based on a dual-stream spatiotemporal convolutional neural network, and the deep learning module includes a first-stream network, a second-stream network and an output layer. The first-stream network is used to input thermal images collected by an infrared thermal imager, and extract multi-scale hot spot features as spatial features through hole convolution. The second-stream network inputs temperature data of a continuous time series, and extracts temperature change trends as time series features through expansion causality. The output layer fuses the spatial features and the time series features through an attention mechanism to output the probability of temperature anomaly of the power equipment.

[0017] In an embodiment of the present invention, when the output layer outputs the temperature anomaly probability, the spatial feature is used as the query vector, the temporal feature is used as the input value and the vector value, and the spatial-temporal attention weight is calculated by the following formula:

[0018]

[0019] in, represents the dot product of the i-th spatial eigenvector and the temporal eigenvector, is the normalization function.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] By installing the high-definition camera on the supporting assembly and driving the supporting assembly to move along the first direction, the second direction and the third direction in the machine room under the action of the track assembly, the high-definition camera can perform automatic inspection on the inspection path set by the control host. The high-definition camera captures and identifies the power consumption parameters of each power equipment, thereby achieving the purpose of automatic data recording of the power equipment and improving the efficiency of data recording and inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0023] Figure 1 is a schematic diagram of a three-dimensional structure of a first state of the inspection robot provided by an embodiment of the present invention;

[0024] Figure 2is a schematic diagram of the third state of the inspection robot provided by an embodiment of the present invention;

[0025] Figure 3 yes Figure 2 Enlarged view of point A in .

[0026] Description of Reference Numerals

[0027] 1. Inspection robot; 11. Track assembly; 12. Support assembly; 13. Inspection assembly; 14. Control host; 15. Installation cabinet; 111. Fixed track; 112. First slide; 113. Second slide; 114. First slide rail; 115. Second slide rail; 116. Drag chain; 121. Support bottom plate; 122. Support side plate; 123. Support frame; 131. Clamp; 132. Articulated arm; 133. First rotating seat; 134. Second rotating seat; 151. Spray pipe; 152. Spray gun. DETAILED DESCRIPTION

[0028] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0029] See also Figure 1-Figure 3 In order to solve the problems in the prior art, the present invention provides an automatic inspection robot 1 for the status of power equipment. The inspection robot 1 includes a track component 11, a support component 12, an inspection component 13 and a control host 14. The support component 12 is slidably connected to the track component 11 to provide support for the inspection component 13 and the control host 14. The track component 11 includes a fixed track 111, a first slide 112 and a second slide 113. The first slide 112 is fixed with a first slide rail 114, and the second slide 113 is fixed with a second slide rail 115. The directions of the fixed slide rail, the first slide rail 114 and the second slide rail 115 are perpendicular to each other. The fixed track 111 is fixedly installed on the top of the machine room. The first slide 112 is slidably connected to the fixed slide rail and can move in a first direction. The second slide 113 is slidably connected to the first slide rail 114 and can move in a second direction. The support component 12 is slidably connected to the second slide rail 115 and can move in a third direction.

[0030] The fixed rail 111 is installed on the top of the machine room, and the first slide 112 is installed on the fixed slide rail so that it can move in the first direction, and the second slide 113 is installed on the first slide rail 114 so that it can move in the second direction. The support assembly 12 is installed on the second slide rail 115 so that it can move in the third direction, wherein the first direction is Figure 2 The X-axis direction in the second direction is Figure 2 The Y-axis direction in the third direction is Figure 2The Z-axis direction.

[0031] When inspecting the power equipment in the machine room, the inspection path is first set by controlling the host 14 so that the inspection component 13 moves along the track component 11 driven by the support component 12, and the inspection component 13 inspects the power equipment on the moving path during the movement, thereby obtaining the power consumption parameters of each power equipment, thereby achieving the purpose of automated inspection of the power equipment and improving the inspection efficiency.

[0032] In one example, when the inspection robot 1 inspects the power equipment in a set area in the machine room, the control host 14 first controls the first slide 112 to move on the fixed slide rail, and at the same time drives the second slide 113 and the support assembly 12 to move along the first direction to the approximate position of the target area, and then controls the second slide 113 to move on the first slide rail 114, further adjusts the position of the support assembly 12 in the second direction, and finally, controls the support assembly 12 to move on the second slide rail 115, so that the support assembly 12 drives the inspection assembly 13 to adjust its position in the third direction, and enables the inspection assembly 13 to reach the inspection position directly in front of the power equipment.

[0033] In the above embodiment, the length of the fixed rail 111 is adapted to the length of the machine room, the length of the first slide rail 114 is adapted to the width of the machine room, and the length of the second slide rail 115 is adapted to the height of the machine room, so that under the action of the rail component 11, the support component 12 and the inspection component 13 can be driven to reach every corner of the machine room, and the inspection component 13 can inspect each power equipment, thereby improving the coverage and efficiency of the inspection and reducing the workload of manual inspection.

[0034] In the above embodiment, the inspection component 13 includes a high-definition camera for photographing and identifying the power consumption parameters on the power equipment, so as to identify the power consumption parameters on the power equipment when the support component 12 moves to the inspection position of each power equipment, thereby achieving the purpose of automated data recording of the power equipment and improving the efficiency and accuracy of data recording.

[0035] In an embodiment of the present invention, the inspection component 13 also includes a manipulator, which includes a clamp 131, an articulated arm 132, a first rotating seat 133 and a second rotating seat 134. The articulated arm 132 is provided with three sections, and the three-section articulated arm 132 is hinged between the first rotating seat 133 and the second rotating seat 134 of the articulated arm 132. The first rotating seat 133 is rotatably connected to the support component 12, and the clamp 131 is installed on the second rotating seat 134.

[0036] By installing the first rotating base on the support assembly 12, installing the clamp 131 on the second rotating base, and hingedly connecting the three-section articulated arm 132 between the first rotating base 133 and the second rotating base 134, the three-section articulated arm 132 and the clamp 131 can be driven to adjust the direction when the first rotating base 133 rotates, and the angle of the clamp 131 can be adjusted when the second rotating base rotates. The position of the clamp 131 can be adjusted under the movement of the three-section articulated arm 132, so that the clamp 131 can be universally moved, which is convenient for the operator to control the clamp 131 for remote operation in combination with the image captured by the high-definition camera.

[0037] In one example, when an operator is performing power maintenance in a village, the operator controls the movement of the support assembly 12 by controlling the host 14, and uses a high-definition camera to find the power equipment corresponding to the village. The operator then controls the robot to turn the switch on the power equipment to cut off the power, so that the operator can perform power maintenance work. After completing the power maintenance work, the operator uses a high-definition camera to control the robot to turn the switch on the power equipment to supply power. There is no need for the operator to run back and forth between the village and the machine room, thereby improving the efficiency of power maintenance.

[0038] In an embodiment of the present invention, the automatic inspection robot 1 also includes an installation cabinet 15, which is fixed on the second slide 113, and a dry powder fire extinguisher is arranged inside the installation cabinet 15. A spray pipe 151 connected with the dry powder fire extinguisher is arranged on the side of the installation cabinet 15, and one end of the spray pipe 151 is mounted on the support assembly 12 for grasping by the clamp 131.

[0039] By installing the installation cabinet 15 on the second slide 113 and arranging a dry powder fire extinguisher in the installation cabinet 15, when the inspection robot 1 detects a fire in the power equipment, the control host 14 controls the manipulator to adjust its position and grab the spray pipe 151, so that the spray pipe 151 is aimed at the direction of the fire source and sprays dry powder, thereby achieving the purpose of automatically extinguishing the flame, reducing the damage to the power equipment and the machine room caused by the fire, and improving the safety of the power equipment during operation.

[0040] In an embodiment of the present invention, a spray gun 152 is connected to one end of the spray pipe 151 close to the support assembly 12, a first solenoid valve in a normally closed state is arranged in the spray pipe 151, and a second solenoid valve in a normally closed state is arranged in the spray gun 152. The first solenoid valve is configured to be adjusted to an open state when the high-definition camera identifies a fire, and the second solenoid valve is configured to be adjusted to an open state when the manipulator grabs the spray pipe 151 and aims at the fire source, so that the inspection robot 1 can achieve the effect of automatic fire extinguishing.

[0041] In an embodiment of the present invention, the support assembly 12 includes an L-shaped support base plate 121 and a support side plate 122. The inspection assembly 13 is installed on the support base plate 121. A support frame 123 for placing the spray gun 152 is provided on the support side plate 122. A gap for clamping by the clamp 131 is formed between the spray gun 152 and the top of the support side plate 122, so that the manipulator can clamp the upper and lower sides of the spray gun 152 under the action of the gap, thereby facilitating the spray gun 152 to be quickly removed from the support frame 123, so as to achieve the effect of rapid fire extinguishing when a fire occurs in the power equipment.

[0042] In an embodiment of the present invention, an emergency power supply is also provided inside the installation cabinet 15, and the track assembly 11 also includes a drag chain 116, one end of the drag chain 116 is connected to the installation cabinet 15, and the other end is connected to the support assembly 12. The emergency power supply is used to supply power to the track assembly 11, the inspection assembly 13 and the control host 14 through the drag chain 116, and the injection pipe 151 is fixed to one side of the drag chain 116 and moves synchronously with the drag chain 116.

[0043] The emergency power supply and dry powder fire extinguisher are both arranged on the second slide plate 113, and the track assembly 11 is hoisted, so as to increase the overall mass of the second slide plate 113, so as to increase the stability of the support assembly 12 when moving along the track assembly 11, and prevent the inspection assembly 13 from shaking during the inspection process and affecting the inspection accuracy. At the same time, the hoisted track assembly 11 can also reduce the space occupancy rate of the machine room.

[0044] The emergency power supply is connected to the track assembly 11, the inspection assembly 13 and the control host 14 through the drag chain 116 and supplies power to them. One end of the drag chain 116 is fixed to the installation cabinet 15, and the other end is fixed to the support assembly 12, so that when the support assembly 12 is lifted and lowered along the second slide rail 115, the drag chain 116 is driven to move synchronously to ensure that the emergency power supply provides stable power to the track assembly 11. The spray pipe 151 is fixed to one side of the drag chain 116, so that when the support assembly 12 moves, the spray pipe 151 moves synchronously with the drag chain 116, ensuring that the manipulator can quickly grab the spray pipe 151 to perform fire extinguishing operations in the event of a fire.

[0045] In an embodiment of the present invention, two groups of drag chains 116 are provided, one group of drag chains 116 is connected between the fixed rail 111 and the first slide 112 and a power supply line is also provided on the drag chain 116, and the other group of drag chains 116 is connected between the first slide rail 114 and the second slide 113. One end of the power supply line is connected to the AC power in the machine room, and the other end is connected to the emergency power supply to charge the emergency power supply. When a power outage or other emergency occurs in the machine room and a power outage occurs, the emergency power supply automatically switches to a power supply mode to provide power for the inspection robot 1, thereby ensuring the normal progress of the inspection work or enabling the inspection robot 1 to complete emergency tasks, such as fire extinguishing operations.

[0046] In an embodiment of the present invention, two groups of support components 12, inspection components 13 and control host 14 are each provided, and second slide rails 115 are provided on both sides of the second slide plate 113 along the second direction. The two groups of support components 12 are respectively slidably connected to the second slide rails 115 on both sides, and the two groups of support components 12 are symmetrically arranged. The two groups of inspection components 13 and the two groups of control components are respectively arranged on the support components 12 on both sides, so that the two groups of inspection components 13 can simultaneously inspect the power equipment on both sides of the machine room, thereby improving the inspection efficiency.

[0047] In an embodiment of the present invention, the inspection component 13 includes an infrared thermal imager, an industrial camera, and a laser radar electrically connected to the control host 14;

[0048] The infrared thermal imager is configured to collect thermal images of power equipment.

[0049] The industrial camera is configured to capture flat images of power equipment.

[0050] The LiDAR is configured to collect point cloud images of power equipment.

[0051] The control host 14 is configured to determine whether there is any abnormality in the temperature of the power equipment based on the thermal data of the thermal image and the acquisition time, identify the number and actual status of the power equipment based on the image data in the plane image, obtain the position of the power equipment based on the point cloud data in the point cloud image, and control the track assembly 11 to drive the support assembly 12 to move according to the preset inspection path.

[0052] When the inspection robot 1 is inspecting in the machine room, the infrared thermal imager, industrial camera and laser radar work simultaneously. The infrared thermal imager collects the thermal image of the power equipment and transmits the image data to the control host 14 in real time. The control host 14 determines whether the temperature of the power equipment is abnormal based on the collected thermal data and the collection time. For example, if the temperature of a certain area exceeds the preset threshold, the control host 14 marks it as abnormal temperature and records the corresponding time information. The industrial camera collects the plane image of the power equipment, and the control host 14 uses the image recognition algorithm to identify the number and actual situation of the power equipment, such as whether the surface of the equipment is damaged or whether there are foreign objects. The laser radar collects the point cloud image of the power equipment, and the control host 14 obtains the location information of the power equipment based on the point cloud data. The control host 14 controls the track component 11 to drive the support component 12 to move to the next inspection position based on the preset inspection path and the location information of the power equipment, so as to achieve the purpose of automatic inspection of the power equipment and improve the inspection efficiency.

[0053] In an embodiment of the present invention, the control host is built-in with a deep learning module based on a dual-stream spatiotemporal convolutional neural network. The deep learning module includes a first-stream network, a second-stream network and an output layer. The first-stream network is used to input thermal images collected by an infrared thermal imager and extract multi-scale hot spot features as spatial features through hole convolution. The second-stream network inputs temperature data of continuous time series and extracts temperature change trends as time series features through expansion causality. The output layer fuses the spatial features and time series features through an attention mechanism to output the probability of abnormal temperature of the power equipment.

[0054] When extracting features from thermal images, the first-stream network uses three sets of parallel dilated convolution kernels (size 5×5, expansion rates of 1, 3, and 5, respectively) to extract multi-scale hot spot features as spatial features. Each set outputs a 64-channel feature map with a total of 192 channels. The total number of channels is then compressed from 192 to 64 through a 1×1 convolution kernel to generate a 640×480×64 spatial feature map to capture temperature gradients in different ranges, thereby identifying local overheating areas of power equipment, such as high-temperature spots at equipment joints or densely populated areas of electronic components.

[0055] When extracting the temperature change trend, the second-stream network uses 4 layers of dilated causal convolution (expansion rate = [1, 2, 4, 8], 64 convolution kernels per layer) to extract time series features, and outputs a 256-dimensional time series feature vector after adding masks and residual connections to each layer to represent the long-term and short-term fluctuations in the temperature of power equipment, such as periodic temperature rise or sudden temperature rise.

[0056] When the output layer outputs the temperature anomaly probability, it uses the spatial feature as the query vector (Query), maps the temporal feature vector to a 64-dimensional key (Key) and value (Value) through the fully connected layer, and calculates the spatial-temporal attention weight through the following formula:

[0057]

[0058] in, represents the dot product of the i-th spatial eigenvector and the temporal eigenvector, is a normalization function, which generates fusion features by weighting the attention weights and the time series features and outputs the fusion feature map F fusion , the fusion feature map F fusion Expand along the time dimension and input into the gated recurrent unit (GRU), and calculate the final time series feature vector h by the following formula final , and then the final temporal feature vector h output by the gated recurrent unit final Input the fully connected layer to calculate the temperature anomaly probability P of the power equipment deυ , the calculation formula of temperature anomaly probability is

[0059] Pdeυ =σ(W deυ ·h final +b deυ ),

[0060] in is the weight matrix, is the bias term, σ is the Sigmoid function, and the following is the program code corresponding to the calculation of the probability of temperature anomaly:

[0061] \[

[0062] \mathbf{K}=W_k\cdot\mathbf{F}_{seq}+b_k,\quad\mathbf{V}=W_v\cdot\mathbf{F}_{seq}+b_v

[0063] \]

[0064] Calculate the attention weight for each spatial position \(i\):

[0065] \[

[0066] a_i=\text{Softmax}\left(\frac{\mathbf{Q}_i\cdot\mathbf{K}}{\sqrt{64}}\right)

[0067] \]

[0068] Weighted summation generates a fused feature map:

[0069] \[

[0070] \mathbf{F}_{fusion}[i]=a_i\cdot\mathbf{V}

[0071] \]

[0072] The fused feature map (size \(T\timesH\timesW\times64\)) is input into GRU in time steps, and the time series feature vector \(h_{final}\) is output. The final anomaly probability is:

[0073] \[

[0074] P_{dev}=\text{Sigmoid}(W\cdoth_{final}+b)

[0075] \]

[0076] When \(P_{dev}>\mu+3\sigma\)(dynamic threshold), the device temperature is determined to be abnormal.

[0077] After actual use tests, the inspection robot of the present invention has an accuracy rate of 96.7% in detecting intermittent overheating of power equipment when automatically inspecting power equipment in a machine room. GRU is processed by time step, and the calculation time of a single frame is less than 10ms, which meets the real-time inspection requirements.

[0078] In the present invention, unless otherwise clearly specified and limited, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. The first feature being "up" or "down" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature, and therefore cannot be understood as limiting the present invention.

[0079] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, including the combination of various specific technical features in any appropriate manner. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

[0080] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An automatic inspection robot for the status of power equipment, characterized in that: The inspection robot includes a track assembly, a support assembly, an inspection assembly and a control host, the support assembly is slidably connected to the track assembly to provide support for the inspection assembly and the control host, the track assembly includes a fixed track, a first slide plate and a second slide plate, the first slide plate is fixed with a first slide rail, the second slide plate is fixed with a second slide rail, the directions of the fixed slide rail, the first slide rail and the second slide rail are perpendicular to each other, the fixed track is fixedly installed on the top of the machine room, the first slide plate is slidably connected to the fixed slide rail and can move in a first direction, the second slide plate is slidably connected to the first slide rail and can move in a second direction, the support assembly is slidably connected to the second slide rail and can move in a third direction; the inspection assembly includes a high-definition camera, which is configured to capture high-definition images of power equipment and identify power consumption parameters.

2. The automatic inspection robot for the status of electric power equipment according to claim 1 is characterized in that: The inspection assembly also includes a manipulator, which includes a clamp, an articulated arm, a first rotating seat and a second rotating seat. The articulated arm is provided with three sections, and the three sections of the articulated arm are hinged between the first rotating seat and the second rotating seat of the articulated arm. The first rotating seat is rotatably connected to the support assembly, and the clamp is installed on the second rotating seat.

3. The automatic inspection robot for the status of electric power equipment according to claim 2 is characterized in that: The automatic inspection robot also includes an installation cabinet, which is fixed on the second slide, and a dry powder fire extinguisher is arranged inside the installation cabinet. A spray pipe connected to the dry powder fire extinguisher is arranged on the side of the installation cabinet, and one end of the spray pipe is mounted on the supporting assembly for the gripper to grasp.

4. The automatic inspection robot for the status of electric power equipment according to claim 3 is characterized in that: A spray gun is connected to one end of the spray pipe close to the support assembly, a first solenoid valve in a normally closed state is arranged in the spray pipe, and a second solenoid valve in a normally closed state is arranged in the spray gun. The first solenoid valve is configured to be adjusted to an open state when the high-definition camera identifies a fire, and the second solenoid valve is configured to be adjusted to an open state when the robot grasps the spray pipe and aims it at the fire source.

5. The automatic inspection robot for the status of electric power equipment according to claim 4, characterized in that: The support assembly includes an L-shaped support base plate and a support side plate, the inspection assembly is installed on the support base plate, a support frame for placing the spray gun is provided on the support side plate, and a gap for clamping by the clamping claw is formed between the spray gun and the top of the support side plate.

6. The automatic inspection robot for the status of electric power equipment according to claim 3, characterized in that: An emergency power supply is also provided inside the installation cabinet, and the track assembly also includes a drag chain, one end of the drag chain is connected to the installation cabinet, and the other end is connected to the support assembly. The emergency power supply supplies power to the track assembly, the inspection assembly and the control host through the drag chain, and the injection pipe is fixed to one side of the drag chain and moves synchronously with the drag chain.

7. The automatic inspection robot for the status of electric power equipment according to claim 1, characterized in that: The support components, inspection components and control host are each provided with two groups, the second slide rails are provided on both sides of the second slide plate along the second direction, the two groups of support components are respectively slidably connected to the second slide rails on both sides, and the two groups of support components are symmetrically arranged, and the two groups of inspection components and the two groups of control components are respectively arranged on the support components on both sides.

8. The automatic inspection robot for the status of electric power equipment according to claim 1, characterized in that: The inspection component includes an infrared thermal imager, an industrial camera and a laser radar electrically connected to the control host; The infrared thermal imager is configured to collect thermal images of the power equipment. The industrial camera is configured to collect a planar image of the power equipment. The laser radar is configured to collect point cloud images of the power equipment. The control host is configured to determine whether there is any abnormality in the temperature of the power equipment based on the thermal data of the thermal image and the acquisition time, identify the number and actual status of the power equipment based on the image data in the plane image, obtain the position of the power equipment based on the point cloud data in the point cloud image, and control the track assembly to drive the support assembly to move according to a preset inspection path.

9. The automatic inspection robot for the status of electric power equipment according to claim 8, characterized in that: The control host has a built-in deep learning module based on a dual-stream spatiotemporal convolutional neural network, and the deep learning module includes a first-stream network, a second-stream network and an output layer. The first-stream network is used to input thermal images collected by an infrared thermal imager and extract multi-scale hot spot features as spatial features through hole convolution. The second-stream network inputs temperature data of a continuous time series and extracts temperature change trends as time series features through expansion causality. The output layer fuses spatial features and time series features through an attention mechanism to output the probability of abnormal temperature of power equipment.

10. The automatic inspection robot for the status of electric power equipment according to claim 9, characterized in that: When the output layer outputs the temperature anomaly probability, the spatial feature is used as the query vector, the temporal feature is used as the input value and the vector value, and the spatial-temporal attention weight is calculated by the following formula in, represents the dot product of the i-th spatial eigenvector and the temporal eigenvector, is the normalization function.

Images