Auxiliary high-definition shooting equipment of transformer substation inspection robot and use method of auxiliary high-definition shooting equipment

Abstract

The invention relates to the technical field of auxiliary shooting of robots, and particularly discloses auxiliary high-definition shooting equipment of a substation inspection robot and a use method, and the auxiliary high-definition shooting equipment comprises an auxiliary unit which comprises an industrial camera, a back plate arranged on one side of the industrial camera, and a camera seat arranged on the industrial camera, the limiting assembly is arranged on the camera seat; the light supplementing unit comprises a supporting frame arranged on the back plate and a light supplementing assembly arranged on the supporting frame; and the light shading unit comprises a screw rod piece arranged on the light supplementing assembly and a light shading assembly arranged on the screw rod piece. Flexible adjustment of the position and the angle of the camera is realized, the shooting precision is ensured in cooperation with the precise limiting assembly, meanwhile, the intelligent light supplementing and shading unit dynamically adapts to ambient light, light interference is effectively controlled, and therefore high-quality images can be obtained under various illumination conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of robot-assisted shooting, and particularly to an auxiliary high-definition shooting device and a usage method for a substation inspection robot. Background Art

[0002] A substation is a key facility in the power system for voltage and current transformation, as well as for receiving and distributing electric energy. The substation in a power plant is mainly responsible for stepping up the electric energy and transmitting it to the high-voltage power grid. To ensure the safe operation of the equipment, regular inspection is necessary, which includes checking the appearance, sound, temperature, and operating parameters of the equipment, etc., to promptly detect abnormalities and take measures.

[0003] With the development of technology, many substations have started to adopt inspection robots to improve the automation level of inspection. These robots utilize OCR technology and image recognition technology, can simulate the operations of professionals, automatically conduct inspections of the entire station, identify and check various equipment states, thereby improving the inspection efficiency and reducing the manpower requirement.

[0004] When the inspection robot takes pictures, it needs to consider the shooting position, angle, and outdoor light, etc. When the existing inspection robots take pictures, most of them directly use extension structures such as robotic arms to lift the industrial camera to the shooting point, and then take pictures through the industrial camera. When taking pictures, the real-time state of shooting is not considered, resulting in unclear shooting content affected by light, position angle, etc. during shooting, and even possibly affecting the judgment. Summary of the Invention

[0005] In view of the problems existing in the existing auxiliary high-definition shooting device for substation inspection robots, the present invention is proposed.

[0006] Therefore, the present invention provides an auxiliary high-definition shooting device for a substation inspection robot, and its purpose is to solve the problem that the inspection robot has poor shooting quality due to the lack of real-time adaptability to light and angle, which affects the accurate judgment of the equipment state.

[0007] To solve the above technical problems, the present invention provides the following technical solution: An auxiliary high-definition shooting device for a substation inspection robot, comprising,

[0008] An auxiliary unit, including an industrial camera, a back plate arranged on one side of the industrial camera, a camera base arranged on the industrial camera, and a limiting component arranged on the camera base;

[0009] A light supplement unit, including a support frame arranged on the back plate, and a light supplement component arranged on the support frame; and,

[0010] The light-shielding unit includes a lead screw member disposed on the supplementary light component, and a light-shielding component disposed on the lead screw member.

[0011] As a preferred solution of the auxiliary high-definition shooting device of the substation inspection robot of the present invention, wherein: the limiting component includes a limiting slider disposed on the camera base, a limiting insertion rod disposed on the limiting slider, and a limiting block disposed on the limiting insertion rod;

[0012] A distance sensor is disposed on the industrial camera, and a light sensor is disposed on one side of the distance sensor.

[0013] As a preferred solution of the auxiliary high-definition shooting device of the substation inspection robot of the present invention, wherein: the limiting component further includes a limiting groove disposed on the limiting slider, a pushing block disposed on the limiting groove, and a spring disposed on the pushing block;

[0014] One end of the spring is disposed on the pushing block, the other end of the spring is disposed on the limiting slider, and a camera power supply is disposed on the back plate.

[0015] As a preferred solution of the auxiliary high-definition shooting device of the substation inspection robot of the present invention, wherein: the supplementary light component includes a servo motor I disposed on the support frame, an upper support disposed on the support frame, a support seat disposed on the upper support, a support rod disposed on the support seat, and a servo motor II disposed on the support seat;

[0016] It further includes a light source disposed on the support frame, a lamp holder disposed at one end of the support rod, and a supplementary light lamp disposed on the lamp holder;

[0017] An installation side plate is disposed on the support frame.

[0018] As a preferred solution of the auxiliary high-definition shooting device of the substation inspection robot of the present invention, wherein: the light-shielding component includes a servo motor III disposed at one end of the lead screw member, and a servo motor IV disposed at the other end of the lead screw member.

[0019] As a preferred solution of the auxiliary high-definition shooting device of the substation inspection robot of the present invention, wherein: the light-shielding component further includes a winding roller disposed on the lead screw member, a light-shielding cloth disposed on the winding roller, and a support pull rod disposed on the light-shielding cloth;

[0020] One end of the support pull rod is disposed on the lead screw member.

[0021] Advantages of the first implementation of the present invention: Through the combination of an industrial camera, a backplane, a camera mount, and a limiting component, a stable shooting platform is provided, and the position and angle of the camera can be adjusted according to different shooting requirements; the design of the limiting slider, the limiting insertion rod, and the limiting block ensures the precise positioning of the industrial camera during the adjustment process, avoiding shooting quality problems caused by inaccurate positions; the design of the supplementary lighting component can dynamically adjust the supplementary lighting intensity and direction according to the change of the ambient light, ensuring clear images under different lighting conditions; through the design of the lead screw component, the servo motor, and the light-shielding cloth, the amount of light entering the lens can be effectively controlled, preventing overexposure or light interference and improving the image quality.

[0022] In view of the problems existing in the above-mentioned existing auxiliary high-definition shooting equipment and its usage method for substation inspection robots, the second implementation of the present invention is proposed.

[0023] Therefore, the object of the present invention is to provide an auxiliary high-definition shooting equipment and its usage method for substation inspection robots, aiming to solve the problem that the image quality is damaged due to the lack of adaptability of the inspection robot to the shooting environment, affecting the monitoring accuracy.

[0024] As a preferred solution for the usage method of the auxiliary high-definition shooting equipment for the substation inspection robot described in the present invention, wherein: A usage method of the auxiliary high-definition shooting equipment for the substation inspection robot includes the following steps.

[0025] Step 1, detect the distance between the industrial camera and the equipment to be photographed and conduct a trial shoot.

[0026] Step 2, compare the qualified parameters according to the trial shoot image.

[0027] Step 3, if it is qualified after comparison, directly upload the data and store it.

[0028] Step 4, if it is unqualified after comparison, adjust the light according to the real-time light.

[0029] Step 5, continue to conduct data comparison after light adjustment, and the comparison result is continued according to Steps 3 and 4.

[0030] The specific operation of Step 1 is as follows:

[0031] The inspection robot moves to near the equipment, and the robotic arm carried by the inspection robot moves the industrial camera close to the equipment.

[0032] After the industrial camera approaches the equipment, it faces the shooting point and automatically focuses. During the focusing process, the focus is achieved by moving the inspection machine. After the focusing is completed, the shooting is carried out.

[0033] As a preferred embodiment of the usage method of the auxiliary high-definition shooting device for the substation inspection robot of the present invention, wherein:

[0034] The specific operation steps of Step 2 are as follows:

[0035] Before using the inspection robot, first take qualified device pictures with an industrial camera in the way of manual following, and set them as qualified pictures;

[0036] Compare the pictures taken during the inspection with the qualified pictures, and read the parameters of the pictures. If the data can be completely read and compared, it is regarded as qualified. If the data cannot be completely read, it is regarded as a shooting failure.

[0037] As a preferred embodiment of the usage method of the auxiliary high-definition shooting device for the substation inspection robot of the present invention, wherein:

[0038] In Step 3, if it is qualified after comparison, directly upload the data and store it. When comparing, use the qualified photo as a reference, and classify it according to the shooting time and location when storing;

[0039] The specific operation steps of Step 4 are as follows:

[0040] When adjusting the light, first adjust the position of the industrial camera according to the light sensor and the distance sensor, and continuously focus during the adjustment process;

[0041] When the light sensor detects that the light is too strong and causes overexposure, perform light-shielding treatment, and the light-shielding angle can be adjusted during light-shielding;

[0042] When the light sensor detects that the light is too dark, use the fill light to supplement the light to the device, and adjust the position of the fill light according to the real-time light imaging during light supplementation.

[0043] As a preferred embodiment of the usage method of the auxiliary high-definition shooting device for the substation inspection robot of the present invention, wherein: In Step 5, after adjusting the light and comparing, if it is qualified, save the photo. If it is unqualified, continue to adjust the industrial camera for shooting. If qualified photos are not taken five times, immediately issue a warning to remind the operator to check manually.

[0044] The beneficial effects of the first implementation mode of the present invention: Through the precisely designed industrial camera auxiliary device, the flexible adjustment of the position and angle of the camera is realized, and the shooting accuracy is ensured by cooperating with the precise limit component. At the same time, the intelligent fill light and light-shielding unit dynamically adapt to the ambient light, effectively controlling the light interference, so that high-quality images can be obtained under various lighting conditions. Brief Description of the Drawings

[0045] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0046] Figure 1 It is a schematic diagram of the overall structure of the auxiliary high-definition shooting device of the substation inspection robot of the present invention.

[0047] Figure 2 It is a schematic diagram of the structure of the supplementary light component of the auxiliary high-definition shooting device of the substation inspection robot of the present invention.

[0048] Figure 3 For Figure 2 the enlarged schematic diagram at position A in

[0049] Figure 4 It is a schematic diagram of the structure of the light-shielding component of the auxiliary high-definition shooting device of the substation inspection robot of the present invention.

[0050] Figure 5 It is a schematic diagram of the side view of the auxiliary high-definition shooting device of the substation inspection robot of the present invention. Specific Embodiments

[0051] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will specifically describe the specific embodiments of the present invention in conjunction with the drawings of the specification.

[0052] In the following description, many specific details are set forth to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0053] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that can be included in at least one implementation manner of the present invention. The "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is separately or selectively mutually exclusive with other embodiments.

[0054] Furthermore, the present invention is described in detail in conjunction with schematic diagrams. When detailing the embodiments of the present invention, for the convenience of explanation, the cross-sectional views showing the device structure will be enlarged locally not in accordance with the general scale, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0055] Embodiment 1, refer toFigure 1 - Figure 4 This is the first embodiment of the present invention, which provides an auxiliary high-definition photographing device for a substation inspection robot. This device includes:

[0056] An auxiliary unit 100, including an industrial camera 101, a backplane 102 disposed on one side of the industrial camera 101, a camera base 103 disposed on the industrial camera 101, and a limiting component 104 disposed on the camera base 103; a camera power supply 107 is disposed on the backplane 102. The camera power supply 107 powers the industrial camera 101; the limiting component 104 realizes the disassembly between the industrial camera 101 and the camera base 103. According to the shooting position, after the industrial camera 101 approaches the shooting position, the shooting angle of the industrial camera 101 can be adjusted by rotating the backplane 102, which is more convenient for the industrial camera 101 to take clear photos.

[0057] A supplementary lighting unit 200, including a support frame 201 disposed on the backplane 102, and a supplementary lighting component 202 disposed on the support frame 201; and a light shielding unit 300, including a lead screw member 301 disposed on the supplementary lighting component 202, and a light shielding component 302 disposed on the lead screw member 301. The problems that the existing substation inspection robot is prone to be affected by light, position angle, etc. and the shooting is not clear during shooting are solved by the supplementary lighting unit 200 and the light shielding unit 300.

[0058] Among them, the supplementary lighting component 202 includes a servo motor 202a disposed on the support frame 201, an upper support 202b disposed on the support frame 201, a support seat 202c disposed on the upper support 202b, a support rod 202d disposed on the support seat 202c, and a servo motor 202h disposed on the support seat 202c. The supplementary lighting component 202 further includes a light source 202g disposed on the support frame 201, a lamp holder 202e disposed at one end of the support rod 202d, and a supplementary light 202f disposed on the lamp holder 202e; an installation side plate 203 is disposed on the support frame 201. The servo motor 202a is used to control the rotation of the backplane 102, and the supplementary lighting component 202 provides the intensity of the illumination during shooting and the light source angle during shooting, ensuring the clarity of the photos taken by the inspection robot during inspection.

[0059] Among them, the light-shielding component 302 includes a servo motor three 302a arranged at one end of the lead screw member 301, and a servo motor four 302b arranged at the other end of the lead screw member 301. The light-shielding component 302 further includes a winding roller 302c arranged on the lead screw member 301, a light-shielding cloth 302d arranged on the winding roller 302c, and a support pull rod 302e arranged on the light-shielding cloth 302d; one end of the support pull rod 302e is arranged on the lead screw member 301. A distance sensor 105 is arranged on the industrial camera 101, and a light sensor 106 is arranged on one side of the distance sensor 105. The light-shielding component 302 can adjust the angle of the fill light 202f according to the shooting needs, and perform light shielding according to the on-site real-time light environment. Moreover, the retractable design of the light-shielding cloth 302d can be retracted and stored when not in use for light shielding, which is convenient for protecting the light-shielding cloth 302d and can adapt to multi-angle light shielding and filling.

[0060] During the use process, first use the distance sensor 105 to detect the distance between the industrial camera 101 and the device to be photographed, and perform a test shot. Then, compare the qualified parameters according to the test shot image. If it is qualified after comparison, directly upload and store the data. Finally, if it is unqualified after comparison, adjust the light according to the real-time light. In a specific implementation manner, the servo motor one 202a runs to drive the back plate 102 to rotate. When the back plate 102 rotates, it can drive the industrial camera 101 to adjust the angle. During the adjustment, based on the detection parameters of the distance sensor 105 and the light sensor 106, when fill light is required for shooting, the light sensor 106 detects the light. After obtaining the data, it transmits an electrical signal to the servo motor two 202h. The servo motor two 202h runs to drive the support rod 202d to rotate. The rotation of the support rod 202d drives the lamp holder 202e and the fill light 202f to rotate. After adjusting to the required position, turn on the fill light 202f, and then fill light can be performed during shooting. The power supply of the fill light 202f comes from the light source 202g between the upper support 202b and the support base 202c.

[0061] When light shielding is required, the servo motor four 302b runs to drive the winding roller 302c to rotate. At the same time, the servo motor three 302a runs to drive the rotation in the lead screw member, thereby driving the support pull rod 302e to move in the strip-shaped groove of the lead screw member 301, and the light-shielding cloth 302d can be unfolded. After the light-shielding cloth 302d is unfolded, the servo motor two 202h runs to drive the support rod 202d to rotate. When the support rod 202d rotates, it drives the lead screw member to rotate, and adjusts the position of the light-shielding cloth 302d, so that light shielding can be performed during shooting. When light shielding is not required, the servo motor four 302b and the servo motor three 302a run in the reverse direction, and the opened support pull rod 302e moves towards the winding roller 302c, thereby winding up the light-shielding cloth 302d.

[0062] By adjusting the light and taking comparison shots repeatedly, in conjunction with the positioning structure of the distance sensor 105, high-definition pictures can be taken more precisely. Moreover, in conjunction with the supplementary light component 202 and the light-shielding component 302, the influence of the outdoor environment on shooting can be reduced, solving the problem that existing substation inspection robots are prone to blurry shooting due to the influence of light, position angle, etc., ensuring the clarity of the photos taken by the inspection robot during inspection, and facilitating data comparison.

[0063] Example 2, referring to Figure 1 - Figure 3 , which is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is:

[0064] The limiting component 104 includes a limiting slider 103a arranged on the camera base 103, a limiting insertion rod 103b arranged on the limiting slider 103a, and a limiting block 103c arranged on the limiting insertion rod 103b.

[0065] Compared with Embodiment 1, further, the limiting component 104 further includes a limiting groove 103d arranged on the limiting slider 103a, a pushing block 103e arranged on the limiting groove 103d, and a spring 103f arranged on the pushing block 103e; one end of the spring 103f is arranged on the pushing block 103e, and the other end of the spring 103f is arranged on the limiting slider 103a.

[0066] During use, limiting grooves 103d cooperating with the limiting blocks 103c are provided inside the limiting insertion rods 103b. The two limiting sliders 103a are perpendicularly arranged, and the distance that the limiting slider 103a extends to the outside of the limiting insertion rod 103b is less than the sliding distance of the limiting block 103c inside the limiting groove 103d. The opposite sides of the pushing block 103e and the two limiting sliders 103a are arranged to be inclined and cooperate with each other, and the proximal ends of the two limiting sliders 103a are both attached to the pushing block 103e. In the specific implementation process, when it is necessary to separately disassemble the industrial camera 101 and the camera base 103, push the two limiting sliders 103a, so that the limiting sliders 103a drive the limiting blocks 103c to move inside the limiting grooves 103d. When the limiting sliders 103a move, they push the pushing block 103e to move, so that the pushing block 103e moves to compress the spring 103f. When the limiting sliders 103a move into the limiting insertion rods 103b, the limiting of the limiting sliders 103a to the limiting insertion rods 103b is released. Push the limiting insertion rods 103b, so that the limiting insertion rods 103b move out of the inside of the camera base 103, and the fixation between the industrial camera 101 and the camera base 103 can be released. Pull the industrial camera 101, and the industrial camera 101 can be taken off separately.

[0067] During installation, press the limit slider 103a to move the limit slider 103a back into the limit insertion rod 103b. Insert the industrial camera 101 into the camera seat 103 in a snap-fit manner, and make the limit insertion rod 103b pass through the camera seat 103. At this time, release the limit slider 103a, so that the limit slider 103a moves to the side of the camera seat 103 under the push of the push block 103e and the spring 103f. On the one hand, it limits the industrial camera 101, thereby locking the position of the industrial camera 101 during the shooting process to prevent the angle of the industrial camera 101 from shifting during shooting, and only the angle of the industrial camera 101 can be adjusted according to the rotation of the backplane 102. On the other hand, it facilitates the installation and disassembly of the industrial camera 101, providing convenience for subsequent maintenance and replacement.

[0068] The remaining structures are the same as those in Embodiment 1.

[0069] Embodiment 3, refer to Figure 1 - Figure 5 , which is the third embodiment of the present invention. This embodiment provides an auxiliary high-definition shooting device and a usage method for a substation inspection robot. This method adopts the auxiliary high-definition shooting work of the substation inspection robot in Embodiment 1 or Embodiment 2:

[0070] It includes the following steps.

[0071] Step 1: Detect the distance between the industrial camera 101 and the device to be photographed, and perform a trial shot.

[0072] Step 2: Compare the qualified parameters according to the trial shot image.

[0073] Step 3: If it is qualified after comparison, directly upload and store the data.

[0074] Step 4: If it is unqualified after comparison, adjust the light according to the actual light.

[0075] Step 5: After adjusting the light, continue to perform data comparison, and the comparison results are continued with reference to Step 3 and Step 4.

[0076] The specific operation of Step 1 is as follows:

[0077] The inspection robot moves to the vicinity of the device, and the robotic arm carried by the inspection robot moves the industrial camera 101 close to the device.

[0078] After the industrial camera 101 approaches the device, it faces the shooting point and automatically focuses. During the focusing process, it focuses by moving the inspection machine. After focusing, it takes a picture.

[0079] Compared with Embodiment 2, further, the specific operation steps of Step 2 are as follows:

[0080] Before using the inspection robot, first, through the method of manual following, use the industrial camera 101 to take qualified equipment pictures and set them as qualified pictures;

[0081] Compare the pictures taken during the inspection with the qualified pictures and read the parameters of the pictures. If the data can be completely read and compared, it is regarded as qualified. If the data cannot be completely read, it is regarded as a failed shot.

[0082] Furthermore, in step three, if it is qualified after comparison, directly upload the data and store it. When comparing, use the qualified photo as a reference, and classify it according to the shooting time and location when storing;

[0083] Step four, the specific operation steps are as follows:

[0084] When adjusting the light, first adjust the position of the industrial camera 101 according to the light sensor 106 and the distance sensor 105, and continuously focus during the adjustment process;

[0085] When the light sensor 106 detects that the light is too strong and causes overexposure, perform a shading treatment, and the shading angle can be adjusted during the shading;

[0086] When the light sensor 106 detects that the light is too dark, use the fill light 202f to fill light the equipment, and adjust the position of the fill light 202f according to the real-time light imaging during the fill light.

[0087] Furthermore, in step five, after adjusting the light and comparing, if it is qualified, save the photo. If it is unqualified, continue to adjust the industrial camera 101 to take pictures. If qualified pictures cannot be taken five times, immediately issue a warning to remind the operator to check manually.

[0088] The rest of the structure is the same as that of Embodiment 2.

[0089] Importantly, it should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should easily understand that many modifications are possible without materially departing from the novel teachings and advantages of the subject matter described in this application (for example, changes in the dimensions, scales, structures, shapes, and proportions of various elements, as well as parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, colors, orientations, etc.). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature, number, or position of discrete elements may be altered or changed. Accordingly, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be altered or reordered according to alternative embodiments. In the claims, any "means-plus-function" clauses are intended to cover the structures that perform the recited function herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0090] In addition, to provide a concise description of the exemplary embodiments, all features of the actual embodiments may not be described (i.e., those features that are not relevant to the currently contemplated best mode of carrying out the present invention or those features that are not relevant to implementing the present invention).

[0091] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. An auxiliary high-definition shooting device for a substation inspection robot, characterized in that: include, An auxiliary unit (100) comprises an industrial camera (101), a back plate (102) arranged on one side of the industrial camera (101), a camera seat (103) arranged on the industrial camera (101), and a limit assembly (104) arranged on the camera seat (103); A fill light unit (200), comprising a support frame (201) arranged on the back plate (102), and a fill light component (202) arranged on the support frame (201); as well as, The shading unit (300) comprises a screw rod component (301) arranged on the fill light component (202), and a shading component (302) arranged on the screw rod component (301).

2. The auxiliary high-definition shooting device of the substation inspection robot according to claim 1 is characterized by: The limiting assembly (104) comprises a limiting slider (103a) arranged on the camera seat (103), a limiting rod (103b) arranged on the limiting slider (103a), and a limiting block (103c) arranged on the limiting rod (103b); The industrial camera (101) is provided with a distance sensor (105), and a light sensor (106) is provided on one side of the distance sensor (105).

3. The auxiliary high-definition shooting device of the substation inspection robot according to claim 2 is characterized in that: The limiting assembly (104) further comprises a limiting groove (103d) arranged on the limiting sliding block (103a), a pushing block (103e) arranged on the limiting groove (103d), and a spring (103f) arranged on the pushing block (103e); One end of the spring (103f) is arranged on the pushing block (103e), and the other end of the spring (103f) is arranged on the limiting sliding block (103a). A camera power supply (107) is arranged on the back plate (102).

4. The auxiliary high-definition shooting device of the substation inspection robot according to claim 3 is characterized by: The fill light assembly (202) comprises a servo motor 1 (202a) arranged on the support frame (201), an upper support frame (202b) arranged on the support frame (201), a support seat (202c) arranged on the upper support frame (202b), a support rod (202d) arranged on the support seat (202c), and a servo motor 2 (202h) arranged on the support seat (202c); It also includes a light source (202g) arranged on the support frame (201), a lamp holder (202e) arranged at one end of the support rod (202d), and a fill light (202f) arranged on the lamp holder (202e); The support frame (201) is provided with a mounting side plate (203).

5. The auxiliary high-definition shooting device of the substation inspection robot according to any one of claims 1 to 4, characterized in that: The shading component (302) comprises a servo motor three (302a) arranged at one end of the screw rod (301), and a servo motor four (302b) arranged at the other end of the screw rod (301).

6. The auxiliary high-definition shooting device of the substation inspection robot according to claim 5 is characterized in that: The shading assembly (302) further comprises a winding roller (302c) arranged on the screw rod (301), a shading cloth (302d) arranged on the winding roller (302c), and a supporting pull rod (302e) arranged on the shading cloth (302d); One end of the supporting pull rod (302e) is arranged on the screw rod (301).

7. A method for using the auxiliary high-definition shooting device of the substation inspection robot according to claim 6, characterized in that: The following steps are included: Step 1, detecting the distance between the industrial camera (101) and the device to be photographed, and performing a test shot; Step 2: Compare qualified parameters based on test images; Step 3: If the data is qualified after comparison, it will be uploaded and stored directly; Step 4: If the comparison fails, dimming is performed according to the real-time light; Step 5: Continue to compare data after dimming. The comparison results refer to Step 3 and Step 4. Step 1: The specific steps are as follows: The inspection robot moves to the vicinity of the equipment, and the mechanical arm carried by the inspection robot moves the industrial camera (101) close to the equipment; After the industrial camera (101) approaches the equipment, it faces the shooting point and automatically focuses. During the focusing process, the inspection machine moves to focus, and the shooting is performed after the focusing is completed.

8. The method for using the auxiliary high-definition shooting device of the substation inspection robot according to claim 7, characterized in that: Step 2: The specific steps are as follows: Before the inspection robot is used, a qualified equipment picture is first taken by an industrial camera (101) through manual following and set as a qualified picture; The pictures taken during the inspection are compared with the qualified pictures, and the parameters of the pictures are read. If the data can be read completely and compared, it is considered qualified. If the data cannot be read completely, it is considered a shooting failure.

9. The method for using the auxiliary high-definition shooting device of the substation inspection robot according to claim 8, characterized in that: Step 3: If the data is qualified after comparison, it will be directly uploaded and stored. The qualified photos will be used as a reference for comparison and classified according to the shooting time and location during storage; Step 4: The specific steps are as follows: When dimming, the position of the industrial camera (101) is first adjusted according to the light sensor (106) and the distance sensor (105), and the focus is continuously adjusted during the adjustment process; When the light sensor (106) detects that the light is too strong and causes exposure, it performs light shielding processing, and the light shielding angle can be adjusted during light shielding; When the light sensor (106) detects that the light is too dark, the device is supplemented with light through the supplementary light (202f), and the position of the supplementary light (202f) is adjusted according to the real-time light imaging during the supplementary light process.

10. The method for using the auxiliary high-definition shooting device of the substation inspection robot according to claim 9, characterized in that: Step 5, after dimming and comparison, if the image is qualified, save the image; if it is not qualified, continue to adjust the industrial camera (101) to take pictures; if no qualified image is taken after five attempts, immediately issue a warning to remind the operator to check it manually.

Images