Inspection method, device and equipment based on digital substation and storage medium

Abstract

The invention discloses an inspection method, device and equipment based on a digital substation and a storage medium, and the method comprises the steps: obtaining an inspection task, generating a preliminary inspection route of a robot according to the position of the robot in a pre-established digital substation model and an execution position point of the inspection task, and according to the content shot by each camera in the digital substation model, adjusting the preliminary inspection route to obtain a final inspection route, driving the robot to travel to the execution position point according to the final inspection route, and driving the robot to execute the inspection task. Therefore, the digital substation model can provide accurate position information, so that the route planning of the robot can be quickly completed, the substation equipment layout and space structure are fully considered, blind exploration is avoided, and the execution efficiency of the inspection task is improved.

Description

Technical Field

[0001] The present application relates to the technical field of substations, and more specifically, to an inspection method, device, equipment and storage medium based on a digital substation. Background Art

[0002] With the continuous expansion of the scale of power grid and the continuous growth of electricity demand, the number and scale of substations are increasing, and the types and quantity of equipment in the stations are becoming more and more complicated, requiring inspection of substation equipment.

[0003] Traditional substation inspections are mainly carried out manually, and inspectors need to conduct comprehensive inspections in the station regularly. However, manual inspections are inefficient, especially in large substations. Inspectors need to spend a lot of time and energy to complete inspection tasks, and it is difficult to ensure the timeliness and accuracy of inspections. In addition, manual inspections are easily affected by subjective factors, such as fatigue and lack of concentration, which may result in some equipment failures or hidden dangers not being discovered in time.

[0004] With the rapid development of robotics and 3D modeling technology, new solutions have been brought to substation inspection. The 3D digital substation can accurately and intuitively present the overall picture of the substation, including equipment layout, spatial structure, and the positional relationship of various facilities. Based on this, how to combine robotics technology and perform automatic obstacle avoidance inspection with the support of the 3D digital substation model to improve the execution efficiency of substation equipment inspection tasks is an issue that needs attention. Summary of the invention

[0005] In view of the above problems, the present application provides an inspection method, device, equipment and storage medium based on a digital substation to improve the execution efficiency of substation equipment inspection tasks.

[0006] In order to achieve the above objectives, the specific plan is proposed as follows:

[0007] A patrol inspection method based on a digital substation, comprising:

[0008] Get inspection tasks;

[0009] Generate a preliminary inspection route for the robot according to the position of the robot in the pre-established digital substation model and the execution position point of the inspection task;

[0010] According to the content captured by each camera in the digital substation model, the preliminary inspection route is adjusted to obtain a final inspection route;

[0011] The robot is driven to travel to the execution position point according to the final inspection route, and the robot is driven to perform the inspection task.

[0012] Optionally, the inspection task is an inspection task for the equipment of the target substation, and the robot is equipped with a camera;

[0013] Driving the robot to execute the inspection task includes:

[0014] Driving the robot to move and simultaneously driving the camera to rotate so that the camera captures the target inspection part of the target substation equipment;

[0015] After the robot completes the inspection of the target inspection part, record the inspection result of the target inspection part;

[0016] If the inspection task of the target substation equipment is not completed, update the target inspection part of the target substation equipment, and return to execute the step of driving the robot to move and simultaneously driving the camera to rotate so that the camera captures the target inspection part of the target substation equipment until the inspection task of the target substation equipment is completed.

[0017] Optionally, adjusting the preliminary inspection route to obtain the final inspection route according to the content captured by each camera in the digital substation model includes:

[0018] Determine the obstacle information according to the content captured by each camera in the digital substation model;

[0019] Based on the obstacle information, update the preliminary inspection route to obtain the final inspection route.

[0020] Optionally, the method further includes:

[0021] Play the real-time video of the robot when executing the inspection task.

[0022] Optionally, the method further includes:

[0023] Mark the inspection task with a preset color label to display the real-time status of the inspection task.

[0024] Optionally, the method further includes:

[0025] After the robot executes the inspection task, generate an inspection report for the inspection task.

[0026] An inspection device based on a digital substation includes:

[0027] An inspection task acquisition unit for acquiring an inspection task;

[0028] An inspection route generation unit for generating a preliminary inspection route of the robot according to the position of the robot in a pre-established digital substation model and the execution position points of the inspection task;

[0029] An inspection route adjustment unit, configured to adjust the preliminary inspection route according to the content captured by each camera in the digital substation model to obtain a final inspection route;

[0030] A robot driving unit, configured to drive the robot to travel to the execution position point according to the final inspection route;

[0031] An inspection task execution unit, configured to drive the robot to execute the inspection task.

[0032] Optionally, the inspection task is an inspection task for target substation equipment, and the robot is equipped with a camera;

[0033] The inspection task execution unit includes:

[0034] A robot camera adjustment unit, configured to drive the robot to move and drive the camera to rotate at the same time, so that the camera captures the target inspection part of the target substation equipment;

[0035] An inspection result recording unit, configured to record the inspection result of the target inspection part after the robot completes the inspection of the target inspection part;

[0036] A target inspection part update unit, configured to update the target inspection part of the target substation equipment if the inspection task of the target substation equipment is not completed, and return to execute the robot camera adjustment unit until the inspection task of the target substation equipment is completed.

[0037] Optionally, the inspection route adjustment unit includes:

[0038] An obstacle information determination unit, configured to determine obstacle information according to the content captured by each camera in the digital substation model;

[0039] A route update unit, configured to update the preliminary inspection route based on the obstacle information to obtain a final inspection route.

[0040] Optionally, the device further includes:

[0041] A real-time video playback unit, configured to play the real-time video of the robot when executing the inspection task.

[0042] Optionally, the device further includes:

[0043] A report generation unit, configured to generate an inspection report of the inspection task after the robot executes the inspection task.

[0044] An inspection device based on a digital substation, including a memory and a processor;

[0045] The memory is used to store programs.

[0046] The processor is used to execute the program to implement each step of the inspection method based on a digital substation as described above.

[0047] A storage medium stores a computer program, and when the computer program is executed by a processor, each step of the inspection method based on a digital substation as described above is implemented.

[0048] By means of the above technical solution, this application obtains an inspection task, generates a preliminary inspection route of the robot according to the position of the robot in a pre-established digital substation model and the execution position point of the inspection task, adjusts the preliminary inspection route according to the content captured by each camera in the digital substation model to obtain a final inspection route, drives the robot to travel to the execution position point according to the final inspection route, and drives the robot to execute the inspection task. It can be seen that the digital substation model can provide accurate position information, enabling the route planning of the robot to be completed quickly, fully considering the equipment layout and spatial structure of the substation, avoiding blind exploration, and improving the execution efficiency of the inspection task.

[0049] Furthermore, by integrating the digital substation model, robot technology, and video monitoring technology, the intelligent and automated inspection of the substation is realized. It not only improves the inspection efficiency and quality, reduces the labor cost and safety risk, but also provides more scientific and reliable data support for the operation and maintenance management of the substation, helps power enterprises optimize the operation and maintenance strategy, improves the operation and maintenance level of the entire power system, and meets the continuously developing needs of modern power systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to limit this application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0051] Figure 1 It is a schematic flowchart for implementing inspection based on a digital substation provided by an embodiment of this application;

[0052] Figure 2 It is a schematic structural diagram of a device for implementing inspection based on a digital substation provided by an embodiment of this application;

[0053] Figure 3 It is a schematic structural diagram of a device for implementing inspection based on a digital substation provided by an embodiment of this application. Detailed implementation manners

[0054] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0055] The solution of the present application can be implemented based on a terminal with data processing capabilities, and the terminal can be a cloud, a server, a control center, etc.

[0056] Next, in combination with Figure 1 As described above, the inspection method based on a digital substation of the present application may include the following steps:

[0057] Step S110: Obtain an inspection task.

[0058] Specifically, the inspection task may include task type information, inspection object information, inspection sub-task information, etc.

[0059] Among them, the types of inspection tasks may include routine inspections, outage inspections, special inspections, special inspections, etc. The inspection sub-tasks included in different types of inspection tasks are different. The number of inspection sub-tasks included in the inspection task may be one or more.

[0060] It can be understood that the inspection task can be created according to the actual situation of the substation, or the inspection requirements from other associated systems can be received and created.

[0061] Step S120: Generate a preliminary inspection route for the robot according to the position of the robot in the pre-established digital substation model and the execution position point of the inspection task.

[0062] Among them, the preliminary inspection route can be a straight-line route for the robot from the current position to the execution position point of the inspection task, or the shortest road distance from the current position of the robot to the execution position point of the inspection task.

[0063] Specifically, the digital substation model may include all substation equipment models in the substation, all substation building models, the connection relationship between substation equipment models, the positional relationship between substation equipment models and substation building models, all camera devices, and the objects corresponding to the actual ones within the shooting areas of all camera devices.

[0064] It can be understood that by three-dimensionally modeling the substation, the actual situation of the substation can be reflected more realistically and accurately. The digital substation model not only includes the spatial positions of the equipment, but also incorporates the corresponding relationship between the camera equipment and the objects being photographed, providing more reliable conditions for subsequent updating of the inspection route.

[0065] Step S130: Adjust the preliminary inspection route according to the content photographed by each camera in the digital substation model to obtain the final inspection route.

[0066] It can be understood that the preliminary inspection route is not generated by combining the content photographed by the camera. Generally, there may be obstacles between the current position of the robot and the execution position point of the inspection task, making it impossible for the robot to travel along the preliminary inspection route. Therefore, it is necessary to optimize according to the content photographed by the camera to adjust a final inspection route without obstacles.

[0067] Use the content photographed by each camera in the digital substation model to adjust the preliminary inspection route. The camera feeds back the actual situation in the station in real time, such as whether there are temporary obstacles around the equipment and whether the passage is unobstructed. The robot can accurately adjust the preliminary route based on this dynamic information to obtain a final inspection route that better conforms to the actual situation. This adjustment mechanism based on real-time visual information enables the robot to have stronger adaptability in the complex and changeable substation environment, ensuring the smooth progress of the inspection work.

[0068] Step S140: Drive the robot to travel to the execution position point along the final inspection route, and drive the robot to execute the inspection task.

[0069] Specifically, the terminal can be associated with the inspection equipment. The inspection equipment can manage the cameras and the inspection preset points of the robot. When it is necessary to execute the inspection task, the inspection equipment can schedule the cameras or the preset points of the robot.

[0070] It can be understood that driving the robot to travel to the execution position point along the final inspection route and executing the inspection task combines the advantages of efficient route planning and flexible route adjustment. The robot can accurately and quickly reach the designated position to conduct the inspection, reducing the time waste and inspection omissions caused by unreasonable routes, and improving the reliability and comprehensiveness of the inspection. At the same time, the robot executing the inspection task can avoid the influence of subjective factors in manual inspection, ensuring the accuracy and stability of the inspection results, promptly discovering equipment failures or hidden dangers, and providing strong support for the safe and stable operation of the substation.

[0071] The inspection method based on digital substation provided in this embodiment obtains the inspection task, generates the preliminary inspection route of the robot according to the position of the robot in the pre-established digital substation model and the execution position point of the inspection task, adjusts the preliminary inspection route according to the content captured by each camera in the digital substation model to obtain the final inspection route, drives the robot to travel to the execution position point according to the final inspection route, and drives the robot to execute the inspection task. It can be seen that the digital substation model can provide accurate location information, so that the robot's route planning can be completed quickly, fully considering the substation equipment layout and spatial structure, avoiding blind exploration, and improving the execution efficiency of the inspection task.

[0072] Furthermore, by integrating digital substation models, robotics technology, and video surveillance technology, the intelligent and automated substation inspection has been achieved, which not only improves the inspection efficiency and quality, reduces labor costs and safety risks, but also provides more scientific and reliable data support for the operation and maintenance management of substations, helping power companies to optimize operation and maintenance strategies, improve the operation and maintenance level of the entire power system, and adapt to the ever-changing needs of modern power systems.

[0073] In some embodiments of the present application, the inspection task mentioned in the above embodiments may be an inspection task of a target substation equipment. The robot may be equipped with a camera, which may be used to view the details of the substation equipment. Based on this, the process of driving the robot to perform the inspection task mentioned in the above embodiments is introduced, and the process may include:

[0074] S1. Drive the robot to move and drive the camera to rotate at the same time, so that the camera can photograph the target inspection part of the target substation equipment.

[0075] Specifically, the terminal can send the specific location of the target inspection part of the target substation equipment to the robot, and the robot can move to the location in a short distance. If the target inspection part of the target substation equipment needs to be opened for viewing, the robot can perform an opening operation on the part. The camera can be controlled to rotate by instructions or by manual remote control so that the camera shooting direction is aimed at the target inspection part of the target substation equipment.

[0076] S2. After the robot completes the inspection of the target inspection part, the inspection result of the target inspection part is recorded.

[0077] Specifically, each inspection subtask of the inspection task may be an inspection task for each part of the target substation equipment. After the inspection of each part is completed, the terminal may display that the inspection subtask has been completed and record the inspection result.

[0078] For each completed inspection result, the inspection details can be viewed on the terminal, and viewing historical inspection results is supported.

[0079] S3. If the inspection task of the target substation equipment is not completed, update the target inspection parts of the target substation equipment, and return to execute S1 until the inspection task of the target substation equipment is completed.

[0080] Specifically, after each inspection subtask is completed, the terminal will determine whether there are still inspection subtasks in the current inspection task. If so, execute the next inspection subtask, and update the target inspection parts of the target substation equipment that need to be inspected next for the robot to continue the inspection in cooperation with the camera. When the last inspection subtask is completed and the terminal identifies that there are no remaining inspection subtasks in the current inspection task, the inspection task is completed.

[0081] Furthermore, for inspection tasks in different states, the terminal can mark the inspection tasks with preset color tags to display the real-time status of the inspection tasks.

[0082] For example, for an unexecuted inspection task, it can be marked and displayed with a red tag; for an inspection task in progress, it can be marked and displayed with a yellow tag; for a completed inspection task, it can be marked and displayed with a green tag. Thus, by marking inspection tasks in different states with different colors, substation management personnel can intuitively and clearly know the specific situations and specific progress of all inspection tasks.

[0083] In some embodiments of the present application, the process of the above step S130, adjusting the preliminary inspection route to obtain the final inspection route according to the content captured by each camera in the digital substation model, is introduced. This process may include:

[0084] S1301. Determine the obstacle information according to the content captured by each camera in the digital substation model.

[0085] Specifically, since each camera in the substation can present the captured object from multiple angles, the specific volume sizes of various obstacles on the substation road can be determined through the content captured by each camera.

[0086] S1302. Update the preliminary inspection route based on the obstacle information to obtain the final inspection route.

[0087] Specifically, the inspection route can be re-planned by combining the specific volume sizes of various obstacles on the substation road and the volume size of the robot itself. For example, if the volume of an obstacle on a certain road is too large for the robot to pass through, the re-planned inspection route needs to bypass that road. If the obstacles on a certain road do not affect the robot's passage and the robot also needs to pass through this road to reach the execution position point, then only a simple avoidance is required on this road. The update of the inspection route also needs to follow the principle of the shortest path to improve the execution efficiency of the inspection task.

[0088] Considering ensuring the completion quality of the inspection task and improving the safety of robot operation, in some embodiments of the present application, during the process of the robot performing the inspection task mentioned in the foregoing embodiments, the real-time video of the robot during the inspection task can be played.

[0089] Among them, the real-time video obtained at the terminal can be displayed in full-screen, supporting the viewing of visible light video and infrared video during the inspection process.

[0090] Specifically, the camera equipped on the robot can communicate with the terminal in real time, and the content captured by the camera is transmitted to the terminal in real time. The terminal personnel can monitor the operation of the robot and the content captured by the camera in real time, which can ensure the accuracy of the robot operation and the camera shooting. If the robot operation is incorrect, the terminal personnel can terminate the robot operation in time to ensure operation safety.

[0091] In addition, since there are multiple fixed-position camera devices arranged in the substation, at the same time, the video of the robot working captured by the camera devices in real time can be obtained to present the inspection work performed by the robot from multiple angles, further ensuring the completion quality of the inspection task and improving the safety of robot operation.

[0092] Considering reducing the analysis work of personnel on the inspection results and further improving the overall efficiency of the substation equipment inspection work, in some embodiments of the present application, after the robot performs the inspection task, an inspection report of the inspection task can be generated.

[0093] Specifically, after the robot executes the inspection task, the inspection results of each sub-inspection task of the inspection task are obtained, and these inspection results are mostly raw device data. The terminal can collect these raw data uniformly and classify and organize them according to data type, device category, and inspection time sequence. For example, all temperature data related to the main transformer can be sorted into the same dataset for convenient subsequent analysis; for numerical data, it can be statistically displayed in the form of a curve. Further, through data analysis algorithms or preset device operation standard thresholds, the sorted data can be deeply analyzed. And through image recognition technology, analyze whether there are abnormalities in the appearance of the device, such as whether there are discharge marks and whether the device surface is damaged, to obtain inspection result analysis data. Furthermore, the terminal can fill in the inspection result analysis data according to a preset template and briefly analyze the abnormal situations.

[0094] It can be seen that after the robot executes the inspection task, an inspection report is automatically generated, which can reduce the analysis work of personnel on the inspection results and further improve the overall efficiency of the substation equipment inspection work. Moreover, the content of the inspection report can be used for other operation and maintenance personnel to learn and reference. Especially when dealing with similar equipment failures, it can quickly draw on the experience of predecessors, avoid repeated exploration, and improve the overall operation and maintenance level.

[0095] Next, the device for implementing inspection based on a digital substation provided by the embodiments of the present application will be described. The device for implementing inspection based on a digital substation described below can be correspondingly referred to the inspection method based on a digital substation described above.

[0096] See Figure 2 , Figure 2 which is a schematic structural diagram of a device for implementing inspection based on a digital substation disclosed in the embodiments of the present application.

[0097] As Figure 2 shown, the device may include:

[0098] An inspection task acquisition unit 11, configured to acquire an inspection task;

[0099] An inspection route generation unit 12, configured to generate a preliminary inspection route of the robot according to the position of the robot in the pre-established digital substation model and the execution position points of the inspection task;

[0100] An inspection route adjustment unit 13, configured to adjust the preliminary inspection route according to the content captured by each camera in the digital substation model to obtain a final inspection route;

[0101] A robot driving unit 14, configured to drive the robot to travel to the execution position point according to the final inspection route;

[0102] The inspection task execution unit 15 is used to drive the robot to execute the inspection task.

[0103] Optionally, the inspection task is an inspection task for target substation equipment, and the robot is configured with a camera;

[0104] The inspection task execution unit includes:

[0105] The robot camera adjustment unit is used to drive the robot to move and drive the camera to rotate at the same time, so that the camera captures the target inspection part of the target substation equipment;

[0106] The inspection result recording unit is used to record the inspection result of the target inspection part after the robot completes the inspection of the target inspection part;

[0107] The target inspection part update unit is used to update the target inspection part of the target substation equipment if the inspection task of the target substation equipment is not completed, and return to execute the robot camera adjustment unit until the inspection task of the target substation equipment is completed.

[0108] Optionally, the inspection route adjustment unit includes:

[0109] The obstacle information determination unit is used to determine the obstacle information according to the content captured by each camera in the digital substation model;

[0110] The route update unit is used to update the preliminary inspection route based on the obstacle information to obtain the final inspection route.

[0111] Optionally, the device further includes:

[0112] The real-time video playback unit is used to play the real-time video of the robot when executing the inspection task.

[0113] Optionally, the device further includes:

[0114] The report generation unit is used to generate an inspection report of the inspection task after the robot executes the inspection task.

[0115] The device for inspection based on a digital substation provided in the embodiments of the present application can be applied to devices for inspection based on a digital substation, such as terminals: computers, servers, control centers, etc. Optionally, Figure 3 shows a hardware structure block diagram of a device for inspection based on a digital substation. Referring to Figure 3 , the hardware structure of a device for inspection based on a digital substation may include: at least one processor 1, at least one communication interface 2, at least one memory 3, and at least one communication bus 4;

[0116] In the embodiments of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 complete communication with each other through the communication bus 4;

[0117] The processor 1 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0118] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory, etc., such as at least one disk memory;

[0119] Wherein, the memory stores a program, and the processor can call the program stored in the memory, and the program is used for:

[0120] Obtain an inspection task;

[0121] Generate a preliminary inspection route of the robot according to the position of the robot in the pre-established digital substation model and the execution position point of the inspection task;

[0122] Adjust the preliminary inspection route according to the content captured by each camera in the digital substation model to obtain a final inspection route;

[0123] Drive the robot to travel to the execution position point according to the final inspection route, and drive the robot to execute the inspection task.

[0124] Optionally, the refined functions and extended functions of the program can be referred to the above description.

[0125] The embodiments of the present application further provide a storage medium, which can store a program suitable for the processor to execute, and the program is used for:

[0126] Obtain an inspection task;

[0127] Generate a preliminary inspection route of the robot according to the position of the robot in the pre-established digital substation model and the execution position point of the inspection task;

[0128] Adjust the preliminary inspection route according to the content captured by each camera in the digital substation model to obtain a final inspection route;

[0129] Drive the robot to travel to the execution position point according to the final inspection route, and drive the robot to execute the inspection task.

[0130] Optionally, the refinement function and expansion function of the program may refer to the description above.

[0131] Finally, it should also be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0132] The various embodiments in this specification are described in a progressive manner, with each embodiment highlighting the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0133] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A patrol inspection method based on a digital substation, characterized in that: include: Get inspection tasks; Generate a preliminary inspection route for the robot according to the position of the robot in the pre-established digital substation model and the execution position point of the inspection task; According to the content captured by each camera in the digital substation model, the preliminary inspection route is adjusted to obtain a final inspection route; The robot is driven to travel to the execution position point according to the final inspection route, and the robot is driven to perform the inspection task.

2. The method according to claim 1, characterized in that The inspection task is an inspection task of target substation equipment, and the robot is equipped with a camera; The driving the robot to perform the inspection task includes: driving the robot to move and the camera to rotate at the same time, so that the camera can photograph a target inspection part of the target substation equipment; After the robot completes the inspection of the target inspection part, recording the inspection result of the target inspection part; If the inspection task of the target substation equipment is not completed, the target inspection part of the target substation equipment is updated, and the step of driving the robot to move and the camera to rotate at the same time to make the camera photograph the target inspection part of the target substation equipment is returned to execute until the inspection task of the target substation equipment is completed.

3. The method according to claim 1, characterized in that According to the content captured by each camera in the digital substation model, the preliminary inspection route is adjusted to obtain a final inspection route, including: Determine obstacle information according to the content captured by each camera in the digital substation model; Based on the obstacle information, the preliminary inspection route is updated to obtain a final inspection route.

4. The method according to claim 1, characterized in that: Also includes: Play the real-time video of the robot performing the inspection task.

5. The method according to claim 1, characterized in that Also includes: The inspection task is marked with a preset color label to display the real-time status of the inspection task.

6. The method according to any one of claims 1 to 5, characterized in that: Also includes: After the robot performs the inspection task, an inspection report of the inspection task is generated.

7. A patrol device based on a digital substation, characterized in that: include: An inspection task acquisition unit, used to acquire inspection tasks; An inspection route generating unit, used for generating a preliminary inspection route of the robot according to the position of the robot in the pre-established digital substation model and the execution position point of the inspection task; An inspection route adjustment unit, used to adjust the preliminary inspection route to obtain a final inspection route according to the content captured by each camera in the digital substation model; A robot driving unit, used to drive the robot to travel to the execution position point according to the final inspection route; The inspection task execution unit is used to drive the robot to execute the inspection task.

8. The device according to claim 7, characterized in that The inspection task is an inspection task of target substation equipment, and the robot is equipped with a camera; The inspection task execution unit includes: A robot camera adjustment unit, used to drive the robot to move and the camera to rotate, so that the camera can photograph a target inspection part of the target substation equipment; An inspection result recording unit, configured to record the inspection result of the target inspection part after the robot completes the inspection of the target inspection part; The target inspection part updating unit is used to update the target inspection part of the target substation equipment if the inspection task of the target substation equipment is not completed, and return to execute the robot camera adjustment unit until the inspection task of the target substation equipment is completed.

9. A patrol device based on a digital substation, characterized in that: including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement each step of the inspection method based on a digital substation as described in any one of claims 1 to 6.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the inspection method based on a digital substation as described in any one of claims 1 to 6 is implemented.

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