Intelligent robot inspection system and method for transformer substation

Abstract

The invention provides an intelligent robot inspection system and method for a transformer substation, and belongs to the technical field of transformer substation inspection, and the system comprises an inspection task generation module, an inspection robot, an inspection analysis module and an inspection optimization module. The inspection task generation module is used for generating an inspection task based on the inspection demand; the inspection task comprises a plurality of inspection items corresponding to an inspection object in the transformer substation and inspection time of each inspection item; the inspection robot is used for receiving and executing an inspection task to obtain substation inspection data; the inspection analysis module is used for analyzing the inspection data of the transformer substation to obtain the inspection state of each inspection object; and the inspection optimization module is used for determining an optimized inspection item and optimized inspection time based on the inspection state and a preset adjustment strategy. According to the invention, the dynamic adjustment of the inspection task is realized, and the inspection performance and the inspection effect are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of substation inspection, and particularly to an intelligent robot inspection system and method for substations. Background Art

[0002] Substation inspection is an important link in power grid management. Through inspection, faults of power equipment in the power system can be promptly detected, and potential hazards can be discovered in time to ensure the stable operation of the power system. With the development of technology, intelligent robot inspection has replaced manual inspection as the mainstream inspection method.

[0003] However, current intelligent robot inspection is based on the issued inspection tasks. Specifically, manual workers formulate regular and quantitative inspection tasks in advance, that is, at each time point or at set intervals, specific equipment will be inspected for specific items. This method has the following technical problems: for some equipment that requires special attention or equipment with abnormal inspections, the regular and quantitative mechanism will not be adjusted based on feedback, and it cannot be adaptively adjusted according to the inspection results, resulting in poor inspection effects.

[0004] Therefore, there is an urgent need to provide an intelligent robot inspection system and method for substations that can adjust inspection tasks in real time according to the results to improve the pertinence of inspection and thus improve the inspection effect. Summary of the Invention

[0005] In view of this, it is necessary to provide an intelligent robot inspection system and method for substations to solve the technical problem in the prior art that it cannot be adaptively adjusted according to the inspection results, resulting in poor inspection effects.

[0006] In a first aspect, to solve the above technical problem, the present invention provides an intelligent robot inspection system for substations, including: an inspection task generation module, an inspection robot, an inspection analysis module, and an inspection optimization module; The inspection task generation module is used to generate inspection tasks based on inspection requirements; the inspection tasks include multiple inspection items corresponding to inspection objects in the substation and the inspection time of each inspection item; The inspection robot is used to receive and execute the inspection tasks to obtain substation inspection data; The inspection analysis module is used to analyze the substation inspection data to obtain the inspection status of each inspection object; The inspection optimization module is used to determine optimized inspection items and optimized inspection time based on the inspection status and a preset adjustment strategy.

[0007] In a possible implementation manner, the inspection robot includes an inspection area determination module, a positioning module, and a robot body; The inspection area determination module is used to obtain the three-dimensional structure diagram of the substation, determine the areas of each inspection object based on the three-dimensional structure diagram, and merge the areas with the same equipment type and the distance difference less than the threshold distance to obtain the inspection area; The positioning module is used to determine the planned path of the robot body from the starting point to the inspection area based on a preset path planning algorithm; The robot body is used to move to the inspection area based on the planned path.

[0008] In a possible implementation manner, the inspection robot further includes an image acquisition module and a position optimization module; The image acquisition module is used to acquire the area image of the inspection area when the robot body moves to the inspection area; The position optimization module is used to input the area image into a position determination network model to determine the movement path between the current position of the robot body and the areas of each inspection object; The robot body is further used to move to the areas of each inspection object based on the movement path.

[0009] In a possible implementation manner, the inspection object includes a pointer-type instrument; then the inspection robot further includes an image correction module and a data determination module; The image acquisition module is further used to acquire the instrument image of the pointer-type instrument; The image correction module is used to determine the first scale number and the second scale number symmetric about the target straight line in the instrument image, determine the inclination angle of the instrument image based on the coordinates of the first scale number and the second scale number, and correct the instrument image based on the inclination angle to obtain a corrected image; wherein, the target straight line is a straight line passing through the center of the pointer-type instrument and perpendicular to the horizontal line; The data determination module is used to determine the substation inspection data based on the corrected image.

[0010] In a possible implementation manner, the substation inspection data includes image inspection data and physical parameter inspection data; the inspection analysis module includes a usage status evaluation sub-module, a historical maintenance evaluation sub-module, and an inspection status determination sub-module; The usage status evaluation sub-module is used to determine the image status score and the physical parameter status score based on the image inspection data and the physical parameter inspection data respectively, and use the weighted sum of the image status score and the physical parameter status score as the usage status score; The historical maintenance evaluation sub-module is used to obtain the historical maintenance cost, historical maintenance time, and effective time after historical maintenance of the inspection object, and determine the historical maintenance score based on the historical maintenance cost, historical maintenance time, and effective time after historical maintenance; The inspection status determination sub-module is used to use the weighted sum of the usage status score and the historical maintenance score as the inspection score, and determine the inspection status of the inspection object based on the mapping relationship between the preset score range and the inspection status; Among them, the inspection status includes a healthy state, a sub-healthy state, a state requiring maintenance, and a state requiring replacement.

[0011] In a possible implementation manner, when the inspection object is a battery pack, the image status score includes a damage score and a temperature score, and the inspection score is:

[0012] The damage score is:

[0013] The temperature score is:

[0014] In the formula, is the inspection score; is the damage score; is the coincidence degree between the image contour of the i-th battery cell in the battery pack and the standard contour; n is the total number of battery cells; is the area ratio of the damaged area of the i-th battery cell in the battery pack to the total area of the battery cell; T is the temperature score; is the temperature of the i-th battery cell in the battery pack; k is the number of maintenance times; is the maintenance cost of the j-th maintenance; is the maintenance time of the j-th maintenance; is the effective time after the j-th maintenance; 、 、 、 are weights.

[0015] In a possible implementation manner, the adjustment strategy is: When the inspection status is a healthy state, set the optimized inspection items to be less than the inspection items, and the optimized inspection time to be less than the inspection time; When the inspection status is a sub-healthy state, set the optimized inspection items to be equal to the inspection items, and the optimized inspection time to be equal to the inspection time; When the inspection status is the status that requires maintenance, set the optimized inspection items to be more than the inspection items, and the optimized inspection time to be greater than the inspection time; When the inspection status is the status that requires replacement, pause the inspection of the inspection object until it is replaced with a new inspection object.

[0016] In a possible implementation manner, the adjustment strategy further includes: When the inspection object is a key inspection object, the optimized inspection time is greater than the inspection protection duration, and the optimized inspection items are equal to the protection inspection items.

[0017] In a possible implementation manner, the inspection task generation module includes a database construction sub-module and a task generation sub-module; The database construction sub-module is used to construct an inspection sub-item database, and the inspection sub-item database includes a plurality of fine-grained inspection sub-items; The task generation sub-module is used to determine at least one target inspection sub-item from the inspection sub-item database based on the inspection requirements, and the at least one target inspection sub-item constitutes the inspection task.

[0018] In a second aspect, the present invention further provides a substation intelligent robot inspection method, which is applicable to the substation intelligent robot inspection device described in any of the above possible implementation manners. The method includes: Generate an inspection task based on the inspection requirements; the inspection task includes a plurality of inspection items corresponding to the inspection objects in the substation and the inspection time of each inspection item; Receive and execute the inspection task to obtain substation inspection data; Analyze the substation inspection data to obtain the inspection status of each inspection object; Determine the optimized inspection items and the optimized inspection time based on the inspection status and a preset adjustment strategy.

[0019] The beneficial effects of the present invention are as follows: The substation intelligent robot inspection system provided by the present invention can optimize the inspection items and inspection time in the inspection task according to the inspection objects of the inspection objects after the inspection robot completes the inspection task by setting an inspection optimization module. That is, it realizes the dynamic adjustment of the inspection task based on the inspection status, rather than the traditional fixed-time and fixed-quantity inspection. Through this setting, more inspection items and inspection time can be set for the inspection objects that need attention to increase the probability of discovering potential fault risks, which is more targeted and achieves the purpose of improving the inspection performance. Description of the Drawings

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0021] Figure 1 It is a schematic structural diagram of an embodiment of the intelligent robot inspection system for a substation provided by the present invention; Figure 2 It is a schematic structural diagram of an embodiment of the inspection robot provided by the present invention; Figure 3 It is a schematic structural diagram of an embodiment of the inspection analysis module provided by the present invention; Figure 4 It is a schematic structural diagram of an embodiment of the inspection task generation module provided by the present invention; Figure 5 It is a schematic flowchart of an embodiment of the method for inspecting a substation by an intelligent robot provided by the present invention. Detailed implementation manners

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0023] It should be understood that the schematic drawings are not drawn to scale. The flowcharts used in the present invention illustrate the operations implemented according to some embodiments of the present invention. It should be understood that the operations in the flowchart may not be implemented in sequence, and steps without logical context relationships may be reversed or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of the present invention. Some of the block diagrams shown in the drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor systems and / or microcontroller systems.

[0024] References to "embodiments" in this specification mean that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0025] The present invention provides a substation intelligent robot inspection system and method, which will be described separately below.

[0026] Figure 1 It is a schematic structural diagram of an embodiment of the substation intelligent robot inspection system provided by the present invention, as Figure 1 shown, the substation intelligent robot inspection system 10 includes: an inspection task generation module 100, an inspection robot 200, an inspection analysis module 300, and an inspection optimization module 400; The inspection task generation module 100 is used to generate inspection tasks based on inspection requirements; the inspection tasks include a plurality of inspection items corresponding to the inspection objects in the substation and the inspection time of each inspection item; The inspection robot 200 is used to receive and execute inspection tasks to obtain substation inspection data; The inspection analysis module 300 is used to analyze the substation inspection data to obtain the inspection status of each inspection object; The inspection optimization module 400 is used to determine optimized inspection items and optimized inspection time based on the inspection status and a preset adjustment strategy.

[0027] Among them, the inspection requirements include but are not limited to: full-station inspection, special inspection, routine inspection, etc. Special inspections include but are not limited to: infrared special inspection, oil level special inspection, etc.

[0028] It should be understood that: the inspection objects include primary equipment and secondary equipment in the substation. Primary equipment refers to electrical equipment directly used for the production and use of electric energy, including but not limited to generators, transformers, disconnectors, transmission lines, etc. Secondary equipment refers to auxiliary equipment for monitoring, measuring, controlling, regulating, and protecting the primary equipment of the power system, including but not limited to measuring meters, DC power supply equipment, etc.

[0029] It should be noted that: the optimized inspection items and optimized inspection time determined by the inspection optimization module 400 can be used to control the next inspection of the inspection robot 200, or can be used to control the current inspection of the inspection robot 200 in real time.

[0030] Compared with the prior art, the intelligent robot inspection system for substations provided by the embodiments of the present invention can optimize the inspection items and inspection time in the inspection task according to the inspection objects after the inspection robot 200 completes the inspection task by setting the inspection optimization module 400. That is, it realizes the dynamic adjustment of the inspection task based on the inspection status, rather than the traditional fixed-time and fixed-quantity inspection. Through this setting, more inspection items and inspection time can be set for the inspection objects that need attention, so as to increase the probability of discovering potential fault risks, be more targeted, and achieve the purpose of improving the inspection performance.

[0031] When a substation is designed, in order to achieve its modularity and convenience, usually the same type of inspection objects are set in one area. For example, in order to facilitate meter reading, meters such as voltmeters, ammeters, and wattmeters are usually placed together in one area. Another example is that in order to achieve the high integration and aesthetics of the line, the cables in two directions are placed in the same area. Therefore, in order to achieve the rapid positioning of the inspection robot, in some embodiments of the present invention, as Figure 2 shown, the inspection robot 200 includes an inspection area determination module 210, a positioning module 220, and a robot body 230; The inspection area determination module 210 is used to obtain the three-dimensional structure diagram of the substation, determine the areas of each inspection object based on the three-dimensional structure diagram, and merge the areas with the same equipment type and the distance difference less than the threshold distance to obtain the inspection area; The positioning module 220 is used to determine the planned path of the robot body 230 from the starting point to the inspection area based on a preset path planning algorithm; The robot body 230 is used to move to the inspection area based on the planned path.

[0032] It should be noted that: the planned path refers to the path between the starting position of the robot body 230 and the edge of the inspection area, that is, the planned path refers to the path to reach the edge of the inspection area, which can improve the efficiency of the robot body 230 moving to the inspection area.

[0033] By setting the inspection area determination module 210 in the embodiments of the present invention to merge the areas of the inspection objects according to rules, the number of path planning operations of the positioning module 220 can be reduced, that is, the algorithm complexity can be reduced, the speed of the robot body 230 reaching the inspection area can be increased, and thus the rapid positioning of the robot body 230 can be improved, and at the same time, the inspection efficiency can be improved.

[0034] Among them, the path planning algorithm can be a conventional algorithm in the prior art, and no specific limitation is made here.

[0035] Based on the improvement of the inspection efficiency in the above embodiments, to avoid the technical problem that when the area of the inspection area is too large, the inspection results of the inspection objects therein are inaccurate. In some embodiments of the present invention, such as Figure 2 shown, the inspection robot 200 further includes an image acquisition module 240 and a position optimization module 250; The image acquisition module 240 is configured to acquire the area image of the inspection area when the robot body 230 moves to the inspection area; The position optimization module 250 is configured to input the area image into the position determination network model to determine the movement path between the current position of the robot body and the areas of each inspection object; The robot body 230 is further configured to move to the areas of each inspection object based on the movement path.

[0036] In the embodiment of the present invention, by setting the position optimization module 250 to input the area image obtained when the robot body 230 moves to the inspection area into the position determination network model to obtain the movement path between the current position and the areas of each inspection object, the robot body 230 can be moved to the areas of each inspection object respectively, eliminating the adverse effects of distance, angle, etc. on the inspection results, and improving the inspection accuracy of each inspection object.

[0037] It should be understood that: the area image includes all inspection objects in the inspection area, but not the front views of all inspection objects. The movement path determined by the position optimization module 250 means that when the robot body 230 moves along the movement path, the front view of the inspection object can be obtained, thereby eliminating the adverse effects of distance, angle, etc. that cause the robot body to be unable to effectively obtain the inspection data of the inspection object.

[0038] Among them, the movement path is a three-dimensional path, that is: in addition to including the movement of plane coordinates, it also includes height. This is because: the inspection objects in the substation are three-dimensional entities. Taking the inspection object as a transmission line as an example, if the height does not match, the transmission line will be very small in the area image, and it is impossible to effectively inspect the transmission line. Therefore, in the embodiment of the present invention, by setting the movement path as a three-dimensional path including height, the inspection accuracy can be further improved.

[0039] It should also be understood that: the position determination network is any one of the existing deep network models, which takes the area graph as the input and the area centers of each inspection object as the output.

[0040] After the position optimization module 250 determines the area centers of the inspection objects through the position determination network model, it can determine the movement path based on the current position of the robot body 230 and the three-dimensional coordinates of the area centers.

[0041] Common instruments in a substation include digital instruments and pointer instruments. Digital instruments are less affected by the image shooting angle, but pointer instruments are more affected by the shooting angle. When the shooting angle is not exactly right, it will cause errors in the readings of pointer instruments. To avoid this technical problem, in some embodiments of the present invention, such as Figure 2 shown, the inspection robot 200 further includes an image correction module 260 and a data determination module 270; The image acquisition module 240 is further configured to acquire the instrument image of the pointer instrument; The image correction module 260 is configured to determine the first scale number and the second scale number symmetric about the target line in the instrument image, determine the tilt angle of the instrument image based on the coordinates of the first scale number and the second scale number, and correct the instrument image based on the tilt angle to obtain a corrected image; wherein, the target line is a line passing through the center of the pointer instrument and perpendicular to the horizontal line; The data determination module 270 is configured to determine the substation inspection data based on the corrected image.

[0042] In the embodiments of the present invention, by setting the image correction module 260 to correct the instrument image of the pointer instrument acquired by the image acquisition module 240, the accuracy of the substation inspection data determined by the data determination module 270 can be ensured, thereby improving the inspection accuracy.

[0043] At the same time, the tilt correction method of the image correction module 260 in the embodiments of the present invention is simple and fast, which can improve the tilt correction efficiency.

[0044] Specifically, the process of determining the tilt angle is: determining the included angle between the line connecting the first scale number and the second scale number and the horizontal line based on the coordinates of the first scale number and the second scale number, and taking this included angle as the tilt angle.

[0045] The process of correcting the instrument image based on the tilt angle is: rotating the coordinates of the instrument image with the center of the pointer instrument as the rotation center, and the rotation angle is equal to the tilt angle.

[0046] In some actual application scenarios, the inspection object may further include a liquid level instrument, and the liquid level instrument is also more affected by the angle, that is: the instrument image of the liquid level instrument acquired also needs to be tilted and corrected.

[0047] The specific tilt correction method may be: determining the outer contour and the minimum circumscribed rectangle of the liquid column based on the maximum connected region area method, determining the tilt angle based on the outer contour and the minimum circumscribed rectangle, and performing tilt correction on the instrument image based on the tilt angle.

[0048] As can be seen from the foregoing description, the accurate determination of the inspection status is crucial for the optimization of the inspection task. Therefore, in some embodiments of the present invention, to ensure the accuracy of the determined inspection status, the substation inspection data includes image inspection data and physical parameter inspection data; then, as Figure 3 shown, the inspection analysis module 300 includes a usage status evaluation sub-module 310, a historical maintenance evaluation sub-module 320, and an inspection status determination sub-module 330; The usage status evaluation sub-module 310 is used to determine an image status score and a physical parameter status score respectively based on the image inspection data and the physical parameter inspection data, and use the weighted sum of the image status score and the physical parameter status score as the usage status score; The historical maintenance evaluation sub-module 320 is used to obtain the historical maintenance cost, historical maintenance time, and effective time after historical maintenance of the inspection object, and determine the historical maintenance score based on the historical maintenance cost, historical maintenance time, and effective time after historical maintenance; The inspection status determination sub-module 330 is used to use the weighted sum of the usage status score and the historical maintenance score as the inspection score, and determine the inspection status of the inspection object based on the mapping relationship between the preset score range and the inspection status; Among them, the inspection status includes a healthy status, a sub-healthy status, a status requiring maintenance, and a status requiring replacement.

[0049] It should be noted that the process of determining the physical parameter status score is as follows: determine the reference physical parameter value of each inspection object, calculate the difference between the physical parameter inspection data and the reference physical parameter value, and based on the corresponding relationship between the preset difference interval and the physical parameter status score, the physical parameter status score can be determined.

[0050] In the embodiments of the present invention, by simultaneously considering the image inspection data, physical inspection data, and historical maintenance data of the inspection object to determine the inspection status, the comprehensiveness of the data referred to when determining the inspection status is ensured, and thus the accuracy of the determined inspection status is improved.

[0051] It should be understood that: according to the different inspection objects, the weights of the above multiple scores can be dynamically adjusted. For example, when the inspection object is a battery pack, the usage status has a greater impact on its safety. To ensure its safety, the weight of the usage status score is greater than the weight of the historical maintenance score. When the inspection object is a relay protection device, the weight of the historical maintenance score can be set to be greater than the weight of the usage status score.

[0052] Since there are many factors affecting the battery pack, that is, there are many dimensions considered in its image status score. Therefore, in the embodiments of the present invention, taking the inspection object as a battery pack as an example, the image status score is specifically described. Specifically, when the inspection object is a battery pack, the image status score includes a damage score and a temperature score, and the inspection score is:

[0053] The damage score is:

[0054] The temperature score is:

[0055] Wherein, is the inspection score; is the damage score; is the coincidence degree between the image contour of the i-th battery cell in the battery pack and the standard contour; n is the total number of battery cells; is the area ratio of the damaged area of the i-th battery cell in the battery pack to the total area of the battery cell; T is the temperature score; is the temperature of the i-th battery cell in the battery pack; k is the number of maintenance times; is the maintenance cost of the j-th maintenance; is the maintenance time of the j-th maintenance; is the effective time after the j-th maintenance; , , , are weights.

[0056] When the inspection object is a transmission line, the influence of temperature is small. Therefore, when the inspection object is a transmission line, the image status score may only include the damage score. For inspection objects with little influence from damage, the image status score may only include the temperature score.

[0057] In a specific embodiment of the present invention, the adjustment strategy is: When the inspection status is a healthy state, set the optimized inspection items to be less than the inspection items, and the optimized inspection time to be less than the inspection time; When the inspection status is a sub-healthy state, set the optimized inspection items to be equal to the inspection items, and the optimized inspection time to be equal to the inspection time; When the inspection status is a state requiring maintenance, set the optimized inspection items to be more than the inspection items, and the optimized inspection time to be greater than the inspection time; When the inspection status is a state requiring replacement, suspend the inspection of the inspection object until it is replaced with a new inspection object.

[0058] The adjustment strategy proposed in the embodiments of the present invention is as follows: for the inspection objects that will not have abnormalities in the next inspection, reduce the inspection items and inspection duration to avoid waste of resources; for the inspection objects with a relatively low probability of abnormalities in the next inspection, keep their inspection items and inspection duration unchanged; for the inspection objects with a high probability of abnormalities in the next inspection, increase the inspection items and inspection duration to give more time for inspecting the inspection objects with poor health, so as to more easily discover potential failure risks; for the inspection objects that cannot be used, directly stop the inspection and replace them with new inspection objects. That is, the embodiments of the present invention optimize the inspection tasks in a hierarchical and classified manner, improve the pertinence of subsequent inspection tasks, and ensure the inspection performance on the premise of avoiding waste of resources.

[0059] It should be understood that: the process of determining the optimized inspection items in various inspection states in the embodiments of the present invention can be: determined based on the pre-set priorities of the inspection items. For example, the priorities include low, medium, and high. When the inspection state is a healthy state, the optimized inspection items are only the inspection items with high priority; when the inspection state is a sub-healthy state, the optimized inspection items are the inspection items with medium and low priority; when the inspection state is a state requiring maintenance, the optimized inspection objects are the inspection items with low, medium, and high priority.

[0060] Specifically, the process of determining the optimized inspection items in various inspection states in the embodiments of the present invention can be: realizing the optimization of the inspection time based on the pre-set step length for increasing the duration and step length for reducing the duration.

[0061] Since there are some key inspection objects in the substation, where the key inspection objects refer to the inspection objects that are crucial for the operation of the substation, such as transmission lines. For this type of inspection objects, in order to ensure their working reliability, in some embodiments of the present invention, the adjustment strategy further includes: When the inspection object is a key inspection object, the optimized inspection time is greater than the inspection protection duration, and the optimized inspection items are equal to the protection inspection items.

[0062] Through this setting in the embodiments of the present invention, it can be realized that even if the inspection state of the key inspection object is a healthy state, it is still necessary to ensure that the inspection tasks include the pre-set protection inspection items, and the optimized inspection time is greater than the inspection protection duration, so as to ensure the comprehensiveness and accuracy of the inspection of the key inspection objects.

[0063] Since in practical applications, there are many inspection devices in the substation, and in the prior art, determining the inspection tasks in advance based on manual work will result in a low generation efficiency of the inspection tasks, leading to a low inspection efficiency of the substation. To solve this technical problem, in some embodiments of the present invention, as Figure 4 shown, the inspection task generation module 100 includes a database construction sub-module 110 and a task generation sub-module 120; The database construction sub-module 110 is used to construct a patrol sub-item database, which includes a plurality of fine-grained patrol sub-items; The task generation sub-module 120 is used to determine at least one target patrol sub-item from the patrol sub-item database based on the patrol requirements, and the at least one target patrol sub-item constitutes a patrol task.

[0064] Specifically, the patrol items include the patrol of fuses, and the patrol of fuses includes but is not limited to temperature patrol and appearance patrol, etc. For the patrol of other items such as batteries, temperature patrol is also included. That is, there are many patrol items in the patrol task, and there are reusable patrol items. In the embodiment of the present invention, by pre-constructing a patrol sub-item database including a plurality of patrol sub-items, when actually generating a patrol task, only at least one target patrol sub-item needs to be called from the patrol sub-item database, so as to realize the reuse of a plurality of fine-grained patrol sub-items when generating a patrol task, improve the generation efficiency of the patrol task, and thus improve the patrol efficiency.

[0065] Correspondingly, the embodiment of the present invention also provides a substation intelligent robot patrol method, which is applicable to the substation intelligent robot patrol system in any of the above embodiments, such as Figure 5 shown, the substation intelligent robot patrol method includes: S501. Generate a patrol task based on the patrol requirements; the patrol task includes a plurality of patrol items corresponding to the patrol objects in the substation and the patrol time of each patrol item; S502. Receive and execute the patrol task to obtain substation patrol data; S503. Analyze the substation patrol data to obtain the patrol status of each patrol object; S504. Determine optimized patrol items and optimized patrol time based on the patrol status and a preset adjustment strategy.

[0066] It should be noted that: the substation intelligent robot patrol method provided in the above embodiment can implement the technical solutions described in the above substation intelligent robot patrol system embodiment. The principles or specific implementation details implemented by the above steps can be referred to the corresponding content in the above substation intelligent robot patrol device embodiment, and will not be elaborated here one by one.

[0067] Those skilled in the art can understand that to implement all or part of the processes of the above embodiment methods, it can be completed by instructing relevant hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a disk, an optical disk, a read-only memory or a random access memory, etc.

[0068] The above has introduced in detail a substation intelligent robot inspection system and method provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A substation intelligent robot inspection system, characterized in that: include: Inspection task generation module, inspection robot, inspection analysis module and inspection optimization module; The inspection task generation module is used to generate inspection tasks based on inspection requirements; The inspection task includes a plurality of inspection items corresponding to the inspection objects in the substation and the inspection time of each inspection item; The inspection robot is used to receive and execute the inspection task and obtain the substation inspection data; The inspection analysis module is used to analyze the substation inspection data to obtain the inspection status of each inspection object; The inspection optimization module is used to determine the optimized inspection items and the optimized inspection time based on the inspection status and the preset adjustment strategy.

2. The substation intelligent robot inspection system according to claim 1 is characterized in that: The inspection robot comprises an inspection area determination module, a positioning module and a robot body; The inspection area determination module is used to obtain a three-dimensional structure diagram of the substation, determine the area of ​​each inspection object based on the three-dimensional structure diagram, and merge the areas with the same equipment type and a distance difference less than a threshold distance to obtain an inspection area; The positioning module is used to determine the planned path of the robot body from the starting point to the inspection area based on a preset path planning algorithm; The robot body is used to move to the inspection area based on the planned path.

3. The substation intelligent robot inspection system according to claim 2 is characterized in that: The inspection robot also includes an image acquisition module and a position optimization module; The image acquisition module is used to acquire a regional image of the inspection area when the robot body moves to the inspection area; The position optimization module is used to input the area image into the position determination network model to determine the movement path between the current position of the robot body and the area of ​​each inspection object; The robot body is also used to move to the area of ​​each inspection object based on the moving path.

4. The substation intelligent robot inspection system according to claim 3 is characterized in that: The inspection object includes a pointer instrument; the inspection robot also includes an image correction module and a data determination module; The image acquisition module is also used to obtain the instrument image of the pointer instrument; The image correction module is used to determine the first scale number and the second scale number in the instrument image that are symmetrical about the target straight line, determine the inclination angle of the instrument image based on the coordinates of the first scale number and the second scale number, and correct the instrument image based on the inclination angle to obtain a corrected image; wherein the target straight line is a straight line passing through the center of the pointer instrument and perpendicular to the horizontal line; The data determination module is used to determine the substation inspection data based on the corrected image.

5. The substation intelligent robot inspection system according to claim 1 is characterized in that: The substation inspection data includes image inspection data and physical parameter inspection data; the inspection analysis module includes a usage status scoring submodule, a historical maintenance scoring submodule and an inspection status determination submodule; The usage status scoring submodule is used to determine an image status score and a physical parameter status score based on the image inspection data and the physical parameter inspection data, respectively, and take a weighted sum of the image status score and the physical parameter status score as the usage status score; The historical maintenance scoring submodule is used to obtain the historical maintenance cost, historical maintenance time and historical effective time after maintenance of the inspection object, and determine the historical maintenance score based on the historical maintenance cost, the historical maintenance time and the historical effective time after maintenance; The inspection status determination submodule is used to take the weighted sum of the usage status score and the historical maintenance score as the inspection score, and determine the inspection status of the inspection object based on a mapping relationship between a preset score range and the inspection status; The inspection status includes a healthy status, a sub-healthy status, a maintenance-required status, and a replacement-required status.

6. The substation intelligent robot inspection system according to claim 5 is characterized in that: When the inspection object is a battery pack, the image status score includes a damage score and a temperature score. The inspection score is: The damage scores are: The temperature ratings are: In the formula, Score the inspection; score for breakage; is the overlap between the image contour and the standard contour of the i-th battery cell in the battery pack; n is the total number of battery cells; is the ratio of the damaged area of ​​the ith battery cell in the battery pack to the total area of ​​the battery cells; T Score the temperature; is the temperature of the ith battery cell in the battery pack; k is the number of maintenance times; is the maintenance cost of the jth maintenance; is the maintenance time of the jth maintenance; is the effective time after the j-th maintenance; , , , is the weight.

7. The substation intelligent robot inspection system according to claim 5 is characterized in that: The adjustment strategy is: When the inspection state is a healthy state, the optimized inspection item is set to be less than the inspection item, and the optimized inspection time is set to be less than the inspection time; When the inspection state is a sub-healthy state, setting the optimized inspection item equal to the inspection item, and the optimized inspection time equal to the inspection time; When the inspection state is a maintenance-required state, the optimized inspection items are set to be more than the inspection items, and the optimized inspection time is set to be greater than the inspection time; When the inspection state is a replacement-needed state, the inspection of the inspection object is suspended until it is replaced with a new inspection object.

8. The substation intelligent robot inspection system according to claim 7 is characterized in that: The adjustment strategy also includes: When the inspection object is a key inspection object, the optimized inspection time is greater than the inspection protection time, and the optimized inspection item is equal to the protection inspection item.

9. The substation intelligent robot inspection system according to claim 1, characterized in that: The inspection task generation module includes a database construction submodule and a task generation submodule; The database construction submodule is used to construct an inspection sub-item database, wherein the inspection sub-item database includes a plurality of fine-grained inspection sub-items; The task generation submodule is used to determine at least one target inspection sub-item from the inspection sub-item database based on inspection requirements, and the at least one target inspection sub-item constitutes the inspection task.

10. A substation intelligent robot inspection method, characterized in that: The substation intelligent robot inspection system according to any one of claims 1 to 9, wherein the method comprises: Generate an inspection task based on the inspection demand; the inspection task includes a plurality of inspection items corresponding to the inspection objects in the substation and the inspection time of each inspection item; Receive and execute the inspection task and obtain substation inspection data; Analyze the substation inspection data to obtain the inspection status of each inspection object; The optimized inspection items and the optimized inspection time are determined based on the inspection status and the preset adjustment strategy.

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