Intelligent remote inspection and operation inspection device for transformer substation

Abstract

The invention discloses an intelligent remote inspection and operation inspection device for a transformer substation, and relates to the technical field of remote inspection of the transformer substation, a remote dispatching center analyzes and stores image information acquired by inspection equipment, the remote dispatching center issues a control signal to a station end control box through an OPC UA protocol, after the control signal is processed by an X86 industrial personal computer, the on-off operation of a circuit breaker is executed through a PLC, and the operation of the transformer substation is completed. Therefore, remote inspection and control of the transformer substation are realized, and the convenience is greatly improved; the lifting seats are arranged on the two sides of the vehicle body, the positioning suckers are arranged on the lower portions of the lifting seats, the air suction pump is used for pumping air to enable the positioning suckers to generate suction force, disc openings of the positioning suckers face downwards, the road holding force of the vehicle body can be increased under the action of the suction force, and therefore the stability of the inspection vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of remote inspection of substations, and particularly to an intelligent remote inspection and operation and maintenance device for substations. Background Art

[0002] A substation is a place in the power system that transforms voltage and current, receives electric energy, and distributes electric energy. Various electrical equipment is included in the operation of a substation, such as transformers, high-voltage circuit breakers, disconnectors, busbars, lightning arresters, capacitors, reactors, and various protection and monitoring devices, etc. Therefore, it is necessary to strengthen daily inspections to ensure the normal operation of each electrical equipment and prevent safety accidents from occurring; Due to the high voltage and high electromagnetic fields filling the working environment of the substation, and the frequent entry and exit of inspection personnel into the substation, there are safety hazards. For this reason, through remote control, inspection robots can be used to collect video data of the substation in real time, as well as the substation grid working data collected by the monitoring equipment in the substation. By remotely transmitting the collected data to the peripheral control center, inspection personnel do not need to enter the substation, and the daily inspection of the substation can be completed through the peripheral control center, greatly reducing safety hazards; Since the heights of the electrical equipment instruments in the substation are different, in order to facilitate the observation of the instrument panels, it is necessary to adjust the height of the acquisition camera on the inspection equipment according to the height change of the instrument panels to ensure that clear and complete images are collected. For existing remote inspection equipment, when adjusting the height of the acquisition camera, as the height of the camera increases, the stability of the inspection equipment cannot be guaranteed, and it is easy to cause the inspection equipment to tip over. Summary of the Invention

[0003] What the present invention needs to overcome is that for existing remote inspection equipment, when adjusting the height of the acquisition camera, as the height of the camera increases, the stability of the inspection equipment cannot be guaranteed, and it is easy to cause the inspection equipment to tip over. The purpose is to provide an intelligent remote inspection and operation and maintenance device for substations.

[0004] The technical problems to be solved by the present invention are realized by adopting the following technical solutions: An intelligent remote inspection and operation and maintenance device for substations includes: a remote dispatching center, an inspection vehicle, and a station-end control box; The inspection vehicle includes a vehicle body, a positioning suction cup, an air suction pump, a pan-tilt head, an acquisition camera, and a control communication module; The acquisition camera is installed on the pan-tilt head, the pan-tilt head is installed on the acquisition frame, the acquisition camera collects on-site image information of the substation, and after being processed by the control communication module, it is sent to the remote dispatching center. The remote dispatching center outputs a control instruction to the station-end control box according to the on-site image information of the substation, and the station-end control box is connected to the circuit breaker on the internal circuit system of the substation to control the on-off of the circuit breaker; Lifting seats are provided on both sides of the vehicle body. The positioning suction cup is arranged at the lower part of the lifting seat, and the mouth of the positioning suction cup faces downward. The suction pump is installed on the vehicle body, and the air inlet of the suction pump is connected to the positioning suction cup through a pipeline.

[0005] Furthermore, the inspection vehicle further includes a collection rack. A transmission rod is rotatably installed on the upper part of the vehicle body. The collection rack is a scissor-link mechanism composed of scissor rods. For the two scissor rods at the bottom, the end of one scissor rod is fixed on the transmission rod, and the output end of the telescopic push rod is hinged on the other scissor rod. The telescopic push rod is fixed on the vehicle body.

[0006] Furthermore, installation grooves are respectively arranged on both sides of the vehicle body. The lifting seat is slidably installed in the installation groove. A pressing rod and an adjusting nut are arranged on the vehicle body. The adjusting nut is rotatably installed on the vehicle body. The pressing rod passes through the adjusting nut in a threaded connection manner. The pressing rod is slidably inserted into the installation groove. The lower end of the pressing rod is connected to the lifting seat. A linkage shaft is rotatably installed on the vehicle body. The end of the linkage shaft is connected to the transmission rod through a gear connection mode. The linkage shaft and the adjusting nut form a worm and worm gear mechanism.

[0007] Furthermore, a support rack is slidably installed on the lifting seat. The support rack passes out from the lower end of the lifting seat. The positioning suction cup is installed at the lower end of the support rack. A compression spring is arranged between the positioning suction cup and the lifting seat.

[0008] Furthermore, a driving motor is installed on the vehicle body. A transmission gear is installed on the output shaft of the driving motor. Guide chutes are arranged in an equiangular matrix on the end face of the transmission gear. The guide chutes are parallel to the radial direction of the transmission gear. A moving block is slidably installed in the guide chutes. A return spring is arranged between the end of the guide chute close to the outer ring of the transmission gear and the moving block. A connecting rod is hingedly installed on the moving block. The other end of the connecting rod is hinged on a connecting plate. A gear box is arranged on the vehicle body. The output shaft of the gear box is connected to a gear through a shaft to provide power for the wheels. The input shaft of the gear box is slidably sleeved on a driving shaft. The driving shaft and the input shaft of the gear box are connected through a key groove. The driving shaft can move along the axis direction of the output shaft of the gear box. Two parallel clamping plates are fixed on the driving shaft. The connecting plate is located between the two clamping plates. A docking hole is coaxially arranged inside the transmission gear. A clamping block is fixed on the outer ring of one end of the driving shaft. A docking groove matching with the clamping block is arranged inside the docking hole.

[0009] Further, a serrated section and a blanking groove are provided on the outer ring of the connecting disc. The blanking groove is located at one end close to the transmission gear. A recovery groove is provided on the vehicle body. A recovery rotating rod is rotatably installed in the recovery groove. A recovery wheel is rotatably installed on the vehicle body. The recovery wheel meshes with the recovery rotating rod through a gear connection. The recovery wheel meshes with a support rack. A recovery seat is slidably installed in the recovery groove. A friction wheel is installed on the recovery seat. The outer ring of the friction wheel contacts the side wall of the recovery groove. A turntable is rotatably installed on the recovery seat. The turntable meshes with the friction wheel through a gear connection. The recovery rotating rod slidably passes through the turntable. A push rack is slidably installed in the recovery groove. The push rack can mesh with the serrated section on the outer ring of the connecting disc. The movement of the push rack in the recovery groove can push the recovery seat to move.

[0010] Further, the push rack includes a main rack and a floating block. Support rods are respectively provided at both ends of the main rack. The floating block is slidably installed on the support rods. A tooth that meshes with the serrated section on the outer ring of the connecting disc is provided on the floating block. A push spring is provided between the side of the main rack and the floating block.

[0011] Further, the push rack is parallel to the recovery rotating rod.

[0012] Further, the recovery rotating rod and the turntable are connected by keyway fit.

[0013] The beneficial effects of the present invention are as follows: The remote dispatching center analyzes and stores the image information collected by the inspection equipment. The remote dispatching center issues control signals to the substation control box through the OPC UA protocol. After being processed by the X86 industrial computer, the on-off operation of the circuit breaker is executed through the PLC, so as to realize the remote inspection and control of the substation, greatly improving the convenience; by setting lifting seats on both sides of the vehicle body and positioning suction cups at the lower part of the lifting seats, the suction pump is used to pump air to make the positioning suction cups generate suction force. The orifice of the positioning suction cup is set downward. Under the action of the suction force, the grip of the vehicle body can be increased, thereby improving the stability of the inspection vehicle; The telescopic push rod is used to push the collection frame to deflect. The collection camera on it is lifted by the rotation of the collection frame. The deflection of the collection frame drives the transmission rod to rotate. Through the transmission of the linkage shaft, the adjusting sleeve and the pressing rod, the lifting seat is pushed to drive the positioning suction cup to move. As the height of the collection camera increases, the distance between the positioning suction cup and the ground is reduced, and the suction force between the positioning suction cup and the ground is increased, so as to improve the stability of the inspection vehicle when the collection camera is at a high position; By adjusting the position switching of the sawtooth section and the blank section of the pushing rack on the connecting plate, and through the transmission mechanism between the pushing rack and the recovery wheel for transmission, the height of the positioning suction cup is adjusted respectively in the traveling and parking states of the inspection vehicle. When the inspection vehicle moves, the height of the positioning suction cup is increased, and when in the parking state, the height of the positioning suction cup is decreased, which not only ensures the vehicle body stability during parking, but also can reduce the resistance of the inspection vehicle during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic installation diagram of the support rack of the present invention; Figure 3 is a schematic installation diagram of the drive motor of the present invention; Figure 4 is a schematic connection diagram of the connecting plate and the drive shaft of the present invention; Figure 5 is a schematic structural diagram of the recovery groove of the present invention; Figure 6 is a schematic connection diagram of the transmission gear and the connecting plate of the present invention; Figure 7 is a schematic structural diagram of the pushing rack of the present invention; In the figure: 1, vehicle main body; 2, positioning suction cup; 3, air suction pump; 4, pan-tilt; 5, acquisition camera; 12, lifting seat; 13, acquisition frame; 21, transmission rod; 22, telescopic push rod; 23, installation groove; 25, top pressure rod; 26, adjusting sleeve; 27, linkage shaft; 31, support rack; 32, extrusion spring; 41, drive motor; 42, transmission gear; 43, guiding chute; 44, moving block; 45, return spring; 46, connecting rod; 47, connecting plate; 48, gear box; 49, chuck; 50, docking hole; 51, clamping block; 52, docking groove; 53, drive shaft; 61, sawtooth section; 62, blank groove; 63, recovery groove; 64, recovery rotating rod; 65, recovery wheel; 66, recovery seat; 67, friction wheel; 68, turntable; 69, pushing rack; 70, main rack; 71, floating block; 72, tooth; 73, pushing spring; 74, support rod; 75, air outlet hopper. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below with reference to specific drawings.

[0016] Embodiment 1 As Figure 1 shown, a substation intelligent remote inspection and operation and maintenance device includes: a remote dispatching center, an inspection vehicle, and a station-side control box; The inspection vehicle includes a vehicle body 1, a positioning suction cup 2, an air suction pump 3, a pan-tilt 4, a collection camera 5, and a control and communication module; The collection camera 5 is installed on the pan-tilt 4, and the pan-tilt 4 is installed on the collection frame 13. The collection camera 5 collects the on-site image information of the substation. After being processed by the control and communication module, it is sent to the remote dispatching center. The remote dispatching center outputs a control instruction to the substation terminal control box according to the on-site image information of the substation. The substation terminal control box is connected to the circuit breaker in the substation's internal circuit system to control the opening and closing of the circuit breaker; Lifting seats 12 are provided on both sides of the vehicle body 1. The positioning suction cup 2 is arranged at the lower part of the lifting seat 12. The suction port of the positioning suction cup 2 faces downward. The air suction pump 3 is installed on the vehicle body 1, and the air inlet of the air suction pump 3 is connected to the positioning suction cup 2 through a pipeline.

[0017] An industrial ring network switch is set up in the substation yard. The remote dispatching center and the industrial ring network switch establish a secure communication channel through IPSec VPN over the power special network. The industrial ring network switch is connected to an AP panel, and a Mesh AP panel (2.4G + 5G dual-band) is used. The control and communication module on the inspection vehicle and the substation terminal control box are respectively connected to the AP panel through wireless WIFI. The AP panel assigns IPs to the inspection vehicle and the substation terminal control box. The control and communication module of the inspection vehicle is equipped with a Jetson Xavier NX AI processing unit, an H.265 encoder, and a wireless communication unit. The Jetson Xavier NX AI processing unit is used to process the movement control of the inspection vehicle. The H.265 encoder is used to process the images collected by the collection camera 5, and the wireless communication unit is connected to the AP panel and the remote dispatching center for interaction. The substation terminal control box is composed of an X86 industrial computer and a PLC. The X86 industrial computer is connected to the AP panel through a wireless communication unit, used to process the control instructions transmitted by the remote dispatching center, and parse them into control instructions executable by the PLC, and then send the parsed control instructions to the PLC for execution. The PLC is connected to the circuit breaker at the substation site to control the opening and closing of the circuit breaker; By using the industrial ring network switch and the AP panel to build a network, the remote dispatching center can communicate with the inspection vehicle and the substation terminal control box. The remote dispatching center analyzes and stores the image information collected by the inspection equipment. The remote dispatching center sends a control signal to the substation terminal control box through the OPC UA protocol. After being processed by the X86 industrial computer, the opening and closing operation of the circuit breaker is executed through the PLC, so as to realize the remote inspection and control of the substation, greatly improving the convenience; By setting lifting seats 12 on both sides of the vehicle body 1 and positioning suction cups 2 at the lower part of the lifting seats 12, the air suction pump 3 is used to pump air to make the positioning suction cups 2 generate suction force. The suction port of the positioning suction cups 2 faces downward. Under the action of the suction force, the grip of the vehicle body 1 can be increased, thereby improving the stability of the inspection vehicle.

[0018] Example 2 On the basis of Embodiment 1, as Figure 1 , Figure 2 shown, the inspection vehicle further includes a collection frame 13. A transmission rod 21 is rotatably installed on the upper part of the vehicle body 1. The collection frame 13 is a scissor-link mechanism composed of scissor rods. For the two scissor rods at the bottom, the end of one scissor rod is fixed on the transmission rod 21, and the output end of a telescopic push rod 22 is hinged on the other scissor rod. The telescopic push rod 22 is fixed on the vehicle body 1; Installation grooves 23 are respectively arranged on both sides of the vehicle body 1. The lifting seat 12 is slidably installed in the installation grooves 23. A pressing rod 25 and an adjusting sleeve 26 are arranged on the vehicle body 1. The adjusting sleeve 26 is rotatably installed on the vehicle body 1. The pressing rod 25 passes through the adjusting sleeve 26 in a threaded connection manner. The pressing rod 25 is slidably inserted into the installation grooves 23. The lower end of the pressing rod 25 is connected to the lifting seat 12. A linkage shaft 27 is rotatably installed on the vehicle body 1. The end of the linkage shaft 27 is connected to the transmission rod 21 by a gear connection method. The linkage shaft 27 and the adjusting sleeve 26 form a worm and worm gear mechanism; The telescopic push rod 22 is used to push the collection frame 13 to deflect. The collection camera 5 on it is lifted by the rotation of the collection frame 13, which is convenient for adjusting the height of the collection camera 5. As the collection frame 13 deflects, the collection frame 13 drives the transmission rod 21 to rotate. The rotation of the transmission rod 21 drives the linkage shaft 27 to rotate, and then drives the adjusting sleeve 26 to rotate. The adjusting sleeve 26 is connected to the pressing rod 25 by a thread, and the pressing rod 25 is slidably arranged on the vehicle body 1. The rotation of the pressing rod 25 relative to the vehicle body 1 is restricted by a keyway, so that the pressing rod 25 can only move along the axial direction. As the adjusting sleeve 26 rotates, the pressing rod 25 is pushed downward, and the lifting seat 12 is pushed downward to push the positioning suction cup 2 towards the ground. Thus, as the height of the collection camera 5 increases, the distance between the positioning suction cup 2 and the ground is reduced, the suction force between the positioning suction cup 2 and the ground is increased, and the stability of the inspection vehicle when the collection camera 5 is at a high position is improved.

[0019] Example 3 On the basis of Embodiment 1, as Figures 1-6 shown, a support rack 31 is slidably installed on the lifting seat 12. The support rack 31 passes out from the lower end of the lifting seat 12. The positioning suction cup 2 is installed at the lower end of the support rack 31. A compression spring 32 is arranged between the positioning suction cup 2 and the lifting seat 12; A driving motor 41 is installed on the vehicle body 1. A transmission gear 42 is installed on the output shaft of the driving motor 41. Guide chutes 43 are arranged in an equiangular matrix on the end face of the transmission gear 42. The guide chutes 43 are parallel to the radial direction of the transmission gear 42. A moving block 44 is slidably installed in the guide chutes 43. A return spring 45 is provided between one end side of the guide chute 43 close to the outer ring of the transmission gear 42 and the moving block 44. A connecting rod 46 is hingedly installed on the moving block 44. The other end of the connecting rod 46 is hinged on a connecting disk 47. A gearbox 48 is provided on the vehicle body 1. The output shaft of the gearbox 48 is connected to a gear through a shaft to provide power for the wheels. The input shaft of the gearbox 48 is slidably sleeved on a driving shaft 53. The driving shaft 53 is connected to the input shaft of the gearbox 48 through a keyway. The driving shaft 53 can move along the axis direction of the output shaft of the gearbox 48. Two parallel clamping disks 49 are fixed on the driving shaft 53. The connecting disk 47 is located between the two clamping disks 49. A docking hole 50 is coaxially arranged inside the transmission gear 42. A clamping block 51 is fixed on the outer ring of one end of the driving shaft 53. A docking groove 52 matched with the clamping block 51 is provided inside the docking hole 50; The driving motor 41 is used to drive the transmission gear 42 to rotate. As the transmission gear 42 rotates to generate centrifugal force, the moving block 44 arranged in the guide chute 43 thereon will move towards the outer ring side of the transmission gear 42 under the action of the centrifugal force. As the moving block 44 moves, the connecting rod 46 is pulled to deflect. The deflection of the connecting rod 46 causes the distance between the connecting disk 47 and the transmission gear 42 to decrease. The connecting disk 47 pulls the driving shaft 53 to be inserted into the docking hole 50 on the transmission gear 42. Since the clamping block 51 on the driving shaft 53 is docked with the docking groove 52 in the docking hole 50, the rotation of the transmission gear 42 can drive the driving shaft 53 to rotate, and the rotation of the driving shaft 53 drives the input shaft of the gearbox 48 to rotate, so as to provide power for the inspection vehicle to travel; A serrated section 61 and a blanking groove 62 are provided on the outer ring of the connecting disk 47. The blanking groove 62 is located at one end close to the transmission gear 42. A recovery groove 63 is provided on the vehicle body 1. A recovery rotating rod 64 is rotatably installed in the recovery groove 63. A recovery wheel 65 is rotatably installed on the vehicle body 1. The recovery wheel 65 is meshed with the recovery rotating rod 64 through a gear connection method. The recovery wheel 65 meshes with a support rack 31. A recovery seat 66 is slidably installed in the recovery groove 63. A friction wheel 67 is installed on the recovery seat 66. The outer ring of the friction wheel 67 contacts the side wall of the recovery groove 63. A turntable 68 is rotatably installed on the recovery seat 66. The turntable 68 is meshed with the friction wheel 67 through a gear connection method. The recovery rotating rod 64 slidably passes through the turntable 68. A top-pushing rack 69 is slidably installed in the recovery groove 63. The top-pushing rack 69 can be meshed with the serrated section 61 on the outer ring of the connecting disk 47. The movement of the top-pushing rack 69 in the recovery groove 63 can push the recovery seat 66 to move; When the drive motor 41 stops working, the transmission gear 42 stops rotating. Under the pulling force of the return spring 45, the moving block 44 moves towards the side close to the axis of the transmission gear 42. The moving block 44 pulls the connecting rod 46 to move, and the connecting rod 46 pushes the connecting disk 47 to move, causing the connecting disk 47 to move away from the transmission gear 42. At this time, the pushing rack 69 moves to the position of the blank slot 62 on the connecting disk 47, and the pushing rack 69 can move relative to the connecting disk 47; When the drive motor 41 starts initially, the transmission gear 42 rotates. Under the action of centrifugal force, the moving block 44 drives the connecting rod 46 to move, pulling the connecting disk 47 towards the transmission gear 42. As the connecting disk 47 moves, the serrated section 61 on the connecting disk 47 meshes with the pushing rack 69. When the transmission gear 42 drives the connecting disk 47 to rotate, the connecting disk 47 can push the pushing rack 69 to move. The pushing rack 69 moves to push the recovery seat 66 to move. When the friction wheel 67 on the recovery seat 66 moves, it rotates under the friction force of the side wall of the recovery slot 63, driving the turntable 68 to rotate. The turntable 68 rotates to drive the recovery rod to rotate, and the recovery rod drives the recovery wheel 65 to rotate. The recovery wheel 65 pushes the support rack 31 to move upward, and thus can lift the positioning suction cup 2. When the inspection vehicle stops, the transmission gear 42 stops rotating, and the moving block 44 resets under the pulling force of the return spring 45. The connecting rod 46 pushes the connecting disk 47 to move away from the transmission gear 42, causing the pushing rack 69 to disengage from the serrated section 61 and move to the blank section. At this time, since the positioning suction cup 2 is under the action of the compression spring 32 and there is always a force acting, and the pushing rack 69 has no thrust action, the positioning suction cup 2 drives the support rack 31 to move downward under the action of the compression spring 32, driving the recovery wheel 65 to rotate in the reverse direction. The recovery wheel 65 drives the recovery rod to rotate, and through the transmission of the turntable 68, it will drive the friction wheel 67 to roll again. As the friction wheel 67 rolls, the recovery seat 66 pushes the pushing rack 69 to move towards the connecting disk 47 side; Thus, when the inspection vehicle is moving, by using the meshing of the serrated section 61 on the connecting disk 47 with the pushing rack 69 and through the transmission mechanism between the pushing rack 69 and the recovery wheel 65 for transmission, driving the recovery wheel 65 to rotate and then lifting the support rack 31 that supports the positioning suction cup 2, the distance between the positioning suction cup 2 and the ground is increased. In this way, the suction force between the positioning suction cup 2 and the ground is reduced, and the resistance of the inspection vehicle during movement is decreased; When the inspection vehicle stops moving, by using the blank section on the connecting disk 47 to contact the pushing rack 69. At this time, under the action of the compression spring 32, the positioning suction cup 2 will approach the ground again, increasing the suction force between the positioning suction cup 2 and the ground and improving the stability of the inspection vehicle in the parked state; The pushing rack 69 is parallel to the recovery rotating rod 64; The recovery rotating rod 64 is connected to the turntable 68 through a keyway fit; Such asFigure 7 As shown in the figure, the push rack 69 includes a main rack 70 and a floating block 71. Support rods 74 are respectively provided at both ends of the main rack 70. The floating block 71 is slidably mounted on the support rods 74. A tooth 72 that meshes with the serrated section 61 on the outer ring of the connecting disk 47 is provided on the floating block 71. A push spring 73 is provided between the side of the main rack 70 and the floating block 71. When the push rack 69 meshes with the serrated section 61 on the connecting disk 47, the rotation of the connecting disk 47 will push the entire push rack 69 to move. When the main rack 70 completely disengages from the serrated section 61, the connecting disk 47 continues to rotate, and the serrated section 61 contacts the tooth 72 on the floating block 71. The floating block 71 and the main rack 70 are supported by the push spring 73 to buffer the impact of the serrated section 61 and reduce the fluctuation of the main rack 70; As Figure 2 shown in the figure, air outlets 75 are respectively arranged at the front, rear, and both sides of the vehicle body 1. The air outlets 75 are connected to the air outlet of the suction fan through pipes. The openings of the air outlets 75 face the outside of the vehicle body 1, and the airflow blown out by the air outlets 75 is used to clean the ground around the vehicle body 1.

[0020] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A substation intelligent remote inspection and operation device, characterized in that: include: Remote dispatch center, inspection vehicle, and station-side control box; The inspection vehicle includes a vehicle body, a positioning suction cup, an air pump, a pan / tilt, a collection camera, and a control communication module; The acquisition camera is mounted on a pan-tilt platform, which is mounted on an acquisition frame. The acquisition camera acquires substation on-site image information, which is processed by a control communication module and sent to a remote dispatching center. The remote dispatching center outputs control instructions to a station-end control box according to the substation on-site image information. The station-end control box is connected to a circuit breaker on a circuit system in the substation to control the on-off of the circuit breaker. Lifting seats are provided on both sides of the vehicle body, the positioning suction cup is arranged at the lower part of the lifting seat, the plate opening of the positioning suction cup is arranged downward, the suction pump is installed on the vehicle body, and the air inlet of the suction pump is connected to the positioning suction cup through a pipeline.

2. According to claim 1, a substation intelligent remote patrol operation and inspection device is characterized in that: The inspection vehicle also includes a collection frame, a transmission rod is rotatably installed on the upper part of the vehicle body, and the collection frame is a scissor-type connecting rod mechanism composed of scissor rods, two scissor rods at the bottom, one end of the scissor rod is fixed on the transmission rod, and the output end of the telescopic push rod is hinged on the other scissor rod, and the telescopic push rod is fixed on the vehicle body.

3. The intelligent remote patrol and inspection device for substation according to claim 2 is characterized in that: Mounting grooves are respectively provided on both sides of the vehicle body, and the lifting seat is slidably installed in the mounting grooves. A pressure rod and an adjusting screw sleeve are provided on the vehicle body, and the adjusting screw sleeve is rotatably installed on the vehicle body. The pressure rod passes through the adjusting screw sleeve by a threaded connection, and the pressure rod is slidably inserted into the mounting groove. The lower end of the pressure rod is linked to the lifting seat. A linkage shaft is rotatably installed on the vehicle body, and the end of the linkage shaft is connected to the transmission rod by a gear connection. The linkage shaft and the adjusting screw sleeve constitute a worm gear mechanism.

4. The intelligent remote patrol and inspection device for substation according to claim 3 is characterized in that: A support rack is slidably mounted on the lifting seat, the support rack passes through the lower end of the lifting seat, the positioning suction cup is mounted on the lower end of the support rack, and an extrusion spring is arranged between the positioning suction cup and the lifting seat.

5. The intelligent remote patrol and inspection device for substation according to claim 4 is characterized in that: The vehicle body is equipped with a driving motor, and a transmission gear is installed on the output shaft of the driving motor. A guide slide groove is arranged in a matrix at an equal angle on the end surface of the transmission gear, and the guide slide groove is parallel to the radial direction of the transmission gear. A moving block is slidably installed in the guide slide groove, and a return spring is arranged between the guide slide groove and the moving block at one end side of the outer ring of the transmission gear. A connecting rod is hingedly installed on the moving block, and the other end of the connecting rod is hinged on the connecting plate. A gear box is arranged on the vehicle body, and the output shaft of the gear box is connected with the gear through a shaft to provide power for the wheel. The input shaft of the gear box is slidably sleeved on the driving shaft, and the driving shaft is connected to the input shaft of the gear box through a keyway. The driving shaft can move along the axis direction of the output shaft of the gear box, and two mutually parallel chucks are fixed on the driving shaft, and the connecting plate is located between the two chucks. A docking hole is coaxially arranged on the inner side of the transmission gear, and a clamping block is fixed on the outer ring of one end of the driving shaft, and a docking groove matching the clamping block is arranged on the inner side of the docking hole.

6. The intelligent remote patrol and inspection device for substation according to claim 5, characterized in that: The outer ring of the connecting disk is provided with a sawtooth section and a blank groove, and the blank groove is located near one end of the transmission gear. A recovery groove is provided on the vehicle body, and a recovery rotating rod is rotatably installed in the recovery groove. A recovery wheel is rotatably installed on the vehicle body, and the recovery wheel engages with the recovery rotating rod through a gear connection. The recovery wheel engages with a supporting rack, and a recovery seat is slidably installed in the recovery groove. A friction wheel is installed on the recovery seat, and the outer ring of the friction wheel contacts the side wall of the recovery groove. A turntable is rotatably installed on the recovery seat, and the turntable engages with the friction wheel through a gear connection. The recovery rotating rod slides through the turntable, and a pushing rack is slidably installed in the recovery groove, and the pushing rack can engage with the sawtooth section of the outer ring of the connecting disk. The pushing rack moves in the recovery groove to push the recovery seat to move.

7. The intelligent remote patrol and inspection device for substation according to claim 6, characterized in that: The push rack includes a main rack and a floating block. Support rods are respectively provided at both ends of the main rack. The floating block is slidably installed on the support rods. The floating block is provided with a tooth that meshes with the serrated section of the outer ring of the receiving plate. A push spring is provided between the side of the main rack and the floating block.

8. The intelligent remote patrol and inspection device for substation according to claim 7, characterized in that: The pushing rack is parallel to the recovery rotating rod.

9. The intelligent remote patrol and inspection device for substation according to claim 7, characterized in that: The recovery rotating rod is connected with the rotating disk through a keyway.

Images