Power distribution cabinet inspection robot and working method thereof

Abstract

The invention relates to the technical field of power distribution cabinet automatic inspection, in particular to a power distribution cabinet inspection robot and a working method thereof.The power distribution cabinet inspection robot comprises a carrier, a positioning mechanism, an error compensation mechanism, a butt joint structure, an SLAM positioning module, a two-dimensional code recognition module and a controller. And the controller realizes hierarchical control from SLAM global positioning to mechanical precision docking based on a robot operating system. The SLAM positioning module has a large-range positioning capability, the two-dimensional code recognition module uses a two-dimensional code to assist in correcting accumulative errors, residual deviation is automatically compensated through an error compensation mechanism when the power distribution cabinet finally approaches the target power distribution cabinet, it is ensured that the butt joint precision is stabilized within a preset value, and the purpose of efficient and high-precision automatic inspection is achieved. The method is suitable for automatic inspection scenes such as power distribution rooms and transformer substations requiring high-precision positioning, the deployment and maintenance cost is reduced, and the overall reliability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic inspection of power distribution cabinets, and in particular to a power distribution cabinet inspection robot and a working method thereof. Background Art

[0002] Regular inspections of distribution cabinets are of vital importance to ensure the stable operation of the power system, prevent potential failures, and protect the safety of personnel and equipment. However, in actual operations, traditional manual inspection methods have problems such as low efficiency, high human error rate, and inability to operate around the clock. With the development of automation technology, although new technical means such as robot inspection have been introduced, there are still some challenges in practical applications. For example, in the distribution room inspection scenario, the robot needs to accurately locate the target distribution cabinet to achieve automated inspection, data collection or equipment operation. However, the existing robot positioning technology still faces some challenges in practical applications.

[0003] At present, robot positioning mainly relies on SLAM (Simultaneous Localization and Mapping) technology, but this technology is prone to cumulative errors after long-term operation, and the positioning accuracy can usually only reach the centimeter level, which is difficult to meet the high-precision docking requirements of distribution cabinet equipment operation. In addition, the equipment layout in the distribution room environment is highly similar and the metal reflection interference is strong, which further affects the stability and reliability of SLAM.

[0004] In order to improve positioning accuracy, some solutions have introduced QR code-assisted positioning. The robot corrects its position by scanning the QR code on the path, and sets a high-precision QR code near the target distribution cabinet for final calibration. However, relying solely on QR codes still has limitations: if the arrangement is sparse, the robot may accumulate errors due to long-term failure to scan the QR code during movement; if the arrangement is too dense, the deployment cost will increase. At the same time, affected by lighting, occlusion or camera resolution, the pose estimation of visual recognition may still have millimeter-level deviations, and it is impossible to completely eliminate mechanical motion control errors.

[0005] In precision docking scenarios, it is still difficult to ensure accurate docking between the robot's end effector and the target distribution cabinet by relying solely on SLAM or QR code positioning.

[0006] Therefore, how to achieve efficient and high-precision automated inspection has become a technical problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0007] The present invention provides a distribution cabinet inspection robot and a working method thereof, which are used to solve the problem of how to achieve efficient and high-precision automated inspection.

[0008] On the one hand, the present invention provides a power distribution cabinet inspection robot, comprising: A vehicle; A positioning mechanism, installed on the vehicle, for scanning the positioning QR code on the power distribution cabinet and providing visual feedback; An error compensation mechanism, installed on the vehicle; A docking structure, installed on the error compensation mechanism; A SLAM positioning module, installed on the vehicle, for constructing an environmental map and real-time positioning through a lidar; A QR code recognition module, installed on the vehicle, for scanning path navigation QR codes, calibration QR codes, and positioning QR codes; A controller, installed on the vehicle, and connected to the positioning mechanism, the error compensation mechanism, the SLAM positioning module, and the QR code recognition module respectively.

[0009] In some embodiments, the positioning mechanism includes: A six-degree-of-freedom robotic arm, installed on the vehicle; A first camera, installed on the six-degree-of-freedom robotic arm, for scanning the positioning QR code on the power distribution cabinet and providing visual feedback.

[0010] In some embodiments, the error compensation mechanism includes: A lift, installed on the vehicle; A first moving seat, movably installed on the lift along the X-axis, with a docking structure installed at one end; A first linear module, installed on the lift and connected to the first moving seat, for driving the first moving seat to move along the X-axis; A second moving seat, movably installed on the first moving seat along the X-axis; A second linear module, installed on the first moving seat and connected to the second moving seat, for driving the second moving seat to move along the X-axis; A third moving seat, movably installed on the second moving seat along the X-axis; A third linear module, installed on the second moving seat and connected to the third moving seat, for driving the third moving seat to move along the X-axis; Two fourth linear modules, respectively installed at opposite ends of the third moving seat, capable of clamping or releasing the disconnector.

[0011] In some embodiments, it further includes: A tightening mechanism, installed on one side of the first moving seat, capable of moving along the X-axis with the first moving seat.

[0012] In some embodiments, the docking structure is a positioning pin, adapted to the positioning hole on the power distribution cabinet.

[0013] In some of these embodiments, the QR code recognition module includes: A second camera, mounted on the vehicle, for scanning path navigation QR codes and positioning QR codes; An image processing unit, connected to the second camera.

[0014] In some of these embodiments, the vehicle is an automated guided vehicle.

[0015] On the other hand, the present invention also provides a working method for a power distribution cabinet inspection robot, including the following steps: S1, constructing a power distribution room environment map through the SLAM positioning module; S2, the vehicle travels along the planned path, and uses the QR code recognition module to scan the path navigation QR code for position correction; S3, when approaching the power distribution cabinet, the positioning mechanism scans the positioning QR code on the power distribution cabinet and provides visual feedback to the controller; S4, the controller controls the error compensation mechanism to work according to the visual feedback and adjusts the position of the docking structure; S5, performing an inspection task.

[0016] In some of these embodiments, an adaptive QR code scanning strategy is adopted in step S2: When the positioning confidence of the SLAM positioning module > 90%, the scanning interval of the QR code is set to 8 meters; When the positioning confidence of the SLAM positioning module is 70% - 90%, the scanning interval of the QR code is set to 5 meters; When the positioning confidence of the SLAM positioning module < 70%, the scanning interval of the QR code is set to 2 meters.

[0017] In some of these embodiments, step S4 includes: S41, the controller controls the error compensation mechanism to adjust the docking structure to the required docking height according to the visual feedback; S42, inserting the docking structure into the positioning hole on the power distribution cabinet.

[0018] The beneficial effects of the present invention are as follows: 1. The SLAM positioning module provides a wide - range positioning ability, the QR code assists in correcting the cumulative error, and when finally approaching the target power distribution cabinet, the residual deviation is compensated by the error compensation mechanism, forming a multi - level positioning system to ensure that the docking accuracy is stably within the millimeter range.

[0019] 2. A three - level QR code recognition system is adopted. By hierarchically arranging path navigation QR codes, calibration QR codes, and positioning QR codes, while ensuring the positioning accuracy, the deployment density is optimized, and the system implementation and maintenance costs are reduced.

[0020] 3. The error compensation mechanism adopts an active compensation method through mechanical and electrical coordination, avoiding the problem of easy wear of the traditional passive guiding structure, and improving the reliability of the system and the service life of the equipment.

[0021] 4. The controller is designed with a hierarchical architecture. The upper layer realizes intelligent path planning, the lower layer completes precise motion control, and the middle layer realizes multi-sensor data fusion, enabling the system to have both global navigation capabilities and local precise positioning capabilities. Description of the Drawings

[0022] Figure 1 It is a schematic structural diagram of some specific embodiments of a power distribution cabinet inspection robot of the present invention; Figure 2 is Figure 1 A combined structural schematic diagram of the error compensation mechanism and the docking structure in the power distribution cabinet inspection robot shown.

[0023] In the drawings, 110, vehicle; 120, positioning mechanism; 121, six-degree-of-freedom robotic arm; 122, first camera; 130, error compensation mechanism; 131, elevator; 132, first moving seat; 133, first linear module; 134, second moving seat; 135, second linear module; 136, third moving seat; 137, third linear module; 138, fourth linear module; 140, docking structure; 150, tightening mechanism; 151, tightening gun; 152, first servo motor. Detailed Embodiments

[0024] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0025] As described in the background art, in a precision docking scenario, it is still difficult to ensure the precise docking of the end effector of the robot with the target power distribution cabinet only by SLAM or QR code positioning. Therefore, how to achieve the purpose of efficient and high-precision automatic inspection has become a technical problem that needs to be solved urgently by those skilled in the art.

[0026] To solve the above problems, refer to Figure 1 and Figure 2, on the one hand, the present invention provides a power distribution cabinet inspection robot, including a vehicle 110, a positioning mechanism 120, an error compensation mechanism 130, a docking structure 140, a SLAM positioning module, a QR code recognition module, and a controller. The positioning mechanism 120 is installed on the vehicle 110 and can move with the vehicle 110. It is used to scan the positioning QR code on the power distribution cabinet and provide visual feedback to the controller. The error compensation mechanism 130 is installed on the vehicle 110 and can move with the vehicle 110 to one side of the power distribution cabinet. The docking structure 140 is installed on the error compensation mechanism 130 and is used to dock with the power distribution cabinet for subsequent inspection, data collection, or equipment operation. The SLAM positioning module is installed on the vehicle 110 and realizes the construction of the environmental map and real-time positioning through lidar. The QR code recognition module is installed on the vehicle 110 and can move with the vehicle 110. It is used to scan the path navigation QR code, calibration QR code, and positioning QR code. The controller is installed on the vehicle 110 and is electrically connected to the positioning mechanism 120, the error compensation mechanism 130, the SLAM positioning module, and the QR code recognition module respectively. The controller realizes hierarchical control from SLAM global positioning to mechanical precision docking based on ROS (Robot Operating System). The upper layer realizes path planning and task scheduling, and the lower layer realizes precise motion control and error correction. The SLAM positioning module has a large-range positioning ability. The QR code recognition module uses QR codes to assist in correcting the cumulative error. When approaching the target power distribution cabinet finally, the residual deviation is automatically compensated through the error compensation mechanism 130, ensuring that the docking accuracy is stable within the preset value, and achieving the purpose of efficient and high-precision automatic inspection. It is applicable to automatic inspection scenarios that require high-precision positioning such as power distribution rooms and substations, reducing the deployment and maintenance costs and improving the overall reliability.

[0027] Preferably, the vehicle 110 is an automatic guided vehicle, which improves the degree of automation. The XianGong AMB-300 series mobile robot chassis can be selected, with a rated load of 300 kg and equipped with a 48V DC power supply system. It has Mecanum wheels, high-precision encoders, and lidar to realize autonomous navigation and obstacle avoidance functions in the power distribution room environment. An inertial measurement unit is built-in and communicates with the upper control system through the CAN bus. Among them, the lidar realizes high-precision positioning through point cloud matching, and the inertial measurement unit provides motion estimation within a short time to make up for the deficiency of the lidar.

[0028] Specifically, in the demonstration example, the positioning mechanism 120 includes a six-degree-of-freedom robotic arm 121 and a first camera 122. The six-degree-of-freedom robotic arm 121 is installed on the vehicle 110 and is electrically connected to the controller. The first camera 122 is installed on the six-degree-of-freedom robotic arm 121 and is electrically connected to the controller. The first camera 122 is used to scan the positioning two-dimensional code on the power distribution cabinet and provide visual feedback to the controller, and the controller controls whether the six-degree-of-freedom robotic arm 121 and the first camera 122 work. The first camera 122 can adopt the Wance SL-05150 structured light camera, which has an 850nm active infrared light source, a working distance of 0.5 - 5m, a depth measurement accuracy of ±0.2mm, includes a three-level positioning identification system, has strong anti-interference ability, and excellent real-time performance, and is applicable to various scenarios.

[0029] Specifically, the error compensation mechanism 130 includes a lift 131, a first moving seat 132, a first linear module 133, a second moving seat 134, a second linear module 135, a third moving seat 136, a third linear module 137, and a fourth linear module 138. The lift 131 is detachably installed on the vehicle 110 through a fixing plate. The first moving seat 132 is movably installed on the lift 131 along the X-axis, and a docking structure 140 is installed at one end. The first linear module 133 is installed on the lift 131 and is connected to the first moving seat 132 for driving the first moving seat 132 to move along the X-axis. The second moving seat 134 is movably installed on the first moving seat 132 along the X-axis. The second linear module 135 is installed on the first moving seat 132 and is connected to the second moving seat 134 for driving the second moving seat 134 to move along the X-axis. The third moving seat 136 is movably installed on the second moving seat 134 along the X-axis. The third linear module 137 is installed on the second moving seat 134 and is connected to the third moving seat 136 for driving the third moving seat 136 to move along the X-axis. Two fourth linear modules 138 are respectively installed at opposite ends of the third moving seat 136 and can clamp or release the disconnector. The controller is electrically connected to the lift 131, the first linear module 133, the second linear module 135, the third linear module 137, and the fourth linear module 138, and can control whether the lift 131, the first linear module 133, the second linear module 135, the third linear module 137, and the fourth linear module 138 work.

[0030] The working process and principle of the error compensation mechanism 130 are as follows: When the vehicle 110 approaches the power distribution cabinet, the positioning mechanism 120 scans the positioning QR code on the power distribution cabinet and provides visual feedback to the controller. First, the controller adjusts the docking structure 140 to the required docking height according to the visual feedback by controlling the elevator 131. Then, the controller controls the first linear module 133 to work to drive the docking structure 140 to insert into the positioning hole on the power distribution cabinet, and the docking accuracy is up to the millimeter level. After that, the second linear module 135 drives the second moving seat 134 to move towards the power distribution cabinet to roughly adjust the positions of the third moving seat 136 and the disconnector. Then, the third linear module 137 drives the third moving seat 136 to move relative to the power distribution cabinet to finely adjust the positions of the third moving seat 136 and the disconnector. After that, two fourth linear modules 138 clamp the disconnector to separate the disconnector from the power distribution cabinet for subsequent operations.

[0031] Preferably, the elevator 131 is a scissor lift 131, driven by a servo motor, and the lifting stroke is 300 mm.

[0032] Preferably, the first linear module 133, the second linear module 135, the third linear module 137, and the fourth linear module 138 are all servo modules with relatively high control precision.

[0033] Specifically, in the exemplary embodiment, the power distribution cabinet inspection robot further includes a tightening mechanism 150. The tightening mechanism 150 is installed on one side of the first moving seat 132, can move along the X-axis with the first moving seat 132, and can unlock or lock the cabinet door of the power distribution cabinet. The tightening mechanism 150 includes a tightening gun 151 and a first servo motor 152. The first servo motor 152 is connected to the tightening gun 151 and can drive the tightening gun 151 to rotate.

[0034] Preferably, the docking structure 140 is a positioning pin, which is adapted to the positioning hole on the power distribution cabinet. The positioning pin adopts a 1:10 taper design and is made of GCr15 bearing steel, with strong wear resistance.

[0035] Specifically, in the exemplary embodiment, the QR code recognition module includes a second camera and an image processing unit. The second camera is installed on the vehicle 110 and is used to scan the path navigation QR code and the positioning QR code. It should be noted that the positioning QR code contains accurate position coordinate information. The image processing unit is connected to the second camera. The controller is electrically connected to the image processing unit.

[0036] Preferably, the SLAM positioning module adopts the LOAM-SLAM algorithm. By introducing ground constraints and feature point screening, the positioning error is controlled within 2 cm.

[0037] Preferably, the controller adopts a hierarchical architecture: the upper planning layer runs the global path planning algorithm. The middle control layer realizes multi-sensor data fusion. The lower execution layer controls the servo motor and the error compensation mechanism 130.

[0038] On the other hand, the present invention also provides a working method for a power distribution cabinet inspection robot, including the following steps: S1, constructing a power distribution room environment map through the SLAM positioning module. S2, the vehicle 110 travels along the planned path and corrects its position by scanning the path navigation two-dimensional code with the two-dimensional code recognition module. S3, when approaching the power distribution cabinet, the positioning mechanism 120 scans the positioning two-dimensional code on the power distribution cabinet and provides visual feedback to the controller. S4, the controller controls the error compensation mechanism 130 to work according to the visual feedback and adjusts the position of the docking structure 140. S5, performing the inspection task.

[0039] Preferably, in step S2, an adaptive two-dimensional code scanning strategy is adopted: When the positioning confidence of the SLAM positioning module > 90%, the scanning interval of the two-dimensional code is set to 8 meters; when the positioning confidence of the SLAM positioning module is 70% - 90%, the scanning interval of the two-dimensional code is set to 5 meters; when the positioning confidence of the SLAM positioning module < 70%, the scanning interval of the two-dimensional code is set to 2 meters.

[0040] Preferably, step S4 includes: S41, the controller controls the error compensation mechanism 130 to adjust the docking structure 140 to the required docking height according to the visual feedback. S42, inserting the docking structure 140 into the positioning hole on the power distribution cabinet. It should be noted that the contact state is detected by the change in the servo motor current. The position of the docking structure 140 is finely adjusted according to the preset program. Mechanical locking is completed to ensure that the final positioning error reaches the set value.

[0041] Preferably, the path navigation two-dimensional codes are arranged at intervals of 5 - 8 meters. The area correction two-dimensional codes are arranged at intervals of 2 - 3 meters. The positioning two-dimensional code is designed with a special calibration plate.

[0042] When actually deployed in the power distribution room, a three - level QR code layout scheme is adopted: Path - navigation QR codes are arranged every 5 - 8 meters along the main inspection passage. The size of the path - navigation QR codes is 200mm×200mm, and the path - navigation QR codes contain global coordinate information. Calibration QR codes are added at key positions such as turns and intersections. The spacing of the calibration QR codes is 2m - 3m, which is used for local position correction. A special terminal positioning plate is installed in front of each power distribution cabinet, and a high - precision positioning QR code and a reflective mark are set on the terminal positioning plate. All QR codes are made of special materials that are wear - resistant and anti - reflective to ensure long - term reliable use. First, execute the complete system initialization process. The controller in the control box sequentially performs self - inspection and calibration on the lidar, the first camera 122, and the sensors. At the same time, each joint of the six - degree - of - freedom robotic arm 121 performs a zero - return operation. The system establishes a wireless communication connection with the monitoring center and loads the pre - stored environmental map data, including key information such as the position information of the power distribution cabinets and the channel layout information. Before the first work, execute the environmental mapping task. The power distribution cabinet inspection robot moves along a predetermined path at a certain speed, and the lidar collects environmental point cloud data at a certain frequency. The SLAM positioning module processes the point cloud information in real time to construct a two - dimensional grid map containing features such as the position of the power distribution cabinets, the channel boundaries, and the obstacle distribution. The positioning accuracy reaches about ±2cm. During the mapping process, the system automatically identifies and marks the position coordinates of various QR codes. After the preliminary mapping is completed, execute closed - loop detection and global optimization, and finally generate a semantic map that can be used for navigation. The whole process takes about 15 minutes. When the power distribution cabinet inspection robot receives the inspection task instruction, it immediately starts the autonomous navigation program. Based on the pre - constructed environmental map, the system automatically plans the optimal inspection path, taking into account actual constraints such as equipment spacing and turning radius. During the movement, the lidar continuously scans the surrounding environment and performs real - time matching positioning with the map data. The vehicle 110 maintains a stable movement through precise algorithm control and dynamically adjusts the traveling route using the obstacle avoidance sensor. When the positioning confidence of the SLAM positioning module is lower than the set threshold (such as 70%), the system automatically adjusts the QR code scanning interval to 2 meters and performs position correction through visual positioning. When approaching the target power distribution cabinet, the system enters the precise positioning stage. First, the vehicle 110 will decelerate. At the same time, the first camera 122 starts infrared supplementary lighting and quickly scans and identifies the positioning mark on the cabinet surface. After detecting the positioning QR code, the error compensation mechanism 130 starts to work. The error compensation mechanism 130 adjusts the docking structure 140 to the required height for docking and inserts the docking structure 140 into the positioning hole on the power distribution cabinet. The contact situation is judged by real - time monitoring of the working state of the servo motor. When the current value rises from the no - load current value to the preset current value, it is determined that the contact is successful. At the same time, the auxiliary vision sensor at the end of the six - degree - of - freedom robotic arm 121 provides high - precision relative position feedback to guide the vehicle 110 to perform millimeter - level fine - tuning until the final positioning is locked.After positioning is completed, the six-degree-of-freedom robotic arm 121 performs various inspection tasks according to a preset program. After the tasks are completed, the power distribution cabinet inspection robot autonomously returns to the charging station and waits for the next inspection instruction.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0044] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0045] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. should be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0047] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A power distribution cabinet inspection robot, characterized in that, Including: A vehicle; A positioning mechanism, installed on the vehicle, for scanning the positioning QR code on the power distribution cabinet and providing visual feedback; An error compensation mechanism, installed on the vehicle; A docking structure, installed on the error compensation mechanism; A SLAM positioning module, installed on the vehicle, for constructing an environmental map and real-time positioning through a lidar; A QR code recognition module, installed on the vehicle, for scanning the path navigation QR code, calibration QR code, and the positioning QR code; A controller, installed on the vehicle, respectively connected to the positioning mechanism, the error compensation mechanism, the SLAM positioning module, and the QR code recognition module.

2. The patrol inspection robot for power distribution cabinet according to claim 1, characterized in that The positioning mechanism includes: A six-degree-of-freedom robotic arm, installed on the vehicle; A first camera, installed on the six-degree-of-freedom robotic arm, for scanning the positioning QR code on the power distribution cabinet and providing visual feedback.

3. The inspection robot for the power distribution cabinet according to claim 1, characterized in that, The error compensation mechanism includes: A lift, installed on the vehicle; A first moving seat, movably installed on the lift along the X-axis, with the docking structure installed at one end; A first linear module, installed on the lift, connected to the first moving seat, for driving the first moving seat to move along the X-axis; A second moving seat, movably installed on the first moving seat along the X-axis; A second linear module, installed on the first moving seat, connected to the second moving seat, for driving the second moving seat to move along the X-axis; A third moving seat, movably installed on the second moving seat along the X-axis; A third linear module, installed on the second moving seat, connected to the third moving seat, for driving the third moving seat to move along the X-axis; Two fourth linear modules, respectively installed at opposite ends of the third moving seat, capable of clamping or releasing the disconnector.

4. The inspection robot for the power distribution cabinet according to claim 3, characterized in that, It also includes: A tightening mechanism, installed on one side of the first moving seat, capable of moving along the X-axis with the first moving seat.

5. The inspection robot for the power distribution cabinet according to claim 1, wherein The docking structure is a positioning pin, adapted to the positioning hole on the power distribution cabinet.

6. The inspection robot for the power distribution cabinet according to claim 1, wherein, The QR code recognition module includes: A second camera, installed on the vehicle, for scanning the path navigation QR code and the positioning QR code; An image processing unit, connected to the second camera.

7. The inspection robot for power distribution cabinets according to claim 1, wherein, The vehicle is an automated guided vehicle.

8. A working method of the power distribution cabinet inspection robot according to any one of claims 1 to 7, characterized in that, Including the following steps: S1, constructing an environmental map of the substation through the SLAM positioning module; S2, the vehicle travels along the planned path, and uses the QR code recognition module to scan the path navigation QR code for position calibration; S3, when approaching the power distribution cabinet, the positioning mechanism scans the positioning QR code on the power distribution cabinet and provides visual feedback to the controller; S4, the controller controls the error compensation mechanism to work according to the visual feedback, and adjusts the position of the docking structure; S5, performing an inspection task.

9. The working method of the power distribution cabinet inspection robot according to claim 8, characterized in that, In step S2, an adaptive QR code scanning strategy is adopted: When the positioning confidence of the SLAM positioning module > 90%, the scanning interval of the QR code is set to 8 meters; When the positioning confidence of the SLAM positioning module is 70% - 90%, the scanning interval of the QR code is set to 5 meters; When the positioning confidence of the SLAM positioning module < 70%, the scanning interval of the QR code is set to 2 meters.

10. The working method of the power distribution cabinet inspection robot according to claim 8, characterized in that, Step S4 includes: S41. The controller controls the error compensation mechanism to adjust the docking structure to the required docking height according to the visual feedback. S42. Insert the docking structure into the positioning hole on the power distribution cabinet.

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