Internal detection and maintenance robot for GIS pipeline of transformer substation

Abstract

The invention discloses a transformer substation GIS pipeline internal detection and maintenance robot which comprises a driving module which comprises a vehicle body and a driving wheel set, and the driving wheel set is installed on the vehicle body; the visual detection module is mounted on the front side of the vehicle body; the cleaning module comprises a multi-degree-of-freedom cleaning mechanical arm and an adhesion cleaning assembly, the multi-degree-of-freedom cleaning mechanical arm is installed in front of the vehicle body, the adhesion cleaning assembly is installed at the front end of the multi-degree-of-freedom cleaning mechanical arm, and foreign matter is cleaned in a gluing mode; the dust collection module is mounted at the rear end of the vehicle body; and the control module is installed in the vehicle body, the driving module, the visual detection module, the multi-degree-of-freedom cleaning mechanical arm, the adhesion cleaning assembly and the dust collection module are all connected with the control module, and the control module is connected with the upper computer. The overall size is small; the defect that a traditional pipeline robot cannot enter a small-diameter pipeline is overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot for internal detection and maintenance of GIS pipelines in substations. Background Art

[0002] Substations are critical for delivering high-quality power services. With the continuous development of cities, the demand for stable and reliable power supply is increasing. GIS equipment features an extremely compact structure, ingeniously integrating core electrical components such as circuit breakers, disconnectors, transformers, and busbars within a sealed metal casing. This highly integrated design significantly reduces the overall equipment footprint. The fully enclosed metal casing shields electromagnetic fields, reducing interference with surrounding communications, electronic equipment, and residents' daily lives, while also isolating noise. The sulfur hexafluoride gas within it provides excellent insulation and stable properties, producing no harmful emissions during operation, making it suitable for use in environmentally demanding areas such as urban cores, commercial districts, and residential areas. However, the proportion of GIS equipment-related failures is increasing year by year. Debris and debris are easily introduced during production, assembly, transportation, and on-site installation, potentially causing localized electric field distortion, leading to internal flashovers in the GIS, which can then develop into serious faults such as insulation breakdown, posing a significant threat to the stable operation of the power system.

[0003] GIS tanks are long and have small pipes, making manual inspection of their internal conditions and access difficult. Current pipeline operation robots offer limited functionality and are not suitable for removing foreign particles from GIS equipment within the small, confined spaces. Therefore, a modular, small-volume foreign object removal robot specifically designed for GIS equipment was developed, capable of detecting and removing foreign objects, as well as environmental awareness and monitoring. Summary of the Invention

[0004] The purpose of the present invention is to provide a substation GIS pipeline internal inspection and maintenance robot to solve the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a substation GIS pipeline internal inspection and maintenance robot, comprising: A driving module, the driving module comprising a vehicle body and a driving wheel set, the driving wheel set being mounted on the vehicle body; A visual inspection module, wherein the visual inspection module is mounted on the front side of the vehicle body; A cleaning module, comprising a multi-degree-of-freedom cleaning robot arm and an adhesive cleaning component, wherein the multi-degree-of-freedom cleaning robot arm is mounted in front of the vehicle body, and the adhesive cleaning component is mounted at the front end of the multi-degree-of-freedom cleaning robot arm to clean foreign matter by gluing; A dust collection module, the dust collection module being mounted on the rear end of the vehicle body; A control module is installed in the vehicle body, the drive module, the visual detection module, the multi-degree-of-freedom cleaning robot arm, the adhesion cleaning component, and the dust collection module are all connected to the control module, and the control module is connected to the host computer.

[0006] According to the substation GIS pipeline internal inspection and maintenance robot provided by the present invention, the vehicle body includes: A frame, wherein the driving wheel sets are mounted on both sides of the frame; a first cover plate, wherein the first cover plate is fixed to a top end of the frame, and a first installation chamber is formed between the first cover plate and the frame; a second cover plate, the second cover plate being fixed to a top surface of the first cover plate, and a second installation chamber being formed between the second cover plate and the first cover plate; a third cover plate, the third cover plate being fixed to the top surface of the second cover plate, and a handle being fixedly connected to the third cover plate; A line arrangement opening is provided on the side of the frame, and an anti-winding cover is installed on the line arrangement opening.

[0007] According to the substation GIS pipeline internal inspection and maintenance robot provided by the present invention, the driving wheel group includes: Two Mecanum wheel assemblies are provided, and the two Mecanum wheel assemblies are respectively mounted on both sides of the vehicle body. The Mecanum wheel assemblies include a first Mecanum wheel and a second Mecanum wheel, the first Mecanum wheel and the second Mecanum wheel are rotatably connected to the vehicle body, and the first Mecanum wheel and the second Mecanum wheel have opposite rotation directions; Universal wheels, wherein two sets of universal wheels are provided, and the two sets of universal wheels are respectively arranged between the first Mecanum wheel and the second Mecanum wheel of the two sets of Mecanum wheel sets; an axle is rotatably connected to the vehicle body, and both ends of the axle are rotatably connected to the universal wheels; A motor fixing frame is fixed with several groups at the bottom of the first installation chamber. A drive motor is fixed on the motor fixing frame. The drive motor is respectively connected to the first Mecanum wheel and the second Mecanum wheel through a motor shaft.

[0008] According to the substation GIS pipeline internal inspection and maintenance robot provided by the present invention, the freedom cleaning robot arm includes: a first terminal actuator servo, wherein the first terminal actuator servo is fixed to the front end of the frame; a first bracket, the first bracket being fixed to the actuating end of the first end-actuating servo, a second end-actuating servo being mounted on the first bracket, an axis of the second end-actuating servo being perpendicular to an axis of the first end-actuating servo; a second bracket, the second bracket being fixed to the execution end of the second terminal execution servo, and the third terminal execution servo being mounted on the second bracket; a third bracket, the third bracket being fixed to the execution end of the third terminal execution servo, the end of the third bracket being mounted with the fourth terminal execution servo, the execution end of the fourth terminal execution servo being fixed with the fourth bracket; a fifth end-actuating servo, the fifth end-actuating servo being mounted on the other end of the fourth bracket, the execution end of the fifth end-actuating servo being fixed with a push rod frame; The adhesion cleaning component is installed on the fifth terminal execution servo.

[0009] According to the substation GIS pipeline internal inspection and maintenance robot provided by the present invention, the visual inspection module includes: a first camera support, wherein the first camera support is fixed to a front end of the second mounting chamber; A camera frame, wherein the camera frame is fixed on the first camera support; a first high-definition camera, wherein the first high-definition camera is mounted on the camera frame; A lighting lamp assembly, the lighting lamp assembly being symmetrically mounted on the camera frame; a second camera support, the second camera support being fixed on the fourth bracket, and a second high-definition camera being mounted on the second camera support; a lamp holder, the lamp holder being fixed on the fourth bracket and having a green LED lamp mounted on the lamp holder; The first high-definition camera and the second high-definition camera are both connected to the host computer through an image transmission module and a network port switch.

[0010] According to the substation GIS pipeline internal inspection and maintenance robot provided by the present invention, the adhesion cleaning component includes: a push rod frame, wherein the push rod frame is fixed to the fifth end actuator steering gear; A push rod motor, wherein the push rod motor is fixed on the push rod frame; A gluing head is arranged at the execution end of the push rod motor.

[0011] According to the substation GIS pipeline internal inspection and maintenance robot provided by the present invention, the dust collection module includes: A dust collection module bracket, the dust collection module bracket is fixed to the rear end of the frame; A foreign matter storage box is fixed to the dust collection module bracket and is provided with an inlet and an outlet; A suction nozzle, the suction nozzle being mounted on the entrance of the foreign matter receiving box; A dust suction motor bracket is fixed on the dust suction module bracket, a dust suction motor is installed on the dust suction motor bracket, the execution end of the dust suction motor is connected to the outlet of the foreign object storage box, and a filter is installed on the outlet of the foreign object storage box.

[0012] According to the substation GIS pipeline internal inspection and maintenance robot provided by the present invention, the control module includes: A PCB board is installed in the second installation chamber.

[0013] The present invention discloses the following technical effects: 1) The visual inspection module can collect real-time and comprehensive image information of the pipeline's interior, and the control module quickly analyzes and processes the image. Compared with manual inspection, this greatly improves inspection efficiency and can detect subtle problems that are difficult for humans to detect, thereby improving inspection accuracy.

[0014] 2) Through the cooperation of the multi-degree-of-freedom cleaning robot arm and the adhesion cleaning component, foreign objects in the pipeline can be automatically cleaned without manual entry into the pipeline for operation, which reduces the intensity of manual labor and avoids the safety risks that may be caused by manual operation.

[0015] 3) The setting of the dust collection module can timely clean the dust and particles generated during the cleaning process, keep the inside of the pipeline clean, reduce the erosion and damage of dust and other impurities to the pipeline equipment, extend the service life of the equipment, and ensure the normal operation of the substation GIS pipeline.

[0016] 4) The control module is connected to the host computer. The operator can remotely control the robot's work through the host computer from a safe location and obtain data from the detection and maintenance process in real time, which facilitates the monitoring and management of the entire process. It also provides detailed data support for subsequent equipment maintenance and troubleshooting.

[0017] 5) The robot has a compact overall structure, and the drive module can drive the vehicle body to move flexibly in complex GIS pipelines. The multi-degree-of-freedom cleaning robot arm can adapt to the foreign body cleaning needs at different positions and angles, and has strong environmental adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a top view of the overall structure of the present invention; Figure 3 It is an oblique view of the overall structure of the present invention; Figure 4 Schematic diagram of the structure of the driving module of the present invention; Figure 5 This is a working principle diagram of the driving module of the present invention; Figure 6 Schematic diagram of the structure of the visual detection module of the present invention; Figure 7 is a cross-sectional view of the driving module of the present invention; Figure 8 This is a structural diagram of the cleaning robot arm module of the present invention; Figure 9 for Figure 8 Enlarged view of point A in the middle; Figure 10 Schematic diagram of the structure of the dust collection module of the present invention.

[0020] Among them, 1. Drive module; 2. Visual inspection module; 3. Cleaning module; 4. Dust collection module; 5. Rack; 6. Drive motor; 7. First Mecanum wheel; 8. Second Mecanum wheel; 9. PCB board; 10. First cover; 11. Second cover; 12. Third cover; 13. First camera support; 14. Green LED light; 15. Camera rack; 16. First HD camera; 17. Lighting group; 18. First terminal execution servo; 19. First bracket; 20. Second terminal execution servo; 21. Second bracket; 22. Third terminal execution servo ; 23. Fourth terminal executive servo; 24. Third bracket; 25. Fifth terminal executive servo; 26. Fourth bracket; 27. Push rod rack; 28. Push rod motor; 29. Gluing head; 30. Image transmission module; 31. Network port switch; 32. Anti-winding cover; 33. Axle; 34. Motor shaft; 35. Motor fixing bracket; 36. Handle; 37. Second HD camera; 38. Second camera support; 39. Lamp holder; 40. Vacuum motor; 41. Foreign object storage box; 42. Suction nozzle; 43. Vacuum motor bracket; 44. Vacuum module bracket; 45. Universal wheel. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Reference Figures 1-10 The present invention provides a substation GIS pipeline internal inspection and maintenance robot, comprising: Drive module 1, drive module 1 includes a vehicle body and a drive wheel set, and the drive wheel set is installed on the vehicle body; Visual inspection module 2, which is installed on the front side of the vehicle body; Cleaning module 3, which includes a multi-degree-of-freedom cleaning robot arm and an adhesive cleaning component. The multi-degree-of-freedom cleaning robot arm is installed in front of the vehicle body, and the adhesive cleaning component is installed at the front end of the multi-degree-of-freedom cleaning robot arm to clean foreign matter by gluing; A dust collection module 4 is installed at the rear end of the vehicle body; The control module is installed in the vehicle body. The driving module 1, the visual detection module 2, the multi-degree-of-freedom cleaning robot arm, the adhesion cleaning component, and the dust collection module 4 are all connected to the control module, and the control module is connected to the host computer.

[0024] When the present invention is working, the operator sends instructions to the control module through the host computer. After receiving the instructions, the control module drives the driving wheel group of the driving module 1 to move the vehicle body in the substation GIS pipeline to the area that needs inspection and maintenance.

[0025] As the vehicle moves, the visual inspection module 2, mounted on the front of the vehicle, collects real-time images of the pipeline's interior and transmits them to the control module. The control module analyzes and processes the images to determine whether there are foreign objects or damage inside the pipeline. It then feeds the results back to the host computer, allowing operators to monitor the pipeline's internal conditions in real time.

[0026] When the visual inspection module 2 detects a foreign object inside the pipe, the control module controls the movement of the multi-degree-of-freedom cleaning robot arm based on information such as the foreign object's location, moving the adhesive cleaning assembly mounted on the front end of the robot arm to the location of the foreign object. The adhesive cleaning assembly adheres to the foreign object and removes it, completing the initial cleaning of the foreign object.

[0027] During the process of cleaning foreign objects, some fine dust or particles may be scattered. At this time, the dust collection module 4 installed at the rear end of the vehicle body starts to work, sucking away the dust and particles generated during the cleaning process to ensure the cleanliness of the internal environment of the pipeline and avoid residues from affecting the normal operation of the pipeline.

[0028] After completing the inspection and maintenance tasks in the designated area, the control module controls the drive module 1 to return the vehicle to the starting point and transmits relevant data of the entire task process (such as inspection images, cleaning status, etc.) to the host computer for subsequent analysis and archiving by the operator.

[0029] Further optimization plan, the car body includes: Frame 5, driving wheel sets are installed on both sides of frame 5; A first cover plate 10 is fixed to the top of the frame 5, and a first installation chamber is formed between the first cover plate 10 and the frame 5; A second cover plate 11 is fixed to the top surface of the first cover plate 10, and a second installation chamber is formed between the second cover plate 11 and the first cover plate 10; A third cover plate 12 is fixed to the top surface of the second cover plate 11, and a handle 36 is fixedly connected to the third cover plate 12; A line arrangement opening is provided on the side of the frame 5 , and a wire winding prevention cover 32 is installed on the line arrangement opening.

[0030] The frame 5 serves as the supporting structure for the entire vehicle body, and the drive wheels are mounted on both sides of the frame 5 to provide the vehicle with moving power. The first cover 10 and the frame 5 form a first installation chamber for installing drive-related components such as the motor; the second cover 11 and the first cover 10 form a second installation chamber for installing important electronic equipment such as the control module. The third cover 12 further provides protection and sealing. The handle 36 facilitates operation when the robot enters and exits the pipeline or is transported. The wiring layout port is used for the rational arrangement of wiring in the vehicle body, and the anti-winding cover 32 prevents wiring from entanglement, ensuring wiring safety.

[0031] The frame 5 can be made of a high-strength, lightweight aluminum alloy to reduce weight while ensuring sufficient structural strength. Sealing strips can be added between the first, second, and third covers 10, 11, 12 to enhance the sealability of the chassis, prevent dust and moisture from entering the installation chamber, and protect the internal equipment. The handle 36 can be folded when not in use, reducing space and facilitating movement within narrow ducts.

[0032] Further optimization scheme, the driving wheel set includes: Two Mecanum wheels are provided, and the two Mecanum wheels are respectively mounted on both sides of the vehicle body. The Mecanum wheels include a first Mecanum wheel 7 and a second Mecanum wheel 8. The first Mecanum wheel 7 and the second Mecanum wheel 8 are rotatably connected to the vehicle body, and the first Mecanum wheel 7 and the second Mecanum wheel 8 rotate in opposite directions. Universal wheels 45 are provided in two groups. The two groups of universal wheels 45 are respectively arranged between the first Mecanum wheel 7 and the second Mecanum wheel 8 of the two Mecanum wheel groups. The vehicle body is rotatably connected to the axle 33, and both ends of the axle 33 are rotatably connected to the universal wheels 45; The motor fixing frame 35 has several groups fixed on the bottom of the first installation chamber. The drive motor 6 is fixed on the motor fixing frame 35. The drive motor 6 is connected to the first Mecanum wheel 7 and the second Mecanum wheel 8 through the motor shaft 34 respectively.

[0033] Two sets of Mecanum wheels are mounted on either side of the vehicle. The first and second Mecanum wheels 7 and 8 rotate in opposite directions and are driven by a drive motor 6. The unique structure of the Mecanum wheels enables the vehicle to achieve full range of motion, including forward, backward, translation, and rotation. A universal wheel 45 is positioned between the two sets of Mecanum wheels, providing auxiliary support and flexible steering. An axle 33 connects the universal wheels 45 to the vehicle body, ensuring their free rotation.

[0034] The drive motor 6 can be a high-torque, high-precision servo motor to improve the vehicle's movement accuracy and stability. A wear-resistant rubber layer can be added to the surface of the Mecanum wheels and universal wheels 45 to improve their wear resistance and grip, adapting to different pipe floor materials. Wheel speed sensors are installed to monitor the speed of each wheel in real time and provide feedback to the control module for precise control of the vehicle's movement speed and direction.

[0035] To further optimize the solution, the DOF cleaning robot includes: The first end actuator servo 18 is fixed to the front end of the frame 5; A first bracket 19 is fixed to the execution end of the first terminal actuator 18. A second terminal actuator 20 is mounted on the first bracket 19. The axis of the second terminal actuator 20 is perpendicular to the axis of the first terminal actuator 18. A second bracket 21 is fixed to the execution end of the second terminal execution servo 20, and a third terminal execution servo 22 is mounted on the second bracket 21; A third bracket 24 is fixed to the execution end of the third terminal execution servo 22. The fourth terminal execution servo 23 is mounted on the end of the third bracket 24. A fourth bracket 26 is fixed to the execution end of the fourth terminal execution servo 23. The fifth end actuator servo 25 is mounted on the other end of the fourth bracket 26 , and a push rod frame 27 is fixed to the actuator end of the fifth end actuator servo 25 ; The adhesion cleaning assembly is installed on the push rod frame 27.

[0036] The first end-executing servo 18 is fixed at the front end of the frame 5, serving as the first joint of the robot arm, and drives the first bracket 19 to move by rotation. The second end-executing servo 20 is installed on the first bracket 19, and its axis is perpendicular to the axis of the first end-executing servo 18, so as to realize the rotation of the robot arm in the other direction. The third end-executing servo 22 is installed on the second bracket 21, further expanding the range of motion of the robot arm. The fourth end-executing servo 23 is installed at the end of the third bracket 24, driving the fourth bracket 26 to rotate. The fifth end-executing servo 25 is installed at the other end of the fourth bracket 26, and its execution end is fixed to the push rod frame 27. The adhesion cleaning component is installed on the push rod frame 27. Through the coordinated work of each end-executing servo, the adhesion cleaning component can reach foreign objects at different positions and angles in the pipeline.

[0037] To further optimize the solution, the visual inspection module 2 includes: A first camera support 13, the first camera support 13 is fixed to the front end of the second installation chamber; A camera frame 15 is fixed on the first camera support 13; A first high-definition camera 16 , which is mounted on a camera frame 15 ; The lighting lamp group 17 is symmetrically mounted on the camera frame 15; A second camera support 38, the second camera support 38 is fixed on the fourth bracket 26, and a second high-definition camera 37 is installed on the second camera support 38; A lamp holder 39 is fixed on the fourth bracket 26 and a green LED lamp 14 is mounted on the lamp holder 39; The first high-definition camera 16 and the second high-definition camera 37 are both connected to the host computer via the image transmission module 30 and the network port switch 31 .

[0038] The first high-definition camera 16 is mounted on the camera frame 15, and the camera frame 15 is fixed to the front end of the second installation room through the first camera support 13, and is used to collect image information in front of the pipeline. The lighting lamp group 17 is symmetrically mounted on the camera frame 15 to provide sufficient light for the camera to ensure clear images. The second high-definition camera 37 is mounted on the push rod frame 27. With the movement of the multi-degree-of-freedom cleaning robot arm, the foreign matter situation can be observed at close range. The green LED light 14 is mounted on the lamp holder 39 of the push rod frame 27 to provide auxiliary lighting when cleaning foreign matter, and can also serve as an indication of the cleaning status. The images captured by the first high-definition camera 16 and the second high-definition camera 37 are transmitted to the host computer through the image transmission module 30 and the network port switch 31 for the operator to view and analyze in real time.

[0039] The camera can be an industrial camera with high resolution and low-light performance to improve image quality. The lighting unit 17 can use an adjustable-brightness LED light, automatically adjusting the brightness based on the lighting conditions within the pipeline to prevent excessive brightness or darkness from affecting image acquisition. Image processing algorithms can be added to perform real-time processing on captured images, such as noise reduction and contrast enhancement, to improve image readability and analysis accuracy.

[0040] To further optimize the solution, the adhesion cleaning components include: Push rod frame 27, push rod frame 27 is fixed on the fifth end actuator servo 25; Push rod motor 28, push rod motor 28 is fixed on the push rod frame 27; The gluing head 29 is arranged at the execution end of the push rod motor 28 .

[0041] The push rod frame 27 is fixed to the fifth end actuator 25, the push rod motor 28 is installed on the push rod frame 27, and the gluing head 29 is provided at the execution end of the push rod motor 28. When foreign matter needs to be cleaned, the push rod motor 28 pushes the gluing head 29 close to the foreign matter and removes the foreign matter by gluing.

[0042] Gluing head 29 can be made of interchangeable adhesive materials, allowing for optimal cleaning performance based on the material and size of the foreign object. A high-precision, high-speed electric pusher can be used for pusher motor 28, ensuring that glue head 29 accurately and quickly locates the foreign object. Sensors can be added around glue head 29 to detect the distance and contact between glue head 29 and the foreign object, providing feedback to the control module for precise control.

[0043] Further optimizing the solution, the dust collection module 4 includes: The dust collection module bracket 44 is fixed to the rear end of the frame 5; A foreign matter storage box 41 is fixed to the dust collection module bracket 44 and has an inlet and an outlet; A suction nozzle 42 is installed at the entrance of the foreign matter receiving box 41; The dust suction motor bracket 43 is fixed on the dust suction module bracket 44. The dust suction motor 40 is installed on the dust suction motor bracket 43. The execution end of the dust suction motor 40 is connected to the outlet of the foreign matter storage box 41, and a filter is installed on the outlet of the foreign matter storage box 41.

[0044] The dust module bracket 44 is fixed to the rear end of the frame 5, the foreign matter storage box 41 is fixed to the dust module bracket 44, and the suction nozzle 42 is installed at the entrance of the foreign matter storage box 41. The dust motor bracket 43 is fixed to the dust module bracket 44, and the dust motor 40 is installed on the dust motor bracket 43, with its actuator connected to the outlet of the foreign matter storage box 41. When the dust motor 40 is operating, negative pressure is generated at the suction nozzle 42, sucking dust and particles generated during the cleaning process into the foreign matter storage box 41. A filter is installed at the outlet of the foreign matter storage box 41 to prevent dust from entering the dust motor 40, protecting the motor's normal operation.

[0045] The foreign object storage box 41 can be designed to be removable, making it easier to clean the dust and particles inside. The vacuum motor 40 can be a motor with high suction power and low noise, improving the vacuuming effect while reducing the impact on the working environment. An adjustable suction opening size device can be added to the suction nozzle 42 to adjust the suction opening size according to the size and distribution of dust and particles, thereby improving vacuuming efficiency.

[0046] To further optimize the solution, the control module includes: The PCB board 9 is installed in the second installation chamber.

[0047] The PCB board 9 is installed in the second installation room. As the core of the control module, it receives signals from the visual inspection module 2, the drive module 1, the multi-degree-of-freedom cleaning robot arm, the adhesion cleaning component and the dust collection module 4, processes and analyzes them, and controls the operation of each module according to the preset program and the instructions of the host computer.

[0048] PCB board 9 can be designed with multiple layers to improve circuit integration and anti-interference capabilities. A wireless communication module can be added to enable wireless communication between the robot and the host computer, facilitating remote control and monitoring of the robot's operating status. Temperature and voltage sensors can be installed on PCB board 9 to monitor the operating temperature and voltage of the control module in real time, providing prompt alarms when abnormalities occur to protect the control module.

[0049] To ensure the identification of foreign objects, this embodiment provides an image processing system in combination with the visual detection module 2, specifically including: (1) Image acquisition module; High-definition industrial cameras are used as the primary visual acquisition device. They feature high resolution (e.g., 5 megapixels or higher) and can clearly capture details within the pipeline. Furthermore, they are paired with 3D structured light cameras to obtain three-dimensional spatial information within the pipeline, providing depth data for accurate calculation of foreign object locations.

[0050] An LED ring light with adjustable brightness and angle provides uniform, shadow-free lighting. For dimly lit or obstructed areas within the pipeline, an additional laser lighting device ensures clear images.

[0051] Special protective casings are designed for cameras and lighting equipment, using high-temperature resistant, corrosion-resistant, dust-proof and waterproof materials to adapt to the complex environmental conditions of substation GIS pipelines.

[0052] Cameras are installed at the front end of the robot and at the end of the arm. The front camera is used to initially scan the entire pipeline and identify possible foreign objects, while the end-of-arm camera can observe and confirm foreign objects at close range and obtain more accurate image information.

[0053] Lighting equipment and cameras should be arranged reasonably to ensure that the lighting range covers the camera's field of view and avoid lighting blind spots.

[0054] (2) Image transmission module; A combination of wired and wireless transmission methods is used. When the robot and control terminal are close or when high transmission stability is required, optical fiber or high-quality network cables are used for wired transmission to ensure high-speed and stable transmission of image data.

[0055] When the robot needs to move flexibly or enter complex pipeline areas, 5G or Wi-Fi6 wireless transmission technology is used to ensure that image data can be transmitted to the control terminal in real time.

[0056] The collected image data is compressed and an efficient image compression algorithm (such as H.265) is used to reduce the amount of data transmission and improve transmission efficiency while ensuring image quality.

[0057] The transmitted image data is encrypted using encryption algorithms such as AES to prevent the data from being stolen or tampered with during transmission, ensuring data security.

[0058] (3) Image processing module; Use algorithms such as median filtering and Gaussian filtering to remove noise from the image and improve image quality. For different types of noise, choose the appropriate filtering algorithm to process it.

[0059] Use methods such as histogram equalization and adaptive histogram equalization to enhance the contrast of the image, making the foreign objects and the background more clearly distinguishable.

[0060] Perform geometric correction on the images captured by the camera to eliminate image deformation caused by factors such as camera installation angle and lens distortion, and ensure image accuracy.

[0061] Analyze the color characteristics of foreign objects and separate them from the background through methods such as color threshold segmentation. For foreign objects with obvious color characteristics, such as the reflective color of metal foreign objects under specific lighting, their color characteristics can be effectively extracted.

[0062] The texture features of foreign objects are extracted using methods such as gray-level co-occurrence matrix. Some foreign objects with special surface textures, such as the texture of damaged insulating materials, can be identified through texture features.

[0063] An edge detection algorithm (such as the Canny algorithm) is used to extract the edges of foreign objects, and then the shape features of the foreign objects, such as area, perimeter, aspect ratio, etc., are calculated to distinguish different types of foreign objects.

[0064] A two-dimensional coordinate system is established in the field of view of the robot's front-end camera, with the optical center of the camera as the origin, to determine the coordinates of each pixel in the image.

[0065] By calibrating the camera parameters, a conversion relationship between pixel coordinates and actual physical coordinates is established. Based on the pixel coordinates of the foreign object in the image, the two-dimensional plane position of the foreign object in the pipeline is calculated.

[0066] A 3D structured light camera is used to obtain the depth information of objects inside the pipeline, and combined with 2D image information, a three-dimensional model of the interior of the pipeline is constructed.

[0067] In the 3D model, the 3D spatial position of the foreign object in the pipeline, including the X, Y, and Z coordinates, is accurately calculated based on the 2D image features and depth information of the foreign object.

[0068] The calculated position of the foreign object is corrected by combining sensor data from the robot's odometer, inertial measurement unit (IMU), and other sensors. Multi-sensor data is fused through algorithms such as Kalman filtering to improve the accuracy and stability of position calculations.

[0069] Perform multiple image acquisitions and position calculations on the same foreign object, and take the average value as the final foreign object position to reduce measurement errors.

[0070] The specific process is: The robot moves along the pipeline, and the front-end camera and the camera at the end of the robotic arm collect images inside the pipeline in real time, while the lighting system provides appropriate lighting.

[0071] The collected image data is transmitted to the image processing module of the control terminal via wired or wireless means.

[0072] The image processing module performs preprocessing, feature extraction and other operations on the received image to identify foreign objects in the image.

[0073] The position calculation module calculates the precise position of the foreign object in the pipeline based on the image processing results and combined with 2D and 3D information.

[0074] The calculated foreign body position information is fed back to the operator, who can control the robot's mechanical arm to clean the foreign body according to the position information.

[0075] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, 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 therefore cannot be understood as a limitation on the present invention.

[0076] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A substation GIS pipeline internal inspection and maintenance robot, characterized by: include: A driving module (1), the driving module (1) comprising a vehicle body and a driving wheel set, the driving wheel set being mounted on the vehicle body; A visual detection module (2), the visual detection module (2) being mounted on the front side of the vehicle body; A cleaning module (3), the cleaning module (3) comprising a multi-degree-of-freedom cleaning robot arm and an adhesive cleaning component, the multi-degree-of-freedom cleaning robot arm being mounted in front of the vehicle body, the adhesive cleaning component being mounted at the front end of the multi-degree-of-freedom cleaning robot arm, and cleaning foreign matter by gluing; A dust collection module (4), the dust collection module (4) being mounted on the rear end of the vehicle body; A control module is installed in the vehicle body, the drive module (1), the visual detection module (2), the multi-degree-of-freedom cleaning robot arm, the adhesion cleaning component, and the dust collection module (4) are all connected to the control module, and the control module is connected to a host computer.

2. A substation GIS pipeline internal inspection and maintenance robot according to claim 1, characterized in that: The vehicle body comprises: A frame (5), wherein the driving wheel set is mounted on both sides of the frame (5); a first cover plate (10), the first cover plate (10) being fixed to the top end of the frame (5), and a first installation chamber being formed between the first cover plate (10) and the frame (5); a second cover plate (11), the second cover plate (11) being fixed to the top surface of the first cover plate (10), and a second installation chamber being formed between the second cover plate (11) and the first cover plate (10); a third cover plate (12), the third cover plate (12) being fixed to the top surface of the second cover plate (11), and a handle (36) being fixedly connected to the third cover plate (12); A line arrangement opening is provided on the side of the frame (5), and a wire winding prevention cover plate (32) is installed on the line arrangement opening.

3. A substation GIS pipeline internal inspection and maintenance robot according to claim 2, characterized in that: The driving wheel set comprises: A Mecanum wheel set, wherein the Mecanum wheel set is provided with two sets, and the two sets of Mecanum wheel sets are respectively installed on both sides of the vehicle body, and the Mecanum wheel set includes a first Mecanum wheel (7) and a second Mecanum wheel (8), the first Mecanum wheel (7) and the second Mecanum wheel (8) are rotatably connected to the vehicle body, and the first Mecanum wheel (7) and the second Mecanum wheel (8) have opposite rotation directions; Universal wheels (45), wherein two sets of universal wheels (45) are provided, and the two sets of universal wheels (45) are respectively provided between the first Mecanum wheel (7) and the second Mecanum wheel (8) of the two sets of Mecanum wheel groups; an axle (33) is rotatably connected to the vehicle body, and both ends of the axle (33) are rotatably connected to the universal wheels (45); A motor fixing frame (35) is fixed with a plurality of groups at the bottom of the first installation chamber. A drive motor (6) is fixed on the motor fixing frame (35). The drive motor (6) is respectively connected to the first Mecanum wheel (7) and the second Mecanum wheel (8) through a motor shaft (34).

4. A substation GIS pipeline internal inspection and maintenance robot according to claim 2, characterized in that: The multi-degree-of-freedom cleaning robot comprises: a first end-actuating steering gear (18), wherein the first end-actuating steering gear (18) is fixed to the front end of the frame (5); a first bracket (19), the first bracket (19) being fixed to the execution end of the first terminal execution steering gear (18), a second terminal execution steering gear (20) being mounted on the first bracket (19), the axis of the second terminal execution steering gear (20) being perpendicular to the axis of the first terminal execution steering gear (18); a second bracket (21), the second bracket (21) being fixed to the execution end of the second terminal execution servo (20), and a third terminal execution servo (22) being mounted on the second bracket (21); a third bracket (24), the third bracket (24) being fixed to the execution end of the third terminal execution steering gear (22), a fourth terminal execution steering gear (23) being mounted on the end of the third bracket (24), and a fourth bracket (26) being fixed to the execution end of the fourth terminal execution steering gear (23); a fifth end-actuating steering gear (25), the fifth end-actuating steering gear (25) being mounted on the other end of the fourth bracket (26), and a push rod frame (27) being fixed to the execution end of the fifth end-actuating steering gear (25); The adhesion cleaning component is mounted on the fifth terminal execution servo (25).

5. A substation GIS pipeline internal inspection and maintenance robot according to claim 4, characterized in that: The visual detection module (2) comprises: A first camera support (13), the first camera support (13) being fixed at the front end of the second installation chamber; A camera frame (15), the camera frame (15) being fixed on the first camera support (13); A first high-definition camera (16), the first high-definition camera (16) being mounted on the camera frame (15); A lighting lamp assembly (17), wherein the lighting lamp assembly (17) is symmetrically mounted on the camera frame (15); a second camera support (38), the second camera support (38) being fixed on the fourth bracket (26), and a second high-definition camera (37) being mounted on the second camera support (38); a lamp holder (39), the lamp holder (39) being fixed on the fourth bracket (26), and a green LED lamp (14) being mounted on the lamp holder (39); The first high-definition camera (16) and the second high-definition camera (37) are both connected to the host computer via the image transmission module (30) and the network port switch (31).

6. The substation GIS pipeline internal inspection and maintenance robot according to claim 4 is characterized in that: The adhesion cleaning component includes: A push rod frame (27), wherein the push rod frame (27) is fixed to the fifth end actuator servo (25); A push rod motor (28), wherein the push rod motor (28) is fixed on the push rod frame (27); A gluing head (29) is provided at the execution end of the push rod motor (28).

7. The substation GIS pipeline internal inspection and maintenance robot according to claim 2 is characterized in that: The dust collection module (4) comprises: A dust collection module bracket (44), the dust collection module bracket (44) being fixed to the rear end of the frame (5); A foreign matter storage box (41), the foreign matter storage box (41) being fixed on the dust collection module bracket (44), and the foreign matter storage box (41) being provided with an inlet and an outlet; a suction nozzle (42), the suction nozzle (42) being mounted on the entrance of the foreign matter receiving box (41); A dust collection motor bracket (43) is fixed to the dust collection module bracket (44), a dust collection motor (40) is mounted on the dust collection motor bracket (43), an execution end of the dust collection motor (40) is connected to the outlet of the foreign matter storage box (41), and a filter is mounted on the outlet of the foreign matter storage box (41).

8. The substation GIS pipeline internal inspection and maintenance robot according to claim 2 is characterized in that: The control module includes: A PCB board (9), wherein the PCB board (9) is installed in the second installation chamber.

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