Internal inspection robot based on oil-immersed transformer

Abstract

The internal inspection robot comprises a lower machine body, a buoyancy tank is fixedly connected to the lower surface of the lower machine body, an oil inlet and outlet nozzle is arranged on the lower surface of the buoyancy tank, an oil inlet and outlet device is arranged in the buoyancy tank, and a second steering engine is fixedly connected to the front end of the left side surface of the lower machine body; the output end of the second steering engine is fixedly connected with a second machine arm, the front end of the second machine arm is fixedly connected with a second propeller, the rear end of the left side surface of the lower machine body is fixedly connected with a first steering engine, the output end of the first steering engine is fixedly connected with a first machine arm, and the front end of the first machine arm is fixedly connected with a first propeller. The internal inspection robot has the functions of image autonomous identification and space autonomous positioning, can quickly and flexibly move in the transformer, quickly determines the internal state and fault position of the transformer, and transmits clear image information back to an upper computer in real time, so that the detection time is greatly shortened, and the detection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of internal inspection robots, and in particular to an internal inspection robot based on an oil-immersed transformer. Background Art

[0002] As a core component of the power grid, transformers play a vital role in power transmission and transformation. Oil-immersed transformers are widely used due to their excellent insulation and heat dissipation properties. However, traditional oil-immersed transformer maintenance methods have numerous drawbacks. Traditional maintenance requires power outages and draining the transformer oil, requiring personnel to enter the transformer for inspection. This method is not only time-consuming and labor-intensive, but also carries high maintenance costs. Furthermore, when entering the transformer, personnel are prone to introducing contaminants, which can affect the transformer's service life. More critically, manually entering the transformer presents safety risks such as electric shock and suffocation, threatening the life of the inspectors.

[0003] While robotics has been widely adopted in various fields, including playing a significant role in high-voltage line inspections and substation inspections in the power industry, research on oil-immersed transformer internal inspection robots has been relatively late. ABB is the only company to have launched a related product abroad, and while there are research proposals in China, no commercial products have yet been achieved. Existing oil-immersed transformer internal inspection robots face numerous technical challenges. For example, the complex internal structure of the transformer makes it difficult for the robot to move, making it difficult to maneuver. Furthermore, the robot's size limits the use of large-capacity batteries, resulting in insufficient battery life. These issues have severely hampered the development and application of oil-immersed transformer internal inspection robots. Summary of the Invention

[0004] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art and to provide an internal inspection robot based on an oil-immersed transformer. The internal inspection robot has the functions of autonomous image recognition and autonomous spatial positioning. It can move quickly and flexibly inside the transformer, quickly determine the internal status and fault location of the transformer, and transmit clear image information back to the host computer in real time, greatly shortening the inspection time and improving the inspection efficiency.

[0005] The present invention also provides the above-mentioned internal inspection robot based on an oil-immersed transformer, comprising: a lower body, the lower surface of the lower body is fixedly connected to a buoyancy box, the lower surface of the buoyancy box is provided with an oil inlet and outlet nozzle, the interior of the buoyancy box is provided with an oil inlet and outlet device, the front end of the left surface of the lower body is fixedly connected to a second servo, the output end of the second servo is fixedly connected to a second organic arm, the front end of the second organic arm is fixedly connected to a second propeller, the rear end of the left surface of the lower body is fixedly connected to a first servo, the output end of the first servo is fixedly connected to a first organic arm, and the front end of the first organic arm is fixedly connected to a first propeller;

[0006] The front end of the right surface of the lower body is fixedly connected to a steering gear three, the output end of the steering gear three is fixedly connected to an organic arm three, the front end of the organic arm three is fixedly connected to a third propeller, the rear end of the right surface of the lower body is fixedly connected to a steering gear four, the output end of the steering gear four is fixedly connected to an organic arm four, and the front end of the organic arm four is fixedly connected to a fourth propeller;

[0007] The upper surface of the lower body is fixedly connected to the main control unit, the upper surface of the lower body is fixedly connected to camera 1, the upper surface of the lower body is fixedly connected to camera 2, the front end of the lower body is provided with a front fill light, and the rear surface of the lower body is provided with a rear fill light.

[0008] According to an internal inspection robot based on an oil-immersed transformer provided by the present invention, the upper surface of the lower body is fixedly connected to a fixing ring, and the fixing ring is fixedly connected to an anti-slip rope through a connecting buckle.

[0009] According to the present invention, an internal inspection robot based on an oil-immersed transformer is provided. The oil inlet and outlet device includes a micro oil pump, an oil pipe and a solenoid valve. The micro oil pump is fixedly installed inside the buoyancy tank. One end of the oil pipe is connected to the micro oil pump, and the other end is connected to the inlet and outlet nozzles. The solenoid valve is installed on the oil pipe to control the inlet and outlet of oil.

[0010] According to the internal inspection robot based on an oil-immersed transformer provided by the present invention, the first propeller, the second propeller, the third propeller and the fourth propeller all adopt a structure in which a waterproof and sealed DC brushless motor drives a propeller.

[0011] According to an internal inspection robot based on an oil-immersed transformer provided by the present invention, the main control unit includes a central processing unit, a storage module and a communication module. The central processing unit is respectively connected to the storage module, the communication module, servo 1, servo 2, servo 3, servo 4, oil supply and discharge device, camera 1, camera 2 and a sensor for collecting posture and depth information; the storage module is used to store the robot's operating data, collected image information and control program; the communication module adopts wireless communication technology with strong anti-interference capability to achieve stable communication with the host computer.

[0012] According to the present invention, an internal inspection robot based on an oil-immersed transformer is provided. Both camera 1 and camera 2 are high-definition waterproof cameras with autofocus and night vision functions. Their shooting angles complement each other and can cover a large area inside the transformer. The front fill light and the rear fill light both use high-brightness, low-energy LED lights, and the lighting angle is adjustable.

[0013] According to the present invention, an internal inspection robot based on an oil-immersed transformer is provided. The robot is also equipped with a power detection module for monitoring the power of a battery pack in real time and transmitting the power information to a host computer through a wireless communication module. When the power is lower than a preset value, the host computer issues an alarm prompt, and the robot starts an automatic return program at the same time, returning to the vicinity of the transformer inspection port through a propulsion system and a buoyancy drive device.

[0014] Compared with the existing technology, the internal inspection robot based on an oil-immersed transformer of the present invention has the functions of autonomous image recognition and autonomous spatial positioning. It can move quickly and flexibly inside the transformer, quickly determine the internal status and fault location of the transformer, and transmit clear image information back to the host computer in real time, greatly shortening the detection time and improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0016] Figure 1 This is an overall structural diagram of an internal inspection robot based on an oil-immersed transformer according to the present invention;

[0017] Figure 2 This is a bottom view of an internal inspection robot based on an oil-immersed transformer according to the present invention;

[0018] Figure 3 This is a side view of an internal inspection robot based on an oil-immersed transformer according to the present invention;

[0019] Figure 4 This is a diagram showing the architecture of a measurement and control system for an internal inspection robot based on an oil-immersed transformer according to the present invention;

[0020] Figure 5 This is a hardware block diagram of the electronic system of an internal inspection robot based on an oil-immersed transformer according to the present invention;

[0021] Figure 6 This is a block diagram of the software composition of the main control board of an internal inspection robot based on an oil-immersed transformer according to the present invention;

[0022] Figure 7 The present invention is a block diagram of the upper computer software composition of an internal inspection robot based on oil-immersed transformers.

[0023] Legend:

[0024] 1. Lower body; 2. Buoyancy tank; 3. Oil inlet and outlet nozzles; 4. Oil inlet and outlet device; 5. Front fill light; 6. Servo 1; 7. Arm 1; 8. First thruster; 9. Servo 2; 10. Arm 2; 11. Second thruster; 12. Servo 3; 13. Arm 3; 14. Third thruster; 15. Servo 4; 16. Arm 4; 17. Fourth thruster; 18. Fixing ring; 19. Anti-slip rope; 20. Main control unit; 21. Camera 1; 22. Camera 2; 23. Rear fill light. DETAILED DESCRIPTION

[0025] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it should not be understood as a limitation on the scope of protection of the present invention.

[0026] Reference Figure 1-7 The embodiment of the present invention is an internal inspection robot based on an oil-immersed transformer, which includes: a lower body 1, a buoyancy box 2 is fixedly connected to the lower surface of the lower body 1, an oil inlet and outlet nozzle 3 is provided on the lower surface of the buoyancy box 2, an oil inlet and outlet device 4 is provided inside the buoyancy box 2, a servo 2 9 is fixedly connected to the front end of the left surface of the lower body 1, an output end of the servo 2 9 is fixedly connected to an organic arm 2 10, and a front end of the organic arm 2 10 is fixedly connected to a second propeller 11, a servo 1 6 is fixedly connected to the rear end of the left surface of the lower body 1, an output end of the servo 1 6 is fixedly connected to an organic arm 1 7, and a front end of the organic arm 1 7 is fixedly connected to a first propeller 8, and a right surface of the lower body 1 is fixedly connected to the left surface of the lower body 1. The front end is fixedly connected to a servo three 12, the output end of the servo three 12 is fixedly connected to an arm three 13, the front end of the arm three 13 is fixedly connected to a third propeller 14, the rear end of the right surface of the lower body 1 is fixedly connected to a servo four 15, the output end of the servo four 15 is fixedly connected to an arm four 16, and the front end of the arm four 16 is fixedly connected to a fourth propeller 17; the upper surface of the lower body 1 is fixedly connected to a main control unit 20, the upper surface of the lower body 1 is fixedly connected to a camera one 21, the upper surface of the lower body 1 is fixedly connected to a camera two 22, the front end of the lower body 1 is provided with a front fill light 5, and the rear surface of the lower body 1 is provided with a rear fill light 23.

[0027] A fixing ring 18 is fixedly connected to the upper surface of the lower body 1. This ring is fixedly connected to an anti-drop rope 19 via a connecting buckle. The oil supply and discharge device 4 includes a micro-oil pump, an oil pipe, and a solenoid valve. The micro-oil pump is fixedly mounted inside the buoyancy tank 2. One end of the oil pipe is connected to the micro-oil pump, and the other end is connected to the oil inlet and outlet nozzles 3. The solenoid valve is installed on the oil pipe to control the flow of oil. The first propeller 8, second propeller 11, third propeller 14, and fourth propeller 17 all use a waterproof and sealed DC brushless motor to drive the propeller.

[0028] The main control unit 20 includes a central processing unit (CPU), a storage module, and a communication module. The CPU is connected to the storage module, the communication module, servo 1 (6), servo 2 (9), servo 3 (12), servo 4 (15), the oil inlet and outlet device (4), camera 1 (21), camera 2 (22), and sensors for collecting posture and depth information. The storage module stores the robot's operating data, collected image information, and control programs. The communication module uses wireless communication technology with strong anti-interference capabilities to achieve stable communication with the host computer. Camera 1 (21) and camera 2 (22) are both high-definition waterproof cameras with autofocus and night vision capabilities. Their complementary shooting angles can cover a large area inside the transformer. The front fill light (5) and rear fill light (23) both use high-brightness, low-energy LEDs with adjustable lighting angles.

[0029] The robot is also equipped with a power detection module for real-time monitoring of the battery pack's power level and transmitting the power information to the host computer through the wireless communication module; when the power level is lower than the preset value, the host computer will issue an alarm, and the robot will start the automatic return program and return to the vicinity of the transformer maintenance port through the propulsion system and buoyancy drive device.

[0030] Working principle: During the internal inspection of oil-immersed transformers, this internal inspection robot mainly relies on the coordinated operation of the propulsion system, buoyancy adjustment system, measurement and control system, and electronic system to achieve efficient and accurate inspection.

[0031] Propulsion and Buoyancy Control: The robot relies on four thrusters and a buoyancy tank for movement. Horizontally, servos 1 (6), 2 (9), 3 (12), and 4 (15) control the angles of arms 1 (7), 2 (10), 3 (13), and 4 (16), respectively, adjusting the directions of the first, second, third, and fourth thrusters 8, 11, 14, and 17. A waterproof, sealed brushless DC motor drives the propellers, generating thrust. By individually controlling the speed of the four thrusters, the robot achieves flexible movement. Vertically, the buoyancy tank 2 plays a key role. The micro-pump in the oil inlet and outlet device 4 activates, drawing transformer oil into and out of the buoyancy tank through an oil pipe. A solenoid valve precisely controls the oil flow. Increasing the oil flow increases the robot's weight, reducing its buoyancy and causing it to sink. Reducing the oil flow, however, causes the robot to float. This allows for precise control of the robot's depth in the transformer oil, ensuring it reaches the designated inspection location.

[0032] Motion Control and Data Interaction: The host computer is the core hub of the entire control system, through which the operator issues various control commands. These commands are transmitted to the microcontroller in the lower unit 1 via a wireless communication module in the form of wireless signals. Upon receiving the commands, the microcontroller rapidly interprets and processes them, and sends control signals to the corresponding motor driver or electronic speed controller (ESC) according to the instructions. For example, when controlling horizontal motion, the microcontroller sends PWM signals to the ESC, driving the DC brushless motor that drives the propeller. Simultaneously, based on the robot's attitude information fed back by the attitude sensor, the microcontroller continuously adjusts the motor speed and direction, achieving directional and fixed-point motion in the horizontal direction. In the vertical direction, the microcontroller controls the DC servo motor that drives the piston to adjust the oil level in the buoyancy tank. Based on depth information fed back by the depth sensor, the microcontroller precisely controls the robot's vertical position, ensuring stable and fixed-depth motion. During robot operation, the attitude sensor monitors the robot's attitude changes in real time, the depth sensor measures the robot's depth, the photoelectric limit switch detects whether the robot has reached a specific position, and the camera captures images of the transformer's interior. These data are transmitted back to the host computer in real time through the wireless transmission module. The operator can grasp the operating status of the robot in real time and adjust the control instructions in time to ensure the smooth progress of the detection work.

[0033] Data Acquisition, Processing, and Transmission: The electronic system is divided into two parts, the wet end and the dry end, which work together to complete data-related tasks. The wet end, located inside the robot, is the key area for data acquisition and preliminary processing. Depth and attitude sensors collect the robot's depth and attitude information, while cameras capture images of the transformer's interior. These data are transmitted to the main control board. Upon receiving the data, the main control board processes the depth and attitude information using control algorithms and outputs control signals to the electronic control module, adjusting the thrusters and ensuring stable robot operation. Furthermore, the main control board processes the video information captured by the camera and transmits it to the host computer via a wireless module. Simultaneously, the main control board receives motion commands from the host computer and drives the thrusters, enabling remote control of the robot. The host computer and joystick on the dry end form the human-machine interface. The host computer receives images and robot status information from the wet end and displays them on a GUI. The operator observes this information, analyzes the transformer's internal conditions and the robot's motion status, and then inputs control commands through the joystick. The joystick interface module interprets the commands and passes them to the management module. This module coordinates the operations of the various software modules and transmits the commands to the wet end via the wireless communication module, enabling real-time control of the robot. In addition, the video storage module of the host computer saves the collected video to the hard disk, which is convenient for subsequent offline analysis and helps to comprehensively evaluate the operating status of the transformer.

[0034] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the technical field without departing from the scope of the present invention.

Claims

1. An internal inspection robot based on an oil-immersed transformer, characterized in that: include: A lower body (1), wherein the lower surface of the lower body (1) is fixedly connected to a buoyancy box (2), the lower surface of the buoyancy box (2) is provided with an oil inlet and outlet nozzle (3), and the interior of the buoyancy box (2) is provided with an oil inlet and outlet device (4), the front end of the left surface of the lower body (1) is fixedly connected to a servo 2 (9), the output end of the servo 2 (9) is fixedly connected to an organic arm 2 (10), the front end of the organic arm 2 (10) is fixedly connected to a second propeller (11), the rear end of the left surface of the lower body (1) is fixedly connected to a servo 1 (6), the output end of the servo 1 (6) is fixedly connected to an organic arm 1 (7), and the front end of the organic arm 1 (7) is fixedly connected to a first propeller (8); The front end of the right side surface of the lower body (1) is fixedly connected to a servo three (12), the output end of the servo three (12) is fixedly connected to an organic arm three (13), the front end of the organic arm three (13) is fixedly connected to a third propeller (14), the rear end of the right side surface of the lower body (1) is fixedly connected to a servo four (15), the output end of the servo four (15) is fixedly connected to an organic arm four (16), and the front end of the organic arm four (16) is fixedly connected to a fourth propeller (17); The upper surface of the lower body (1) is fixedly connected to a main control unit (20), the upper surface of the lower body (1) is fixedly connected to a camera 1 (21), the upper surface of the lower body (1) is fixedly connected to a camera 2 (22), the front end of the lower body (1) is provided with a front fill light (5), and the rear surface of the lower body (1) is provided with a rear fill light (23).

2. The internal inspection robot based on oil-immersed transformer according to claim 1 is characterized in that: A fixing ring (18) is fixedly connected to the upper surface of the lower body (1), and the fixing ring (18) is fixedly connected to an anti-drop rope (19) via a connecting buckle.

3. The internal inspection robot based on oil-immersed transformer according to claim 1 is characterized in that: The oil inlet and outlet device (4) comprises a micro oil pump, an oil pipe and a solenoid valve. The micro oil pump is fixedly installed inside the buoyancy tank (2). One end of the oil pipe is connected to the micro oil pump, and the other end is connected to the oil inlet and outlet nozzles (3). The solenoid valve is installed on the oil pipe and is used to control the inlet and outlet of oil.

4. The internal inspection robot based on oil-immersed transformer according to claim 1 is characterized in that: The first propeller (8), the second propeller (11), the third propeller (14) and the fourth propeller (17) all adopt a structure in which a waterproof and sealed DC brushless motor drives a propeller.

5. The internal inspection robot based on oil-immersed transformer according to claim 1, characterized in that: The main control unit (20) includes a central processing unit, a storage module and a communication module. The central processing unit is respectively connected to the storage module, the communication module, the servo 1 (6), the servo 2 (9), the servo 3 (12), the servo 4 (15), the oil inlet and outlet device (4), the camera 1 (21), the camera 2 (22) and the sensor for collecting posture and depth information; the storage module is used to store the robot's operating data, collected image information and the control program; The communication module adopts wireless communication technology with strong anti-interference ability to achieve stable communication with the host computer.

6. The internal inspection robot based on oil-immersed transformer according to claim 1, characterized in that: The camera 1 (21) and the camera 2 (22) are both high-definition waterproof cameras with autofocus and night vision functions. Their shooting angles complement each other and can cover a larger range inside the transformer. The front fill light (5) and the rear fill light (23) both use high-brightness, low-energy LED lights, and the lighting angle is adjustable.

7. The internal inspection robot based on oil-immersed transformer according to claim 1 is characterized in that: The robot is also equipped with a power detection module for real-time monitoring of the battery pack's power level and transmitting the power information to the host computer via a wireless communication module. When the power level is lower than a preset value, the host computer issues an alarm and the robot starts an automatic return program, returning to the vicinity of the transformer inspection port via the propulsion system and buoyancy drive device.

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