Live detection system of oil charging equipment and control method

Abstract

The invention discloses an oil charging equipment live detection system and a control method. The system comprises a quadruped robot device and a mechanical arm device, the quadruped robot device comprises a control platform and four moving feet formed by multi-joint units. The control platform is used for collecting information of the environment where the quadruped robot is located, analyzing and obtaining moving path information according to the environment information and the target position information, and generating driving information of all joint units of the moving feet according to the moving path information; the moving feet are in communication connection with the control platform and used for adjusting the angles and the positions of the different joint units according to the driving information so as to drive the quadruped robot device to avoid obstacles in the environment and move to the target position; and the mechanical arm device is arranged at a preset position of the quadruped robot device and is used for moving preset detection equipment to a preset area of the to-be-detected oil filling equipment according to a corresponding angle and position according to a received detection requirement when the quadruped robot device moves to a target position so as to collect a detection result.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of live maintenance, and particularly to a live detection system for oil-filled equipment and a control method. BACKGROUND

[0002] In modern power systems, large oil-filled equipment such as transformers and high-voltage reactors are key components of the power grid. The operating state of these devices directly affects the safety and stability of the entire power system. In order to ensure its safe operation, regular state monitoring and fault detection are essential. Among them, vibration, temperature and other key parameters are important indicators for evaluating the operating state of the equipment. However, traditional detection methods usually require the equipment to be powered off to avoid the safety risk of operating personnel contacting the equipment in a high-voltage environment.

[0003] With the increasing complexity of power equipment, the power grid has higher requirements for operational efficiency and power supply stability, and the time and economic costs brought by the power-off detection method have become a serious problem. In order to reduce the number of power-off detections, live detection technology has gradually gained attention. In recent years, the development of robot technology has provided new possibilities for live detection, especially the flexibility of quadruped robots in complex environments makes live detection more operable.

[0004] 1. Traditional manual live detection: operating personnel wear insulating equipment and use handheld detection equipment to collect vibration, temperature and other parameters of oil-filled equipment (such as transformers). The detection personnel usually need to operate the instrument near the high-voltage equipment, and complete the detection through vision, hearing and contact sensors. Problems: The operating personnel detect near the live equipment, although wearing protective equipment, there is still a potential risk of contacting high-voltage equipment, which may cause serious safety accidents. Manual detection is limited by the complex structure of the equipment and the range of activities of the detection personnel, especially for large oil-filled equipment, some parts are difficult to access, resulting in incomplete detection. Manual operation is time-consuming and difficult to achieve real-time and continuous monitoring, affecting the timely discovery and handling of faults.

[0005] 2. Fixed detection sensor scheme: fixed sensors are pre-installed on transformers and other oil-filled equipment to achieve long-term monitoring of vibration, temperature and other parameters through these sensors. The sensors transmit detection data to the monitoring center through data lines or wireless methods. Problems: Installing fixed sensors requires equipment modification, especially in complex equipment or poor environment, installation and maintenance are difficult. Fixed sensors can only monitor the local part of the installation location, and it is difficult to fully cover all key parts of the equipment, and when the sensor fails, the monitoring blind area cannot be avoided. The flexibility of the sensor system is poor, and it is difficult to be universal among different equipment, and cannot meet the complex maintenance requirements. SUMMARY

[0006] The application aims to provide an oil-filled equipment live detection system and control method, which realizes real-time monitoring and fault warning of important operating parameters such as equipment vibration and temperature through a high-flexibility quadruped robot, a telescopic mechanical arm, an intelligent sensor integration and a data analysis system, so as to automatically detect multiple parameters of transformers and other large oil-filled equipment without power interruption.

[0007] To achieve the above purpose, the oil-filled equipment live detection system provided by the application specifically comprises a quadruped robot device and a mechanical arm device; the quadruped robot device comprises a control platform and four mobile feet constructed by multi-joint units; the control platform is used to collect environmental information of the quadruped robot, analyze the mobile path information according to the environmental information and target position information, and generate driving information of each joint unit of the mobile feet according to the mobile path information; the mobile feet are in communication connection with the control platform, and are used to adjust the angles and positions of different joint units according to the driving information, so as to drive the quadruped robot device to avoid obstacles in the environment and move to a target position; the mechanical arm device is arranged at a preset position of the quadruped robot device, and is used to move a preset detection device to a preset area of a to-be-detected oil-filled equipment according to the received detection requirements when the quadruped robot device moves to the target position, so as to collect detection results.

[0008] In the above oil-filled equipment live detection system, optionally, the mechanical arm device is composed of multiple joint units and corresponding multiple servo motors, and the mechanical arm device is used to adjust the angles and positions of different joint units according to multiple driving signals received by the servo motors, so as to move a preset detection device to a preset area of a to-be-detected oil-filled equipment according to corresponding angles and positions, and collect detection results.

[0009] In the above oil-filled equipment live detection system, optionally, the mechanical arm device further comprises an analysis module, which is used to analyze detection angles and detection paths according to received detection requirements and current position information, generate multiple driving signals according to the detection angles and the detection paths, and provide the driving signals to the servo motors.

[0010] In the above oil-filled equipment live detection system, optionally, the mechanical arm device further comprises an end detection module, which is arranged at an operating end of the mechanical arm device and is used to detect operating parameters and environmental data of a to-be-detected oil-filled equipment.

[0011] In the above oil-filled equipment live detection system, optionally, the end detection module further comprises a vibration sensor, an ultrasonic and infrared sensor, and a discharge detection sensor; the vibration sensor is used to collect vibration data during operation of the mechanical arm device; the ultrasonic and infrared sensor is used to collect thermal radiation of the oil-filled equipment to be detected; and the discharge detection sensor is used to collect partial discharge of the oil-filled equipment to be detected.

[0012] In the above oil-filled equipment live detection system, optionally, the mechanical arm device further comprises a warning module and a data transmission module; the warning module is connected to the end detection module, and is used to compare data detected by the end detection module with a preset warning threshold, and generate a warning signal according to a comparison result; and the data transmission module is connected to the end detection module, and is used to transmit data detected by the end detection module to a preset external device.

[0013] In the above oil-filled equipment live detection system, optionally, the system further comprises an electrical isolation device; the electrical isolation device is arranged at a preset position of the quadruped robot device and the mechanical arm device, and is used to isolate current conduction between the oil-filled equipment to be detected and the quadruped robot device and the mechanical arm device, and reduce electromagnetic interference of external electrical equipment on the quadruped robot device and the mechanical arm device.

[0014] The application further provides a control method suitable for the oil-filled equipment live detection system, and the method comprises the following steps: collecting environment information of the quadruped robot, analyzing the environment information and target position information to obtain movement path information, and generating driving information of each joint unit of the moving foot according to the movement path information; adjusting the angles and positions of different joint units according to the driving information, so as to drive the quadruped robot device to avoid obstacles in the environment and move to a target position; and moving a preset detection device to a preset area of the oil-filled equipment to be detected according to a received detection requirement, and collecting detection results.

[0015] The application further provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above method when executing the computer program.

[0016] The application further provides a computer readable storage medium, which stores a computer program for executing the above method.

[0017] The application further provides a computer program product, which comprises computer programs / instructions, and the computer programs / instructions implement the steps of the above method when executed by a processor.

[0018] The beneficial technical effects of the present application are: adopting quadruped bionic design, having strong obstacle crossing ability and complex environment adaptability, and being able to flexibly move to different equipment positions in the substation. The autonomous navigation system scans the environment in real time through laser radar and camera, and combines with the path planning algorithm to realize high-precision automatic navigation and obstacle avoidance. The mechanical arm has multi-degree-of-freedom motion and telescopic function, and can realize accurate positioning and operation in complex equipment structure. The mechanical arm end integrates vibration, temperature and other sensor modules, supports multi-parameter detection of equipment, and ensures health monitoring of equipment operation under live working condition. The real-time data acquisition and wireless transmission system ensures the data stability in the high electromagnetic interference environment. The fault diagnosis algorithm and automatic alarm system are designed and integrated. Real-time data analysis and equipment health state evaluation technology of vibration, temperature and other parameters. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings described herein are intended to provide further understanding of the present application, form a part of the present application, and do not constitute a limitation of the present application. In the drawings:

[0020] Figure 1 The structure schematic diagram of the oil-filled equipment live detection system provided by an embodiment of the present application is shown in the figure.

[0021] Figure 2 The structure schematic diagram of the multi-joint robot device provided by an embodiment of the present application is shown in the figure.

[0022] Figure 3 The flowchart of the control method provided by an embodiment of the present application is shown in the figure.

[0023] Figure 4 The structure schematic diagram of the electronic device provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0024] The embodiments of the present application will be described in detail below with reference to the drawings and embodiments, so that the implementation process of how the present application applies technical means to solve technical problems and achieve technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, each embodiment in the present application and each feature in each embodiment can be combined with each other, and the technical solutions formed thereby are within the protection scope of the present application.

[0025] In addition, the steps shown in the flowchart of the drawings can be executed in a computer system such as a group of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in different order.

[0026] Please refer to Figure 1As shown, the oil-filled equipment live-line detection system provided by the present application specifically comprises a quadruped robot device and a mechanical arm device 101; the quadruped robot device comprises a control platform 102 and four mobile feet constructed by multi-joint units 103; the control platform 102 is used for collecting environment information of the quadruped robot, analyzing to obtain movement path information according to the environment information and target position information, and generating driving information of each joint unit of the mobile feet 103 according to the movement path information; the mobile feet 103 are in communication connection with the control platform 102, and are used for respectively adjusting the angles and positions of different joint units according to the driving information, so as to drive the quadruped robot device to avoid obstacles in the environment and move to a target position; the mechanical arm device is arranged at a preset position of the quadruped robot device, and is used for moving a preset detection device to a preset area of an oil-filled equipment to be detected according to a received detection requirement when the quadruped robot device moves to the target position, and collecting detection results.

[0027] Please refer to Figure 2 As shown, in an embodiment of the present application, the quadruped robot comprises four support legs, a base connected with each of the support legs, a mechanical arm arranged on the base, and a detection device arranged at an end of the mechanical arm away from the base; wherein the quadruped robot further comprises an image acquisition device and a laser scanning device arranged on the base; the current position of the quadruped robot is determined by receiving current environment frame images and current environment point cloud information sent by the image acquisition device, wherein the image acquisition device is used for acquiring surrounding environment images of the quadruped robot in real time, and the laser scanning device is used for acquiring surrounding environment point cloud information of the quadruped robot in real time; 3D semantic information of the current environment frame images and the current environment point cloud information is determined based on a pre-trained semantic segmentation model; and the current position is determined based on the 3D semantic information and a pre-constructed 3D semantic map.

[0028] Therefore, the oil-filled equipment live-line detection system provided by the present application can automatically detect multiple parameters of transformers and other large oil-filled equipment without power interruption. Through the high-flexibility quadruped robot, the telescopic mechanical arm, the intelligent sensor integration and the data analysis system, real-time monitoring and fault warning of important operating parameters such as equipment vibration and temperature are realized; wherein the main body of the oil-filled equipment live-line detection system comprises four parts, i.e. a quadruped robot main body, a telescopic mechanical arm, a sensor integration and multiple parameter detection part, and a control system and data processing part; the specific implementation logic of each part will be described in detail in subsequent embodiments, and will not be described one by one here.

[0029] In the above embodiments, the quadruped robot device serves as a detection platform. It has high flexibility and stability, can freely move in complex environments such as substations, and adapt to various terrains and obstacles to ensure safe arrival at the detection area. Each foot is composed of multiple joints, with multi-degree-of-freedom motion capability. The robot can adaptively adjust its posture according to environmental changes, ensuring stable walking in rugged terrain or narrow spaces. The robot is equipped with sensors such as laser radar and cameras, which can scan the surrounding environment in real time, and generate the best moving path through autonomous navigation algorithms, automatically bypass obstacles, and safely approach the target area of the oil-filled equipment. The quadruped design of the robot allows it to easily cross steps, trenches, and other common obstacles in substations, ensuring that it can complete the detection task smoothly without environmental restrictions when the equipment is running.

[0030] In an embodiment of the present application, the mechanical arm device is composed of multiple joint units and corresponding multiple servo motors. The mechanical arm device is used to adjust the angles and positions of different joint units according to multiple driving signals received by the servo motors, so as to move the preset detection equipment to the preset area of the oil-filled equipment to be detected according to the corresponding angles and positions to collect detection results. Further, the mechanical arm device further comprises an analysis module, which is used to analyze the detection angle and detection path according to the received detection requirement and current position information, generate multiple driving signals according to the detection angle and the detection path, and provide the driving signals to the servo motors.

[0031] Specifically, in actual work, in order to realize the interactive detection of equipment, the present application utilizes an integrated high-precision telescopic mechanical arm for adaptive operation, which is installed on the main body of the quadruped robot. The mechanical arm is designed to be flexible and can accurately position the key parts of the equipment for detection. The mechanical arm is composed of multiple joints and has high flexibility, which can be adjusted to different angles and positions to ensure accurate contact with the target parts in complex equipment structures. Each joint of the mechanical arm is controlled by an independent servo motor, providing accurate position control and motion trajectory adjustment. The mechanical arm can freely extend and retract according to the detection requirements to extend the operation range and reach the internal area or difficult-to-reach parts of the equipment, realizing high-precision detection. The end of the mechanical arm is equipped with a replaceable tool interface, which can integrate multiple detection sensor modules, including vibration sensors, temperature sensors, etc., supporting automatic switching for different detection tasks.

[0032] In an embodiment of the present application, the mechanical arm device further comprises an end detection module arranged at the operating end of the mechanical arm device, for detecting the operating parameters and environmental data of the oil-filled equipment to be tested. Further, the end detection module can further comprise a vibration sensor, an ultrasonic and infrared sensor, and a discharge detection sensor; the vibration sensor is used to collect vibration data during operation of the mechanical arm device; the ultrasonic and infrared sensor is used to collect the heat radiation condition of the oil-filled equipment to be tested; and the discharge detection sensor is used to collect the partial discharge condition of the oil-filled equipment to be tested.

[0033] Specifically, in actual work, a plurality of sensors are integrated at the end of the mechanical arm for real-time detection of key operating parameters of large oil-filled equipment. Vibration sensor: the vibration sensor is installed at the end of the mechanical arm and can closely adhere to the surface of the equipment to collect vibration data during operation of the equipment. By analyzing the vibration data, it can be determined whether the equipment has mechanical faults or potential abnormal operating conditions, such as loose windings, bearing wear, etc. Ultrasonic and infrared sensor: the mechanical arm can also integrate ultrasonic and infrared sensors for further evaluation of the heat radiation condition of the equipment surface or for partial discharge detection. These sensors can quickly capture the discharge phenomenon during operation of the equipment, helping to identify the aging or damage of the insulation layer. Of course, because the actual situation is different, those skilled in the art can also select different sensors according to actual needs, and the present application does not make further limitations here.

[0034] In an embodiment of the present application, the mechanical arm device further comprises a warning module and a data transmission module; the warning module is connected with the end detection module, for comparing the data detected by the end detection module with a preset warning threshold, and generating a warning signal according to the comparison result; and the data transmission module is connected with the end detection module, for transmitting the data detected by the end detection module to a preset external device.

[0035] Specifically, in actual work, the early warning module and the data transmission module can also be integrated in the oil-filled equipment live detection system. For this purpose, the relevant technical personnel in the field can set the early warning module and the data transmission module according to actual needs, and the present application does not limit this. Secondly, the oil-filled equipment live detection system provided by the present application realizes accurate control of the robot and the detection sensor and real-time data processing based on the configured intelligent control module. The robot control module is responsible for the motion control of the quadruped robot and the operation of the mechanical arm. The robot receives external instructions through wireless signals and completes the specified detection task. The control system can adjust the actions of the robot and the mechanical arm according to the data feedback by the sensor to realize closed-loop control. The data collected by all detection sensors are transmitted to the remote monitoring center in real time through the data acquisition module. The data transmission module can use wireless communication technology to ensure stable data transmission in a high electromagnetic interference environment and avoid data loss or signal interference.

[0036] In an embodiment of the present application, the system further comprises an electrical isolation device; the electrical isolation device is arranged at a predetermined position of the quadruped robot device and the mechanical arm device, and is used to isolate the current conduction between the oil-filled equipment to be detected and the quadruped robot device and the mechanical arm device, and to reduce the electromagnetic interference of external electrical equipment on the quadruped robot device and the mechanical arm device.

[0037] Specifically, in actual work, in order to ensure the safety of live detection, the present application provides multiple safety protection mechanisms to prevent the robot from being disturbed by current or from accidents during detection. Electrical isolation and insulation design, high-performance insulation materials are used for the mechanical arm and the sensor module to ensure that the robot can operate safely in a high-voltage environment. The insulation material can effectively prevent high-voltage current from being transmitted to the robot through the equipment, avoiding the risk of electric shock. The robot is equipped with an emergency stop function. Once a device failure or abnormal operation is detected, the system will immediately stop the operation of the mechanical arm and let the robot retreat to a safe position to prevent equipment damage or safety accidents.

[0038] Please refer to Figure 3 The present application also provides a control method suitable for the oil-filled equipment live detection system, the method comprising:

[0039] S301: Collecting environment information of the quadruped robot, analyzing the movement path information according to the environment information and target position information, and generating driving information of each joint unit of the mobile foot according to the movement path information;

[0040] S302: Adjusting the angles and positions of different joint units according to the driving information to drive the quadruped robot device to avoid obstacles in the environment and move to the target position;

[0041] S303: According to the received detection requirements, the preset detection device is moved to the preset area of the to-be-tested oil-filled equipment at a corresponding angle and position to collect detection results.

[0042] In the above embodiment, the moving path information can be obtained in the following manner: a plurality of intermediate positions between the current position and the preset area of the to-be-tested oil-filled equipment are determined; an optimal sub-path between two adjacent positions is determined, wherein the two adjacent positions include the current position and the first intermediate position, the last intermediate position and the next intermediate position, and the last intermediate position and the preset area of the to-be-tested oil-filled equipment; based on the optimal sub-path between the two adjacent positions, an optimal path for the quadruped robot to travel from the current position to the preset area of the to-be-tested oil-filled equipment is determined, that is, the moving path information.

[0043] Since the control method solves problems by a similar principle to the oil-filled equipment live-line detection system, the implementation of the control method can refer to the implementation of the oil-filled equipment live-line detection system, and the repeated parts will not be described again.

[0044] The beneficial technical effects of the present application are: adopting quadruped bionic design, having strong obstacle crossing ability and complex environment adaptability, and being able to move flexibly to different equipment positions in the substation. The autonomous navigation system scans the environment in real time through laser radar and camera, and combines with the path planning algorithm to realize high-precision automatic navigation and obstacle avoidance. The mechanical arm has multi-degree-of-freedom motion and telescopic function, and can realize accurate positioning and operation in complex equipment structures. The end of the mechanical arm integrates multiple sensor modules such as vibration and temperature, supports multi-parameter detection of the equipment, and ensures the health monitoring of the equipment under live-line state. Real-time data acquisition and wireless transmission system ensures the data stability in high electromagnetic interference environment. Design and integration of fault diagnosis algorithm and automatic alarm system. Real-time data analysis and equipment health state evaluation technology of multiple parameters such as vibration and temperature.

[0045] The present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above method.

[0046] The present application also provides a computer readable storage medium, which stores a computer program for executing the above method.

[0047] The present application also provides a computer program product, comprising computer programs / instructions, which are executed by a processor to implement the steps of the above method.

[0048] As Figure 4As shown, the electronic device 600 can also include a communication module 110, an input unit 120, an audio processor 130, a display 160, a power supply 170. Notably, the electronic device 600 does not necessarily have to include all of the components shown in Figure 4 FIG. 1; moreover, the electronic device 600 can include components not shown in Figure 4 FIG. 1, which can be found in the prior art.

[0049] As shown, the central processing unit 100, which is sometimes referred to as a controller or operating control, can include a microprocessor or other processor device and / or logic device, which receives input and controls the operation of the various components of the electronic device 600. Figure 4

[0050] The memory 140, for example, can be one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. Information relating to failures can be stored, in addition to programs for executing the information. The central processing unit 100 can execute the programs stored in the memory 140 to achieve information storage or processing, etc.

[0051] The input unit 120 provides input to the central processing unit 100. The input unit 120 is, for example, a key or touch input device. The power supply 170 is used to provide power to the electronic device 600. The display 160 is used to display display objects such as images and text. The display can be, for example, an LCD display, but is not limited thereto.

[0052] The memory 140 can be a solid state memory, such as a read only memory (ROM), a random access memory (RAM), a SIM card, etc. It can also be a memory that retains information even when power is off, can be selectively erased, and is provided with more data, examples of which are sometimes referred to as EPROM, etc. The memory 140 can also be some other type of device. The memory 140 includes a buffer memory 141 (sometimes referred to as a buffer). The memory 140 can include an application / function storage section 142 for storing application programs and function programs or a flow for executing the operation of the electronic device 600 by the central processing unit 100.

[0053] The memory 140 can also include a data storage section (data 143) for storing data such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. A driver storage section (drivers 144) of the memory 140 can include various drivers of the electronic device for communication functions and / or for executing other functions of the electronic device, such as a messaging application, a contact application, etc.​

[0054] The communication module 110 is a transmitter / receiver 110 that transmits and receives signals via an antenna 111. The communication module (transmitter / receiver) 110 is coupled to the central processor 100 to provide input signals and receive output signals, as is the case with conventional mobile communication terminals.

[0055] Based on different communication technologies, a plurality of communication modules 110, such as a cellular network module, a Bluetooth module, and / or a wireless LAN module, can be provided in the same electronic device. The communication module (transmitter / receiver) 110 is also coupled to a speaker 131 and a microphone 132 via an audio processor 130 to provide audio output via the speaker 131 and receive audio input from the microphone 132, thereby implementing the usual telecommunication functions. The audio processor 130 can include any suitable buffers, decoders, amplifiers, etc. In addition, the audio processor 130 is coupled to the central processor 100, thereby enabling recording on the local device via the microphone 132 and playing of stored sounds on the local device via the speaker 131.

[0056] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0057] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing system or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 The flowchart illustrations and / or block diagrams in accordance with embodiments of the application can also be implemented by computer readable program instructions stored on computer readable media that are used by a processor of a computer or other programmable data processing apparatus to produce a machine such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 The flowchart illustrations and / or block diagrams in accordance with embodiments of the application can also be implemented by computer readable program instructions stored on computer readable media that are used by a processor of a computer or other programmable data processing apparatus to produce a machine such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0058] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flowchart illustrations and / or block diagrams block or blocks. Figure 1one or more processes and / or blocks Figure 1 the function specified in the one or more blocks.

[0059] These computer program instructions can also be loaded into computer or other programmable data processing devices, so that a series of operation steps are performed on the computer or other programmable data processing devices to generate computer-implemented processes, so that the instructions executed on the computer or other programmable data processing devices provide processes for implementing the flow Figure 1 one or more processes and / or blocks Figure 1 the function specified in the one or more blocks.

[0060] The specific embodiments described above are intended to be illustrative of the present application, and are not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A live detection system for oil-filled equipment, characterized in that: The system comprises a quadruped robot device and a robotic arm device; The quadruped robot device comprises a control platform and four mobile feet constructed of multi-joint units; The control platform is used to collect environmental information of the quadruped robot, analyze and obtain movement path information based on the environmental information and target position information, and generate driving information of each joint unit of the mobile foot based on the movement path information; The mobile foot is in communication with the control platform and is used to adjust the angles and positions of different joint units according to the driving information, so as to drive the quadruped robot device to avoid obstacles in the environment and move to a target position; The robotic arm device is arranged at a preset position of the quadruped robot device, and is used to move the preset detection equipment to the preset area of ​​the oil-filled equipment to be tested at the corresponding angle and position according to the received detection requirements when the quadruped robot device moves to the target position to collect the detection results.

2. The oil-filled equipment live detection system according to claim 1, characterized in that: The robotic arm device is composed of multiple joint units and corresponding multiple servo motors. The robotic arm device is used to adjust the angles and positions of different joint units according to multiple drive signals received by the servo motors, so as to move the preset detection equipment to the preset area of ​​the oil-filled equipment to be tested at the corresponding angle and position to collect the detection results.

3. The oil-filled equipment charge detection system according to claim 2, characterized in that: The robotic arm device also includes an analysis module, which is used to analyze and obtain a detection angle and a detection path based on the received detection requirements and current position information, generate multiple drive signals based on the detection angle and the detection path, and provide the drive signals to the servo motor.

4. The oil-filled equipment live detection system according to claim 2, characterized in that: The robotic arm device further includes an end detection module, which is arranged at the operating end of the robotic arm device and is used to detect operating parameters and environmental data of the oil-filled equipment to be tested.

5. The oil-filled equipment live detection system according to claim 4, characterized in that: The end detection module also includes a vibration sensor, an ultrasonic and infrared sensor, and a discharge detection sensor; The vibration sensor is used to collect vibration data during the operation of the robotic arm device; The ultrasonic and infrared sensors are used to collect the thermal radiation of the oil-filled equipment to be tested; The discharge detection sensor is used to collect partial discharge conditions of the oil-filled equipment to be tested.

6. The oil-filled equipment live detection system according to claim 4, characterized in that: The robotic arm device also includes an early warning module and a data transmission module; The early warning module is connected to the terminal detection module and is used to compare the data detected by the terminal detection module with a preset alarm threshold and generate an early warning signal according to the comparison result; The data transmission module is connected to the terminal detection module and is used to transmit the data detected by the terminal detection module to a preset external device.

7. The oil-filled equipment charge detection system according to claim 1, characterized in that: The system further comprises an electrical isolation device; The electrical isolation device is arranged at a preset position of the quadruped robot device and the robotic arm device, and is used to isolate the current conduction between the oil-filled equipment to be tested and the quadruped robot device and the robotic arm device, and to reduce the electromagnetic interference of the quadruped robot device and the robotic arm device to external electrical equipment.

8. A control method for the oil filling equipment charged detection system according to any one of claims 1 to 7, characterized in that: The method comprises: Collecting environmental information of the quadruped robot, analyzing the environmental information and target position information to obtain movement path information, and generating driving information for each joint unit of the mobile foot according to the movement path information; Adjusting the angles and positions of different joint units according to the driving information to drive the quadruped robot device to avoid obstacles in the environment and move to a target position; According to the received testing requirements, the preset testing equipment is moved at the corresponding angle and position to the preset area of ​​the oil-filled equipment to be tested to collect the test results.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to claim 8 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to claim 8 is implemented.

11. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to claim 8 are implemented.

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