Transformer bushing non-power-off maintenance system and control method

Abstract

The invention discloses a transformer bushing non-power-off maintenance system and a control method. The system comprises a multi-joint robot device and a visual positioning device. The multi-joint robot device generates corresponding driving signals according to the received control signals and the current angles and positions of the joint units, and provides the driving signals to servo motors corresponding to the joint units in the mechanical arm module; the angles and the positions of different joint units are adjusted according to a plurality of driving signals provided by the servo motor so as to adapt to the geometric structure of the transformer bushing to carry out oil extraction operation; the visual positioning device is used for acquiring image information and distance information of the transformer routines; analyzing and calculating the position information of the transformer bushing according to the image information and the distance information; according to the position information and the current position information of the multi-joint robot device, control information is generated through an obstacle avoidance algorithm, and a control signal is provided for the multi-joint robot device.

Description

Technical Field

[0001] This application relates to the field of live-line maintenance, and more particularly to a transformer bushing uninterrupted power-off maintenance system and control method. Background Technology

[0002] Transformers are critical equipment in power systems, and their operating status directly affects the safety and stability of the power grid. Transformer bushings, as an important component of transformers, require meticulous maintenance and inspection, especially the condition of the insulating oil, which reflects the health of the bushings. Therefore, regularly inspecting and sampling the oil in transformer bushings has become one of the core tasks of power system maintenance.

[0003] Traditional transformer maintenance typically requires a power outage to ensure personnel safety and operational accuracy. However, power outages not only impact grid operation but also result in economic losses due to power interruptions. With the increasing intelligence and automation of power grids and the growing demands for grid stability, how to perform maintenance operations without power outages has become a pressing problem to be solved.

[0004] In recent years, with the rapid development of robotics technology, robot-based power equipment maintenance solutions have received increasing attention. However, existing robot systems in power systems are mostly used for routine inspections, capable of visual inspections or simple data collection. There are no mature solutions yet capable of performing complex operations under energized conditions, such as transformer bushing oil sampling and fault detection.

[0005] 1. Traditional Manual Maintenance Solution: Under power outage conditions, maintenance personnel manually operate mechanical tools to sample oil from transformer bushings and detect faults. This solution typically requires the substation to be de-energized, and maintenance personnel wearing insulated equipment must enter the work area to manually adjust and sample oil using the tools. Problems: The equipment must be de-energized; manual operation is easily affected by external environmental factors such as working at heights, high electromagnetic interference, and confined spaces, making it difficult to fully guarantee the safety of maintenance personnel. Manual operation has low precision, especially in scenarios requiring operation on low-oil equipment such as bushings, which is prone to errors. The entire process is time-consuming and labor-intensive.

[0006] 2. Automated Inspection Robot Solution: In recent years, some power companies and research institutions have developed robots suitable for substation inspection. These robots mainly perform periodic inspections along fixed paths, collecting data such as images and temperatures from equipment, and making preliminary fault diagnoses. Problems: Existing inspection robots can only perform simple inspection tasks, primarily collecting data and performing image analysis. They cannot perform complex maintenance operations such as automatic oil sampling from transformer bushings. Inspection robots generally lack the ability to deeply interact with the complex environment of substations and cannot autonomously handle live-line operations on complex equipment. Summary of the Invention

[0007] The purpose of this application is to provide a transformer bushing uninterrupted maintenance system and control method based on a multi-joint robot. By introducing a multi-joint robot, a vision positioning system, and an electrical isolation module, automated maintenance and inspection of the transformer can be achieved under uninterrupted power conditions.

[0008] To achieve the above objectives, the transformer bushing uninterrupted power maintenance system provided in this application specifically includes a multi-joint robot device and a visual positioning device. The multi-joint robot device includes a robotic arm module constructed from multiple joint units and a control module. The control module is used to generate corresponding drive signals based on received control signals and the current angle and position of the joint units, and to provide the drive signals to the servo motors corresponding to each joint unit in the robotic arm module. The robotic arm module is used to adjust the angle and position of different joint units according to the multiple drive signals provided by the servo motors to adapt to the geometry of the transformer bushing for oil sampling operations. The visual positioning device includes an image acquisition module, a distance recognition module, an analysis module, and a navigation module. The image acquisition module and the distance recognition module are used to acquire image information and distance information of the transformer bushing. The analysis module is used to analyze and calculate the position information of the transformer bushing based on the image information and distance information. The navigation module is used to generate control information based on the position information and the current position information of the multi-joint robot device through an obstacle avoidance algorithm, and to provide the control signals to the multi-joint robot device.

[0009] In the above-mentioned transformer bushing uninterrupted power maintenance system, optionally, the multi-joint robot device also includes a flexible end effector module. The flexible end effector module is set at the operating end of the robotic arm and is used to complete the oil extraction operation through the oil extraction port of the transformer bushing, as well as to detect the oil extraction parameters and environmental data during the oil extraction operation.

[0010] In the aforementioned transformer bushing uninterrupted power maintenance system, optionally, the flexible terminal module includes an oil sampling unit, a discharge detection unit, and an environmental detection unit; the oil sampling unit is used to grasp the transformer bushing using a flexible gripping component and complete the oil sampling operation through the oil sampling port of the transformer bushing; the discharge detection unit is used to detect the discharge status of a preset area during the oil sampling process of the oil sampling unit; the environmental detection unit is used to detect temperature and vibration data, as well as oil sampling pressure and flow rate data, during the oil sampling process of the oil sampling unit.

[0011] In the above-mentioned transformer bushing uninterrupted power maintenance system, optionally, the multi-joint robot device also includes an early warning module, which is connected to the flexible end module and is used to compare the data detected by the flexible end module with a preset alarm threshold and generate an early warning signal based on the comparison result.

[0012] In the above-mentioned transformer bushing uninterrupted power maintenance system, optionally, the navigation module includes a path planning unit and an obstacle avoidance unit; the path planning unit is used to calculate and obtain a planned path based on the location information and the current position information of the multi-joint robot through a path planning algorithm; the obstacle avoidance unit is used to generate control information based on the planned path and pre-stored environmental structure information through an obstacle avoidance algorithm.

[0013] In the above-mentioned transformer bushing uninterrupted power maintenance system, optionally, the system further includes an electrical isolation device; the electrical isolation device is set at a preset position of the multi-joint robot device to isolate the current conduction between the transformer bushing and the multi-joint robot device, and to reduce the electromagnetic interference of external electrical equipment to the multi-joint robot device.

[0014] In the above-mentioned transformer bushing uninterrupted power maintenance system, optionally, the system further includes a remote interaction device; the remote interaction device is connected to the multi-joint robot device and is used to display and output the data collected by the multi-joint robot device, as well as to receive external input control signals.

[0015] This application also provides a control method applicable to the aforementioned transformer bushing uninterrupted power maintenance system. The method includes: acquiring image information and distance information of the transformer bushing; analyzing and calculating the position information of the transformer bushing based on the image information and distance information; generating control information using an obstacle avoidance algorithm based on the position information and the current position information of the multi-joint robot device; generating corresponding drive signals based on the received control signals and the current angle and position of the joint units; providing the drive signals to the servo motors corresponding to each joint unit in the robotic arm module; and adjusting the angles and positions of different joint units according to the multiple drive signals provided by the servo motors to adapt to the geometry of the transformer bushing for oil sampling operations.

[0016] This application also provides an electronic device, including 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-described method.

[0017] This application also provides a computer-readable storage medium storing a computer program that performs the above-described methods.

[0018] This application also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the above-described method.

[0019] The beneficial technical effects of this application are as follows: The multi-joint robot features a multi-degree-of-freedom robotic arm design, enabling it to perform high-precision operations flexibly in complex spaces. Its modular end-effector tools include oil sampling tools, detection sensors, and monitoring equipment, supporting rapid switching between various maintenance tasks and enabling operations such as live oil sampling and inspection of transformer bushings. High-performance insulating materials and electrical isolation design ensure safe operation of the robot in energized environments. The visual positioning and navigation system, combined with a high-definition camera and depth sensor, accurately perceives the working environment and achieves precise positioning and attitude adjustment of the transformer bushings through dynamic path planning. The system is equipped with closed-loop control and multi-sensor fusion technology, enabling real-time feedback and adjustment of operating parameters, ensuring accurate acquisition of data such as spatial positioning and oil sampling volume, and timely emergency handling in case of anomalies, ensuring the safety of equipment and personnel. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is a schematic diagram of the structure of a transformer bushing uninterrupted power maintenance system provided in an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the structure of a multi-joint robot device provided in an embodiment of this application;

[0023] Figure 3 This is a schematic flowchart of a control method provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] The following will describe in detail the implementation methods of this application with reference to the accompanying drawings and embodiments, so as to fully understand how this application uses technical means to solve technical problems and achieve technical effects, and to implement it accordingly. It should be noted that, as long as there is no conflict, the various embodiments and features in each embodiment of this application can be combined with each other, and the resulting technical solutions are all within the protection scope of this application.

[0026] Furthermore, the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0027] The transformer bushing uninterrupted power maintenance system provided in this application specifically includes a multi-joint robot device and a visual positioning device. The multi-joint robot device includes a robotic arm module constructed from multiple joint units and a control module. The control module is used to generate corresponding drive signals based on received control signals and the current angle and position of the joint units, and provides the drive signals to the servo motors corresponding to each joint unit in the robotic arm module. The robotic arm module is used to adjust the angle and position of different joint units according to the multiple drive signals provided by the servo motors to adapt to the geometry of the transformer bushing for oil sampling operations. The visual positioning device includes an image acquisition module, a distance recognition module, an analysis module, and a navigation module. The image acquisition module and the distance recognition module are used to acquire image information and distance information of the transformer bushing. The analysis module is used to analyze and calculate the position information of the transformer bushing based on the image information and distance information. The navigation module is used to generate control information based on the position information and the current position information of the multi-joint robot device through an obstacle avoidance algorithm, and provides the control signals to the multi-joint robot device.

[0028] In practical applications, robotic arms are primarily composed of a series of interconnected links. Changes in joint angles alter the pose of the robotic arm's end effector. The positional relationship between the coordinate systems of each joint and the base coordinate system of the robotic arm is typically expressed using a homogeneous transformation matrix. For robotic arm modules constructed from multiple joint units, please refer to [reference needed]. Figure 1 As shown, the multi-joint structure allows for multi-directional steering characteristics at each connecting joint, enabling the joint units to be adjusted to different angles and orientations. Figure 1 The diagram uses multiple coordinate axes to illustrate the process. A mathematical model of the robotic arm is constructed using the DH method, establishing coordinate systems for each joint and determining the transformation matrix between adjacent coordinate systems. The transformation relationship between the robotic arm's end effector and its base coordinates is calculated using mathematical formulas, thus determining the relevant kinematic equations. Of course, more or fewer joint structures can be used, and this application does not impose further limitations on this.

[0029] Therefore, the transformer bushing live-line maintenance system based on a multi-joint robot provided in this application can automatically complete oil sampling, fault detection, and multiple maintenance tasks on the transformer bushing while the transformer is energized. The system incorporates a multi-joint robot, a vision positioning system, and an electrical isolation module to achieve automated maintenance and inspection of the transformer under live-line conditions. The specific implementation logic of each module will be described in detail in subsequent embodiments and will not be elaborated here.

[0030] In one embodiment of this application, the multi-joint robot device further includes a flexible end effector module. The flexible end effector module is disposed at the operating end of the robotic arm and is used to complete oil extraction through the oil inlet of the transformer bushing, and to detect oil extraction parameters and environmental data during the oil extraction process. Further, the flexible end effector module may include an oil extraction unit, a discharge detection unit, and an environmental detection unit; the oil extraction unit is used to grasp the transformer bushing using a flexible gripping component and complete the oil extraction through the oil inlet of the transformer bushing; the discharge detection unit is used to detect the discharge status of a preset area during the oil extraction process; the environmental detection unit is used to detect temperature and vibration data, as well as oil extraction pressure and flow rate data during the oil extraction process.

[0031] For details, please refer to Figure 2 As shown, the aforementioned flexible end effector module includes an oil sampling needle and a corresponding flexible control structure. These can be a combination of a worm gear and a worm shaft. The oil sampling needle has threads corresponding to the worm, and the worm drives the threaded worm through rotation, achieving flexible oil sampling. In practical applications, the multi-joint robot device provided in this application is equipped with a multi-degree-of-freedom robotic arm, employing a multi-angle joint design, enabling the robot to flexibly handle the complex geometry and narrow spaces surrounding the transformer bushing. The robotic arm consists of multiple joint units, each capable of independent movement, providing high flexibility and operational precision. The length and degrees of freedom of the robotic arm are optimized based on the geometry of the transformer bushing and the operating scenario, ensuring the robotic arm can reach the oil sampling port and achieve high-precision oil sampling. The movement of each joint is driven by a servo motor, and precise control algorithms are used to achieve motion accuracy. The robotic arm can flexibly avoid obstacles within a limited space and ensure accurate positioning of the bushing's oil sampling port.

[0032] On the other hand, the multi-joint robot device integrates modular flexible end effectors that can be quickly replaced according to different maintenance needs. These include a dedicated oil extraction needle module, a partial discharge detection module, and temperature and vibration sensor modules. Through a flexible gripping device, the robot can grasp the oil extraction port of the transformer bushing and safely perform oil extraction. The oil extraction tool is made of high-strength, high-temperature resistant materials and is equipped with sensors to monitor oil extraction pressure and flow rate in real time, ensuring operational safety and accuracy. Furthermore, the multi-joint robot device also includes an early warning module connected to the flexible end effector module. This module compares the data detected by the flexible end effector module with a preset alarm threshold and generates an early warning signal based on the comparison result. Specifically, in actual operation, this early warning module can be selected and set according to actual needs, and the alarm threshold can also be set empirically or obtained based on a pre-set data model trained and analyzed from historical data; this application does not impose further limitations here.

[0033] In one embodiment of this application, the transformer bushing uninterrupted power maintenance system further includes a navigation module, which comprises a path planning unit and an obstacle avoidance unit. The path planning unit is used to calculate a planned path based on the location information and the current position information of the multi-joint robot using a path planning algorithm. The obstacle avoidance unit is used to generate control information based on the planned path and pre-stored environmental structure information using an obstacle avoidance algorithm. The obstacle avoidance algorithm can be the RRT-Connect algorithm, which is based on the Fast Extended Random Tree algorithm and introduces bidirectional connections and greedy search concepts. This not only retains the algorithm's fast and uniform performance but also possesses greedy search characteristics, resulting in faster convergence, shorter computation time, and rapid path generation. For example: Let the initial point X1 be the root node of tree Ta, and the target point X2 be the root node of tree Tb; sample in the configuration space to obtain X3; tree T1 is grown using the Extend function, adding X4 to tree T1; if the addition is successful, try to connect tree Tb and X4 using the Connect function; if the connection fails, continue to extend towards X4 using the Extend function until the new state coincides with or collides with X4; if the two trees are successfully connected, a feasible path Path is obtained; if the connection fails, swap tree Ta and tree Tb, and continue iterating in the above manner until the two trees are connected.

[0034] Specifically, in practical work, to ensure the precise operation of the multi-joint robot device in the complex environment of substations, this application integrates a high-precision visual positioning and navigation system. The multi-joint robot device is equipped with a high-definition camera and a depth sensor, capable of capturing the precise position of the transformer bushing in real time and performing position calculation and posture adjustment through machine vision algorithms. The multi-joint robot device has an automatic path planning function, capable of autonomously planning the optimal maintenance route based on a preset path or real-time environmental information, while simultaneously identifying and bypassing obstacles through obstacle detection. During operation, the vision system tracks the relative position of the robot's end-effector in real time and dynamically adjusts the robot arm's posture based on feedback data, ensuring precise docking of the tool with the target position. In one embodiment, the high-definition camera and depth sensor can be set at the operating end of the multi-joint robot to analyze the current position of the operating end based on the actually acquired image information to further adjust its posture, or they can be set at a preset position in the bushing's location, determining relevant control parameters by capturing the multi-joint robot's posture and then providing them to the multi-joint robot. Overall, the high-definition camera and depth sensor can be integrated onto the multi-joint robot or configured separately from it; this application does not impose further limitations in this regard.

[0035] In one embodiment of this application, the system further includes an electrical isolation device; the electrical isolation device is disposed at a preset position of the multi-joint robot device, and is used to isolate the current conduction between the transformer bushing and the multi-joint robot device, and to reduce the electromagnetic interference of external electrical equipment to the multi-joint robot device.

[0036] Specifically, this application aims to ensure the safety of maintenance personnel and equipment during live-line operations. High-strength insulating materials are used in critical areas of the robotic arm and end effector to ensure the robot is not affected by current when in contact with live equipment, guaranteeing safe operation. The system integrates an electrical isolation module, which effectively isolates the current conduction between the robot and the transformer bushing, preventing high-voltage current interference to the robot system. In high electromagnetic interference environments, the robot system effectively reduces the impact of external electromagnetic fields through an electromagnetic shielding device, ensuring its stability in complex electromagnetic environments. In practical applications, this electrical isolation module can be implemented using existing electrical protection components, which will not be detailed here.

[0037] In one embodiment of this application, the system further includes a remote interaction device; the remote interaction device is connected to the multi-joint robot device and is used to display and output the data collected by the multi-joint robot device, and to receive external input control signals.

[0038] Specifically, in practical work, to improve the system's ease of operation and maintenance efficiency, this application also provides a human-machine interface and remote monitoring functions. The system offers an intuitive graphical user interface, allowing maintenance personnel to monitor robot operations in real time and precisely control the robot via touch or mouse. By integrating a wireless communication module, the system supports remote monitoring and operation, enabling maintenance personnel to operate and monitor the robot from a safe distance, reducing the need to enter high-voltage areas. The system automatically records detailed data for each maintenance operation, allowing maintenance personnel to query historical operation records through the interface and generate maintenance reports as needed.

[0039] Please refer to Figure 3 As shown, this application also provides a control method applicable to the aforementioned transformer bushing uninterrupted power maintenance system, the method comprising:

[0040] S301: Collect image information and distance information of the transformer bushing, and analyze and calculate the position information of the transformer bushing based on the image information and distance information;

[0041] S302: Based on the location information and the current position information of the multi-joint robot device, control information is generated through an obstacle avoidance algorithm;

[0042] S303: Generate a corresponding drive signal based on the received control signal and the current angle and position of the joint unit, and provide the drive signal to the servo motor corresponding to each joint unit in the robotic arm module;

[0043] S304: Adjust the angle and position of different joint units according to multiple drive signals provided by the servo motor to adapt to the geometry of the transformer bushing for oil sampling operation.

[0044] Since the principle behind this control method is similar to that of the uninterrupted power supply maintenance system for transformer bushings, the implementation of this control method can be found in the implementation of the uninterrupted power supply maintenance system for transformer bushings, and the repetitive parts will not be repeated.

[0045] The beneficial technical effects of this application are as follows: The multi-joint robot features a multi-degree-of-freedom robotic arm design, enabling it to perform high-precision operations flexibly in complex spaces. Its modular end-effector tools include oil sampling tools, detection sensors, and monitoring equipment, supporting rapid switching between various maintenance tasks and enabling operations such as live oil sampling and inspection of transformer bushings. High-performance insulating materials and electrical isolation design ensure safe operation of the robot in energized environments. The visual positioning and navigation system, combined with a high-definition camera and depth sensor, accurately perceives the working environment and achieves precise positioning and attitude adjustment of the transformer bushings through dynamic path planning. The system is equipped with closed-loop control and multi-sensor fusion technology, enabling real-time feedback and adjustment of operating parameters, ensuring accurate acquisition of data such as spatial positioning and oil sampling volume, and timely emergency handling in case of anomalies, ensuring the safety of equipment and personnel.

[0046] This application also provides an electronic device, including 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-described method.

[0047] This application also provides a computer-readable storage medium storing a computer program that performs the above-described methods.

[0048] This application also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the above-described method.

[0049] like Figure 4 As shown, the electronic device 600 may also include: a communication module 110, an input unit 120, an audio processor 130, a display 160, and a power supply 170. It is worth noting that the electronic device 600 does not necessarily need to include these components. Figure 4 All components shown; in addition, the electronic device 600 may also include Figure 4 For components not shown, please refer to existing technologies.

[0050] like Figure 4 As shown, the central processing unit 100, sometimes also referred to as a controller or operating control, may include a microprocessor or other processor device and / or logic device. The central processing unit 100 receives inputs and controls the operation of various components of the electronic device 600.

[0051] The memory 140 may be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It may store the aforementioned failure-related information, and also store a program for executing that information. The central processing unit 100 may execute the program stored in the memory 140 to perform information storage or processing, etc.

[0052] Input unit 120 provides input to central processing unit 100. Input unit 120 may be, for example, a keypad or touch input device. Power supply 170 provides power to electronic device 600. Display 160 displays images and text. Display may be, for example, an LCD display, but is not limited thereto.

[0053] The memory 140 can be a solid-state memory, such as a read-only memory (ROM), 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 contains more data; examples of this type of memory are sometimes referred to as EPROMs. 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 may include an application / function storage unit 142 for storing application programs and function programs or processes for executing the operation of the electronic device 600 via the central processing unit 100.

[0054] The memory 140 may also include a data storage unit (data 143) for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit (driver 144) of the memory 140 may include various drivers for the electronic device's communication functions and / or for performing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0055] The communication module 110 is a transmitter / receiver 110 that transmits and receives signals via antenna 111. The communication module (transmitter / receiver) 110 is coupled to the central processing unit 100 to provide input signals and receive output signals, which can be the same as in a conventional mobile communication terminal.

[0056] Based on different communication technologies, multiple communication modules 110 can be configured in the same electronic device, such as cellular network modules, Bluetooth modules, and / or wireless LAN modules. 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 enabling typical telecommunications functions. The audio processor 130 may include any suitable buffer, decoder, amplifier, etc. Additionally, the audio processor 130 is coupled to a central processing unit 100, enabling on-device recording via the microphone 132 and on-device playback of stored audio via the speaker 131.

[0057] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0058] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this 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 processor, 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, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0059] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0060] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0061] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A transformer bushing uninterrupted power supply maintenance system, characterized in that, The system includes a multi-joint robotic device and a visual positioning device; The multi-joint robot device includes a robotic arm module and a control module constructed from multiple joint units; The control module is used to generate corresponding drive signals based on the received control signals and the current angle and position of the joint unit, and provide the drive signals to the servo motors corresponding to each joint unit in the robotic arm module; the robotic arm module is used to adjust the angle and position of different joint units according to the multiple drive signals provided by the servo motors to adapt to the geometry of the transformer bushing for oil extraction operation; The visual positioning device includes an image acquisition module, a distance recognition module, an analysis module, and a navigation module; The image acquisition module and the distance recognition module are used to acquire image information and distance information of the transformer bushing; the analysis module is used to analyze and calculate the position information of the transformer bushing based on the image information and distance information. The navigation module is used to generate control information based on the location information and the current location information of the multi-joint robot device through an obstacle avoidance algorithm, and to provide the control signal to the multi-joint robot device.

2. The transformer bushing uninterrupted power supply maintenance system according to claim 1, characterized in that, The multi-joint robot device also includes a flexible end effector module, which is disposed at the operating end of the robotic arm and is used to complete the oil extraction operation through the oil extraction port of the transformer bushing, as well as to detect the oil extraction parameters and environmental data during the oil extraction operation.

3. The transformer bushing uninterrupted power maintenance system according to claim 2, characterized in that, The flexible terminal module includes an oil sampling unit, a discharge detection unit, and an environmental detection unit. The oil extraction unit is used to grasp the transformer bushing with a flexible gripping component and complete the oil extraction operation through the oil extraction port of the transformer bushing. The discharge detection unit is used to detect the discharge status of a preset area during the oil extraction process of the oil extraction unit. The environmental monitoring unit is used to detect temperature and vibration data during the oil extraction process, as well as oil extraction pressure and flow rate data.

4. The transformer bushing uninterrupted power supply maintenance system according to claim 3, characterized in that, The multi-joint robot device also includes an early warning module, which is connected to the flexible end effector module and is used to compare the data detected by the flexible end effector module with a preset alarm threshold and generate an early warning signal based on the comparison result.

5. The transformer bushing uninterrupted power maintenance system according to claim 1, characterized in that, The navigation module includes a path planning unit and an obstacle avoidance unit; The path planning unit is used to calculate and obtain the planned path based on the location information and the current location information of the multi-joint robot using a path planning algorithm; The obstacle avoidance unit is used to generate control information based on the planned path and pre-stored environmental structure information through an obstacle avoidance algorithm.

6. The transformer bushing uninterrupted power maintenance system according to claim 1, characterized in that, The system also includes electrical isolation devices; The electrical isolation device is installed at a preset position on the multi-joint robot device to isolate the current conduction between the transformer bushing and the multi-joint robot device, and to reduce electromagnetic interference from external electrical equipment to the multi-joint robot device.

7. The transformer bushing uninterrupted power maintenance system according to claim 1, characterized in that, The system also includes a remote interaction device; the remote interaction device is connected to the multi-joint robot device and is used to display and output the data collected by the multi-joint robot device, as well as to receive external input control signals.

8. A control method applicable to the transformer bushing uninterrupted maintenance system according to any one of claims 1 to 7, characterized in that, The method includes: Image and distance information of the transformer bushing are collected, and the position information of the transformer bushing is obtained by analysis and calculation based on the image and distance information. Control information is generated based on the location information and the current location information of the multi-joint robot device using an obstacle avoidance algorithm; Based on the received control signal and the current angle and position of the joint unit, a corresponding drive signal is generated, and the drive signal is provided to the servo motor corresponding to each joint unit in the robotic arm module; The angles and positions of different joint units are adjusted according to multiple drive signals provided by the servo motor to adapt to the geometry of the transformer bushing for oil extraction.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of claim 8.

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

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