Automatic inspection system

Abstract

The invention discloses an automatic inspection system, which is applied to the safety detection of a booster station and comprises a remote control center and at least one inspection robot. And the inspection robot runs to an electrical equipment observation position along a preset path, identifies the equipment type through a picture, and executes special detection. The system supports first-level and second-level special detection, layer-by-layer deep analysis is carried out according to a detection result, and an alarm is immediately sent to a remote control center when abnormity is found. According to the system, real-time and continuous monitoring of the equipment state is realized, the inspection efficiency and accuracy are improved, and the labor intensity and the safety risk of manual inspection are reduced. Through a multi-stage special detection mechanism, the system can accurately position equipment faults, early warns potential risks in time, and effectively improves the safety and stability of a power system. And meanwhile, the problems of leak detection and false detection caused by human factors are reduced through automatic inspection.

Description

Technical Field

[0001] This application relates to the field of electrical testing, and in particular to an automatic inspection system. Background Technology

[0002] As a crucial component of the power system, the main function of a step-up substation is to increase the lower voltage generated by generators before transmitting it to the power grid, thereby reducing power loss during transmission and ensuring an efficient and stable power supply to households.

[0003] The electrical equipment in a step-up substation is diverse and complex, encompassing transformers, circuit breakers, disconnect switches, instrument transformers, and relay protection devices. The operational status of these devices directly impacts the safety and stability of the entire power system. For example, transformers need to operate stably to achieve voltage transformation; circuit breakers must quickly disconnect the circuit in the event of a fault to prevent the accident from escalating.

[0004] However, current inspection work at substations faces numerous challenges. Traditional inspection methods rely primarily on manual labor, requiring inspectors to check each piece of equipment along a predetermined route. Due to the wide distribution and large number of substation equipment, manual inspection is not only inefficient but also prone to omissions and misdiagnoses due to factors such as fatigue. Furthermore, some equipment is located at high altitudes or in confined spaces, posing significant safety risks to manual inspection. In addition, manual inspection struggles to achieve real-time, continuous monitoring of equipment status, making it difficult to promptly detect potential early-stage faults. Summary of the Invention

[0005] The purpose of this application is to provide an automatic inspection system that can improve the above-mentioned problems.

[0006] The embodiments of this application are implemented as follows: This application provides an automatic inspection system for safety inspection of a booster station, including a remote control center and at least one inspection robot.

[0007] The inspection robot is configured to travel sequentially along the preset path to the observation position of each electrical device, identify the type of electrical device based on the captured images of the electrical device, and perform special inspections according to the inspection items corresponding to the type of electrical device; the inspection robot is also configured to send an abnormality alarm to the remote control center when an abnormality is found in the special inspection.

[0008] This automated inspection system is understood to be used for safety monitoring at substations. An inspection robot travels along a preset path to the observation point of electrical equipment, automatically identifies the equipment type, and performs corresponding specialized tests. The system achieves real-time, continuous monitoring of equipment status, improving inspection efficiency and accuracy while reducing the labor intensity and safety risks of manual inspections. Once an anomaly is detected, an alarm is immediately sent to the remote control center, helping to promptly identify and address potential faults and ensure the safe and stable operation of the power system.

[0009] In an optional embodiment of this application, the inspection robot is configured to travel sequentially along the preset path to the observation positions of each electrical device, including: the inspection robot is configured to travel to the work responsibility area and then sequentially travel along the preset path to the observation positions of each electrical device within the work responsibility area.

[0010] It is understandable that the inspection robots first travel to their respective work areas and then inspect the equipment within those areas along a pre-set path. On the one hand, each robot can focus on a specific area, improving inspection efficiency and targeting; on the other hand, corresponding sensors can be precisely configured for the inspection robots according to the type of electrical equipment in the area, such as oil detection equipment in transformer areas and electromagnetic signal detection devices in switchgear areas, to achieve accurate detection, reduce equipment costs and resource waste, and improve the overall inspection effect.

[0011] In an optional embodiment of this application, the inspection robot is configured to, after driving to the observation position, perform contour recognition on the target electrical equipment through the currently acquired real-time image, perform focus tracking and image capture on the label information on the surface of the target electrical equipment and perform text recognition on the label information, and calculate the electrical equipment type of the target electrical equipment by combining the contour recognition result and the text recognition result.

[0012] In an optional embodiment of this application, the inspection robot is configured to travel to the observation position, rotate around the target electrical equipment along the equipment detection path, collect multi-angle images of the target electrical equipment, construct a real-time 3D model of the electrical equipment, and identify the electrical equipment type of the target electrical equipment through the 3D model.

[0013] In optional embodiments of this application, the inspection robot includes at least one of the following detection devices: a robotic arm; a camera; a gas sensor; an oil detection device; an infrared temperature measurement device; a pressure sensor; a lidar; and an electromagnetic signal detection device.

[0014] In an optional embodiment of this application, the inspection robot is further configured to perform non-specialized inspections on each of the electrical devices. The non-specialized inspections include: capturing multi-angle images of the electrical devices through the camera, performing appearance recognition on the multi-angle images, and determining that the electrical devices have abnormal conditions when their appearance shows deformation, cracks, or damage.

[0015] It is understandable that inspection robots play a crucial role in performing non-specialized visual inspections of electrical equipment. The integrity of the equipment's appearance directly impacts its operational safety and stability. Deformation, cracks, or damage may be outward manifestations of internal faults, and failure to detect them promptly could lead to more serious equipment damage or even power outages. Visual inspection not only provides a direct assessment of the equipment's current condition but also offers insights for subsequent inspections. For example, if a crack is found during visual inspection, subsequent specialized inspections such as infrared thermography and gas composition analysis can focus on the area surrounding the crack to analyze whether there are any abnormal temperatures or gas leaks caused by the crack. This allows for more precise fault location, improving inspection efficiency and accuracy, and providing strong support for the safe and stable operation of the power system.

[0016] For example, check whether the transformer casing is deformed or leaking oil; whether the operating mechanisms of circuit breakers, disconnect switches, and other equipment are intact and free from looseness or jamming; and whether insulators have defects such as cracks, damage, or dirt. By uploading the captured photos to a database for appearance comparison and AI recognition, abnormal changes in the equipment's appearance can be detected in a timely manner, providing a basis for equipment inspection and maintenance.

[0017] In an optional embodiment of this application, the inspection robot is further configured to perform non-specialized inspections on each of the electrical devices. The non-specialized inspections include: collecting the current temperature of the electrical device through the infrared temperature measuring device, and determining that the electrical device has an abnormal condition when the current temperature exceeds a safe temperature value.

[0018] It is understandable that using infrared thermography to detect temperatures is crucial for inspection robots. Electrical equipment operates within a safe temperature range during normal operation; however, temperatures exceeding this range often indicate potential malfunctions. Sustained high temperatures accelerate the aging of insulation materials, reduce equipment lifespan, and can even trigger serious accidents such as short circuits and fires, threatening the safety and stability of the entire power system. For example, excessively high transformer oil temperature may indicate a short circuit in the transformer coils or multiple grounding points in the core; abnormally high contact temperatures in high-voltage circuit breakers may indicate poor contact, leading to increased resistance and excessive heat generation. Through temperature detection, inspection robots can promptly identify these anomalies, notify maintenance personnel for proactive handling, prevent further damage, and effectively ensure the safe and reliable operation of the substation's electrical equipment.

[0019] In an optional embodiment of this application, the inspection robot is further configured to perform non-specialized inspections on each of the electrical devices. The non-specialized inspections include: collecting the gas composition and concentration around the electrical devices using the gas sensor, and determining that the electrical devices are in an abnormal condition when the concentration of harmful gases exceeds the safe concentration value.

[0020] It is understandable that the inspection robot's use of gas sensors to detect the composition and concentration of gases around electrical equipment is of great significance. Electrical equipment, under faulty or abnormal conditions, may release harmful gases; for example, the aging and decomposition of insulation materials can produce carbon monoxide and carbon dioxide. Electrical fires may be preceded by flammable gas leaks. Timely detection of gas composition and concentration can identify potential equipment hazards in advance, preventing accidents from escalating. For instance, if an excessive concentration of sulfur hexafluoride gas is detected around a transformer, it may indicate damaged transformer seals or internal discharge faults. Similarly, the presence of flammable gases such as acetylene near switchgear may indicate arcing within the equipment, posing a fire risk. Through gas composition detection, the inspection robot can accurately determine equipment anomalies, providing a basis for subsequent maintenance and handling, and ensuring the safe operation of the substation.

[0021] In an optional embodiment of this application, the special inspection includes a primary special inspection and a secondary special inspection. The inspection robot is configured to prioritize the primary special inspection of the electrical equipment. Only when an abnormality is found in the primary special inspection will the secondary special inspection of the electrical equipment be performed; otherwise, the secondary special inspection will be stopped.

[0022] It is understandable that the inspection robot's use of a primary and secondary specialized inspection method has yielded significant results. On the one hand, primary specialized inspection can quickly screen electrical equipment and accurately locate potentially abnormal devices. Secondary specialized inspection then allows for in-depth analysis of specific faults, accurately identifying equipment problems and improving the accuracy of troubleshooting. On the other hand, stopping secondary inspection when primary inspection finds no abnormalities effectively reduces unnecessary inspection operations, saves inspection time and resources, improves inspection efficiency, and ensures the efficient and stable operation of the substation.

[0023] In an optional embodiment of this application, the inspection robot is configured to perform a first-level specialized inspection on the transformer when it is identified as a transformer. The first-level specialized inspection includes: capturing multi-angle images of the ground where the transformer is located using the camera, and performing visual identification on the multi-angle images; if there are stains on the ground, it is determined that the transformer has an abnormality. The inspection robot is also configured to perform a second-level specialized inspection on the transformer when stains are detected on the ground. The second-level specialized inspection includes: collecting a sample of the stain on the ground using the robotic arm and testing it with an oil detection device; if the stain sample is detected to be oil, it is determined that the transformer has an abnormality.

[0024] In an optional embodiment of this application, the inspection robot is configured to perform a first-level specialized inspection on the high-voltage circuit breaker when the electrical equipment is identified as a high-voltage circuit breaker. The first-level specialized inspection includes scanning the contact surface of the high-voltage circuit breaker with the infrared thermometer to measure the contact surface temperature. The inspection robot is also configured to perform a second-level specialized inspection on the high-voltage circuit breaker when the contact surface temperature is greater than a safe temperature value. The second-level specialized inspection includes disassembling the contact protective cover with a robotic arm and testing the contact spring pressure value with the pressure sensor on the robotic arm. If the spring pressure value is less than a safe pressure value, it is determined that the high-voltage circuit breaker has an abnormality.

[0025] In an optional embodiment of this application, the inspection robot is configured to perform a first-level specialized inspection on the metal-enclosed switchgear when the electrical equipment is identified as a metal-enclosed switchgear. The first-level specialized inspection includes scanning the width of the cabinet door gap using the lidar. The inspection robot is also configured to perform a second-level specialized inspection on the metal-enclosed switchgear when the width of the cabinet door gap is greater than a safe width value. The second-level specialized inspection includes opening the cabinet door using the robotic arm, deploying the electromagnetic signal detection device to detect the intensity of partial discharge signals inside the cabinet, and determining that the metal-enclosed switchgear has an abnormality when the intensity of the partial discharge signal is greater than a safe signal intensity value.

[0026] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, optional embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of an automatic inspection system provided in this application; Figure 2 This is a schematic diagram of the preset path and detection path of the inspection robot provided in this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0030] The substation contains a variety of equipment and facilities, which can be mainly divided into the following categories: electrical equipment, control and protection equipment, and auxiliary facilities.

[0031] The electrical equipment mainly includes: Transformers: These are the core equipment of the substation, used to increase and transform voltage, converting low-voltage electrical energy from the generator outlet into high-voltage electrical energy suitable for long-distance power transmission; Circuit breakers: Used to disconnect and connect load circuits, as well as to disconnect faulty circuits, preventing accidents from escalating and ensuring the safe operation of the power grid; Disconnecting switches: Their main function is to isolate energized parts during electrical equipment maintenance, ensuring the safety of maintenance personnel. They can also be used for switching operations to change the operating mode of the circuit; Instrument transformers: Including current transformers and voltage transformers, used to proportionally transform high voltage and large current into standard low voltage and small current for use by measuring instruments, relay protection devices, etc., to realize the measurement and protection functions of electrical quantities; Capacitor banks: Used to compensate for reactive power in the power grid, improve the power factor of the power grid, improve voltage quality, and reduce line losses; Reactors: Their main function is to limit short-circuit current, and they can also be used for reactive power compensation, etc.

[0032] The control and protection equipment mainly includes: relay protection devices: when the power system experiences a fault or abnormal operation, it can quickly and selectively disconnect faulty components to ensure that the fault-free parts continue to operate and prevent the accident from escalating; automatic devices: such as automatic reclosing devices and automatic backup power supply switching devices, used to improve the reliability and stability of the power system; monitoring systems: to monitor and control various electrical equipment in the substation in real time, collect equipment operating parameters such as voltage, current, and temperature, and upload the data to the dispatch center to realize remote monitoring and management.

[0033] The auxiliary facilities mainly include: a DC system, which provides a reliable DC power supply for relay protection devices, control circuits, signal circuits, etc., to ensure that these important devices can still operate normally in the event of an AC power failure; a communication system, which enables information transmission between the substation and the dispatch center and other substations, including voice communication and data communication, to ensure the smooth operation of the power system's dispatching and management; and a fire protection system, which is equipped with fire-fighting equipment and facilities, such as fire extinguishers, fire hydrants, and automatic fire alarm systems, to prevent and extinguish fires and ensure the safe operation of the substation.

[0034] The current inspection work of substations faces numerous challenges. Traditional inspection methods rely primarily on manual labor, requiring inspectors to check each piece of equipment along a predetermined route. Due to the wide distribution and large number of substation equipment, manual inspection is not only inefficient but also prone to omissions and misdiagnoses due to factors such as fatigue. Furthermore, some equipment is located at high altitudes or in confined spaces, posing significant safety risks to manual inspection. In addition, manual inspection struggles to achieve real-time, continuous monitoring of equipment status, making it difficult to promptly detect potential early-stage faults.

[0035] This application provides an automated inspection system for safety monitoring of a booster station, including a remote control center and at least one inspection robot. Figure 1 The automated inspection system shown includes a remote control center and two inspection robots, which can communicate with each other. Figure 1 Although only two inspection robots are shown, an automated inspection system can actually include one, two, or more inspection robots that work together under the control of a remote control center. This will not be elaborated on here.

[0036] The inspection robot is configured to travel sequentially along a preset path to the observation position of each electrical device, identify the type of electrical device based on the captured images, and perform specialized inspections according to the corresponding inspection items for each type of electrical device. The inspection robot is also configured to send an abnormality alarm to the remote control center when any abnormality is found during the specialized inspection.

[0037] This automated inspection system is understood to be used for safety monitoring at substations. An inspection robot travels along a preset path to the observation point of electrical equipment, automatically identifies the equipment type, and performs corresponding specialized tests. The system achieves real-time, continuous monitoring of equipment status, improving inspection efficiency and accuracy while reducing the labor intensity and safety risks of manual inspections. Once an anomaly is detected, an alarm is immediately sent to the remote control center, helping to promptly identify and address potential faults and ensure the safe and stable operation of the power system.

[0038] In an optional embodiment of this application, the inspection robot is configured to travel sequentially along a preset path to the observation positions of each electrical device, including: the inspection robot is configured to travel to the work responsibility area and then travel sequentially along the preset path to the observation positions of each electrical device within the work responsibility area.

[0039] like Figure 1 As shown, the first inspection robot (i.e., inspection robot 1 in the figure) can travel along the route shown by the red dotted line to the first work responsibility area (i.e., work responsibility area 1 in the figure) to inspect the various electrical devices within the first work responsibility area; the second inspection robot (i.e., inspection robot 2 in the figure) can travel along the route shown by the blue dotted line to the second work responsibility area (i.e., work responsibility area 2 in the figure) to inspect the various electrical devices within the second work responsibility area. Figure 2 As shown, taking the first inspection robot's assigned work area as an example, the first inspection robot starts from its initial position upon entering the first work area and proceeds along... Figure 2 The preset path, indicated by the red dashed line, travels sequentially to the observation positions of each electrical device (i.e., the positions shown by the small red circles in the figure).

[0040] For example, the area housing equipment such as transformers, neutral grounding devices, oil conservators and oil pipes, and cooling systems (fans, radiators) can be designated as the first work responsibility area; the area housing equipment such as high-voltage circuit breakers, metal-enclosed switchgear, disconnecting switches, and instrument transformers can be designated as the second work responsibility area. On the one hand, the first inspection robot focuses on the transformer area (i.e., the first work responsibility area), and the second inspection robot focuses on the switchgear area (i.e., the second work responsibility area), avoiding path overlap and redundant inspections. On the other hand, considering the need for oil level detection in the transformer area, the first inspection robot can be equipped with oil level detection equipment, infrared temperature measurement equipment, high-definition cameras, gas sensors, and other sensing accessories; considering the need for electromagnetic signal detection in the switchgear area, the second inspection robot can be equipped with infrared temperature measurement equipment, electromagnetic signal detection devices, lidar, robotic arms, and pressure sensors, achieving accurate detection, reducing equipment costs and resource waste, and improving overall inspection effectiveness.

[0041] It is understandable that the inspection robots first travel to their respective work areas and then inspect the equipment within those areas along a pre-set path. On the one hand, each robot can focus on a specific area, improving inspection efficiency and targeting; on the other hand, corresponding sensors can be precisely configured for the inspection robots according to the type of electrical equipment in the area, such as oil detection equipment in transformer areas and electromagnetic signal detection devices in switchgear areas, to achieve accurate detection, reduce equipment costs and resource waste, and improve the overall inspection effect.

[0042] In an optional embodiment of this application, the inspection robot is configured to drive to the observation position, perform contour recognition on the target electrical equipment through the currently acquired real-time image, perform focus tracking and image capture on the label information on the surface of the target electrical equipment and perform text recognition on the label information, and calculate the electrical equipment type of the target electrical equipment by combining the contour recognition result and the text recognition result.

[0043] Understandably, once the inspection robot reaches the observation position, it will activate a high-precision camera to capture real-time images of the target electrical equipment. The recognition process integrates contour recognition and label text recognition technologies: First, image processing algorithms extract the equipment's external features (such as the rectangular outline of a transformer tank or the columnar structure of a circuit breaker), comparing them with a pre-stored equipment model library to initially screen the equipment type; simultaneously, the camera automatically tracks the labels on the equipment surface (such as equipment numbers and model nameplates), using OCR technology to recognize the label text and obtain key information such as the equipment model and parameters. Finally, the system combines the contour matching results and text recognition results, and through algorithmic cross-validation, accurately determines the equipment type (e.g., "220kV main transformer").

[0044] In an optional embodiment of this application, the inspection robot is configured to travel to the observation position, rotate around the target electrical equipment along the equipment detection path, collect multi-angle images of the target electrical equipment, construct a real-time 3D model of the electrical equipment, and identify the electrical equipment type of the target electrical equipment through the 3D model.

[0045] like Figure 2 As shown, taking the first inspection robot detection device 2 as an example, after the first inspection robot arrives at the observation position of device 2, it rotates around device 2 along the detection path described by the green dotted line, collects multi-angle images of device 2, constructs a real-time 3D model of the electrical equipment, and identifies the electrical equipment type of the target electrical equipment through the 3D model.

[0046] Understandably, after the inspection robot reaches the observation position, it activates its multi-axis drive system, slowly rotating around the target electrical equipment along a pre-set inspection path. During rotation, a high-precision camera captures multi-angle images of the equipment at fixed intervals, while a LiDAR simultaneously scans the point cloud data on the equipment surface. The system fuses the multi-view images with the point cloud data and constructs a real-time 3D model of the equipment using a SLAM (Simultaneous Localization and Mapping) algorithm, achieving millimeter-level accuracy. Subsequently, the system performs feature matching (such as structural dimensions, interface locations, and heat sink layout) between the 3D model and a pre-stored standard equipment model library, combining this with deep learning algorithms to identify the equipment type. This solution enhances the robustness of identification through 3D spatial information, making it particularly suitable for distinguishing between equipment with similar appearances but different models (such as transformers of different capacities). It also provides a spatial coordinate reference for subsequent specialized inspections, supporting precise fault location.

[0047] In optional embodiments of this application, the inspection robot includes at least one of the following detection devices: a robotic arm; a camera; a gas sensor; an oil detection device; an infrared temperature measurement device; a pressure sensor; a lidar; and an electromagnetic signal detection device.

[0048] In an optional embodiment of this application, the inspection robot is also configured to perform non-specialized inspections on various electrical devices. The non-specialized inspections include: capturing multi-angle images of the electrical devices through a camera, performing appearance recognition on the multi-angle images, and determining that there is an abnormality in the electrical devices when the appearance of the electrical devices is deformed, cracked, or damaged.

[0049] It is understandable that inspection robots play a crucial role in performing non-specialized visual inspections of electrical equipment. The integrity of the equipment's appearance directly impacts its operational safety and stability. Deformation, cracks, or damage may be outward manifestations of internal faults, and failure to detect them promptly could lead to more serious equipment damage or even power outages. Visual inspection not only provides a direct assessment of the equipment's current condition but also offers insights for subsequent inspections. For example, if a crack is found during visual inspection, subsequent specialized inspections such as infrared thermography and gas composition analysis can focus on the area surrounding the crack to analyze whether there are any abnormal temperatures or gas leaks caused by the crack. This allows for more precise fault location, improving inspection efficiency and accuracy, and providing strong support for the safe and stable operation of the power system.

[0050] For example, check whether the transformer casing is deformed or leaking oil; whether the operating mechanisms of circuit breakers, disconnect switches, and other equipment are intact and free from looseness or jamming; and whether insulators have defects such as cracks, damage, or dirt. By uploading the captured photos to a database for appearance comparison and AI recognition, abnormal changes in the equipment's appearance can be detected in a timely manner, providing a basis for equipment inspection and maintenance.

[0051] In an optional embodiment of this application, the inspection robot is also configured to perform non-specialized inspections on various electrical devices. The non-specialized inspections include: collecting the current temperature of the electrical devices through an infrared thermometer, and determining that there is an abnormality in the electrical devices when the current temperature exceeds the safe temperature value.

[0052] It is understandable that using infrared thermography to detect temperatures is crucial for inspection robots. Electrical equipment operates within a safe temperature range during normal operation; however, temperatures exceeding this range often indicate potential malfunctions. Sustained high temperatures accelerate the aging of insulation materials, reduce equipment lifespan, and can even trigger serious accidents such as short circuits and fires, threatening the safety and stability of the entire power system. For example, excessively high transformer oil temperature may indicate a short circuit in the transformer coils or multiple grounding points in the core; abnormally high contact temperatures in high-voltage circuit breakers may indicate poor contact, leading to increased resistance and excessive heat generation. Through temperature detection, inspection robots can promptly identify these anomalies, notify maintenance personnel for proactive handling, prevent further damage, and effectively ensure the safe and reliable operation of the substation's electrical equipment.

[0053] In an optional embodiment of this application, the inspection robot is also configured to perform non-specialized inspections on various electrical devices. The non-specialized inspections include: collecting the gas composition and concentration around the electrical devices through gas sensors, and determining that there is an abnormality in the electrical devices when the concentration of harmful gases exceeds the safe concentration value.

[0054] It is understandable that the inspection robot's use of gas sensors to detect the composition and concentration of gases around electrical equipment is of great significance. Electrical equipment, under faulty or abnormal conditions, may release harmful gases; for example, the aging and decomposition of insulation materials can produce carbon monoxide and carbon dioxide. Electrical fires may be preceded by flammable gas leaks. Timely detection of gas composition and concentration can identify potential equipment hazards in advance, preventing accidents from escalating. For instance, if an excessive concentration of sulfur hexafluoride gas is detected around a transformer, it may indicate damaged transformer seals or internal discharge faults. Similarly, the presence of flammable gases such as acetylene near switchgear may indicate arcing within the equipment, posing a fire risk. Through gas composition detection, the inspection robot can accurately determine equipment anomalies, providing a basis for subsequent maintenance and handling, and ensuring the safe operation of the substation.

[0055] In an optional embodiment of this application, the special inspection includes a primary special inspection and a secondary special inspection. The inspection robot is configured to prioritize the primary special inspection of electrical equipment. Only when an abnormality is found in the primary special inspection will the secondary special inspection of the electrical equipment be performed; otherwise, the secondary special inspection will be stopped.

[0056] It is understandable that the inspection robot's use of a primary and secondary specialized inspection method has yielded significant results. On the one hand, primary specialized inspection can quickly screen electrical equipment and accurately locate potentially abnormal devices. Secondary specialized inspection then allows for in-depth analysis of specific faults, accurately identifying equipment problems and improving the accuracy of troubleshooting. On the other hand, stopping secondary inspection when primary inspection finds no abnormalities effectively reduces unnecessary inspection operations, saves inspection time and resources, improves inspection efficiency, and ensures the efficient and stable operation of the substation.

[0057] In an optional embodiment of this application, the inspection robot is configured to perform a first-level specialized inspection on the transformer when it is identified as an electrical device. The first-level specialized inspection includes: capturing multi-angle images of the ground where the transformer is located using a camera and performing visual identification on the multi-angle images; and determining that the transformer has an abnormality when there are stains on the ground. The inspection robot is also configured to perform a second-level specialized inspection on the transformer when it is identified as having stains on the ground. The second-level specialized inspection includes: collecting a sample of the stain on the ground using a robotic arm and sending it to an oil detection device for testing; and determining that the transformer has an abnormality when the stain sample is detected as oil.

[0058] In the first-level inspection, the inspection robot uses cameras to capture images of the transformer floor from multiple angles and employs image recognition technology to detect any dirt or grime. If dirt is detected, a second-level inspection is triggered: a robotic arm automatically collects a sample of the dirt and sends it to an oil detection device for analysis to determine if it indicates a transformer oil leak. If oil is detected, the transformer is determined to have an oil leak. This solution combines initial visual screening with component analysis to quickly locate oil leaks, avoiding the delays of manual inspections and ensuring the safe operation of the equipment.

[0059] In an optional embodiment of this application, the inspection robot is configured to perform a first-level specialized inspection on the high-voltage circuit breaker when the electrical equipment is identified as a high-voltage circuit breaker. The first-level specialized inspection includes scanning the contact surface of the high-voltage circuit breaker with an infrared thermometer to measure the contact surface temperature. The inspection robot is also configured to perform a second-level specialized inspection on the high-voltage circuit breaker when the contact surface temperature is greater than the safe temperature value. The second-level specialized inspection includes disassembling the contact protective cover with a robotic arm and testing the contact spring pressure value with a pressure sensor on the robotic arm. If the spring pressure value is less than the safe pressure value, it is determined that there is an abnormality in the high-voltage circuit breaker.

[0060] This embodiment uses tiered detection to accurately locate faults in high-voltage circuit breakers. The principle is as follows: In the first-level detection, an inspection robot uses infrared thermography to scan the surface temperature of the contacts. If the temperature exceeds a safe value, a second-level detection is triggered. During the second-level detection, the robotic arm automatically removes the contact protective cover and tests the contact spring pressure using a built-in pressure sensor. If the pressure is below a safe threshold, it is determined that the circuit breaker has abnormalities such as poor contact or aging springs. This solution combines initial temperature screening with pressure verification to quickly identify contact faults and ensure reliable equipment operation.

[0061] In an optional embodiment of this application, the inspection robot is configured to perform a first-level specialized inspection on the metal-enclosed switchgear when it identifies the electrical equipment as a metal-enclosed switchgear. The first-level specialized inspection includes scanning the width of the cabinet door gap using a lidar. The inspection robot is also configured to perform a second-level specialized inspection on the metal-enclosed switchgear when the width of the cabinet door gap is greater than a safe width value. The second-level specialized inspection includes opening the cabinet door with a robotic arm, deploying an electromagnetic signal detection device to detect the intensity of partial discharge signals inside the cabinet, and determining that there is an abnormality in the metal-enclosed switchgear when the intensity of the partial discharge signal is greater than a safe signal intensity value.

[0062] This embodiment accurately identifies potential faults in metal-enclosed switchgear through a tiered detection mechanism. The principle is as follows: In the first-level specialized inspection, an inspection robot uses lidar to scan the width of the cabinet door gaps. If the detected value exceeds a safety threshold (e.g., ≥5mm), it is determined that the cabinet door sealing is abnormal, potentially indicating an internal fault risk, and thus triggering the second-level inspection. During the second-level inspection, a robotic arm automatically opens the cabinet door and deploys an electromagnetic signal detection device to collect partial discharge signals inside the cabinet. If the signal strength exceeds the standard (e.g., ≥30dBmV), it indicates a decline in internal insulation performance or a potential arc discharge hazard. This scheme combines initial screening based on gap width with discharge signal verification to achieve dual detection of sealing and insulation, effectively preventing switchgear accidents.

[0063] The terms "first," "second," "first," or "second" as used in the various embodiments of this disclosure may modify various components regardless of their order and / or importance, but these terms do not limit the corresponding components. The above terms are configured only for the purpose of distinguishing an element from other elements. For example, "first user equipment" and "second user equipment" refer to different user equipments, although both are user equipment. For example, without departing from the scope of this disclosure, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0064] When a component (e.g., a first component) is referred to as being "(operably or communicatively) coupled" or "(operably or communicatively) coupled to" or "connected to" another component (e.g., a second component), it should be understood that the first component is directly connected to the second component or that the first component is indirectly connected to the second component via yet another component (e.g., a third component). Conversely, it can be understood that when a component (e.g., a first component) is referred to as being "directly connected" or "directly coupled" to another component (the second component), no component (e.g., a third component) is inserted between the two.

[0065] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0066] The above description is merely an optional embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

[0067] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0068] The above description is merely an optional embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

[0069] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automatic inspection system applied to safety detection of a booster station, characterized in that, The automatic inspection system comprises: a remote control center and at least one inspection robot; the inspection robot is configured to travel along the preset path to the observation position of each electrical equipment in turn, identify the electrical equipment type according to the shooting picture of the electrical equipment, and perform special detection according to the detection item corresponding to the electrical equipment type; the inspection robot is further configured to send an abnormal alarm to the remote control center when there is an abnormal situation in the special detection.

2. The automatic inspection system according to claim 1, wherein the inspection robot is configured to travel along the preset path to the observation position of each electrical equipment in turn, including that the inspection robot is configured to travel to the working responsibility area, and then travel along the preset path to the observation position of each electrical equipment in the working responsibility area.

3. The automatic inspection system according to claim 1, wherein after the inspection robot travels to the observation position, the target electrical equipment is profile-identified through the real-time picture collected at present, the label information on the surface of the target electrical equipment is focused and shot, and the electrical equipment type of the target electrical equipment is calculated in combination with the profile identification result and the text recognition result.

4. The automatic inspection system according to claim 1, wherein after the inspection robot travels to the observation position, the target electrical equipment is rotated along the equipment detection path to collect multi-angle shooting pictures of the target electrical equipment, a real-time 3D model of the electrical equipment is constructed, and the electrical equipment type of the target electrical equipment is identified through the 3D model.

5. The automatic inspection system according to claims 1 to 4, wherein the inspection robot comprises at least one of the following detection devices: a mechanical arm; a camera; a gas sensor; an oil detection device; an infrared temperature measurement device; a pressure sensor; a laser radar; an electromagnetic signal detection device.

6. The automatic inspection system according to claim 5, wherein the inspection robot is further configured to perform non-special detection on each electrical equipment, and the non-special detection comprises at least one of the following: multi-angle pictures of the electrical equipment are collected through the camera, appearance recognition is performed on the multi-angle pictures, and when deformation, cracks or damage appear on the electrical equipment, it is judged that the electrical equipment has an abnormal situation; the current temperature of the electrical equipment is collected through the infrared temperature measurement device, and when the current temperature exceeds the safe temperature value, it is judged that the electrical equipment has an abnormal situation; the gas composition and concentration around the electrical equipment are collected through the gas sensor, and when the harmful gas concentration exceeds the safe concentration value, it is judged that the electrical equipment has an abnormal situation.

7. The automatic inspection system according to claim 5, wherein The special detection includes primary special detection and secondary special detection, the patrol robot is configured to preferentially perform primary special detection on the electrical equipment, when there is an abnormal condition in the primary special detection, the secondary special detection is performed on the electrical equipment, otherwise, the secondary special detection is stopped.

8. The automatic patrol system of claim 7, wherein, the patrol robot is configured to perform primary special detection on the transformer when it is identified that the electrical equipment is a transformer, the primary special detection comprising: collecting multi-angle pictures of the ground where the transformer is located by the camera, and performing appearance recognition on the multi-angle pictures; and determining that the transformer has an abnormal condition when there is a stain on the ground; the patrol robot is configured to perform secondary special detection on the transformer when it is identified that there is a stain on the ground, the secondary special detection comprising: collecting a ground stain sample to the oil detection device by the mechanical arm for detection, and determining that the transformer has an abnormal condition when the ground stain sample is detected as oil.

9. The automatic patrol system of claim 7, wherein, the patrol robot is configured to perform primary special detection on the high-voltage circuit breaker when it is identified that the electrical equipment is a high-voltage circuit breaker, the primary special detection comprising: scanning the contact surface of the high-voltage circuit breaker by the infrared temperature measurement device to measure the contact surface temperature; the patrol robot is configured to perform secondary special detection on the high-voltage circuit breaker when the contact surface temperature is greater than a safe temperature value, the secondary special detection comprising: disassembling the contact protection cover by the mechanical arm, and testing the contact spring pressure value by the pressure sensor on the mechanical arm, and determining that the high-voltage circuit breaker has an abnormal condition when the spring pressure value is less than a safe pressure value.

10. The automatic patrol system of claim 7, wherein, the patrol robot is configured to perform primary special detection on the metal-enclosed switch cabinet when it is identified that the electrical equipment is a metal-enclosed switch cabinet, the primary special detection comprising: scanning the cabinet door gap width by the laser radar; the patrol robot is configured to perform secondary special detection on the metal-enclosed switch cabinet when the cabinet door gap width is greater than a safe width value, the secondary special detection comprising: opening the cabinet door by the mechanical arm, and deploying the electromagnetic signal detection device to detect the local discharge signal strength in the cabinet, and determining that the metal-enclosed switch cabinet has an abnormal condition when the local discharge signal strength is greater than a safe signal strength value.

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