AI intelligent inspection robot for power transmission line of power distribution station

Abstract

The invention discloses an AI intelligent inspection robot for a power transmission line of a power distribution station. The AI intelligent inspection robot comprises a robot body, a self-adaptive climbing moving unit, an integrated AI visual inspection system and a central control system, the self-adaptive climbing and moving unit comprises a robot body, a self-adaptive climbing and moving system, an integrated AI visual inspection system and a central control system; the self-adaptive climbing moving system comprises two full-self-adaptive enveloping type driving wheel sets, and each driving wheel set comprises two symmetrically-arranged driving wheels. The driving wheel comprises a wheel body support, a center rotating shaft rotationally arranged on the wheel body support, two lateral annular plates capable of sliding in the axial direction of the center rotating shaft, a plurality of clamping deformation units evenly distributed in the circumferential direction of the center rotating shaft and a wear-resisting elastic coating layer wrapping all the clamping deformation units.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power facility intelligent inspection and special robots, and particularly relates to an AI intelligent inspection robot for power transmission lines of a power distribution station. BACKGROUND

[0002] The power transmission lines of a power distribution station are exposed to complex natural environments for a long time, and thus the inspection work is very important.

[0003] Traditional manual inspection is low in efficiency and high in safety risk, and the unmanned aerial vehicle inspection is limited by endurance, wind resistance and adaptability to bad weather, and cannot perform contact detection or simple maintenance work. The existing overhead line inspection robots have a fixed profile driving wheel for the moving mechanism, and have limited self-adaptive ability, are easy to slip on icy, slippery or steep lines, and have insufficient obstacle crossing ability, so that the robot cannot smoothly cross obstacles for a long distance, and there is a risk of the robot falling. At the same time, the existing equipment lacks real-time online intelligent defect diagnosis capability, and still needs manual analysis at the back end, which is lagging in response.

[0004] Therefore, it is necessary to provide an AI intelligent inspection robot for power transmission lines of a power distribution station to solve the problems in the background. SUMMARY

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an AI intelligent inspection robot for power transmission lines of a power distribution station, comprising a robot body, an adaptive climbing moving unit, an integrated AI visual detection system and a central control system.

[0006] The adaptive climbing moving unit comprises a robot body, an adaptive climbing moving system, an integrated AI visual detection system and a central control system.

[0007] The adaptive climbing moving system comprises two groups of fully adaptive envelope type driving wheel groups, each group of driving wheel groups comprises two symmetrically arranged driving wheels, the driving wheel comprises a wheel body support, a central rotating shaft rotatably arranged on the wheel body support, two lateral ring plates axially slidable along the central rotating shaft, a plurality of clamping variable units uniformly distributed along the central rotating shaft in the circumferential direction and a wear-resistant elastic coating layer wrapping all the clamping variable units.

[0008] The clamping variable unit comprises a push rod arranged radially along the central rotating shaft, the push rod is T-shaped, two ends of the push rod are symmetrically arranged with connecting rods, the two connecting rods are respectively connected with the two lateral ring plates through an extendable clamping rod, and a first return spring is arranged between the push rod and the central rotating shaft.

[0009] Further, as a preferred, the front and rear ends of the robot body are slidably provided with mounting tables, one side of the mounting table is fixedly provided with a vertical column, the first and second sliding plates are slidably arranged on the vertical column, and two groups of the driving wheel groups are respectively installed on the two mounting tables, and the two driving wheels in each group of the driving wheel groups are respectively fixedly installed on the first and second sliding plates on the same vertical column.

[0010] Further, as a preferred, one end of the clamping rod is hingedly connected to the connecting rod, the other end is hingedly connected to the lateral ring plate, and the two ends of the central rotating shaft are fixedly provided with two annular support plates, and the second return spring is connected between the lateral ring plate and the annular support plate.

[0011] Further, as a preferred, the clamping rod is a multi-stage telescopic rod body, and a clamping rod spring providing constant telescopic force is arranged between adjacent telescopic stages.

[0012] Further, as a preferred, the driving wheel further comprises a pressure sensor for detecting the radial pressure of the push rod on the cable.

[0013] The central control system is configured to close-loop control the clamping force of the driving wheel based on the feedback signal of the pressure sensor.

[0014] Further, as a preferred, two groups of auxiliary clamping wheel groups are further included, each group of the auxiliary clamping wheel groups comprises a rotating base, a hydraulic telescopic column, a sliding block, a fixed shaft, and a clamping wheel, the rotating base is rotatably installed on the robot body, the hydraulic telescopic column is fixedly installed on the rotating base, the sliding block is fixedly installed on the extending end of the hydraulic telescopic column, the fixed shaft is fixedly arranged on the sliding block, and the clamping wheel is rotatably arranged on the fixed shaft.

[0015] Further, as a preferred, the wheel surface of the clamping wheel is an elastic wheel surface with a fixed V-shaped groove.

[0016] Further, as a preferred, the first sliding plate is slidably arranged on the top of the vertical column by hydraulic drive, and a first tension spring is connected between the first sliding plate and the vertical column.

[0017] The vertical column is provided with a sliding groove at one end close to the mounting table, the second sliding plate is slidably arranged in the sliding groove by hydraulic drive, and a second tension spring is connected between the second sliding plate and the vertical column.

[0018] Further, as a preferred, the integrated AI visual detection system comprises a multi-spectral forming module for collecting line equipment images and an edge AI processing unit for real-time defect recognition of the images.

[0019] The central control system is used for controlling the clamping force of the driving wheel and the wheelbase of the adjustable wheelbase system according to the environmental information, and coordinating the integrated AI visual detection system to perform a detection operation.

[0020] Compared with the prior art, the AI intelligent inspection robot for the power transmission line of the power distribution station has the following beneficial effects:

[0021] 1. Excellent self-adaptation and driving capability: the innovative "T-shaped push rod-connecting rod-telescopic clamping rod-lateral ring plate" linkage deformation mechanism realizes passive full-envelope self-adaptation of the driving wheel to the cable, provides super-large contact area and friction force, and has significant advantages especially in harsh conditions.

[0022] 2. Multidimensional adjustable moving platform: through the sliding of the installation platform and the independent adjustment of the distance between the driving wheels in the same group, the compound adjustment of the wheelbase and the track is realized, so that the robot can flexibly adapt to the changes of the line terrain and efficiently cross long obstacles.

[0023] 3. Multiple safety and stability guarantees: the auxiliary clamping wheel group serves as an actively deployable stabilizing mechanism, providing additional support during obstacle crossing, steep slope climbing and other critical moments, greatly improving the operation safety.

[0024] 4. Deeply integrated real-time AI diagnosis: the edge AI processing capability realizes the instant discovery, identification and classification of defects, forms a "perception-analysis-decision" on-site closed loop, and significantly improves the intelligent level and response speed of the inspection. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 The figure is a schematic diagram of the logic control of the central control system and the execution process of each unit in the application;

[0026] Figure 2 The figure is a schematic diagram of the overall structure of the application;

[0027] Figure 3 The figure is a schematic diagram of the structure of the driving wheel group in the application;

[0028] Figure 4 The figure is a schematic diagram of the structure of the driving wheel in the application;

[0029] Figure 5 The figure is Figure 4 The figure is an enlarged schematic diagram of the structure of part A in the application;

[0030] Figure 6 The figure is a schematic diagram of the structure of the installation platform in the application;

[0031] Figure 7 The figure is a schematic diagram of the structure of the auxiliary clamping wheel group in the application;

[0032] In the figure: 1, robot body; 11, mounting table; 12, stand; 13, first sliding plate; 14, second sliding plate; 15, first tension spring; 16, second tension spring; 2, driving wheel set; 21, center rotating shaft; 211, annular support plate; 212, second reset spring; 22, lateral ring plate; 23, clamping variable unit; 231, push rod; 232, connecting rod; 233, clamping rod; 234, first reset spring; 24, wear-resistant elastic coating layer; 3, auxiliary clamping wheel set; 31, rotating base; 32, hydraulic telescopic column; 33, sliding block; 34, fixed shaft; 35, clamping wheel. DETAILED DESCRIPTION

[0033] Please refer to Figures 1-7 In the embodiment of the present application, an AI intelligent inspection robot for power transmission lines of a power distribution station comprises a robot body 1, an adaptive climbing movement unit, an integrated AI visual detection system and a central control system.

[0034] The adaptive climbing movement unit comprises a robot body 1, an adaptive climbing movement system, an integrated AI visual detection system and a central control system.

[0035] The adaptive climbing movement system comprises two groups of fully adaptive envelope type driving wheel sets 2, each group of driving wheel sets 2 comprising two symmetrically arranged driving wheels, the driving wheels comprising a wheel body support, a center rotating shaft 21 rotatably arranged on the wheel body support, two lateral ring plates 22 axially slidable along the center rotating shaft 21, a plurality of clamping variable units 23 evenly distributed circumferentially along the center rotating shaft 21, and a wear-resistant elastic coating layer 24 wrapping all the clamping variable units 23.

[0036] Among them, the clamping variable unit 23 comprises a push rod 231 arranged radially along the center rotating shaft 21, the push rod 231 being T-shaped, two ends of the push rod 231 being symmetrically arranged with connecting rods 232, the two connecting rods 232 being respectively connected with the two lateral ring plates 22 through a telescopic clamping rod 233, and the push rod 231 being provided with a first reset spring 234 between the push rod 231 and the center rotating shaft 21.

[0037] One end of the clamping rod 233 is hinged to the connecting rod 232, the other end of the clamping rod 233 is hinged to the lateral ring plate 22, and the center rotating shaft 21 is fixedly provided with two annular support plates 211 at both ends, the second reset spring 212 being connected between the lateral ring plate 22 and the annular support plate 211.

[0038] The clamping rod 233 is a multi-stage telescopic rod body, and a clamping rod spring (not shown in the figure) providing constant telescopic force is arranged between adjacent telescopic stages of the clamping rod 233.

[0039] In the implementation, when the two driving wheels move towards each other under the driving force to clamp the cable, the cable first contacts the cladding layer 24 and the two lateral ring plates 22, under the pressure, the two lateral ring plates 22 slide to the two sides and compress the second reset spring 212, so that the cable can slide into the two lateral ring plates 22, in this process, the cable extrudes the connecting rod 232 to make it deflect, then the cable contacts the push rod 231 and extrudes the push rod 231 to make it slide and compress the first reset spring 234, when the two driving wheels contact together, this deformation stops, at this time, the push rod 231 and the connecting rod 232 make the cladding layer 24 outside them deform to fit the contour of the cable, realizing the transition from line contact to nearly full envelope surface contact, thereby obtaining great friction force, the constant force spring in the clamping rod 233 can ensure that the clamping rod can adapt to the length change and always provide compression force to the cladding layer during the deformation.

[0040] In the embodiment, the front and rear ends of the robot body 1 are slidably provided with mounting tables 11, one side of the mounting table 11 is fixedly provided with a vertical column 12 along the vertical direction, a first sliding plate 13 and a second sliding plate 14 are slidably arranged on the vertical column 12 along the vertical direction, two groups of driving wheel sets 2 are respectively installed on the two mounting tables 11, and two driving wheels in each group of driving wheel sets 2 are respectively fixedly installed on the first sliding plate 13 and the second sliding plate 14 on the same vertical column 12.

[0041] In the implementation, by driving the two mounting tables 11 to slide relative to the robot body 1, the wheelbase between the two groups of driving wheel sets 2 can be changed, which enables the robot to smoothly cross long obstacles, and the obstacle crossing process is as follows: when a long obstacle is encountered, first, the driving wheel set 2 on the front side of the robot is moved to contact the edge of the obstacle and is fixed; then, the mounting table 11 on the front side is driven to slide forward, so that the front driving wheel set 2 crosses the obstacle and is fixed on the cable again, at this time, the front and rear driving wheel sets 2 are located on the two sides of the obstacle, then, the relative position between the robot body 1 and the two mounting tables 11 is adjusted, so that the robot body 1 smoothly crosses the obstacle. Finally, the mounting table 11 on the rear side is driven to slide, so that the rear driving wheel set 2 crosses the obstacle, and this distributed obstacle crossing mode ensures that the robot can smoothly cross various obstacles.

[0042] In the embodiment, the first sliding plate 13 is slidably arranged at the top of the vertical column 12 by hydraulic drive, and a first tension spring 15 is connected between the first sliding plate 13 and the vertical column 12.

[0043] The vertical column 12 is provided with a sliding groove 121 at one end close to the mounting table 11, the second sliding plate 14 is slidably arranged in the sliding groove 121 by hydraulic drive, and a second tension spring 16 is connected between the second sliding plate 14 and the vertical column 12.

[0044] Specifically, the first sliding plate 13 and the second sliding plate 14 are driven to slide by hydraulic pressure, so that the relative positions of the two driving wheels in the vertical direction are driven, that is, the clamping force between the two driving wheels is adjusted, and the clamping force has two working modes:

[0045] The first mode is a rigid clamping mode driven by hydraulic pressure, and the two driving wheels apply stable and accurately controllable clamping force to the cable, which is suitable for conventional climbing movement.

[0046] The second mode is that the hydraulic drive is pressure-released, and the clamping behavior of the driving wheel is completely dominated by the elastic force of the first tension spring 15 and the second tension spring 16. In this mode, the driving wheel can passively adapt to the size of the obstacle or the irregular contour of the cable, maintain contact without disengagement, and automatically restore adhesion after passing the obstacle. The switching between the two modes significantly improves the obstacle crossing ability and environmental adaptability of the robot.

[0047] In the embodiment, the driving wheel further comprises a pressure sensor for detecting the radial pressure of the push rod 231 on the cable.

[0048] The central control system is configured to perform closed-loop control on the clamping force of the driving wheel based on the feedback signal of the pressure sensor.

[0049] In the embodiment, two groups of auxiliary clamping wheel sets 3 are further included, each of the auxiliary clamping wheel sets 3 comprising a rotating base 31, a hydraulic telescopic column 32, a sliding block 33, a fixed shaft 34, and a clamping wheel 35. The rotating base 31 is rotatably installed on the robot body 1, and the hydraulic telescopic column 32 is fixedly installed on the rotating base 31. The sliding block 33 is fixedly installed on the extension end of the hydraulic telescopic column 32, and the fixed shaft 34 is fixedly arranged on the sliding block 33. The clamping wheel 35 is rotatably arranged on the fixed shaft 34.

[0050] In particular, the auxiliary clamping wheel set 3 can provide auxiliary clamping when the robot is climbing obstacles. For example, when a group of driving wheel sets 2 switches to the adaptive floating mode to prepare for obstacle crossing and the active clamping force on the cable decreases, the auxiliary clamping wheel set 3 can be controlled to extend and clamp the cable, providing temporary stable support for the robot. The obstacle crossing process adopts a distributed step: the front driving wheel set 2 first crosses the obstacle, then the auxiliary clamping wheel set 3 and the robot body 1 cross, and finally the rear driving wheel set 2 crosses, maintaining the stability of the robot throughout the process.

[0051] In the embodiment, the wheel surface of the clamping wheel 35 is an elastic wheel surface with a fixed V-shaped groove, and the angle range is between 120° and 150°. This angle range can ensure that the clamping wheel 35 has good adaptability and clamping stability to different specifications of power transmission lines, thereby providing reliable support for the robot when a group of main driving wheels switches functions.

[0052] In this embodiment, the integrated AI visual inspection system includes a multi-spectral forming module for collecting line equipment images and an edge AI processing unit for real-time defect recognition of the images.

[0053] The central control system is used to control the clamping force of the driving wheel and the wheelbase of the adjustable wheelbase system according to the environmental information, and coordinate the integrated AI visual inspection system to perform detection work.

[0054] Specifically, the operation of the AI visual inspection and control system includes the following steps:

[0055] S1, data synchronous acquisition: when the robot patrols, the multi-spectral imaging module (including visible light camera and infrared thermal imager) installed on the gimbal synchronously collects visible light images and infrared thermal images of the line at a fixed frequency, and simultaneously, the laser radar scans the three-dimensional point cloud in front.

[0056] S2, edge real-time processing: the collected data is transmitted to the edge AI processing unit, the visible light image is detected and recognized by a deep learning model in real time to determine the component state (such as broken insulator, rusty fittings, foreign matter on the conductor, etc.), and the infrared thermal image is analyzed by a temperature field analysis algorithm to automatically locate the heating point and calculate the temperature rise.

[0057] S3, decision and control instruction generation: the AI recognition result is compared with the preset threshold value, if an emergency defect is found, the system immediately alarms and returns, and at the same time, the central controller plans a response action based on the recognition result, for example: planning a cleaning path for foreign matter, planning a detailed re-measurement for the heating point, and starting the above-mentioned intelligent obstacle crossing process for the front large obstacle.

[0058] S4, motion execution and closed-loop feedback: the central controller issues action instructions to each execution mechanism, and the pressure sensor, position encoder, visual servo, etc. constitute a closed-loop feedback to ensure accurate execution of the action. All data and logs are recorded and synchronized.

[0059] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An AI-powered intelligent inspection robot for power transmission lines in substations, characterized in that, It includes the robot body (1), an adaptive climbing and moving unit, an integrated AI vision inspection system, and a central control system; The adaptive climbing and moving unit includes a robot body (1), an adaptive climbing and moving system, an integrated AI vision inspection system, and a central control system; The adaptive climbing and moving system includes two sets of fully adaptive envelope drive wheel sets (2). Each set of drive wheel sets (2) includes two symmetrically arranged drive wheels. Each drive wheel includes a wheel body support, a central rotating shaft (21) rotatably mounted on the wheel body support, two lateral ring plates (22) that can slide along the axial direction of the central rotating shaft (21), a plurality of clamping deformation units (23) evenly distributed circumferentially along the central rotating shaft (21), and a wear-resistant elastic coating layer (24) covering all the clamping deformation units (23). The clamping deformation unit (23) includes a push rod (231) that slides radially along the central rotating shaft (21). The push rod (231) is T-shaped and has connecting rods (232) symmetrically slidably arranged at both ends. The two connecting rods (232) are respectively connected to the two lateral ring plates (22) by telescopic clamping rods (233). A first return spring (234) is provided between the push rod (231) and the central rotating shaft (21).

2. The AI ​​intelligent inspection robot for power transmission lines in a substation according to claim 1, characterized in that, The robot body (1) has mounting platforms (11) slidably installed at both the front and rear ends. A column (12) is fixedly installed vertically on one side of the mounting platform (11). A first sliding plate (13) and a second sliding plate (14) are slidably installed vertically on the column (12). Two sets of drive wheel sets (2) are respectively installed on the two mounting platforms (11), and the two drive wheels in each set of drive wheel sets (2) are respectively fixedly installed on the first sliding plate (13) and the second sliding plate (14) on the same column (12).

3. The AI ​​intelligent inspection robot for power transmission lines in a substation according to claim 1, characterized in that, One end of the clamping rod (233) is hinged to the connecting rod (232), and the other end is hinged to the lateral ring plate (22). Two annular support plates (211) are fixedly provided at both ends of the central rotating shaft (21). A second return spring (212) is connected between the lateral ring plate (22) and the annular support plate (211).

4. The AI ​​intelligent inspection robot for power transmission lines in a substation according to claim 1, characterized in that, The clamping rod (233) is a multi-stage telescopic rod, and a clamping rod spring that provides a constant telescopic force is provided between adjacent telescopic stages.

5. The AI ​​intelligent inspection robot for power transmission lines in a substation according to claim 1, characterized in that, The drive wheel also includes a pressure sensor for detecting the radial pressure exerted by the push rod (231) on the cable; The central control system is configured to perform closed-loop control of the clamping force of the drive wheel based on the feedback signal from the pressure sensor.

6. The AI ​​intelligent inspection robot for power transmission lines in a substation according to claim 1, characterized in that, It also includes two sets of auxiliary clamping wheel sets (3). Each set of auxiliary clamping wheel sets (3) includes a rotating base (31), a hydraulic telescopic column (32), a slider (33), a fixed shaft (34), and a clamping wheel (35). The rotating base (31) is rotatably mounted on the robot body (1). The hydraulic telescopic column (32) is fixedly mounted on the rotating base (31). The slider (33) is fixedly mounted on the extended end of the hydraulic telescopic column (32). The fixed shaft (34) is fixedly mounted on the slider (33). The clamping wheel (35) is rotatably mounted on the fixed shaft (34).

7. The AI ​​intelligent inspection robot for power transmission lines in a substation according to claim 6, characterized in that, The surface of the clamping wheel (35) is an elastic surface with a fixed V-shaped groove.

8. The AI ​​intelligent inspection robot for power transmission lines in a substation according to claim 2, characterized in that, The first sliding plate (13) is hydraulically driven to slide on the top of the column (12), and a first tension spring (15) is connected between the first sliding plate (13) and the column (12); The column (12) has a groove (121) at one end near the mounting platform (11). The second sliding plate (14) is hydraulically driven to slide in the groove (121), and a second tension spring (16) is connected between the second sliding plate (14) and the column (12).

9. The AI ​​intelligent inspection robot for power transmission lines in a substation according to claim 1, characterized in that, The integrated AI visual inspection system includes a multispectral shaping module for acquiring images of line equipment and an edge AI processing unit for real-time defect identification of the images. The central control system is used to control the clamping force of the drive wheel and the wheelbase of the adjustable wheelbase system according to environmental information, and to coordinate the integrated AI vision inspection system to perform inspection operations.

Images