Robot inspection method and device for transformer substation and nonvolatile storage medium

Abstract

The invention discloses a robot inspection method and device for a transformer substation and a nonvolatile storage medium. The method comprises the steps of obtaining operation control instructions corresponding to a plurality of pieces of power equipment in a target substation; based on the operation control instruction, whether the inspection sequence of the robotic arm is adjusted or not is judged; under the condition that the inspection sequence of the robotic arm is adjusted, the multiple pieces of power equipment are divided, and multiple initial combinations are obtained; determining a priority combination in the plurality of initial combinations based on instruction multiplexing conditions corresponding to the plurality of initial combinations and device distribution conditions corresponding to the plurality of initial combinations; polling the power equipment in the priority combination; and according to the operation data and the equipment interval data in the inspection process of the preferential combination, determining whether to switch to other combinations for inspection. The technical problems of complex operation and low efficiency caused by frequent switching of control instructions of the robotic arm in the inspection process of the power equipment are solved.

Description

Technical Field

[0001] This invention relates to the field of power automation technology, and more specifically, to a robotic inspection method, apparatus, and non-volatile storage medium for substations. Background Technology

[0002] In the field of power equipment inspection, robotic inspection methods face several technical and operational challenges. Substations contain a wide variety of power equipment, each with different operational requirements and control commands. These include tasks such as closing and opening switches, operating switchgear doors, adjusting terminal wiring, modifying incoming lines, adjusting handcart positions, and interlocking operations. These differentiated control commands require the robot to frequently adjust the posture and position of its robotic arm (also called a mechanical arm) to adapt to the varying operational needs of different power equipment. However, this frequent posture adjustment not only increases the complexity and difficulty of robot operation but also reduces inspection efficiency and reliability. This is especially true in situations where power equipment is widely distributed, where each posture adjustment can introduce unnecessary operational errors and time consumption.

[0003] Currently, the operational control commands for inspection robots are typically customized for individual devices, without considering command reusability or the relative positional relationships between electrical equipment. Therefore, after completing the operation of one device, the robot often needs to reposition its arm to execute the specific control commands for the next device. This not only increases the number of arm posture adjustments during the inspection process but may also increase the uncertainty of the arm's operation, affecting the overall efficiency and quality of the inspection task. Furthermore, existing inspection methods do not fully utilize image recognition technology to optimize the inspection sequence and control strategy of the robot arm. While image recognition technology can identify the type of electrical equipment and its operational requirements, this information is ignored when determining the inspection sequence. This prevents the robot from dynamically adjusting its inspection strategy to adapt to changes in equipment distribution and operational requirements during the inspection process.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a robotic inspection method, apparatus, and non-volatile storage medium for substations, to at least solve the technical problems of complex operation and low efficiency caused by frequent switching of robotic arm control commands during power equipment inspection.

[0006] According to one aspect of the present invention, a robotic inspection method for a substation is provided, comprising: acquiring operation control instructions corresponding to multiple electrical devices in a target substation, wherein the operation control instructions are instructions for controlling a robotic arm to inspect the electrical devices; determining, based on the operation control instructions, whether to adjust the inspection sequence of the robotic arm; if the inspection sequence of the robotic arm is adjusted, dividing the multiple electrical devices into multiple initial combinations based on the operation control instructions; determining a priority combination among the multiple initial combinations based on the instruction reuse status and device distribution status corresponding to each of the multiple initial combinations; performing the inspection of the electrical devices in the priority combination; and determining, based on the operation data and device interval data during the inspection process of the priority combination, whether to switch to another combination for inspection, wherein the other combination is any combination other than the priority combination among the multiple initial combinations.

[0007] Optionally, the operation control commands corresponding to each of the multiple power devices in the target substation are obtained, including: determining the distance between each of the multiple power devices and the robotic arm based on the image recognition results of the power devices by the robotic arm; and determining the operation control commands corresponding to each of the multiple power devices based on the distance between each of the multiple power devices and the robotic arm.

[0008] Optionally, based on the operation control instructions, it is determined whether to adjust the inspection sequence of the robotic arm, including: based on the operation control instructions, determining the operation type corresponding to the power equipment; based on the operation type, determining the deviation between the operations of multiple power equipment; and based on the deviation, determining whether to adjust the inspection sequence of the robotic arm.

[0009] Optionally, based on the operation control commands, multiple power devices are divided into multiple initial combinations, including: grouping power devices with the same operation control commands into one group to obtain multiple initial combinations.

[0010] Optionally, based on the instruction multiplexing status and equipment distribution status corresponding to each of the multiple initial combinations, a preferred combination is determined from the multiple initial combinations, including: determining the equipment distribution status corresponding to each of the multiple initial combinations; determining the number of devices and the average interval distance corresponding to each of the multiple initial combinations based on the equipment distribution status; determining the instruction multiplexing status corresponding to each of the multiple initial combinations based on the operation control instructions corresponding to each of the multiple power devices, wherein the instruction multiplexing status includes the multiplexing type of the operation control instructions, and the multiplexing type includes a multiplexable type or a non-multiplexable type. A multiplexable type indicates that the degree of adjustment of the robot arm's posture is less than a preset threshold, and a non-multiplexable type indicates that the degree of adjustment of the robot arm's posture is not less than a preset threshold; and determining the preferred combination based on the number of devices, the average interval distance, and the instruction multiplexing status corresponding to each of the multiple initial combinations.

[0011] Optionally, based on the operation data and equipment interval data during the inspection process of the priority combination, it is determined whether to switch to another combination for inspection, including: determining the target equipment currently being inspected by the robotic arm; determining the interval equipment between the target equipment in the priority combination and the next combination to be switched to, obtaining the total number of interval equipment; determining the operation control command corresponding to the target equipment; determining the demand for switching inspection combinations based on the proportion of equipment with failed inspection operations in the priority combination; and determining whether to switch to another combination for inspection based on the total number of interval equipment, the operation control command corresponding to the target equipment, and the demand for switching inspection combinations.

[0012] According to another aspect of the present invention, a robotic inspection device for a substation is also provided, comprising: an acquisition module for acquiring operation control instructions corresponding to multiple electrical devices in a target substation, wherein the operation control instructions are instructions to control a robotic arm to inspect the electrical devices; a judgment module for determining, based on the operation control instructions, whether to adjust the inspection sequence of the robotic arm; a division module for dividing the multiple electrical devices into multiple initial combinations based on the operation control instructions; a first determination module for determining a priority combination among the multiple initial combinations based on the instruction reusability and device distribution of each of the multiple initial combinations; an execution module for executing the inspection of the electrical devices in the priority combination; and a second determination module for determining, based on the operation data and device interval data during the inspection process of the priority combination, whether to switch to another combination for inspection, wherein the other combination is any combination other than the priority combination among the multiple initial combinations.

[0013] According to another aspect of the present invention, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored program, wherein, when the program is running, the device where the non-volatile storage medium is located is controlled to execute any of the above-described robotic inspection methods for substations.

[0014] According to another aspect of the present invention, a computer device is also provided, the computer device including a processor, the processor being configured to run a program, wherein the program, when running, executes any of the above-described robotic inspection methods for substations.

[0015] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements any of the above-described robotic inspection methods for substations.

[0016] In this embodiment of the invention, a robot inspection method for substations is adopted. This method acquires operation control commands corresponding to multiple power devices in the target substation, where the operation control commands are instructions to control the robot arm to inspect the power devices. Based on the operation control commands, it is determined whether to adjust the robot arm's inspection sequence. If the robot arm's inspection sequence is adjusted, the multiple power devices are divided into multiple initial combinations based on the operation control commands. Based on the instruction reuse and device distribution of each initial combination, a priority combination is determined. The inspection of the power devices in the priority combination is executed. Based on the operation data and device interval data during the inspection process of the priority combination, it is determined whether to switch to another combination for inspection, where other combinations are any combinations other than the priority combination among the multiple initial combinations. This optimizes the robot arm's inspection path and reduces the number of posture adjustments, thereby improving the efficiency and operational stability of power device inspections. This solves the technical problem of complex operation and low efficiency caused by frequent switching of robot arm control commands during power device inspections. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 A hardware block diagram of a computer terminal for implementing a robotic inspection method for substations is shown.

[0019] Figure 2 This is a flowchart illustrating a robot inspection method for substations provided according to an embodiment of the present invention.

[0020] Figure 3 This is a flowchart of the inspection sequence adjustment judgment provided by an optional embodiment of the present invention;

[0021] Figure 4 This is a flowchart for determining the preferred combination according to an optional embodiment of the present invention;

[0022] Figure 5 This is a flowchart of the inspection combination switching decision-making process provided by an optional embodiment of the present invention;

[0023] Figure 6 This is a structural block diagram of a robotic inspection device for substations provided according to an embodiment of the present invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] According to an embodiment of the present invention, a method for robot inspection of substations is provided. It should be noted that 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. Also, 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 method embodiment provided in Embodiment 1 of this application can be executed on a mobile terminal, computer terminal, or similar computing device. Figure 1 A hardware block diagram of a computer terminal for implementing a robotic inspection method for substations is shown. Figure 1As shown, the computer terminal 10 may include one or more processors (shown as 102a, 102b, ..., 102n in the figure) (the processor may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0028] It should be noted that the aforementioned one or more processors and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10. As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0029] The memory 104 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the robot inspection method for substations in this embodiment of the invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby implementing the robot inspection method for substations described above. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0030] The display can be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10.

[0031] Figure 2 This is a flowchart illustrating a robot inspection method for substations according to an embodiment of the present invention, as shown below. Figure 2As shown, the method includes the following steps:

[0032] Step S201: Obtain the operation control instructions corresponding to each of the multiple power devices in the target substation. The operation control instructions are instructions to control the robotic arm to inspect the power devices.

[0033] In this step, the operation control commands refer to the set of instructions generated in the target substation to control the robotic arm to perform corresponding actions based on the specific operational needs of each power device. These command sets contain detailed information on the robotic arm's posture adjustment, grasping, operating power equipment switches, or performing other maintenance activities. In practical applications, operation control commands are not limited to simple motion commands; they also include precise position adjustment commands based on image recognition feedback, force feedback control commands, etc., to ensure that the robotic arm can execute tasks accurately and without error.

[0034] Specifically, by analyzing the type and current status of each power device, the required operations are determined, and corresponding control strategies are formulated. First, the characteristics of each power device are identified, such as whether closing, opening, switching cabinet door operations, wiring modifications, or trolley position adjustments are needed. Real-time dynamic data, such as the current posture of the robotic arm, the real-time status of the equipment, and environmental factors, are comprehensively analyzed. Then, based on these operational requirements, specific operational control commands are generated. These commands guide the robotic arm on how to approach the target equipment, perform precise operations, and safely withdraw after the operation, minimizing the number and complexity of posture adjustments and improving the efficiency of inspection and maintenance.

[0035] Step S202: Based on the operation control command, determine whether to adjust the inspection sequence of the robot arm.

[0036] In this step, deviation refers to the degree of difference between the operating instructions of different power equipment. By checking the operating control instructions of each power device in the target substation one by one, the operation types involved in these instructions are compared, such as switch operations, cabinet door opening, and line modification. The matching degree or similarity between the operating instructions of adjacent power equipment is calculated to determine whether the posture adjustment can be reduced by changing the inspection sequence, thereby achieving the purpose of reusing control instructions. When the difference between the operating control instructions is small (i.e., the deviation is slight), it means that after completing one operation, the robotic arm can continue to execute the next operation without significant adjustments. In this case, it is preferable to maintain the original inspection sequence to avoid unnecessary adjustments. Conversely, if the difference between instructions is significant, the robotic arm needs to frequently change its posture to adapt to different operational requirements. Therefore, the inspection sequence needs to be replanned to find a power equipment grouping pattern that minimizes posture changes.

[0037] In step S203, after adjusting the inspection sequence of the robotic arm, multiple power devices are divided based on the operation control commands to obtain multiple initial combinations.

[0038] In this step, the electrical equipment within each group has similar operating control commands. This means that after the robotic arm performs an operation on one device within a group, it can continue operating the next device without significantly changing its posture, thereby improving inspection efficiency and reducing the complexity and potential risks of posture adjustment. By deeply analyzing the operating control commands of each electrical device, the operation type can be identified, such as closing, opening, and cabinet door opening, and the electrical equipment can be grouped according to these types.

[0039] Specifically, the similarity analysis of operation control commands is achieved by comparing the operation types and specific content of control commands for different power devices. For example, if two power devices both operate as switches and their control commands involve similar requirements for robotic arm posture adjustment, then these two devices can be grouped into the same initial group and given priority consideration when formulating inspection strategies. Conversely, if the operation types of the power devices differ significantly, or even if they are of the same type but the execution details of the control commands differ significantly, then these devices may be assigned to different initial groups. Furthermore, when dividing initial groups, the physical distribution of the power devices and the execution order of their operation control commands must also be considered. If a group of power devices not only has similar operation types but is also relatively concentrated in the target substation, then they are more likely to form an efficient initial group, as this reduces the time and distance the robotic arm travels between different devices.

[0040] Step S204: Based on the instruction multiplexing situation and the device distribution situation corresponding to each of the multiple initial combinations, determine the preferred combination among the multiple initial combinations.

[0041] In this step, the first step is to obtain the instruction reuse rate and equipment distribution of the initial combination. Based on these two indicators, a quantitative evaluation and comparison method is used to select combinations with high instruction reuse rates and dense equipment distribution as priority combinations. The selection criteria for priority combinations include factors such as instruction reuse rate, average equipment spacing, number of devices, and operation success rate. For example, during system analysis, if it is found that the operation of power equipment in an initial combination can be almost entirely completed by a set of standardized control instructions, and these devices are geographically close, then this combination is very likely to be selected as a priority combination. Conversely, if the operation instructions of the devices in a combination are diverse and difficult to reuse, and the distance between devices is large, requiring the robotic arm to frequently adjust its posture and move, then this combination may not be considered as a priority.

[0042] Step S205: Perform an inspection of the power equipment in the priority combination.

[0043] In this step, when performing the inspection of power equipment in the priority combination, the robotic arm visits and executes the operation control commands on each power device one by one according to the pre-planned path and control strategy. This process fully utilizes the high reusability of operation commands and the close distribution of power equipment, completing all predetermined inspection tasks with minimal posture adjustment frequency and shortest travel distance. The robotic arm, through its integrated sensors and image recognition devices, monitors its relative position and status with the power equipment in real time, ensuring the accuracy and safety of each operation.

[0044] Step S206: Based on the operation data and equipment interval data during the inspection process of the preferred combination, determine whether to switch to other combinations for inspection, wherein other combinations are any combinations other than the preferred combination among multiple initial combinations.

[0045] In this step, operational data specifically refers to the performance of the robotic arm when executing operational control commands for power equipment, including but not limited to indicators such as success rate, number of operation failures, and attitude control deviation. This data reflects the accuracy and reliability of the robotic arm in real time when performing inspection tasks, determining whether the robotic arm is in optimal working condition and whether the current inspection strategy remains optimal. Equipment spacing data reflects the relative positions of power equipment in the actual spatial layout, including the distance between equipment and their distances from equipment in the preferred combination. Shorter equipment spacing means the robotic arm can quickly and efficiently reach the next target equipment, while excessively long spacing may increase the complexity of attitude adjustment and energy consumption, affecting inspection efficiency.

[0046] Specifically, dynamic path optimization is performed during the inspection process to further improve the efficiency and flexibility of the robotic arm. This mechanism is based on real-time monitoring and analysis of the actual operation during the inspection of priority combinations, as well as consideration of the physical distance between devices. During the inspection, the program continuously tracks the operational data of the electrical equipment within the priority combination, while also monitoring device spacing data to assess whether it is necessary to switch to other combinations for inspection. Specifically, if a decrease in the success rate of the robotic arm's operation within the priority combination is detected, or if significant attitude control deviations are found, this may indicate that the current control commands need adjustment, or that the robotic arm's inspection strategy is no longer optimal. In this case, the device spacing data of other combinations can be checked to assess the potential benefits of switching to these combinations for inspection.

[0047] If the distance between the power equipment in other combinations and the current position of the robotic arm is appropriate, and the control command reuse of that combination is good, meaning the robotic arm can be easily switched to the new combination without large-scale attitude adjustments, then a switch will be considered. Furthermore, the expected operational data after switching to another combination can be evaluated. If the expected operational success rate and control accuracy are higher than or equal to the current preferred combination, a switch will be executed to utilize the advantages of the new combination to continue the inspection task. On the other hand, if analysis reveals that the equipment spacing in other combinations is too large, or the expected operational data performance after switching is lower than the current preferred combination, the existing inspection path will be maintained to avoid unnecessary switching and attitude adjustments, thus preserving operational continuity and efficiency.

[0048] Through the above steps, the inspection path of the robotic arm is optimized and the number of posture adjustments is reduced, thereby improving the inspection efficiency and operational stability of power equipment. This solves the technical problem of complex operation and low efficiency caused by frequent switching of robotic arm control commands during power equipment inspection.

[0049] As an optional embodiment, obtaining the operation control commands corresponding to each of the multiple power devices in the target substation includes: determining the distance between each of the multiple power devices and the robot arm based on the image recognition results of the power devices by the robot arm; and determining the operation control commands corresponding to each of the multiple power devices based on the distance between each of the multiple power devices and the robot arm.

[0050] Optionally, the camera equipped on the robotic arm can capture image data of the power equipment, and then use image recognition algorithms to analyze the specific position and posture of the equipment. By combining image recognition with distance measurement, the relative position information between the robotic arm and each power device can be obtained. Secondly, based on the relative distance between the power equipment and the robotic arm, and the specific type of operation the equipment needs to perform (such as switching operation, line detection, etc.), operation control commands can be generated. These commands not only include the sequence of actions for how the robotic arm should precisely move to the target position, but may also include detailed instructions such as adjusting the gripping force and operating speed according to the distance, to ensure that the robotic arm can complete the task safely and accurately.

[0051] As an optional embodiment, determining whether to adjust the inspection sequence of the robotic arm based on the operation control command includes: determining the operation type corresponding to the power equipment based on the operation control command; determining the deviation between the operations of multiple power equipment based on the operation type; and determining whether to adjust the inspection sequence of the robotic arm based on the deviation.

[0052] Optionally, Figure 3 This is a flowchart for determining the inspection sequence adjustment according to an optional embodiment of the present invention. Figure 3As shown, firstly, the operation control commands for each power device are analyzed to extract the corresponding operation type. Operation types include, but are not limited to, specific actions such as closing, opening, cabinet door operation, and line modification. By analyzing the details of the actions, positions, and required posture adjustments in the operation control commands, the specific operation type required by the power device can be identified. After determining the operation type corresponding to the power device, it is necessary to assess whether there are significant differences in the operation types between different power devices, i.e., the so-called "deviation." This assessment is mainly done by comparing the operation types of adjacent power devices. If the operation types of adjacent devices are similar, the deviation is considered small; conversely, if the operation types are completely different, the deviation is large. Finally, based on the deviation obtained from the previous two steps, it is decided whether to adjust the inspection sequence of the robotic arm. If the deviation is generally small, it means that the operation types of most power devices are similar, and the robotic arm can maintain a similar posture during continuous operation. Therefore, in this case, there is no need to adjust the inspection sequence; maintaining the original sequence can achieve efficient inspection. Conversely, if the deviation is large, it indicates that the power equipment operates in various ways, and the robotic arm needs to frequently adjust its posture to adapt to different operations. In this case, the inspection sequence will be re-planned to minimize unnecessary changes in the robotic arm's posture, thereby improving the level of inspection automation and operational efficiency.

[0053] As an optional embodiment, multiple power devices are divided into multiple initial combinations based on operation control commands, including: grouping power devices with the same operation control commands into one group to obtain multiple initial combinations.

[0054] Optionally, the initial grouping follows the principle of consistency in operation control instructions, ensuring that devices within the group can be operated under similar conditions. A detailed analysis of the operation control instructions for each power device in the target substation is conducted to identify key elements such as operation type, required action sequence, and attitude adjustment requirements. If the operation control instructions of two or more power devices exhibit a high degree of consistency, including the specific type of operation, robotic arm attitude requirements, and possible action parameters, then these devices are considered to have similar operation control instructions and are thus grouped into the same initial group.

[0055] As an optional embodiment, based on the instruction multiplexing status and equipment distribution status corresponding to each of the multiple initial combinations, a preferred combination is determined from the multiple initial combinations, including: determining the equipment distribution status corresponding to each of the multiple initial combinations; determining the number of devices and the average interval distance corresponding to each of the multiple initial combinations based on the equipment distribution status; determining the instruction multiplexing status corresponding to each of the multiple initial combinations based on the operation control instructions corresponding to each of the multiple power devices, wherein the instruction multiplexing status includes the multiplexing type of the operation control instructions, and the multiplexing type includes a multiplexable type or a non-multiplexable type. A multiplexable type indicates that the degree of adjustment of the robot arm's posture is less than a preset threshold, and a non-multiplexable type indicates that the degree of adjustment of the robot arm's posture is not less than a preset threshold; and determining the preferred combination based on the number of devices, the average interval distance, and the instruction multiplexing status corresponding to each of the multiple initial combinations.

[0056] Optionally, instruction reuse refers to the degree of overlap or commonality of the operation control instructions of the power equipment within a given initial combination. If the operation instructions of the equipment within a combination are highly similar, it means that after completing one operation, the robotic arm can quickly reuse the same control strategy to execute another operation without requiring additional attitude adjustments or parameter settings. Equipment distribution focuses on the physical layout and distance of the power equipment. The density of equipment distribution within each initial combination, as well as the distance between the equipment, can be assessed to understand the displacement requirements of the robotic arm when performing inspection tasks. Theoretically, combinations with denser distribution and closer distances between equipment have higher inspection efficiency because the total distance and time of robotic arm movement are reduced, while also minimizing positioning errors that may be introduced by long-distance movement.

[0057] Specifically, Figure 4 This is a flowchart for determining preferred combinations according to an optional embodiment of the present invention. Figure 4As shown, a detailed equipment distribution analysis is first conducted for each initial combination to quantify the spatial layout characteristics of the equipment within each combination. Specifically, the number of devices corresponding to each initial combination and the average spacing between these devices can be calculated. The number of devices reflects the density of electrical equipment within the combination, while the average spacing quantifies the scale of physical displacement between devices; both constitute the core indicators of equipment distribution. Subsequently, based on the operation control commands corresponding to each of the multiple electrical devices, the command reuse of each initial combination is analyzed in depth. The reuse type is divided into reusable and non-reusable types. A reusable type means that after the robotic arm completes an operation on one device, it can apply the control strategy to other devices within the combination almost without loss, with the attitude adjustment amplitude being less than a preset threshold, requiring no additional parameter resetting. Conversely, a non-reusable type indicates that there are large differences in operation between devices, and the attitude adjustment amplitude of the robotic arm is not less than a preset threshold when switching device operations, requiring significant attitude adjustment. Finally, based on the number of devices, average spacing distance, and command reuse of each initial combination, the inspection efficiency and resource consumption of each combination are comprehensively evaluated to determine the preferred combination. The selection of preferred combinations aims to minimize the number of attitude adjustments, shorten the total displacement distance, and improve the operation reuse rate, ensuring that the inspection work maintains high efficiency while reducing the robot arm's energy consumption and the risk of operational errors. Combinations with a large number of devices, small average intervals between devices, and good command reuse are usually given priority.

[0058] As an optional embodiment, based on the operation data and equipment interval data during the inspection process of the preferred combination, it is determined whether to switch to another combination for inspection, including: determining the target equipment currently being inspected by the robotic arm; determining the interval equipment between the target equipment and the next combination to be switched in the preferred combination, obtaining the total number of interval equipment; determining the operation control command corresponding to the target equipment; determining the demand for switching inspection combinations based on the proportion of equipment with failed inspection operations in the preferred combination; and determining whether to switch to another combination for inspection based on the total number of interval equipment, the operation control command corresponding to the target equipment, and the demand for switching inspection combinations.

[0059] Optionally, Figure 5 This is a flowchart of the inspection combination switching decision-making process provided by an optional embodiment of the present invention. For example... Figure 5 As shown, the process first identifies the electrical equipment that the robotic arm is currently inspecting or is about to inspect, i.e., the target equipment. It then determines the physical distance between the target equipment and the nearest equipment in the next potential switching combination, i.e., identifying all equipment located between these two points and counting their total number. Furthermore, it is necessary to obtain the corresponding operation control commands for the target equipment and the percentage of equipment that failed inspection operations in the priority combination, i.e., the operation failure rate.

[0060] Specifically, the operation failure rate reflects the stability and accuracy of the robotic arm when executing specific operation control commands. If the proportion of failed devices in the priority combination is too high, it means that there are some unforeseen problems with the current inspection path or operation control commands, causing frequent deviations in the robotic arm's task execution. When the operation failure rate exceeds a preset threshold, it can be determined that there is an urgent need to adjust the inspection strategy. Finally, based on the total number of device intervals, the complexity of the target device's control commands, and the operation failure rate of the current combination, a decision is made on whether it is necessary to switch inspection combinations. If the number of devices between the target device and the next combination is small, and the target device's operation commands are relatively simple, while the current combination's operation failure rate is high, then switching to other combinations for subsequent inspections is recommended. Conversely, if the switching cost is too high, and the inspection effect of the current combination is acceptable, the original strategy is maintained to avoid unnecessary switching.

[0061] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0062] Through the above description of the embodiments, those skilled in the art can clearly understand that the robot inspection method for substations according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0063] According to embodiments of the present invention, an apparatus for implementing the above-described robot inspection method for substations is also provided. Figure 6 This is a structural block diagram of a robotic inspection device for substations provided according to an embodiment of the present invention, such as... Figure 6 As shown, the device includes: an acquisition module 61, a judgment module 62, a division module 63, a first determination module 64, an execution module 65, and a second determination module 66. The device will be described below.

[0064] The acquisition module 61 is used to acquire the operation control instructions corresponding to each of the multiple power devices in the target substation. The operation control instructions are instructions to control the robotic arm to inspect the power devices.

[0065] The judgment module 62, connected to the acquisition module 61, is used to determine whether to adjust the inspection sequence of the robot arm based on the operation control command.

[0066] The partitioning module 63, connected to the judgment module 62, is used to partition multiple power devices based on operation control commands to obtain multiple initial combinations.

[0067] The first determining module 64, connected to the partitioning module 63, is used to determine the preferred combination among the multiple initial combinations based on the instruction reusability corresponding to each of the multiple initial combinations and the device distribution corresponding to each of the multiple initial combinations.

[0068] The execution module 65, connected to the first determination module 64, is used to perform inspections of the power equipment in the priority combination.

[0069] The second determining module 66, connected to the execution module 65, is used to determine whether to switch to other combinations for inspection based on the operation data and equipment interval data during the inspection process of the preferred combination. The other combinations are any combinations other than the preferred combination among multiple initial combinations.

[0070] It should be noted that the aforementioned acquisition module 61, judgment module 62, division module 63, first determination module 64, execution module 65, and second determination module 66 correspond to steps S201 to S206 in the embodiments. Multiple modules and their corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments. It should also be noted that the aforementioned modules, as part of the device, can run on the computer terminal 10 provided in the embodiments.

[0071] Embodiments of the present invention may provide a computer device. Optionally, in this embodiment, the computer device may be located in at least one of a plurality of network devices in a computer network. The computer device includes a memory and a processor.

[0072] The memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the robot inspection method and device for substations in this embodiment of the invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby realizing the aforementioned robot inspection method for substations. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to a computer terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0073] The processor can access information and application programs stored in memory via a transmission device to execute the following steps: acquiring operation control instructions corresponding to multiple power devices in the target substation, wherein the operation control instructions are instructions to control the robotic arm to inspect the power devices; determining whether to adjust the inspection sequence of the robotic arm based on the operation control instructions; if the inspection sequence of the robotic arm is adjusted, dividing the multiple power devices into multiple initial combinations based on the operation control instructions; determining a priority combination among the multiple initial combinations based on the instruction reuse and device distribution of each initial combination; executing the inspection of the power devices in the priority combination; and determining whether to switch to another combination for inspection based on the operation data and device interval data during the inspection process of the priority combination, wherein the other combination is any combination other than the priority combination among the multiple initial combinations.

[0074] Optionally, the processor may also execute program code that performs the following steps: obtaining operation control instructions corresponding to each of the multiple power devices in the target substation, including: determining the distance between each of the multiple power devices and the robotic arm based on the image recognition results of the power devices by the robotic arm; and determining the operation control instructions corresponding to each of the multiple power devices based on the distance between each of the multiple power devices and the robotic arm.

[0075] Optionally, the processor may also execute program code that performs the following steps: determining whether to adjust the inspection sequence of the robotic arm based on operation control instructions, including: determining the operation type corresponding to the power equipment based on the operation control instructions; determining the deviation between the operations of multiple power equipment based on the operation type; and determining whether to adjust the inspection sequence of the robotic arm based on the deviation.

[0076] Optionally, the processor may also execute program code that performs the following steps: dividing multiple power devices into multiple initial combinations based on operation control instructions, including: grouping power devices with the same operation control instructions into a group to obtain multiple initial combinations.

[0077] Optionally, the processor may also execute program code that performs the following steps: determining a preferred combination among multiple initial combinations based on the instruction multiplexing status and the device distribution status corresponding to each of the multiple initial combinations, including: determining the device distribution status corresponding to each of the multiple initial combinations; determining the number of devices and the average interval distance corresponding to each of the multiple initial combinations based on the device distribution status; determining the instruction multiplexing status corresponding to each of the multiple initial combinations based on the operation control instructions corresponding to each of the multiple power devices, wherein the instruction multiplexing status includes the multiplexing type of the operation control instructions, and the multiplexing type includes a multiplexable type or a non-multiplexable type, where a multiplexable type indicates that the degree of adjustment of the robot arm's posture is less than a preset threshold, and a non-multiplexable type indicates that the degree of adjustment of the robot arm's posture is not less than a preset threshold; and determining a preferred combination based on the number of devices, the average interval distance, and the instruction multiplexing status corresponding to each of the multiple initial combinations.

[0078] Optionally, the processor may also execute program code that performs the following steps: determining whether to switch to another combination for inspection based on the operation data and equipment interval data during the inspection process of the priority combination, including: determining the target equipment currently being inspected by the robotic arm; determining the interval equipment between the target equipment and the next combination to be switched in the priority combination, and obtaining the total number of interval equipment; determining the operation control command corresponding to the target equipment; determining the demand for switching inspection combinations based on the proportion of equipment with failed inspection operations in the priority combination; and determining whether to switch to another combination for inspection based on the total number of interval equipment, the operation control command corresponding to the target equipment, and the demand for switching inspection combinations.

[0079] This invention provides a method for robotic inspection of substations. The method involves acquiring operation control commands for multiple electrical devices in the target substation, where each command instructs a robotic arm to inspect the devices. Based on these commands, it is determined whether the inspection sequence of the robotic arm should be adjusted. If the inspection sequence is adjusted, the multiple electrical devices are divided into multiple initial combinations based on the operation control commands. A priority combination is determined from these initial combinations based on the command reuse and device distribution of each initial combination. The inspection of the electrical devices in the priority combination is then executed. Finally, based on the operation data and device interval data during the inspection of the priority combination, it is determined whether to switch to another combination for inspection. This other combination is any combination other than the priority combination from the initial combinations. This approach optimizes the robotic arm's inspection path and reduces the number of posture adjustments, thereby solving the technical problems of complex operation and low efficiency caused by frequent switching of robotic arm control commands during electrical device inspection in related technologies.

[0080] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a non-volatile storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0081] Embodiments of the present invention also provide a non-volatile storage medium. Optionally, in this embodiment, the aforementioned non-volatile storage medium can be used to store the program code executed by the robot inspection method for substations provided in the above embodiments.

[0082] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0083] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: obtaining operation control instructions corresponding to each of the multiple power devices in the target substation, wherein the operation control instructions are instructions to control the robotic arm to inspect the power devices; based on the operation control instructions, determining whether to adjust the inspection sequence of the robotic arm; if the inspection sequence of the robotic arm is adjusted, dividing the multiple power devices into multiple initial combinations based on the operation control instructions; determining a priority combination among the multiple initial combinations based on the instruction reuse status and device distribution status corresponding to each of the multiple initial combinations; performing the inspection of the power devices in the priority combination; and determining whether to switch to other combinations for inspection based on the operation data and device interval data during the inspection process of the priority combination, wherein other combinations are any combinations other than the priority combination among the multiple initial combinations.

[0084] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: obtaining operation control instructions corresponding to each of the multiple power devices in the target substation, including: determining the distance between each of the multiple power devices and the robot arm based on the image recognition results of the power devices by the robot arm; and determining the operation control instructions corresponding to each of the multiple power devices based on the distance between each of the multiple power devices and the robot arm.

[0085] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: determining whether to adjust the inspection sequence of the robotic arm based on operation control instructions, including: determining the operation type corresponding to the power equipment based on the operation control instructions; determining the deviation between the operations of multiple power equipment based on the operation type; and determining whether to adjust the inspection sequence of the robotic arm based on the deviation.

[0086] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: dividing multiple power devices into multiple initial combinations based on operation control instructions, including: grouping power devices with the same operation control instructions into a group to obtain multiple initial combinations.

[0087] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: determining a preferred combination among multiple initial combinations based on the instruction multiplexing status and the device distribution status corresponding to each of the multiple initial combinations, including: determining the device distribution status corresponding to each of the multiple initial combinations; determining the number of devices and the average interval distance corresponding to each of the multiple initial combinations based on the device distribution status; determining the instruction multiplexing status corresponding to each of the multiple initial combinations based on the operation control instructions corresponding to each of the multiple power devices, wherein the instruction multiplexing status includes the multiplexing type of the operation control instructions, the multiplexing type includes a reusable type or a non-reusable type, the reusable type indicates that the degree of adjustment of the robot arm's posture is less than a preset threshold, and the non-reusable type indicates that the degree of adjustment of the robot arm's posture is not less than a preset threshold; and determining a preferred combination based on the number of devices, the average interval distance, and the instruction multiplexing status corresponding to each of the multiple initial combinations.

[0088] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: determining whether to switch to another combination for inspection based on the operation data and device interval data during the inspection process of the preferred combination, including: determining the target device currently being inspected by the robotic arm; determining the interval devices between the target device and the next combination to be switched in the preferred combination, obtaining the total number of interval devices; determining the operation control instructions corresponding to the target device; determining the demand for switching inspection combinations based on the proportion of devices with failed inspection operations in the preferred combination; and determining whether to switch to another combination for inspection based on the total number of interval devices, the operation control instructions corresponding to the target device, and the demand for switching inspection combinations.

[0089] Embodiments of the present invention also provide a computer program product, including a computer program. Optionally, in this embodiment, when the computer program is executed by a processor, it can: acquire operation control instructions corresponding to multiple power devices in a target substation, wherein the operation control instructions are instructions to control a robotic arm to inspect the power devices; based on the operation control instructions, determine whether to adjust the inspection sequence of the robotic arm; if the inspection sequence of the robotic arm is adjusted, divide the multiple power devices into multiple initial combinations based on the operation control instructions; determine a priority combination among the multiple initial combinations based on the instruction reuse status and device distribution status corresponding to each of the multiple initial combinations; execute the inspection of the power devices in the priority combination; and determine whether to switch to another combination for inspection based on the operation data and device interval data during the inspection process of the priority combination, wherein the other combination is any combination other than the priority combination among the multiple initial combinations.

[0090] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0091] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0092] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0093] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0094] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0095] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0096] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A robotic inspection method for substations, characterized in that, include: Obtain the operation control instructions corresponding to each of the multiple power devices in the target substation, wherein the operation control instructions are instructions to control the robotic arm to inspect the power devices; Based on the operation control command, determine whether to adjust the inspection sequence of the robotic arm; When the inspection sequence of the robotic arm is adjusted, the multiple power devices are divided based on the operation control commands to obtain multiple initial combinations; Based on the instruction multiplexing situation and the device distribution situation corresponding to each of the multiple initial combinations, a priority combination is determined among the multiple initial combinations; Perform inspections of the power equipment in the aforementioned priority combination; Based on the operation data and equipment interval data during the inspection process of the preferred combination, it is determined whether to switch to other combinations for inspection, wherein the other combinations are any combinations other than the preferred combination among the plurality of initial combinations.

2. The method according to claim 1, characterized in that, The acquisition of the operation control commands corresponding to each of the multiple power devices in the target substation includes: Based on the image recognition results of the power equipment by the robotic arm, the distance between each of the multiple power devices and the robotic arm is determined; Based on the distance between each of the plurality of power devices and the robotic arm, the corresponding operation control commands for each of the plurality of power devices are determined.

3. The method according to claim 1, characterized in that, The step of determining whether to adjust the inspection sequence of the robotic arm based on the operation control command includes: Based on the operation control command, the operation type corresponding to the power equipment is determined; Based on the operation type, determine the operational deviations among the multiple power devices; Based on the aforementioned deviation, it is determined whether the inspection sequence of the robotic arm should be adjusted.

4. The method according to claim 1, characterized in that, Based on the operation control instructions, the multiple power devices are divided to obtain multiple initial combinations, including: Power devices with the same operation control commands are grouped together to obtain the multiple initial combinations.

5. The method according to claim 1, characterized in that, The step of determining a preferred combination from among the multiple initial combinations based on the instruction multiplexing status and the device distribution status corresponding to each of the multiple initial combinations includes: Determine the device distribution corresponding to each of the multiple initial combinations; Based on the device distribution, determine the number of devices corresponding to each of the multiple initial combinations and the average interval distance corresponding to each of the multiple initial combinations; Based on the operation control commands corresponding to each of the multiple power devices, the command reuse status corresponding to each of the multiple initial combinations is determined. The command reuse status includes the reuse type of the operation control command. The reuse type includes a reusable type or a non-reusable type. The reusable type indicates that the degree of adjustment of the robot arm's posture is less than a preset threshold. The non-reusable type indicates that the degree of adjustment of the robot arm's posture is not less than the preset threshold. The preferred combination is determined based on the number of devices corresponding to each of the multiple initial combinations, the average interval distance corresponding to each of the multiple initial combinations, and the instruction multiplexing status corresponding to each of the multiple initial combinations.

6. The method according to claim 1, characterized in that, The step of determining whether to switch to another combination for inspection based on the operation data and equipment interval data during the inspection process of the preferred combination includes: Determine the target equipment that the robotic arm is currently inspecting; Determine the interval device between the target in the priority combination and the next combination to be switched, and obtain the total number of the interval devices; Determine the operation control command corresponding to the target device; Based on the percentage of devices that failed inspection operations in the preferred combination, the need to switch inspection combinations is determined. Based on the total number of the interval devices, the operation control commands corresponding to the target device, and the requirements for switching inspection combinations, it is determined whether to switch to other combinations for inspection.

7. A robotic inspection device for substations, characterized in that, include: The acquisition module is used to acquire the operation control instructions corresponding to each of the multiple power devices in the target substation, wherein the operation control instructions are instructions to control the robotic arm to inspect the power devices; The judgment module is used to determine, based on the operation control command, whether to adjust the inspection sequence of the robotic arm; The partitioning module is used to partition the multiple power devices based on the operation control instructions to obtain multiple initial combinations; The first determining module is used to determine a preferred combination among the multiple initial combinations based on the instruction reusability and device distribution of each of the multiple initial combinations. The execution module is used to perform inspections of the power equipment in the priority combination; The second determining module is used to determine whether to switch to other combinations for inspection based on the operation data and equipment interval data during the inspection process of the preferred combination, wherein the other combinations are any combinations other than the preferred combination among the plurality of initial combinations.

8. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the non-volatile storage medium to perform the robotic inspection method for substations as described in any one of claims 1 to 6.

9. A computer device, characterized in that, include: Memory and processor The memory stores computer programs; The processor is configured to execute a computer program stored in the memory, wherein when the computer program is executed, the processor performs the robotic inspection method for substations as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the robotic inspection method for substations as described in any one of claims 1 to 6.

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