Modular detection task execution method and system for power distribution room inspection robot

Abstract

The application discloses a modular detection task execution method and system for a power distribution room inspection robot, relates to the technical field of transformer substation inspection, and comprises the following steps: identifying the type and state information of a target detection module, generating a module configuration table according to the identification result; acquiring an inspection task, matching the module configuration table with detection requirements, and generating a task execution table; when detecting any of the inspection points, confirming the target detection module to be called according to the task execution table, and controlling the target detection module to aim at a target area; executing data collection according to the task execution table, recording the collected data and the collection state, and forming a collection result; binding the collection result with the type and state information of the target detection module used in the current collection and the current inspection point information, and uploading the bound data to a back-end platform. The application improves the modular inspection reliability, reduces the maintenance difficulty, and improves the traceability of the collected data.

Description

Technical Field

[0001] This invention belongs to the field of substation inspection technology, and in particular relates to a modular inspection task execution method and system for a power distribution room inspection robot. Background Technology

[0002] The power distribution room contains various types of equipment, and the inspection content required for different equipment varies. For example, the distribution cabinet panel needs to have its meter readings, indicator light colors, and switch status checked; cable joints and busbar connections need to be checked for localized overheating; and some electrical equipment also needs to be checked for the risk of partial discharge. To cover these inspection contents, the inspection robot usually needs to be equipped with multiple detection modules.

[0003] In practical power distribution room inspection robot products, due to the needs of maintenance, upgrades, and adaptation to different customer scenarios, components such as cameras, supplementary lights, infrared temperature measurement modules, and partial discharge detection modules often need to be modularly installed or replaceable. For example, different power distribution rooms may have different requirements for infrared temperature measurement accuracy, visible light image resolution, partial discharge detection methods, and the number of sensors; when a module is damaged, it is also desirable for on-site personnel to be able to quickly replace it without affecting the long-term use of the entire machine.

[0004] However, existing detection modules are only mechanically replaceable; the inspection tasks, point configurations, data formats, acquisition sequences, and anomaly detection rules are not synchronously adapted, easily leading to inconsistencies between module status and task requirements. For example, a point may require partial discharge detection, but the inspection robot may not confirm whether the current partial discharge detection module is in a data-acquisition-ready state; or after replacing the infrared module, the system may not reconfirm the correspondence between the infrared detection area and the target device area; or a module may not be properly initialized, causing the inspection robot to still upload empty or erroneous data. Based on the above analysis, the existing power distribution room detection modules have the following problems:

[0005] 1. Modular installation and task execution are not fully linked. Detection modules can be replaced, but inspection tasks may still be executed according to a fixed procedure, resulting in inconsistencies between the actual module status and task requirements.

[0006] 2. Different locations require different testing content. The inspection requirements for locations such as distribution cabinets, switch cabinets, terminal blocks, busbar connection parts, and partial discharge detection areas are different. If the same set of data collection actions is performed on all locations, it will result in low efficiency or incomplete data.

[0007] 3. Lack of status confirmation after module replacement. After on-site maintenance of cameras, infrared modules, or partial discharge detection modules, if the inspection robot does not confirm whether the module is online, whether it has completed initialization, or whether it matches the task at the location, it may affect the inspection results.

[0008] 4. Lack of module source information in the collected data. If the backend platform cannot identify which module, version, or installation location the data came from after receiving it, subsequent analysis and maintenance will be difficult.

[0009] 5. Alignment of modules is challenging in confined spaces. Some detection modules need to be aligned with target areas; for example, cameras need to be aligned with dials or indicator lights, infrared modules need to be aligned with heat sources, and partial discharge detection modules need to acquire data stably near the target device. The inspection robot needs to adjust its posture according to the module requirements within a limited space.

[0010] Therefore, a modular detection task execution method is needed for a power distribution room inspection robot to overcome the problems mentioned above in existing power distribution room inspection methods. Summary of the Invention

[0011] To address the shortcomings of the existing technologies, this invention proposes a modular detection task execution method and system for a power distribution room inspection robot. This method enables the inspection robot to identify the current status of the detection module, select the corresponding module according to the inspection point requirements, and confirm the module status, acquisition conditions, and data binding relationship before data collection.

[0012] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0013] In a first aspect, the present invention provides a modular detection task execution method for a power distribution room inspection robot, comprising:

[0014] Identify the type and status information of the target detection module, and generate a module configuration table based on the identification results;

[0015] Obtain inspection tasks, which include at least one inspection point and the detection requirements corresponding to each inspection point; match the module configuration table with the detection requirements to generate a task execution table;

[0016] When performing the inspection at any of the aforementioned inspection points, the target detection module to be called is confirmed according to the task execution table, and the target detection module is controlled to align with the target area.

[0017] According to the task execution table, the target detection module is invoked to perform data acquisition, record the acquired data and acquisition status, and form the acquisition results;

[0018] The collected results are bound to the type and status information of the target detection module used for the current collection, as well as the current inspection point information, and the bound data is uploaded to the backend platform.

[0019] As a further technical solution of the present invention, the module configuration table includes: module number, module type, module installation location, whether the module is online, module initialization status, whether the module needs calibration, current working status of the module, data types supported by the module, the time of the module's last maintenance or replacement, and the matching status of the module with the inspection task.

[0020] As a further technical solution of the present invention, the task execution table records the target detection module to be called, the data type of data to be collected, the collection order, and the preconditions for collection for each of the inspection points.

[0021] As a further technical solution of the present invention, the target detection module is aligned with the target area; specifically including:

[0022] Based on the installation position of the target detection module and the spatial orientation of the target area, the circular outer contour moving chassis is controlled to turn in place or in a confined space, so that the main axis of the target detection module points towards or approaches the target area.

[0023] As a further technical solution of the present invention, it also includes: target detection module status confirmation;

[0024] The specific steps for confirming the status of the target detection module are as follows:

[0025] After the inspection robot reaches the inspection point, it reconfirms the status of the target detection module before performing the data collection action. It confirms whether the target detection module is online, whether it has been successfully initialized, and whether it is in a data collection state. If any of the confirmations fails, it reports an alarm message and skips the current inspection point or waits for recovery before retrying.

[0026] As a further technical solution of the present invention, the step of calling the target detection module to perform data acquisition according to the task execution table, recording the acquired data and acquisition status, and forming acquisition results further includes:

[0027] If the collected results are abnormal, the corresponding hierarchical processing strategy will be executed according to the type of abnormality:

[0028] When the image is blurry, perform a retake with fill light or autofocus.

[0029] When the infrared temperature data is abnormal, a second temperature measurement is performed;

[0030] When the authorities detect abnormal test data, they extend the sampling time or change the posture of the inspection robot and then resample.

[0031] When the target detection module experiences a communication failure, the target detection module should be reinitialized.

[0032] If the data collection conditions are not met, adjust the robot's posture and collect data again.

[0033] As a further technical solution of the present invention, the target detection module includes any one or more of the following: a visible light camera module, a supplementary lighting module, an infrared temperature measurement module, a partial discharge detection module, an environmental detection module, and a communication module; wherein...

[0034] The visible light camera module is used to acquire images;

[0035] The fill light module is used to improve shooting conditions;

[0036] The infrared temperature measurement module is used to collect temperature data;

[0037] The partial discharge detection module is used to collect partial discharge-related data;

[0038] The environmental monitoring module is used to collect gas, temperature, and humidity data;

[0039] The communication module is used for data uploading and task reception.

[0040] As a further technical solution of the present invention, the acquisition results are associated and bound with the module information of the target detection module and the location information of the current inspection point to generate structured inspection data; the structured inspection data includes at least the location number, equipment number, module number, module type, module installation location, acquisition time, inspection robot posture, acquisition action number, acquisition result, and module status;

[0041] The structured inspection data is uploaded to the backend platform so that the backend platform can trace the acquisition module, acquisition point and acquisition posture corresponding to any acquisition data based on the structured inspection data.

[0042] The backend platform is also used to count and record the number of times each detection module is used, the number of times it is abnormal, and its online status based on the received structured inspection data, and to generate maintenance prompts based on preset maintenance strategies.

[0043] Secondly, the present invention provides a modular detection task execution system for a power distribution room inspection robot, comprising:

[0044] The identification configuration unit is used to identify the type and status information of the target detection module and generate a module configuration table based on the identification results.

[0045] The inspection task unit is used to obtain inspection tasks, which include at least one inspection point and the detection requirements corresponding to each inspection point. The module configuration table is matched with the detection requirements to generate a task execution table.

[0046] The target detection adjustment unit is used to determine the target detection module to be called according to the task execution table when performing detection at any of the inspection points, and to control the target detection module to align with the target area.

[0047] The data acquisition unit is used to call the target detection module to perform data acquisition according to the task execution table, record the acquired data and acquisition status, and form acquisition results;

[0048] The data upload unit is used to bind the collection results with the type and status information of the target detection module used for the current collection and the current inspection point information, and upload the bound data to the backend platform.

[0049] As a further technical solution of the present invention, the target detection module is set on the inspection robot, and the inspection robot includes: a circular outer contour moving chassis, which is used to support the inspection robot to turn in place or make small-range posture adjustments in front of the power distribution cabinet, in narrow passages and equipment gaps.

[0050] The target detection module is used to collect image data, temperature data, partial discharge data, and environmental data, and includes one or more of the following: a visible light camera module, a supplementary light module, an infrared temperature measurement module, a partial discharge detection module, an environmental detection module, and a communication module.

[0051] The beneficial effects of this invention are as follows:

[0052] 1. This invention can identify the current module status and execute tasks according to the module status, thereby reducing data errors caused by module abnormalities and improving the reliability of modular inspection.

[0053] 2. Different detection module combinations can be configured for different locations, avoiding the need for all locations to execute the same fixed process, adapting to different power distribution room inspection needs, and improving inspection efficiency.

[0054] 3. After module maintenance or replacement, the present invention can re-identify the module status and generate a new module configuration table, which facilitates on-site maintenance and subsequent upgrades and reduces maintenance difficulty.

[0055] 4. This invention can identify which module, location, time, and orientation each piece of data comes from through the backend platform, facilitating the analysis of anomalies and improving the traceability of collected data.

[0056] 5. By setting a circular outer contour chassis in conjunction with a module alignment strategy, the present invention enables the inspection robot to perform camera, infrared and partial discharge detection relatively stably in narrow cabinet passages, thereby improving the adaptability of detection in narrow spaces. Attached Figure Description

[0057] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This invention provides a flowchart of a modular detection task execution method for a power distribution room inspection robot;

[0059] Figure 2 This invention provides a structural diagram of a modular detection task execution system for a power distribution room inspection robot. Detailed Implementation

[0060] To make the above-mentioned objectives, features and advantages of the present invention more readily understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0061] Numerous specific details are set forth in the following description to provide a thorough understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0062] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "comprising" or "including," and similar terms as used in this disclosure, mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, but do not exclude other elements or objects. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments. It should be noted that the embodiments of the present invention can be applied to any applicable scenario.

[0064] See Figure 1 This invention provides a modular detection task execution method for a power distribution room inspection robot, comprising:

[0065] Step 101: Identify the type and status information of the target detection module, and generate a module configuration table based on the identification results;

[0066] After the inspection robot starts or receives an inspection task, it first reads the information of the current target detection module and generates a module configuration table. The module configuration table includes: module number, module type, module installation location, whether the module is online, module initialization status, whether the module needs calibration, the module's current working status, the data types supported by the module, the time of the module's last maintenance or replacement, and the matching status between the module and the inspection task.

[0067] For each module, the inspection robot confirms the module type, module number, module installation location, module operating status, module parameters, communication status, and initialization status. Identification methods can include interface identification, electronic tag identification, module self-reporting information, and software configuration reading.

[0068] For example, if the inspection robot detects that the visible light camera module, supplementary lighting module, infrared temperature measurement module, and partial discharge detection module are all in a communicable state, it records the corresponding module number and status in the module configuration table. The inspection robot in this solution is equipped with a partial discharge detection module. Before executing the inspection task, the robot confirms the online status, initialization status, and data acquisition status of the partial discharge detection module. If the partial discharge detection module is offline, abnormal, uninitialized, or under maintenance, the robot will issue a prompt to the relevant location and record that the partial discharge detection data for that location is incomplete.

[0069] Before performing an inspection task that includes partial discharge (PD) detection, the inspection robot checks the online status, initialization status, and data acquisition status of the PD detection module. If the PD detection module is offline, abnormal, uninitialized, or under maintenance, it sends a notification to the backend platform and marks the PD detection data of the relevant points as incomplete.

[0070] Step 102: Obtain the inspection task, which includes at least one inspection point and the detection requirements corresponding to each inspection point; match the module configuration table with the detection requirements to generate a task execution table;

[0071] The task execution table records the target detection module to be called, the data type to be collected, the collection order, and the preconditions for each inspection point.

[0072] The inspection robot or backend platform matches the module configuration table with the inspection tasks. If the current module status can meet the requirements of all points, a complete task execution table is generated; if the modules required for some points are in an abnormal, maintenance, or uncollectible state, the corresponding points are marked as partially executed or require manual confirmation.

[0073] Each inspection point corresponds to a task execution table. The task execution table may include: point number, equipment number, modules to be called, module calling order, data acquisition action, data acquisition conditions, whether attitude adjustment is required, whether re-acquisition is required, data upload format, and exception handling method.

[0074] For example, for distribution cabinet panel locations, the task execution table can specify that the supplementary lighting and visible light camera should be activated first to collect the overall image, and then the partial image of the panel and the indicator light image should be collected; if the cabinet is a key piece of equipment, the infrared temperature measurement module should be activated to collect the temperature of the cabinet connection parts; if the cabinet requires partial discharge detection, the partial discharge detection module should be activated to collect partial discharge data for a certain period of time.

[0075] Step 103: When performing the inspection of any of the inspection points, the target detection module to be called is confirmed according to the task execution table, and the target detection module is controlled to align with the target area.

[0076] The task scheduling unit is used to generate a task execution table based on the inspection points and the current module configuration, and to control the inspection robot to call the corresponding detection module according to the task execution table.

[0077] The inspection robot moves along a preset route to the target location. Because the inspection robot uses a circular outer contour mobile chassis, it can turn on the spot or make small adjustments to its posture in the narrow passage of the power distribution room, so as to make the detection module that needs to be used face the target equipment or be in a suitable position for data collection.

[0078] The target detection module is aligned with the target area; specifically, it includes: according to the installation position of the target detection module and the spatial orientation of the target area, controlling the circular outer contour moving chassis to turn in place or in a confined space, so that the main axis of the target detection module points towards or approaches the target area.

[0079] In step 104, the target detection module is invoked according to the task execution table to perform data acquisition, record the acquired data and acquisition status, and form the acquisition result;

[0080] After the inspection robot reaches the inspection point, it reconfirms the status of the target detection module before performing the data collection action. It confirms whether the target detection module is online, whether it has been successfully initialized, and whether it is in a data collection state. If any of the confirmations fails, it reports an alarm message and skips the current inspection point or waits for recovery before retrying.

[0081] For example, whether the visible light camera is online, whether the supplementary light is available, whether the infrared temperature measurement module has been initialized, whether the partial discharge detection module is in a sampleable state, and whether the communication module can upload data.

[0082] If a module is in an abnormal state, the inspection robot can attempt to reinitialize; if it is still abnormal, the point will be marked as a module abnormal, and the robot will continue to collect data from other available modules.

[0083] The inspection robot determines which modules need to be prioritized based on the current task execution table. If the current task is dial recognition, it prioritizes ensuring that the visible light camera is aligned with the dial area; if the current task is infrared temperature measurement, it prioritizes ensuring that the infrared module covers the target temperature area; if the current task is partial discharge detection, it prioritizes ensuring that the partial discharge detection module is in a stable acquisition state near the target device.

[0084] The inspection robot performs small-angle turns and short-distance forward or backward movements using a circular outer contour chassis, ensuring that the corresponding modules meet the data collection requirements.

[0085] The inspection robot calls upon detection modules according to the task execution schedule. For example: activating the supplementary lighting, acquiring an overall image of the cabinet surface, acquiring a partial image of the instrument or indicator light, acquiring infrared temperature data of the target area, activating the partial discharge detection module for sampling, and recording the acquisition results and status of each module.

[0086] The module call order can be adjusted according to the type of location. For example, for locations with high temperature risk, infrared thermometry can be performed first; for locations that need to quickly confirm the operating status of equipment, visible light images can be acquired first; for key equipment, partial discharge detection sampling time can be added after image and infrared acquisition.

[0087] According to the task execution table, the target detection module is invoked to perform data acquisition, record the acquired data and acquisition status, and generate acquisition results. This also includes:

[0088] If the collected results are abnormal, the corresponding hierarchical processing strategy will be executed according to the type of abnormality:

[0089] When the image is blurry, perform a retake with fill light or autofocus.

[0090] When the infrared temperature data is abnormal, a second temperature measurement is performed;

[0091] When the authorities detect abnormal test data, they extend the sampling time or change the posture of the inspection robot and then resample.

[0092] When the target detection module experiences a communication failure, the target detection module should be reinitialized.

[0093] If the data collection conditions are not met, adjust the robot's posture and collect data again.

[0094] In this embodiment of the invention, the target detection module includes any one or more of the following: a visible light camera module, a supplementary light module, an infrared temperature measurement module, a partial discharge detection module, an environmental detection module, and a communication module; wherein, the visible light camera module is used to acquire images; the supplementary light module is used to improve shooting conditions; the infrared temperature measurement module is used to acquire temperature data; the partial discharge detection module is used to acquire partial discharge-related data; the environmental detection module is used to acquire gas, temperature, and humidity environmental data; and the communication module is used for data uploading and task reception.

[0095] The partial discharge detection module, as one of the essential detection modules of this invention, can be activated as needed according to the inspection points, or it can be used for supplementary data collection under specific abnormal conditions.

[0096] The collected results are associated and bound with the module information of the target detection module and the location information of the current inspection point to generate structured inspection data; the structured inspection data includes at least the location number, equipment number, module number, module type, module installation location, collection time, inspection robot posture, collection action number, collection result, and module status;

[0097] The collected results are bound to the type and status information of the target detection module used for the current collection, as well as the current inspection point information, and the bound data is uploaded to the backend platform.

[0098] The structured inspection data is uploaded to the backend platform so that the backend platform can trace the acquisition module, acquisition point and acquisition posture corresponding to any data based on the structured inspection data; that is, the bound data is uploaded to the backend platform so that the backend platform can determine which module, which point and what posture a certain data was acquired by.

[0099] The backend platform is also used to count and record the number of times each detection module is used, the number of times it is abnormal, and its online status based on the received structured inspection data, and to generate maintenance prompts based on preset maintenance strategies.

[0100] If the acquisition results of a certain module are abnormal, the inspection robot can take different actions depending on the type of abnormality: if the image is blurry, relight or retake the image; if the infrared temperature is abnormal, perform a second temperature measurement; if the partial discharge detection data is abnormal, extend the sampling time or change the posture to resample; if the module communication is abnormal, reinitialize the module; if the acquisition conditions are not met, adjust the posture of the inspection robot and reacquire data.

[0101] After the inspection is completed, the backend platform records the number of times each module has been used, the number of anomalies, its online status, and maintenance prompts. For example, if a camera module repeatedly produces blurry images, or a partial discharge detection module repeatedly fails to initialize, the platform can prompt maintenance personnel to check or replace that module.

[0102] In this embodiment of the invention, for the target detection module of the inspection robot, instead of simply assuming that all modules are available, the current module configuration is identified before the task begins, and the module configuration is matched with the requirements of the inspection point. This can prevent the inspection robot from performing an incomplete detection task when the module status is abnormal;

[0103] Different module combinations can be configured for different inspection points. For example, ordinary cabinets can only be inspected by images, while key cabinets can be inspected by infrared and partial discharge detection, and infrared temperature measurement can be prioritized for points with heat generation risk.

[0104] The inspection robot reconfirms the module status upon arrival at the location to avoid data reliability issues caused by the module being normal before the task begins but malfunctioning after arrival at the location.

[0105] The inspection robot can adjust its posture according to the current data collection direction of the module being used. Its circular outer contour chassis allows the robot to more easily perform such small-scale posture adjustments within narrow passages.

[0106] Each piece of collected data is bound to a module number and module status, so that subsequent maintenance and anomaly analysis can trace back to the specific module.

[0107] See Figure 2 This invention provides a modular detection task execution system for a power distribution room inspection robot, comprising:

[0108] The identification configuration unit 201 is used to identify the type and status information of the target detection module and generate a module configuration table based on the identification results.

[0109] Inspection task unit 202 is used to obtain inspection tasks, which include at least one inspection point and the detection requirements corresponding to each inspection point. The module configuration table is matched with the detection requirements to generate a task execution table.

[0110] The target detection adjustment unit 203 is used to determine the target detection module to be called according to the task execution table when performing the detection of any of the inspection points, and to control the target detection module to align with the target area.

[0111] The acquisition unit 204 is used to call the target detection module to perform data acquisition according to the task execution table, record the acquired data and acquisition status, and form acquisition results;

[0112] The data upload unit 205 is used to bind the collection results with the type and status information of the target detection module used for the current collection and the current inspection point information, and upload the bound data to the backend platform.

[0113] In this embodiment of the invention, the target detection module is mounted on the inspection robot, which includes a circular outer contour moving chassis for supporting the inspection robot to turn in place or make small-range posture adjustments in front of the power distribution cabinet, in narrow passages and between equipment.

[0114] The target detection module is used to acquire image data, temperature data, partial discharge data, and environmental data, and includes one or more of the following: visible light camera module, supplementary light module, infrared temperature measurement module, partial discharge detection module, environmental detection module, and communication module.

[0115] This invention can identify the current module status and execute tasks according to the module status, thereby reducing data errors caused by module anomalies and improving the reliability of modular inspection.

[0116] In this invention, different detection module combinations can be configured at different locations to avoid all locations executing the same fixed process, adapt to different power distribution room inspection needs, and improve inspection efficiency.

[0117] After module maintenance or replacement, this invention can re-identify the module status and generate a new module configuration table, which facilitates on-site maintenance and subsequent upgrades and reduces maintenance difficulty.

[0118] This invention enables the backend platform to identify which module, location, time, and orientation each piece of data originates from, facilitating the analysis of anomalies and improving the traceability of collected data.

[0119] This invention, by setting a circular outer contour chassis in conjunction with a module alignment strategy, enables the inspection robot to perform camera, infrared, and partial discharge detection relatively stably in narrow cabinet passages, thereby improving its adaptability to detection in narrow spaces.

[0120] In this embodiment of the invention, the circular outer contour mobile chassis allows the inspection robot to perform in-situ turning or small-range posture adjustments in front of power distribution cabinets, narrow passages, and equipment gaps. The chassis can be equipped with drive wheels, support wheels, a battery, a controller, and sensor mounting locations. The inspection robot body has multiple module mounting positions for installing different detection modules. Module mounting positions can be marked with interface identifiers, installation direction identifiers, or software recognition mechanisms to reduce the probability of incorrect module installation during on-site maintenance. Where conditions permit, the module interfaces can also employ an anti-misinsertion structure.

[0121] In this invention, the module identification method can be electronic tag, interface code, software registration information, or information actively reported by the module; the backend platform can configure different task templates for different customers, different power distribution rooms, and different equipment types; the partial discharge detection module can be set to be activated periodically or triggered when the image or infrared is abnormal; for important equipment, the inspection robot can call the same module multiple times in one inspection, for example, first collect the overall image from a distance, and then collect the local image from a close distance; when a module is in an abnormal state or is under maintenance, the inspection robot can continue to collect data from other modules and mark the data of that point as incomplete in the inspection report.

[0122] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the invention to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A modular detection task execution method for a power distribution room inspection robot, characterized in that, include: Identify the type and status information of the target detection module, and generate a module configuration table based on the identification results; Obtain inspection tasks, which include at least one inspection point and the detection requirements corresponding to each inspection point; match the module configuration table with the detection requirements to generate a task execution table; When performing the inspection at any of the aforementioned inspection points, the target detection module to be called is confirmed according to the task execution table, and the target detection module is controlled to align with the target area. According to the task execution table, the target detection module is invoked to perform data acquisition, record the acquired data and acquisition status, and form the acquisition results; The collected results are bound to the type and status information of the target detection module used for the current collection, as well as the current inspection point information, and the bound data is uploaded to the backend platform.

2. The modular detection task execution method for a power distribution room inspection robot according to claim 1, characterized in that, The module configuration table includes: module number, module type, module installation location, whether the module is online, module initialization status, whether the module needs calibration, current working status of the module, data types supported by the module, the time of the module's last maintenance or replacement, and the matching status between the module and the inspection task.

3. The modular detection task execution method for a power distribution room inspection robot according to claim 1, characterized in that, The task execution table records the target detection module to be called, the data type to be collected, the collection order, and the preconditions for collection for each inspection point.

4. The modular detection task execution method for a power distribution room inspection robot according to claim 1, characterized in that, The target detection module is aligned with the target area; specifically, it includes: Based on the installation position of the target detection module and the spatial orientation of the target area, the circular outer contour moving chassis is controlled to turn in place or in a confined space, so that the main axis of the target detection module points towards or approaches the target area.

5. The modular detection task execution method for a power distribution room inspection robot according to claim 1, characterized in that, It also includes: status confirmation of the target detection module; The specific steps for confirming the status of the target detection module are as follows: After the inspection robot reaches the inspection point, it reconfirms the status of the target detection module before performing the data collection action. It confirms whether the target detection module is online, whether it has been successfully initialized, and whether it is in a data collection state. If any of the confirmations fails, it reports an alarm message and skips the current inspection point or waits for recovery before retrying.

6. The modular detection task execution method for a power distribution room inspection robot according to claim 1, characterized in that, The step of calling the target detection module to perform data acquisition according to the task execution table, recording the acquired data and acquisition status, and forming acquisition results also includes: If the collected results are abnormal, the corresponding hierarchical processing strategy will be executed according to the type of abnormality: When the image is blurry, perform a retake with fill light or autofocus. When the infrared temperature data is abnormal, a second temperature measurement is performed; When the authorities detect abnormal test data, they extend the sampling time or change the posture of the inspection robot and then resample. When the target detection module experiences a communication failure, the target detection module should be reinitialized. If the data collection conditions are not met, adjust the robot's posture and collect data again.

7. The modular detection task execution method for a power distribution room inspection robot according to claim 1, characterized in that, The target detection module includes any one or more of the following: a visible light camera module, a supplementary lighting module, an infrared temperature measurement module, a partial discharge detection module, an environmental detection module, and a communication module; wherein... The visible light camera module is used to acquire images; The fill light module is used to improve shooting conditions; The infrared temperature measurement module is used to collect temperature data; The partial discharge detection module is used to collect partial discharge-related data; The environmental monitoring module is used to collect gas, temperature, and humidity data; The communication module is used for data uploading and task reception.

8. The modular detection task execution method for a power distribution room inspection robot according to claim 1, characterized in that, The collected results are associated and bound with the module information of the target detection module and the location information of the current inspection point to generate structured inspection data; The structured inspection data includes at least the location number, equipment number, module number, module type, module installation location, collection time, inspection robot posture, collection action number, collection result, and module status. The structured inspection data is uploaded to the backend platform so that the backend platform can trace the acquisition module, acquisition point and acquisition posture corresponding to any acquisition data based on the structured inspection data. The backend platform is also used to count and record the number of times each detection module is used, the number of times it is abnormal, and its online status based on the received structured inspection data, and to generate maintenance prompts based on preset maintenance strategies.

9. A modular detection task execution system for a power distribution room inspection robot, employing the modular detection task execution method for a power distribution room inspection robot as described in any one of claims 1-8, characterized in that, include: The identification configuration unit is used to identify the type and status information of the target detection module and generate a module configuration table based on the identification results. The inspection task unit is used to obtain inspection tasks, which include at least one inspection point and the detection requirements corresponding to each inspection point. The module configuration table is matched with the detection requirements to generate a task execution table. The target detection adjustment unit is used to determine the target detection module to be called according to the task execution table when performing detection at any of the inspection points, and to control the target detection module to align with the target area. The data acquisition unit is used to call the target detection module to perform data acquisition according to the task execution table, record the acquired data and acquisition status, and form acquisition results; The data upload unit is used to bind the collection results with the type and status information of the target detection module used for the current collection and the current inspection point information, and upload the bound data to the backend platform.

10. The modular detection task execution system for a power distribution room inspection robot according to claim 9, characterized in that, The target detection module is mounted on the inspection robot, which includes a circular outer contour mobile chassis for supporting the inspection robot to turn in place or make small-range posture adjustments in front of the power distribution cabinet, in narrow passages and equipment gaps. The target detection module is used to collect image data, temperature data, partial discharge data, and environmental data, and includes one or more of the following: a visible light camera module, a supplementary light module, an infrared temperature measurement module, a partial discharge detection module, an environmental detection module, and a communication module.

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