A power equipment state monitoring method based on robot patrol

Abstract

The application discloses a kind of power equipment state monitoring methods based on robot inspection, it is related to power equipment monitoring technical field, including, according to the execution of deterioration amount calculation and deterioration increment determination after correction electrical response record table, construct fault precursor chain, topological consistency check is carried out to the upstream and downstream electrical nodes corresponding to fault precursor chain, generate fault precursor node record, calculate residual health inspection round according to fault precursor node record, form residual health inspection round table, calculate power equipment health management score, power equipment health management score is matched with preset health management grade interval, obtains power equipment health management result;The application effectively distinguishes local fault and global disturbance by calculating power equipment health management score, avoids false alarm, and provides intuitive, scientific basis for operation and maintenance decision of power equipment.

Description

Technical Field

[0001] This invention relates to the field of power equipment monitoring technology, and in particular to a method for monitoring the condition of power equipment based on robot inspection. Background Technology

[0002] With the continuous advancement of smart grid construction, the condition monitoring technology of power equipment has gradually evolved from manual inspection to automation and intelligence. In recent years, inspection robots have been widely used in the operation and maintenance of substations and key power facilities due to their advantages such as high mobility, high data collection frequency, and good environmental adaptability. At present, the field of power equipment condition monitoring mainly relies on a variety of methods such as fixed sensor networks, handheld testing instruments, and mobile inspection robots. Fixed sensors can achieve continuous online monitoring of key points, ensuring the timeliness of data, while inspection robots combine the flexibility of mobile platforms and the integration capabilities of multiple sensors, and can replace manual labor to complete complex tasks such as infrared temperature measurement, partial discharge detection, and meter identification, thereby improving the coverage and efficiency of power equipment condition perception and becoming an important technological development direction in the smart substation operation and maintenance system.

[0003] Nevertheless, existing power equipment monitoring methods still have room for improvement. First, there is a lack of a closed-loop calibration mechanism for the measurement attitude, and no coupling coefficient correction model based on the actual measurement environment has been established. As a result, the raw data collected is greatly affected by spatial position drift and environmental electromagnetic interference, making it difficult to reflect the true electrical characteristics of the power equipment. Second, there is a lack of a phase synchronization calibration mechanism with the grid bus reference voltage, which makes it impossible to perform accurate impedance spectrum analysis or power factor calculation on the collected data, limiting the in-depth application of monitoring results in fault diagnosis. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a method for monitoring the condition of power equipment based on robot inspection to solve the problem of difficulty in reflecting the true electrical characteristics of power equipment.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a method for monitoring the condition of power equipment based on robot inspection, comprising, Collect basic inspection data and construct an electrical measurement point topology table; Configure electrical parameter items for each electrical measuring point in the electrical measuring point topology table to form an electrical parameter task chain; The robot is controlled to move to the electrical measurement point based on the electrical parameter task chain, and the robot's measurement posture is calibrated to obtain the measurement posture record table. Calculate the coupling coefficient and determine the phase angle based on the attitude measurement record table, and generate a phase synchronization measurement reference table; The original electrical parameters of each electrical measuring point are collected under the constraints of the phase synchronization measurement reference table, and corrected by the coupling coefficient to generate a corrected electrical response record table; After calculating the degradation amount and determining the degradation increment based on the revised electrical response record table, a fault precursor chain is constructed. Perform topology consistency verification on the upstream and downstream electrical nodes corresponding to the fault predecessor chain and generate a fault predecessor node record. The remaining health inspection rounds are calculated based on the fault precursor node records, and the remaining health inspection rounds table is generated before the power equipment health management score is calculated. The health management score of power equipment is matched with a preset health management level range to obtain the health management results of power equipment.

[0007] As a preferred embodiment of the power equipment condition monitoring method based on robot inspection described in this invention, the basic inspection data includes a primary wiring diagram, equipment ledger, rated parameter table, grounding connection table, robot track coordinate table, and historical health benchmark table.

[0008] As a preferred embodiment of the power equipment condition monitoring method based on robot inspection described in this invention, the step of forming the electrical parameter task chain specifically includes: Read each electrical measurement point from the electrical measurement point topology table, and read the corresponding power equipment type, grounding connection relationship, robot reachable position, measurement interface type, measurement interface position, measurement interface access direction, measurement distance requirements, and the electrical parameter limit, historical health benchmark and preset acquisition phase angle for each electrical parameter item; Based on the type of power equipment, grounding connection relationship and historical inspection records, electrical parameter items are pre-configured for electrical measurement points. The pre-configured electrical parameter items are matched with the corresponding measurement interfaces, and the corresponding electrical parameter items are retained when the robot can move to a position that the robot can reach and the robot's measurement end can reach the measurement interface position. The electrical measurement points are sorted according to their positions in the robot's orbit coordinate table. For electrical measurement points corresponding to the same robot reachable position, they are sorted according to the connection direction from the upstream electrical node to the downstream electrical node. The electrical measurement points configured with grounding current and zero-sequence current are arranged after the electrical measurement points directly connected to the grounding branch or grounding down conductor. The electrical measurement points, electrical parameter items, measurement interface types, measurement interface locations, measurement interface access directions, measurement distance requirements, robot reachable locations, upstream and downstream electrical nodes, electrical parameter limits, historical health benchmarks, and preset acquisition phase angles are associated and saved according to the sorting results to form an electrical parameter task chain.

[0009] As a preferred embodiment of the power equipment condition monitoring method based on robot inspection described in this invention, the step of obtaining the measurement attitude record table specifically involves: Read electrical measurement points, electrical parameter items, measurement interface type, measurement interface location, measurement interface access direction, measurement distance requirements, and robot reachable position from the electrical parameter task chain in the order of tasks, and control the robot to move along the track path corresponding to the robot track coordinate table to the robot reachable position; Read the robot's current position, the robot's measuring end orientation, and the measurement distance between the robot's measuring end and the measuring interface position, and calculate the position deviation, orientation deviation, and measurement distance deviation respectively; When any deviation exceeds the corresponding preset deviation range, the robot is controlled to perform position fine-tuning, robot measurement end orientation fine-tuning, and distance fine-tuning. After each round of fine-tuning is completed, the current fine-tuning count is increased, and the position deviation, orientation deviation, and measurement distance deviation are recalculated. When all deviations do not exceed the corresponding preset deviation range, the robot posture measurement calibration result is recorded as calibration successful. When the current number of fine adjustments reaches the preset maximum number of fine adjustments and any deviation still exceeds the corresponding preset deviation range, the robot posture measurement calibration result is recorded as calibration failure. Associate and record the electrical measurement points, electrical parameters, measurement interface type, measurement interface location, robot current position, robot measurement end orientation, measurement distance, current fine-tuning count, and robot measurement posture calibration results to obtain a measurement posture record table.

[0010] As a preferred embodiment of the power equipment condition monitoring method based on robot inspection described in this invention, the generation of the phase synchronization measurement reference table specifically includes: Read the electrical measurement points, electrical parameters, measurement interface type, measurement interface location, robot current position, robot measurement end orientation, measurement distance, and robot measurement posture calibration results corresponding to the current task from the measurement posture record table; When the robot's posture calibration result is successful, the robot selects the preset calibration object corresponding to the current electrical parameter from the preset voltage drop calibration terminal, preset current calibration conductor, preset harmonic voltage calibration terminal and preset pulse calibration terminal, and controls the robot's measurement terminal to measure the preset calibration object and obtain the calibration response value. Read the corresponding project calibration baseline value from the equipment ledger, calculate the ratio between the project calibration response value and the project calibration baseline value, and obtain the coupling coefficient corresponding to the current task. Determine the bus reference voltage acquisition location based on the primary wiring diagram, perform zero-crossing detection on the bus reference voltage, record the zero-crossing time of the bus reference voltage, and calculate the power grid cycle based on the zero-crossing times of two adjacent bus reference voltages in the same direction. Read the preset acquisition phase angle corresponding to the current task from the electrical parameter task chain, and determine the preset acquisition phase angle as the phase angle. Save the electrical measurement point, electrical parameter item, measurement interface type, measurement interface position, robot current position, robot measurement end orientation, measurement distance, coupling coefficient, bus reference voltage acquisition position, bus reference voltage zero crossing time, power grid cycle and phase angle, and generate a phase synchronization measurement reference table.

[0011] As a preferred embodiment of the power equipment condition monitoring method based on robot inspection described in this invention, the step of generating a corrected electrical response record table specifically includes: Read the electrical measurement points, electrical parameter items, measurement interface type, measurement interface location, robot measurement end orientation, measurement distance, coupling coefficient, bus reference voltage zero-crossing time, power grid cycle, and phase angle corresponding to the current task from the phase synchronization measurement reference table according to the task order of the electrical parameter task chain; Calculate the time offset corresponding to the phase angle within one power grid cycle, starting from zero and incrementing by non-negative integers, summing the zero-crossing time of the bus reference voltage, the number of non-negative power grid cycles, and the time offset to obtain the candidate electrical parameter acquisition time, and determine the earliest candidate electrical parameter acquisition time that is no earlier than the current time as the electrical parameter acquisition time corresponding to the current task. Control the robot to maintain the robot measurement posture after calibration, and collect the original electrical parameters through the measurement interface corresponding to the current electrical parameter item at the time of electrical parameter acquisition. When the coupling coefficient corresponding to the current task is greater than zero, the original electrical parameters are compared with the coupling coefficient corresponding to the current task to obtain the corrected electrical parameters. Record the corresponding electrical measurement points, electrical parameters, original electrical parameters, coupling coefficients, phase angles, and corrected electrical parameters for the current task, and generate a corrected electrical response record table.

[0012] As a preferred embodiment of the power equipment condition monitoring method based on robot inspection described in this invention, the construction of the fault precursor chain specifically includes: Read the electrical measurement point, electrical parameter item, corrected electrical parameter, coupling coefficient and phase angle corresponding to the current task from the corrected electrical response record table according to the task order of the electrical parameter task chain, and read the historical health benchmark and electrical parameter limit corresponding to the same electrical measurement point and the same electrical parameter item from the electrical parameter task chain; The absolute value of the difference between the corrected electrical parameters and the historical health baseline is determined as the deviation range of the electrical parameters. The absolute value of the difference between the electrical parameter limit and the historical health baseline is determined as the allowable deviation range of the electrical parameters. When the allowable deviation range of the electrical parameters is greater than zero, the deterioration amount is obtained by quotienting the electrical parameter deviation range and the allowable deviation range of the electrical parameters. The electrical measurement points, electrical parameter items, corrected electrical parameters, phase angle, and degradation amount are associated and encapsulated to obtain the electrical health fingerprint of the current inspection round. The electrical health fingerprint corresponding to the same electrical measurement point and the same electrical parameter item in the previous inspection round is read. The degradation amount of the current inspection round is calculated by the difference between the degradation amount of the previous inspection round and the degradation amount of the previous inspection round to obtain the degradation increment. When the degradation reaches the preset precursor threshold and the degradation increment is greater than zero, the electrical measurement points, electrical parameter items, corrected electrical parameters, phase angle, degradation, degradation increment, upstream electrical nodes and downstream electrical nodes are associated to obtain the fault precursor chain.

[0013] As a preferred embodiment of the power equipment condition monitoring method based on robot inspection described in this invention, the generation of fault precursor node records specifically includes: Read the electrical measurement points, electrical parameter items, degradation amount, degradation increment, upstream electrical nodes and downstream electrical nodes corresponding to the current task from the fault precursor chain, and read the electrical measurement points corresponding to the upstream electrical nodes and the electrical measurement points corresponding to the downstream electrical nodes from the electrical measurement point topology table; When both the electrical measurement points corresponding to the upstream electrical node and the electrical measurement points corresponding to the downstream electrical node have electrical health fingerprints corresponding to the same electrical parameter item, the corresponding degradation amount and degradation increment are read respectively. When the degradation of the electrical measurement point corresponding to the current task is higher than that of the electrical measurement points corresponding to the upstream electrical node and the downstream electrical node, and the degradation increment of the electrical measurement point corresponding to the current task is higher than that of the degradation increment of the electrical measurement points corresponding to the upstream electrical node and the downstream electrical node, the electrical measurement point corresponding to the current task is identified as the fault precursor node. When the electrical measurement point corresponding to the current task is identified as the fault precursor node, if the degradation increment of the electrical measurement point corresponding to the upstream electrical node, the electrical measurement point corresponding to the current task, and the electrical measurement point corresponding to the downstream electrical node are all greater than zero under the same electrical parameter item, the three electrical measurement points will be jointly identified as the fault precursor node range. The fault precursor chain, electrical parameter items, fault precursor nodes, fault precursor node range, upstream electrical nodes, downstream electrical nodes, degradation amount and degradation increment are associated and recorded to generate fault precursor node records.

[0014] As a preferred embodiment of the power equipment condition monitoring method based on robot inspection described in this invention, the calculation of the power equipment health management score specifically includes: Read the fault precursor chain, fault precursor node, electrical parameter items, degradation amount and degradation increment from the fault precursor node record; When the degradation amount of the current inspection round is not less than the preset degradation limit, the remaining healthy inspection rounds are recorded as zero. When the degradation amount of the current inspection round is less than the preset degradation limit, the difference between the preset degradation limit and the degradation amount of the current inspection round is used to quotient the degradation increment, and the quotient result is rounded up to obtain the remaining healthy inspection rounds. The fault precursor chain, fault precursor node, electrical parameter items, degradation amount, degradation increment and remaining health inspection rounds are associated and recorded to form the remaining health inspection rounds table. The health management score of power equipment is obtained by weighting the amount of deterioration, the increase in deterioration, and the remaining health inspection rounds in the remaining health inspection rounds table.

[0015] As a preferred embodiment of the power equipment condition monitoring method based on robot inspection described in this invention, the step of obtaining the power equipment health management results specifically includes: Read the health management score of the power equipment, and sequentially read the lower limit, upper limit and level name of each health management level from the preset health management level range; The health management score of the power equipment is compared with the lower limit and the upper limit of the score respectively. When the health management score of the power equipment falls into the health management level, the level name of the corresponding health management level is determined as the matching health management level. The power equipment health management score, the matching health management level, the remaining health inspection rounds in the remaining health inspection rounds table, the fault precursor nodes and fault precursor chains in the fault precursor node records are jointly encapsulated to obtain the power equipment health management results.

[0016] The beneficial effects of this invention are as follows: By calculating the coupling coefficient and determining the phase angle based on the measurement attitude record table, a phase synchronization measurement reference table is generated, realizing spatial attitude calibration, electrical coupling compensation, and phase synchronization of electrical parameters during robot measurement. This solves the problems of data distortion caused by position drift and environmental interference, as well as the lack of a unified time reference. Under phase synchronization constraints, the original electrical parameters are collected and corrected to generate a corrected electrical response record table, achieving high-precision and homogeneous electrical data extraction, providing a reliable data source for subsequent in-depth analysis. Finally, the degradation amount and degradation increment are calculated to obtain the fault precursor chain, and topology consistency verification is performed in conjunction with upstream and downstream nodes, realizing the location of the fault source from a single data anomaly. This effectively distinguishes between local faults and global interference, avoids false alarms, and provides an intuitive and scientific basis for the operation and maintenance decisions of power equipment. Attached Figure Description

[0017] 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.

[0018] Figure 1 This is a flowchart of a method for monitoring the condition of power equipment based on robot inspection.

[0019] Figure 2 A flowchart for forming an electrical parameter task chain.

[0020] Figure 3 A flowchart for obtaining a health management score for electrical equipment.

[0021] Figure 4 This is a flowchart for calculating the degradation increment. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from 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.

[0024] 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 is mutually exclusive with other embodiments.

[0025] Reference Figures 1-4 This is one embodiment of the present invention, which provides a method for monitoring the condition of power equipment based on robot inspection, including the following steps: S1: Collect basic inspection data and construct an electrical measurement point topology table.

[0026] S1.1: It should be noted that at the start of the inspection task, the primary wiring diagram, equipment ledger, rated parameter table, grounding connection table, robot track coordinate table, and historical health benchmark table are retrieved from the existing data of the substation. Among them, the primary wiring diagram comes from the substation electrical drawings, the equipment ledger comes from the power equipment operation ledger, the rated parameter table comes from the power equipment factory parameters and operation setting records, the grounding connection table comes from the grounding circuit configuration data, the robot track coordinate table comes from the robot inspection route configuration data, and the historical health benchmark table comes from the historical inspection records. The measurement interface type and measurement interface location in the equipment ledger are compiled based on the power equipment factory wiring data, existing interface location records on site, and historical inspection records, and are associated with and saved with the corresponding power equipment name, power equipment type, and power equipment location. The measurement interface access direction and measurement distance requirements in the equipment ledger are compiled based on the factory wiring data of the power equipment and the field interface calibration records. The setting positions, project calibration reference values ​​and frequency characteristics of the preset voltage drop calibration terminal, preset current calibration conductor, preset harmonic voltage calibration terminal and preset pulse calibration terminal are compiled based on the factory calibration data of the measurement interface and the field calibration records, and are respectively associated with the corresponding measurement interface type and measurement interface position. The operating set value records in the rated parameter table also include the preset acquisition phase angle corresponding to each electrical parameter item.

[0027] Extract upstream and downstream electrical nodes from the wiring diagram; extract the name, type, and location of electrical equipment, measurement interface type, measurement interface location, measurement interface access direction, and measurement distance requirements from the equipment ledger; extract the rated voltage, rated current, and preset acquisition phase angles corresponding to each electrical parameter item from the rated parameter table; extract the grounding connection relationship from the grounding connection table; and extract the reachable position of the robot from the robot trajectory coordinate table.

[0028] According to the name and location of the power equipment, the measurement interface location is matched with the robot's reachable location, and the positional correspondence between the robot's reachable location and the measurement interface location is calculated. When the robot can move to the reachable location and the robot's measurement end can reach the measurement interface location, the measurement interface location is determined as a measurable location. The collectable electrical parameters are determined according to the measurement interface type: the contact voltage drop measurement interface corresponds to contact voltage drop, the current measurement interface corresponds to fundamental current, leakage current, grounding current, and zero-sequence current, the voltage sampling interface corresponds to harmonic voltage, and the partial discharge pulse measurement interface corresponds to partial discharge pulse. Measurable locations located on the same power equipment, between the same upstream electrical node and the same downstream electrical node, and corresponding to the same measurement interface location are determined as one electrical measurement point. When different measurement interface locations within the same power equipment are separated, the corresponding electrical measurement points are determined separately. After the electrical measurement points and their collectable electrical parameters are determined, the contact voltage drop is read from the rated parameter table according to the power equipment location, electrical measurement point, and electrical parameter items. The electrical parameter limits corresponding to fundamental current, leakage current, grounding current, zero-sequence current, harmonic voltage, and partial discharge pulse are set so that each electrical parameter limit corresponds to an electrical measuring point and an electrical parameter item. From the historical health benchmark table, based on the location of the power equipment, the measurement location in the historical inspection record, and the electrical parameter item, the historical health benchmark corresponding to the electrical measuring point is found. The historical health benchmarks corresponding to contact voltage drop, fundamental current, leakage current, grounding current, zero-sequence current, harmonic voltage, and partial discharge pulse are read respectively, so that each historical health benchmark corresponds to an electrical measuring point and an electrical parameter item. The electrical measuring point, upstream electrical node, downstream electrical node, power equipment name, power equipment type, power equipment location, rated voltage, rated current, grounding connection relationship, robot reachable location, measurement interface type, measurement interface location, measurement interface access direction, and measurement distance requirements are saved row by row. The electrical parameter limits, historical health benchmarks, and preset acquisition phase angles corresponding to each electrical measuring point under different electrical parameter items are also associated and saved separately, forming an electrical measuring point topology table.

[0029] S2: Configure electrical parameter items for each electrical measuring point in the electrical measuring point topology table to form an electrical parameter task chain.

[0030] S2.1: It should be noted that electrical measurement points are read one by one from the electrical measurement point topology table, and the upstream electrical node, downstream electrical node, power equipment type, rated voltage, rated current, grounding connection relationship, robot reachable position, measurement interface type, measurement interface location, measurement interface access direction, measurement distance requirements, and the corresponding electrical parameter limits, historical health benchmarks, and preset acquisition phase angles for each electrical parameter item are read; when the power equipment type corresponding to the electrical measurement point is a circuit breaker, busbar connection, or conductive connection, the contact voltage drop, fundamental current, and harmonic voltage are pre-configured for the electrical measurement point; when the electrical measurement point... When the corresponding power equipment type is cable terminal, insulating bushing, and surge arrester, pre-configure leakage current, partial discharge pulse, and fundamental current for the electrical measuring point; when the grounding connection relationship corresponding to the electrical measuring point has a grounding branch and a grounding down conductor, pre-configure grounding current and zero-sequence current for the electrical measuring point; read the historical inspection record corresponding to the current electrical measuring point from the historical health benchmark table, and when any electrical parameter item in the historical inspection record has an abnormal change, add the electrical parameter item with the abnormal change to the pre-configuration result of the current electrical measuring point; read the electrical parameter items in the pre-configuration result item by item, and connect the contact voltage drop and the contact voltage drop measurement interface. Matching is performed by matching the fundamental current, leakage current, grounding current, and zero-sequence current with the current measurement interface; matching the harmonic voltage with the voltage sampling interface; and matching the partial discharge pulse with the partial discharge pulse measurement interface. The position of the measurement interface corresponding to the current electrical parameter is matched with the robot's reachable position. If a corresponding measurement interface exists for the electrical parameter, and the robot can move along the robot's orbital coordinate table to the reachable position, and the robot's measurement end can reach the measurement interface position, the current electrical parameter is retained. If no corresponding measurement interface exists for the electrical parameter, and the robot cannot move to the reachable position, the current electrical parameter is retained. If the current electrical parameter item is not set, or if the robot's measurement end cannot reach the measurement interface position, delete the current electrical parameter item from the pre-configuration result; for the retained electrical parameter items, read the corresponding electrical parameter limit, historical health benchmark, and preset acquisition phase angle from the electrical measurement point topology table according to the same electrical measurement point and the same electrical parameter item, and save the electrical measurement point, electrical parameter item, measurement interface type, measurement interface position, measurement interface access direction, measurement distance requirement, upstream electrical node, downstream electrical node, robot reachable position, electrical parameter limit, historical health benchmark, and preset acquisition phase angle accordingly to complete the electrical parameter item configuration of the electrical measurement point.

[0031] S2.2: It should be noted that the electrical measurement points configured for the completed electrical parameter project are read, and the upstream electrical node, downstream electrical node, grounding connection relationship, robot reachable position, measurement interface type, measurement interface position, and the arrangement order of the electrical measurement points in the electrical measurement point topology table are extracted for each electrical measurement point. The electrical measurement points configured for the completed electrical parameter project are sorted according to the order of the robot reachable positions in the robot orbit coordinate table, with electrical measurement points located at the previous robot reachable position in the robot orbit coordinate table arranged before those located at the next robot reachable position. When different electrical measurement points correspond to different robot reachable positions, the task order is determined by the order of the robot reachable positions in the robot orbit coordinate table, and the task order between different robot reachable positions is no longer adjusted based on the connection direction of the upstream and downstream electrical nodes. For electrical measurement points corresponding to the same robot reachable position, the electrical sequence is determined according to the connection direction from the upstream electrical node to the downstream electrical node. Electrical measurement points directly connected to the grounding branch or grounding down conductor are found from the grounding connection relationship, and the configuration is then... Electrical measurement points for grounding current and zero-sequence current are arranged adjacent to those directly connected to the grounding branch or grounding down conductor. The remaining electrical measurement points are then arranged according to the connection direction from upstream electrical node to downstream electrical node. When multiple electrical measurement points within the same robot-accessible location have the same upstream and downstream electrical node and grounding connection relationship, the order is determined according to the arrangement order of the electrical measurement points in the electrical measurement point topology table. After sorting, the electrical measurement points, electrical parameter items, measurement interface type, measurement interface location, measurement interface access direction, measurement distance requirements, robot-accessible location, upstream electrical node, downstream electrical node, and the electrical parameter limits, historical health benchmarks, and preset acquisition phase angles corresponding to the electrical measurement points and electrical parameter items are associated and saved item by item according to the sorting results to form an electrical parameter task chain.

[0032] S3: Based on the electrical parameter task chain, control the robot to move to the electrical measurement point, calibrate the robot's measurement posture, and obtain the measurement posture record table.

[0033] S3.1: It should be noted that, from the electrical parameter task chain, the electrical measurement points, electrical parameter items, measurement interface type, measurement interface location, measurement interface access direction, measurement distance requirement, and robot reachable position corresponding to the current task are read in the task order. The robot is then controlled to move along the track path corresponding to the robot track coordinate table to the robot reachable position. After the robot reaches the robot reachable position, the robot's current position, the orientation of the robot's measuring end, and the measurement distance between the robot's measuring end and the measurement interface location are read. The coordinate difference between the robot's current position and the robot reachable position is calculated to obtain the position deviation. The angle difference between the robot's measuring end orientation and the measurement interface access direction is calculated to obtain the orientation deviation. The difference between the measurement distance between the robot's measuring end and the measurement interface location and the measurement distance requirement is calculated to obtain the measurement distance deviation. The position deviation, orientation deviation, and measurement distance deviation are compared with the preset position deviation range, preset orientation deviation range, and preset measurement distance deviation range, respectively, to obtain the comparison results of the robot's current position, robot measuring end orientation, and measurement distance, providing a basis for judgment for subsequent robot measurement posture calibration.

[0034] Furthermore, the preset position deviation range is set based on the robot's reachable position in the robot's orbit coordinate table and the robot's positioning accuracy on the orbit path, with a value of no more than 20mm between the robot's current position and the robot's reachable position.

[0035] The preset orientation deviation range is set according to the measurement angle requirements corresponding to the direction of the measurement interface, and the value is no greater than 3°.

[0036] The preset measurement distance deviation range is set according to the distance measurement accuracy requirements corresponding to the measurement distance requirements, and the value is no more than 5mm for the measurement distance deviation.

[0037] S3.2: It should be noted that when entering the robot measurement posture calibration corresponding to the current task, the current fine-tuning count is set to zero, and the preset maximum fine-tuning count is read. The preset maximum fine-tuning count is set according to the robot's positioning accuracy on the track path, the preset position deviation range, the preset orientation deviation range, and the preset measurement distance deviation range, for example, 5 times. When the position deviation, orientation deviation, and measurement distance deviation do not exceed the corresponding preset deviation range, the robot measurement posture calibration result is recorded as calibration successful. When the position deviation exceeds the preset position deviation range, the position fine-tuning direction and position fine-tuning distance are determined according to the coordinate difference between the robot's reachable position and the robot's current position, and the robot is controlled to perform position fine-tuning along the track path in the robot track coordinate table. When the orientation deviation exceeds the preset orientation deviation range, the orientation fine-tuning angle is determined according to the angle difference between the measurement interface access direction and the robot's measurement end orientation, and the robot is controlled to adjust the robot's measurement end orientation. When the measurement distance deviation exceeds the preset measurement distance deviation range, the distance fine-tuning direction and distance fine-tuning distance are determined according to the difference between the measurement distance requirement and the measurement distance, and the robot is controlled to adjust the robot's measurement end orientation. Control the robot's measuring end to move closer to or further away from the measuring interface. After each round of fine-tuning, increment the current fine-tuning count by one, reread the robot's current position, the robot's measuring end orientation, and the measurement distance between the robot's measuring end and the measuring interface, and recalculate the position deviation, orientation deviation, and measurement distance deviation. When the position deviation, orientation deviation, and measurement distance deviation do not exceed the corresponding preset deviation range, stop fine-tuning and record the robot's measurement posture calibration result as successful. When the current fine-tuning count is less than the preset maximum fine-tuning count, and any deviation still exceeds the corresponding preset deviation range, continue to execute the next round of fine-tuning. When the current fine-tuning count reaches the preset maximum fine-tuning count, and any deviation still exceeds the corresponding preset deviation range, stop fine-tuning, record the robot's measurement posture calibration result as failed, and end the measurement task corresponding to the current electrical parameter item. Associate and record the electrical measurement points, electrical parameter items, measuring interface type, measuring interface position, robot's current position, robot's measuring end orientation, measurement distance, current fine-tuning count, and robot's measurement posture calibration result to obtain the measurement posture record table.

[0038] S4: Calculate the coupling coefficient and determine the phase angle based on the measurement attitude record table, and generate the phase synchronization measurement reference table.

[0039] S4.1: It should be noted that the electrical measurement points, electrical parameter items, measurement interface type, measurement interface position, robot current position, robot measurement end orientation, measurement distance, current fine-tuning count, and robot measurement posture calibration results corresponding to the current task are read from the measurement posture record table according to the task order of the electrical parameter task chain. When the robot measurement posture calibration result is calibration failure, the measurement task corresponding to the current electrical parameter item is ended, and the next task is read according to the task order of the electrical parameter task chain. When the robot measurement posture calibration result is calibration success, the robot is controlled to maintain its current position, and the corresponding preset item calibration object is selected according to the electrical parameter item and measurement interface type corresponding to the current task. The robot is then controlled according to the position setting of the preset item calibration object. The robot's measuring end moves to the preset calibration target. When the electrical parameter is contact voltage drop, the robot's measuring end connects to the preset voltage drop calibration terminal and collects the voltage drop calibration response value under the action of the reference voltage drop. When the electrical parameter is one of the fundamental current, leakage current, grounding current, and zero-sequence current, the robot's measuring end measures the preset current calibration conductor and collects the current calibration response value under the action of the reference current. When the electrical parameter is harmonic voltage, the robot's measuring end connects to the preset harmonic voltage calibration terminal and collects the harmonic voltage calibration response value corresponding to each harmonic number according to the preset harmonic number set. When the electrical parameter is partial discharge pulse, the robot's measuring end connects to the preset pulse calibration terminal and collects the pulse calibration response value under the action of the reference pulse. Read the calibration reference value of the project from the equipment ledger according to the electrical parameter items, measurement interface type and frequency characteristics corresponding to the current task; when the project calibration reference value is greater than zero, use the project calibration response value corresponding to the current task as the numerator and the project calibration reference value corresponding to the same electrical parameter item as the denominator to calculate the ratio and obtain the coupling coefficient corresponding to the current task.

[0040] When the electrical parameter is a harmonic voltage, the harmonic voltage calibration response value corresponding to each harmonic order is used as the numerator, and the reference harmonic voltage corresponding to the same harmonic order is used as the denominator to calculate the ratio, thus obtaining the coupling coefficient corresponding to each harmonic order. The electrical measurement point, electrical parameter, measurement interface type, measurement interface position, robot current position, robot measurement end orientation, measurement distance, item calibration reference value, item calibration response value, and coupling coefficient are associated and recorded. When the electrical parameter is a harmonic voltage, the harmonic order is also associated and recorded with the corresponding item calibration reference value, harmonic voltage calibration response value, and coupling coefficient. After the coupling coefficient is calculated, according to the robot measurement end orientation and measurement distance saved in the measurement posture record table, the robot measurement end is controlled to restore the measurement posture of the corresponding electrical measurement point, providing a calculation basis for subsequent original electrical parameter correction.

[0041] Furthermore, preset voltage drop calibration terminals, preset current calibration conductors, preset harmonic voltage calibration terminals, and preset pulse calibration terminals are respectively set next to the robot's reachable position and are associated with the corresponding measurement interface type.

[0042] The preset harmonic order set is set according to the operating set value records in the rated parameter table and the harmonic voltage abnormal change records in the historical health benchmark table, such as the third harmonic, fifth harmonic and seventh harmonic.

[0043] S4.2: It should be noted that for the current task where the robot's posture calibration result is successful and the coupling coefficient has been calculated, based on the upstream electrical nodes, downstream electrical nodes, and bus connection relationships of the electrical measurement points corresponding to the current task in the primary wiring diagram, find the acquisition point that is in the same power supply path as the electrical measurement point corresponding to the current task and can output the bus reference voltage, and determine the corresponding acquisition point as the bus reference voltage acquisition location; continuously read the bus reference voltage at the bus reference voltage acquisition location, and perform zero-crossing detection on the continuously read bus reference voltage, recording the time when the bus reference voltage enters the positive half-cycle from the negative half-cycle; continuously record the zero-crossing times of two adjacent same-direction bus reference voltages, calculate the difference between the latter and the former same-direction bus reference voltage zero-crossing times to obtain the power grid cycle; read the preset acquisition phase angle corresponding to the current task from the electrical parameter task chain, and determine the preset acquisition phase angle as the phase angle corresponding to the current task. The system saves the electrical measurement points, electrical parameters, measurement interface type, measurement interface location, robot current position, robot measurement end orientation, measurement distance, coupling coefficient, bus reference voltage acquisition location, bus reference voltage zero crossing time, power grid cycle, and phase angle corresponding to the current task. When the electrical parameter is a harmonic voltage, the system saves the harmonic number and the corresponding coupling coefficient for each harmonic number to generate a phase synchronization measurement reference table.

[0044] S5: Under the constraints of the phase synchronization measurement reference table, the original electrical parameters of each electrical measurement point are collected and corrected by the coupling coefficient to generate a corrected electrical response record table.

[0045] S5.1: It should be noted that, from the phase synchronization measurement reference table, the record row corresponding to the current task is located according to the task sequence of the electrical parameter task chain, and the electrical measurement point, electrical parameter item, measurement interface type, measurement interface position, robot current position, robot measurement end orientation, measurement distance, coupling coefficient, bus reference voltage acquisition position, bus reference voltage zero-crossing time, power grid cycle, and phase angle are read; the robot is controlled to maintain the robot measurement posture after calibration, and the robot measurement end completes the corresponding access action according to the measurement interface type; the current time is read, the phase angle is multiplied by the power grid cycle and then divided by 360° to obtain the time offset of the phase angle within one power grid cycle; starting from zero, non-negative integers are added sequentially, and the bus reference voltage zero-crossing time, non-negative integers are added sequentially. The acquisition times of candidate electrical parameters are obtained by summing several power grid cycles and time offsets. The earliest candidate electrical parameter acquisition time, which is no earlier than the current time, is determined as the electrical parameter acquisition time corresponding to the current task. When the current time reaches the electrical parameter acquisition time, the original electrical parameters are acquired through the measurement interface corresponding to the current electrical parameter item. When the electrical parameter item is a harmonic voltage, the original harmonic voltage corresponding to each harmonic number is acquired according to the harmonic number recorded in the phase synchronization measurement reference table. When the electrical parameter item is a partial discharge pulse, the original electrical parameters corresponding to the partial discharge pulse are acquired through the partial discharge pulse measurement interface. The electrical parameter acquisition time is associated with the original electrical parameters. When the electrical parameter item is a harmonic voltage, the harmonic number is also associated with the corresponding original harmonic voltage.

[0046] S5.2: It should be noted that after the original electrical parameters are acquired, the original electrical parameters are saved item by item, corresponding to the electrical measurement point, electrical parameter item, measurement interface type, measurement interface position, robot current position, robot measurement end orientation, measurement distance, coupling coefficient, and phase angle of the current task, forming an association record of the original electrical parameters. The original electrical parameters are read from this association record, and the coupling coefficient corresponding to the current task is read from the phase synchronization measurement reference table according to the same electrical measurement point, the same electrical parameter item, the same measurement interface type, and the same frequency characteristics. When the coupling coefficient corresponding to the current task is greater than zero, the original electrical parameters are then compared with the coupling coefficient corresponding to the current task. The corrected electrical parameters are obtained through quotient calculation. When the electrical parameter is a harmonic voltage, the corresponding coupling coefficient is read from the phase synchronization measurement reference table according to the harmonic number. The original harmonic voltage corresponding to each harmonic number is then divided with the coupling coefficient corresponding to the same harmonic number to obtain the corrected harmonic voltage for each harmonic number. The electrical measurement point, electrical parameter, original electrical parameter, coupling coefficient, phase angle, and corrected electrical parameter corresponding to the current task are recorded accordingly. When the electrical parameter is a harmonic voltage, the harmonic number, original harmonic voltage, corresponding coupling coefficient, and corrected harmonic voltage are also associated and recorded to generate a corrected electrical response record table.

[0047] S6: After calculating the degradation amount and determining the degradation increment based on the modified electrical response record table, construct the fault precursor chain.

[0048] S6.1: It should be noted that, from the corrected electrical response record table, the electrical measurement point, electrical parameter item, corrected electrical parameter, coupling coefficient, and phase angle corresponding to the current task are read according to the task sequence of the electrical parameter task chain. The corresponding historical health benchmark and electrical parameter limit are read from the electrical parameter task chain for the same electrical measurement point and the same electrical parameter item. The difference between the corrected electrical parameter and the historical health benchmark is calculated, and the absolute value of the difference is taken to obtain the electrical parameter deviation range. The difference between the electrical parameter limit and the historical health benchmark is calculated, and the absolute value of the difference is taken to obtain the allowable deviation range of the electrical parameter. When the allowable deviation of the electrical parameter... When the deviation is greater than zero, the deviation of the electrical parameter is divided by the allowable deviation of the electrical parameter to obtain the degradation amount of the electrical measurement point corresponding to the current task under the current electrical parameter item. The electrical measurement point, electrical parameter item, corrected electrical parameter, historical health benchmark, electrical parameter limit, phase angle and degradation amount corresponding to the current task are associated and encapsulated in the same task order to obtain the electrical health fingerprint of the current inspection round. When the allowable deviation of the electrical parameter is equal to zero, the degradation amount calculation corresponding to the current task is not performed, the electrical health fingerprint corresponding to the current task is not generated, and the next task is read according to the task order of the electrical parameter task chain.

[0049] S6.2: It should be noted that after obtaining the electrical health fingerprint of the current inspection round, the electrical health fingerprint of the electrical measuring point corresponding to the current task in the previous inspection round is collected according to the electrical measuring point and electrical parameter item corresponding to the current task as the search conditions, and the corresponding degradation amount is extracted from it. The degradation amount of the current inspection round is read from the electrical health fingerprint of the current inspection round, and the difference between the degradation amount of the current inspection round and the degradation amount of the previous inspection round is calculated to obtain the degradation increment. When no electrical health fingerprint corresponding to the same electrical measuring point and the same electrical parameter item in the previous inspection round is found, the electrical health fingerprint of the current inspection round is saved, the degradation increment calculation corresponding to the current task is not performed, and the next task is read according to the task order of the electrical parameter task chain.

[0050] S6.3: It should be noted that after reading the electrical measurement point, electrical parameter item, corrected electrical parameter, phase angle, degradation amount, and degradation increment corresponding to the current task, the degradation amount is compared with the preset precursor threshold, and the degradation increment is compared with zero. When the degradation amount is greater than or equal to the preset precursor threshold and the degradation increment is greater than zero, it is determined that the electrical measurement point corresponding to the current task has a continuous degradation trend under the electrical parameter item. Using the electrical measurement point corresponding to the current task as the retrieval field, the upstream electrical node and downstream electrical node of the electrical measurement point corresponding to the current task are read from the electrical measurement point topology table. After reading, the electrical measurement point, electrical parameter item, corrected electrical parameter, phase angle, degradation amount, degradation increment, upstream electrical node, and downstream electrical node corresponding to the current task are associated and recorded according to the task order of the electrical parameter task chain to obtain the fault precursor chain.

[0051] Furthermore, the preset precursor threshold is set according to the normalization scale of the difference between the electrical parameter limit of the current electrical parameter item and the historical health benchmark at the electrical measurement point corresponding to the current task, for example, 0.20.

[0052] S7: Perform topology consistency verification on the upstream and downstream electrical nodes corresponding to the faulty predecessor chain and generate a faulty predecessor node record.

[0053] S7.1: It should be noted that the electrical measurement points, electrical parameter items, corrected electrical parameters, phase angle, degradation amount, degradation increment, upstream electrical nodes, and downstream electrical nodes corresponding to the current task are read from the fault precursor chain; according to the primary wiring diagram and electrical measurement point topology table, electrical measurement points are sequentially searched upstream along the same power supply path from the electrical measurement points corresponding to the current task, and the corresponding electrical health fingerprints are retrieved from the electrical health fingerprints of the current inspection round according to the electrical parameter items corresponding to the current task. The electrical measurement point that first appears to have the same electrical parameter item and corresponding electrical health fingerprint along the upstream direction is taken as the electrical measurement point corresponding to the upstream electrical node; electrical measurement points are sequentially searched downstream along the same power supply path from the electrical measurement points corresponding to the current task, and the corresponding electrical health fingerprints are retrieved from the electrical health fingerprints of the current inspection round according to the electrical parameter items corresponding to the current task. The electrical parameter item corresponding to the task is retrieved from the electrical health fingerprint of the current inspection round. The electrical measurement point that first finds the corresponding electrical health fingerprint for the same electrical parameter item along the downstream direction is taken as the electrical measurement point corresponding to the downstream electrical node. If no electrical measurement point corresponding to the same electrical parameter item is found along either the upstream or downstream direction, the three-point topology consistency check corresponding to the current electrical parameter item ends, and the next record is read according to the record order in the fault precursor chain. If electrical measurement points corresponding to the same electrical parameter item are found along both the upstream and downstream directions, the degradation amount and degradation increment are read from the corresponding electrical health fingerprint, respectively. The electrical measurement point corresponding to the current task is then set as the current electrical node. The degradation amount is compared with the degradation amount of the electrical measuring points corresponding to the upstream and downstream electrical nodes under the same electrical parameter item. The degradation increment of the electrical measuring point corresponding to the current task is also compared with the degradation increment of the electrical measuring points corresponding to the upstream and downstream electrical nodes under the same electrical parameter item. When the degradation amount of the electrical measuring point corresponding to the current task is higher than that of the electrical measuring points corresponding to the upstream and downstream electrical nodes, and the degradation increment of the electrical measuring point corresponding to the current task is higher than the degradation increment of the electrical measuring points corresponding to the upstream and downstream electrical nodes, the electrical measuring point corresponding to the current task is identified as the fault precursor node. When the electrical measurement point corresponding to the task is identified as a precursor node, if the degradation increment of the electrical measurement point corresponding to the upstream electrical node, the electrical measurement point corresponding to the current task, and the electrical measurement point corresponding to the downstream electrical node under the same electrical parameter item is all greater than zero, it is determined that the degradation of the three electrical measurement points has increased compared to the previous inspection round, and the three electrical measurement points are jointly identified as the range of the precursor node; when the electrical measurement point corresponding to the current task is identified as a precursor node, the precursor chain, electrical parameter item, precursor node, upstream electrical node, downstream electrical node, degradation, and degradation increment are associated and recorded; when the range of the precursor node has been determined, the range of the precursor node is also associated and recorded to form a precursor node record;When the electrical measurement point corresponding to the current task is not identified as the fault precursor node, the topology consistency check corresponding to the current electrical parameter item ends, and the next record is read according to the record order in the fault precursor chain.

[0054] S8: Calculate the remaining health inspection rounds based on the fault precursor node records, form a table of remaining health inspection rounds, and then calculate the power equipment health management score.

[0055] S8.1: It should be noted that the fault precursor chain, fault precursor node, electrical parameter items, degradation amount, and degradation increment are read from the fault precursor node record; the difference between the preset degradation limit and the degradation amount of the current inspection round is calculated to obtain the remaining degradation margin; when the degradation amount of the current inspection round is not less than the preset degradation limit, the remaining healthy inspection rounds are recorded as zero; when the degradation amount of the current inspection round is less than the preset degradation limit, the remaining degradation margin and the degradation increment are compared, and the result of the comparison is rounded up to obtain the remaining healthy inspection rounds, where the remaining healthy inspection rounds represent the number of inspection rounds required to continue developing according to the current degradation increment until the preset degradation limit is reached.

[0056] Furthermore, the preset degradation limit is set according to the normalization scale of the difference between the electrical parameter limit of the current electrical measurement point under the current electrical parameter item and the historical health benchmark, for example, 0.80.

[0057] S8.2: It should be noted that the fault precursor chain, fault precursor node, electrical parameter items, degradation amount, degradation increment, and remaining health inspection rounds are associated and recorded to form a remaining health inspection rounds table; the fault precursor node, electrical parameter items, degradation amount, degradation increment, and remaining health inspection rounds are read from the remaining health inspection rounds table, using the fault precursor node as the electrical measurement point retrieval condition, the corresponding power equipment name is read from the electrical measurement point topology table, and the preset precursor threshold and preset degradation limit are read; when the degradation amount is not greater than the preset precursor threshold, the degradation amount score component is recorded as 0; when the degradation amount is greater than the preset precursor threshold and less than the preset degradation limit, the difference between the degradation amount and the preset precursor threshold is used as the numerator, and the difference between the preset degradation limit and the preset precursor threshold is used as the denominator for quotient calculation to obtain the degradation amount score component; when the degradation amount is not less than the preset degradation limit, the degradation amount score component is... The quantity is recorded as 1; when the degradation increment is not greater than 0, the degradation increment score component is recorded as 0; when the degradation increment is greater than 0 and less than the difference between the preset degradation limit and the preset precursor threshold, the degradation increment is used as the numerator and the difference between the preset degradation limit and the preset precursor threshold is used as the denominator to perform a quotient operation to obtain the degradation increment score component; when the degradation increment is not less than the difference between the preset degradation limit and the preset precursor threshold, the degradation increment score component is recorded as 1; when the remaining health inspection rounds are less than zero, the remaining health inspection rounds are recorded as zero; the sum of the value 1 and the processed remaining health inspection rounds is used as the denominator and the value 1 is used as the numerator to perform a quotient operation to obtain the remaining health inspection rounds score component; the degradation quantity score component, the degradation increment score component, and the remaining health inspection rounds score component are weighted and summed to obtain the health management score corresponding to the current fault precursor node under the current electrical parameter item. The health management scores of each fault precursor node under each electrical parameter item are collected according to the name of the power equipment. When the same power equipment name corresponds to one health management score, the corresponding health management score is used as the corresponding power equipment health management score. When the same power equipment name corresponds to multiple health management scores, the multiple health management scores are compared and the highest health management score is used as the corresponding power equipment health management score.

[0058] The degradation amount directly reflects the degree to which the precursor node deviates from the historical health benchmark and approaches the electrical parameter limit. It has the greatest impact on the current health status, so it has the highest weight, which is 0.45. The degradation increment reflects the degradation progression trend between adjacent inspection rounds. It has a significant impact on the failure development speed, so it has the second highest weight, which is 0.35. The remaining health inspection rounds are calculated from the degradation amount and degradation increment. They are derived indicators of the urgency of health management. To avoid duplicating and amplifying the impact of the degradation amount and degradation increment, they have the lowest weight, which is 0.2.

[0059] S9: Match the health management score of power equipment with the preset health management level range to obtain the health management results of power equipment.

[0060] It should be noted that the power equipment health management score is read, and the lower limit, upper limit, and level name corresponding to each health management level are read sequentially from the preset health management level range. The preset health management level range is set based on the normalized value range of the power equipment health management score, a preset precursor threshold of 0.20, and a preset deterioration limit of 0.80. For example, the preset health management level range includes a first health management level range, a second health management level range, a third health management level range, and a fourth health management level range. The first health management level range is greater than or equal to 0.00 and less than 0.20, and its level name is Normal Observation Level; the second health management level range is greater than or equal to 0.20 and less than 0.50, and its level name is Precursor Attention Level; the third health management level range is greater than or equal to 0.50 and less than 0.80, and its level name is Key Warning Level; the fourth health management level range is greater than or equal to 0.80 and less than or equal to 1.00, and its level name is Maintenance and Handling Level.

[0061] The power equipment health management score is compared with the lower and upper limits of the score. When the power equipment health management score falls into the corresponding health management level range, the level name of the corresponding health management level is determined as the matching health management level. The power equipment health management score, the matching health management level, the remaining health inspection rounds in the remaining health inspection rounds table, the fault precursor node and the fault precursor chain in the fault precursor node record are jointly encapsulated to obtain the power equipment health management result.

[0062] In summary, this invention achieves spatial attitude calibration, electrical coupling compensation, and phase synchronization of electrical parameters during robot measurement by calculating the coupling coefficient and determining the phase angle based on the measurement attitude record table, and generating a phase synchronization measurement reference table. This solves the problems of data distortion caused by position drift and environmental interference, as well as the lack of a unified time reference. Under phase synchronization constraints, the invention collects and corrects the original electrical parameters, generates a corrected electrical response record table, and achieves high-precision, homogeneous electrical data extraction, providing a reliable data source for subsequent in-depth analysis. Finally, the invention calculates the degradation amount and degradation increment to obtain the fault precursor chain, and performs topology consistency verification in conjunction with upstream and downstream nodes, realizing the location of the fault source from a single data anomaly. This effectively distinguishes between local faults and global interference, avoids false alarms, and provides an intuitive and scientific basis for the operation and maintenance decisions of power equipment.

[0063] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for monitoring the condition of power equipment based on robot inspection, characterized in that: include, Collect basic inspection data and construct an electrical measurement point topology table; Configure electrical parameter items for each electrical measuring point in the electrical measuring point topology table to form an electrical parameter task chain; The robot is controlled to move to the electrical measurement point based on the electrical parameter task chain, and the robot's measurement posture is calibrated to obtain the measurement posture record table. Calculate the coupling coefficient and determine the phase angle based on the attitude measurement record table, and generate a phase synchronization measurement reference table; The original electrical parameters of each electrical measuring point are collected under the constraints of the phase synchronization measurement reference table, and corrected by the coupling coefficient to generate a corrected electrical response record table; After calculating the degradation amount and determining the degradation increment based on the revised electrical response record table, a fault precursor chain is constructed. Perform topology consistency verification on the upstream and downstream electrical nodes corresponding to the fault predecessor chain and generate a fault predecessor node record. The remaining health inspection rounds are calculated based on the fault precursor node records, and the remaining health inspection rounds table is generated before the power equipment health management score is calculated. The health management score of power equipment is matched with a preset health management level range to obtain the health management results of power equipment.

2. The power equipment condition monitoring method based on robot inspection as described in claim 1, characterized in that: The basic inspection data includes a primary wiring diagram, equipment ledger, rated parameter table, grounding connection table, robot trajectory coordinate table, and historical health benchmark table.

3. The power equipment condition monitoring method based on robot inspection as described in claim 2, characterized in that: The formation of the electrical parameter task chain specifically includes: Read each electrical measurement point from the electrical measurement point topology table, and read the corresponding power equipment type, grounding connection relationship, robot reachable position, measurement interface type, measurement interface position, measurement interface access direction, measurement distance requirements, and the electrical parameter limit, historical health benchmark and preset acquisition phase angle for each electrical parameter item; Based on the type of power equipment, grounding connection relationship and historical inspection records, electrical parameter items are pre-configured for electrical measurement points. The pre-configured electrical parameter items are matched with the corresponding measurement interfaces, and the corresponding electrical parameter items are retained when the robot can move to a position that the robot can reach and the robot's measurement end can reach the measurement interface position. The electrical measurement points are sorted according to their positions in the robot's orbit coordinate table. For electrical measurement points corresponding to the same robot reachable position, they are sorted according to the connection direction from the upstream electrical node to the downstream electrical node. The electrical measurement points configured with grounding current and zero-sequence current are arranged after the electrical measurement points directly connected to the grounding branch or grounding down conductor. The electrical measurement points, electrical parameter items, measurement interface types, measurement interface locations, measurement interface access directions, measurement distance requirements, robot reachable locations, upstream and downstream electrical nodes, electrical parameter limits, historical health benchmarks, and preset acquisition phase angles are associated and saved according to the sorting results to form an electrical parameter task chain.

4. The power equipment condition monitoring method based on robot inspection as described in claim 3, characterized in that: The acquisition of the measurement attitude record table specifically involves: Read electrical measurement points, electrical parameter items, measurement interface type, measurement interface location, measurement interface access direction, measurement distance requirements, and robot reachable position from the electrical parameter task chain in the order of tasks, and control the robot to move along the track path corresponding to the robot track coordinate table to the robot reachable position; Read the robot's current position, the robot's measuring end orientation, and the measurement distance between the robot's measuring end and the measuring interface position, and calculate the position deviation, orientation deviation, and measurement distance deviation respectively; When any deviation exceeds the corresponding preset deviation range, the robot is controlled to perform position fine-tuning, robot measurement end orientation fine-tuning, and distance fine-tuning. After each round of fine-tuning is completed, the current fine-tuning count is increased, and the position deviation, orientation deviation, and measurement distance deviation are recalculated. When all deviations do not exceed the corresponding preset deviation range, the robot posture measurement calibration result is recorded as calibration successful. When the current number of fine adjustments reaches the preset maximum number of fine adjustments and any deviation still exceeds the corresponding preset deviation range, the robot posture measurement calibration result is recorded as calibration failure. Associate and record the electrical measurement points, electrical parameters, measurement interface type, measurement interface location, robot current position, robot measurement end orientation, measurement distance, current fine-tuning count, and robot measurement posture calibration results to obtain a measurement posture record table.

5. The power equipment condition monitoring method based on robot inspection as described in claim 4, characterized in that: The generation of the phase synchronization measurement reference table is specifically as follows: Read the electrical measurement points, electrical parameters, measurement interface type, measurement interface location, robot current position, robot measurement end orientation, measurement distance, and robot measurement posture calibration results corresponding to the current task from the measurement posture record table; When the robot's posture calibration result is successful, the robot selects the preset calibration object corresponding to the current electrical parameter from the preset voltage drop calibration terminal, preset current calibration conductor, preset harmonic voltage calibration terminal and preset pulse calibration terminal, and controls the robot's measurement terminal to measure the preset calibration object and obtain the calibration response value. Read the corresponding project calibration baseline value from the equipment ledger, calculate the ratio between the project calibration response value and the project calibration baseline value, and obtain the coupling coefficient corresponding to the current task. Determine the bus reference voltage acquisition location based on the primary wiring diagram, perform zero-crossing detection on the bus reference voltage, record the zero-crossing time of the bus reference voltage, and calculate the power grid cycle based on the zero-crossing times of two adjacent bus reference voltages in the same direction. Read the preset acquisition phase angle corresponding to the current task from the electrical parameter task chain, and determine the preset acquisition phase angle as the phase angle. Save the electrical measurement point, electrical parameter item, measurement interface type, measurement interface position, robot current position, robot measurement end orientation, measurement distance, coupling coefficient, bus reference voltage acquisition position, bus reference voltage zero crossing time, power grid cycle and phase angle, and generate a phase synchronization measurement reference table.

6. The power equipment condition monitoring method based on robot inspection as described in claim 5, characterized in that: The generation of the corrected electrical response record table is specifically as follows: Read the electrical measurement points, electrical parameter items, measurement interface type, measurement interface location, robot measurement end orientation, measurement distance, coupling coefficient, bus reference voltage zero-crossing time, power grid cycle, and phase angle corresponding to the current task from the phase synchronization measurement reference table according to the task order of the electrical parameter task chain; Calculate the time offset corresponding to the phase angle within one power grid cycle, starting from zero and incrementing by non-negative integers, summing the zero-crossing time of the bus reference voltage, the number of non-negative power grid cycles, and the time offset to obtain the candidate electrical parameter acquisition time, and determine the earliest candidate electrical parameter acquisition time that is no earlier than the current time as the electrical parameter acquisition time corresponding to the current task. Control the robot to maintain the robot measurement posture after calibration, and collect the original electrical parameters through the measurement interface corresponding to the current electrical parameter item at the time of electrical parameter acquisition. When the coupling coefficient corresponding to the current task is greater than zero, the original electrical parameters are compared with the coupling coefficient corresponding to the current task to obtain the corrected electrical parameters. Record the corresponding electrical measurement points, electrical parameters, original electrical parameters, coupling coefficients, phase angles, and corrected electrical parameters for the current task, and generate a corrected electrical response record table.

7. The power equipment condition monitoring method based on robot inspection as described in claim 6, characterized in that: The construction of the fault precursor chain specifically involves: Read the electrical measurement point, electrical parameter item, corrected electrical parameter, coupling coefficient and phase angle corresponding to the current task from the corrected electrical response record table according to the task order of the electrical parameter task chain, and read the historical health benchmark and electrical parameter limit corresponding to the same electrical measurement point and the same electrical parameter item from the electrical parameter task chain; The absolute value of the difference between the corrected electrical parameters and the historical health baseline is determined as the deviation range of the electrical parameters. The absolute value of the difference between the electrical parameter limit and the historical health baseline is determined as the allowable deviation range of the electrical parameters. When the allowable deviation range of the electrical parameters is greater than zero, the deterioration amount is obtained by quotienting the electrical parameter deviation range and the allowable deviation range of the electrical parameters. The electrical measurement points, electrical parameter items, corrected electrical parameters, phase angle, and degradation amount are associated and encapsulated to obtain the electrical health fingerprint of the current inspection round. The electrical health fingerprint corresponding to the same electrical measurement point and the same electrical parameter item in the previous inspection round is read. The degradation amount of the current inspection round is calculated by the difference between the degradation amount of the current inspection round and the degradation amount of the previous inspection round to obtain the degradation increment. When the degradation reaches the preset precursor threshold and the degradation increment is greater than zero, the electrical measurement points, electrical parameter items, corrected electrical parameters, phase angle, degradation, degradation increment, upstream electrical nodes and downstream electrical nodes are associated to obtain the fault precursor chain.

8. The power equipment condition monitoring method based on robot inspection as described in claim 7, characterized in that: The generation of the fault predecessor node record specifically involves: Read the electrical measurement points, electrical parameter items, degradation amount, degradation increment, upstream electrical nodes and downstream electrical nodes corresponding to the current task from the fault precursor chain, and read the electrical measurement points corresponding to the upstream electrical nodes and the electrical measurement points corresponding to the downstream electrical nodes from the electrical measurement point topology table; When both the electrical measurement points corresponding to the upstream electrical node and the electrical measurement points corresponding to the downstream electrical node have electrical health fingerprints corresponding to the same electrical parameter item, the corresponding degradation amount and degradation increment are read respectively. When the degradation of the electrical measurement point corresponding to the current task is higher than that of the electrical measurement points corresponding to the upstream electrical node and the downstream electrical node, and the degradation increment of the electrical measurement point corresponding to the current task is higher than that of the degradation increment of the electrical measurement points corresponding to the upstream electrical node and the downstream electrical node, the electrical measurement point corresponding to the current task is identified as the fault precursor node. When the electrical measurement point corresponding to the current task is identified as the fault precursor node, if the degradation increment of the electrical measurement point corresponding to the upstream electrical node, the electrical measurement point corresponding to the current task, and the electrical measurement point corresponding to the downstream electrical node are all greater than zero under the same electrical parameter item, the three electrical measurement points will be jointly identified as the fault precursor node range. The fault precursor chain, electrical parameter items, fault precursor nodes, fault precursor node range, upstream electrical nodes, downstream electrical nodes, degradation amount and degradation increment are associated and recorded to generate fault precursor node records.

9. The power equipment condition monitoring method based on robot inspection as described in claim 8, characterized in that: The calculation of the power equipment health management score is specifically as follows: Read the fault precursor chain, fault precursor node, electrical parameter items, degradation amount and degradation increment from the fault precursor node record; When the degradation amount of the current inspection round is not less than the preset degradation limit, the remaining healthy inspection rounds are recorded as zero. When the degradation amount of the current inspection round is less than the preset degradation limit, the difference between the preset degradation limit and the degradation amount of the current inspection round is used to quotient the degradation increment, and the quotient result is rounded up to obtain the remaining healthy inspection rounds. The fault precursor chain, fault precursor node, electrical parameter items, degradation amount, degradation increment and remaining health inspection rounds are associated and recorded to form the remaining health inspection rounds table. The health management score of power equipment is obtained by weighting the amount of deterioration, the increase in deterioration, and the remaining health inspection rounds in the remaining health inspection rounds table.

10. The power equipment condition monitoring method based on robot inspection as described in claim 9, characterized in that: The acquisition of power equipment health management results specifically includes: Read the health management score of the power equipment, and sequentially read the lower limit, upper limit and level name of each health management level from the preset health management level range; The health management score of the power equipment is compared with the lower limit and the upper limit of the score respectively. When the health management score of the power equipment falls into the health management level, the level name of the corresponding health management level is determined as the matching health management level. The power equipment health management score, the matching health management level, the remaining health inspection rounds in the remaining health inspection rounds table, the fault precursor nodes and fault precursor chains in the fault precursor node records are jointly encapsulated to obtain the power equipment health management results.

Images