Internal inspection robot

Abstract

The present application provides an internal inspection robot. The internal inspection robot comprises: a housing (1), wherein the housing (1) is configured as a closed structure formed by sequentially connecting a first housing (11) and a second housing (12) arranged opposite to each other, a third housing (13) and a fourth housing (14) arranged opposite to each other, and a fifth housing (15) and a sixth housing (16) arranged opposite each other, the first housing (11) and the second housing (12) are both configured as rectangular housings, the third housing (13) and the fourth housing (14) are both configured as circular arc-shaped housings, and the fifth housing (15) and the sixth housing (16) are both configured as ellipsoid-like housings; a gravity balancing device (2) arranged inside the housing (1), wherein the gravity balancing device (2) is configured to control the pose of the internal inspection robot; and a power device (3) and a plurality of sensor devices arranged on the surface of the housing (1), wherein the power device (3) is configured to receive a motion control signal from a control end and drive the internal inspection robot to move, and the plurality of sensor devices are respectively configured to provide sensing signals to the control end.

Description

Internal inspection robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 14, 2023, with application number 202311509457.0, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of transformer detection, for example, to an internal inspection robot. Background Art

[0003] In the power supply system, large power transformers play an important role in voltage conversion and energy transmission. By evaluating the status of large transformers and understanding their operating conditions, we can take various preventive measures in advance to avoid major power accidents, which is of great significance to improving the safe and stable operation of the power system.

[0004] Oil-immersed transformers typically consist of a sealed metal casing filled with transformer oil, housing a coil structure. Consequently, visibility into the transformer's interior is limited. Without disassembling the transformer, simply analyzing dissolved gases in the oil is difficult to effectively and intuitively determine the transformer's internal insulation condition. Previously, the transformer's internal insulation condition could be determined by draining the oil and conducting manual inspections. However, this method suffers from low efficiency, poor inspection accuracy, and significant safety risks.

[0005] With the development of bionic robots and artificial intelligence technologies, most power systems now use intelligent robots to inspect large transformers. However, during the implementation of the present application, we discovered at least the following problems with the related art: The inspection robots disclosed in the related art are generally large in size and have an unreasonable physical structure. These robots are difficult to control and have poor stability during transformer internal inspections.

[0006] Summary of the Invention

[0007] The present application provides an internal inspection robot, comprising: a shell, the shell being configured as a closed structure composed of a first shell and a second shell arranged oppositely, a third shell and a fourth shell arranged oppositely, and a fifth shell and a sixth shell arranged oppositely connected in sequence, wherein the first shell and the second shell are both configured as rectangular shells, the third shell and the fourth shell are both configured as arc-shaped shells, and the fifth shell and the sixth shell are both configured as elliptical shells; a gravity balancing device arranged inside the shell, the gravity balancing device being configured to control the posture of the internal inspection robot; and a power device and multiple sensor devices arranged on the surface of the shell, wherein the power device is configured to receive a motion control signal from a control end to drive the internal inspection robot to move, and the multiple sensor devices are respectively configured to provide sensing signals to the control end.

[0008] According to an embodiment of the present application, the gravity balancing device includes a gravity regulating chamber, a gravity regulating chamber liquid level control unit, a gravity balance hammer and a posture control unit; wherein the gravity regulating chamber is configured to provide a cavity structure, the cavity structure is configured to store a liquid medium, and the liquid medium is a protective medium inside the transformer; the gravity regulating chamber liquid level control unit is configured to absorb the liquid medium from the inside of the transformer and store it in the cavity structure, or, is configured to discharge the liquid medium from the cavity structure to the inside of the transformer to control the gravity of the internal inspection robot; and the posture control unit is configured to adjust the position of the gravity balance hammer to control the posture of the internal inspection robot.

[0009] According to an embodiment of the present application, the above-mentioned gravity adjustment chamber includes a adjustment chamber shell and a adjustment chamber piston, the above-mentioned adjustment chamber piston includes a piston top and multiple piston connecting rods, one end of the above-mentioned multiple piston connecting rods is configured to connect to the above-mentioned piston top, and the above-mentioned piston top and the above-mentioned adjustment chamber shell are sealed and connected to form the above-mentioned cavity structure.

[0010] According to an embodiment of the present application, the gravity regulating tank liquid level control unit includes a plurality of piston lifting assemblies, a liquid level control assembly and a liquid level measuring assembly; wherein, the plurality of piston lifting assemblies are configured to be respectively connected to the other end of each of the plurality of piston connecting rods; the regulating tank liquid level measuring assembly is configured to determine the liquid level information of the liquid medium stored in the cavity structure; the liquid level control assembly is configured to control the plurality of piston lifting assemblies to drive the plurality of piston connecting rods to move in a direction parallel to the piston connecting rod based on the liquid level information, so as to adjust the position of the top of the piston, so as to control the volume of the cavity structure, so as to inhale or discharge the liquid medium.

[0011] According to an embodiment of the present application, the above-mentioned posture control unit includes a first robotic arm, a second robotic arm, a first robotic arm drive joint, a second robotic arm drive joint, a posture measurement component and a posture control component, wherein the above-mentioned first robotic arm drive joint, the above-mentioned first robotic arm, the above-mentioned second robotic arm drive joint and the above-mentioned second robotic arm are configured to be connected in sequence, and the end of the above-mentioned second robotic arm away from the above-mentioned second robotic arm drive joint is configured to be connected to the above-mentioned gravity balance hammer; wherein the above-mentioned posture measurement component is configured to determine the posture information of the above-mentioned internal inspection robot; the above-mentioned posture control component is configured to control the rotation of the above-mentioned first robotic arm drive joint and the above-mentioned second robotic arm drive joint based on the above-mentioned posture information to drive the above-mentioned first robotic arm and the above-mentioned second robotic arm to move, and adjust the position of the above-mentioned gravity balance hammer to control the posture of the above-mentioned internal inspection robot.

[0012] According to an embodiment of the present application, the above-mentioned power device includes a propulsion control unit and N power propulsion units, wherein N>2; at least two of the above-mentioned N power propulsion units are configured to be respectively arranged on the above-mentioned first shell and the above-mentioned second shell; at least one of the above-mentioned N power propulsion units is configured to be arranged on the above-mentioned fifth shell or the above-mentioned sixth shell; the above-mentioned propulsion control unit is configured to drive at least one of the above-mentioned N power propulsion units based on the received above-mentioned motion control signal to drive the above-mentioned internal inspection robot to move.

[0013] According to an embodiment of the present application, the power propulsion unit includes a sealed cabin, a propulsion motor, a bearing, a seal, a propeller and a propeller protection ring; wherein, the propulsion motor is configured to be arranged in the sealed cabin; one end of the bearing is configured to be connected to the output end of the propulsion motor through the sealed cabin, and the other end of the bearing is configured to be connected to the propeller; the seal is configured to be arranged at the connection between the bearing and the sealed cabin; the propeller protection ring is configured to be arranged around the propeller.

[0014] According to an embodiment of the present application, the above-mentioned multiple sensor devices include a visual device, and the above-mentioned visual device includes a light source and two camera units, and the above-mentioned light source and the above-mentioned two camera units are configured to be arranged on the above-mentioned third shell or the above-mentioned fourth shell; wherein, the angle between the respective optical axes of the above-mentioned two camera units is configured to be 30 degrees.

[0015] According to an embodiment of the present application, the above-mentioned internal inspection robot further includes: a plurality of bionic dorsal fin structures, and the above-mentioned plurality of bionic dorsal fin structures are configured to be arranged on the above-mentioned fifth shell or the above-mentioned sixth shell; wherein, a wireless control antenna and a wireless video antenna are configured in the above-mentioned bionic dorsal fin structure, and the above-mentioned wireless control antenna is configured to receive the above-mentioned motion control signal, or, is configured to send the above-mentioned plurality of sensing signals to the above-mentioned control end; the above-mentioned wireless video antenna is configured to send images captured by the camera unit of the above-mentioned visual device to the above-mentioned control end.

[0016] According to an embodiment of the present application, the above-mentioned multiple sensor devices include a depth sounding device, a positioning signal transmitting device and an infrared obstacle avoidance device; wherein the above-mentioned depth sounding device is configured to be arranged on the above-mentioned fifth shell or the above-mentioned sixth shell, and the above-mentioned depth sounding device is configured to determine the sinking depth information of the above-mentioned internal inspection robot inside the transformer; the above-mentioned positioning signal transmitting device is configured to be arranged on the above-mentioned fifth shell or the above-mentioned sixth shell, and the above-mentioned positioning signal transmitting device is configured to transmit a positioning signal according to a preset period, so that the positioning array in the transformer obtains the position information of the above-mentioned internal inspection robot based on the received above-mentioned positioning signal; the above-mentioned infrared obstacle avoidance device includes at least two infrared sensors, and the above-mentioned at least two infrared sensors are configured to be respectively arranged on the above-mentioned fifth shell and the above-mentioned sixth shell, and the above-mentioned infrared obstacle avoidance device is configured to determine the distance information between the above-mentioned internal inspection robot and the obstacles inside the above-mentioned transformer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 shows a front view of an internal inspection robot according to an embodiment of the present application;

[0018] FIG2 shows a top view of an internal inspection robot according to an embodiment of the present application;

[0019] FIG3 shows a rear view of the internal inspection robot according to an embodiment of the present application;

[0020] FIG4 shows a left side view of the internal inspection robot according to an embodiment of the present application;

[0021] FIG5 is a plan view of a gravity balancing device of an internal inspection robot according to an embodiment of the present application;

[0022] FIG6 shows a schematic structural diagram of a gravity balancing device of an internal inspection robot according to an embodiment of the present application;

[0023] FIG7 shows a schematic diagram of the posture control structure of the internal inspection robot according to an embodiment of the present application.

[0024] Description of Reference Numerals

[0025] 1-shell, 2-gravity balance device, 3-power device, 4-visual device, 5-depth measuring device, 6-positioning signal transmitting device, 7-infrared obstacle avoidance device, 8-bionic dorsal fin structure;

[0026] 11-first housing, 12-second housing, 13-third housing, 14-fourth housing, 15-fifth housing, 16-sixth housing;

[0027] 21- gravity adjustment chamber, 22- gravity adjustment chamber liquid level control unit, 23- gravity balance hammer, 24- posture control unit;

[0028] 211-adjustment chamber housing, 212-adjustment chamber piston;

[0029] 2121-piston top, 2122-piston connecting rod;

[0030] 221-piston lifting assembly, 222-liquid level measurement assembly;

[0031] 241-first robotic arm, 242-first robotic arm drive joint, 243-second robotic arm, 244-second robotic arm drive joint, 245-posture measurement component, 246-posture control component;

[0032] 2421 - first drive motor, 2422 - first reducer, 2423 - first rotation axis angle measuring device;

[0033] 2441 - second drive motor, 2442 - second reducer, 2443 - second rotation axis angle measuring device;

[0034] 31- propulsion control unit, 32- power propulsion unit;

[0035] 321-first propulsion unit, 322-second propulsion unit, 323-third propulsion unit, 324-fourth propulsion unit;

[0036] 41 - first camera unit, 42 - second camera unit, 43 - light source. DETAILED DESCRIPTION

[0037] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. These descriptions are merely exemplary and are not intended to limit the scope of the present application. In the following description, for ease of explanation, many details are set forth to provide an understanding of the embodiments of the present application. However, one or more embodiments may also be implemented without these details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present application.

[0038] The terms used herein are merely for describing the embodiments and are not intended to limit the present application. The terms "comprise," "include," etc. used herein indicate the presence of the features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0039] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. The terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0040] When expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted in accordance with the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include systems having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0041] With the continuous penetration of cutting-edge technologies such as big data, the Internet of Things, and artificial intelligence, all industries are experiencing rapid development and facing increasing power supply demands. In power supply systems, large power transformers play a vital role in voltage conversion and energy transmission. Assessing the status of large transformers and understanding their operating conditions allows for the implementation of various preventative measures to avoid major power accidents, which is of great significance for improving the safe and stable operation of power systems.

[0042] Large power transformers can be divided into oil-immersed transformers, dry-type transformers, and gas-insulated transformers based on the insulation medium. Oil-immersed transformers primarily consist of coils, an iron core, and an oil tank. The coils and core are enclosed in an oil tank filled with mineral insulating oil, which insulates, cools, and extinguishes arcs.

[0043] However, because the metal casing of an oil-immersed transformer is filled with transformer oil, visibility inside the transformer is poor. Without disassembling the transformer, it's difficult to effectively and intuitively determine the transformer's internal insulation condition simply by analyzing dissolved gases in the oil. While this can be done by draining the transformer oil and performing manual inspections, which require maintenance personnel to drill into the transformer or inspect it from a suspended enclosure, this method suffers from low efficiency, poor inspection accuracy, and high safety risks, as well as requiring significant manpower and material resources.

[0044] With the development of bionic robots and artificial intelligence technologies, power systems now mostly use intelligent robots to inspect large transformers. By placing bionic robots inside the transformer to directly observe the interior, they can effectively determine the location of insulation defects and the degree of insulation degradation, enabling accurate troubleshooting of internal insulation defects.

[0045] However, in the process of realizing the concept of this application, it was found that there are at least the following problems in the related technology: the inspection robots disclosed in the related technology are generally large in size and have unreasonable physical structure. Such robots have problems such as difficulty in operation and poor stability during the internal inspection of the transformer.

[0046] In view of this, the embodiments of the present application configure the first and second shells of the internal inspection robot as rectangular shells, the third and fourth shells as arc-shaped shells, the fifth and sixth shells as elliptical shells, and connect the shells in sequence to form a closed structure. This allows the internal inspection robot to reduce the resistance to forward and backward movement while maintaining stability in the left and right directions when moving in the liquid in a metal enclosed space, thereby improving the stability of the internal inspection robot during movement.

[0047] An embodiment of the present application provides an internal inspection robot. The internal inspection robot includes a housing configured as a sealed structure consisting of a first shell and a second shell arranged oppositely, a third shell and a fourth shell arranged oppositely, and a fifth shell and a sixth shell arranged oppositely, wherein the first shell and the second shell are each configured as a rectangular shell, the third shell and the fourth shell are each configured as an arc shell, and the fifth shell and the sixth shell are each configured as a quasi-elliptical shell; a gravity balance device disposed within the housing, the gravity balance device being configured to control the position and posture of the internal inspection robot; and a power device and multiple sensor devices disposed on a surface of the housing, wherein the power device is configured to receive motion control signals from a control terminal to drive the internal inspection robot to move, and the multiple sensor devices are each configured to provide sensing signals to the control terminal.

[0048] Unless it is explicitly stated that there is a sequence of execution between different operations shown in the flowcharts in the embodiments of the present application, or there is a sequence of execution between different operations in technical implementation, otherwise, the execution order between multiple operations may not be prioritized, and multiple operations may also be executed simultaneously.

[0049] According to an embodiment of the present application, the internal inspection robot includes a shell, a gravity balancing device arranged inside the shell, and a power device and multiple sensor devices arranged on the surface of the shell.

[0050] According to an embodiment of the present application, the gravity balancing device is configured to control the posture changes of the internal inspection robot, the power device is configured to receive motion control signals from the control end and drive the internal inspection robot to move, and the sensor devices are respectively configured to provide sensor signals to the control end, wherein the sensor devices may include visual devices, positioning devices, ranging devices, obstacle avoidance devices, etc.

[0051] According to an embodiment of the present application, the shell of the internal inspection robot includes a first shell and a second shell arranged opposite to each other, a third shell and a fourth shell arranged opposite to each other, and a fifth shell and a sixth shell arranged opposite to each other, wherein the first shell and the second shell are configured as rectangular shells, the third shell and the fourth shell are configured as arc-shaped shells, and the fifth shell and the sixth shell are configured as elliptical shells.

[0052] 1 and 2 , the internal inspection robot will be described in conjunction with an embodiment.

[0053] FIG1 shows a front view of an internal inspection robot according to an embodiment of the present application.

[0054] As shown in the main view of the internal inspection robot in FIG1 , the housing 1 of the internal inspection robot includes a first shell 11 , a second shell 12 , and a sixth shell 16 , wherein the first shell 11 , the second shell 12 , and the sixth shell 16 are respectively provided with a power device 3 .

[0055] FIG2 shows a top view of the internal inspection robot according to an embodiment of the present application.

[0056] As shown in the top view of the internal inspection robot in Figure 2, the shell 1 of the internal inspection robot also includes a third shell 13, a fourth shell 14, and a fifth shell 15, wherein the surface of the fifth shell 15 can be provided with a depth measuring device 5, a positioning signal transmitting device 6 and an infrared obstacle avoidance device 7.

[0057] As shown in Figure 2, the first shell 11 and the second shell 12 are set as rectangular shells, and the third shell 13 and the fourth shell 14 are set as arc-shaped shells, wherein the first shell 11 and the second shell 12 can be the left and right shells of the internal inspection robot, and the third shell 13 and the fourth shell 14 can be the front and rear shells of the internal inspection robot.

[0058] According to an embodiment of the present application, the fifth housing 15 and the sixth housing 16 are configured as elliptical housings, wherein the fifth housing 15 and the sixth housing 16 may be the top housing and the bottom housing of the internal inspection robot.

[0059] According to an embodiment of the present application, the elliptical shell at the top of the internal inspection robot, namely the fifth shell 15, the rectangular shells on the middle left and middle right, namely the first shell 11 and the second shell 12, the arc-shaped shells on the middle front and middle rear, namely the third shell 13 and the fourth shell 14, and the elliptical shell at the bottom, namely the sixth shell 16, are connected in sequence from top to bottom to form a metal enclosed structure.

[0060] According to an embodiment of the present application, the visual device 4, depth-measuring device 5, positioning signal emitting device 6, and infrared obstacle avoidance device 7 of the internal inspection robot are all provided as sensor devices, and the above-mentioned sensor devices can provide sensor signals to the control terminal. Among them, the visual device 4 can provide the operator with internal image information of the confined space; the depth-measuring device 5 can be configured to accurately measure the depth information of the internal inspection robot sinking in the metal confined space; the positioning signal emitting device 6 can be configured to provide the internal inspection robot's position information inside the metal confined space; and the infrared obstacle avoidance device 7 can be configured to provide the distance information between the internal inspection robot and obstacles inside the transformer.

[0061] In an embodiment of the present application, by configuring the first shell 11 and the second shell 12 of the internal inspection robot as rectangular shells, configuring the third shell 13 and the fourth shell 14 as arc-shaped shells, configuring the fifth shell 15 and the sixth shell 16 as elliptical shells, and connecting the shells in sequence to form a closed structure, the internal inspection robot can reduce the resistance to forward and backward movement while maintaining stability in the left and right directions when moving in the liquid in a metal enclosed space, thereby improving the stability of the internal inspection robot during movement.

[0062] According to an embodiment of the present application, the power device 3 includes a propulsion control unit and N power propulsion units, wherein N>2; at least two of the N power propulsion units are configured to be respectively arranged in the first shell 11 and the second shell 12; at least one of the N power propulsion units is configured to be arranged in the fifth shell 15 or the sixth shell 16; the propulsion control unit is configured to drive at least one of the N power propulsion units based on a motion control signal to drive the transformer internal inspection robot to move.

[0063] According to an embodiment of the present application, the power device 3 can be configured to provide power for the internal inspection robot's operating actions such as diving, hovering, and moving forward and backward in a liquid medium. The power device 3 includes at least a propulsion control unit and a power propulsion unit.

[0064] According to an embodiment of the present application, the power device 3 may further include a drive motor rotation angle sensing device and a drive motor rotation speed sensing device, which are configured to detect the rotation angle and rotation speed of the drive motor.

[0065] According to an embodiment of the present application, the internal inspection robot is configured with at least three power propulsion units, wherein at least two power propulsion units are configured to provide propulsion power in the horizontal direction, and at least one power propulsion unit is configured to provide propulsion power in the vertical direction.

[0066] According to an embodiment of the present application, the propulsion control unit may be configured to achieve drive control of the power propulsion unit by adjusting the motor speed of one or more power propulsion units in response to a received motion control signal.

[0067] FIG3 shows a rear view of the internal inspection robot according to an embodiment of the present application.

[0068] As shown in FIG. 1 , in an embodiment of the present application, the power device 3 includes a propulsion control unit 31 and a power propulsion unit 32 , wherein the power propulsion unit 32 includes a third power propulsion unit 323 .

[0069] As shown in FIG. 3 , the power propulsion unit 32 further includes a first power propulsion unit 321 , a second power propulsion unit 322 , and a fourth power propulsion unit 324 .

[0070] FIG4 shows a left side view of the internal inspection robot according to an embodiment of the present application.

[0071] As shown in Figure 4, the first power propulsion unit 321 can be set on the surface of the first shell 11. Similarly, the second power propulsion unit 322 can also be set on the surface of the second shell 12, that is, on the middle left rectangular shell and the middle right rectangular shell. It can also be installed in an embedded manner in the middle part of the internal inspection robot and is configured to provide horizontal propulsion power.

[0072] According to an embodiment of the present application, the third propulsion unit 323 and the fourth propulsion unit 324 can be mounted on the fifth housing 15 and the sixth housing 16, i.e., the elliptical housing, respectively. Alternatively, they can be embedded in the bottom portion of the internal inspection robot and configured to provide vertical propulsion power. For example, as shown in FIG1 , the third propulsion unit 323 is mounted on the third housing 13 of the internal inspection robot.

[0073] According to an embodiment of the present application, horizontal power propulsion units 321 and 322 are respectively provided with horizontal power propulsion units, which are configured to control the internal inspection robot to move forward, backward and turn in the liquid medium.

[0074] According to an embodiment of the present application, vertical power thrusters may be provided on the third power propulsion unit 323 and the fourth power propulsion unit 324, respectively, and configured to control the ascent, descent and hovering of the internal inspection robot in the liquid medium.

[0075] The embodiment of the present application sets a power propulsion unit 32 and a propulsion control unit 31 in the power device 3, and configures the power propulsion unit 32 and the propulsion control unit 31 to the optimal position, so as to use the propulsion control unit 31 to drive the power propulsion unit 32 to achieve adjustment and control of the position of the internal inspection robot.

[0076] According to an embodiment of the present application, the power propulsion unit 32 also includes a sealed cabin, a propulsion motor, a bearing, a seal, a propeller and a propeller protection ring; wherein, the propulsion motor is configured to be arranged in the sealed cabin; one end of the bearing is configured to be connected to the output end of the propulsion motor through the sealed cabin, and the other end of the bearing is configured to be connected to the propeller; the seal is configured to be arranged at the connection between the bearing and the sealed cabin; and the propeller protection ring is configured to be arranged around the propeller.

[0077] According to an embodiment of the present application, a propulsion motor can be configured to provide propulsion power for the internal inspection robot. The propulsion motor can include an AC induction motor, a permanent magnet AC synchronous motor, a high-temperature superconducting AC synchronous motor, etc., and the propulsion motor can be driven by motor speed control and motor torque control.

[0078] According to an embodiment of the present application, the propulsion motor may be disposed in a sealed cabin of the power propulsion unit 32 , and the sealed cabin may be configured to prevent liquid media from penetrating and soaking the propulsion motor to ensure the normal operation of the propulsion motor.

[0079] According to an embodiment of the present application, the power propulsion unit 32 of the internal inspection robot can use a bearing to connect the propulsion motor and the propeller, one end of the bearing is connected to the output end of the propulsion motor through a sealed cabin, and the other end of the bearing is connected to the propeller, so that the propulsion motor drives the propeller through the bearing.

[0080] According to an embodiment of the present application, seals are respectively provided at the connection between the bearing and the sealed cabin and at the connection with the propeller. The seals can be used to achieve a sealing effect between the sealed cabin, the bearing and the propeller. The seals can be ball bearing seals, felt seals, oil seals, etc.

[0081] According to an embodiment of the present application, a propeller protection ring may be disposed around the propeller and configured to cover the propeller to prevent the internal components of the transformer from being damaged when the propeller rotates at high speed.

[0082] According to an embodiment of the present application, multiple sensor devices include a visual device 4, which includes a light source and two camera units, and the light source and the two camera units are configured to be arranged in a third shell 13 or a fourth shell 14; wherein the angle between the optical axes of the two camera units is configured to be 30 degrees.

[0083] According to an embodiment of the present application, the visual device 4 may be configured to provide an operator with internal image information of a confined space, and the visual device 4 may include a light source and two camera units.

[0084] According to an embodiment of the present application, the light source of the visual device 4 may be configured to provide fill light for the camera unit.

[0085] According to an embodiment of the present application, the two camera units may be configured such that the angle between their respective optical axes is 30 degrees, and may be configured to capture images of the internal environment of the transformer while increasing the field of view.

[0086] As shown in FIG. 1 , the vision device 4 may include a first camera unit 41 , a second camera unit 42 , and a light source 43 .

[0087] According to an embodiment of the present application, the visual device 4 can be arranged on the arc-shaped shell on the front middle side, namely the third shell 13, wherein the first camera unit 41 and the second camera unit 42 can be installed at an angle of 30 degrees on the upper part of the third shell 13, and the light source 43 can be installed in the middle of the third shell 13.

[0088] According to an embodiment of the present application, the light source 43 may be configured as a high-brightness, wide-angle spotlight, and configured to provide fill light for the first camera unit 41 and the second camera unit 42 .

[0089] In the embodiment of the present application, the visual device 4 provided on the third housing 13 captures the internal environment image of the transformer, and the two camera units are configured so that the angle between their respective optical axes is 30 degrees, so as to increase the camera shooting field of view of the internal inspection robot.

[0090] According to an embodiment of the present application, the depth sounding device 5 is configured to be set in the fifth shell 15 or the sixth shell 16, and the depth sounding device 5 is configured to determine the sinking depth information of the transformer internal inspection robot inside the transformer; the positioning signal transmitting device 6 is configured to be set in the fifth shell 15 or the sixth shell 16, and the positioning signal transmitting device 6 is configured to transmit a positioning signal according to a preset period, so that the positioning array in the transformer obtains the position information of the transformer internal inspection robot based on the received positioning signal; the infrared obstacle avoidance device 7 includes at least two infrared sensors, and the at least two infrared sensors are configured to be respectively set in the fifth shell 15 and the sixth shell 16, and the infrared obstacle avoidance device 7 is configured to determine the distance information between the transformer internal inspection robot and the obstacles inside the transformer.

[0091] According to an embodiment of the present application, the depth measuring device 5 can be configured to accurately measure the sinking depth information of the internal inspection robot inside the transformer and provide reference data for the hovering of the internal inspection robot. The depth measuring device 5 can be set in the fifth shell 15 or the sixth shell 16.

[0092] According to an embodiment of the present application, the depth measuring device 5 includes at least one depth measuring sensor, which can be configured to sense the pressure or gravity of a liquid or solid to measure the depth. The depth measuring sensor can include a piezoresistive sensor, a capacitive sensor, an ultrasonic sensor, etc.

[0093] According to an embodiment of the present application, the positioning signal transmitting device 6 can be configured to transmit a positioning signal of a fixed frequency at a preset period, so that the positioning array in the transformer obtains the position information of the transformer internal inspection robot based on the received positioning signal, and the depth measuring device 5 can be set in the fifth shell 15 or the sixth shell 16.

[0094] According to an embodiment of the present application, the preset period for the positioning signal transmitting device 6 to transmit the positioning signal can be set according to conditions such as the moving distance of the internal inspection robot and the length of time entering the transformer, and the positioning array for receiving the positioning signal can be configured as an ultrasonic array, a photoelectric array, etc.

[0095] According to an embodiment of the present application, the infrared obstacle avoidance device 7 can be configured to determine the distance between the internal inspection robot and obstacles inside the transformer, thereby preventing the internal inspection robot from colliding with the transformer body and casing when ascending or descending in the transformer liquid medium. The infrared obstacle avoidance device 7 can be installed in the fifth casing 15 or the sixth casing 16.

[0096] According to an embodiment of the present application, the infrared obstacle avoidance device 7 includes at least two infrared sensors. The infrared sensors can use infrared rays as detection signals, detect obstacles in the surrounding environment based on the reflected infrared rays, and output voltage signals. The infrared sensors can include thermal sensors and photon sensors, etc.

[0097] As shown in Figure 2, the depth sounding device 5 can be set in the middle left position of the top elliptical shell, i.e., the fifth shell 15, the positioning signal transmitting device 6 can be set in the middle right position of the top elliptical shell, i.e., the fifth shell 15, and the infrared obstacle avoidance device 7 can be respectively set on the top elliptical shell and the bottom elliptical shell, i.e., the fifth shell 15 and the sixth shell 16.

[0098] According to an embodiment of the present application, the internal inspection robot also includes: multiple bionic dorsal fin structures, and the multiple bionic dorsal fin structures are configured to be arranged on the fifth shell 15 or the sixth shell 16; wherein, a wireless control antenna and a wireless video antenna are configured in the bionic dorsal fin structure, wherein the wireless control antenna is configured to be electrically connected to the regulating tank liquid level measurement component 222, the propulsion control unit 31, the posture measurement component 245, the depth sounding device 5 and the infrared obstacle avoidance device 7 respectively, and the wireless video antenna is configured to be electrically connected to the visual device 4; the wireless control antenna is configured to receive a motion control signal from the control end, or, is configured to send liquid level information, posture information, sinking depth information and distance information to the control end; the wireless video antenna is configured to transmit images taken by the camera unit of the visual device 4 to the control end.

[0099] According to an embodiment of the present application, the internal inspection robot may be provided with a plurality of bionic dorsal fin structures, which may be used to coordinate the movement direction and stability of the body of the internal inspection robot when moving forward or backward by adjusting the swing of the dorsal fin.

[0100] According to an embodiment of the present application, the bionic dorsal fin structure can be made of insulating material and arranged at the top elliptical shell and the bottom elliptical shell, that is, the fifth shell 15 and the sixth shell 16 protrude from the internal inspection robot body, which is conducive to wireless signal transmission and can reduce the interference of the electromagnetic signal emitted by the wireless antenna on the internal control system of the robot.

[0101] According to an embodiment of the present application, a wireless antenna may be configured in the bionic dorsal fin structure, and the wireless antenna may include a wireless control antenna and a wireless video antenna.

[0102] According to an embodiment of the present application, the wireless control antenna can be configured to be electrically connected to the regulating tank liquid level measurement component 222, the propulsion control unit 31, the posture measurement component 245, the depth measuring device 5 and the infrared obstacle avoidance device 7 respectively.

[0103] According to an embodiment of the present application, the wireless control antenna can be configured to receive motion control signals from the control end, and can also send liquid level information, posture information, sinking depth information and distance information to the control end.

[0104] According to an embodiment of the present application, the wireless video antenna can be configured to be electrically connected to the visual device 4, and the wireless video antenna can be configured to transmit images captured by the camera unit in the visual device 4 of the internal inspection robot to the control end.

[0105] According to an embodiment of the present application, the internal inspection robot may further include a battery charge acquisition unit, an inertial navigation unit, and a battery unit. Since the battery unit of the internal inspection robot itself is relatively heavy, the battery unit may be mounted on the bottom elliptical outer shell of the internal inspection robot, i.e., the sixth outer shell 16, thereby lowering the center of gravity of the internal inspection robot.

[0106] According to the embodiments of the present application, the battery power acquisition unit, the inertial navigation unit, the battery unit, the drive motor rotation angle and rotation speed and other sensing devices can all send data information to the control end through the wireless control antenna.

[0107] As shown in FIG2 , the internal inspection robot has a pair of bionic dorsal fin structures 8 , and the bionic dorsal fin structures 8 can be arranged on the surface of the arc-shaped shell, i.e., the fifth shell 15 , at the top of the internal inspection robot body.

[0108] According to an embodiment of the present application, the gravity balancing device 2 includes a gravity regulating chamber, a gravity regulating chamber liquid level control unit, a gravity balance hammer and a posture control unit; wherein, the gravity regulating chamber is configured to provide a cavity structure, the cavity structure is configured to store a liquid medium, and the liquid medium is a protective medium inside the transformer; the gravity regulating chamber liquid level control unit is configured to suck the liquid medium from the inside of the transformer and store it in the cavity structure, or, is configured to discharge the liquid medium from the cavity structure to the inside of the transformer to control the gravity of the transformer internal inspection robot; and the posture control unit is configured to adjust the position of the gravity balance hammer to control the posture of the transformer internal inspection robot.

[0109] According to an embodiment of the present application, the gravity-adjusting chamber can be used to provide a cavity structure that can be configured to store a liquid medium. The liquid medium can be used to represent the insulation protection medium within the transformer. This liquid medium has excellent isolation and transient response capabilities, effectively protecting the coil windings during overvoltage. The liquid medium can be quartz oil, environmentally friendly liquid, fluoride liquid, etc.

[0110] According to an embodiment of the present application, the gravity adjustment bin liquid level control unit can be configured to suck the liquid medium from the inside of the transformer and store it in the cavity structure, and can also be configured to discharge the liquid medium from the cavity structure to the inside of the transformer, thereby adjusting the gravity of the internal inspection robot by changing the volume of the liquid medium in the cavity structure.

[0111] According to an embodiment of the present application, the posture control unit can be configured to adjust the position of the gravity balance weight to control the posture of the internal inspection robot. For example, if the center of gravity of the internal inspection robot shifts, the gravity balance weight can be controlled to swing in a direction opposite to the shift direction to achieve balance of the center of gravity of the internal inspection robot.

[0112] FIG5 shows a plan view of a gravity balancing device of an internal inspection robot according to an embodiment of the present application.

[0113] As shown in Figure 5, a gravity balance device 2 is installed inside the internal inspection robot housing 1. The gravity balance device 2 includes a gravity adjustment chamber 21, a gravity adjustment chamber liquid level control unit 22, a gravity balance hammer 23, and a posture control unit 24. The gravity adjustment chamber 21 is located at the bottom of the gravity balance device 2, the gravity adjustment chamber liquid level control unit 22 is located outside the gravity adjustment chamber 21 and in the middle of the gravity balance device 2, and the posture control unit 24 is connected to the gravity balance hammer 23 at one end and to the gravity adjustment chamber liquid level control unit 22 at the other end.

[0114] In an embodiment of the present application, a gravity balancing device 2 is arranged inside the internal inspection robot shell 1, and the center of gravity and posture of the internal inspection robot are adjusted through a gravity adjustment bin 21, a gravity adjustment bin liquid level control unit 22, a gravity balance hammer 23 and a posture control unit 24, thereby improving the stability and maneuverability of the internal inspection robot.

[0115] According to an embodiment of the present application, the gravity regulating chamber 21 includes a regulating chamber shell and a regulating chamber piston, the regulating chamber piston includes a piston top and multiple piston connecting rods, one end of the multiple piston connecting rods is configured to connect to the piston top, and the piston top and the regulating chamber shell are sealed and connected to form a cavity structure.

[0116] FIG6 shows a schematic diagram of the three-dimensional structure of the gravity balancing device of the internal inspection robot according to an embodiment of the present application.

[0117] As shown in FIG. 6 , the gravity adjustment chamber 21 includes an adjustment chamber housing 211 and an adjustment chamber piston 212 . The adjustment chamber piston 212 includes a piston top 2121 and a piston connecting rod 2122 .

[0118] According to the embodiments of the present application, the number of piston connecting rods 2122 is determined based on actual needs and the size of the gravity adjustment chamber 21, and is not limited herein. One end of the piston connecting rod 2122 is connected to the piston top 2121. From top to bottom, the piston top 2121, the piston connecting rod 2122, and the adjustment chamber housing 211 are sequentially sealed and connected to form the cavity structure of the gravity adjustment chamber 21.

[0119] According to an embodiment of the present application, a cavity structure is formed by sealingly connecting the piston top 2121 of the gravity adjustment chamber 21 and the adjustment chamber shell 211, and the liquid medium is sucked from the inside of the transformer and stored in the cavity structure, or the liquid medium is discharged from the cavity structure to the inside of the transformer, thereby adjusting the gravity of the internal inspection robot by changing the volume of the liquid medium in the cavity structure, thereby improving the balance stability of the internal inspection robot body.

[0120] According to an embodiment of the present application, the gravity regulating tank liquid level control unit 22 includes a plurality of piston lifting assemblies, a liquid level control assembly and a liquid level measurement assembly; wherein, the plurality of piston lifting assemblies are configured to respectively connect the other ends of the plurality of piston connecting rods 2122; the liquid level measurement assembly is configured to determine the liquid level information of the liquid medium stored in the cavity structure; the liquid level control assembly is configured to control the plurality of piston lifting assemblies to drive the plurality of piston connecting rods 2122 to move in a direction parallel to the piston connecting rods 2122 based on the liquid level information, so as to adjust the position of the piston top 2121, so as to control the volume of the cavity structure, so as to inhale or discharge the liquid medium.

[0121] According to an embodiment of the present application, the piston lifting assembly can be configured to lift the regulating chamber piston 212 by synchronously lifting the piston connecting rod 2122, so as to avoid the piston deflecting when lifting the regulating chamber piston 212, thereby causing the liquid medium such as oil to leak from the cavity to outside the cavity, thereby avoiding problems such as unstable operation of the internal inspection robot.

[0122] According to an embodiment of the present application, the liquid level measurement assembly may be configured to measure liquid level information of the liquid medium sucked into the cavity structure or the liquid medium discharged by the regulating chamber piston 212 .

[0123] According to an embodiment of the present application, the gravity regulating tank liquid level control unit 22 also includes a liquid level control component, which can be configured to control multiple piston lifting assemblies to drive multiple piston connecting rods 2122 to move in a direction parallel to the piston connecting rods 2122 based on the liquid level information obtained by the liquid level measurement component to adjust the position of the piston top 2121, thereby controlling the volume of the cavity structure to inhale or discharge the liquid medium.

[0124] As shown in FIG6 , the gravity regulating tank liquid level control unit 22 includes a piston lifting component 221 , a liquid level control component and a liquid level measurement component 222 .

[0125] According to an embodiment of the present application, a plurality of piston lifting assemblies 221 can be provided in the gravity regulating chamber liquid level control unit 22, and the piston lifting assemblies 221 are sealedly connected to the other ends of the plurality of piston connecting rods 2122. The liquid level measuring assembly 222 can be provided outside the regulating chamber shell 211 and is configured to measure the liquid level of the liquid medium sucked in or discharged from the cavity structure.

[0126] The embodiment of the present application accurately controls the liquid level of the inhaled or discharged liquid medium through the gravity adjustment bin liquid level control unit 22, and thus can accurately control and adjust the gravity of the internal inspection robot, so that the gravity and buoyancy of the internal inspection robot are close, saving the power consumed by the internal inspection robot when rising, descending and hovering in the transformer oil.

[0127] According to an embodiment of the present application, the posture control unit 24 includes a first robotic arm, a second robotic arm, a first robotic arm drive joint, a second robotic arm drive joint, a posture measurement component and a posture control component, wherein the first robotic arm drive joint, the first robotic arm, the second robotic arm drive joint and the second robotic arm are configured to be connected in sequence, and the end of the second robotic arm away from the second robotic arm drive joint is configured to be connected to the gravity balance hammer 23; wherein the posture measurement component is configured to determine the posture information of the transformer internal inspection robot; the posture control component is configured to control the rotation of the first robotic arm drive joint and the second robotic arm drive joint based on the posture information to drive the first robotic arm and the second robotic arm to move, and adjust the position of the gravity balance hammer 23 to control the posture of the transformer internal inspection robot.

[0128] According to an embodiment of the present application, the posture measurement component can be configured to measure the tilt angle and tilt direction of the internal inspection robot body, thereby determining the posture information of the internal inspection robot.

[0129] According to an embodiment of the present application, the posture control component can be configured to control the rotation of the first robotic arm drive joint and the second robotic arm drive joint based on the posture information fed back by the posture measurement component, thereby adjusting the position of the gravity balance hammer 23 through the first robotic arm and the second robotic arm.

[0130] As shown in FIG6 , the posture control unit 24 includes a first robotic arm 241 , a first robotic arm driving joint 242 , a second robotic arm 243 , a second robotic arm driving joint 244 , a posture measurement component 245 , and a posture control component 246 .

[0131] According to an embodiment of the present application, the first robotic arm driving joint 242 , the first robotic arm 241 , the second robotic arm driving joint 244 , and the second robotic arm 243 are configured to be connected in sequence.

[0132] Exemplarily, one end of the first robotic arm 241 is connected to the first robotic arm drive joint 242, and the other end away from the first robotic arm drive joint 242 is connected to the second robotic arm drive joint 244; one end of the second robotic arm 243 is connected to the second robotic arm drive joint 244, and the end away from the second robotic arm drive joint 244 is connected to the gravity balance hammer 23.

[0133] According to an embodiment of the present application, the posture measurement component 245 and the posture control component 246 can be installed on a platform that fixes the first robotic arm driving joint 242.

[0134] According to an embodiment of the present application, the drive motor can be configured to drive the robotic arm drive joint to drive the robotic arm to rotate, the reducer can be configured to achieve the purpose of motor deceleration by engaging the large gear on the output shaft with a gear with a small number of teeth on the input shaft, and the rotation shaft angle measuring device can be configured to measure the rotation angle information of the robotic arm drive joint and the robotic arm.

[0135] FIG7 shows a schematic structural diagram of the posture control of the internal inspection robot according to an embodiment of the present application.

[0136] As shown in Figure 7, the first robotic arm driving joint 242 can also include a first driving motor 2421, a first reducer 2422, and a first rotation axis angle measuring device 2423, and the second robotic arm driving joint 244 can also include a second driving motor 2441, a second reducer 2442, and a second rotation axis angle measuring device 2443, wherein the first rotation axis angle measuring device 2423 is installed on a fixed platform, and the first rotation axis angle measuring device 2423, the first driving motor 2421, and the first reducer 2422 are connected in sequence from bottom to top, one end of the first robotic arm 241 is connected to the first reducer 2422, and the other end is connected to the second driving motor 2441 and the second reducer 2442, the second driving motor 2441 is connected to the second rotation axis angle measuring device 2443, and one end of the second robotic arm 243 is connected to the second reducer 2442.

[0137] The embodiment of the present application measures the tilt angle and tilt direction of the internal inspection robot body through the posture measurement component 245, and uses the posture control component 246 to control the rotation of the first robotic arm drive joint 242 and the second robotic arm drive joint 244 based on the posture information fed back by the posture measurement component 245, thereby driving the first robotic arm 241 and the second robotic arm 243 to move to adjust the position of the gravity balance hammer 23, compensate for the tilt of the internal inspection robot body due to the offset of the center of gravity, so as to realize the posture control of the internal inspection robot and improve the movement stability of the internal inspection robot.

[0138] According to an embodiment of the present application, with reference to FIG. 1 to FIG. 7 , the working principle of the internal inspection robot is described in conjunction with the embodiment.

[0139] According to an embodiment of the present application, the shell 1 of the internal inspection robot body is configured as a first shell 11 and a second shell 12 arranged as a rectangular shell, and a third shell 13 and a fourth shell 14 arranged as an arc-shaped shell. This structure helps the internal inspection robot to reduce the forward and backward resistance when moving in a liquid medium, maintain the stability of the internal inspection robot body, and improve the operability of the coordinated movement direction.

[0140] According to an embodiment of the present application, a pair of bionic dorsal fin structures 8 are provided on the fifth shell 15 or the sixth shell 16 of the internal inspection robot. The bionic dorsal fin structure 8 enables the internal inspection robot to coordinate the movement of the internal inspection robot in the liquid medium of the transformer by swinging in the forward and backward directions.

[0141] According to an embodiment of the present application, a depth measuring device 5 and a positioning signal transmitter 6 are further provided on the fifth or sixth housing 15, 16 of the internal inspection robot. The depth measuring device 5 is configured to accurately detect the internal inspection robot's sinking depth in the transformer's liquid medium and control the robot's hovering based on this data. The positioning signal transmitter 6 periodically emits a positioning signal at a fixed frequency. This positioning signal is received by a positioning array in the transformer's liquid medium and used to obtain the internal inspection robot's position information.

[0142] According to an embodiment of the present application, two power propulsion units 32 can be embedded in the middle of the internal inspection robot and configured to provide horizontal propulsion power to control the internal inspection robot's forward, backward, and turning movements. One or more power propulsion units 32 can be embedded in the bottom of the internal inspection robot and configured to provide vertical propulsion power to control the internal inspection robot's ascent, descent, and hovering in the transformer liquid medium.

[0143] According to an embodiment of the present application, a gravity balancing device 2 is installed inside the internal inspection robot. The gravity balancing device 2 can adjust the gravity of the internal inspection robot so that the gravity of the internal inspection robot is close to the buoyancy, so as to save the power consumed by the internal inspection robot when rising, descending and hovering in the liquid medium of the transformer. The gravity balancing device 2 can also adjust the posture of the internal inspection robot to prevent the internal inspection robot body from tilting due to the offset of the center of gravity.

[0144] According to an embodiment of the present application, an infrared obstacle avoidance device 7 can be installed on the fifth shell 15 or the sixth shell 16 of the internal inspection robot, which is configured to determine the distance information between the internal inspection robot and obstacles inside the transformer, so as to prevent the internal inspection robot from colliding with the transformer body and shell when rising or falling in the liquid medium of the transformer.

[0145] According to an embodiment of the present application, a visual device 4 can be installed at the upper end of the third shell 13 or the fourth shell 14 of the internal inspection robot. The camera units of the visual device 4 are configured so that the angle between their respective optical axes is 30 degrees, and can be configured to capture images of the internal environment of the transformer while increasing the shooting field of view.

[0146] According to an embodiment of the present application, a light source 43, such as a high-brightness wide-angle spotlight, can be installed in the middle part of the third shell 13 or the fourth shell 14 of the internal inspection robot, which can be configured to provide fill light for the camera unit. The internal environment of the large transformer is continuously photographed through the visual device 4, and the captured images are transmitted to the receiving antenna at the mounting hole of the transformer body via the wireless video antenna, and then uploaded to the computer workstation, so that the internal inspection robot can perform more intuitive detection and fault diagnosis of the internal components of the transformer.

[0147] Unless it is explicitly stated that there is a sequence of execution between different operations shown in the flowcharts in the embodiments of the present application, or there is a sequence of execution between different operations in technical implementation, otherwise, the execution order between multiple operations may not be prioritized, and multiple operations may also be executed simultaneously.

[0148] The features described in the various embodiments and / or claims of this application may be combined and / or coupled in various ways, even if such combinations and / or couplings are not explicitly described in this application. The features described in the various embodiments and / or claims of this application may be combined and / or coupled in various ways. All such combinations and / or couplings fall within the scope of this application.

Claims

1. An internal inspection robot, comprising: A shell, the shell being configured as a closed structure consisting of a first shell and a second shell arranged opposite to each other, a third shell and a fourth shell arranged opposite to each other, and a fifth shell and a sixth shell arranged opposite to each other, connected in sequence, wherein the first shell and the second shell are both configured as rectangular shells, the third shell and the fourth shell are both configured as arc-shaped shells, and the fifth shell and the sixth shell are both configured as elliptical shells; A gravity balance device disposed inside the housing, the gravity balance device being configured to control the posture of the internal inspection robot; and A power device and a plurality of sensor devices are arranged on the surface of the shell, wherein the power device is configured to receive a motion control signal from a control end to drive the internal inspection robot to move, and the plurality of sensor devices are respectively configured to provide sensing signals to the control end.

2. The internal inspection robot according to claim 1, wherein: The gravity balancing device includes a gravity regulating chamber, a gravity regulating chamber liquid level control unit, a gravity balancing hammer and a posture control unit; Wherein, the gravity adjustment chamber is configured to provide a cavity structure, and the cavity structure is configured to store a liquid medium, and the liquid medium is a protective medium inside the transformer; The gravity adjustment bin liquid level control unit is configured to suck the liquid medium from the inside of the transformer and store it in the cavity structure, or is configured to discharge the liquid medium from the cavity structure to the inside of the transformer, so as to control the gravity of the internal inspection robot; and The posture control unit is configured to adjust the position of the gravity balance hammer to control the posture of the internal inspection robot.

3. The internal inspection robot according to claim 2, wherein: The gravity regulating chamber includes a regulating chamber shell and a regulating chamber piston, the regulating chamber piston includes a piston top and multiple piston connecting rods, one end of each of the multiple piston connecting rods is configured to connect to the piston top, and the piston top and the regulating chamber shell are sealed and connected to form the cavity structure.

4. The internal inspection robot according to claim 3, wherein: The gravity regulating tank liquid level control unit includes a plurality of piston lifting components, a liquid level control component and a liquid level measurement component; Wherein, the plurality of piston lifting assemblies are configured to be respectively connected to the other ends of the plurality of piston connecting rods; The liquid level measurement component is configured to determine liquid level information of the liquid medium stored in the cavity structure; The liquid level control component is configured to control the multiple piston lifting components to drive the multiple piston connecting rods to move in a direction parallel to the piston connecting rods based on the liquid level information to adjust the position of the piston top to control the volume of the cavity structure to inhale or discharge the liquid medium.

5. The internal inspection robot according to claim 2, wherein: The posture control unit comprises a first mechanical arm, a second mechanical arm, a first mechanical arm driving joint, a second mechanical arm driving joint, a posture measurement component and a posture control component, wherein the first mechanical arm driving joint, the first mechanical arm, the second mechanical arm driving joint and the second mechanical arm are configured to be connected in sequence, and an end of the second mechanical arm away from the second mechanical arm driving joint is configured to be connected to the gravity balance hammer; Wherein, the posture measurement component is configured to determine the posture information of the internal inspection robot; The posture control component is configured to control the rotation of the first robotic arm drive joint and the second robotic arm drive joint based on the posture information to drive the first robotic arm and the second robotic arm to move, and adjust the position of the gravity balance hammer to control the posture of the internal inspection robot.

6. The internal inspection robot according to claim 1, wherein: The power device includes a propulsion control unit and N power propulsion units, wherein N>2; At least two of the N power propulsion units are configured to be disposed in the first housing and the second housing, respectively; At least one of the N power propulsion units is configured to be disposed in the fifth housing or the sixth housing; The propulsion control unit is configured to drive at least one of the N power propulsion units based on the motion control signal to drive the internal inspection robot to move.

7. The internal inspection robot according to claim 6, wherein: The power propulsion unit includes a sealed cabin, a propulsion motor, a bearing, a seal, a propeller and a propeller protection ring; Wherein, the propulsion motor is configured to be disposed in the sealed cabin; One end of the bearing is configured to be connected to the output end of the propulsion motor through the sealed cabin, and the other end of the bearing is configured to be connected to the propeller; The sealing member is configured to be disposed at a connection between the bearing and the sealing chamber; The propeller guard ring is configured to be disposed around the propeller.

8. The internal inspection robot according to claim 1, wherein: The plurality of sensor devices include a visual device, the visual device including a light source and two camera units, the light source and the two camera units are configured to be disposed in the third housing or the fourth housing; Wherein, the angle between the optical axes of the two camera units is configured to be 30 degrees.

9. The internal inspection robot according to claim 8, further comprising: a plurality of bionic dorsal fin structures, wherein the plurality of bionic dorsal fin structures are configured to be disposed on the fifth housing or the sixth housing; Wherein, the bionic dorsal fin structure is provided with a wireless control antenna and a wireless video antenna; The wireless control antenna is configured to receive the motion control signal, or is configured to send a plurality of the sensing signals to the control terminal; The wireless video antenna is configured to transmit an image captured by a camera unit of the visual device to the control terminal.

10. The internal inspection robot according to claim 1, wherein: The multiple sensor devices include a depth sounding device, a positioning signal transmitting device and an infrared obstacle avoidance device; Wherein, the depth measuring device is configured to be arranged on the fifth housing or the sixth housing, and the depth measuring device is configured to determine the sinking depth information of the internal inspection robot inside the transformer; The positioning signal transmitting device is configured to be arranged on the fifth housing or the sixth housing, and the positioning signal transmitting device is configured to transmit a positioning signal at a preset period, so that the positioning array in the transformer obtains the position information of the internal inspection robot based on the received positioning signal; The infrared obstacle avoidance device includes at least two infrared sensors, which are configured to be respectively arranged on the fifth shell and the sixth shell, and the infrared obstacle avoidance device is configured to determine the distance information between the internal inspection robot and the obstacles inside the transformer.

Images