CN114179093B - Substation inspection robot system and obstacle avoidance method thereof - Google Patents
Substation inspection robot system and obstacle avoidance method thereof Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 128
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- 238000004891 communication Methods 0.000 description 3
- 238000003708 edge detection Methods 0.000 description 3
- 230000001939 inductive effect Effects 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/027—Electromagnetic sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a substation inspection robot system, which comprises an inspection trolley, a field intensity sensor for detecting electric field or magnetic field intensity in real time, an image collector for acquiring real-time images, and a control center for analyzing the real-time pose of the inspection trolley and making path planning for the inspection trolley; the field intensity sensor and the image sensor are both carried on the inspection trolley and are connected with the inspection trolley; the inspection trolley, the field intensity sensor and the image sensor are interacted with the control center. Compared with the prior art, the inspection system and the inspection method provided by the invention have the advantages that the method is combined with the image processing and the field intensity detection, the specific conditions of multiple components in the transformer substation and electric field or magnetic field interference around power equipment are adapted, a safe, effective and multi-dimensional decision basis is provided for the obstacle avoidance of the inspection trolley, and the unmanned automatic inspection process of the inspection trolley is ensured to be smoothly carried out.
Description
Technical Field
The invention belongs to the technical field of power detection, and particularly relates to an automatic inspection robot for power equipment of a transformer substation.
Background
The transformer substation is provided with a plurality of power equipment, the power department needs to carry out routine inspection on the power equipment on schedule, and the operation condition of each power equipment is checked to ensure that each equipment works normally and discover potential safety hazards in time.
Under the existing electric power system, the electric power department mainly relies on operation and maintenance personnel to finish routine inspection work of the transformer substation in a manual inspection mode. However, it is worth noting that when the operations such as checking, recording and maintaining the power equipment in the transformer substation are realized in a manual inspection mode, because the on-site operation workload is large, the manual inspection efficiency is low, the manual resource requirement is high, the talent gap is large, the inspection result is easily influenced by the self working quality of the inspector, and the like, the ideal routine inspection effect of the power equipment is difficult to obtain in the manual inspection.
In the prior art, a technical scheme that a robot is used for carrying out inspection on power equipment in a transformer substation is taken as an example, and a China patent application document with the application number of CN201110216728.4 is taken as an example, wherein an intelligent inspection system and an inspection method of the transformer substation are provided in the patent application document, wherein the inspection system comprises a monitoring center, and the monitoring center is connected with an intelligent inspection system of a station-level robot of at least one transformer substation through a network; each station-level robot intelligent inspection system comprises at least one base station, an environment information acquisition subsystem and a fixed point auxiliary monitoring subsystem which is arranged at each position of each required monitoring device in the transformer substation are arranged in the transformer substation, an intelligent inspection robot lower computer is arranged on the intelligent inspection robot, the intelligent inspection robot lower computer is further connected with a detection unit, the detection unit comprises an infrared detection unit and an ultraviolet detection unit, and the ultraviolet detection unit comprises an ultraviolet video server and an ultraviolet detection device.
Because the power equipment arranged in the transformer substation always bears larger power, corresponding electric fields or magnetic fields are inevitably generated in the surrounding space in the normal working process, and the larger and closer the current flowing on the power equipment is, the stronger the electric fields or magnetic fields are, when the intelligent robot provided in the patent application document is applied to a specific transformer substation, for example, the intelligent robot is too close to the power equipment, the communication between the intelligent robot and an upper computer cannot be normally connected due to the interference of the electric fields or the magnetic fields, and the internal electronic devices are also difficult to work due to the interference of the electric fields or the magnetic fields, but according to the records of the patent application document, the detection unit only comprises an infrared detection unit and an ultraviolet detection unit and does not have the capability of detecting the electric fields or the magnetic fields and further avoiding the interference of the electric fields or the magnetic fields.
In the existing robot system applied to automatic inspection of the transformer substation, the defects generally exist, and for the person skilled in the art, how to improve the robot, when the robot is put into a specific transformer substation to execute the automatic inspection task of the power equipment, the robot can avoid a physical barrier and avoid collision independently, and meanwhile, the influence of an electric field or a magnetic field around each power equipment in the transformer substation on the communication of the robot and the work of the robot can be avoided, so that the relationship among the robot, the power equipment in the transformer substation and the internal environment of the transformer substation is well processed, and the technical problem to be solved by the person skilled in the art is solved.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a substation inspection robot system, which is characterized in that a field intensity sensor is parallel to an image collector, the field intensity sensor is used for acquiring the distribution condition of an electric field or a magnetic field generated by power equipment in a substation environment around the power equipment, the image collector is used for acquiring the distribution condition of a tangible component in the substation environment, obstacle avoidance decisions are made by combining the two conditions, the system is fully suitable for special conditions that the distribution condition of the electric field or the magnetic field in the surrounding environment is uncertain due to the fact that the number of the power equipment in the substation scene is large and the load conditions of different power equipment are different, and a safer and more reliable system scheme is provided for effectively making obstacle avoidance measures, avoiding tangible component obstacles and intangible electromagnetic obstacles when the robot is applied to the substation environment.
The invention further aims to provide an obstacle avoidance method of the substation inspection robot system, which is based on the substation inspection robot system, and is used for processing information obtained by a field intensity sensor and an image collector, obtaining electric field or magnetic field distribution conditions in a substation environment, and obtaining physical component distribution conditions in the substation environment by the image collector, and then taking the electric field or magnetic field distribution conditions as an obstacle avoidance basis, and combining the two bases to make a more comprehensive and more reliable obstacle avoidance plan for the inspection trolley.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a substation inspection robot system, the robot includes:
The system comprises a carrying platform, a patrol trolley, a field intensity sensor, an image collector and a control center, wherein the carrying platform is used for carrying other components and carrying out patrol on the environment of a transformer substation along the ground, the field intensity sensor is used for detecting the electric field or the magnetic field intensity in real time, the image collector is used for acquiring real-time images, and the control center is used for analyzing the real-time pose of the patrol trolley and making path planning for the patrol trolley;
the field intensity sensor and the image collector are both carried on the inspection trolley and are connected with the inspection trolley; the inspection trolley, the field intensity sensor and the image collector are interacted with the control center.
The invention also provides a patrol method of the substation patrol robot system, which is based on the substation patrol robot system, and specifically comprises the following steps:
S1: the field intensity sensor detects the electric field or magnetic field intensity of the current position of the inspection trolley in real time;
s2: an image collector shoots and records an image in the current field of view of the patrol trolley;
s3: the control center fuses the real-time electric field or magnetic field intensity information and the real-time image information, performs obstacle detection on the current environment, and plans a patrol path for the patrol trolley according to the obstacle detection result.
When the inspection trolley runs in a specific transformer substation environment, on one hand, physical barriers in the environment need to be avoided, the inspection trolley specifically comprises building components, electrical equipment components and other components which are possibly bumped against the inspection trolley in the transformer substation, on the other hand, in consideration of the particularity of the transformer substation, electric equipment which is required to bear high power is often arranged in the inspection trolley, in the normal working process, an electric field or a magnetic field is inevitably generated in the surrounding space environment of the inspection trolley, the electric field or the magnetic field is often radiated outwards by taking corresponding electric equipment as a field source center, if the inspection trolley is mistakenly placed in the electric field or the magnetic field, communication between the inspection trolley and a control center or other equipment is interfered, and internal devices of the inspection trolley are possibly influenced by the inspection trolley and cannot work normally; moreover, for the transformer substation, a plurality of power transmission lines in multiple directions are often pulled in the environment, larger current or higher voltage flows through the transmission lines, and an electric field or a magnetic field is generated in the surrounding space of the transformer substation, but if an image is shot and recorded by using an image acquisition device singly, the transmission lines are easily mistakenly filtered out as accidental errors in the image processing process due to the fact that the erection height of the transmission lines is too high, the transmission lines are smaller than other power equipment, imaging definition is influenced by external specific weather, and the like, so that the method is provided for the inspection trolley after the image acquisition device and the field intensity sensor are parallel, the image processing result and the field intensity detection result are fused together, the method is better adapted to the transformer substation environment, and unmanned and automatic inspection of the transformer substation is conveniently realized.
Wherein, S1 specifically comprises:
S11: according to the type and specific parameters of the set field intensity sensor, a calculation model of the distance between the output electric signal and external power equipment is established;
S12: and acquiring an electric signal output by the field intensity sensor, amplifying, filtering and A/D converting the electric signal, and sending the electric signal to a control center. Wherein, further, S11 specifically is:
S111: establishing a coordinate system according to the current position of the inspection trolley, and prescribing field intensity zero points;
S112: according to the conditions of actual power equipment arranged in a transformer substation, taking each power equipment as a field source, and marking each field source in a coordinate system;
s113: establishing an equation set according to the interaction between each field source and a field intensity sensor carried on the inspection trolley, solving the equation set to obtain the actual charge condition of each field source, and performing accuracy verification on the solution of the equation set;
S114: according to the actual voltage or current conditions on the actual power equipment set in the transformer substation, combining the actual charge conditions of each field source, and calculating to obtain the electric field or magnetic field intensity information of the current position of the inspection trolley.
When the method is applied to a specific automatic inspection environment of a transformer substation, technicians can select a capacitive field intensity sensor or an inductive field intensity sensor to apply according to specific requirements.
The capacitive field intensity sensor can be used for detecting the electric field intensity in the environment, a technician selects the capacitive field intensity sensor with proper parameters, a rectangular coordinate system is established based on the real-time position of the inspection trolley, each electric device in the environment is equivalent to a field source and is mapped into the rectangular coordinate system, an equation set is established according to the interaction of each field source and the capacitive field intensity sensor, the equation set is solved, the magnetic field intensity of the inspection trolley at the current position is obtained through calculation, and the mapping relation of the distance between the inspection trolley and the electric device is mastered; the inductive field intensity sensor with proper parameters is selected for detecting the magnetic field intensity in the environment, and the magnetic field intensity signal output by the inductive field intensity sensor is amplified, filtered and the like and then is provided for the control center through A/D conversion, so that the control center can conveniently analyze and process the magnetic field intensity signal.
Further, S3 is specifically:
s31: processing the electric field or magnetic field intensity information input by the field intensity sensor, and mapping the electric field or magnetic field intensity information into distance information of the current inspection trolley and corresponding power equipment;
s32: processing the image information input by the image collector, analyzing the surrounding environment of the current position of the patrol trolley, and acquiring the depth information of a target object in the surrounding environment;
s33: and fusing the distance information of the current inspection trolley and the corresponding power equipment and the target object information of the surrounding environment, and judging whether the current inspection trolley needs to take obstacle avoidance measures. Further, S32 specifically includes:
s321: identifying whether a target object exists in front of the current inspection trolley according to the image information input by the image collector; if so, jump S322; otherwise repeating S321;
S322: and calculating to obtain pose information of the current inspection trolley, and calculating depth information of the target object based on the image information input by the image collector.
Further, S33 is specifically:
S331: setting a field intensity threshold value and an obstacle threshold value respectively;
S332: comparing the depth information of the target object with an obstacle threshold, and jumping to S333 if there is a depth of the target object greater than the obstacle threshold; otherwise, jumping to S335;
s333: comparing the electric field or magnetic field intensity information of the current position of the inspection trolley, which is input by the field intensity sensor, with a field intensity threshold, and jumping to S334 if the electric field or magnetic field intensity of the current position of the inspection trolley is smaller than the field intensity threshold; otherwise, jumping to S335;
S334: judging that no obstacle exists in front of the current inspection trolley, and controlling the inspection trolley to continue inspecting according to the original inspection route by the control center;
S335: and judging that an obstacle exists in front of the current inspection trolley, and controlling the inspection trolley to change the advancing route and avoid the obstacle by the control center.
The two data acquisition processes of image acquisition and field intensity detection are not interfered with each other; the method for providing decision basis for obstacle avoidance decision after image processing is carried out by adopting the image acquisition device to shoot the environmental image and then based on the acquired image has higher precision, can sense the surrounding environment of the inspection trolley with high quality, can effectively provide information such as distribution position, shape contour, depth and the like of tangible components in the surrounding environment for the inspection trolley in time, and can provide powerful basis for obstacle avoidance decision. However, it cannot be ignored that when the image processing result is taken as the basis for obstacle avoidance decision, due to the uncertainty of the image processing technology, and due to the fact that error accumulation possibly exists in the inspection process, the image processing result possibly has certain drift, and the field intensity detection means additionally provided except for the image processing in the application overcomes the defect, as for the power equipment in the transformer substation, the position of the power equipment is fixed in the whole inspection process, the electric field or the magnetic field generated in the surrounding environment is fixed relative to the position, the field intensity parameter detected by the field intensity sensor can provide a powerful reference for the control center, and the field intensity parameter detected by the field intensity sensor can continuously correct the obstacle avoidance decision while providing a decision basis in another dimension for the obstacle avoidance decision made by the control center, so that the system error accumulation in the single sensor can be avoided to cause obstacle misjudgment.
The invention has the advantages that: compared with the prior art, the inspection system provided by the invention is suitable for the specific conditions of more components and electric field or magnetic field interference around power equipment in a transformer substation by combining image processing with field intensity detection, provides safer, more stable, more effective and more dimensional decision basis for the obstacle avoidance of the inspection trolley, and ensures that the unmanned automatic inspection process of the inspection trolley is smoothly carried out.
Drawings
Fig. 1 is a flowchart of a patrol method of a substation patrol robot system provided in the embodiment.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
Please refer to fig. 1.
In this embodiment, a substation inspection robot system is provided, and the robot includes:
The system comprises a carrying platform, a patrol trolley, a field intensity sensor, an image collector and a control center, wherein the carrying platform is used for carrying other components and carrying out patrol on the environment of a transformer substation along the ground, the field intensity sensor is used for detecting the electric field or the magnetic field intensity in real time, the image collector is used for acquiring real-time images, and the control center is used for analyzing the real-time pose of the patrol trolley and making path planning for the patrol trolley;
the field intensity sensor and the image collector are both carried on the inspection trolley and are connected with the inspection trolley; the inspection trolley, the field intensity sensor and the image collector are interacted with the control center.
The invention also provides a patrol method of the substation patrol robot system, which is based on the substation patrol robot system, and comprises the following steps:
S1: the field intensity sensor detects the electric field or magnetic field intensity of the current position of the inspection trolley in real time;
s2: an image collector shoots and records an image in the current field of view of the patrol trolley;
s3: the control center fuses the real-time electric field or magnetic field intensity information and the real-time image information, performs obstacle detection on the current environment, and plans a patrol path for the patrol trolley according to the obstacle detection result.
Specifically, in this embodiment, S1 is specifically:
S110: a capacitive field intensity sensor, denoted C M, is selected according to Establishing a mapping relation between a potential difference U M (t) output by the capacitive field intensity sensor and the electric field intensity E 0 (t) at the position where the current capacitive field intensity sensor C M is positioned; taking A, B, C three power lines for conveying three-phase alternating current as power equipment, and examining the influence of the three power lines on a capacitive field intensity sensor C M carried on the inspection trolley;
S111: according to the current position of the inspection trolley, a rectangular coordinate system is established by taking the junction point of the lower part of the intermediate phase transmission line and the horizontal ground as a coordinate origin, the horizontal ground as an abscissa and the vertical upward direction as an ordinate, and the potential value of the ground is regulated to be 0; setting a cylindrical power transmission line as analog charges, setting a central point of the cylindrical power transmission line as a point Q 1,Q2,Q3 where the analog charges are located, searching a unique corresponding matching point on each analog charge point, marking an image point Q 4,Q5,Q6 of the point Q 1,Q2,Q3 where the analog charges corresponding to A, B, C three power transmission lines are located below the ground in a rectangular coordinate system according to a mirror image principle, and establishing an equation set: p ij in the above equation set is a potential coefficient, which satisfies the following conditions: /(I) Medium constant extraction/>, in P ij expressionD ij is the distance of the i-th matching point to the mirror image of the j-th analog charge; d ij is the distance from the ith matching point to the j analog charges.
S112: according to the conditions of actual power equipment arranged in a transformer substation, taking each power equipment as a field source, and marking each field source in a coordinate system;
taking A, B, C three power transmission lines for conveying three-phase alternating current as an example, analysis can know that the alternating current conveyed on each power transmission line meets the following conditions:
S113: according to the interaction between the analog charge Q 1,Q2,Q3 and the capacitive field intensity sensor CM carried on the inspection trolley, an equation set is established, and the potential value of the A, B, C three-phase power transmission line is calculated as follows: In the above equation set/> And/>The real part potential value and the imaginary part potential value of the A-phase transmission line are respectively, the other parameters are similar, and the equation set is solved to obtain the analog charge with the following values: [ Q ] = [ P ] -1 [ phi ]; performing accuracy verification on the solution of the equation set;
S114: the voltage of alternating current transmitted on A, B, C three-phase power transmission lines can be obtained according to the actual voltage conditions on the three power transmission lines, and the voltage of the alternating current satisfies the following conditions: The electric field strength generated by the point P (x, y) in the field of each phase conductor can be calculated according to the superposition principle and Gaussian theorem:/> And obtaining the magnetic field intensity information of the current position of the inspection trolley.
Further, in the present embodiment, S3 is specifically:
S31: processing the magnetic field intensity information input by the field intensity sensor, and mapping the magnetic field intensity information into distance information of the current inspection trolley and corresponding power equipment;
s32: processing the image information input by the image collector, analyzing the surrounding environment of the current position of the patrol trolley, and acquiring the depth information of a target object in the surrounding environment;
s33: and fusing the distance information of the current inspection trolley and the corresponding power equipment and the target object information of the surrounding environment, and judging whether the current inspection trolley needs to take obstacle avoidance measures.
Further, in the present embodiment, S32 is specifically:
s320: modeling of a camera: in the specific embodiment, a binocular camera is adopted, and a relationship model between a world coordinate system (XW, YW, ZW), a camera coordinate system (XC, YC, ZC) and an image coordinate system (x, y) and a pixel image coordinate system (u, v)) of the binocular camera is constructed by combining the selected binocular camera with the selected binocular camera internal parameters;
S321: image feature extraction and matching: ORB feature extraction is carried out on the images, FAST angular points are extracted firstly, BRIEF descriptors are acquired according to the FAST angular points, feature matching is further carried out on the images at the front moment and the rear moment, point set-to-point set registration is achieved through iterative closest point ICP, and patrol trolley pose estimation is achieved through space point set registration;
S322: image edge detection and contour extraction: the Canny operator is used for carrying out edge detection analysis, firstly, a Gaussian smoothing filter is used for convolution noise reduction and noise elimination, then gradient amplitude and direction in an image are calculated, and then non-maximum suppression is carried out on the image by excluding non-edge pixels; finally, setting a high threshold and a low threshold, comparing the amplitude of each pixel position in the image, and if the amplitude of a certain pixel position exceeds the high threshold, reserving the pixel as an edge pixel; if the magnitude of a pixel location is less than the low threshold, the pixel is excluded; if the magnitude of a pixel location is between two thresholds, the pixel is only preserved when connected to a pixel above the high threshold;
S323: binocular ranging: and sending the image edge detection and contour extraction results into a binocular camera model, and calculating to obtain the current patrol trolley pose information and the distance information between the current patrol trolley and the target object.
Further, in the present embodiment, S33 is specifically:
S331: setting a field intensity threshold value and an obstacle threshold value respectively;
S332: comparing the depth information of the target object with an obstacle threshold, and jumping to S333 if there is a depth of the target object greater than the obstacle threshold; otherwise, jumping to S335;
S333: comparing the magnetic field intensity information of the field at the position of the current inspection trolley input by the field intensity sensor with a field intensity threshold value, and jumping to S334 if the magnetic field intensity of the field at the position of the current inspection trolley is smaller than the field intensity threshold value; otherwise, jumping to S335;
s334: judging that no obstacle exists in front of the current inspection trolley, and controlling the inspection trolley to return to S1 by the control center; continuing to carry out inspection according to the original inspection route;
S335: and judging that an obstacle exists in front of the current inspection trolley, and controlling the inspection trolley to change the advancing route and avoid the obstacle by the control center.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (4)
1. The obstacle avoidance method of the substation inspection robot system is characterized by comprising a robot, wherein the robot comprises the following components:
the inspection trolley is provided with an carrying platform and is used for carrying other components and inspecting the environment of the transformer substation along the ground;
A field strength sensor for detecting the electric field or the magnetic field strength in real time;
An image collector for acquiring real-time images;
The control center is used for analyzing the real-time pose of the inspection trolley and planning a path for the inspection trolley;
The field intensity sensor and the image collector are both carried on the inspection trolley and are connected with the inspection trolley; the inspection trolley, the field intensity sensor and the image collector are interacted with the control center;
The method specifically comprises the following steps:
S1: the field intensity sensor detects the electric field or magnetic field intensity of the current position of the inspection trolley in real time;
S2: the image collector shoots and records an image in the current field of view of the inspection trolley;
S3: the control center fuses real-time electric field or magnetic field intensity information and real-time image information to detect obstacles in the current environment, and the control center plans a patrol path for the patrol trolley according to the obstacle detection result;
The S1 specifically comprises the following steps:
S11: according to the type and specific parameters of the field intensity sensor, a calculation model of the distance between the electric signal output by the field intensity sensor and external power equipment is established;
S12: acquiring an electric signal output by the field intensity sensor, amplifying, filtering and A/D converting the electric signal, and sending the electric signal to the control center;
the step S11 specifically comprises the following steps:
S111: establishing a coordinate system according to the current position of the inspection trolley, and prescribing a field intensity zero point;
S112: according to the conditions of actual power equipment arranged in a transformer substation, taking each power equipment as a field source, and marking each field source in a coordinate system;
S113: establishing an equation set according to the interaction between each field source and the field intensity sensor carried on the inspection trolley, solving the equation set to obtain the actual charge condition of each field source, and performing accuracy check on the solution of the equation set;
S114: according to the actual voltage or current conditions on the actual power equipment arranged in the transformer substation, combining the actual charge conditions of each field source, and calculating to obtain the electric field or magnetic field intensity information of the current position of the inspection trolley.
2. The obstacle avoidance method of the substation inspection robot system of claim 1, wherein S3 specifically is:
S31: processing the electric field or magnetic field intensity information input by the field intensity sensor, and mapping the electric field or magnetic field intensity information into distance information of the current inspection trolley and corresponding electric equipment;
S32: processing the image information input by the image collector, analyzing the surrounding environment of the position where the current inspection trolley is located, and acquiring depth information of a target object in the surrounding environment;
s33: and fusing the distance information of the current inspection trolley and the corresponding power equipment and the target object information of the surrounding environment, and judging whether the current inspection trolley needs to take obstacle avoidance measures.
3. The obstacle avoidance method of the substation inspection robot system according to claim 2, wherein S32 specifically is:
s321: identifying whether a target object exists in front of the current inspection trolley according to the image information input by the image collector; if so, jump S322; otherwise repeating S321;
s322: and calculating to obtain the pose information of the current inspection trolley, and calculating the depth information of the target object based on the image information input by the image collector.
4. The obstacle avoidance method of the substation inspection robot system as set forth in claim 3, wherein S33 is specifically:
S331: setting a field intensity threshold value and an obstacle threshold value respectively;
S332: comparing the depth information of the target object with an obstacle threshold, and jumping to S333 if there is a depth of the target object greater than the obstacle threshold; otherwise, jumping to S335;
S333: comparing the electric field or magnetic field intensity information of the field at the position of the inspection trolley with a field intensity threshold value, wherein the electric field or magnetic field intensity information is input to the field intensity sensor, and if the electric field or magnetic field intensity of the field at the position of the inspection trolley is smaller than the field intensity threshold value, jumping to S334; otherwise, jumping to S335;
s334: judging that no obstacle exists in front of the current inspection trolley, and continuing to inspect according to the original inspection route;
S335: and judging that an obstacle exists in front of the current inspection trolley, and controlling the inspection trolley to change the advancing route and avoid the obstacle by the control center.
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