CN113500579B - Inspection method and inspection device - Google Patents
Inspection method and inspection device Download PDFInfo
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- CN113500579B CN113500579B CN202110788302.XA CN202110788302A CN113500579B CN 113500579 B CN113500579 B CN 113500579B CN 202110788302 A CN202110788302 A CN 202110788302A CN 113500579 B CN113500579 B CN 113500579B
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- 238000007689 inspection Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 38
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 53
- 238000004891 communication Methods 0.000 claims description 38
- 230000005540 biological transmission Effects 0.000 claims description 31
- 239000007921 spray Substances 0.000 claims description 18
- 238000009529 body temperature measurement Methods 0.000 claims description 14
- 230000006698 induction Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims 1
- 230000002159 abnormal effect Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000005856 abnormality Effects 0.000 description 4
- 238000001816 cooling Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention particularly discloses a patrol method and a patrol device. The inspection method comprises the following steps: driving a robot main body to walk in a transformer substation according to a preset path, and simultaneously acquiring a plurality of first images corresponding to a plurality of part positions of adjacent equipment in the current path by the robot main body; identifying each first image, and outputting and counting first identification results; when the number of the first identification results is different from that of the preset results, the robot main body records the part positions corresponding to each first identification result and shares the identified part positions with the unmanned aerial vehicle; driving the unmanned aerial vehicle to cruise above the current adjacent equipment according to a preset fixed cruising path, and simultaneously acquiring a second image of the position of the residual unidentified part of the equipment; identifying each second image and outputting and counting second identification results; and when the number of the first identification results and the second identification results is the same as the number of the preset results, finishing the inspection of the equipment. The inspection method has high inspection result accuracy.
Description
Technical Field
The invention relates to the technical field of operation and maintenance of power equipment, in particular to a patrol method and a patrol device.
Background
In order to advance unmanned inspection of a transformer substation, a ground inspection robot is generally adopted to perform timing and fixed-point inspection on a specified transformer substation.
However, the equipment in the transformer substation has a plurality of inspection surfaces, the ground inspection robot can only walk on a preset inspection route, the inspection route cannot inspect around the equipment for a plurality of equipment arranged in a binding mode, and therefore the position of each part of the equipment cannot be identified, and the inspection result accuracy is reduced.
Disclosure of Invention
An object of the embodiment of the invention is to provide a patrol method, which has comprehensive patrol and high accuracy of patrol results.
Another object of the embodiment of the invention is to provide a patrol device, which has a simple structure and high accuracy of patrol results.
To achieve the purpose, the embodiment of the invention adopts the following technical scheme:
in a first aspect, a method for inspection is provided, including:
providing a robot main body and an unmanned aerial vehicle, wherein the unmanned aerial vehicle is parked on a parking platform of the robot main body, driving the robot main body to walk in a transformer substation according to a preset path, and simultaneously acquiring a plurality of first images corresponding to a plurality of part positions of adjacent equipment in the current path by the robot main body;
identifying each first image and outputting a first identification result, and counting the number of the first identification results;
when the number of the first recognition results is different from the number of the preset results, the robot main body records the part positions corresponding to each first recognition result and shares the recognized part positions with the unmanned aerial vehicle;
driving the unmanned aerial vehicle to cruise above the currently adjacent equipment according to a preset fixed cruising path, and simultaneously acquiring a second image of the position of the remaining unidentified part of the equipment;
identifying each second image and outputting a second identification result, and counting the number of the second identification results;
and when the number of the first identification results and the second identification results is the same as the number of the preset results, finishing inspection of the equipment, resetting the unmanned aerial vehicle to a parking platform of the robot main body, and continuing to reach the next equipment along the preset path until all equipment in the transformer substation is inspected.
As a preferred scheme of the inspection method, the method further comprises:
acquiring a plurality of first temperature values corresponding to a plurality of component positions of the adjacent equipment in the current path when the robot main body acquires a plurality of first images corresponding to a plurality of component positions of the adjacent equipment in the current path;
when the first temperature value is greater than or equal to a preset temperature threshold value, a first water gun on the robot main body is driven to spray water towards the part position corresponding to the first temperature value.
As a preferred scheme of the inspection method, the method further comprises:
when the unmanned aerial vehicle acquires a second image of the remaining unidentified part position of the equipment, acquiring a plurality of second temperature values corresponding to the remaining unidentified part position;
when the second temperature value is greater than or equal to a preset temperature threshold value, a second water gun on the unmanned aerial vehicle is driven to spray water towards the part position corresponding to the second temperature value.
As a preferred scheme of the inspection method, the method further comprises:
when the first recognition result or the second recognition result is different from the preset result, driving a first water gun on the robot main body to spray water towards the part position corresponding to the first recognition result which is different from the preset result, or driving a second water gun on the unmanned aerial vehicle to spray water towards the part position corresponding to the second recognition result which is different from the preset result until the first recognition result or the second recognition result is the same as the preset result.
As a preferable scheme of the inspection method, the preset result is obtained by three-dimensional modeling, preset coordinates and coordinate definition of all equipment in the transformer substation.
As a preferred scheme of the inspection method, the method further comprises:
when the unmanned aerial vehicle is parked on the parking platform, the robot main body charges the unmanned aerial vehicle through a wireless charging technology.
In a second aspect, a patrol device applied to the patrol method is provided, including a robot main body and an unmanned aerial vehicle, the robot main body is provided with a walking component, a first image recognition component, a first data transmission communication module, a first controller and a parking platform, the walking component, the first image recognition component, the first data transmission communication module are all in communication connection with the first controller, the unmanned aerial vehicle can park on the parking platform, the unmanned aerial vehicle is provided with an aircraft main body, a second image recognition component, a second data transmission communication module and a second controller, the second image recognition component, the second data transmission communication module are all in communication connection with the second controller, the first image recognition component and the second image recognition component can acquire images in front of a lens and recognize object recognition results in the images, the first data transmission communication module and the second data transmission communication module are in communication connection and can synchronize data in real time, the first data transmission communication module, the second data transmission module and the second data transmission module can be preset to the three-dimensional model of the unmanned aerial vehicle, the three-dimensional model can be transmitted to the three-dimensional model, and the three-dimensional model can be stored along with the three-dimensional model of the three-dimensional model.
As a preferred scheme of the inspection device, the inspection device further comprises a first infrared temperature measuring module arranged on the robot main body and a second infrared temperature measuring module arranged on the unmanned aerial vehicle, wherein the first infrared temperature measuring module is in communication connection with the first controller, the second infrared temperature measuring module is in communication connection with the second controller, and the first infrared temperature measuring module and the second infrared temperature measuring module can acquire the temperature value of an object in front of the probe.
As a preferred scheme of the inspection device, the inspection device further comprises a first water gun arranged on the robot main body and a second water gun arranged on the unmanned aerial vehicle, wherein the first water gun is in communication connection with the first controller, and the second water gun is in communication connection with the second controller.
As a preferred scheme of inspection device, park the platform and be provided with wireless transmission module that charges, unmanned aerial vehicle is provided with induction coil, induction coil can with wireless electromagnetic wave conversion that charges the transmission module and transmit becomes the electric energy, in order to with unmanned aerial vehicle charges.
The embodiment of the invention has the beneficial effects that:
through providing robot main part and unmanned aerial vehicle, park unmanned aerial vehicle on the parking platform of robot main part, order about the robot main part walk in the transformer substation according to predetermineeing the route, obtain a plurality of first images that correspond in a plurality of part positions of adjacent equipment in the current route by the robot main part simultaneously, can obtain the image of the part position of adjacent equipment in the current route. And counting the number of the first identification results by identifying each first image and outputting the first identification results, recording the part position corresponding to each first identification result by the robot main body when the number of the first identification results is different from the number of the preset results, and sharing the identified part position with the unmanned aerial vehicle so that the unmanned aerial vehicle can keep the identification results corresponding to the identified part positions. And then driving the unmanned aerial vehicle to cruise above the current adjacent equipment according to a preset fixed cruising path, simultaneously acquiring a second image of the position of the remaining unidentified part of the equipment, and not identifying the position of the part identified by the robot main body for the second time, so that the cruising time of the unmanned aerial vehicle is reduced, and simultaneously carrying out supplementary identification on the position of the remaining unidentified part. And then, identifying each second image and outputting a second identification result, counting the number of the second identification results, and when the number of the first identification results and the number of the second identification results are the same as the number of the preset results, considering that the identification result of the equipment is normal, and ending the inspection of the equipment. At the moment, the unmanned aerial vehicle resets to the parking platform of the robot main body, and the robot main body continues to reach the next device along the preset path until all devices in the transformer substation are inspected. Therefore, the inspection method provided by the embodiment of the invention can identify all the component positions of all the equipment of the preset path in the transformer substation, and improve the accuracy of the inspection result.
Drawings
The invention is described in further detail below with reference to the drawings and examples.
Fig. 1 is a schematic structural diagram of an inspection device according to an embodiment of the present invention.
Fig. 2 is a flowchart of an inspection method according to an embodiment of the invention.
In the figure:
1. a patrol device; 11. a robot main body; 111. a walking assembly; 112. a first image recognition component; 113. a first data transmission communication module; 114. a first controller; 115. a parking platform; 116. the first infrared temperature measurement module; 117. a first water gun; 118. a wireless charging transmitting module;
12. unmanned plane; 121. an aircraft body; 122. a second image recognition component; 123. a second data transmission communication module; 124. a second controller; 125. the second infrared temperature measurement module; 126. a second water gun; 127. an induction coil.
Detailed Description
In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a patrol method, including:
s101, providing a robot main body 11 and an unmanned aerial vehicle 12, wherein the unmanned aerial vehicle 12 is parked on a parking platform 115 of the robot main body 11 to drive the robot main body 11 to walk in a transformer substation according to a preset path, and simultaneously acquiring a plurality of first images corresponding to a plurality of part positions of adjacent equipment in the current path by the robot main body 11;
s102, identifying each first image, outputting a first identification result, and counting the number of the first identification results;
s103, when the number of the first recognition results is different from the number of the preset results, the robot main body 11 records the part positions corresponding to each first recognition result and shares the recognized part positions with the unmanned aerial vehicle 12;
s104, driving the unmanned aerial vehicle 12 to cruise above the current adjacent equipment according to a preset fixed cruising path, and simultaneously acquiring a second image of the position of the residual unidentified part of the equipment;
s105, identifying each second image and outputting a second identification result, and counting the number of the second identification results;
and S106, when the number of the first identification results and the second identification results is the same as the number of the preset results, finishing the inspection of the equipment, resetting the unmanned aerial vehicle 12 to the parking platform 115 of the robot main body 11, and continuing to reach the next equipment along the preset path by the robot main body 11 until all the equipment in the transformer substation is inspected.
Referring to fig. 1, in the embodiment of the present invention, by providing a robot body 11 and an unmanned aerial vehicle 12, the unmanned aerial vehicle 12 is parked on a parking platform 115 of the robot body 11, so as to drive the robot body 11 to walk in a substation according to a preset path, and simultaneously, a plurality of first images corresponding to a plurality of component positions of neighboring devices in a current path are acquired by the robot body 11, so that an image of a component position of a neighboring device in the current path can be acquired. By recognizing each first image and outputting the first recognition result, counting the number of first recognition results, and when the number of first recognition results is different from the number of preset results, the robot main body 11 records the part position corresponding to each first recognition result and shares the recognized part position with the unmanned aerial vehicle 12, so that the unmanned aerial vehicle 12 retains the recognition result corresponding to the recognized part position.
And then the unmanned aerial vehicle 12 is driven to cruise above the current adjacent equipment according to the preset fixed cruising path, a second image of the positions of the remaining unidentified parts of the equipment is obtained, the positions of the parts identified by the robot main body 11 are not identified for the second time, the cruising time of the unmanned aerial vehicle 12 is reduced, and the positions of the remaining unidentified parts are identified in a complementary mode. And then, identifying each second image and outputting a second identification result, counting the number of the second identification results, and when the number of the first identification results and the number of the second identification results are the same as the number of the preset results, considering that the identification result of the equipment is normal, and ending the inspection of the equipment.
At this time, the unmanned aerial vehicle 12 is reset to the parking platform 115 of the robot main body 11, and the robot main body 11 continues to reach the next device along the preset path until all devices in the substation are inspected. Therefore, the inspection method provided by the embodiment of the invention can identify all the component positions of all the equipment of the preset path in the transformer substation, and improve the accuracy of the inspection result.
Further, the inspection method of the embodiment of the invention further comprises the following steps:
when the robot main body 11 acquires a plurality of first images corresponding to a plurality of component positions of the neighboring apparatus in the current path, a plurality of first temperature values corresponding to a plurality of component positions of the neighboring apparatus in the current path are also acquired;
when the first temperature value is greater than or equal to the preset temperature threshold value, the first water gun 117 on the robot main body 11 is driven to spray water towards the part position corresponding to the first temperature value.
In this embodiment, by detecting a plurality of first temperature values corresponding to a plurality of component positions of adjacent devices in the current path, when any one of the first temperature values exceeds a preset temperature threshold, the component position of the device has a high-temperature abnormality, and at this time, the first water gun 117 is driven to spray water to the component position with the high-temperature abnormality, so that the effect of rapid cooling can be achieved, and the normal running state of the device is restored.
Furthermore, the inspection method of the embodiment of the invention further comprises the following steps:
when the unmanned aerial vehicle 12 acquires a second image of the remaining unidentified part positions of the device, a plurality of second temperature values corresponding to the remaining unidentified part positions are also acquired;
when the second temperature value is greater than or equal to the preset temperature threshold value, the second water gun 126 on the unmanned aerial vehicle 12 is driven to spray water towards the position of the component corresponding to the second temperature value.
Similarly, when the unmanned aerial vehicle 12 obtains a plurality of second temperature values corresponding to the positions of the remaining unidentified components, when the second temperature values are greater than or equal to the preset temperature threshold, the positions of the remaining unidentified components are also abnormal at high temperature, so that the second water gun 126 is driven to spray water to the positions of the components with abnormal high temperature, and the temperature of the positions of the components can be rapidly reduced.
In one embodiment, the inspection method of the embodiment of the invention further comprises the following steps:
when the first recognition result or the second recognition result is different from the preset result, the first water gun 117 on the robot main body 11 is driven to spray water towards the part position corresponding to the first recognition result different from the preset result, or the second water gun 126 on the unmanned aerial vehicle 12 is driven to spray water towards the part position corresponding to the second recognition result different from the preset result until the first recognition result or the second recognition result is the same as the preset result.
According to the embodiment, by spraying water to the part position different from the preset result, sundries and barriers attached to the part position are washed away by using water flow washing until the first identification result or the second identification result is the same as the preset result, that is, the sundries or the barriers on the part position are separated, so that the effects of removing the sundries and reducing the temperature are achieved.
In another embodiment, the preset result of the embodiment of the present invention is obtained by three-dimensional modeling, preset coordinates and coordinate definition of all devices in the substation, and by performing preset coordinate positioning and preset coordinate definition on the device positions on the three-dimensional model, the robot main body 11 and the unmanned aerial vehicle 12 can obtain the preset result of a certain specified coordinate when aligning to the certain specified coordinate, and can directly compare the recognition result with the preset result when performing image recognition on the entity device and outputting the recognition result.
In particular, the inspection method of the embodiment of the invention further comprises the following steps:
when the unmanned aerial vehicle 12 is parked on the parking platform 115, the robot main body 11 charges the unmanned aerial vehicle 12 through a wireless charging technique.
The unmanned aerial vehicle 12 can keep full power when stopping using, avoids the electric power shortage when flying to use and can't accomplish the operation of fixed cruising.
The embodiment of the invention also provides another inspection method, which comprises the following steps:
s201, providing a robot main body 11 and an unmanned aerial vehicle 12, wherein the unmanned aerial vehicle 12 is parked on a parking platform 115 of the robot main body 11, driving the robot main body 11 to walk in a transformer substation according to a preset path, and simultaneously acquiring a plurality of first images and a plurality of first temperature values corresponding to a plurality of part positions of adjacent equipment in the current path by the robot main body 11;
s202, when the first temperature value is greater than or equal to a preset temperature threshold value, driving a first water gun 117 on the robot main body 11 to spray water towards a part position corresponding to the first temperature value;
s203, identifying each first image and outputting a first identification result, and counting the number of the first identification results;
s204, when the number of the first recognition results is different from the number of the preset results, the robot main body 11 records the part positions corresponding to each first recognition result, shares the recognized part positions with the unmanned aerial vehicle 12, and the preset results are obtained by three-dimensional modeling, preset coordinates and coordinate definition of all equipment in the transformer substation;
s205, driving the unmanned aerial vehicle 12 to cruise above the current adjacent equipment according to a preset fixed cruising path, and simultaneously acquiring a second image and a second temperature value of the position of the residual unidentified part of the equipment;
s206, when the second temperature value is greater than or equal to a preset temperature threshold value, driving a second water gun 126 on the unmanned aerial vehicle 12 to spray water towards a part position corresponding to the second temperature value;
s207, identifying each second image and outputting a second identification result, and counting the number of the second identification results;
s208, when the number of the first recognition results and the second recognition results is the same as the number of the preset results, the inspection of the equipment is finished, the unmanned aerial vehicle 12 is reset to the parking platform 115 of the robot main body 11, and when the unmanned aerial vehicle 12 is parked on the parking platform 115, the robot main body 11 charges the unmanned aerial vehicle 12 through a wireless charging technology, and the robot main body 11 continues to reach the next equipment along the preset path until all the equipment in the transformer substation is inspected.
The inspection method in this embodiment may have the same steps and achieve the same effects as the inspection method in the foregoing embodiment, and will not be described in detail in this embodiment.
In addition, referring to fig. 1, the embodiment of the present invention further provides a patrol device 1 applying any one of the above patrol methods, including a robot main body 11 and an unmanned aerial vehicle 12, where the robot main body 11 is provided with a walking component 111, a first image recognition component 112, a first data transmission communication module 113, a first controller 114 and a parking platform 115, the walking component 111, the first image recognition component 112 and the first data transmission communication module 113 are all in communication connection with the first controller 114, the unmanned aerial vehicle 12 can park on the parking platform 115, the unmanned aerial vehicle 12 is provided with an aircraft main body 121, a second image recognition component 122, a second data transmission communication module 123 and a second controller 124, the second image recognition component 122 and the second data transmission communication module 123 are all in communication connection with the second controller 124, the first image recognition component 112 and the second image recognition component 122 can both acquire images in front of a lens and recognize object recognition results in the images, the first data transmission communication module 113 and the second data transmission communication module 123 can be in communication connection with and can synchronize data in real time, the first data transmission module 113 and the second data transmission module 123 and the second controller 124 can be preset to the three-dimensional model 114 along the three-dimensional model 114, the first model of the three-dimensional model 114 can be stored in advance, and the second model 124 can be transferred along the three-dimensional model 114, and the three-dimensional model can be stored in advance.
In the present embodiment, the robot body 11 acquires a plurality of first images corresponding to a plurality of component positions of the neighboring apparatus in the current path, and can acquire an image of the component position of the neighboring apparatus in the current path. By recognizing each first image and outputting the first recognition result, counting the number of first recognition results, and when the number of first recognition results is different from the number of preset results, the robot main body 11 records the part position corresponding to each first recognition result and shares the recognized part position with the unmanned aerial vehicle 12, so that the unmanned aerial vehicle 12 retains the recognition result corresponding to the recognized part position. And then the unmanned aerial vehicle 12 is driven to cruise above the current adjacent equipment according to the preset fixed cruising path, a second image of the positions of the remaining unidentified parts of the equipment is obtained, the positions of the parts identified by the robot main body 11 are not identified for the second time, the cruising time of the unmanned aerial vehicle 12 is reduced, and the positions of the remaining unidentified parts are identified in a complementary mode. And then, identifying each second image and outputting a second identification result, counting the number of the second identification results, and when the number of the first identification results and the number of the second identification results are the same as the number of the preset results, considering that the identification result of the equipment is normal, and ending the inspection of the equipment. At this time, the unmanned aerial vehicle 12 is reset to the parking platform 115 of the robot main body 11, and the robot main body 11 continues to reach the next device along the preset path until all devices in the substation are inspected. Therefore, the inspection method provided by the embodiment of the invention can identify all the component positions of all the equipment of the preset path in the transformer substation, and improve the accuracy of the inspection result.
In particular, referring to fig. 1, the inspection apparatus 1 of the embodiment of the present invention further includes a first infrared temperature measurement module 116 disposed on the robot main body 11 and a second infrared temperature measurement module 125 disposed on the unmanned aerial vehicle 12, where the first infrared temperature measurement module 116 is communicatively connected to the first controller 114, and the second infrared temperature measurement module 125 is communicatively connected to the second controller 124, and the first infrared temperature measurement module 116 and the second infrared temperature measurement module 125 can acquire a temperature value of an object in front of the probe.
In the embodiment, by detecting a plurality of first temperature values corresponding to a plurality of component positions of adjacent equipment in a current path, when any one of the first temperature values exceeds a preset temperature threshold value, the component positions of the equipment are detected to have high-temperature abnormality. Likewise, when the unmanned aerial vehicle 12 acquires a plurality of second temperature values corresponding to the remaining unidentified part positions, the remaining unidentified part positions also detect the high-temperature abnormality when the second temperature values are greater than or equal to the preset temperature threshold. The subsequent accurate cooling treatment is convenient by collecting the positions of the components with abnormal high temperature.
Preferably, with continued reference to fig. 1, the inspection device 1 of the present embodiment further includes a first water gun 117 disposed on the robot body 11 and a second water gun 126 disposed on the unmanned aerial vehicle 12, the first water gun 117 being communicatively connected to the first controller 114, the second water gun 126 being communicatively connected to the second controller 124. After determining the position of the high-temperature abnormal component, the first water gun 117 on the robot main body 11 is driven to spray water to the position of the component with the high-temperature abnormal component, the effect of rapid cooling can be achieved, the normal running state of the equipment is recovered, when the position of the component which cannot be sprayed by the first water gun 117 exists, the second water gun 126 is driven to spray water to the position of the component with the high-temperature abnormal component, the temperature of the position of the component can be rapidly reduced, and the effect of precise cooling is achieved.
In addition, referring to fig. 1, the parking platform 115 is provided with a wireless charging transmitting module 118, the unmanned aerial vehicle 12 is provided with an induction coil 127, the induction coil 127 can convert electromagnetic waves transmitted by the wireless charging transmitting module 118 into electric energy, and the electric energy can be stored in a battery of the unmanned aerial vehicle 12 so as to charge the unmanned aerial vehicle 12, so that the unmanned aerial vehicle 12 can keep full power when stopping using, and the operation that the fixed cruising cannot be completed due to insufficient power when the unmanned aerial vehicle 12 is used is avoided.
In the description herein, it should be understood that the terms "upper," "lower," "right," and the like are used for convenience in description and simplicity of operation only, and are not to be construed as limiting the invention, as the devices or elements referred to must have, be constructed or operated in a particular orientation. Furthermore, the terms "first," second, "and third," are used merely for distinguishing between descriptions and not for providing a special meaning.
In the description herein, reference to the term "one embodiment," "an example," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in the foregoing embodiments, and that the embodiments described in the foregoing embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (9)
1. A method of inspection comprising:
providing a robot main body and an unmanned aerial vehicle, wherein the unmanned aerial vehicle is parked on a parking platform of the robot main body, driving the robot main body to walk in a transformer substation according to a preset path, and simultaneously acquiring a plurality of first images corresponding to a plurality of part positions of adjacent equipment in the current path by the robot main body;
identifying each first image and outputting a first identification result, and counting the number of the first identification results;
when the number of the first recognition results is different from the number of the preset results, the robot main body records the part positions corresponding to each first recognition result and shares the recognized part positions with the unmanned aerial vehicle;
driving the unmanned aerial vehicle to cruise above the currently adjacent equipment according to a preset fixed cruising path, and simultaneously acquiring a second image of the position of the remaining unidentified part of the equipment;
identifying each second image and outputting a second identification result, and counting the number of the second identification results;
when the number of the first identification results and the second identification results is the same as the number of the preset results, finishing the inspection of the equipment, resetting the unmanned aerial vehicle to a parking platform of the robot main body, and continuing to reach the next equipment along the preset path until all the equipment in the transformer substation is inspected;
when the first recognition result or the second recognition result is different from the preset result, driving a first water gun on the robot main body to spray water towards the part position corresponding to the first recognition result which is different from the preset result, or driving a second water gun on the unmanned aerial vehicle to spray water towards the part position corresponding to the second recognition result which is different from the preset result until the first recognition result or the second recognition result is the same as the preset result.
2. The inspection method of claim 1, further comprising:
acquiring a plurality of first temperature values corresponding to a plurality of component positions of the adjacent equipment in the current path when the robot main body acquires a plurality of first images corresponding to a plurality of component positions of the adjacent equipment in the current path;
when the first temperature value is greater than or equal to a preset temperature threshold value, a first water gun on the robot main body is driven to spray water towards the part position corresponding to the first temperature value.
3. The inspection method of claim 2, further comprising:
when the unmanned aerial vehicle acquires a second image of the remaining unidentified part position of the equipment, acquiring a plurality of second temperature values corresponding to the remaining unidentified part position;
when the second temperature value is greater than or equal to a preset temperature threshold value, a second water gun on the unmanned aerial vehicle is driven to spray water towards the part position corresponding to the second temperature value.
4. The inspection method according to claim 1, wherein the preset result is obtained by three-dimensional modeling, preset coordinates and coordinate definition of all devices in the substation.
5. The inspection method of claim 1, further comprising:
when the unmanned aerial vehicle is parked on the parking platform, the robot main body charges the unmanned aerial vehicle through a wireless charging technology.
6. The inspection device in the inspection method according to any one of claims 1 to 5, comprising a robot main body and an unmanned aerial vehicle, wherein the robot main body is provided with a walking component, a first image recognition component, a first data transmission communication module, a first controller and a parking platform, the walking component, the first image recognition component and the first data transmission communication module are all in communication connection with the first controller, the unmanned aerial vehicle can park on the parking platform, the unmanned aerial vehicle is provided with an aircraft main body, a second image recognition component, a second data transmission communication module and a second controller, the second image recognition component and the second data transmission communication module are all in communication connection with the second controller, the first image recognition component and the second image recognition component can acquire images in front of a lens and recognize object recognition results in the images, the first data transmission communication module and the second data transmission communication module can be in communication connection and can synchronously transmit data in real time, the first data transmission module, the second data transmission module and the second data transmission module can be preset to the first data transmission module and the second controller, the second image recognition module can transmit the object recognition results to the three-dimensional model, the three-dimensional model can be stored in the three-dimensional model, and the three-dimensional model can be preset along the three-dimensional model.
7. The inspection device of claim 6, further comprising a first infrared temperature measurement module disposed on the robot body and a second infrared temperature measurement module disposed on the unmanned aerial vehicle, wherein the first infrared temperature measurement module is in communication connection with the first controller, the second infrared temperature measurement module is in communication connection with the second controller, and the first infrared temperature measurement module and the second infrared temperature measurement module are capable of acquiring a temperature value of the object in front of the probe.
8. The inspection device of claim 7, further comprising a first water gun disposed on the robot body and a second water gun disposed on the unmanned aerial vehicle, the first water gun in communication with the first controller and the second water gun in communication with the second controller.
9. The inspection device of claim 6, wherein the docking station is provided with a wireless charging and transmitting module, and the unmanned aerial vehicle is provided with an induction coil capable of converting electromagnetic waves transmitted by the wireless charging and transmitting module into electrical energy for charging the unmanned aerial vehicle.
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| CN109676618A (en) * | 2018-12-10 | 2019-04-26 | 江门市蓬江区联诚达科技发展有限公司 | Security protection crusing robot and its automatic detecting method |
| CN110888457A (en) * | 2019-12-13 | 2020-03-17 | 云南电网有限责任公司保山供电局 | System and method for carrying out three-dimensional inspection on power transformation equipment by using unmanned aerial vehicle and robot |
| CN111300372A (en) * | 2020-04-02 | 2020-06-19 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
| CN112510553B (en) * | 2020-11-16 | 2022-06-28 | 东北电力大学 | Robot and unmanned aerial vehicle combination formula transformer substation patrol and examine intelligent system |
| CN112598813A (en) * | 2020-12-01 | 2021-04-02 | 易瓦特科技股份公司 | Intelligent inspection system and inspection method thereof |
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