技术领域technical field
本申请涉及电力系统巡检技术领域，尤其涉及以一种变电站巡检机器人、巡检方法及巡检机器人控制方法。The present application relates to the technical field of power system inspection, in particular to a substation inspection robot, an inspection method and a control method of the inspection robot.
背景技术Background technique
变电站由电气设备、金具以及输电导线组成，其主要作用是改变电压并输送至电力系统中的各配电网，变电站是电力系统中的输电枢纽。可见，变电站在电力系统中起着至关重要的作用，因此，为保证变电站正常运行，变电站需要定期进行巡检，以便及时发现问题，并联系相关人员解决问题，提升用户用电体验。The substation is composed of electrical equipment, hardware and transmission wires. Its main function is to change the voltage and transmit it to each distribution network in the power system. The substation is the transmission hub in the power system. It can be seen that substations play a vital role in the power system. Therefore, in order to ensure the normal operation of substations, substations need to be inspected regularly to find problems in time, and contact relevant personnel to solve problems and improve user experience with electricity.
变电站巡检时，不仅要巡检低处的电气设备运行是否正常，还需巡检高处的金具以及导线是否出现鼓包开裂等缺陷。目前，变电站主要采用人工巡检，对于设置在高处的金具以及输电导线，巡检人员通常采用8-10倍双筒望远镜观测，巡检人员借助望远镜识别金具以及输电导线是否存在缺陷。When inspecting the substation, it is not only necessary to inspect whether the electrical equipment in the lower part is operating normally, but also inspect the hardware in the high place and whether the wires have bulging and cracking defects. At present, substations mainly use manual inspections. For the hardware and transmission wires set at high places, the inspectors usually use 8-10 times binoculars to observe, and the inspectors use the binoculars to identify whether there are defects in the hardware and transmission wires.
但是，发明人在在本申请的研究过程中发现，现有的变电站巡检依赖巡检人员，巡检效率低。However, the inventor found in the research process of the present application that the existing substation inspection relies on inspection personnel, and the inspection efficiency is low.
发明内容SUMMARY OF THE INVENTION
本申请提供了一种变电站巡检机器人、巡检方法及巡检机器人控制方法，以解决现有的变电站巡检依赖巡检人员，巡检效率低的问题。The present application provides a substation inspection robot, an inspection method and an inspection robot control method, so as to solve the problem that the existing substation inspection relies on inspection personnel and the inspection efficiency is low.
第一方面，本申请实施例提供一种变电站巡检机器人，包括：可移动巡检平台、设置在所述巡检平台上的定位系统和巡检系统；In a first aspect, an embodiment of the present application provides a substation inspection robot, including: a movable inspection platform, a positioning system and an inspection system arranged on the inspection platform;
所述定位系统固定设置在所述可移动巡检平台上，所述定位系统用于为所述可移动巡检平台以及所述巡检系统提供定位；The positioning system is fixedly arranged on the movable inspection platform, and the positioning system is used to provide positioning for the movable inspection platform and the inspection system;
所述可移动巡检平台上固定设置有升降系统，所述升降系统顶端固定设置有所述巡检系统，所述巡检系统可在所述升降系统上升降和旋转；A lifting system is fixed on the movable inspection platform, the inspection system is fixed at the top of the lifting system, and the inspection system can be lifted and rotated on the lifting system;
所述巡检系统用于根据升降系统调整的高度和角度，对目标金具以及输电导线进行巡检。The inspection system is used to inspect the target fittings and power transmission wires according to the height and angle adjusted by the lifting system.
结合第一方面，在一种实现方式中，所述巡检系统为20-80倍的高倍数望远镜。With reference to the first aspect, in an implementation manner, the inspection system is a high-power telescope of 20-80 times.
结合第一方面，在一种实现方式中，所述升降系统包括：底座、旋转升降装置以及俯仰旋转装置；所述底座固定在所述可移动巡检平台上，所述旋转升降装置固定在所述底座上，所述俯仰旋转装置设置在所述旋转升降装置的顶端，所述巡检系统固定在俯仰旋转装置上。With reference to the first aspect, in an implementation manner, the lifting system includes: a base, a rotating lifting device, and a pitching rotating device; the base is fixed on the movable inspection platform, and the rotating lifting device is fixed on the On the base, the pitching and rotating device is arranged on the top of the rotating and lifting device, and the inspection system is fixed on the pitching and rotating device.
结合第一方面，在一种实现方式中，所述巡检系统中设置有处理器，所述处理器用于接收后台操控系统的指令，并根据所述指令，控制升降系统调整高度和角度。With reference to the first aspect, in an implementation manner, the inspection system is provided with a processor, and the processor is configured to receive an instruction from the background control system, and control the lifting system to adjust the height and angle according to the instruction.
第二方面，本申请实施例部分提供了一种变电站巡检方法，所述巡检方法应用于巡检系统中的处理器，所述巡检方法包括：In a second aspect, the embodiments of the present application provide a substation inspection method, the inspection method is applied to a processor in an inspection system, and the inspection method includes:
获取巡检系统拍摄的第一图像；Obtain the first image captured by the inspection system;
根据第一图像，确定目标金具以及输电导线是否存在缺陷；According to the first image, determine whether the target fittings and the power transmission wires are defective;
如果所述第一图像中存在缺陷，判断所述第一图像中的缺陷等级；If there is a defect in the first image, determine the defect level in the first image;
根据所述缺陷等级，制定巡检周期，并根据所述巡检周期对目标金具以及输电导线进行追踪并记录，以便及时更换。According to the defect level, an inspection cycle is formulated, and according to the inspection cycle, the target hardware and power transmission wires are tracked and recorded for timely replacement.
结合第二方面，在一种实现方式中，根据所述缺陷等级，制定巡检周期，并根据所述巡检周期对目标金具以及输电导线进行追踪并记录，包括：In combination with the second aspect, in an implementation manner, an inspection period is formulated according to the defect level, and the target fittings and power transmission wires are tracked and recorded according to the inspection period, including:
根据所述巡检周期，定期对目标金具以及输电导线在相同拍摄位置及角度拍摄第二图像，所述第二图像与所述第一图像的图像参数一致，所述图像参数包括根据升降系统调整的高度和角度确定的拍摄位置及角度；According to the inspection cycle, periodically take a second image of the target fitting and the power transmission wire at the same shooting position and angle, the second image is consistent with the image parameters of the first image, and the image parameters include adjustment according to the lifting system The shooting position and angle determined by the height and angle;
将所述第二图像与所述第一图像进行对比，确定目标金具以及输电导线的缺陷等级并记录；Comparing the second image with the first image, determining and recording the defect levels of the target fittings and power transmission wires;
如果出现新的缺陷等级，则制定新的巡检周期，并根据新的巡检周期对目标金具以及输电导线进行追踪并记录。If a new defect level occurs, a new inspection cycle is established, and the target fittings and transmission wires are tracked and recorded according to the new inspection cycle.
结合第二方面，在一种实现方式中，所述缺陷的等级包括：一般缺陷、重大缺陷和紧急缺陷；With reference to the second aspect, in an implementation manner, the levels of the defects include: general defects, major defects, and urgent defects;
所述追踪记录装置对一般缺陷以及重大缺陷的金具以及输电导线进行追踪和记录。The tracking and recording device tracks and records general defects and major defects of metal fittings and power transmission wires.
第三方面，本申请实施例提供一种变电站巡检机器人控制方法，所述控制方法应用于变电站巡检机器人控制系统，所述系统包括第一方面中任一项所述的变电站巡检机器人以及后台操控系统，所述后台操控系统与所述变电站巡检机器人相互之间可实现数据交互，所述控制方法包括：In a third aspect, an embodiment of the present application provides a control method for a substation inspection robot, the control method is applied to a substation inspection robot control system, and the system includes the substation inspection robot according to any one of the first aspects, and A background control system, which can realize data interaction between the background control system and the substation inspection robot, and the control method includes:
所述后台操控系统根据定位系统以及变电站的地形，设定目标金具及输电导线所在的目标位置；The background control system sets the target position where the target hardware and the transmission wire are located according to the positioning system and the terrain of the substation;
所述后台操控系统向所述变电站巡检机器人发送指令；The background control system sends an instruction to the substation inspection robot;
所述变电站巡检机器人接收所述指令，并根据所述指令控制可移动巡检平台移动至所述目标位置；The substation inspection robot receives the instruction, and controls the movable inspection platform to move to the target position according to the instruction;
所述变电站巡检机器人启动巡检系统在所述目标位置对目标金具及输电导线进行巡检。The substation inspection robot starts the inspection system to inspect the target hardware and power transmission wires at the target position.
本申请实施例公开一种变电站巡检机器人、巡检方法及检机器人控制方法，其中，所述巡检机器人包括：可移动巡检平台、设置在所述巡检平台上的定位系统和巡检系统；所述定位系统固定设置在所述可移动巡检平台上，所述定位系统用于为所述可移动巡检平台以及所述巡检系统提供定位；所述可移动巡检平台上固定设置有升降系统，所述升降系统顶端固定设置有所述巡检系统，所述巡检系统可在所述升降系统上升降和旋转；所述巡检系统用于根据升降系统调整的高度和角度，对目标金具以及输电导线进行巡检。采用前述的巡检机器人，可以不依赖人工巡检，提高巡检效率。The embodiments of the present application disclose a substation inspection robot, an inspection method, and an inspection robot control method, wherein the inspection robot includes: a movable inspection platform, a positioning system arranged on the inspection platform, and an inspection robot. system; the positioning system is fixedly arranged on the movable inspection platform, and the positioning system is used to provide positioning for the movable inspection platform and the inspection system; the movable inspection platform is fixed on the A lifting system is provided, the top of the lifting system is fixed with the inspection system, and the inspection system can be lifted and rotated on the lifting system; the inspection system is used to adjust the height and angle according to the lifting system , inspect the target fittings and transmission wires. By using the aforementioned inspection robot, the inspection efficiency can be improved without relying on manual inspection.
所述巡检方法应用于巡检系统中的处理器，所述巡检方法包括：首先获取巡检系统拍摄的第一图像；然后根据第一图像，确定目标金具以及输电导线是否存在缺陷；如果所述第一图像中存在缺陷，判断所述第一图像中的缺陷等级；最后，根据所述缺陷等级，制定巡检周期，并根据所述巡检周期对目标金具以及输电导线进行追踪并记录，以便及时更换。采用前述的巡检方法，可以发现金具以及输电导线中出现的微小缺陷难，对缺陷进行追踪观察，以便金具以及输电导线及时更换，避免造成损失，进而提高用户体验。The inspection method is applied to a processor in an inspection system, and the inspection method includes: first acquiring a first image captured by the inspection system; then determining whether the target fitting and the power transmission wire are defective according to the first image; if There is a defect in the first image, and the defect level in the first image is judged; finally, according to the defect level, an inspection cycle is formulated, and the target hardware and power transmission wires are tracked and recorded according to the inspection cycle. , for timely replacement. Using the aforementioned inspection method, it is difficult to find small defects in hardware and transmission wires, and track and observe the defects so that the hardware and transmission wires can be replaced in time to avoid losses and improve user experience.
附图说明Description of drawings
为了更清楚地说明本申请的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions of the present application more clearly, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, without creative work, the Additional drawings can be obtained from these drawings.
图1是本申请实施例提供的一种变电站巡检机器人的结构示意图；1 is a schematic structural diagram of a substation inspection robot provided by an embodiment of the present application;
图2是本申请实施例提供的一种变电站巡检方法的流程示意图；2 is a schematic flowchart of a substation inspection method provided by an embodiment of the present application;
图3是本申请实施例提供的一种变电站巡检机器人控制方法的流程示意图。FIG. 3 is a schematic flowchart of a method for controlling a substation inspection robot according to an embodiment of the present application.
其中，1-可移动巡检平台；2-定位系统；3-巡检系统，4-升降系统，41-底座，42-旋转升降装置，43-俯仰旋转装置。Among them, 1-movable inspection platform; 2-positioning system; 3-inspection system, 4-lifting system, 41-base, 42-rotating lifting device, 43-pitch rotation device.
具体实施方式Detailed ways
为使本申请的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本申请作进一步详细的说明。In order to make the above objects, features and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and specific embodiments.
本申请实施例提供了一种变电站巡检机器人、巡检方法及巡检机器人控制方法，以解决现有的变电站巡检依赖巡检人员，巡检效率低的问题。The embodiments of the present application provide a substation inspection robot, an inspection method, and an inspection robot control method, so as to solve the problem that the existing substation inspection relies on inspection personnel and the inspection efficiency is low.
参照图1，本申请实施例提供一种变电站巡检机器人，包括：可移动巡检平台1、设置在所述巡检平台1上的定位系统2和巡检系统3。Referring to FIG. 1 , an embodiment of the present application provides a substation inspection robot, including: a movable inspection platform 1 , a positioning system 2 and an inspection system 3 arranged on the inspection platform 1 .
其中，所述可移动巡检平台1下方安装至少两个车轮，方便其移动巡检。Wherein, at least two wheels are installed under the movable inspection platform 1 to facilitate its mobile inspection.
所述定位系统2固定设置在所述可移动巡检平台1上，所述定位系统2用于为所述可移动巡检平台1以及所述巡检系统3提供定位。The positioning system 2 is fixedly arranged on the movable inspection platform 1 , and the positioning system 2 is used to provide positioning for the movable inspection platform 1 and the inspection system 3 .
其中，所述定位系统2为高精度GPS定位系统2，其作用一方面是使得变电站巡检机器人能够在变电站内全地形准确移动，避免碰到一些电力设施，另一方面，所述定位系统2也能够为巡检系统3提供精准的定位，以便于巡检系统3后期巡检和缺陷追踪。The positioning system 2 is a high-precision GPS positioning system 2. On the one hand, the role of the positioning system 2 is to enable the substation inspection robot to move accurately in all terrains in the substation to avoid encountering some power facilities. On the other hand, the positioning system 2 It can also provide accurate positioning for the inspection system 3, so as to facilitate the later inspection and defect tracking of the inspection system 3.
所述可移动巡检平台1上固定设置有升降系统4，所述升降系统4顶端固定设置有所述巡检系统3，所述巡检系统3可在所述升降系统4上升降和旋转。A lifting system 4 is fixed on the movable inspection platform 1 , and the inspection system 3 is fixed at the top of the lifting system 4 , and the inspection system 3 can be lifted and rotated on the lifting system 4 .
可选地，所述升降系统4包括：底座41、旋转升降装置42以及俯仰旋转装置43；所述底座41固定在所述可移动巡检平台1上，所述旋转升降装置42固定在所述底座41上，所述俯仰旋转装置43设置在所述旋转升降装置42的顶端，所述巡检系统3固定在俯仰旋转装置43上。Optionally, the lifting system 4 includes: a base 41, a rotating lifting device 42 and a pitching rotating device 43; the base 41 is fixed on the movable inspection platform 1, and the rotating lifting device 42 is fixed on the On the base 41 , the pitching and rotating device 43 is arranged on the top of the rotating and lifting device 42 , and the inspection system 3 is fixed on the pitching and rotating device 43 .
本实施例中，升降系统4采用螺钉固定安装在可移动巡检平台1上，以抵制外界强风的影响，所述升降系统4可以全方位的旋转，这样可以使得安装在升降系统4上的巡检系统3可以全方位的对准目标金具以及输电导线，然后对其全方位的巡检。In this embodiment, the lifting system 4 is fixed and installed on the movable inspection platform 1 by screws to resist the influence of strong external wind. The lifting system 4 can be rotated in all directions, which can make the inspection platform The inspection system 3 can align the target fittings and transmission wires in all directions, and then inspect them in all directions.
具体的，所述可移动巡检平台1由三部分组成，通过螺栓固定在可移动巡检平台1上的底座41，所述底座41为方形，其横截面大于固定连接在其上的旋转升降装置42，旋转升降装置42的作用是旋转以及升降，它包括支撑轴以及与支撑轴同轴安装的多个圆通，通电电力使其自动升降或旋转，在旋转升降装置42的顶端可旋转安装有俯仰旋转装置43，俯仰旋转装置43可以实现全方位旋转，以扩大巡检系统3的巡检范围。Specifically, the movable inspection platform 1 is composed of three parts. The base 41 is fixed on the movable inspection platform 1 by bolts. The device 42, the function of the rotary lifting device 42 is to rotate and lift, it includes a support shaft and a plurality of tactile shafts installed coaxially with the support shaft, and it is automatically lifted or rotated by electrification. The pitch rotation device 43 can be rotated in all directions, so as to expand the inspection range of the inspection system 3 .
所述巡检系统3用于根据升降系统4调整的高度和角度，对目标金具以及输电导线进行巡检。The inspection system 3 is used to inspect the target fittings and power transmission wires according to the height and angle adjusted by the lifting system 4 .
巡检系统3的作用是对目标金具以及输电导线进行巡检，巡检时，记录当前巡检的位置以及升降系统4调整的高度和角度，以便于再次巡检对比。The role of the inspection system 3 is to inspect the target fittings and transmission wires. During inspection, the current inspection position and the height and angle adjusted by the lifting system 4 are recorded, so as to facilitate the inspection and comparison again.
本申请实施例公开一种巡检机器人包括；可移动巡检平台1、设置在所述巡检平台上的定位系统2和巡检系统3；所述定位系统2固定设置在所述可移动巡检平台1上，所述定位系统2用于为所述可移动巡检平台1以及所述巡检系统3提供定位；所述可移动巡检平台1上固定设置有升降系统4，所述升降系统4顶端固定设置有所述巡检系统3，所述巡检系统3可在所述升降系统4上升降和旋转；所述巡检系统3用于根据升降系统4调整的高度和角度，对目标金具以及输电导线进行巡检。采用前述的巡检机器人，可以不依赖人工巡检，提高巡检效率。The embodiment of the present application discloses an inspection robot comprising: a movable inspection platform 1, a positioning system 2 and an inspection system 3 arranged on the inspection platform; the positioning system 2 is fixedly arranged on the movable inspection platform On the inspection platform 1, the positioning system 2 is used to provide positioning for the movable inspection platform 1 and the inspection system 3; a lifting system 4 is fixed on the movable inspection platform 1, and the lifting The top of the system 4 is fixedly provided with the inspection system 3, and the inspection system 3 can be lifted and rotated on the lifting system 4; The target fittings and transmission wires are inspected. By using the aforementioned inspection robot, the inspection efficiency can be improved without relying on manual inspection.
可选地，所述巡检系统3为20-80倍的高倍数望远镜。Optionally, the inspection system 3 is a high-power telescope of 20-80 times.
其中，所述巡检系统3优选为80倍高倍数望远镜，高倍数望远镜可以清晰地拍摄金具以及输电导线，清晰地识别缺陷，且本申请的巡检系统3采用防水以及防腐处理，适合长期在室外工作，不受外界环境的影响。Wherein, the inspection system 3 is preferably an 80-fold high-power telescope. The high-power telescope can clearly photograph hardware and transmission wires, and clearly identify defects, and the inspection system 3 of the present application adopts waterproof and anti-corrosion treatment, which is suitable for long-term use in Work outdoors, unaffected by the external environment.
进一步地，所述巡检系统3中设置有处理器，所述处理器用于接收后台操控系统的指令，并根据所述指令，控制升降系统4调整高度和角度。Further, the inspection system 3 is provided with a processor, and the processor is configured to receive an instruction from the background control system, and control the lifting system 4 to adjust the height and angle according to the instruction.
其中，所述巡检系统3设置有处理器，该处理器可以接收后台操控系统的指令，并根据所述指令，控制升降系统4调整高度和角度。当然，该处理器也可以集成可编程芯片，使得巡检机器人自动进行巡检，以及根据需要自动进行调节升降系统4调整高度和角度，本申请不做具体限定。Wherein, the inspection system 3 is provided with a processor, the processor can receive the instructions of the background control system, and control the lifting system 4 to adjust the height and angle according to the instructions. Of course, the processor can also integrate a programmable chip, so that the inspection robot can automatically perform inspection, and automatically adjust the height and angle of the lifting system 4 as required, which is not specifically limited in this application.
参照图2，本申请实施例部分提供了一种变电站巡检方法，所述巡检方法应用于巡检系统中的处理器，所述巡检方法包括：Referring to FIG. 2 , the embodiments of the present application provide a substation inspection method. The inspection method is applied to a processor in an inspection system. The inspection method includes:
步骤201，获取巡检系统拍摄的第一图像。Step 201, acquiring a first image captured by an inspection system.
其中，所述第一图像中包括巡检系统拍摄位置和角度，以及巡检机器人的位置等图像参数，以便后续拍摄出图像参数一致的图像与其进行对比。Wherein, the first image includes image parameters such as the shooting position and angle of the inspection system, and the position of the inspection robot, so that images with consistent image parameters can be captured subsequently for comparison.
步骤202，根据第一图像，确定目标金具以及输电导线是否存在缺陷。Step 202 , according to the first image, determine whether the target fitting and the power transmission wire are defective.
本步骤中，根据步骤210得到的图像，利用图像自动识别系统，识别出有缺陷的金具和输电导线的图像，并对其进行标记，以便后续继续对其进行缺陷追踪。In this step, according to the image obtained in step 210, an image automatic identification system is used to identify the images of defective fittings and power transmission wires, and mark them, so that the defects can be tracked subsequently.
步骤203，如果所述第一图像中存在缺陷，判断所述第一图像中的缺陷等级。Step 203, if there is a defect in the first image, determine the defect level in the first image.
本步骤中，如果步骤202中识别出缺陷，要对缺陷进行等级对比，对于低缺陷等级的图像要持续进行追踪，对于高缺陷等级，已经危害到电力安全的目标金具以及输电导线，则需及时通知相应的电力维护人员进行替换，以减少突然断电等情况，减少损失，提高用户体验。In this step, if a defect is identified in step 202, the defect level should be compared, and the images with low defect level should be continuously tracked. For high defect level, the target fittings and power transmission wires that have endangered power safety need to be timely Notify the corresponding power maintenance personnel for replacement, so as to reduce sudden power failure and other situations, reduce losses, and improve user experience.
步骤204，根据所述缺陷等级，制定巡检周期，并根据所述巡检周期对目标金具以及输电导线进行追踪并记录，以便及时更换。Step 204 , formulate an inspection period according to the defect level, and track and record the target fittings and power transmission wires according to the inspection period, so as to be replaced in time.
本步骤中，对于步骤203中判断出的低缺陷等级的图像，则需要根据其缺陷程度，制定相应的巡检周期，观测其后续的发展，例如，很微小的缺陷其巡检周期可以稍长，稍大一点的缺陷，其巡检周期稍短些，这样可以保证不浪费资源，同时，又可以保证电力安全。In this step, for the image with low defect level determined in step 203, it is necessary to formulate a corresponding inspection period according to the degree of its defect, and observe its subsequent development. For example, the inspection period for very small defects may be slightly longer. , For a slightly larger defect, the inspection cycle is slightly shorter, which can ensure that resources are not wasted, and at the same time, it can ensure power safety.
进一步地，根据所述缺陷等级，制定巡检周期，并根据所述巡检周期对目标金具以及输电导线进行追踪并记录，包括：Further, according to the defect level, formulate an inspection cycle, and track and record the target fittings and power transmission wires according to the inspection cycle, including:
根据所述巡检周期，定期对目标金具以及输电导线在相同拍摄位置及角度拍摄第二图像，所述第二图像与所述第一图像的图像参数一致，所述图像参数包括根据升降系统调整的高度和角度确定的拍摄位置及角度；According to the inspection cycle, periodically take a second image of the target fitting and the power transmission wire at the same shooting position and angle, the second image is consistent with the image parameters of the first image, and the image parameters include adjustment according to the lifting system The shooting position and angle determined by the height and angle;
将所述第二图像与所述第一图像进行对比，确定目标金具以及输电导线的缺陷等级并记录；Comparing the second image with the first image, determining and recording the defect levels of the target fittings and power transmission wires;
如果出现新的缺陷等级，则制定新的巡检周期，并根据新的巡检周期对目标金具以及输电导线进行追踪并记录。If a new defect level occurs, a new inspection cycle is established, and the target fittings and transmission wires are tracked and recorded according to the new inspection cycle.
本实施例中，对于需要追踪的目标金具以及输电导线，在与第一图像相同拍摄位置及角度拍摄第二图像，第二图像中的各与第一图像参数一致，增加缺陷判断的准确性。拍摄第二图像之后，将第二图像与所述第一图像进行对比，确定目标金具以及输电导线的缺陷等级并记录，观测缺陷的发展情况，如果出现新的缺陷等级，调整巡检周期，再对其进行追踪，这样及时调整，保证准确性。In this embodiment, for the target hardware and power transmission wires to be tracked, a second image is taken at the same shooting position and angle as the first image, and each of the second images has the same parameters as the first image, which increases the accuracy of defect judgment. After taking the second image, compare the second image with the first image, determine and record the defect levels of the target fittings and transmission wires, observe the development of defects, and adjust the inspection cycle if a new defect level appears. It is tracked so that adjustments can be made in a timely manner to ensure accuracy.
进一步地，所述缺陷的等级包括：一般缺陷、重大缺陷和紧急缺陷；Further, the level of the defect includes: general defect, major defect and urgent defect;
所述追踪记录装置对一般缺陷以及重大缺陷的金具以及输电导线进行追踪和记录。The tracking and recording device tracks and records general defects and major defects of metal fittings and power transmission wires.
其中，所述一般缺陷是指对近期安全运行影响不大的缺陷，可列入年、季检修计划或日常维护工作中去消除，例如，导线断股或有磨损松股情况，输电导线断股或有磨损松股情况，重大缺陷是指缺陷比较严重，但设备仍可短期继续安全运行，该缺陷应在短期内消除，消除前应加强监视，例如，导线断股或有磨损松股情况，输电导线断股或有磨损松股情况；紧急缺陷是指缺陷比较严重，但设备仍可短期继续安全运行，该缺陷应在短期内消除，消除前应加强监视，例如，导线断股或有磨损松股情况，输电导线断股或有磨损松股情况，划分之后将缺陷等级划分输入巡检系统，巡检系统根据拍摄的图像自动进行识别对比，采用这种方法可以对缺陷及时追踪，即避免了浪费，又可以防止金具以及输电导线因缺陷过大导致故障。Among them, the general defects refer to defects that have little impact on the safe operation in the near future, and can be eliminated in the annual and quarterly maintenance plan or routine maintenance work. There may be wear and loose strands. Major defects refer to serious defects, but the equipment can continue to operate safely in a short period of time. This defect should be eliminated in a short period of time, and monitoring should be strengthened before elimination. Broken strands or loose strands of transmission wires; emergency defects refer to serious defects, but the equipment can continue to operate safely in a short period of time. This defect should be eliminated in a short period of time, and monitoring should be strengthened before elimination. For example, the conductors are broken or worn. Loose strands, broken strands or worn loose strands of the transmission wire, after the division, the defect levels are divided into the inspection system, and the inspection system automatically identifies and compares according to the captured images. This method can be used to track defects in time, that is, to avoid In order to avoid waste, it can also prevent the failure of hardware and transmission wires due to excessive defects.
当然，也可以根据金具的种类以及导线的种类再进行划分，划分之后输入巡检系统，用作判断标准，本申请不做具体限定。Of course, it can also be divided according to the type of hardware and the type of wire, and after the division, it is input into the inspection system and used as a judgment standard, which is not specifically limited in this application.
本实施例公开一种变电站巡检方法，所述巡检方法应用于巡检系统中的处理器，所述巡检方法包括：首先获取巡检系统拍摄的第一图像；然后根据第一图像，确定目标金具以及输电导线是否存在缺陷；如果所述第一图像中存在缺陷，判断所述第一图像中的缺陷等级；最后，根据所述缺陷等级，制定巡检周期，并根据所述巡检周期对目标金具以及输电导线进行追踪并记录，以便及时更换。采用前述的巡检方法，可以发现金具以及输电导线中出现的微小缺陷难，对缺陷进行追踪观察，以便金具以及输电导线及时更换，避免造成损失，进而提高用户体验。This embodiment discloses a substation inspection method. The inspection method is applied to a processor in an inspection system. The inspection method includes: first acquiring a first image captured by the inspection system; then, according to the first image, Determine whether there are defects in the target fittings and power transmission wires; if there are defects in the first image, determine the defect level in the first image; finally, according to the defect level, formulate an inspection cycle, and according to the inspection Periodically track and record the target fittings and transmission wires for timely replacement. Using the aforementioned inspection method, it is difficult to find small defects in hardware and transmission wires, and track and observe the defects so that the hardware and transmission wires can be replaced in time to avoid losses and improve user experience.
参照图3，本申请实施例提供一种变电站巡检机器人控制方法，所述控制方法应用于变电站巡检机器人控制系统，所述系统包括图1中任一项所述的变电站巡检机器人以及后台操控系统，所述后台操控系统与所述变电站巡检机器人相互之间可实现数据交互，所述控制方法包括：Referring to FIG. 3 , an embodiment of the present application provides a control method for a substation inspection robot, the control method is applied to a substation inspection robot control system, and the system includes the substation inspection robot described in any one of FIG. 1 and a background A control system, the background control system and the substation inspection robot can realize data interaction with each other, and the control method includes:
步骤301，所述后台操控系统根据定位系统以及变电站的地形，设定目标金具及输电导线所在的目标位置。Step 301 , the background control system sets the target position where the target hardware and the power transmission wire are located according to the positioning system and the terrain of the substation.
步骤302，所述后台操控系统向所述变电站巡检机器人发送指令。Step 302, the background control system sends an instruction to the substation inspection robot.
步骤303，所述变电站巡检机器人接收所述指令，并根据所述指令控制可移动巡检平台移动至所述目标位置。Step 303, the substation inspection robot receives the instruction, and controls the movable inspection platform to move to the target position according to the instruction.
步骤304，所述变电站巡检机器人启动巡检系统在所述目标位置对目标金具及输电导线进行巡检。Step 304 , the substation inspection robot starts the inspection system to inspect the target fittings and power transmission wires at the target position.
本实施例公开一中巡检机器人控制方法，该方法主要是为了控制巡检机器人进行巡检，本实施例公开的控制方法主要通过巡检机器人与后台操控系统相互之间实现数据交互而实现的，具体包括：所述后台操控系统根据定位系统以及变电站的地形，设定目标金具及输电导线所在的目标位置；所述后台操控系统向所述变电站巡检机器人发送指令；所述变电站巡检机器人接收所述指令，并根据所述指令控制可移动巡检平台移动至所述目标位置；所述变电站巡检机器人启动巡检系统在所述目标位置对目标金具及输电导线进行巡检。采用前述的控制方法，可以在后台操控巡检机器人，不用到现场操控。This embodiment discloses a control method for an inspection robot. The method is mainly for controlling the inspection robot to perform inspection. The control method disclosed in this embodiment is mainly realized by data interaction between the inspection robot and the background control system. , which specifically includes: the background control system sets the target position where the target hardware and transmission wires are located according to the positioning system and the terrain of the substation; the background control system sends instructions to the substation inspection robot; the substation inspection robot Receive the instruction, and control the movable inspection platform to move to the target position according to the instruction; the substation inspection robot starts the inspection system to inspect the target fittings and transmission wires at the target position. Using the aforementioned control method, the inspection robot can be controlled in the background without going to the scene.
当然，也可以在机器人中集成可编程芯片，使得巡检机器人按照设定程序自动进行巡检，以及根据需要自动进行调节升降系统调整高度和角度，提高巡检机器人的自动化程度。Of course, a programmable chip can also be integrated in the robot, so that the inspection robot can automatically perform inspection according to the set program, and automatically adjust the height and angle of the lifting system according to the needs, so as to improve the automation degree of the inspection robot.
本说明书中各个实施例之间相同相似的部分互相参见即可。It is sufficient to refer to each other for the same and similar parts among the various embodiments in this specification.
以上结合具体实施方式和范例性实例对本申请进行了详细说明，不过这些说明并不能理解为对本申请的限制。本领域技术人员理解，在不偏离本申请精神和范围的情况下，可以对本申请技术方案及其实施方式进行多种等价替换、修饰或改进，这些均落入本申请的范围内。本申请的保护范围以所附权利要求为准。The present application has been described in detail above with reference to specific embodiments and exemplary examples, but these descriptions should not be construed as a limitation on the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, various equivalent replacements, modifications or improvements can be made to the technical solutions of the present application and the embodiments thereof, which all fall within the scope of the present application. The scope of protection of the present application is determined by the appended claims.
| Application Number | Priority Date | Filing Date | Title |
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| CN201910977627.5ACN110587629A (en) | 2019-10-15 | 2019-10-15 | Transformer substation inspection robot, inspection method and inspection robot control method |
| Application Number | Priority Date | Filing Date | Title |
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| CN201910977627.5ACN110587629A (en) | 2019-10-15 | 2019-10-15 | Transformer substation inspection robot, inspection method and inspection robot control method |
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| CN110587629Atrue CN110587629A (en) | 2019-12-20 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201910977627.5APendingCN110587629A (en) | 2019-10-15 | 2019-10-15 | Transformer substation inspection robot, inspection method and inspection robot control method |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20191220 |