CN111611855A - Three-dimensional visual robot intelligence system of patrolling and examining of transformer substation - Google Patents
Three-dimensional visual robot intelligence system of patrolling and examining of transformer substation Download PDFInfo
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Abstract
The invention discloses a three-dimensional visual robot intelligent inspection system for a transformer substation, which comprises: patrol and examine robot, data transmission device, self-service charging device, robot intelligence and patrol and examine system monitoring backstage, patrol and examine the video image information that the robot is used for gathering the equipment to be measured to send the video image information of gathering to the intelligent system monitoring backstage of patrolling and examining of robot through data transmission device, data transmission device is used for patrolling and examining the data upload of robot collection and the issue of the intelligent system monitoring backstage control data of patrolling and examining of robot, autonomic charging device is used for patrolling and examining the automatic function of charging of robot, the intelligent system monitoring backstage of robot is used for patrolling and examining storage, analysis, the demonstration of data of patrolling and examining. The invention improves the visualization level of the inspection system, and improves the diagnosis and early warning performance of the inspection system by cooperating the intelligent diagnosis process with multi-source data.
Description
Technical Field
The invention relates to the technical field of inspection of a transformer substation robot, in particular to a three-dimensional visual robot intelligent inspection system for a transformer substation.
Background
The transformer equipment inspection generally adopts a manual mode, the types and the quantity of operating equipment in a transformer substation are numerous, the daily inspection task is heavy, inspection personnel are influenced by a plurality of factors such as self mental state, working experience, labor intensity and the like, the inspection working quality is not high, and the conditions of inspection error and leakage appear. In recent years, China has made great progress in the field of robot inspection, and the adoption of robot inspection instead of manual inspection is a necessary trend for the intelligent development of transformer substations. The existing transformer substation robot inspection system has the following problems: firstly, the robot inspection system has low visualization level and poor man-machine interaction effect, and the robot inspection task issuing, process display, inspection path and inspection result display are all performed in a two-dimensional interface, so that visual and three-dimensional technical support cannot be provided for operators; secondly, the robot inspection system is independent of a transformer substation monitoring system, an online monitoring system, a temperature monitoring system and other systems, related data cannot be effectively applied in a synergistic mode to form a data island, integrated display cannot be provided for operating personnel, meanwhile, the data of the robot inspection system is lack of deep excavation and analysis, the diagnosis and early warning function is not complete, and the system intelligence level is low. Therefore, a three-dimensional visual robot intelligent inspection system of the transformer substation needs to be researched and developed, and three-dimensional, whole-course visual and decision intelligence of inspection information of the robot is achieved.
Disclosure of Invention
The invention provides a three-dimensional visual robot intelligent inspection system for a transformer substation, aiming at overcoming the defects that the visual level of the inspection system for the transformer substation is low, data cannot be coordinated, and the diagnosis and early warning functions are incomplete in the prior art.
The primary objective of the present invention is to solve the above technical problems, and the technical solution of the present invention is as follows:
the utility model provides a three-dimensional visual robot intelligence system of patrolling and examining of transformer substation, includes: patrol and examine robot, data transmission device, self-service charging device, robot intelligence and patrol and examine system monitoring backstage, patrol and examine the video image information that the robot is used for gathering the equipment to be measured to send the video image information of gathering to the intelligent system monitoring backstage of patrolling and examining of robot through data transmission device, data transmission device is used for patrolling and examining the data upload of robot collection and the issue of the intelligent system monitoring backstage control data of patrolling and examining of robot, autonomic charging device is used for patrolling and examining the automatic function of charging of robot, the intelligent system monitoring backstage of robot is used for patrolling and examining storage, analysis, the demonstration of data of patrolling and examining.
In the present invention, the inspection system further includes a plurality of data sources, specifically including: the system comprises data of an online monitoring system, data of an asset management system and data of an SCADA system, wherein the online monitoring system and the asset management system are connected to a robot intelligent inspection system monitoring background through a firewall, the SCADA system is connected to a second firewall through an isolating device, and the second firewall is connected to the robot intelligent inspection system monitoring background.
In the present invention, the inspection robot includes: integration cloud platform, motion system, wireless transceiver, the integration cloud platform includes: the system comprises a visible light camera and a thermal infrared imager, wherein the visible light camera is used for identifying the running state of equipment, the thermal infrared imager is used for measuring temperature in an infrared mode, and the acquired video image information comprises: visible light video image information and infrared video image information; the motion system includes: navigation module and drive module, the navigation module includes: ultrasonic sensor and laser sensor, ultrasonic sensor is used for the anticollision, laser sensor is used for the location, drive module is used for patrolling and examining the drive control of each motor of robot.
In the present invention, the data transmission device includes: the intelligent inspection robot comprises a wireless receiving and transmitting device and a roof wireless base station which are arranged inside the inspection robot, wherein the wireless receiving and transmitting device of an inspection robot body is connected to the roof wireless base station through a wireless network bridge, and the roof wireless base station is in communication connection with a monitoring background of an intelligent inspection system of the robot.
In the invention, the monitoring background of the robot intelligent inspection system comprises: the system comprises a three-dimensional information model display unit, a robot working process display unit, a visual task issuing unit and an intelligent diagnosis unit.
In the invention, the modeling process of the three-dimensional information model comprises the following steps:
respectively acquiring point cloud data of substation equipment and a substation, and preprocessing the point cloud data of the substation equipment into an equipment point cloud model;
manufacturing the point cloud model into a transformer substation equipment body model through polygon topology reconstruction, texture mapping, material splitting and skeleton skin animation manufacturing technologies;
matching the point cloud of the transformer substation equipment with the point cloud of the transformer substation, and determining the accurate coordinates of each equipment body model of the transformer substation in the transformer substation, so as to reconstruct a three-dimensional information model of the facility of the transformer substation equipment;
supplementing and correcting the model of the substation equipment facility according to the equipment texture, the local appearance and the laser scanning blind area information supplemented by the field shot image;
then, overlapping and obtaining multi-source data to complete three-dimensional information modeling;
and the established three-dimensional information modeling is stored according to a standard general format, and a three-dimensional information model base is established according to the equipment type and model.
In the invention, the preprocessing of the point cloud data of the substation equipment comprises the following steps: data registration, data filtering, data cutting and packaging;
the multi-source data is data which are obtained by connecting a production management system, an SCADA system, a robot intelligent inspection system, an intelligent maintenance system and an intelligent detection system, and the equipment ledger, the power grid tide and the robot inspection data are obtained.
In the invention, the intelligent diagnosis unit comprises a primary diagnosis process and an advanced diagnosis process, wherein the primary diagnosis process comprises the following steps:
the characteristic parameters are obtained through image characteristic extraction, and the method comprises the following steps: reading, pressing plate state and indicator lamp state of the corresponding meter of the equipment;
calculating the characteristic parameters by adopting threshold diagnosis and time domain waveform diagnosis and calling equipment operation standards to judge whether the characteristic values are abnormal or not;
if the characteristic value is normal, switching to a high-level diagnosis process, if the characteristic value is abnormal, giving an alarm, and meanwhile, enabling a three-dimensional information model of the abnormal equipment to change red and flash to pop up diagnosis information;
the high-level diagnosis process comprises the following steps:
acquiring multi-source data of equipment to be diagnosed and extracting characteristic parameters;
mining characteristic parameters influencing the equipment state by adopting a fuzzy clustering and association rule algorithm;
calling historical operating data of the equipment to judge whether the equipment state trend is abnormal or not;
and if the state trend is abnormal, performing trend early warning, marking yellow and flashing the three-dimensional information model of the abnormal equipment, and popping up diagnosis information.
In the present invention, the tasks issued by the visual task issuing unit include: an autonomous inspection mode of full-automatic inspection and a remote inspection mode of remote online remote control, wherein the autonomous inspection mode of the full-automatic inspection comprises special inspection and routine inspection,
in a special inspection mode, the equipment with the configured inspection point locations can automatically complete an inspection task, when the inspection point locations of the equipment need to be newly added, an operator only needs to operate a robot to reach the corresponding equipment position, a camera is rotated to point to the newly added inspection point locations, the three-dimensional information model automatically pops out inspection standards associated with the newly added inspection point locations for the operator to select, and after the operator confirms the inspection standards, the system stores and solidifies the configuration commands into a database, so that the inspection tasks can be directly called when the next time is needed; in a routine inspection mode, an operator determines inspection contents in advance based on a three-dimensional map and sets inspection time and period, and the robot can start automatically and complete a routine inspection task; the remote inspection mode of the remote online remote control is that an operator can remotely and manually remotely control the robot to finish inspection based on the position of the robot in the three-dimensional map.
In the invention, the working process of the robot working process display unit is as follows: acquiring a real-time two-dimensional coordinate returned by the inspection robot;
calculating the real-time coordinate of the inspection robot in the three-dimensional map through the two-dimensional coordinate;
marking coordinates of the inspection robot in real time in a three-dimensional map to form a motion track and storing and recording the motion track;
the real-time coordinates of the inspection robot in the three-dimensional map are as follows:
wherein Δ x ═ x0,3-x0,2，Δy＝y0,3-y0,2In the formula, x2 and y2 respectively represent x-axis and y-axis values of coordinates in a two-dimensional map, x3 and y3 respectively represent x-axis and y-axis values in a three-dimensional map, kx and ky respectively represent x-axis and y-axis scaling factors, x0,2 and y0 are original point values of the coordinates of the two-dimensional map, and x0,3 and y0,3 are original point values of the coordinates of the three-dimensional map.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the inspection system is constructed by the inspection robot, the data transmission device, the self-service charging device and the intelligent inspection system monitoring background of the robot, meanwhile, the three-dimensional information model of the equipment is constructed, the visualization level of the inspection system is improved, and the diagnosis and early warning performance of the inspection system is improved by the cooperation of the intelligent diagnosis process and the multi-source data.
Drawings
FIG. 1 is a block diagram of the system of the present invention.
FIG. 2 is a flow chart of the three-dimensional information model construction of the present invention.
FIG. 3 is a flow chart of the intelligent diagnosis of the present invention.
Fig. 4 is a flow chart of the intelligent patrol inspection work of the invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Example 1
As shown in fig. 1, a three-dimensional visual robot intelligent inspection system of transformer substation includes: patrol and examine robot, data transmission device, self-service charging device, robot intelligence and patrol and examine system monitoring backstage, patrol and examine the video image information that the robot is used for gathering the equipment to be measured to send the video image information of gathering to the intelligent system monitoring backstage of patrolling and examining of robot through data transmission device, data transmission device is used for patrolling and examining the data upload of robot collection and the issue of the intelligent system monitoring backstage control data of patrolling and examining of robot, autonomic charging device is used for patrolling and examining the automatic function of charging of robot, the intelligent system monitoring backstage of robot is used for patrolling and examining storage, analysis, the demonstration of data of patrolling and examining.
In a specific embodiment, the background of the intelligent inspection system is developed by a linux system, and the background further comprises a terminal: computer terminal, mobile device, LED large screen. The autonomous charging device includes: special block terminal and the socket that independently charges.
In the present invention, the inspection system further includes a plurality of data sources, specifically including: the system comprises data of an online monitoring system, data of an asset management system and data of an SCADA system, wherein the online monitoring system and the asset management system are connected to a robot intelligent inspection system monitoring background through a firewall, the SCADA system is connected to a second firewall through an isolating device, and the second firewall is connected to the robot intelligent inspection system monitoring background.
In the present invention, the inspection robot includes: integration cloud platform, motion system, wireless transceiver, the integration cloud platform includes: the system comprises a visible light camera and a thermal infrared imager, wherein the visible light camera is used for identifying the running state of equipment, the thermal infrared imager is used for measuring temperature in an infrared mode, and the acquired video image information comprises: visible light video image information and infrared video image information; the motion system includes: navigation module and drive module, the navigation module includes: ultrasonic sensor and laser sensor, ultrasonic sensor is used for the anticollision, laser sensor is used for the location, drive module is used for patrolling and examining the drive control of each motor of robot.
In a specific embodiment, the driving module calculates a target rotating speed required by each motor according to the received instruction, and drives the corresponding motor to operate at the target rotating speed, so that the motion control of the inspection robot is realized. The driving module also has the functions of self high voltage, low voltage, overcurrent, short circuit, broken circuit, over-temperature and communication real-time monitoring, and can automatically stop and report error states when abnormality occurs.
In the present invention, the data transmission device includes: the intelligent inspection robot comprises a wireless receiving and transmitting device and a roof wireless base station which are arranged inside the inspection robot, wherein the wireless receiving and transmitting device of an inspection robot body is connected to the roof wireless base station through a wireless network bridge, and the roof wireless base station is in communication connection with a monitoring background of an intelligent inspection system of the robot.
In the invention, the monitoring background of the robot intelligent inspection system comprises: the system comprises a three-dimensional information model display unit, a robot working process display unit, a visual task issuing unit and an intelligent diagnosis unit.
The inspection task can be automatically generated and issued by sequentially clicking the three-dimensional information model of the equipment to be inspected in the three-dimensional map, so that the inspection task can be visually issued.
As shown in fig. 2, in the present invention, the modeling process of the three-dimensional information model is as follows:
respectively acquiring point cloud data of substation equipment and a substation, and preprocessing the point cloud data of the substation equipment into an equipment point cloud model;
manufacturing the point cloud model into a transformer substation equipment body model through polygon topology reconstruction, texture mapping, material splitting and skeleton skin animation manufacturing technologies;
matching the point cloud of the transformer substation equipment with the point cloud of the transformer substation, and determining the accurate coordinates of each equipment body model of the transformer substation in the transformer substation, so as to reconstruct a three-dimensional information model of the facility of the transformer substation equipment;
supplementing and correcting the model of the substation equipment facility according to the equipment texture, the local appearance and the laser scanning blind area information supplemented by the field shot image;
then, overlapping and obtaining multi-source data to complete three-dimensional information modeling;
and the established three-dimensional information modeling is stored according to a standard general format, and a three-dimensional information model base is established according to the equipment type and model.
It should be noted that, in the invention, the point cloud data can be obtained by three-dimensional laser scanning, and the three-dimensional modeling data can be obtained by on-site shooting and inquiring the construction drawing of the equipment.
In the invention, the preprocessing of the point cloud data of the substation equipment comprises the following steps: data registration, data filtering, data cutting and packaging;
the multi-source data is data which are obtained by connecting a production management system, an SCADA system, a robot intelligent inspection system, an intelligent maintenance system and an intelligent detection system, and the equipment ledger, the power grid tide and the robot inspection data are obtained.
As shown in fig. 3, in the present invention, the intelligent diagnosis unit includes a primary diagnosis process and a high-level diagnosis process, wherein the primary diagnosis process is:
the characteristic parameters are obtained through image characteristic extraction, and the method comprises the following steps: reading, pressing plate state and indicator lamp state of the corresponding meter of the equipment;
calculating the characteristic parameters by adopting threshold diagnosis and time domain waveform diagnosis and calling equipment operation standards to judge whether the characteristic values are abnormal or not;
if the characteristic value is normal, switching to a high-level diagnosis process, if the characteristic value is abnormal, giving an alarm, and meanwhile, enabling a three-dimensional information model of the abnormal equipment to change red and flash to pop up diagnosis information;
the high-level diagnosis process comprises the following steps:
acquiring multi-source data of equipment to be diagnosed and extracting characteristic parameters;
mining characteristic parameters influencing the equipment state by adopting a fuzzy clustering and association rule algorithm;
calling historical operating data of the equipment to judge whether the equipment state trend is abnormal or not;
and if the state trend is abnormal, performing trend early warning, marking yellow and flashing the three-dimensional information model of the abnormal equipment, and popping up diagnosis information.
In the present invention, the tasks issued by the visual task issuing unit include: an autonomous inspection mode of full-automatic inspection and a remote inspection mode of remote online remote control, wherein the autonomous inspection mode of the full-automatic inspection comprises special inspection and routine inspection,
in a special inspection mode, the equipment with the configured inspection point locations can automatically complete an inspection task, when the inspection point locations of the equipment need to be newly added, an operator only needs to operate a robot to reach the corresponding equipment position, a camera is rotated to point to the newly added inspection point locations, the three-dimensional information model automatically pops out inspection standards associated with the newly added inspection point locations for the operator to select, and after the operator confirms the inspection standards, the system stores and solidifies the configuration commands into a database, so that the inspection tasks can be directly called when the next time is needed; in a routine inspection mode, an operator determines inspection contents in advance based on a three-dimensional map and sets inspection time and period, and the robot can start automatically and complete a routine inspection task; the remote inspection mode of the remote online remote control is that an operator can remotely and manually remotely control the robot to finish inspection based on the position of the robot in the three-dimensional map.
In the invention, the working process of the robot working process display unit is as follows: acquiring a real-time two-dimensional coordinate returned by the inspection robot;
calculating the real-time coordinate of the inspection robot in the three-dimensional map through the two-dimensional coordinate;
marking coordinates of the inspection robot in real time in a three-dimensional map to form a motion track and storing and recording the motion track; the function of retrospective tracing can be realized through motion trail storage.
The real-time coordinates of the inspection robot in the three-dimensional map are as follows:
wherein Δ x ═ x0,3-x0,2，Δy＝y0,3-y0,2In the formula, x2 and y2 respectively represent x-axis and y-axis values of coordinates in a two-dimensional map, x3 and y3 respectively represent x-axis and y-axis values in a three-dimensional map, kx and ky respectively represent x-axis and y-axis scaling factors, x0,2 and y0 are original point values of the coordinates of the two-dimensional map, and x0,3 and y0,3 are three valuesAnd (5) coordinate origin values of the dimension map.
As shown in fig. 4, the three-dimensional information modeling is performed on the equipment facilities of the total station, and multi-source data such as equipment ledger, power grid tide, inspection robot data, various intelligent system data and the like are acquired in real time, so that the information of the three-dimensional information model is updated; calculating the coordinate of the inspection robot in the three-dimensional map according to the original two-dimensional coordinate conversion of the inspection robot, and displaying the real-time position of the inspection robot in the model; according to the video image data and other system related data returned by the robot, intelligent diagnosis is carried out, and fault warning and fault early warning of equipment in the station are achieved.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a three-dimensional visual robot intelligence system of patrolling and examining of transformer substation which characterized in that includes: patrol and examine robot, data transmission device, self-service charging device, robot intelligence and patrol and examine system monitoring backstage, patrol and examine the video image information that the robot is used for gathering the equipment to be measured to send the video image information of gathering to the intelligent system monitoring backstage of patrolling and examining of robot through data transmission device, data transmission device is used for patrolling and examining the data upload of robot collection and the issue of the intelligent system monitoring backstage control data of patrolling and examining of robot, autonomic charging device is used for patrolling and examining the automatic function of charging of robot, the intelligent system monitoring backstage of robot is used for patrolling and examining storage, analysis, the demonstration of data of patrolling and examining.
2. The intelligent inspection system according to claim 1, wherein the inspection system further comprises a plurality of data sources, and specifically comprises: the system comprises data of an online monitoring system, data of an asset management system and data of an SCADA system, wherein the online monitoring system and the asset management system are connected to a robot intelligent inspection system monitoring background through a firewall, the SCADA system is connected to a second firewall through an isolating device, and the second firewall is connected to the robot intelligent inspection system monitoring background.
3. The intelligent inspection system according to claim 1, wherein the inspection robot comprises: integration cloud platform, motion system, wireless transceiver, the integration cloud platform includes: the system comprises a visible light camera and a thermal infrared imager, wherein the visible light camera is used for identifying the running state of equipment, the thermal infrared imager is used for measuring temperature in an infrared mode, and the acquired video image information comprises: visible light video image information and infrared video image information; the motion system includes: navigation module and drive module, the navigation module includes: ultrasonic sensor and laser sensor, ultrasonic sensor is used for the anticollision, laser sensor is used for the location, drive module is used for patrolling and examining the drive control of each motor of robot.
4. The intelligent inspection system according to claim 1, wherein the data transmission device comprises: the intelligent inspection robot comprises a wireless receiving and transmitting device and a roof wireless base station which are arranged inside the inspection robot, wherein the wireless receiving and transmitting device of an inspection robot body is connected to the roof wireless base station through a wireless network bridge, and the roof wireless base station is in communication connection with a monitoring background of an intelligent inspection system of the robot.
5. The substation three-dimensional visual robot intelligent inspection system according to claim 1, wherein the robot intelligent inspection system monitoring background comprises: the system comprises a three-dimensional information model display unit, a robot working process display unit, a visual task issuing unit and an intelligent diagnosis unit.
6. The intelligent inspection system of the three-dimensional visual robot of the transformer substation according to claim 1, wherein the modeling process of the three-dimensional information model is as follows:
respectively acquiring point cloud data of substation equipment and a substation, and preprocessing the point cloud data of the substation equipment into an equipment point cloud model;
manufacturing the point cloud model into a transformer substation equipment body model through polygon topology reconstruction, texture mapping, material splitting and skeleton skin animation manufacturing technologies;
matching the point cloud of the transformer substation equipment with the point cloud of the transformer substation, and determining the accurate coordinates of each equipment body model of the transformer substation in the transformer substation, so as to reconstruct a three-dimensional information model of the facility of the transformer substation equipment;
supplementing and correcting the model of the substation equipment facility according to the equipment texture, the local appearance and the laser scanning blind area information supplemented by the field shot image;
then, overlapping and obtaining multi-source data to complete three-dimensional information modeling;
and the established three-dimensional information modeling is stored according to a standard general format, and a three-dimensional information model base is established according to the equipment type and model.
7. The intelligent inspection system of a three-dimensional visual robot of a transformer substation according to claim 6, characterized in that,
the preprocessing of the point cloud data of the substation equipment comprises the following steps: data registration, data filtering, data cutting and packaging;
the multi-source data is data which are obtained by connecting a production management system, an SCADA system, a robot intelligent inspection system, an intelligent maintenance system and an intelligent detection system, and the equipment ledger, the power grid tide and the robot inspection data are obtained.
8. The intelligent inspection system of the three-dimensional visual robot of the transformer substation according to claim 1, wherein the intelligent diagnosis unit comprises a primary diagnosis process and an advanced diagnosis process,
wherein the primary diagnosis process comprises the following steps:
the characteristic parameters are obtained through image characteristic extraction, and the method comprises the following steps: reading, pressing plate state and indicator lamp state of the corresponding meter of the equipment;
calculating the characteristic parameters by adopting threshold diagnosis and time domain waveform diagnosis and calling equipment operation standards to judge whether the characteristic values are abnormal or not;
if the characteristic value is normal, switching to a high-level diagnosis process, if the characteristic value is abnormal, giving an alarm, and meanwhile, enabling a three-dimensional information model of the abnormal equipment to change red and flash to pop up diagnosis information;
the high-level diagnosis process comprises the following steps:
acquiring multi-source data of equipment to be diagnosed and extracting characteristic parameters;
mining characteristic parameters influencing the equipment state by adopting a fuzzy clustering and association rule algorithm;
calling historical operating data of the equipment to judge whether the equipment state trend is abnormal or not;
and if the state trend is abnormal, performing trend early warning, marking yellow and flashing the three-dimensional information model of the abnormal equipment, and popping up diagnosis information.
9. The intelligent inspection system of the three-dimensional visual robot of transformer substation of claim 5, wherein the tasks issued by the visual task issuing unit include: an autonomous inspection mode of full-automatic inspection and a remote inspection mode of remote online remote control, wherein the autonomous inspection mode of the full-automatic inspection comprises special inspection and routine inspection,
in a special inspection mode, the equipment with the configured inspection point locations can automatically complete an inspection task, when the inspection point locations of the equipment need to be newly added, an operator only needs to operate a robot to reach the corresponding equipment position, a camera is rotated to point to the newly added inspection point locations, the three-dimensional information model automatically pops out inspection standards associated with the newly added inspection point locations for the operator to select, and after the operator confirms the inspection standards, the system stores and solidifies the configuration commands into a database, so that the inspection tasks can be directly called when the next time is needed; in a routine inspection mode, an operator determines inspection contents in advance based on a three-dimensional map and sets inspection time and period, and the robot can start automatically and complete a routine inspection task; the remote inspection mode of the remote online remote control is that an operator can remotely and manually remotely control the robot to finish inspection based on the position of the robot in the three-dimensional map.
10. The intelligent inspection system of the three-dimensional visual robot of transformer substation of claim 5, characterized in that, the robot operation process display unit working process is: acquiring a real-time two-dimensional coordinate returned by the inspection robot;
calculating the real-time coordinate of the inspection robot in the three-dimensional map through the two-dimensional coordinate;
marking coordinates of the inspection robot in real time in a three-dimensional map to form a motion track and storing and recording the motion track;
the real-time coordinates of the inspection robot in the three-dimensional map are as follows:
wherein, Δ x ═ x0,3-x0,2，Δy＝y0,3-y0,2，Δz＝z0,3-z0,2In the formula x2、y2X-and y-axis values, x, respectively representing coordinates in a two-dimensional map3、y3、z3Respectively representing x-axis, y-axis and z-axis values, k, in a three-dimensional mapx、ky、kzRespectively representing the scale factors of the x-axis, the y-axis and the z-axis, x0,2、y0,2As coordinate origin values, x, of a two-dimensional map0,3、y0,3、z0,3Is a three-dimensional map coordinate origin value.
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