CN112706162A - Method for realizing internal patrol of secondary equipment screen cabinet through patrol robot - Google Patents
Method for realizing internal patrol of secondary equipment screen cabinet through patrol robot Download PDFInfo
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- CN112706162A CN112706162A CN202011342342.3A CN202011342342A CN112706162A CN 112706162 A CN112706162 A CN 112706162A CN 202011342342 A CN202011342342 A CN 202011342342A CN 112706162 A CN112706162 A CN 112706162A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000007689 inspection Methods 0.000 claims abstract description 66
- 238000012423 maintenance Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims description 26
- 238000005516 engineering process Methods 0.000 claims description 18
- 230000007613 environmental effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 239000013307 optical fiber Substances 0.000 claims description 8
- 238000009529 body temperature measurement Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 6
- 210000004709 eyebrow Anatomy 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000007789 sealing 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
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention discloses a method for realizing the patrol of the interior of a secondary equipment screen cabinet by a patrol robot, which sequentially comprises the following steps: s10: receiving a screen cabinet inspection command issued by an intelligent operation and maintenance system in the transformer substation; s20: the robot positions the screen cabinet, navigates to move to the screen cabinet and opens the screen cabinet; s30: patrolling a backboard arranged in the screen cabinet to generate a patrolling result; s40: patrolling the temperature of the device in the screen cabinet to generate a patrolling result; s50: inspecting the terminal rows of the screen cabinet to generate an inspection result; s60: inspecting the temperature and humidity environment of the operating environment of the device in the screen cabinet to generate an inspection result; s70: integrating the inspection results to generate an inspection report; s80: and restoring the screen cabinet site. The invention has the advantages that: the intelligent operation and maintenance system plays an active role in improving the automation level of the transformer substation and improving the intelligent operation and maintenance capability of the transformer substation.
Description
Technical Field
The invention relates to a method for realizing the inspection of the interior of a secondary equipment screen cabinet by an inspection robot.
Background
The intelligent transformer substation is used as a part of a power system, and the safety and stability of the power system are seriously influenced by the safe and stable operation of the transformer substation; meanwhile, along with the continuous perfection of the power system, the operation and maintenance work of the power grid is increasingly and obviously positioned at the important position of the power system, and how to quickly and accurately position the problem, the problem is effectively treated in parallel, and the position of the problem in the daily operation and maintenance of the power system is increasingly important; the intelligent patrol function checks evaluation indexes such as substation equipment sampling and state data manually and periodically, finds the abnormality of the equipment and pushes the abnormality to electric power professional staff for processing, and is an important means for electric power operation and maintenance work. Due to the sealing characteristic of the protection screen cabinet, the conventional intelligent inspection means is difficult to inspect the internal equipment and environment comprehensively, the problem cannot be found as early as possible, and the hidden danger is solved.
Disclosure of Invention
The invention aims to provide a method for realizing the internal patrol of a secondary equipment screen cabinet through a patrol robot, which can effectively solve the problems that intelligent patrol cannot be realized in a protection screen cabinet and potential safety hazards exist.
In order to solve the technical problems, the invention is realized by the following technical scheme: the method for realizing the internal patrol of the secondary equipment screen cabinet through the patrol robot sequentially comprises the following steps of:
s10: receiving a screen cabinet inspection command issued by an intelligent operation and maintenance system in the transformer substation;
s20: the robot positions the screen cabinet, navigates to move to the screen cabinet and opens the screen cabinet;
s30: patrolling a backboard arranged in the screen cabinet to generate a patrolling result;
s40: patrolling the temperature of the device in the screen cabinet to generate a patrolling result;
s50: inspecting the terminal rows of the screen cabinet to generate an inspection result;
s60: inspecting the temperature and humidity environment of the operating environment of the device in the screen cabinet to generate an inspection result;
s70: integrating the inspection results to generate an inspection report;
s80: and restoring the screen cabinet site.
Preferably, the specific operation steps of step S10 are as follows:
s11: the intelligent operation and maintenance system in the transformer substation issues a screen cabinet inspection command of a specific screen cabinet to the robot background through the in-station communication network according to the in-station inspection scheme;
s12: after receiving a screen cabinet patrol command, the background of the robot analyzes the command content;
s13: the background of the robot analyzes the detailed information of the to-be-patrolled screen cabinet from the analyzed screen cabinet patrolling command;
s14: the background of the robot searches a position information base of each screen cabinet established in the early stage to obtain the position information of the screen cabinet to be patrolled;
s15: the robot background packs the screen cabinet specific information including the screen cabinet position information and assembles the screen cabinet patrol command;
s16: and the background of the robot sends a screen cabinet patrol command to the robot through the wireless communication module.
Preferably, the specific operation steps of step S20 are as follows:
s21: the robot receives a screen cabinet inspection command issued by the robot background through the wireless communication module;
s22: the robot unpacks the inspection command of the screen cabinet, and analyzes the screen cabinet information such as position information of the screen cabinet from the inspection command;
s23: the robot formulates a traveling route from the current position of the robot to the screen cabinet according to the position information of the screen cabinet to be patrolled and by combining the screen cabinet arrangement information in the station constructed in the early stage;
s24: the robot moves to the screen cabinet to be patrolled according to the traveling route established in the step S23 by using the motion system;
s25: the robot moves to a screen cabinet to be patrolled, pictures are taken of screen eyebrow information, and the name of the current screen cabinet is obtained through a character recognition system;
comparing the screen cabinet name with the screen cabinet name in the received screen cabinet inspection command to confirm that the screen cabinet is correct;
the robot takes a picture of the information of the front screen cabinet for starting patrol, and sends the picture to the robot background record through the wireless transmission module;
s26: the robot utilizes arm and special-shaped spanner, opens the screen cabinet door.
Preferably, the specific operation steps of step S30 are as follows:
s31: the robot determines the position of equipment in the screen cabinet by adopting an image recognition technology in combination with screen cabinet information in a screen cabinet patrol command;
s32: the robot photographs the back plate of each device in the screen cabinet to obtain the optical fiber and terminal wiring picture records of the back plate of the device;
s33: the robot sends the device backboard pictures recorded by photographing to a robot background through a wireless communication module;
s34: the background of the robot extracts characteristic information of device backboard optical fibers, terminal wiring and the like in a backboard diagram of the device by using an image recognition technology;
s35: the background of the robot compares the feature information extracted from the device backboard diagram with the device backboard feature information recorded at the early stage to finish the device backboard inspection result;
s36: and generating a device backboard patrol result by the background of the robot.
Preferably, the specific operation steps of step S40 are as follows:
s41: the robot combines the screen cabinet information in the screen cabinet patrol command, and adopts an image recognition technology to determine the position of a device in the screen cabinet;
s42: the robot carries out infrared temperature measurement on each device in the screen cabinet, and each device continuously measures 3 times at different positions of the backboard to obtain an average value so as to obtain a surface temperature value of the device;
s43: the robot transmits the acquired surface temperature information of the device to a robot background through a wireless communication module;
s44: the temperature information of the robot background analysis device is compared with a preset device temperature range reference value, and the temperature inspection of the device is completed;
s45: and generating a device temperature patrol result by the robot background.
Preferably, the specific operation steps of step S50 are as follows:
s51: the robot combines the screen cabinet information in the screen cabinet patrol command, and determines the number and the position of the terminal rows in the screen cabinet by adopting an image recognition technology;
s52: the robot photographs each terminal strip in the screen cabinet to obtain a terminal strip wiring picture;
s53: the robot sends the acquired screen cabinet terminal strip pictures to a robot background through a wireless transmission module;
s54: the robot background extracts characteristic information of the screen cabinet terminal strip through an image recognition technology, and compares the extracted characteristic information with the recorded normal terminal strip characteristic information to complete inspection of the screen cabinet terminal strip;
s55: and generating a screen cabinet terminal row result by the background of the robot.
Preferably, the specific operation steps of step S60 are as follows:
s61: the robot respectively measures the environmental temperatures of three different positions in the screen cabinet by adopting an infrared temperature measurement technology, and the average value is obtained to obtain the temperature in the screen cabinet;
s62: the robot respectively measures the environmental humidity of three different positions in the screen cabinet, and the average value is obtained to obtain the humidity in the screen cabinet;
s63: the robot sends the acquired information of the temperature and humidity running environment in the screen cabinet to a robot background through a wireless transmission module;
s64: the background of the robot analyzes the temperature and humidity running environment information in the screen cabinet, and compares the temperature and humidity running environment information with the set temperature and humidity range reference information to finish the inspection of the running environment information in the screen cabinet;
s65: and generating a temperature and humidity operation environment information result in the screen cabinet by the background of the robot.
Preferably, the specific operation steps of step S70 are as follows:
s71: the robot background analyzes the effectiveness and reliability characteristics of the patrol results generated in the steps S30 to S60;
s72: the background of the robot integrates the patrol results of all the previous steps to generate a total patrol result;
s73: the robot background stores the generated patrol report to the local part of the robot background and sends a screen cabinet patrol completion message in an alarm form;
s74: the background of the robot sends the inspection results of the screen cabinet to an intelligent operation and maintenance system in the station;
s75: and the background of the robot sends a screen cabinet patrol completion command to the robot through the wireless communication module.
Preferably, the specific operation steps of step S80 are as follows:
s81: the robot receives a screen cabinet inspection completion command issued by the robot background through the wireless communication module;
s82: the robot closes the screen cabinet door by using the mechanical arm and the special-shaped spanner;
s83: the robot takes a picture of the screen cabinet which finishes the inspection of the screen cabinet and finishes the closing of the screen cabinet;
s84: the robot transmits a screen cabinet photo after the screen cabinet door is closed to the robot background for recording through the wireless communication module.
Compared with the prior art, the invention has the advantages that: according to the intelligent patrol robot, intelligent technical means such as a control system, a motion system, a vision system and a wireless communication system of the patrol robot in the relay protection room are utilized to comprehensively patrol the running state information of equipment such as optical fibers, terminal blocks and the surface temperature of the equipment in the protection equipment cabinet and the running environment of the equipment such as the environmental temperature and the environmental humidity, so that the dilemma that the intelligent patrol is carried out on the interior of the cabinet in an automatic mode for a long time is solved, and the intelligent patrol robot plays a positive role in improving the automation level of a transformer substation and the intelligent operation and maintenance capability of the transformer substation.
Drawings
FIG. 1 is a flow chart of a method for realizing the inspection of the interior of a secondary equipment cabinet by an inspection robot according to the invention;
FIG. 2 is a flowchart of the specific operation step of step S10 in the method for implementing the patrol inside the secondary equipment cabinet by using the patrol robot according to the present invention;
FIG. 3 is a flowchart of the specific operation step of step S20 in the method for implementing the patrol inside the secondary equipment cabinet by using the patrol robot according to the present invention;
FIG. 4 is a flowchart of the specific operation step of step S30 in the method for implementing the patrol inside the secondary equipment cabinet by using the patrol robot according to the present invention;
FIG. 5 is a flowchart illustrating a specific operation step of step S40 in the method for implementing an internal patrol of a secondary equipment cabinet by using a patrol robot according to the present invention;
FIG. 6 is a flowchart of the specific operation step of step S50 in the method for implementing the patrol of the interior of the secondary equipment cabinet by the patrol robot according to the present invention;
FIG. 7 is a flowchart illustrating a specific operation step of step S60 in the method for implementing an internal patrol of a secondary equipment cabinet by using a patrol robot according to the present invention;
FIG. 8 is a flowchart illustrating a specific operation step of step S70 in the method for implementing an internal patrol of a secondary equipment cabinet by using a patrol robot according to the present invention;
FIG. 9 is a flowchart illustrating a specific operation step of step S80 in the method for implementing an internal patrol of a secondary equipment cabinet by using a patrol robot according to the present invention;
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1, the embodiment of the method for realizing the inspection of the interior of the secondary equipment cabinet by the inspection robot according to the invention sequentially includes the following steps:
s10: receiving a screen cabinet inspection command issued by an intelligent operation and maintenance system in the transformer substation;
s20: the robot positions the screen cabinet, navigates to move to the screen cabinet and opens the screen cabinet;
s30: patrolling a backboard arranged in the screen cabinet to generate a patrolling result;
s40: patrolling the temperature of the device in the screen cabinet to generate a patrolling result;
s50: inspecting the terminal rows of the screen cabinet to generate an inspection result;
s60: inspecting the temperature and humidity environment of the operating environment of the device in the screen cabinet to generate an inspection result;
s70: integrating the inspection results to generate an inspection report;
s80: and restoring the screen cabinet site.
As shown in fig. 2 to 9, the specific operation steps are as follows:
s11: the intelligent operation and maintenance system in the transformer substation issues a screen cabinet inspection command of a specific screen cabinet to the robot background through the in-station communication network according to the in-station inspection scheme;
s12: after receiving a screen cabinet patrol command, the background of the robot analyzes the command content;
s13: the background of the robot analyzes the detailed information of the to-be-patrolled screen cabinet from the analyzed screen cabinet patrolling command;
s14: the background of the robot searches a position information base of each screen cabinet established in the early stage to obtain the position information of the screen cabinet to be patrolled;
s15: the robot background packs the screen cabinet specific information including the screen cabinet position information and assembles the screen cabinet patrol command;
s16: the background of the robot sends a screen cabinet patrol command to the robot through the wireless communication module;
s21: the robot receives a screen cabinet inspection command issued by the robot background through the wireless communication module;
s22: the robot unpacks the inspection command of the screen cabinet, and analyzes the screen cabinet information such as position information of the screen cabinet from the inspection command;
s23: the robot formulates a traveling route from the current position of the robot to the screen cabinet according to the position information of the screen cabinet to be patrolled and by combining the screen cabinet arrangement information in the station constructed in the early stage;
s24: the robot moves to the screen cabinet to be patrolled according to the traveling route established in the step S23 by using the motion system;
s25: the robot moves to a screen cabinet to be patrolled, pictures are taken of screen eyebrow information, and the name of the current screen cabinet is obtained through a character recognition system;
comparing the screen cabinet name with the screen cabinet name in the received screen cabinet inspection command to confirm that the screen cabinet is correct;
the robot takes a picture of the information of the front screen cabinet for starting patrol, and sends the picture to the robot background record through the wireless transmission module;
s26: the robot opens the screen cabinet door by using the mechanical arm and the special-shaped wrench;
s31: the robot determines the position of equipment in the screen cabinet by adopting an image recognition technology in combination with screen cabinet information in a screen cabinet patrol command;
s32: the robot photographs the back plate of each device in the screen cabinet to obtain the optical fiber and terminal wiring picture records of the back plate of the device;
s33: the robot sends the device backboard pictures recorded by photographing to a robot background through a wireless communication module;
s34: the background of the robot extracts characteristic information of device backboard optical fibers, terminal wiring and the like in a backboard diagram of the device by using an image recognition technology;
s35: the background of the robot compares the feature information extracted from the device backboard diagram with the device backboard feature information recorded at the early stage to finish the device backboard inspection result;
s36: a backstage of the robot generates a device backboard patrol result;
s41: the robot combines the screen cabinet information in the screen cabinet patrol command, and adopts an image recognition technology to determine the position of a device in the screen cabinet;
s42: the robot carries out infrared temperature measurement on each device in the screen cabinet, and each device continuously measures 3 times at different positions of the backboard to obtain an average value so as to obtain a surface temperature value of the device;
s43: the robot transmits the acquired surface temperature information of the device to a robot background through a wireless communication module;
s44: the temperature information of the robot background analysis device is compared with a preset device temperature range reference value, and the temperature inspection of the device is completed;
s45: generating a device temperature patrol result by the robot background;
s51: the robot combines the screen cabinet information in the screen cabinet patrol command, and determines the number and the position of the terminal rows in the screen cabinet by adopting an image recognition technology;
s52: the robot photographs each terminal strip in the screen cabinet to obtain a terminal strip wiring picture;
s53: the robot sends the acquired screen cabinet terminal strip pictures to a robot background through a wireless transmission module;
s54: the robot background extracts characteristic information of the screen cabinet terminal strip through an image recognition technology, and compares the extracted characteristic information with the recorded normal terminal strip characteristic information to complete inspection of the screen cabinet terminal strip;
s55: generating a screen cabinet terminal row result by the background of the robot;
s61: the robot respectively measures the environmental temperatures of three different positions in the screen cabinet by adopting an infrared temperature measurement technology, and the average value is obtained to obtain the temperature in the screen cabinet;
s62: the robot respectively measures the environmental humidity of three different positions in the screen cabinet, and the average value is obtained to obtain the humidity in the screen cabinet;
s63: the robot sends the acquired information of the temperature and humidity running environment in the screen cabinet to a robot background through a wireless transmission module;
s64: the background of the robot analyzes the temperature and humidity running environment information in the screen cabinet, and compares the temperature and humidity running environment information with the set temperature and humidity range reference information to finish the inspection of the running environment information in the screen cabinet;
s65: a background of the robot generates a temperature and humidity operation environment information result in a screen cabinet;
s71: the robot background analyzes the effectiveness and reliability characteristics of the patrol results generated in the steps S36, S45, S55, S65 and S75;
s72: the background of the robot integrates the patrol results of all the previous steps to generate a total patrol result;
s73: the robot background stores the generated patrol report to the local part of the robot background and sends a screen cabinet patrol completion message in an alarm form;
s74: the background of the robot sends the inspection results of the screen cabinet to an intelligent operation and maintenance system in the station;
s75: the background of the robot sends a screen cabinet patrol completion command to the robot through the wireless communication module;
s81: the robot receives a screen cabinet inspection completion command issued by the robot background through the wireless communication module;
s82: the robot closes the screen cabinet door by using the mechanical arm and the special-shaped spanner;
s83: the robot takes a picture of the screen cabinet which finishes the inspection of the screen cabinet and finishes the closing of the screen cabinet;
s84: the robot transmits a screen cabinet photo after the screen cabinet door is closed to the robot background for recording through the wireless communication module.
According to the intelligent patrol robot, intelligent technical means such as a control system, a motion system, a vision system and a wireless communication system of the patrol robot in the relay protection room are utilized to comprehensively patrol the running state information of equipment such as optical fibers, terminal blocks and the surface temperature of the equipment in the protection equipment cabinet and the running environment of the equipment such as the environmental temperature and the environmental humidity, so that the dilemma that the intelligent patrol is carried out on the interior of the cabinet in an automatic mode for a long time is solved, and the intelligent patrol robot plays a positive role in improving the automation level of a transformer substation and the intelligent operation and maintenance capability of the transformer substation.
The above description is only an embodiment of the present invention, but the technical features of the present invention are not limited thereto, and any changes or modifications within the technical field of the present invention by those skilled in the art are covered by the claims of the present invention.
Claims (9)
1. The method for realizing the internal patrol of the secondary equipment screen cabinet through the patrol robot is characterized in that: the method sequentially comprises the following steps:
s10: receiving a screen cabinet inspection command issued by an intelligent operation and maintenance system in the transformer substation;
s20: the robot positions the screen cabinet, navigates to move to the screen cabinet and opens the screen cabinet;
s30: patrolling a backboard arranged in the screen cabinet to generate a patrolling result;
s40: patrolling the temperature of the device in the screen cabinet to generate a patrolling result;
s50: inspecting the terminal rows of the screen cabinet to generate an inspection result;
s60: inspecting the temperature and humidity environment of the operating environment of the device in the screen cabinet to generate an inspection result;
s70: integrating the inspection results to generate an inspection report;
s80: and restoring the screen cabinet site.
2. The method for realizing the patrol of the interior of the secondary equipment cabinet through the patrol robot as claimed in claim 1, wherein: the specific operation steps of step S10 are as follows:
s11: the intelligent operation and maintenance system in the transformer substation issues a screen cabinet inspection command of a specific screen cabinet to the robot background through the in-station communication network according to the in-station inspection scheme;
s12: after receiving a screen cabinet patrol command, the background of the robot analyzes the command content;
s13: the background of the robot analyzes the detailed information of the to-be-patrolled screen cabinet from the analyzed screen cabinet patrolling command;
s14: the background of the robot searches a position information base of each screen cabinet established in the early stage to obtain the position information of the screen cabinet to be patrolled;
s15: the robot background packs the screen cabinet specific information including the screen cabinet position information and assembles the screen cabinet patrol command;
s16: and the background of the robot sends a screen cabinet patrol command to the robot through the wireless communication module.
3. The method for realizing the patrol of the interior of the secondary equipment cabinet through the patrol robot as claimed in claim 1, wherein: the specific operation steps of step S20 are as follows:
s21: the robot receives a screen cabinet inspection command issued by the robot background through the wireless communication module;
s22: the robot unpacks the inspection command of the screen cabinet, and analyzes the screen cabinet information such as position information of the screen cabinet from the inspection command;
s23: the robot formulates a traveling route from the current position of the robot to the screen cabinet according to the position information of the screen cabinet to be patrolled and by combining the screen cabinet arrangement information in the station constructed in the early stage;
s24: the robot moves to the screen cabinet to be patrolled according to the traveling route established in the step S23 by using the motion system;
s25: the robot moves to a screen cabinet to be patrolled, pictures are taken of screen eyebrow information, and the name of the current screen cabinet is obtained through a character recognition system;
comparing the screen cabinet name with the screen cabinet name in the received screen cabinet inspection command to confirm that the screen cabinet is correct;
the robot takes a picture of the information of the front screen cabinet for starting patrol, and sends the picture to the robot background record through the wireless transmission module;
s26: the robot utilizes arm and special-shaped spanner, opens the screen cabinet door.
4. The method for realizing the patrol of the interior of the secondary equipment cabinet through the patrol robot as claimed in claim 1, wherein: the specific operation steps of step S30 are as follows:
s31: the robot determines the position of equipment in the screen cabinet by adopting an image recognition technology in combination with screen cabinet information in a screen cabinet patrol command;
s32: the robot photographs the back plate of each device in the screen cabinet to obtain the optical fiber and terminal wiring picture records of the back plate of the device;
s33: the robot sends the device backboard pictures recorded by photographing to a robot background through a wireless communication module;
s34: the background of the robot extracts characteristic information of device backboard optical fibers, terminal wiring and the like in a backboard diagram of the device by using an image recognition technology;
s35: the background of the robot compares the feature information extracted from the device backboard diagram with the device backboard feature information recorded at the early stage to finish the device backboard inspection result;
s36: and generating a device backboard patrol result by the background of the robot.
5. The method for realizing the patrol of the interior of the secondary equipment cabinet through the patrol robot as claimed in claim 1, wherein: the specific operation steps of step S40 are as follows:
s41: the robot combines the screen cabinet information in the screen cabinet patrol command, and adopts an image recognition technology to determine the position of a device in the screen cabinet;
s42: the robot carries out infrared temperature measurement on each device in the screen cabinet, and each device continuously measures 3 times at different positions of the backboard to obtain an average value so as to obtain a surface temperature value of the device;
s43: the robot transmits the acquired surface temperature information of the device to a robot background through a wireless communication module;
s44: the temperature information of the robot background analysis device is compared with a preset device temperature range reference value, and the temperature inspection of the device is completed;
s45: and generating a device temperature patrol result by the robot background.
6. The method for realizing the patrol of the interior of the secondary equipment cabinet through the patrol robot as claimed in claim 1, wherein: the specific operation steps of step S50 are as follows:
s51: the robot combines the screen cabinet information in the screen cabinet patrol command, and determines the number and the position of the terminal rows in the screen cabinet by adopting an image recognition technology;
s52: the robot photographs each terminal strip in the screen cabinet to obtain a terminal strip wiring picture;
s53: the robot sends the acquired screen cabinet terminal strip pictures to a robot background through a wireless transmission module;
s54: the robot background extracts characteristic information of the screen cabinet terminal strip through an image recognition technology, and compares the extracted characteristic information with the recorded normal terminal strip characteristic information to complete inspection of the screen cabinet terminal strip;
s55: and generating a screen cabinet terminal row result by the background of the robot.
7. The method for realizing the patrol of the interior of the secondary equipment cabinet through the patrol robot as claimed in claim 1, wherein: the specific operation steps of step S60 are as follows:
s61: the robot respectively measures the environmental temperatures of three different positions in the screen cabinet by adopting an infrared temperature measurement technology, and the average value is obtained to obtain the temperature in the screen cabinet;
s62: the robot respectively measures the environmental humidity of three different positions in the screen cabinet, and the average value is obtained to obtain the humidity in the screen cabinet;
s63: the robot sends the acquired information of the temperature and humidity running environment in the screen cabinet to a robot background through a wireless transmission module;
s64: the background of the robot analyzes the temperature and humidity running environment information in the screen cabinet, and compares the temperature and humidity running environment information with the set temperature and humidity range reference information to finish the inspection of the running environment information in the screen cabinet;
s65: and generating a temperature and humidity operation environment information result in the screen cabinet by the background of the robot.
8. The method for realizing the patrol of the interior of the secondary equipment cabinet through the patrol robot as claimed in claim 1, wherein: the specific operation steps of step S70 are as follows:
s71: the robot background analyzes the effectiveness and reliability characteristics of the patrol results generated in the steps S30 to S60;
s72: the background of the robot integrates the patrol results of all the previous steps to generate a total patrol result;
s73: the robot background stores the generated patrol report to the local part of the robot background and sends a screen cabinet patrol completion message in an alarm form;
s74: the background of the robot sends the inspection results of the screen cabinet to an intelligent operation and maintenance system in the station;
s75: and the background of the robot sends a screen cabinet patrol completion command to the robot through the wireless communication module.
9. The method for realizing the patrol of the interior of the secondary equipment cabinet through the patrol robot as claimed in claim 1, wherein: the specific operation steps of step S80 are as follows:
s81: the robot receives a screen cabinet inspection completion command issued by the robot background through the wireless communication module;
s82: the robot closes the screen cabinet door by using the mechanical arm and the special-shaped spanner;
s83: the robot takes a picture of the screen cabinet which finishes the inspection of the screen cabinet and finishes the closing of the screen cabinet;
s84: the robot transmits a screen cabinet photo after the screen cabinet door is closed to the robot background for recording through the wireless communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011342342.3A CN112706162A (en) | 2020-11-26 | 2020-11-26 | Method for realizing internal patrol of secondary equipment screen cabinet through patrol robot |
Applications Claiming Priority (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113977598A (en) * | 2021-10-25 | 2022-01-28 | 国网山东省电力公司商河县供电公司 | Video inspection device for closed screen cabinet |
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