CN113708275A - Transformer substation inspection system and method - Google Patents
Transformer substation inspection system and method Download PDFInfo
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- CN113708275A CN113708275A CN202110967059.8A CN202110967059A CN113708275A CN 113708275 A CN113708275 A CN 113708275A CN 202110967059 A CN202110967059 A CN 202110967059A CN 113708275 A CN113708275 A CN 113708275A
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- 238000007689 inspection Methods 0.000 title claims abstract description 186
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000012423 maintenance Methods 0.000 claims abstract description 57
- 230000003993 interaction Effects 0.000 claims abstract description 46
- 238000001514 detection method Methods 0.000 claims description 9
- 238000001931 thermography Methods 0.000 claims description 7
- 230000003190 augmentative effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000011521 glass Substances 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000002341 toxic gas Substances 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000007847 structural defect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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Abstract
The invention discloses a transformer substation inspection system and a transformer substation inspection method. The transformer substation inspection system comprises: the system comprises a patrol robot, a wearable device and an interaction center; the inspection robot is used for acquiring a three-dimensional scene of a current inspection area and transmitting the three-dimensional scene to the interaction center; the wearable device is used for acquiring a three-dimensional scene from the interaction center and transmitting a picture of the three-dimensional scene to eyes of the operation and maintenance personnel; the interaction center is used for acquiring a control instruction input by an operation and maintenance worker and sending the control instruction to the inspection robot; the inspection robot is also used for executing a corresponding inspection task according to the control instruction. By the technical scheme of the embodiment of the invention, the operation and maintenance personnel can assist the inspection robot to work, and the inspection robot is controlled to execute the inspection task, so that the normal operation and maintenance work of the transformer substation is ensured, the inspection precision is improved, and the operation and maintenance personnel can work conveniently.
Description
Technical Field
The invention relates to the technical field of transformer substations, in particular to a transformer substation inspection system and a transformer substation inspection method.
Background
The transformer substation is a key factor for normal operation of the whole power grid, is a central hub for connecting a power supply and a user, and the transformer substation has a safety risk and can directly influence normal connection between a user side and a power supply end, if the transformer substation is not processed in time, the stability of the power grid is influenced, and large-scale power failure can be caused seriously.
Although more inspection robots are used for executing tasks in the current transformer substation operation and maintenance work, the inspection robots are still in a trial operation stage, guidance is lacked in the operation and maintenance work, and the problem of inaccurate identification exists in the inspection process.
Disclosure of Invention
The invention provides a transformer substation inspection system and a transformer substation inspection method, which are used for realizing that an operation and maintenance worker assists an inspection robot to work and controlling the inspection robot to execute an inspection task, so that the normal operation and maintenance work of a transformer substation is ensured, the inspection precision is improved, and the operation and maintenance worker can work conveniently.
In a first aspect, an embodiment of the present invention provides a substation inspection system, where the system includes: the system comprises a patrol robot, a wearable device and an interaction center;
the inspection robot is used for acquiring a three-dimensional scene of a current inspection area and transmitting the three-dimensional scene to the interaction center;
the wearable device is used for acquiring the three-dimensional scene from the interaction center and transmitting the picture of the three-dimensional scene to the eyes of the operation and maintenance personnel;
the interaction center is used for acquiring a control instruction input by an operation and maintenance worker and sending the control instruction to the inspection robot;
and the inspection robot is also used for executing a corresponding inspection task according to the control instruction.
Optionally, the inspection robot comprises a visible light camera, an image matching module and a three-dimensional reconstruction module;
the visible light camera is used for acquiring a visible light image of the current inspection area;
the image matching module is used for carrying out image matching according to the visible light image;
and the three-dimensional reconstruction module generates a three-dimensional scene of the inspection area according to the image matching result.
Optionally, the visible light camera includes a 360 ° panoramic camera.
Optionally, the interaction center includes a server and a control module;
the server is used for receiving the three-dimensional scene, and the control module is used for acquiring a control instruction input by an operation and maintenance worker and sending the control instruction to the inspection robot.
Optionally, the inspection robot and between the servers, the servers and between the wearable devices and the control module and the inspection robot transmit data in a wireless transmission mode.
Optionally, the wearable device comprises a virtual reality display device or an augmented reality display device.
Optionally, the inspection robot comprises an infrared thermometer, an infrared thermal imaging leak detector and an ultraviolet discharge imager;
and the inspection robot controls at least one of the infrared thermometer, the infrared thermal imaging leak detector and the ultraviolet discharge imager to execute a corresponding inspection task according to the control instruction.
Optionally, the inspection robot is further configured to perform inspection according to a preset track, and obtain the operating state and the historical detection information of the faulty equipment through a radio frequency identification tag of the substation equipment.
In a second aspect, an embodiment of the present invention further provides a substation patrol method, where the method includes:
the inspection robot acquires a three-dimensional scene of a current inspection area and transmits the three-dimensional scene to the interaction center;
the wearable device acquires the three-dimensional scene from the interaction center and transmits the picture of the three-dimensional scene to the eyes of the operation and maintenance personnel;
the interaction center acquires a control instruction input by an operation and maintenance worker, and sends the control instruction to the inspection robot;
the inspection robot executes a corresponding inspection task according to the control instruction;
optionally, the inspection robot inspects the fault equipment according to a preset track, and acquires the running state and the historical detection information of the fault equipment through the radio frequency identification tag of the substation equipment.
According to the transformer substation inspection system and the transformer substation inspection method, the inspection robot acquires the three-dimensional scene of the current inspection area and transmits the three-dimensional scene to the interaction center, the wearable device acquires the three-dimensional scene of the interaction center and transmits the picture of the three-dimensional scene to the eyes of the operation and maintenance personnel, the interaction center transmits the control instruction input by the operation and maintenance personnel to the inspection robot, and the inspection robot executes the corresponding inspection task according to the control instruction. Compared with the prior art, because in this scheme, the fortune dimension personnel pass through wearable device, acquire the current three-dimensional scene of patrolling and examining the region and send control command through mutual center, and remote control patrols and examines the robot and carries out the task of patrolling and examining, has solved and has patrolled and examined the robot and lack the guide on fortune dimension work, has discerned coarse problem at the in-process of patrolling and examining, has both guaranteed the normal fortune dimension work of transformer substation and has helped improving the precision of patrolling and examining and make things convenient for fortune dimension personnel's work again.
Drawings
Fig. 1 is a schematic structural diagram of a substation inspection system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another substation inspection system according to the first embodiment of the present invention;
fig. 3 is a diagram of types of inspection instruments of an inspection robot in an inspection system of a substation according to an embodiment of the present invention.
Fig. 4 is a schematic flow chart of a substation patrol method provided in the second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a substation inspection system according to an embodiment of the present invention, where the present embodiment is applicable to operation and maintenance of various power devices in a substation, and the system is used to execute a substation inspection method, and as shown in fig. 1, the substation inspection system includes:
the inspection robot 100, the wearable device 200 and the interaction center 300;
the inspection robot 100 is used for acquiring a three-dimensional scene of a current inspection area and transmitting the three-dimensional scene to the interaction center 300;
the wearable device 200 is used for acquiring a three-dimensional scene from the interaction center 300 and transmitting a picture of the three-dimensional scene to eyes of the operation and maintenance personnel;
the interaction center 300 is used for acquiring a control instruction input by an operation and maintenance worker and sending the control instruction to the inspection robot 100;
the inspection robot 100 is further configured to execute a corresponding inspection task according to the control instruction.
In the above operation, specifically, the inspection robot 100 is used to provide a three-dimensional scene for the operation and maintenance personnel, for example, the inspection robot 100 may include an image acquisition part, an image processing part and a three-dimensional reconstruction part to achieve obtaining of the three-dimensional scene of the current inspection area. For example, a camera or an imager may be installed on the inspection robot 100, an image of a current inspection area is collected through the camera or the imager, then image processing is performed through an image processing portion of the robot 100, a three-dimensional scene of the current inspection area is generated in a three-dimensional reconstruction portion according to an image processing result, and the generated three-dimensional scene is transmitted to the interaction center 300.
The wearable device 200 is connected with the interaction center 300 to enable the wearable device 200 to acquire the three-dimensional scene in the interaction center 300, and since the operation and maintenance personnel cannot acquire the three-dimensional scene directly through eyes, the operation and maintenance personnel need to wear the wearable device 200 to transmit the picture of the three-dimensional scene to the eyes of the operation and maintenance personnel. For example, the interaction center 300 may include a server, the wearable device 200 may include smart wearable glasses, the server is connected to the smart wearable glasses, the inspection robot 100 is connected to the server, the server is configured to receive the three-dimensional scene acquired by the inspection robot 100 and transmit the three-dimensional scene to the smart wearable glasses, and the maintenance worker may see the three-dimensional scene acquired by the inspection robot 100 by wearing the smart wearable glasses. The interaction center 300 transmits the three-dimensional scene to the wearable device 200 and further transmits the three-dimensional scene to eyes of operation and maintenance personnel, the operation and maintenance personnel send out a control instruction according to the seen three-dimensional scene, and the interaction center 300 sends the control instruction to the inspection robot 100 to control the inspection robot 100. For example, the interaction center 300 may include a control module, the control module is connected to the inspection robot 100, and a control command sent by the operation and maintenance staff is transmitted to the inspection robot 100 through the control module in the interaction center 300.
The inspection robot 100 executes a corresponding inspection task according to a control instruction sent by an operation and maintenance person. For example, in the process of the inspection robot 100, when different inspection instruments need to be used or multiple inspection instruments need to be used simultaneously, the operation and maintenance personnel need to send a control instruction to the inspection robot 100 to control the inspection robot to select the corresponding inspection instrument to execute the corresponding inspection task. In the process of the inspection robot 100, when the precise point location identification is needed, a control instruction is also sent to the inspection robot 100. In addition, the inspection robot 100 may have a trajectory deviation or a view angle deviation during the inspection process, and at this time, the operation and maintenance personnel is required to send a control instruction to the inspection robot 100 to correct the trajectory deviation and the view angle deviation.
According to the technical scheme of the embodiment of the invention, the inspection robot acquires the three-dimensional scene of the current inspection area and transmits the three-dimensional scene to the interaction center, the wearable device acquires the three-dimensional scene of the interaction center and transmits the picture of the three-dimensional scene to the eyes of the operation and maintenance personnel, and the interaction center transmits the control instruction input by the operation and maintenance personnel to the inspection robot so as to control the inspection robot to execute the corresponding inspection task. Compared with the prior art, in the scheme, operation and maintenance personnel acquire the current three-dimensional scene of the inspection area through the wearable device and send a control instruction through the interaction center, and the remote control inspection robot executes an inspection task. The problem of patrol and examine robot lack the direction on the operation and maintenance work, have discernment coarse in the in-process of patrolling and examining is solved, both guaranteed the normal operation and maintenance work of transformer substation and helped improving the precision of patrolling and examining and make things convenient for operation and maintenance personnel's work.
Fig. 2 is a schematic structural diagram of another substation inspection system according to the first embodiment of the present invention, and as shown in fig. 2, optionally, the inspection robot 100 includes a visible light camera 110, an image matching module 120, and a three-dimensional reconstruction module 130.
In the above operation, specifically, the visible light camera 110 is configured to obtain a visible light image of the current inspection area; the image matching module 120 is configured to perform image matching according to the visible light image; the three-dimensional reconstruction module 130 generates a three-dimensional scene of the inspection area according to the image matching result.
For example, the visible light camera 110 may focus light having a wavelength in a range from 390nm to 780nm in the inspection area and present a clear image, and optionally, may continuously acquire visible light images for the same area for multiple times, and perform image matching on the acquired multiple visible light images through the image matching module 120. The three-dimensional reconstruction includes five steps of image acquisition, camera calibration, feature extraction, stereo matching and three-dimensional reconstruction, wherein the image acquisition is realized by the visible light camera 110, and then the three-dimensional reconstruction module 130 generates a three-dimensional scene of the inspection area according to the image matching result and the three-dimensional reconstruction steps.
Among them, the visible light camera 110 may include a 360 ° panoramic camera.
Illustratively, a 360-degree panoramic camera can monitor the coverage area of about 400 square meters without blind spots, is provided with a fisheye lens and has a 360-degree panoramic view. A360-degree panoramic camera can replace a plurality of ordinary cameras, and seamless monitoring is achieved. The inspection visual angle can be enlarged in the inspection process of the inspection robot 100 by installing the 360-degree panoramic camera on the inspection robot 100, and the visible light image of the current inspection area can be obtained in an all-round manner.
Referring to fig. 2, optionally, interaction center 300 includes a server 310 and a control module 320.
In the above operation, specifically, the server 310 is configured to receive a three-dimensional scene, and the control module 320 is configured to obtain a control instruction input by an operation and maintenance worker, and send the control instruction to the inspection robot 100.
Illustratively, the server 310 is configured to receive a three-dimensional scene generated by the inspection robot 100, and the operation and maintenance staff may send a voice control instruction according to the three-dimensional scene received by the server 310 and input the voice control instruction into the control module 320, and the control module 320 sends the voice control instruction to the inspection robot 100, so as to remotely send the control instruction to the inspection robot 100.
Based on the above solution, optionally, the wearable device 200 includes a virtual reality display device or an augmented reality display device.
In the above operation, specifically, the operation and maintenance person obtains the three-dimensional scene in the interaction center 300 by wearing a wearable device, such as a virtual reality display device or an augmented reality display device. Illustratively, the operation and maintenance personnel can obtain the three-dimensional scene received by the server 310 in the interaction center 300 by wearing VR glasses or AR glasses and transmit the three-dimensional scene to the eyes of the operation and maintenance personnel, and the operation and maintenance personnel can receive the scene information of the current inspection area obtained by the inspection robot 100 by wearing VR glasses or AR glasses, that is, the three-dimensional scene in the inspection robot 100 can be remotely received, so that the man-machine remote cooperation is realized.
On the basis of the above scheme, optionally, data is transmitted between the inspection robot 100 and the server 310, between the server 310 and the wearable device 200, and between the control module 320 and the inspection robot 100 in a wireless transmission manner.
For example, data can be transmitted between the inspection robot 100 and the server 310, between the server 310 and the wearable device 200, and between the control module 320 and the inspection robot 100 in a wireless network manner, and data can be transmitted in a wireless network manner without wiring, so that long-distance wireless connection can be established, particularly between the inspection robot 100 and the server 310, and between the control module 320 and the inspection robot 100.
On the basis of the above scheme, optionally, the inspection robot 100 is further configured to perform inspection according to a preset track, and obtain the operating state and the historical detection information of the faulty equipment through the radio frequency identification tag of the substation equipment.
Exemplarily, the robot 100 patrols and examines according to predetermined orbit, when patrolling and examining robot 100 and patrolling and examining the in-process orbit deviation or shoot the angle deviation, fortune dimension personnel can send voice control instruction and pass through control module 320 with voice control instruction send to the robot 100 patrols and examines, correct the orbit deviation or shoot the angle deviation of the robot 100 patrols and examines, control patrols and examines robot 100 and carry out accurate location and patrol and examine. The inspection robot 100 can also obtain the running state and the historical detection information of the faulty equipment through the radio frequency identification tag of the substation equipment, give comprehensive judgment to the equipment, indicate that the equipment is normal if the equipment is judged to be in a defect state, give judgment to the inspection robot 100 if the equipment is judged to be in a defect state, allow the operation and maintenance personnel to perform manual intervention, further judge the equipment state, and if the equipment is judged to be in a defect state, the inspection robot 100 performs accurate joint diagnosis on the fault point needing retesting according to the corresponding voice control instruction of the operation and maintenance personnel, and the operation and maintenance personnel records the radio frequency identification tag of the faulty equipment according to the diagnosis result and adds fault information.
Fig. 3 is a diagram of types of inspection instruments of an inspection robot in an inspection system of a substation according to an embodiment of the present invention. As shown in fig. 3, optionally, the inspection robot 100 further includes an infrared thermometer 111, an infrared thermal imaging leak detector 112, and an ultraviolet discharge imager 113; in the above operation, specifically, the inspection robot 100 controls at least one of the infrared thermometer 111, the infrared thermal imaging leak detector 112, and the ultraviolet discharge imager 113 to perform a corresponding inspection task according to the control instruction.
Illustratively, in a transformer substation, electrical equipment is relatively concentrated, such as a voltage transformer, a current transformer, a lightning arrester, a bushing, a coupling capacitor and the like, because various equipment connectors are more, due to the reason that crimping is not tight or equipment load is continuously increased, equipment overheating is easily caused, various fault hidden dangers are caused, and therefore total station detection is required, the infrared thermometer 111 can be used for remotely routing inspection and temperature measurement of the equipment of the transformer substation, the running state of the equipment in the substation is effectively judged, and the equipment hidden dangers are timely discovered. In addition, gas leakage, such as toxic gas leakage, may occur in the substation, and the toxic gas may be decomposed under the action of the arc and the corona to generate derivatives, which may cause damage to the insulating material and are highly toxic gas, so that the infrared thermal imaging leak detector 112, such as a toxic gas infrared imaging leak detector, may be used to monitor the gas leakage condition of the substation, accurately find and locate the toxic gas leakage point, and effectively prevent serious accidents such as gas leakage and poisoning. In addition, along with the reduction of insulating property, structural defects or surface partial discharge phenomenon of a large amount of equipment in the transformer substation, in the corona and surface partial discharge process, a large amount of ultraviolet rays are radiated from corona and discharge parts, so that the ultraviolet discharge imager 113 can be used for recording the ultraviolet rays radiated in the corona and surface discharge process, the equipment condition is evaluated, and the major loss caused by the equipment failure is prevented and reduced. In practical application, different inspection instruments can be selected according to the detection requirements.
Example two
Fig. 4 is a schematic flow chart of a substation patrol method according to a second embodiment of the present invention, where this embodiment provides a patrol method for a substation patrol system based on the foregoing embodiments, where the patrol method is executed by a patrol system, and the method specifically includes:
s210, the inspection robot acquires a three-dimensional scene of a current inspection area and transmits the three-dimensional scene to an interaction center;
s220, the wearable device acquires a three-dimensional scene from the interaction center and transmits a picture of the three-dimensional scene to eyes of operation and maintenance personnel;
s230, the interaction center obtains a control instruction input by an operation and maintenance worker, and sends the control instruction to the inspection robot;
and S240, the inspection robot executes the corresponding inspection task according to the control instruction.
The inspection robot inspects according to a preset track, and acquires the running state and historical detection information of the fault equipment through the radio frequency identification tag of the substation equipment.
According to the technical scheme of the embodiment of the invention, an operation and maintenance person acquires a three-dimensional scene of a current inspection area acquired by an inspection robot through a wearable device, sends a control instruction to the inspection robot through an interaction center, remotely controls the inspection robot to execute an inspection task, corrects the deviation of the inspection robot by sending the control instruction when the inspection robot has the deviation, and intervenes in judgment of equipment conditions made by the inspection robot. The problem of patrol and examine robot lack the direction on the operation and maintenance work, have discernment coarse in the in-process of patrolling and examining is solved, both guaranteed the normal operation and maintenance work of transformer substation and helped improving the precision of patrolling and examining and make things convenient for operation and maintenance personnel's work.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A transformer substation inspection system is characterized by comprising an inspection robot, a wearable device and an interaction center;
the inspection robot is used for acquiring a three-dimensional scene of a current inspection area and transmitting the three-dimensional scene to the interaction center;
the wearable device is used for acquiring the three-dimensional scene from the interaction center and transmitting the picture of the three-dimensional scene to the eyes of the operation and maintenance personnel;
the interaction center is used for acquiring a control instruction input by an operation and maintenance worker and sending the control instruction to the inspection robot;
and the inspection robot is also used for executing a corresponding inspection task according to the control instruction.
2. The substation inspection system according to claim 1, wherein the inspection robot comprises a visible light camera, an image matching module and a three-dimensional reconstruction module;
the visible light camera is used for acquiring a visible light image of the current inspection area;
the image matching module is used for carrying out image matching according to the visible light image;
and the three-dimensional reconstruction module generates a three-dimensional scene of the inspection area according to the image matching result.
3. The substation inspection system according to claim 2, wherein the visible light camera comprises a 360 ° panoramic camera.
4. The substation inspection system according to claim 1, wherein the interaction center includes a server and a control module;
the server is used for receiving the three-dimensional scene, and the control module is used for acquiring a control instruction input by an operation and maintenance worker and sending the control instruction to the inspection robot.
5. The substation inspection system according to claim 4, wherein data is transmitted between the inspection robot and the server, between the server and the wearable device, and between the control module and the inspection robot in a wireless transmission manner.
6. The substation inspection system according to claim 1, wherein the wearable device includes a virtual reality display device or an augmented reality display device.
7. The substation inspection system according to claim 1, wherein the inspection robot comprises an infrared thermometer, an infrared thermal imaging leak detector and an ultraviolet discharge imager;
and the inspection robot controls at least one of the infrared thermometer, the infrared thermal imaging leak detector and the ultraviolet discharge imager to execute a corresponding inspection task according to the control instruction.
8. The substation inspection system according to claim 1, wherein the inspection robot is further configured to perform inspection according to a preset track, and obtain the operating state and historical detection information of the faulty equipment through a radio frequency identification tag of the substation equipment.
9. A substation patrol method, which is executed by the substation patrol system according to any one of claims 1 to 8, the substation patrol method comprising:
the inspection robot acquires a three-dimensional scene of a current inspection area and transmits the three-dimensional scene to the interaction center;
the wearable device acquires the three-dimensional scene from the interaction center and transmits the picture of the three-dimensional scene to the eyes of the operation and maintenance personnel;
the interaction center acquires a control instruction input by an operation and maintenance worker, and sends the control instruction to the inspection robot;
and the inspection robot executes a corresponding inspection task according to the control instruction.
10. The substation patrol method according to claim 9, further comprising:
the inspection robot inspects according to a preset track, and acquires the running state and historical detection information of the fault equipment through the radio frequency identification tag of the substation equipment.
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| CN202110967059.8A CN113708275A (en) | 2021-08-23 | 2021-08-23 | Transformer substation inspection system and method |
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| CN114202819A (en) * | 2021-11-29 | 2022-03-18 | 山东恒创智控科技有限公司 | Robot-based substation inspection method and system and computer |
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