CN114179056A - Multi-degree-of-freedom rail hanging type inspection robot in GIS room and application method thereof - Google Patents
Multi-degree-of-freedom rail hanging type inspection robot in GIS room and application method thereof Download PDFInfo
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- CN114179056A CN114179056A CN202111522303.6A CN202111522303A CN114179056A CN 114179056 A CN114179056 A CN 114179056A CN 202111522303 A CN202111522303 A CN 202111522303A CN 114179056 A CN114179056 A CN 114179056A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
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Abstract
The invention discloses a multi-degree-of-freedom rail-hanging type inspection robot in a GIS room and an application method thereof. The longitudinal and transverse positions of a horizontal plane are changed through the rail module, the transverse stroke is prolonged through the transverse moving module, the inspection worker for a part of instrument panels close to a wall is realized, the upper and lower positions are changed through the lifting module, and the dial plates and electrical parameters at all positions are monitored through the position and posture regulating unit of the intelligent control module and the execution monitoring module fixed at the lower end of the lifting module; the intelligent control module regularly controls the robot to patrol according to a preset patrol task, interacts the acquired data with the server database, and assists workers to further finish patrol work. The pose adjusting and controlling unit of the control module adjusts an executing tool at the tail end of a mechanical arm of the executing and monitoring module, so that the camera can extract images at a proper angle and distance, and instrument data can be accurately read.
Description
Technical Field
The invention belongs to the technical field of electric power inspection robots, and particularly relates to a GIS indoor multi-degree-of-freedom rail-mounted inspection robot and an application method thereof.
Background
In a GIS (gas Insulated substation), most of electrical equipment is directly or indirectly sealed in a pipeline tree consisting of metal pipelines and sleeves, so that the GIS is slightly influenced by external factors and has high reliability. However, the inspection work is still very important, and the inspection work needs to be performed on control panel signals, density relay indication, SA (lightning arrester) leakage current indication and action times, CB mechanism hydraulic oil level, circuit breaker mechanism starting times, appearance, abnormal sound and the like at regular time. The manual inspection process has the problems of high labor intensity, insufficient timeliness, high professional requirements, low inspection efficiency and the like, large working blind areas are easily generated in time and space, and the requirement of omnibearing full-time inspection is difficult to meet. In recent years, the robot technology and the artificial intelligence technology have been greatly developed, the practical difficulty of maintainers can be effectively solved by adopting the intelligent robot technology to carry out routing inspection maintenance on the substation indoor equipment, and relevant parameters of the substation indoor equipment are analyzed and early warned in a cloud end by combining big data, so that the maintenance work becomes more efficient, simple and scientific. Therefore, the remote, unmanned and intelligent development and application of the transformer substation inspection work are great tendency.
Disclosure of Invention
The invention aims to provide a GIS indoor multi-degree-of-freedom rail-mounted inspection robot and an inspection method, which are used for performing daily inspection on equipment in a transformer substation and acquiring and analyzing operation and maintenance data of the equipment, are convenient for finding abnormal conditions of the equipment in time and pre-diagnosing the abnormal conditions, reduce labor cost and contribute to the realization of remote, intensive and intelligent development of inspection work of the transformer substation.
The invention provides a multi-degree-of-freedom rail-hanging type inspection robot in a GIS room, which comprises a rail module, a transverse moving module, a lifting module, an execution monitoring module and an intelligent control module; the rail module comprises longitudinal rails, transverse rails and traveling wheel assemblies, the two longitudinal rails are arranged in parallel along the longitudinal direction of the GIS room, the end parts of the two longitudinal rails are fixed on the wall, the traveling wheel assemblies are symmetrically connected to the upper end parts of the transverse rails, and the transverse rails are hung on the longitudinal rails through the traveling wheel assemblies so as to enable the transverse rails to move between the longitudinal rails in a reciprocating mode; the transverse moving module comprises a base, a traveling wheel group, a transverse moving frame and a transverse moving driving device, the upper end of the base is hung on the transverse rail through the traveling wheel group, the transverse moving frame is arranged on one side of the base in parallel, and the transverse moving driving device is fixed between the base and the transverse moving frame; the lifting module comprises a lifting rod and a lifting driving device, the lifting rod is connected to the transverse moving frame in a sliding mode, and the lifting driving device is fixed on the transverse moving frame; the execution monitoring module comprises a mechanical arm and an execution tool carried by the tail end of the mechanical arm, and the mechanical arm is fixed at the lower end of the lifting rod; the intelligent control module comprises a pose regulating and controlling unit.
In an embodiment of the above robot, the longitudinal rail and the transverse rail are both made of i-steel; the walking wheel assemblies at two ends of the transverse track comprise a U-shaped frame and a plurality of groups of walking wheels symmetrically connected with two sides of a side arm of the U-shaped frame, and the walking wheels at two sides respectively use the upper surface of the lower wing plate of the longitudinal track as a walking surface.
In an embodiment of the above robot, the base includes a rectangular box, the upper ends of two side plates in the length direction of the rectangular box are respectively provided with a stretching section, the stretching sections on two sides are symmetrically connected with a plurality of groups of walking wheels, and the walking wheels on two sides respectively use the lower wing plate of the transverse track as a walking surface.
In one embodiment of the robot, the transverse moving frame is a rectangular plate frame and is arranged at the outer side of the base in the length direction in parallel; the transverse moving driving device comprises two driving motors, two driving gears, two transverse racks, two transverse sliding rails and two transverse sliding blocks, the two transverse sliding rails are fixed on the side plates in the length direction of the base in an up-down parallel mode, the transverse sliding blocks are connected to the transverse sliding rails, the driving motors are fixed on the base in a perpendicular mode and correspond to the center position between the two transverse sliding rails, the driving gears are connected to the output shafts of the driving motors, the transverse racks are arranged in parallel to the transverse sliding rails, fixed on the inner side plates of the transverse moving frame and meshed with the driving gears, and the transverse sliding blocks are connected and fixed with the inner side plates of the transverse moving frame.
In an embodiment of the robot, a guide block with a guide groove is arranged on an inner side plate inner surface of the transverse moving frame, and a vertical slide rail is arranged on the inner side of the lifting rod and penetrates through the guide groove of the guide block.
In an embodiment of the above robot, the lifting driving device includes a driving motor, a driving gear and a vertical rack, the vertical rack is fixed on the lifting rod corresponding to the position between the vertical sliding rails, the driving motor is fixed on the traversing frame, and a driving gear connected to an output shaft of the driving motor is meshed with the vertical rack.
In an embodiment of the robot, the anti-falling mechanism is arranged between the lifting rod and the transverse moving frame and comprises a ratchet wheel, an anti-falling gear and a double-tooth key, an axle of the ratchet wheel penetrates through the inner side plate of the transverse moving frame and then is connected with the anti-falling gear, the anti-falling gear is meshed with the vertical rack, and the double-tooth key is fixed on one side of the inner side plate of the transverse moving frame, which corresponds to the ratchet wheel.
In one embodiment of the robot, the mechanical arm is a six-degree-of-freedom arm, and the execution tool carried by the tail end of the mechanical arm comprises a high-definition camera, a dust removal device and a sensor.
The invention provides a method for adjusting the pose of the robot through a pose adjusting and controlling unit, which comprises the following steps:
(1) after the mechanical arm reaches the inspection point according to the inspection flow, the target equipment is determined according to the sequence of the task bars, and the pose adjusting and controlling unit starts to work;
(2) performing coarse positioning based on the space information of the instrument equipment with the indoor fixed position, descending the lifting rod, extending the mechanical arm, and enabling the high-definition camera to reach the vicinity of the target instrument panel, so that the instrument panel enters the visual field range of the high-definition camera;
(3) extracting edge features of the instrument panel through image processing to obtain an elliptical or rectangular image edge feature shape, moving the high-definition camera to a position which is 10-20cm opposite to the instrument panel, and adjusting the pose of the mechanical arm to enable the center of the graph to be overlapped with the center point of the high-definition camera, wherein the center line of the extracted feature graph is overlapped with the center line of the high-definition camera;
(4) when the camera is 10-20cm away from the instrument panel, the range of the ratio of the length of the long axis of the camera to the visual field range of the camera is 43.3-86.5%, if the ratio of the length of the long axis to the visual field range of the camera is larger than the range, the position and posture of the camera is adjusted to enable the high-definition camera to retreat, and if the ratio of the length of the long axis to the visual field range of the camera is smaller than the range, the tail end of the mechanical arm is pushed forwards to enable the high-definition camera to approach the instrument, so that clear imaging is obtained;
(5) if the extracted graph is rectangular, the imaging angle of the camera is perpendicular to the front surface of the instrument, the mechanical arm is adjusted to rotate towards the direction of the perpendicular bisector of the long side of the rectangle, the extracted graph is changed into an ellipse, and the next step is carried out;
(6) if the extracted graph is an ellipse, the eccentricity is obtained by computer analysis with the major axis length of 2a, the minor axis length of 2b and the distance between the two foci of 2c
Or
(7) If the eccentricity is 0.5< e <1, the execution tail end of the mechanical arm rotates towards the direction of the perpendicular bisector of the ellipse long axis by taking the center of the ellipse as the center of a circle, moves to the front of the instrument and has the speed of V;
(8) if the eccentricity is more than 0.2 and less than or equal to 0.5, changing the moving speed of the tail end of the mechanical arm into V/2;
(9) if the eccentricity e is less than or equal to 0.2, changing the moving speed of the tail end of the mechanical arm into V/4, and stopping until the e is 0, wherein the image feature of the imaging and extraction is circular, the high-definition camera successfully faces the front face of the instrument, and the lens plane of the high-definition camera is parallel to the scale surface of the instrument;
(10) the control execution tail end moves along a center vertical line which is vertical to a lens of the high-definition camera and the plane of the instrument, and the distance between the plane of the lens and the scale surface of the instrument is adjusted to be 10-20 cm;
(11) the high-definition camera shoots and uploads the shot images to a local server to process the images, scale circles and pointers are extracted from the edges, and instrument data are obtained through recognition results;
(12) and (5) repeating the steps (2) to (11) by the pose regulation and control unit, and collecting the instrument data of each target device at the point.
The inspection method of the robot provided by the invention comprises the following steps:
(1) the inspection robot receives background tasks or remote instructions;
(2) patrol and examine robot operation and to appointed point location of patrolling and examining
(2.1) the inspection point location is in the transverse track stroke, and the robot directly runs to the corresponding monitoring point location;
(2.2) the inspection point position exceeds the stroke of the transverse rail, and after the robot moves to the tail end of the stroke of the transverse rail, the transverse stroke is prolonged by using the transverse moving device to reach the monitoring point position of a related instrument close to the wall;
(3) after the inspection robot reaches the inspection point according to the inspection flow, the intelligent operation and maintenance platform automatically arranges the inspection sequence of each instrument device of the inspection point, the lifting rod descends, and the position and posture regulating unit starts to work;
(4) the pose regulating and controlling unit controls the tail end executing mechanism to read the data of each instrument device at the point according to the sequence of the task bars;
(5) after all data of the point location are acquired, the robot transmits the data to a local server, the intelligent operation and maintenance platform performs preprocessing, and the intelligent operation and maintenance platform performs comparative analysis with a database; transmitting a data packet acquired by the monitoring equipment to a local database, and analyzing and calculating the fluctuation amplitude and peak value difference of the acquired data relative to template data in the database to obtain an abnormal value alpha;
(6) monitoring that the abnormal value alpha of the data is within a threshold value beta, the equipment operates normally, the data is stored in a local server for remote inquiry, and the step (16) is carried out;
(7) monitoring that the abnormal value of the data exceeds a threshold value beta, and sending an alarm according to an abnormal level;
(8) if no operation and maintenance personnel issue instructions, entering a single machine mode;
(9) the intelligent operation and maintenance management platform replans the routing inspection task flow, and adds the troubleshooting task into the current task list;
(10) the inspection robot acquires monitoring data of suspected fault point positions, the data are stored outside a local server and are simultaneously transmitted to a remote intelligent operation and maintenance platform, and detailed data support is provided for further troubleshooting and maintenance of technicians;
(11) if a technician issues an instruction, entering a man-machine cooperation mode;
(12) a technician goes to the site for maintenance and troubleshooting, sends an instruction through the handheld device to control the robot to assist in collecting equipment operation data at high and dangerous positions, gives a recommendation scheme according to the online database and guides the technician to go to a higher-point position with an abnormal value for maintenance;
(13) when the problem is encountered, the relevant experts conduct remote consultation, the remote instruction is issued to control the robot to further collect specified monitoring data, the fault reason is analyzed, the fault point is determined, and the maintenance scheme is determined;
(14) according to the solution, the method helps to guide technicians to perform maintenance work;
(15) after the abnormity is solved, the inspection task is continued according to the original design;
(16) and (5) repeating the steps (2) to (15), controlling the robot to work to the next inspection point according to the sequence of the task bar until the inspection task list is empty, and returning to the standby area to wait for instructions.
Compared with the prior art, the invention has the following advantages:
according to the invention, the longitudinal and transverse positions of a horizontal plane can be changed through the rail module, the transverse stroke can be prolonged through the transverse moving module, the inspection worker for a part of instrument panels close to a wall can be realized, the upper and lower positions can be changed through the lifting module, and the dial plate and the electrical parameters at each position can be monitored through the position and posture regulating and controlling unit of the intelligent control module and the execution monitoring module fixed at the lower end of the lifting module; the intelligent control module regularly controls the robot to patrol according to a preset patrol task, interacts the acquired data with the server database, and assists workers to further finish patrol work. The pose adjusting and controlling unit of the control module adjusts an executing tool at the tail end of the mechanical arm, so that the camera can extract images at a proper angle and distance, and instrument data can be accurately read. The robot is used for daily inspection of the substation indoor equipment and collecting and analyzing operation and maintenance data of the substation indoor equipment, so that abnormal conditions of the equipment can be conveniently found in time and pre-diagnosed, and labor cost is reduced. The intelligent operation and maintenance platform and the remote management platform based on the artificial intelligence technology can effectively improve the quality and efficiency of operation and maintenance work of the GIS transformer substation, and are beneficial to the realization of remote, intensive and intelligent development of inspection work of the transformer substation.
Drawings
Fig. 1 is a schematic axial side structure of an embodiment of the present invention.
Fig. 2 is an enlarged schematic axial view of the track module of fig. 1.
Fig. 3 is a schematic axial side view of fig. 2 with the base removed.
Fig. 4 is a schematic axial side view of the alternate orientation of fig. 3.
Fig. 5 is a schematic axial side view of the alternate orientation of fig. 3.
FIG. 6 is a schematic axial side view of the cross-frame of FIG. 5 showing only the inner side plates.
Fig. 7 is a schematic axial side structure diagram of the monitoring module according to the embodiment.
Fig. 8 is a schematic diagram of an indoor layout of a GIS substation.
Fig. 9a to 9c are schematic diagrams of inspection point locations and inspection ranges in this embodiment.
Fig. 10a to 10f are schematic diagrams illustrating a working process of the posture control unit in the present embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "center point", "center line", "top", "bottom", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
As can be seen from fig. 1 to 7, the GIS indoor multi-degree-of-freedom rail-hanging inspection robot disclosed in this embodiment includes a rail module 1, a traverse module 2, a lifting module 3, an execution detection module 4, and an intelligent control module.
The rail module 1 comprises longitudinal rails 11, transverse rails 12 and walking wheel assemblies 13, the longitudinal rails 11 and the transverse rails 12 are made of I-shaped steel, the two longitudinal rails 11 are arranged in parallel along the longitudinal direction of the GIS room, the end parts of the longitudinal rails are fixed on the wall, the walking wheel assemblies 13 are symmetrically connected to the upper side end parts of the transverse rails 12, the transverse rails 12 are connected to the longitudinal rails 11 in a hanging mode through the walking wheel assemblies 13, the walking wheel assemblies 13 comprise U-shaped frames and multiple groups of walking wheels symmetrically connected to the two sides of side arms of the U-shaped frames, the walking wheels on the two sides respectively use the upper surfaces of lower wing plates of the longitudinal rails 11 as walking surfaces, and the transverse rails 12 can move between the longitudinal rails 11 in a reciprocating mode.
The traverse module 2 comprises a base 21, a travelling wheel set 22, a traverse frame 23 and a traverse driving device. The upper end of the base 21 is hung on the transverse rail 12 through a traveling wheel set, the transverse moving frame 23 is arranged on one side of the base 21 in parallel, and the transverse moving driving device is fixed between the base 21 and the transverse moving frame 23.
The base 21 comprises a rectangular box body, the upper ends of two side plates in the length direction of the rectangular box body are respectively provided with an extending section, the extending sections on the two sides are symmetrically connected with a plurality of groups of walking wheel sets 22, and the walking wheel sets on the two sides respectively use the lower wing plates of the transverse rails 12 as walking surfaces.
The traverse frame 23 is a rectangular plate frame, and is arranged in parallel on the outer side in the longitudinal direction of the base 21.
The traverse driving device includes a driving motor 24, a driving gear 25, a transverse rack 26, a transverse slide rail 27 and a transverse slider 28.
The transverse sliding rails 27 are fixed on the side plates of the base 21 in the length direction in an up-and-down parallel manner, the transverse sliding blocks 28 are connected on the transverse sliding rails 27, the driving motor 24 is fixed on the base 21 in a vertical manner and corresponds to the central position between the two transverse sliding rails 21, the driving gear 25 is connected on the output shaft of the driving motor 24, the transverse rack 26 is arranged in parallel with the transverse sliding rails 27, is fixed on the inner side plate of the transverse frame 23 and is meshed with the driving gear 25, and the transverse sliding blocks 28 are connected and fixed with the inner side plate of the transverse frame 23.
The lifting module 3 comprises a lifting rod 31 and a lifting driving device, the lifting rod 31 is connected to the transverse moving frame 23 in a sliding mode, and the lifting driving device is fixed on the transverse moving frame 23.
The inner side plate inner surface of the transverse moving frame 23 is provided with a guide block 29 with a guide groove, the inner side of the lifting rod 31 is provided with a vertical slide rail 32, and the vertical slide rail 32 penetrates through the guide groove of the guide block 29.
The lifting driving device comprises a driving motor 33, a driving gear 34 and a vertical rack 35, the vertical rack 35 is fixed between two corresponding vertical sliding rails 32 on the lifting rod 31, the driving motor 33 is fixed on the transverse moving frame 23, and the driving gear 34 connected with an output shaft of the driving motor is meshed with the vertical rack 35.
An anti-falling mechanism is arranged between the lifting rod 31 and the transverse moving frame 23, the anti-falling mechanism comprises a ratchet wheel 36, an anti-falling gear 37 and a double-tooth key 38, a wheel shaft of the ratchet wheel 36 penetrates through an inner side plate of the transverse moving frame 23 and then is connected with the anti-falling gear 37, the anti-falling gear 37 is meshed with the vertical rack 35, and the double-tooth key 38 is fixed on one side of the inner side plate of the transverse moving frame 23, which corresponds to the ratchet wheel.
The anti-falling mechanism utilizes the differential principle, when the lifting rod 31 is normally lifted, the ratchet wheel 36 normally rotates, and when the lifting rod falls, the double-stop key 38 stops the rotation of the ratchet wheel, so that the anti-falling gear 37 stops rotating to clamp the vertical rack 35 on the lifting rod 31 to prevent the lifting rod from falling.
The body structure of the robot is composed of the transverse moving module 2 and the lifting module 3, and the working principle is as follows:
the traversing module 3 is arranged to extend the travel of the transverse rail. Because there are many frame posts in the indoor wall department of GIS, so horizontal orbital length that sets up is limited, can't directly extend to the wall, and the robot body is difficult to the bulk motion to face the wall and patrol and examine the position, increases horizontal track stroke through addding the sideslip module to the realization is close to the work of patrolling and examining of the partial panel board of wall.
The transverse moving working principle of the transverse moving module 3 is as follows: the walking wheel set connected with the base stops working after walking on the transverse track to approach the longitudinal direction and returning. The driving motor of the transverse moving driving device works to enable the driving gear to drive the transverse rack to move, and the transverse moving frame moves along with the transverse rack and is guided by the transverse sliding rail so as to ensure the stable transverse moving of the extension stroke section of the transverse moving frame.
The lifting module 3 is fixed on the traverse module 2, the lifting rod 31 of the lifting module is lifted by the lifting driving device, and the lifting rod is guided by the guide block 29 on the traverse frame 23 when lifted, so as to ensure the stable lifting.
The longitudinal position change of the lifting rod 31 is realized by the walking of the transverse rail 12 on the longitudinal rail 11, the transverse position change is realized by the walking wheel set at the upper end of the base 21 along the walking and transverse moving driving device of the transverse rail, and the vertical position change is realized by the lifting driving device, so that the spatial position of the lifting rod can be flexibly changed to adapt to the requirement of routing inspection.
The execution monitoring module 4 includes a robot arm 41 and an execution tool mounted on the end of the robot arm 41, and the robot arm 41 is fixed to the lower end of the lift lever. The execution tool comprises a high-definition camera 42, a dust removal device 43 and a sensor assembly 44.
The mechanical arm 41 is a six-degree-of-freedom arm, and the pose can be flexibly adjusted, so that the carried execution tool can meet the use function.
The dust removal device, the infrared high-definition camera and the sensor assembly are arranged at the tail end of the six-degree-of-freedom mechanical arm, so that the working space is enlarged, and the functions of data acquisition, instrument cleaning and the like can be conveniently completed by adjusting the pose of the six-degree-of-freedom mechanical arm.
The whole framework of the intelligent control module is divided into three layers, namely an execution layer, a communication layer and a management layer.
The execution layer mainly comprises a robot body, a pose regulating unit and other auxiliary facilities and the like, and realizes the functions of data acquisition, instrument cleaning and the like of the intelligent inspection robot; the communication layer mainly comprises network communication equipment, adopts a wireless communication mode, realizes network coverage of the inspection area by building an autonomous local area network on site, and realizes real-time transmission of data in the inspection area; and the management layer comprises a local server and an intelligent operation and maintenance management platform and mainly realizes the functions of data analysis, troubleshooting, task arrangement, man-machine cooperation, remote consultation and the like.
The wireless communication network in the communication layer is covered by one AP every 200 meters in an omnidirectional manner, the whole GIS transformer substation is covered, the wireless network scheme is a 5.8G network, and the wireless communication network is controlled by adopting a private protocol and is independently used for the robot to transmit information. The robot is internally provided with a mobile switching wireless access device, is provided with an external omnidirectional dual-frequency antenna and performs covering mobile switching transmission with a power distribution room access point. And performing double wireless connection lines, wherein only one wireless connection is switched during switching, and the other wireless connection is normal, so that the stability of the client in mobile video and related data transmission is ensured.
The management layer comprises a local server and an intelligent operation and maintenance management platform. The execution layer obtains and patrols and examines data and upload to intelligent operation and maintenance management platform through the communication layer, and the platform carries out contrastive analysis with the database with the data of gathering, carries out the prediagnosis to the indoor running state of GIS transformer substation, warns when the equipment state is unusual, and the tactics of patrolling and examining are patrolled and examined in order further to carry out troubleshooting to autonomic adjustment simultaneously, and accessible unit mode or artifical cooperation mode handle the equipment abnormal conditions.
The control part of the robot body in the execution layer comprises a main control box, IO equipment, a communication box and a pose regulating and controlling unit. The communication box transmits the instruction of the management layer to the main control board so as to control the IO equipment, so that the inspection robot performs inspection according to a specified flow and transmits the acquired data back to the management layer; the main control box and the communication box are arranged in the lifting base and the lifting rod, and an electric circuit of the main control box is connected with the lower mechanical arm and the tail end execution device along the inside of the lifting rod; the pose regulating and controlling unit is used for accurately moving the camera and the sensor to a position which is just opposite to the instrument panel by 10-20cm, accurately reading a circular scale instrument panel in the GIS substation, and easily generating reading errors if the camera cannot directly look at the instrument panel at a proper distance.
The mechanical arm 41 is fixed at the lower end of the lifting rod, the robot is moved to an appointed inspection point position through the rail module, the transverse moving module and the lifting module, and the pose adjusting and controlling unit in the intelligent control module adjusts the pose of the six-freedom-degree mechanical arm according to the field condition so as to complete functions of data acquisition, instrument cleaning and the like. The data acquisition function is realized by a high-definition camera and a sensor assembly, the camera is a high-definition infrared camera, and high-definition imaging can be performed in a dark environment; the sensor assembly comprises an infrared sensor, an SF6 detection sensor, a temperature and humidity sensor, a sound sensor and the like, the dust removal device is an electric cleaning brush head, and when stains exist on the surface of the instrument panel and clear imaging cannot be achieved, the brush head is cleaned in advance and then read.
As shown in fig. 8, there are many frame columns on the wall in the GIS room, so the setting length of the transverse track is limited, and the transverse track cannot be extended to the wall directly, the robot is difficult to move to the wall inspection position integrally, and the transverse stroke is extended by adding the transverse module, thereby the inspection work of the part of the instrument panel close to the wall is realized. Every 200m is equipped with a wireless AP equipment in the GIS room to reach whole distribution room omnidirectional coverage, wherein patrol and examine built-in support in robot communication box 420 and remove and switch wireless access device, and dispose external omnidirectional dual-frenquency antenna, cover with the distribution room access point and remove the switching transmission. When the two wireless connection lines are switched, only one wireless connection is switched, and the other wireless connection is normal, so that the stability of the client in mobile transmission of videos and related data is ensured.
As shown in fig. 9a, in an indoor environment of a GIS substation, with a standby area of the inspection robot as an origin and a transverse rail parallel to the equipment direction, indoor equipment is arranged transversely along a longitudinal rail, and inspection point locations are distributed in a grid shape; the total number of the inspection point location establishment principles is as small as possible, and the inspection point locations are determined according to actual inspection needs and the working range of the mechanical arm; accessible track module, lifting module, arm transform and sideslip module cover as much as possible equipment instrument, improve and patrol and examine efficiency. As shown in fig. 9b, the inspection point location may be located in a corridor between the devices, and combined with the mechanical arm through the lifting module to form a cylindrical working space for monitoring instruments at the top, middle and bottom of the devices at both sides; as shown in fig. 9c, the inspection point location may be located above the equipment, and a long circular working space is formed by combining the walking module, so as to monitor top instruments on the front and rear surfaces of a row of equipment.
Specifically, the main control box and the communication box of the intelligent control module are fixed in the base and the transverse moving frame of the robot body, and a main control board and IO equipment are arranged in the main control box and the communication box. The communication box transmits the command of the management layer into the main control box so as to control the IO equipment, so that the inspection robot performs inspection according to the specified flow and transmits the acquired data back to the management layer; an electric circuit in the main control box is connected with the mechanical arm and the tail end execution tool along the interior of the lifting rod; the position and posture regulation and control unit is used for accurately moving the camera and the sensor to a position which is just opposite to the instrument panel by 10-20cm, accurately reading a circular scale instrument panel in the GIS substation, and easily generating reading errors if the camera cannot be used for rightly looking at the instrument panel at a proper distance.
The working process of the pose regulating and controlling unit is as follows:
scheme 1: after the six-degree-of-freedom mechanical arm reaches the inspection point according to the inspection flow, the target equipment is determined according to the sequence of the task bars, and the pose adjusting and controlling unit starts to work.
And (2) a flow scheme: the space information of the instrument equipment based on the indoor fixed position is roughly positioned, the lifting rod falls, the six-degree-of-freedom mechanical arm extends, and the camera reaches the position near the target instrument panel, so that the instrument panel enters the visual field range of the camera arranged at the tail end of the mechanical arm.
And (3) a flow path: extracting the edge characteristics of the instrument panel through image processing to obtain an elliptical or rectangular image edge characteristic shape, wherein the camera is required to move to a position which is opposite to the instrument panel by 10-20 cm; and adjusting the pose of the mechanical arm to ensure that the center of the graph is coincided with the central point of the camera, and the central line of the extracted characteristic graph is coincided with the central line of the camera.
And (4) a flow chart: when the camera is 10-20cm away from the instrument panel, the ratio of the length of the long axis of the camera to the visual field range of the camera is in a range of 43.3-86.5%, if the ratio of the length of the long axis to the visual field range of the camera is larger than the range, the posture is adjusted to enable the camera to retreat, and if the ratio of the length of the long axis to the visual field range of the camera is smaller than the range, the tail end of the mechanical arm is pushed forwards to enable the camera to be pushed into the instrument, so that clear imaging is obtained.
And (5) a flow chart: and if the extracted graph is rectangular, the imaging angle of the camera is perpendicular to the front surface of the instrument, the mechanical arm is adjusted to rotate towards the direction of the perpendicular bisector of the long side of the rectangle, so that the extracted graph is deformed into an ellipse, and the next process is started.
And (6) a flow path: if the extracted graph is an ellipse, the eccentricity is obtained by computer analysis with the major axis length of 2a, the minor axis length of 2b and the distance between the two foci of 2c
Or
Scheme 7: if the eccentricity is 0.5< e <1, the end of the mechanical arm rotates to the direction of the perpendicular bisector of the major axis of the ellipse by taking the midpoint of the ellipse as the center of circle, moves to the front of the instrument and has the speed of V.
And (3) a process 8: if the eccentricity is 0.2< e and is less than or equal to 0.5, the end moving speed of the mechanical arm is changed into V/2.
And (3) a process 9: and if the eccentricity e is less than or equal to 0.2, changing the moving speed of the tail end of the mechanical arm into V/4, stopping until the e is equal to 0, wherein the image feature of the imaging and extraction is circular, the camera successfully faces the front face of the instrument, and the lens plane is parallel to the scale surface of the instrument.
A process 10: and controlling the execution tail end to move along a central vertical line which is vertical to the lens and the instrument plane, and adjusting the distance between the lens plane and the instrument scale surface to be 10-20 cm.
Scheme 11: and the camera shoots and uploads the shot image to a local server to process the image, the edge extracts the scale circle and the pointer, and the identification result obtains instrument data.
And (3) a process 12: and the pose regulating and controlling unit repeats the process 2-11 and collects the instrument data of each target device at the point.
Referring to fig. 9a to 9c and 10a to 10f, the inspection steps of the robot are as follows:
step 1: and the inspection robot receives the background task or the remote instruction and starts the inspection task.
Step 2: patrol and examine robot operation and to appointed point location of patrolling and examining
a: the inspection point location is in the transverse track stroke, and the robot directly runs to the corresponding monitoring point location.
b: the inspection point position exceeds the transverse track stroke, and the transverse stroke is prolonged by using the transverse moving device after the robot moves to the tail end of the transverse track stroke, so that the robot reaches the monitoring point position of a related instrument close to the wall.
And step 3: after the inspection robot reaches the inspection point according to the inspection flow, the intelligent operation and maintenance platform automatically arranges the inspection sequence of each instrument device of the inspection point, the lifting rod falls down, and the position and posture regulating unit starts to work.
And 4, step 4: as shown in fig. 10a, coarse positioning is performed based on spatial information of the instrument device at an indoor fixed position, the six-degree-of-freedom robot arm is extended, and the camera reaches the vicinity of the target instrument panel, so that the instrument panel comes within the field of view of the camera mounted on the end of the robot arm.
And 5: as shown in fig. 10(b), the edge feature of the instrument panel is extracted through image processing to obtain an elliptical or rectangular image edge feature shape, and the camera should move to a position 10-20cm opposite to the instrument panel; and adjusting the pose of the mechanical arm to ensure that the center of the graph is coincided with the central point of the camera, and the center line of the extracted characteristic graph is coincided with the center line of the camera.
Step 6: as shown in fig. 10(c) (d), when the camera is 10-20cm away from the instrument panel, the ratio of the length 2a of the long axis to the visual range h of the camera should range from 43.3% to 86.5%, if the ratio of the length of the long axis to the visual range h of the camera is greater than this range, the position and posture should be adjusted to make the camera retreat, if it is less than this range, the end of the mechanical arm is pushed forward to make the camera advance into the instrument panel, so as to obtain clear images.
And 7: and (3) extracting the image characteristics of the image, judging the shape of the image, adjusting the imaging angle of the camera to be vertical to the front surface of the instrument if the extracted image is rectangular, adjusting the mechanical arm to rotate towards the direction of the perpendicular bisector of the long side of the rectangle until the extracted image is elliptical, and entering the next step.
And 8: as shown in FIG. 10(e), if the extracted graph is an ellipse, the eccentricity is determined by computer analysis with the major axis length 2a, the minor axis length 2b, and the distance between the two foci 2c
Or
And step 9: if the eccentricity is 0.5< e <1, the end of the mechanical arm rotates to the direction of the perpendicular bisector of the major axis of the ellipse by taking the midpoint of the ellipse as the center of circle, moves to the front of the instrument and has the speed of V.
Step 10: if the eccentricity is 0.2< e and is less than or equal to 0.5, the end moving speed of the mechanical arm is changed into V/2.
Step 11: and if the eccentricity e is less than or equal to 0.2, changing the moving speed of the tail end of the mechanical arm into V/4, stopping until the e is equal to 0, wherein the image feature of the imaging and extraction is circular, the camera successfully faces the front face of the instrument, and the lens plane is parallel to the scale surface of the instrument.
Step 12: and controlling the execution tail end to move along a central vertical line which is vertical to the lens and the instrument plane, and adjusting the distance between the lens plane and the instrument scale surface to be 10-20 cm.
Step 13: as shown in fig. 10(f), the camera takes a picture and uploads the picture to the local server for processing, the scale circle and the pointer are extracted from the edge, and the meter data is obtained from the recognition result.
Step 14: the pose regulating and controlling unit repeats the steps 4 to 13, collects the instrument data of each target device at the point, returns to the step 2 after the collection is finished,
step 15: after all data of the point location are acquired, the inspection robot transmits the data to the local server, the intelligent operation and maintenance platform carries out preprocessing, and the intelligent operation and maintenance platform carries out contrastive analysis on the data and the database. The data collected by the monitoring device includes: and uploading the device image, instrument electrical data, infrared temperature data, indoor humidity value, SF6 concentration and the like to a local database, and analyzing and calculating the fluctuation amplitude and peak value difference of the acquired data relative to template data in the database to obtain an abnormal value alpha.
Step 16: monitoring the abnormal value alpha of the data within the threshold value beta, the equipment operates normally, the data is stored in a local server for remote inquiry, and the step 26 is carried out.
And step 17: and when the abnormal value of the monitoring data exceeds a threshold value beta, sending an alarm according to an abnormal level.
Step 18: if no operation and maintenance personnel issue instructions, the single machine mode is entered, based on the artificial intelligence technology, the intelligent operation and maintenance platform carries out fault prediction on the equipment according to the solution in the online knowledge base, and the priority of the point location inspection task of the suspected fault problem is improved.
Step 19: and the intelligent operation and maintenance management platform replans the routing inspection task flow and adds the troubleshooting task to the current task list.
Step 20: the inspection robot collects monitoring data of suspected fault point locations, the data are stored outside the local server and are simultaneously sent to the remote intelligent operation and maintenance platform, and detailed data support is provided for further troubleshooting and maintenance of technicians.
Step 21: and if the technician issues an instruction, entering a man-machine cooperation mode.
Step 22: technical staff goes to the scene to maintain, troubleshooting, sends the instruction through handheld device and controls the inspection robot to assist in collecting the equipment operation data of eminence, dangerous department to give out the recommendation scheme according to the online database, guide technical staff to go to the higher point of abnormal value and maintain.
Step 23: when the problem is encountered, the related experts conduct remote consultation, the remote instruction is issued to control the robot to further collect specified monitoring data, the fault reason is analyzed, the fault point is determined, and the maintenance scheme is determined.
Step 24: according to the solution, the technical personnel are guided to carry out maintenance work in an assisting way.
Step 25: and after the abnormity is solved, marking the inspection task according to the original design.
Step 26: and repeating the steps 2-25, controlling the inspection robot to work to the next inspection point according to the sequence of the task bar until the inspection task list is empty, and returning to the standby area to wait for instructions.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalent substitutions and modifications may be made to some features of the embodiments described above, and any modifications, equivalents, improvements, etc. within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined to indoor multi freedom of GIS hanging rail formula which characterized in that: the device comprises a track module, a transverse moving module, a lifting module, an execution monitoring module and an intelligent control module;
the rail module comprises longitudinal rails, transverse rails and traveling wheel assemblies, the two longitudinal rails are arranged in parallel along the longitudinal direction of the GIS room, the end parts of the two longitudinal rails are fixed on the wall, the traveling wheel assemblies are symmetrically connected to the end parts of the upper sides of the transverse rails, and the transverse rails are hung on the longitudinal rails through the traveling wheel assemblies so as to be capable of moving between the longitudinal rails in a reciprocating mode;
the transverse moving module comprises a base, a traveling wheel group, a transverse moving frame and a transverse moving driving device, the upper end of the base is hung on the transverse rail through the traveling wheel group, the transverse moving frame is arranged on one side of the base in parallel, and the transverse moving driving device is fixed between the base and the transverse moving frame;
the lifting module comprises a lifting rod and a lifting driving device, the lifting rod is connected to the transverse moving frame in a sliding mode, and the lifting driving device is fixed on the transverse moving frame;
the execution monitoring module comprises a mechanical arm and an execution tool carried by the tail end of the mechanical arm, and the mechanical arm is fixed at the lower end of the lifting rod;
the intelligent control module comprises a pose regulating and controlling unit.
2. The GIS indoor multi-degree-of-freedom rail-hanging inspection robot according to claim 1, characterized in that: the longitudinal rail and the transverse rail are both made of I-steel;
the walking wheel assemblies at two ends of the transverse track comprise a U-shaped frame and a plurality of groups of walking wheels symmetrically connected with two sides of a side arm of the U-shaped frame, and the walking wheels at two sides respectively use the upper surface of the lower wing plate of the longitudinal track as a walking surface.
3. The GIS indoor multi-degree-of-freedom rail-hanging inspection robot according to claim 2, characterized in that: the base comprises a rectangular box body, the upper ends of two side plates in the length direction of the base are respectively provided with a stretching section, the stretching sections on the two sides are symmetrically connected with a plurality of groups of walking wheels, and the walking wheels on the two sides respectively use the lower wing plates of the transverse rails as walking surfaces.
4. The GIS indoor multi-degree-of-freedom rail-hanging inspection robot according to claim 3, characterized in that: the transverse moving frame is a rectangular plate frame and is arranged on the outer side of the base in the length direction in parallel;
the transverse moving driving device comprises two driving motors, two driving gears, two transverse racks, two transverse sliding rails and two transverse sliding blocks, the two transverse sliding rails are fixed on the side plates in the length direction of the base in an up-down parallel mode, the transverse sliding blocks are connected to the transverse sliding rails, the driving motors are perpendicularly fixed to the base and correspond to the central position between the two transverse sliding rails, the driving gears are connected to output shafts of the driving motors, the transverse racks are arranged in parallel to the transverse sliding rails and are fixed on the inner side plates of the transverse moving frame and meshed with the driving gears, and the transverse sliding blocks are connected and fixed with the inner side plates of the transverse moving frame.
5. The GIS indoor multi-degree-of-freedom rail-hanging inspection robot according to claim 4, characterized in that: the inner side plate inner surface of the transverse moving frame is provided with a guide block with a guide groove, the inner side of the lifting rod is provided with a vertical slide rail, and the vertical slide rail penetrates through the guide groove of the guide block.
6. The GIS indoor multi-degree-of-freedom rail-hanging inspection robot according to claim 5, characterized in that: the lifting driving device comprises a driving motor, a driving gear and a vertical rack, the vertical rack is fixed on the lifting rod and corresponds to the position between the vertical sliding rails, the driving motor is fixed on the transverse moving frame, and the driving gear connected with an output shaft of the driving motor is meshed with the vertical rack.
7. The GIS indoor multi-degree-of-freedom rail-hanging inspection robot according to claim 6, characterized in that: be provided with between lifter and the sideslip frame and prevent weighing down the mechanism, prevent weighing down the mechanism and include the ratchet, prevent weighing down gear and double-tooth key, the shaft of ratchet passes connect behind the interior plate of sideslip frame and prevent weighing down the gear, prevent weighing down the gear with vertical rack toothing, the double-tooth key is fixed in one side that corresponds the ratchet on the sideslip frame interior plate.
8. The GIS indoor multi-degree-of-freedom rail-hanging inspection robot according to claim 6, characterized in that: the mechanical arm is a six-degree-of-freedom arm, and an execution tool carried by the tail end of the mechanical arm comprises a high-definition camera, a dust removal device and a sensor.
9. A method for adjusting the pose of the robot according to claim 1 by a pose adjusting and controlling unit, comprising the steps of:
(1) after the mechanical arm reaches the inspection point according to the inspection flow, the target equipment is determined according to the sequence of the task bars, and the pose adjusting and controlling unit starts to work;
(2) performing coarse positioning based on the space information of the instrument equipment with the indoor fixed position, descending the lifting rod, extending the mechanical arm, and enabling the high-definition camera to reach the vicinity of the target instrument panel, so that the instrument panel enters the visual field range of the high-definition camera;
(3) extracting edge features of the instrument panel through image processing to obtain an elliptical or rectangular image edge feature shape, moving the high-definition camera to a position which is 10-20cm opposite to the instrument panel, and adjusting the pose of a mechanical arm to enable the center of the graph to be overlapped with the center point of the high-definition camera, wherein the center line of the extracted feature graph is overlapped with the center line of the high-definition camera;
(4) when the camera is 10-20cm away from the instrument panel, the range of the ratio of the length of the long axis of the camera to the visual field range of the camera is 43.3% -86.5%, if the ratio of the length of the long axis to the visual field range of the camera is larger than the range, the position and posture of the camera is adjusted to enable the high-definition camera to retreat, and if the ratio of the length of the long axis to the visual field range of the camera is smaller than the range, the tail end of the mechanical arm is pushed forwards to enable the high-definition camera to approach the instrument, so that clear imaging is obtained;
(5) if the extracted graph is rectangular, the imaging angle of the camera is perpendicular to the front surface of the instrument, the mechanical arm is adjusted to rotate towards the direction of the perpendicular bisector of the long side of the rectangle, the extracted graph is changed into an oval shape, and the next step is carried out;
(6) if the extracted graph is an ellipse, the eccentricity is obtained by computer analysis with the major axis length of 2a, the minor axis length of 2b and the distance between the two foci of 2c
Or
(7) If the eccentricity is 0.5< e <1, the execution tail end of the mechanical arm rotates towards the direction of the perpendicular bisector of the major axis of the ellipse by taking the midpoint of the ellipse as the center of a circle, moves to the front of the instrument and has the speed of V;
(8) if the eccentricity is more than 0.2 and less than or equal to 0.5, changing the moving speed of the tail end of the mechanical arm into V/2;
(9) if the eccentricity e is less than or equal to 0.2, changing the moving speed of the tail end of the mechanical arm into V/4, and stopping until the e is 0, wherein the image feature of the imaging and extraction is circular, the high-definition camera successfully faces the front face of the instrument, and the lens plane of the high-definition camera is parallel to the scale surface of the instrument;
(10) controlling the execution tail end to move along a central vertical line which is vertical to a high-definition camera lens and an instrument plane, and adjusting the distance between the lens plane and an instrument scale surface to be 10-20 cm;
(11) the high-definition camera shoots and uploads the shot images to a local server to process the images, scale circles and pointers are extracted from the edges, and instrument data are obtained through recognition results;
(12) and (5) repeating the steps (2) to (11) by the pose regulation and control unit, and collecting the instrument data of each target device at the point.
10. A method of inspection of the robot of claim 1, comprising the steps of:
(1) the inspection robot receives background tasks or remote instructions;
(2) patrol and examine robot operation and to appointed point location of patrolling and examining
(2.1) the inspection point location is in the transverse track stroke, and the robot directly runs to the corresponding monitoring point location;
(2.2) the inspection point position exceeds the stroke of the transverse rail, and the transverse stroke is prolonged by using the transverse moving device after the robot moves to the tail end of the stroke of the transverse rail to reach the monitoring point position of a related instrument close to the wall;
(3) after the inspection robot reaches the inspection point according to the inspection flow, the intelligent operation and maintenance platform automatically arranges the inspection sequence of each instrument device of the inspection point, the lifting rod descends, and the position and posture regulating unit starts to work;
(4) the pose regulating and controlling unit controls the tail end executing mechanism to read the data of each instrument device at the point according to the sequence of the task bars;
(5) after all data of the point location are acquired, the robot transmits the data to a local server, the intelligent operation and maintenance platform performs preprocessing, and the intelligent operation and maintenance platform performs comparative analysis with a database; transmitting a data packet acquired by the monitoring equipment to a local database, and analyzing and calculating the fluctuation amplitude and peak value difference of the acquired data relative to template data in the database to obtain an abnormal value alpha;
(6) monitoring that the abnormal value alpha of the data is within a threshold value beta, the equipment operates normally, the data is stored in a local server for remote query, and the step (16) is carried out;
(7) monitoring that the abnormal value of the data exceeds a threshold value beta, and sending an alarm according to an abnormal level;
(8) if no operation and maintenance personnel issue instructions, entering a single machine mode;
(9) the intelligent operation and maintenance management platform replans the routing inspection task flow and adds the troubleshooting task to the current task list;
(10) the inspection robot acquires monitoring data of suspected fault point positions, the data are stored outside the local server and are simultaneously transmitted to the remote intelligent operation and maintenance platform, and detailed data support is provided for further troubleshooting and maintenance of technicians;
(11) if a technician issues an instruction, entering a man-machine cooperation mode;
(12) a technician goes to the site for maintenance and troubleshooting, sends an instruction through the handheld device to control the robot to assist in collecting equipment operation data at high and dangerous positions, gives a recommendation scheme according to the online database and guides the technician to go to a higher point with an abnormal value for maintenance;
(13) when the problem is encountered, the relevant experts conduct remote consultation, the remote instruction is issued to control the robot to further collect specified monitoring data, the fault reason is analyzed, the fault point is determined, and the maintenance scheme is determined;
(14) according to the solution, the method helps to guide technicians to perform maintenance work;
(15) after the abnormity is solved, the inspection task is continued according to the original design;
(16) and (5) repeating the steps (2) to (15), controlling the robot to work to the next inspection point according to the sequence of the task bar until the inspection task list is empty, and returning to the standby area to wait for instructions.
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| CN114571489A (en) * | 2022-05-06 | 2022-06-03 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Be applied to intelligent robot of patrolling and examining of railway bridge |
| CN115566564A (en) * | 2022-10-21 | 2023-01-03 | 国网湖北省电力有限公司超高压公司 | Unattended equipment of transformer substation |
| CN115566564B (en) * | 2022-10-21 | 2023-09-29 | 国网湖北省电力有限公司超高压公司 | Unmanned on duty equipment of transformer substation |
| CN116169591A (en) * | 2023-04-26 | 2023-05-26 | 山西振中电力股份有限公司 | Substation operation and maintenance inspection control device and control method thereof |
| CN116169591B (en) * | 2023-04-26 | 2023-06-27 | 山西振中电力股份有限公司 | Substation operation and maintenance inspection control device and control method thereof |
| CN117212711A (en) * | 2023-11-07 | 2023-12-12 | 江苏常力电器有限公司 | Air conditioner piping compression detection device and detection method |
| CN117212711B (en) * | 2023-11-07 | 2024-01-23 | 江苏常力电器有限公司 | Air conditioner piping compression detection device and detection method |
| CN118322202A (en) * | 2024-04-26 | 2024-07-12 | 国电南瑞科技股份有限公司 | Multi-machine cooperation power inspection robot system, method and device |
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