CN115909155A - Inspection method for auxiliary equipment of thermal power plant - Google Patents
Inspection method for auxiliary equipment of thermal power plant Download PDFInfo
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Abstract
Thermal power plant auxiliary machinery equipment patrols and examines method, and the tradition mode of patrolling and examining: the traditional method has the problems that the inspection is not timely, personal safety risks cannot be caused, scientific analysis and prejudgment cannot be performed on equipment performance data, and the like. A method for patrolling auxiliary equipment of a thermal power plant comprises the steps of obtaining multimedia data of a patrolling scene of the auxiliary equipment through a patrolling robot, detecting sensory mode data in the patrolling scene of the auxiliary equipment, and determining a patrolling result corresponding to the auxiliary equipment based on the multimedia data and the sensory mode data; the method comprises the steps of acquiring multimedia data of an auxiliary equipment inspection scene in a robot inspection mode, acquiring multimedia data of the auxiliary equipment inspection scene through field data acquisition module robot inspection, detecting sensory mode data in the auxiliary equipment inspection scene through a detection module, and determining an inspection result corresponding to the auxiliary equipment through a determination module based on the multimedia data and the sensory mode data.
Description
Technical Field
The invention relates to a working method for robot inspection, in particular to an inspection method for auxiliary equipment of a thermal power plant.
Background
The auxiliary machinery of the power station refers to auxiliary machinery of power station production equipment, is an important component of the power station equipment, and is indispensable equipment for normal operation of the power station equipment. The auxiliary machine of the power station mainly comprises a boiler deslagging device, a boiler ash removing device, a coal conveying and crushing device, a water treatment device, a smoke and air duct series device, an electric valve device and the like. The power station auxiliary machines have the characteristics of wide distribution range, multiple types and large quantity.
The inspection robot mainly realizes the equipment of inspection tasks through high and new technology such as autonomous charging, path planning, autonomous navigation positioning, image recognition and analysis, environmental perception and the like, does not need manual intervention, provides equipment fault discrimination and automatic alarm for enterprises, and helps the enterprises to realize better automatic management.
The existing inspection method of the power plant is as follows:
the traditional inspection mode comprises the following steps: the traditional method has the problems that the inspection is untimely, personal safety risks cannot be solved, scientific analysis and prejudgment cannot be performed on equipment performance data, and the like, and the equipment safety and stable operation cannot be influenced due to the fact that the hidden danger of the equipment cannot be found and eliminated in time.
The existing method has the defects of high personnel management difficulty, high labor intensity and low inspection efficiency, and cannot meet the construction requirements of a novel intelligent power plant.
The invention content is as follows:
the invention aims to provide an auxiliary equipment inspection method of a thermal power plant, which can improve the inspection efficiency of the auxiliary equipment of the thermal power plant, reduce the inspection risk of the auxiliary equipment to a greater extent and effectively improve the inspection effect of the auxiliary equipment.
The purpose of the invention is realized by the following steps:
a method for patrolling auxiliary equipment of a thermal power plant comprises the steps of obtaining multimedia data of a patrolling scene of the auxiliary equipment through a patrolling robot, detecting sensory mode data in the patrolling scene of the auxiliary equipment, and determining a patrolling result corresponding to the auxiliary equipment based on the multimedia data and the sensory mode data;
the method comprises the steps of acquiring multimedia data of an auxiliary equipment inspection scene in a robot inspection mode, acquiring multimedia data of the auxiliary equipment inspection scene through field data acquisition module robot inspection, detecting sensory mode data in the auxiliary equipment inspection scene through a detection module, and determining an inspection result corresponding to the auxiliary equipment through a determination module based on the multimedia data and the sensory mode data.
In the inspection method for the auxiliary equipment of the thermal power plant, the robot is an execution main body and is used as an auxiliary equipment inspection device, a judgment part of the device can be realized in a software and/or hardware mode, the device can be configured in electronic equipment, and the electronic equipment can include but is not limited to a terminal and a server end; adopting a robot inspection mode: the system consists of equipment inspection background management software, robot inspection equipment and an electronic tag. The inspection management software completes the function settings of inspection points, inspection items, inspection routes, inspection plans and the like, and realizes the functions of inspection record inquiry, in-place statistics, missed inspection statistics, trend analysis and defect tracking; the electronic tag is used for uniquely identifying a site patrol inspection point. The robot can be used as a patrol inspection device, can identify a Field electronic tag or a one-dimensional/two-dimensional bar code in real time, has a Near Field Communication (NFC) card reading function, and completes patrol inspection management of identification, data acquisition, photographing, video recording, global Positioning System (GPS) position Positioning, wireless data transmission and the like of a Field patrol inspection point.
According to the method for patrolling auxiliary equipment of the thermal power plant, the robot is used as patrolling equipment, multimedia data of a patrolling scene of the auxiliary equipment are obtained in a patrolling mode, and the multimedia data are directly obtained by using a real-time transmission multimedia product or indirectly obtained by recording a storage medium for collecting the multimedia data or cloud storage and the like; the multimedia data can be a general name of a plurality of multimedia data types describing a robot inspection scene, and comprises products for recording image data by a high-definition video camera, a video recorder and a camera series, and sound data or video data for capturing by a recording pen, a microphone and equipment with a recording function.
The inspection method for the auxiliary equipment of the thermal power plant comprises the steps that the detection auxiliary equipment obtains sensory mode data in an inspection scene, wherein the sensory mode data are collected by various simulation receptors for simulating vision, hearing and the like of human senses, or data which can form the senses or have similar meanings are generated according to sensory factors in the environment; the method is characterized in that a routing inspection result corresponding to the auxiliary equipment is determined based on multimedia data and sensory mode data, the routing inspection result is determined by comparing the two data with a set standard value, and measured values can be sorted by utilizing an algorithm to form one or more comprehensive comparison models, so that the corresponding routing inspection result is determined, the routing inspection efficiency of the auxiliary equipment of the thermal power plant can be improved, the routing inspection difficulty of the auxiliary equipment is greatly reduced, and the routing inspection effect of the auxiliary equipment is effectively improved.
A thermal power plant auxiliary equipment inspection method includes the steps that operation audio data of an auxiliary machine body, an auxiliary machine motor and a pipeline system in an auxiliary equipment inspection scene are obtained through an inspection robot respectively; the audio data generated during the operation of the auxiliary machine body, the auxiliary machine motor and the pipeline system can be called as operation audio data; adopting a robot inspection mode: the system consists of equipment inspection background management software, robot inspection equipment and an electronic tag, wherein the inspection management software is used for completing the function settings of inspection points, inspection items, inspection routes, inspection plans and the like, and realizing the functions of inspection record inquiry, in-place statistics, missed inspection statistics, trend analysis and defect tracking; the electronic tag is used for uniquely identifying the site inspection tour point. The robot is used as inspection equipment, can identify a Field electronic tag or a one-dimensional/two-dimensional bar code in real time, has a Near Field Communication (NFC) card reading function, and completes inspection management such as identification of a Field inspection point, data acquisition, photographing, video recording, global Positioning System (GPS) position Positioning, wireless data transmission and the like;
a plurality of reference voiceprint feature libraries which are labeled in advance can be established, wherein the voiceprint feature libraries comprise voiceprint features of an auxiliary equipment body, an auxiliary motor and a system pipeline during normal operation.
The inspection method for the auxiliary equipment of the thermal power plant comprises the following steps: the method comprises the steps of obtaining operation audio data of an auxiliary machine body, an auxiliary machine motor and a pipeline system in an auxiliary machine equipment inspection scene, obtaining operation audio data generated when the auxiliary machine body, the auxiliary machine motor and the pipeline system operate, carrying out feature extraction on the operation audio data to extract voiceprint signal features to be matched, comparing the voiceprint signal features to be matched with a plurality of reference voiceprint feature libraries marked in advance, marking fault types aiming at certain possibly abnormal voiceprint signal features, and simultaneously taking detected fault types, corresponding voiceprint signal features and components to which the voiceprint signal features belong as inspection results.
The inspection method for the auxiliary equipment of the thermal power plant comprises the following steps: respectively acquiring running video data of an auxiliary equipment bearing, an oil tank and a pipeline in an auxiliary equipment inspection scene, wherein the running audio data and the running video data are jointly used as multimedia data;
pre-marking a plurality of reference image feature libraries, wherein the reference image feature libraries comprise reference image features or reference video features corresponding to operation video data of auxiliary equipment bearings, oil tanks and pipelines;
the method comprises the steps of acquiring running video data of a bearing, an oil tank and a pipeline of the auxiliary equipment in an auxiliary equipment inspection scene, acquiring the running video data of the bearing, the oil tank and the pipeline of the auxiliary equipment, extracting video signal features to be matched through the running video data, comparing the video signal features to be matched with reference video features in a plurality of reference image feature libraries marked in advance, marking fault types aiming at some video signal features which may be abnormal, and taking detected fault types, the video signal features to be matched and components of the video signal features as inspection results.
The inspection method for the auxiliary equipment of the thermal power plant comprises the following steps: and the detection auxiliary equipment inspects visual data and/or auditory data in the scene, and uses the visual data and/or auditory data as sensory modality data.
The method comprises the steps that a plurality of reference visual and/or auditory data feature databases which can be labeled in advance comprise a target visual type and/or an auditory type aiming at gasoline and diesel oil, and when the target visual type and/or the auditory type are matched, auxiliary equipment is indicated to inspect an oil leakage event in a scene;
and then comparing the visual type and/or the auditory type to be matched with a target visual type and/or an auditory type which are labeled in advance, judging the condition in the auxiliary equipment inspection scene, further determining whether an oil leakage condition occurs, and if the visual type and/or the auditory type to be matched are the target visual type and/or the auditory type, determining that an oil leakage event occurs in the auxiliary equipment inspection scene. And determining oil leakage position information corresponding to the oil leakage event by combining the multimedia data, and taking the oil leakage position information as an inspection result.
The inspection method for the auxiliary equipment of the thermal power plant comprises the following steps: the auxiliary equipment body in the auxiliary equipment inspection scene, the operation audio data of an auxiliary machine motor and a pipeline system are obtained respectively, the operation video data of an auxiliary equipment bearing, an oil tank and a pipeline in the auxiliary equipment inspection scene are obtained respectively, the operation audio data and the operation video data are jointly used as multimedia data, the vision and/or hearing data in the auxiliary equipment inspection scene are detected, the vision and/or hearing data are used as sensory modality data, the inspection efficiency of the auxiliary equipment of a thermal power plant can be improved, the inspection difficulty of the auxiliary equipment is reduced to a great extent, and the inspection effect of the auxiliary equipment is effectively improved.
The beneficial effects are that:
the thermal power unit auxiliary equipment is inspected by a robot instead of manually, so that the inspection work of the auxiliary equipment can be completed safely and timely without omission; the robot patrols and examines the system and the data processing technique is real-time accurate discovery auxiliary equipment is unusual through patrolling and examining of robot, patrols and examines background system through the robot and reports to the police, can report to unusual fast accurately.
Description of the drawings:
FIG. 1 is a flow chart of the process of the present invention;
FIG. 2 is a flow chart of another method of the present invention.
The specific implementation mode is as follows:
example 1
Fig. 1 is a schematic flow chart of an auxiliary device inspection method according to an embodiment of the present invention.
It should be noted that an execution main body of the auxiliary device inspection method of this embodiment is an auxiliary device inspection device, which may be implemented in a software and/or hardware manner, and the device may be configured in an electronic device, and the electronic device may include, but is not limited to, a terminal, a server, and the like.
As shown in fig. 1, the auxiliary device inspection method includes:
s101: and acquiring multimedia data of the inspection scene of the auxiliary equipment.
The multimedia data of the auxiliary equipment inspection scene can be directly obtained by using a real-time transmission multimedia product, and can also be indirectly obtained from a storage medium for recording and collecting the multimedia data or cloud storage, and the like, which is not limited to this.
The multimedia data may be a generic name of a plurality of multimedia data types describing a robot inspection scene, including but not limited to a series of products recording image data, such as a high-definition video camera, a video recorder, and a camera, and audio data or video data captured by a recording pen, a microphone, and a device with a recording function, and the like, which is not limited thereto.
: and detecting sensory mode data in the inspection scene of the auxiliary equipment.
The sensory modality data may be data collected by various simulated receptors simulating human senses, such as vision, hearing, and the like, or may be data that can describe the senses or have similar meanings generated according to sensory factors in the environment, which is not limited in this respect.
: and determining a routing inspection result corresponding to the auxiliary equipment based on the multimedia data and the sensory mode data.
When the inspection result corresponding to the auxiliary equipment is determined based on the multimedia data and the sensory simulation data, the inspection result can be determined by comparing the two data with a set standard value, or the determined numerical values can be sorted by using an algorithm to form one or more comprehensive comparison models, so that the corresponding inspection result is determined, and the method is not limited.
In this embodiment, multimedia data of the auxiliary equipment polling scene is obtained, sensory mode data in the auxiliary equipment polling scene is detected, and a polling result corresponding to the auxiliary equipment is determined based on the multimedia data and the sensory mode data, so that the polling efficiency of the auxiliary equipment of the thermal power plant can be improved, the difficulty of polling the auxiliary equipment is reduced to a great extent, and the polling effect of the auxiliary equipment is effectively improved.
Example 2
Fig. 2 is a schematic flow chart of an auxiliary device inspection method according to embodiment 2 of the present invention.
The auxiliary equipment inspection method comprises the following steps:
s201: and respectively acquiring operation audio data of an auxiliary machine body, an auxiliary machine motor and a pipeline system in an auxiliary machine equipment inspection scene. The audio data generated during the operation of the auxiliary machine body, the auxiliary machine motor and the pipeline system may be referred to as operation audio data.
In the embodiment of the invention, a plurality of pre-labeled reference voiceprint feature libraries can be established, wherein the voiceprint feature libraries comprise voiceprint features of an auxiliary equipment body, an auxiliary motor and a system pipeline during normal operation.
The method comprises the steps of acquiring running audio data of an auxiliary machine body, an auxiliary machine motor and a pipeline system in an auxiliary machine equipment inspection scene, acquiring running audio data generated when the auxiliary machine body, the auxiliary machine motor and the pipeline system run, extracting features of the running audio data to extract voiceprint signal features to be matched, comparing the voiceprint signal features to be matched with a plurality of reference voiceprint feature libraries marked in advance, marking fault types aiming at certain possibly abnormal voiceprint signal features, and taking the detected fault types, the corresponding voiceprint signal features and components (such as the auxiliary machine body, the auxiliary machine motor and the pipeline system) of the corresponding voiceprint signal features as inspection results.
: and respectively acquiring operation video data of an auxiliary equipment bearing, an oil tank and a pipeline in an auxiliary equipment inspection scene, wherein the operation video data and the operation audio data are jointly used as multimedia data.
In the embodiment of the invention, a plurality of reference image feature libraries can be labeled in advance, wherein the reference image feature libraries comprise reference image features or reference video features and the like corresponding to the operation video data of the auxiliary equipment bearing, the oil tank and the pipeline.
The method comprises the steps of obtaining operation video data of an auxiliary equipment bearing, an oil tank and a pipeline in an auxiliary equipment inspection scene, obtaining the operation video data of the auxiliary equipment bearing, the oil tank and the pipeline, extracting video signal features to be matched through the operation video data, comparing the video signal features to be matched with reference video features in a plurality of reference image feature libraries marked in advance, marking fault types aiming at some video signal features (such as leaks, cracks or video images with large color difference) which possibly have abnormity, and taking detected fault types, the video signal features to be matched and components (the auxiliary equipment bearing, the oil tank, the pipeline and the like) to which the video signal features belong as inspection results.
: and the detection auxiliary equipment inspects visual data and/or auditory data in the scene, and uses the visual data and/or auditory data as sensory modality data.
In this embodiment, a plurality of reference visual and/or auditory data feature databases which may be labeled in advance include target visual types and/or auditory types for gasoline, diesel oil and the like, and when the target visual types and/or auditory types are matched, the auxiliary device is instructed to patrol and examine the oil leakage event in the scene.
The visual and/or auditory data are subjected to characteristic analysis to obtain a visual type and/or an auditory type to be matched, then the visual type and/or the auditory type to be matched are compared with a target visual type and/or an auditory type which are labeled in advance, the condition in the auxiliary equipment inspection scene is judged, so that whether an oil leakage condition occurs or not is further determined, and if the visual type and/or the auditory type to be matched are the target visual type and/or the auditory type, an oil leakage event in the auxiliary equipment inspection scene can be determined. And determining oil leakage position information corresponding to the oil leakage event by combining the multimedia data, and taking the oil leakage position information as an inspection result.
In this embodiment, through obtaining the auxiliary engine body in the auxiliary engine equipment polling scene respectively, the operation audio data of auxiliary engine motor and pipe-line system, obtain the auxiliary engine equipment bearing in the auxiliary engine equipment polling scene respectively, the oil tank, the operation video data of pipeline, operation audio data and operation video data are regarded as multimedia data jointly, detect visual and/or hearing data among the auxiliary engine equipment polling scene, and regard visual and/or hearing data as modal sensory data, can promote thermal power plant auxiliary engine equipment polling efficiency, reduce the degree of difficulty that auxiliary engine equipment patrolled and examined to a great extent, promote the effect of patrolling and examining of auxiliary engine equipment effectively.
Claims (9)
1. A thermal power plant auxiliary equipment inspection method is characterized in that: acquiring multimedia data of an auxiliary equipment inspection scene through an inspection robot, detecting sensory mode data in the auxiliary equipment inspection scene, and determining an inspection result corresponding to the auxiliary equipment based on the multimedia data and the sensory mode data;
the method comprises the steps of acquiring multimedia data of an auxiliary equipment inspection scene in a robot inspection mode, acquiring the multimedia data of the auxiliary equipment inspection scene through a field data acquisition module, inspecting sensory modal data in the auxiliary equipment inspection scene through a detection module, and determining an inspection result corresponding to the auxiliary equipment through a determination module based on the multimedia data and the sensory modal data.
2. The thermal power plant auxiliary equipment inspection method according to claim 1, characterized in that: the robot is an execution main body, and is used as an auxiliary equipment inspection device, a judgment part of the device can be realized in a software and/or hardware mode, the device can be configured in electronic equipment, and the electronic equipment can include but is not limited to a terminal and a server side; adopting a robot inspection mode: the system consists of equipment inspection background management software, robot inspection equipment and an electronic tag. The inspection management software completes the function settings of inspection points, inspection items, inspection routes, inspection plans and the like, and realizes the functions of inspection record inquiry, in-place statistics, missed inspection statistics, trend analysis and defect tracking; the electronic tag is used for uniquely identifying the site inspection tour point. The robot can be used as inspection equipment, can identify a field electronic tag or a one-dimensional/two-dimensional bar code in real time, has a Near Field Communication (NFC) card reading function, and completes inspection management of identification, data acquisition, photographing, video recording, a global positioning system, GPS position positioning, wireless data transmission and the like of a field inspection point.
3. The thermal power plant auxiliary equipment inspection method according to claim 1 or 2, characterized in that: the robot is used as inspection equipment, multimedia data of an inspection scene of auxiliary equipment is acquired in an inspection mode, and the multimedia data is directly acquired by using a real-time transmission multimedia product or indirectly acquired by recording a storage medium for collecting the multimedia data or cloud storage and the like; the multimedia data can be a general name of a plurality of multimedia data types describing a robot inspection scene, and comprises products for recording image data by a high-definition video camera, a video recorder and a camera series, and sound data or video data for capturing by a recording pen, a microphone and equipment with a recording function.
4. The thermal power plant auxiliary equipment inspection method according to claim 1, 2 or 3, characterized in that: the detection auxiliary equipment acquires sensory mode data in the inspection scene, wherein the sensory mode data are collected by various simulated receptors for simulating vision, hearing and the like of human senses, or data which can form the senses or have similar meanings and are generated according to sensory factors in the environment; the method is characterized in that a routing inspection result corresponding to the auxiliary equipment is determined based on multimedia data and sensory mode data, the routing inspection result is determined by comparing the two data with a set standard value, and measured values can be sorted by utilizing an algorithm to form one or more comprehensive comparison models, so that the corresponding routing inspection result is determined, the routing inspection efficiency of the auxiliary equipment of the thermal power plant can be improved, the routing inspection difficulty of the auxiliary equipment is greatly reduced, and the routing inspection effect of the auxiliary equipment is effectively improved.
5. A thermal power plant auxiliary equipment inspection method is characterized in that: respectively acquiring running audio data of an auxiliary machine body, an auxiliary machine motor and a pipeline system in an auxiliary machine equipment inspection scene by using an inspection robot; the audio data generated during the operation of the auxiliary machine body, the auxiliary machine motor and the pipeline system can be called as operation audio data; adopting a robot inspection mode: the system consists of equipment inspection background management software, robot inspection equipment and an electronic tag, wherein the inspection management software is used for completing the function settings of inspection points, inspection items, inspection routes, inspection plans and the like, and realizing the functions of inspection record inquiry, in-place statistics, missed inspection statistics, trend analysis and defect tracking; the electronic tag is used for uniquely identifying the site inspection tour point. The robot is used as inspection equipment, can identify a Field electronic tag or a one-dimensional/two-dimensional bar code in real time, has a Near Field Communication (NFC) card reading function, and completes inspection management such as identification of a Field inspection point, data acquisition, photographing, video recording, global Positioning System (GPS) position Positioning, wireless data transmission and the like;
a plurality of reference voiceprint feature libraries which are labeled in advance can be established, wherein the voiceprint feature libraries comprise voiceprint features of an auxiliary equipment body, an auxiliary motor and a system pipeline during normal operation.
6. The inspection method for the auxiliary equipment of the thermal power plant according to claim 5, characterized in that: the method comprises the steps of obtaining operation audio data of an auxiliary machine body, an auxiliary machine motor and a pipeline system in an auxiliary machine equipment inspection scene, obtaining operation audio data generated when the auxiliary machine body, the auxiliary machine motor and the pipeline system operate, extracting characteristics of the operation audio data to extract voiceprint signal characteristics to be matched, comparing the voiceprint signal characteristics to be matched with a plurality of reference voiceprint characteristic libraries marked in advance, marking fault types aiming at certain voiceprint signal characteristics which are possibly abnormal, and meanwhile using detected fault types, corresponding voiceprint signal characteristics and components to which the voiceprint signal characteristics belong as inspection results.
7. The thermal power plant auxiliary equipment inspection method according to claim 5 or 6, characterized in that: respectively acquiring running video data of an auxiliary equipment bearing, an oil tank and a pipeline in an auxiliary equipment inspection scene, wherein the running audio data and the running video data are jointly used as multimedia data;
pre-marking a plurality of reference image feature libraries, wherein the reference image feature libraries comprise reference image features or reference video features corresponding to operation video data of auxiliary equipment bearings, oil tanks and pipelines;
the method comprises the steps of acquiring running video data of a bearing, an oil tank and a pipeline of the auxiliary equipment in an auxiliary equipment inspection scene, acquiring the running video data of the bearing, the oil tank and the pipeline of the auxiliary equipment, extracting video signal features to be matched through the running video data, comparing the video signal features to be matched with reference video features in a plurality of reference image feature libraries marked in advance, marking fault types aiming at some video signal features which may be abnormal, and taking detected fault types, the video signal features to be matched and components of the video signal features as inspection results.
8. The thermal power plant auxiliary equipment inspection method according to claim 5, 6 or 7, characterized in that: and detecting visual data and/or auditory data in the inspection scene by the auxiliary equipment, and taking the visual data and/or the auditory data as sensory modality data.
The method comprises the steps that a plurality of reference visual and/or auditory data feature databases which can be labeled in advance comprise a target visual type and/or an auditory type aiming at gasoline and diesel oil, and when the target visual type and/or the auditory type are matched, auxiliary equipment is indicated to inspect an oil leakage event in a scene;
and then comparing the visual type and/or the auditory type to be matched with a target visual type and/or an auditory type which are labeled in advance, judging the condition in the auxiliary equipment inspection scene, further determining whether an oil leakage condition occurs, and if the visual type and/or the auditory type to be matched are the target visual type and/or the auditory type, determining that an oil leakage event occurs in the auxiliary equipment inspection scene. And determining oil leakage position information corresponding to the oil leakage event by combining the multimedia data, and taking the oil leakage position information as an inspection result.
9. The thermal power plant auxiliary equipment inspection method according to claim 5, 6, 7 or 8, characterized in that: the auxiliary equipment body in the auxiliary equipment inspection scene, the operation audio data of an auxiliary machine motor and a pipeline system are obtained respectively, the operation video data of an auxiliary equipment bearing, an oil tank and a pipeline in the auxiliary equipment inspection scene are obtained respectively, the operation audio data and the operation video data are jointly used as multimedia data, the vision and/or hearing data in the auxiliary equipment inspection scene are detected, the vision and/or hearing data are used as sensory modality data, the inspection efficiency of the auxiliary equipment of a thermal power plant can be improved, the inspection difficulty of the auxiliary equipment is reduced to a great extent, and the inspection effect of the auxiliary equipment is effectively improved.
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