WO2023061049A1 - Système de robot d'inspection intelligent monté sur un véhicule de fourniture de réseau et procédés basés sur celui-ci - Google Patents

Système de robot d'inspection intelligent monté sur un véhicule de fourniture de réseau et procédés basés sur celui-ci Download PDF

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WO2023061049A1
WO2023061049A1 PCT/CN2022/114105 CN2022114105W WO2023061049A1 WO 2023061049 A1 WO2023061049 A1 WO 2023061049A1 CN 2022114105 W CN2022114105 W CN 2022114105W WO 2023061049 A1 WO2023061049 A1 WO 2023061049A1
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Prior art keywords
inspection
tower
vehicle
towers
power distribution
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PCT/CN2022/114105
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English (en)
Chinese (zh)
Inventor
李希智
张斌
王海鹏
孙虎
王亮
文艳
杨尚伟
卫一民
刘斌
许玮
周大洲
孟海磊
李建祥
王万国
刘丕玉
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国网智能科技股份有限公司
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Publication of WO2023061049A1 publication Critical patent/WO2023061049A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0092—Adjustable or movable supports with motorization

Definitions

  • the invention relates to the technical field of power distribution inspection, in particular to a vehicle-mounted intelligent inspection robot system and method for a distribution network.
  • Power transmission and distribution lines are responsible for power transmission.
  • the lines are long, have many equipments, and have a wide geographical range, which brings great difficulties to the operation and maintenance of the power grid and rapid fault repair.
  • the ultrasonic equipment When the inspection vehicle is driving in a normal state, the ultrasonic equipment is directly used to inspect the discharge point, and it is impossible to visually display the source of the ultrasonic signal of the discharge point. If a visible light camera is simply added, due to mechanical interference, the axis where it is located It is inevitable that the picture at the source of the ultrasonic receiving signal cannot be collected under the condition that it is collinear with the axis of the ultrasonic equipment at the same time.
  • the existing distribution line inspection strategy is that the daily inspection personnel need to plan which lines and towers to inspect this time before the inspection, and configure the lines and towers to be inspected into multiple inspection tasks, During the inspection, the inspection must start from the No. 1 tower of the specified task, and the task line cannot be changed in the middle.
  • This inspection strategy needs to set up many inspection tasks in advance, and the workload of task configuration is heavy, and the inspection needs to follow the route planned by the task. It is less flexible to conduct inspections with pole towers.
  • the real-time position of the inspection vehicle and the tower is used to calculate the tracking angle.
  • This calculation method is accurate when the vehicle is stationary, but it cannot be applied to the vehicle running state. detection; because in the driving state of the vehicle, according to the position of the vehicle and the tower at the current time node, it is calculated that the pan-tilt needs to track the rotation angle, and the rotation command is sent to the pan-tilt, and the pan-tilt rotates to the specified angle after receiving the command.
  • the inspection vehicle is still in the driving state, and the position of the vehicle has changed. At this time, it is no longer accurate to use the previously calculated angle to track.
  • the present invention provides a vehicle-mounted intelligent inspection robot system and method for distribution network, which can realize non-stop inspection of power distribution lines, and realize the maintenance of power distribution lines, power distribution equipment and power distribution towers.
  • the comprehensive and continuous automatic inspection avoids omissions in the inspection of distribution lines and improves the accuracy of inspection results of distribution lines.
  • the first aspect of the present invention provides a distribution network vehicle intelligent inspection robot system.
  • a vehicle-mounted intelligent inspection robot system for a distribution network comprising: a robot body arranged on the vehicle and a detection device mounted on the robot body;
  • the detection device at least includes an ultrasonic detection mechanism, an infrared detection mechanism, and a visible light imaging mechanism fixed on the rotating platform, and the ultrasonic detection mechanism and the visible light imaging mechanism are arranged coaxially and oppositely, or the angle between the ultrasonic detection mechanism and the visible light imaging mechanism is default value;
  • the rotating pan/tilt, the ultrasonic detection mechanism and the visible light shooting mechanism all communicate with the control terminal of the robot body, and the control terminal of the robot body can conduct inspections of power distribution lines and/or power distribution towers and/or power distribution equipment according to the data transmitted by the detection device .
  • the second aspect of the present invention provides a method for locating power distribution equipment, including the following process:
  • the control terminal controls the rotation of the pan-tilt
  • the rotating pan-tilt drives the ultrasonic detection mechanism to rotate, and the control terminal controls the ultrasonic detection mechanism to detect;
  • the rotating platform rotates 180° from the abnormal signal position or a preset angle so that the visible light shooting mechanism is facing the abnormal signal position;
  • the control terminal controls the visible light photographing mechanism to photograph the position of the abnormal signal.
  • the third aspect of the present invention provides a fault identification method for power distribution equipment, including the following process:
  • the equipment failure history images of other power scenarios are selected as the expanded samples
  • the pre-built segmentation module is trained by multiple upsampling fusion method, and the fault identification result is obtained by using the trained segmentation model for the infrared image of the power distribution equipment to be identified.
  • a fourth aspect of the present invention provides a method for pole tower inspection, including the following process:
  • the optimal inspection task strategy is determined;
  • a fifth aspect of the present invention provides a tower inspection method, including the following process:
  • every two levels of towers are interrelated as a minimum unit, and the same tower is included between two adjacent minimum units; traversing all the towers, all the smallest units form Rod-rod minimum unit inspection model;
  • the next-level inspection tower associated with the current tower is automatically determined, and the task-free inspection of the power distribution line is performed.
  • the sixth aspect of the present invention provides a dynamic tracking method for towers, including the following process:
  • the set data acquisition frequency obtain the current position information of the vehicle and the driving speed of the vehicle;
  • the control platform realizes the detection of the tower based on the optimal tracking horizontal angle and pitch angle.
  • the invention pioneered the development of a distribution network vehicle-mounted intelligent inspection robot inspection method, developed a distribution network vehicle-mounted intelligent inspection robot system, proposed a distribution network scene inspection tower dynamic tracking strategy, and constructed a lightweight
  • the visible light appearance recognition model and the infrared tower detection model designed the visual positioning technology of the discharge point of the distribution equipment, realized the non-stop inspection of the distribution line for the defect of the tower, and improved the real-time and accuracy of the defect detection of the distribution line.
  • the present invention proposes a visual positioning method for the discharge point of power distribution equipment, constructs a pan-tilt coaxial flip model and a rotating scanning model, solves the problem of poor multi-axis detection accuracy, and realizes the location of the discharge point of power distribution equipment High-precision positioning improves the inspection efficiency and inspection quality of the distribution network vehicle inspection robot.
  • the present invention proposes an infrared image fault identification method for power distribution equipment, and constructs a MobileNetv1-FCN infrared image equipment segmentation model.
  • a MobileNetv1-FCN infrared image equipment segmentation model By splicing the background image of the distribution network scene with the defect image of other power scenes, the few-sample data is expanded; the pixel-level recognition of the power equipment in the infrared image is carried out through the semantic segmentation model based on the fully convolutional neural network ; Solve the problem of low defect recognition accuracy in the case of few samples, realize the effective segmentation of the foreground and background of power equipment in infrared images and the accurate extraction of equipment outline information, and improve the accuracy of equipment temperature information extraction.
  • the present invention proposes an inspection task planning method for a distribution network vehicle-mounted intelligent inspection robot, constructs a galaxy topology model of distribution line towers, and designs an optimal inspection task strategy.
  • the galaxy topology model of distribution line towers is established, and the patrol inspection tasks of distribution lines are planned through the established topology model, which solves the problem of complex distribution of distribution lines and towers, and various work areas. 1.
  • Problems such as missing rods, missing lines, false inspections, and missed inspections caused by the interlacing of the lines belonging to the team; through the construction of a topology model, the distribution of each line can be clearly seen, so that the inspection personnel can More reasonable planning of inspection tasks improves inspection efficiency.
  • the present invention innovatively proposes a task-free inspection method for a distribution network vehicle-mounted intelligent inspection robot, designs the minimum unit determination principle of a distribution line tower, and constructs a pole-pole minimum unit inspection model.
  • a task-free inspection method for a distribution network vehicle-mounted intelligent inspection robot designs the minimum unit determination principle of a distribution line tower, and constructs a pole-pole minimum unit inspection model.
  • the present invention innovatively proposes a dynamic tracking method for the pole tower of the vehicle-mounted intelligent inspection robot for the distribution network, and designs a calculation algorithm for the position coordinates of the preset compensation points in the direction of vehicle travel, and constructs the spatial position relationship between the cloud platform and the pole tower spatial coordinate system.
  • FIG. 1 is a schematic structural diagram of a vehicle-mounted intelligent inspection robot system for a distribution network provided by Embodiment 1 of the present invention.
  • Fig. 2 is a schematic flowchart of a method for locating a discharge point of a power distribution device according to Embodiment 2 of the present invention.
  • FIG. 3 is a schematic flow chart of a method for identifying a fault in a power distribution device according to Embodiment 3 of the present invention.
  • FIG. 4 is a schematic flowchart of a tower inspection method provided in Embodiment 4 of the present invention.
  • FIG. 5 is a schematic diagram of calculating the pan-tilt tracking horizontal angle when the pole tower is located in the first quadrant and the vehicle travel direction is west-north provided by Embodiment 4 of the present invention.
  • FIG. 6 is a schematic diagram of a calculation method for a tower pitch tracking angle provided by Embodiment 4 of the present invention.
  • FIG. 7 is a schematic flowchart of a tower inspection method provided in Embodiment 5 of the present invention.
  • Fig. 8 is a schematic diagram of the pole-rod smallest unit inspection model provided by Embodiment 5 of the present invention.
  • FIG. 9 is a flow chart of a dynamic tracking method for poles and towers based on traveling vehicles provided in Embodiment 6 of the present invention.
  • FIG. 10 is a schematic diagram of calculating a preset compensation distance during vehicle running according to Embodiment 6 of the present invention.
  • 1-vehicle 2-ultrasonic detection mechanism; 3-visible light detection mechanism; 4-infrared detection mechanism.
  • Embodiment 1 of the present invention provides a vehicle-mounted intelligent inspection robot system for a distribution network, including: a robot body installed on a vehicle 1 and a detection device mounted on the robot body;
  • the detection device at least includes an ultrasonic detection mechanism 2, an infrared detection mechanism 4, and a visible light imaging mechanism 3 fixed on the rotating platform, and the ultrasonic detection mechanism and the visible light imaging mechanism are arranged coaxially and oppositely, or the ultrasonic detection mechanism and the visible light imaging mechanism are arranged in opposite directions.
  • the included angle is the default value.
  • the detection device may also include other sensors, such as temperature and humidity sensors, air pressure sensors, etc., which can be selected by those skilled in the art according to specific working conditions, and will not be repeated here.
  • the rotating pan/tilt, the ultrasonic detection mechanism and the visible light shooting mechanism all communicate with the control terminal of the robot body, and the control terminal of the robot body can conduct inspections of power distribution lines and/or power distribution towers and/or power distribution equipment according to the data transmitted by the detection device .
  • the horizontal rotation angle range of the swivel head is 0-360°, and the vertical rotation angle range of the swivel head is -90°-90°.
  • the preferred pitch angle is 0-90°.
  • the rotating pan-tilt is connected to the base of the pan-tilt for fixing, and the base for fixing is used for connecting with the vehicle.
  • Embodiment 2 of the present invention provides a method for locating discharge points of power distribution equipment. As shown in FIG. 2, using the vehicle-mounted intelligent inspection robot system for distribution network described in Embodiment 1 of the present invention includes the following process:
  • the rotating pan/tilt drives the ultrasonic detection mechanism to rotate, and the ultrasonic detection mechanism performs detection according to the received control command from the control terminal;
  • S204 The visible light photographing mechanism photographs the position of the abnormal signal according to the control instruction of the control terminal.
  • the rotating pan/tilt scans with the current orientation as the center, and every time it reaches a predetermined point, the current ultrasonic value is automatically recorded and drawn, and the corresponding point corresponding to the maximum value of the ultrasonic value is the point of partial discharge.
  • Embodiment 3 of the present invention provides a fault identification method for power distribution equipment. As shown in FIG. 3, using the vehicle-mounted intelligent inspection robot system for distribution network described in Embodiment 1 of the present invention includes the following process:
  • S301 Obtain the historical infrared images of power distribution equipment in the distribution network scene and other preset power scenes, and select the equipment in other power scenes according to the similarity between the equipment failure form of the power distribution equipment infrared image and the equipment failure form in other power scenes Fault history images are used as extended samples;
  • the structural similarity algorithm is used to select samples with similar defect forms for expansion; for example, there are many bird nests in the power transmission scene, but there are very few bird nests in the power distribution scene, so a new image can be obtained by splicing the bird nests in the power transmission scene and the power distribution background pictures , to expand the number of samples and reduce the false detection rate.
  • other power scenarios may include power transmission scenarios, power transformation scenarios, and the like.
  • S302 Mark the defect position in the infrared image of the power distribution equipment and the extended sample, and crop it into a defect image block containing the defect position and a background image block not containing the defect position based on the defect position, and for any background image block and After splicing any defective image block, a new image set is obtained;
  • the few-sample defect data in the distribution network scene and the defect image data in other power scenes are cut out according to the defect coordinate positions and stored in a unified manner, and the background image blocks are stored separately.
  • all defect images are cropped into image blocks by using functions in a proprietary image processing library according to defect coordinate positions.
  • the defective image blocks are subjected to random image transformation operations of geometric transformation and pixel transformation, so as to further expand the defective image blocks and increase the number of defective image blocks;
  • said geometric transformation includes flipping, translation, shearing, rotation and scaling.
  • said pixel transformation includes brightness, contrast, saturation, channel transformation and adding noise.
  • the defect image block and the background image block are synthesized through an image splicing method to construct an image training set
  • the image stitching method includes: randomly selecting a square area in the background image block, the coordinate position of the square area is used as the insertion position of the defect image block in the background image block, and the transformed defect image block and the background image block are synthesized by image stitching , as new training data to train the segmentation model.
  • the pre-built segmentation module is trained using a multi-upsampling fusion method, and the infrared image of the power distribution equipment to be identified is obtained using the trained segmentation model to obtain a fault identification result.
  • the inspection target area in the image training set is calibrated, and the position and label of the power distribution equipment in the image are marked.
  • the image size can be adjusted.
  • the construction process of the segmentation model is as follows: constructing the MobileNetv1-FCN semantic segmentation model based on the full convolutional neural network, using the lightweight convolutional neural network structure MobileNetv1 as the backbone network of the segmentation model, and training based on images set to train the segmentation model.
  • the training process includes: after performing 5 convolution operations on the image training set, using multiple upsampling and fusion methods to obtain the feature map;
  • the final conv_dw5 layer is first obtained
  • the feature map is 2 times upsampled, and the feature map corresponding to conv_dw4 is fused to obtain a 1/16 feature map; similarly, this feature map is 2 times upsampled, and corresponding to conv_dw3
  • the feature maps are fused to obtain 1/8 feature maps; finally, the obtained feature maps are 8 times upsampled and calculated; the infrared image is segmented at the pixel level, and the contour information of the inspection equipment is extracted to improve the accuracy of contour segmentation.
  • MobileNetv1 uses depthwise separable convolution (DepthWise separable Convolution) to build a lightweight deep convolutional neural network, and decompose the standard convolution operation into a Depthwise Convolution and a Pointwise Convolution convolution operation to ensure the accuracy of segmentation. At the same time, it reduces the computational complexity of the model and ensures the real-time performance of the algorithm, thereby realizing real-time infrared contour segmentation of power distribution equipment.
  • Depthwise Convolution Depthwise Convolution
  • Pointwise Convolution convolution to ensure the accuracy of segmentation.
  • it reduces the computational complexity of the model and ensures the real-time performance of the algorithm, thereby realizing real-time infrared contour segmentation of power distribution equipment.
  • the specific structure of the segmentation model includes 5 conv_dw (depth separable convolution) and 3 upsampling operations, including 2 double upsampling operations and one 8x upsampling operation.
  • Embodiment 4 of the present invention provides a pole tower inspection method. As shown in FIG. 4, using the distribution network vehicle-mounted intelligent inspection robot system described in Embodiment 1 of the present invention includes the following process:
  • S401 According to the three-level galaxy topology structure of inspection line-inspection tower-tower inspection point, based on the principle of the same inspection person in charge and the principle of similar merger of inspection lines, determine the optimal inspection task strategy.
  • the geographic information coordinates of the distribution line towers are obtained by using the geographic information positioning equipment to collect the longitude and latitude coordinate information of the distribution line towers.
  • the geographic information positioning equipment is centimeter-level precision.
  • geographic information coordinates of distribution line towers with centimeter-level accuracy are obtained.
  • the three-level galaxy topology structure of the inspection line-inspection tower-tower inspection point is constructed according to the geographical information coordinates of the power distribution line tower.
  • each inspection line includes multi-level towers of power distribution lines, and each level of towers includes multiple inspection points.
  • the principle of the same person in charge of inspection is: the inspection lines belonging to the same person in charge of inspection are combined and inspected preferentially.
  • This embodiment builds a distribution line tower galaxy topology model, which solves the problem of missing poles, missing lines, false inspections, and missed inspections during the inspection process caused by the complex distribution of distribution lines and towers, and the interlacing of lines belonging to each work area and team.
  • the problem is to obtain the geographical information coordinates of the distribution line towers, establish the geographical information coordinate library of the distribution line, establish the galaxy topology model structure of the distribution line according to the geographical information coordinate library, and plan the optimal inspection task according to the topology model Strategy, by building a topology model, you can clearly see the distribution of each line, so that inspectors can plan inspection tasks more reasonably according to the distribution of lines, and improve inspection efficiency.
  • S402 Based on the optimal inspection task strategy and the three-dimensional space coordinate system of the pole, calculate the coordinate data of the preset compensation point position according to the quadrant where the inspection vehicle is located and the vehicle's driving distance within a preset interval.
  • the accuracy of the longitude and latitude coordinate information of the vehicle and the power distribution line tower is centimeter level. Centimeter-level positioning can improve the accuracy of angle calculation and tower tracking.
  • the inspection control system (for example, the positioning equipment mounted on the roof) collects the real-time latitude and longitude coordinate data of the inspection vehicle at a set frequency (for example: 5 times/second).
  • the coordinates of the distribution line tower are taken as the origin, the longitude, latitude and height are used as the x-axis, y-axis and z-axis, and the position points of the inspection vehicles are used as points in the coordinate system to construct a three-dimensional space coordinate system for the vehicle pole.
  • S403 Based on the coordinate data of the preset compensation point position, calculate the optimal tracking angle data of the vehicle-mounted pan-tilt to track the tower and convert it into a control command, so as to control the vehicle-mounted pan-tilt to always maintain the optimal positioning and tracking of the pole.
  • the optimal tracking angle data of the vehicle-mounted pan/tilt tracking tower includes the optimal tracking horizontal rotation angle and the optimal tracking pitch angle.
  • the calculation process of the optimal tracking horizontal rotation angle of the tower includes:
  • the preset compensation point position is used as the real-time position of the vehicle, and based on the preset compensation point position and pole tower position, a three-dimensional space coordinate system of the vehicle pole is constructed;
  • Math.PI refers to the mathematical function, pi; Math.Asin mathematical trigonometric function, arcsine function; Math.Sqrt mathematical function, square root; Math.Pow mathematical function, power function; Math.Sin mathematical function, sine Function; Math.Lng is the calculation result of formula (3); Math.Cos mathematical function, cosine function; Math.radLat 2 is the calculation result of formula (2).
  • the calculation process of the optimal tracking pitch angle includes:
  • the preset compensation point position is used as the real-time position of the vehicle, and based on the preset compensation point position and pole tower position, a three-dimensional space coordinate system of the vehicle pole is constructed;
  • the pitch angle of the gimbal is calculated in the three-dimensional space coordinate system of the vehicle pole.
  • the height difference h between the two can be obtained, and the calculation formula is as follows:
  • Step S404 According to the comparison result between the operation data of the tower acquired during the positioning and tracking of the tower and the preset detection threshold, determine whether to issue an alarm prompt, so as to send an order to continue the inspection or an order for on-site research and judgment to the inspectors.
  • the tracking motion angle data of the vehicle-mounted pan-tilt is converted into control commands to guide the vehicle-mounted pan-tilt to automatically perform horizontal and pitch movements.
  • the converted angle data is converted into the corresponding hexadecimal control command according to the protocol format, and the command is sent to the detection pan/tilt, and the pan/tilt is controlled to move according to the specified angle.
  • the format of the control command is:
  • Byte 1 is the start byte
  • byte 2 is the PTZ address
  • byte 3 is command word 1
  • byte 4 is command word 2
  • byte 5 is data 1
  • byte 6 is data 2
  • byte 7 is the end byte.
  • control command format is shown in Table 1:
  • S405 Obtain an inspection report based on all inspection data and on-site research and judgment results.
  • the on-site research and judgment results are obtained by the inspection personnel getting off the vehicle and holding the detection equipment to conduct a second inspection on the pole tower, so as to confirm whether the abnormal alarm of the system is true.
  • an on-site research and judgment order is sent to the inspector; when an alarm prompt is not issued, an inspection order is sent to the inspector.
  • Embodiment 5 of the present invention provides a pole tower inspection method. As shown in FIG. 7, using the distribution network vehicle-mounted intelligent inspection robot system described in Embodiment 1 of the present invention includes the following process:
  • S501 Obtain geographic coordinate information of distribution line towers within the set area
  • the geographic information positioning equipment such as: GPS, Beidou, Galileo, etc.
  • the accuracy is centimeter level
  • each two-level tower is used as a minimum unit, and the distribution line is divided into many minimum units. These minimum units are combined to form a pole-pole minimum unit. Inspection model.
  • next-level tower is selected based on the principle of determining the minimum unit to form a minimum unit for mutual correlation
  • the minimum unit determination principle mainly includes the following aspects:
  • the information of each level of tower includes tower number, coordinates and height information; when the current tower is inspected, the position of the tower for the next inspection is determined according to the next tower information associated with it in the smallest unit.
  • the form of the pole-tower minimum unit inspection model in the database is shown in Table 2.
  • the data of the next tower can be extracted from the database.
  • Table 2 The form of the pole-rod minimum unit inspection model in the database
  • S503 Based on the inspection model, automatically determine a tower for next-level inspection, and perform task-free inspection of distribution lines.
  • the set tower is used as the initial tower, and the tower that forms the smallest tower unit with the initial tower is used as the tower for the next inspection;
  • the set tower is used as the starting tower, and the tower that forms the smallest unit with the starting tower is used as the tower for the next inspection;
  • the tower that forms the smallest tower unit with it will be used as the tower for inspection at the next level;
  • next-level tower select the tower that is closest to the inspection equipment and has not been inspected as the tower for the next-level inspection;
  • the pole-rod minimum unit inspection model is stored in the inspection vehicle, and the determined coordinate information of the next-level inspection pole tower is used as the target position of the inspection vehicle to determine the running path of the inspection vehicle.
  • the inspection vehicle records the positions of the towers that have been inspected at the end of the last inspection. During this inspection, the towers that have not been inspected are given priority as the towers for the next inspection.
  • Embodiment 6 is a diagrammatic representation of Embodiment 6
  • Embodiment 6 of the present invention provides a dynamic tracking method for pole towers.
  • using the distribution network vehicle-mounted intelligent inspection robot system described in Embodiment 1 of the present invention includes the following process:
  • centimeter-level precision geographic information positioning equipment such as: GPS, Beidou, Galileo, etc.
  • set data collection frequency real-time acquisition of vehicle geographic information coordinate data
  • the first data collection is at location point A
  • the second data collection arrives at location point B.
  • Calculate the driving speed of the vehicle through the distance L between A-B and the time interval t between two data receptions (t is 200ms). v L/t.
  • S602 Calculate the driving distance of the vehicle in the interval between two data calculations, and calculate the coordinate data of the preset compensation point position based on the current position information of the vehicle;
  • S603 Based on the coordinate data of the preset compensation point position, calculate the optimal tracking horizontal angle and pitch angle of the pan-tilt to the tower. For the specific calculation method, refer to Embodiment 4, which will not be repeated here.
  • S604 Realize the detection of the tower based on the optimal tracking horizontal angle and pitch angle.

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Abstract

La présente invention concerne un système de robot d'inspection intelligent monté sur un véhicule de fourniture de réseau et des procédés basés sur celui-ci. Le système comprend un corps de robot disposé sur un véhicule et un appareil de détection porté sur le corps de robot. L'appareil de détection comprend au moins un mécanisme de détection par ultrasons, un mécanisme de détection infrarouge et un mécanisme de photographie en lumière visible qui sont fixés sur un cardan rotatif, le mécanisme de détection par ultrasons et le mécanisme de photographie en lumière visible étant agencés de manière coaxiale et en sens inverse, ou un angle d'ouverture entre le mécanisme de détection par ultrasons et le mécanisme de photographie en lumière visible présentant une valeur prédéfinie. Le cardan rotatif, le mécanisme de détection par ultrasons et le mécanisme de photographie en lumière visible sont en communication avec un terminal de commande du corps de robot, et le terminal de commande du corps de robot peut effectuer une inspection sur une ligne d'alimentation, une tour d'alimentation et/ou un dispositif d'alimentation en fonction de données transmises par l'appareil de détection. Selon la présente invention, une inspection en continu de la ligne d'alimentation peut être mise en œuvre, une inspection complète de la ligne d'alimentation, du dispositif d'alimentation et de la tour d'alimentation est mise en œuvre, toute omission en matière d'inspection de la ligne d'alimentation est évitée, et la précision du résultat d'inspection de la ligne d'alimentation est considérablement améliorée.
PCT/CN2022/114105 2021-10-11 2022-08-23 Système de robot d'inspection intelligent monté sur un véhicule de fourniture de réseau et procédés basés sur celui-ci WO2023061049A1 (fr)

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CN202111180539.6 2021-10-11
CN202111180539.6A CN113601536B (zh) 2021-10-11 2021-10-11 一种配网车载智能巡检机器人系统及方法

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CN116629842A (zh) * 2023-07-19 2023-08-22 国网浙江省电力有限公司苍南县供电公司 基于图像处理的电力设备巡检方法及平台
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