hotdog_inspection

Substation inspection at the stop points of a patrol: the UniPod MT11 is pointed at each piece of equipment taught there and its temperatures are judged for overheating, the Hertzinno HZ-FA-371 listens for partial discharge, and a report with the thermal, visible and sound map images is kept on the robot and published.

Node

inspection_node (ros2 launch hotdog_inspection inspection.launch.py, started by ros2 launch hotdog robot.launch.py):

Interface	Type
inspection/inspect	std_srvs/Trigger	inspect the point where the robot stands (the follower's hook)
inspection/add_target	hotdog_interfaces/AddTarget	teach a target from the pod's current pan, tilt and zoom
inspection/report	hotdog_interfaces/InspectionReport	everything measured at one point, its highest severity
inspection/status	hotdog_interfaces/InspectionStatus	latched: idle / inspecting / disabled, points, targets, pod, ambient
site/status	dharma_interfaces/SiteStatus	the active site (input)
navigation/stop_point	dharma_interfaces/StopPointEvent	where the robot stopped (input)
/unipod/*	unipod_msgs	set_angle, set_zoom, get_temperature, thermal_control, recenter, status, attitude, both image streams while inspecting
HZ-FA-371	HTTP (acoustic.host)	login, detection settings, start / stop, records and their photos

The path follower calls inspection/inspect at every stop point (hooks.inspection: [/inspection/inspect] in the bringup's stack.yaml) and waits for the answer up to dwell + hooks.inspection_timeout_sec. A stop with no inspection point within match_radius_m answers at once; a missing or failing pod is reported, never raised, and the patrol goes on.

Inspection points

<sites_dir>/<site>/inspection.yaml, next to the site's taught routes. A point is where the robot stands, in the map frame (the dock is the origin, see the bringup's "Odometry only"), so every route stopping near it inspects it:

points:
  - name: bay1_disconnector
    x: 12.40
    y: -3.10
    targets:
      - name: bay1_ds_clamps
        pan_deg: 35.0 # pod yaw, positive right
        tilt_deg: -10.0 # pod pitch, positive up (-90 .. 30)
        zoom: 4.0
        thermal: { enabled: true, strips: 3, max_temp_c: 0.0 }
      - name: bay1_ct_terminals
        pan_deg: -20.0
        tilt_deg: 5.0
        zoom: 2.0
        thermal:
          regions: # boxes in thermal pixels (640 x 512), compared with each other
            - { name: r, box: [80, 120, 200, 260] }
            - { name: s, box: [260, 120, 380, 260] }
            - { name: t, box: [440, 120, 560, 260] }
        acoustic: { enabled: true, duration_sec: 5.0 } # partial discharge, 5 s detection

Teach at the stop while the route is taught (the robot stands where it will stop) or while the patrol dwells there: aim the pod (/unipod/ptz_cmd, /unipod/set_angle, set_zoom), then

ros2 service call /inspection/add_target hotdog_interfaces/srv/AddTarget \
  "{name: bay1_ds_clamps, thermal: true, acoustic: true, strips: 3}"

The target goes to the point within match_radius_m (or a new point named after it, or the point you name). Edit the file for regions or limits; it is read at every inspection.

Overheat analysis

Per target, the pod measures each region (samples times, the median kept): explicit regions, or strips side-by-side strips of the frame (three phases), or the whole frame. The hottest region is judged by three criteria, each with attention / warning / critical thresholds (degC), after the usual infrared-inspection practice (NETA MTS):

Criterion	Value	Default thresholds
absolute	the hottest temperature	80 / 90 / 105 (or the target's max_temp_c as critical)
ambient	the hottest temperature over thermal.ambient_c	11 / 21 / 41
similar	the hottest region over the median of the others (two regions or more)	2 / 4 / 16

thermal.ambient_c is live: set it to the air temperature of the day (ros2 param set /inspection_node thermal.ambient_c 33.0). A flat-field correction (shutter refresh) runs once per point before measuring. The MT11 gives temperatures per point, box or frame, not a radiometric image: the evidence images are the camera streams.

Partial discharge

The HZ-FA-371's ROS driver (hertzino_driver) is ROS 1 Noetic; HotDog runs Foxy, so inspection_node talks to the camera's HTTP API itself (core/hertzino.py, manual V5.1). For each acoustic target, after the robot stopped:

1. the camera must be in partial discharge mode (gas leak mode is refused), the detection time is set (duration_sec of the target, else acoustic.duration_sec);
2. a detection already running (continuous monitoring) is stopped, the newest record noted;
3. a detection starts; the result is the record that appears a whole detection time later (a record of a detection that started before the robot stood still is never taken);
4. the detection is stopped, the sound map and PRPD photos are saved next to the report.

Type	Default severity
noise	normal	no discharge
corona	attention	common on outdoor high-voltage parts: watch the trend
surface	warning	tracking on insulators, terminations
floating	critical	a floating (loose) part

acoustic.intensity_warning / intensity_critical raise the severity by the sound map intensity once the site's levels are known (0: off). The camera's password comes from $HERTZINO_PASSWORD (/etc/hotdog/hotdog.env), never from a parameter; the factory one is used with a warning when it is unset. Give the robot computer an address in the camera's subnet (factory 192.168.2.204, e.g. 192.168.2.10/24); inspection/status shows acoustic_connected.

Reports

<reports_dir>/<YYYYMMDD>/<HHMMSS>_<point>/report.json, <target>_thermal.jpg, <target>_visible.jpg,
                                          <target>_soundmap.jpg, <target>_prpd.jpg
<reports_dir>/<YYYYMMDD>/findings.csv           every finding of the day, one row each

report.json holds the point, the robot's position, the state (done, partial, failed), the highest severity and every finding with its value, reference and delta. inspection/report carries the same, with the image paths.

Parameters

config/inspection.yaml; every one with its range: ros2 param describe /inspection_node <name>. sites_dir and reports_dir default to ~/.hotdog/sites and ~/.hotdog/reports (the bringup passes its sites_dir).

Test

colcon test --packages-select hotdog_inspection && colcon test-result --verbose

test/unit: the criteria, the plan file, the point sequence against a fake pod (order, samples, deadline, failures), the reports, the camera client and a detection against a stand-in HZ-FA-371 (login, 401, an old record never taken, photos, gas leak mode). test/ros: the node against a fake unipod_driver (inspect a taught point with a hot phase, teach a target).