CN102355052A - Routing inspection system based on intelligent robot of transformer station and method for monitoring operation of transformer station - Google Patents
Routing inspection system based on intelligent robot of transformer station and method for monitoring operation of transformer station Download PDFInfo
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- CN102355052A CN102355052A CN2011102163885A CN201110216388A CN102355052A CN 102355052 A CN102355052 A CN 102355052A CN 2011102163885 A CN2011102163885 A CN 2011102163885A CN 201110216388 A CN201110216388 A CN 201110216388A CN 102355052 A CN102355052 A CN 102355052A
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Abstract
The invention relates to a routing inspection system based on an intelligent robot of a transformer station and a method for monitoring the operation of the transformer station and can meet all-weather working requirements. The method comprises the following steps of: 1) remotely taking over the right of control of an intelligent routing inspection robot; 2) issuing an equipment detection command to the intelligent routing inspection robot of the transformer station; 3) automatically navigating the intelligent routing inspection robot to an operation point by using an optimum path specification, and sending back a real-time monitoring video; 4) after an operator is in place on the scene, waiting for an operation command; 5) issuing a single-operation instruction to the operator; 6) monitoring the operation of a scene person by using the video of the intelligent routing inspection robot; 7) remotely controlling the intelligent routing inspection robot to move to an appropriate position or adjusting a holder of the intelligent routing inspection robot to be at an appropriate angle; 8) after the operation of the steps is finished, waiting for the next operation instruction; and 9) after all operation tasks are finished, controlling the intelligent routing inspection robot to automatically move back to a charging room for charging, and finishing the operation.
Description
Technical field
The present invention relates to a kind ofly, belong to automation of transformation substations control field based on intelligent substation robot cruising inspection system and transformer station thereof operation monitoring method.
Background technology
In transformer station, operate or during operation, no matter be normal operating grid switching operation, the accident treatment in still unusual generation the, or even on-the-spot plant maintenance maintenance all need the special messenger to carry out the monitoring of operation task.At normal power equipment grid switching operation, adopt the operation order system, during work, need the monitoring personnel to call out the names of those voted for while counting ballot-slips, the operating personnel operates according to the operation order content, and the monitoring personnel examine operating personnel's operation, implement with accurate with the safety that ensures operation.The monitoring personnel need more rich knowledge and experience, and field condition and job step are made judgement accurately.But and popularization few people on duty unattended along with transformer station, the operator on duty of transformer station is fewer and feweri.Existing security protection video system is because camera is installed negligible amounts, and the installation site is unreasonable, can not reach the requirement of long distance monitoring.If camera is installed in a large number, system cost is big and maintenance cost is too many.
For addressing the above problem, domestic and international many mechanisms have all carried out deep research to this, and main achievement in research comprises:
1, the patent No. of announcing in State Intellectual Property Office and on December 14th, 2,005 200410024231.2; Name is called and has proposed the technical scheme that an employing robot patrols and examines the converting equipment operation conditions automatically, the main automatic collection that realizes information such as device temperature in the transformer station and visible light videos of this invention in the patent of " distribution equipment intelligence automatic crusing robot ".
2, State Intellectual Property Office and on May 18th, 2011 bulletin the patent No. 201110002034.0, name is called and proposes will " intelligent video system " access to change control system in proper order in the patent of " transformer station that possesses visual and interactivity is along the control system " and replace original manual work affirmation.
Above-mentioned research has all obtained beneficial effect to a certain extent, but still has following problem:
1, " distribution equipment intelligence automatic crusing robot " do not propose to adopt corresponding monitoring method.
2, " possesses suitable control system of visual transformer station " though released the video check of suitable control operation with interactivity; But the video monitoring method of accident treatment and upkeep operation is not proposed; And " intelligent video system " of its use; Need image capture device to be installed at all device locations of transformer station; System complex is invested huge.
Summary of the invention
The object of the invention is exactly for solving the deficiency of above-mentioned prior art, provides a kind of based on intelligent substation robot cruising inspection system and transformer station's operation monitoring method thereof, and system is simple, flexibly and invest lessly, can satisfy all weather operations demand.
For realizing above-mentioned purpose, the present invention adopts following technical scheme:
A kind of transformer station's operation monitoring method based on intelligent substation robot cruising inspection system, its step is:
1) the monitoring personnel are positioned at the remote centralized control center, and the foundation of operation remote centralized control system is connected with the communication of the local background monitoring analytical system of transformer station, takes over intelligent inspection machine people's control;
2), issue the Equipment Inspection order to robot used for intelligent substation patrol according to the operation task demand;
3) the intelligent inspection machine people is through the optimal path standard, and self-navigation is passed real-time monitor video back to setting;
4) the operation task personnel put in place at the scene, properly protect and preparation, and through intelligent inspection machine people's audio & video equipment, the monitoring personnel to the remote centralized control center report readyly, wait for job instruction;
5) the monitoring personnel at remote centralized control center, assign the single operation job instruction and give the operation task personnel through intelligent inspection machine people's audio & video equipment according to grid switching operation work ticket, accident treatment step or maintenance step;
6) the execute-in-place operating personnel carries out the execute-in-place operation according to instruction, and the monitoring personnel guard Field Force's operation task through intelligent inspection machine people video;
7) improper if any the monitoring angle, the monitoring personnel order the pausing operation operation, and the remote-controlled intelligent crusing robot moves to correct position or adjustment intelligent inspection machine people's The Cloud Terrace to suitable angle, continues control then;
8) after the execute-in-place operating personnel accomplished command content, through intelligent inspection machine people's audio & video equipment, the monitoring personnel to the remote centralized control center reported that this step operation finishes, and waits for next step job instruction;
9) behind the completion all operations job task, monitoring personnel command job personnel clear up equipment and leave the theatre, and control intelligent inspection machine people independently returns accumulator plant's charging, and operation finishes.
In the said step 3); After the intelligent inspection machine people receives the Equipment Inspection order; Automatically the position of calculating itself and attitude; Calculate the residing RFID point of equipment to be detected; And according to optimal path planning algorithm compute optimal path; And move to target RFID point along optimal path; After the intelligent inspection machine people arrives impact point; Call and set and be stored in the cradle head preset positions in the database in advance; Gather the visible images and the infrared image of relevant device; And upload to the local background monitoring analytical system of transformer station, and be forwarded to the remote centralized control system by wireless bridge.
A kind of based on intelligent substation robot cruising inspection system; It comprises the intelligent inspection machine people; The intelligent inspection machine people communicates by letter through the local background monitoring analytical system of WLAN (wireless local area network) and transformer station, the local background monitoring analytical system of transformer station then with remote centralized control system communication; Wherein have additional audio-video equipment on the intelligent inspection machine people, audio-video equipment is connected with video server;
The local background monitoring analytical system of said transformer station is to be installed on to move the local background monitoring computer of the transformer station that has the intelligent inspection machine people to control background program in the transformer station, and the local background monitoring computer of transformer station is equipped with microphone and stereo set;
Said remote centralized control system for be installed on the centralized monitor center or economize transfer, transfer; Operation has the intelligent inspection machine people to control the remote centralized control component computer of centralized monitor background program, and the remote centralized control component computer is equipped with microphone and stereo set; The local background monitoring analytical system of remote centralized control system and transformer station adopts fiber optic network to be connected.
Said audio-video equipment comprises visible light camera and/or thermal camera, loud speaker and pick-up.
Said intelligent inspection machine people is equipped with the robot body of driver, power supply and control computer; Magnetic Sensor that links to each other with robot body and RFID transducer; Be installed in the The Cloud Terrace of robot body top; The pick-up that is installed on the shell links to each other with video server with loud speaker; Be installed in visible light camera and/or thermal camera, rain brush and the secondary light source of The Cloud Terrace top, each equipment all is connected with the control computer.
Said intelligent inspection machine people's structure adopts the robot architecture in No. 200920029428 patent of invention of China.
The beneficial effect of this method comprises:
1, the present invention is based on the long distance monitoring that robot used for intelligent substation patrol is realized transformer station's operation task, can alleviate monitoring personnel's labour intensity, shorten the operating time;
2, multistation collection control reduces monitoring personnel transition and hurries back and forth the time, improves monitoring personnel's operating efficiency;
3, robot of the present invention mobile monitoring can be realized the multi-angle monitoring, the dead angle of eliminating the fixing camera monitoring;
4, system is simple, flexibly and invest less.
Description of drawings
Fig. 1 is the transformer station's operation task monitoring method flow chart based on intelligent substation robot cruising inspection system.
Fig. 2 is the transformer station's operation task monitoring method data flow diagram based on intelligent substation robot cruising inspection system.
Wherein, 1. intelligent inspection machine people, 11. visible light cameras and/or thermal camera; 12. loud speaker; 13 pick-ups, 14. video servers, the 2. local background monitoring analytical system of transformer station; 21. the local background monitoring computer of transformer station; 3. remote centralized control system, 31. remote centralized control component computers, 32. displays; 33. microphone, 34. computer stereos.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Among Fig. 1, Fig. 2, Fig. 3; A kind of based on intelligent substation robot cruising inspection system; It comprises intelligent inspection machine people 1; Intelligent inspection machine people 1 communicates by letter with the local background monitoring analytical system 2 of transformer station through WLAN (wireless local area network), and 2 of local background monitoring analytical systems are communicated by letter with remote centralized control system 3; Wherein have additional audio-video equipment on the intelligent inspection machine people 1, audio-video equipment is connected with video server 14;
The local background monitoring analytical system 2 of said transformer station is for being installed in the transformer station; And moving the local background monitoring computer of the transformer station that has robot used for intelligent substation patrol to control background program, the local background monitoring computer of transformer station is equipped with microphone 33 and stereo set 34;
Said remote centralized control system 3 for be installed on the centralized monitor center or economize transfer, transfer; Operation has the remote centralized control component computer of robot used for intelligent substation patrol control centralized monitor background program, and the remote centralized control component computer also is equipped with microphone 33 and stereo set 34; The local background monitoring analytical system 2 of remote centralized control system 3 and transformer station adopts fiber optic networks to be connected.
Said audio-video equipment comprises visible light camera and/or thermal camera 11, loud speaker 12 pick-ups 13.
Said intelligent inspection machine people 1 is equipped with the robot body of driver, power supply and control computer; Magnetic Sensor that links to each other with robot body and RFID transducer; Be installed in the The Cloud Terrace of robot body top; The pick-up that is installed on the shell links to each other with video server with loud speaker; Be installed in visible light camera, thermal camera, rain brush and the secondary light source of The Cloud Terrace top, each equipment all is connected with the control computer.
Intelligent inspection machine people 1 end adopts pick-up 13 to gather sound and is converted into analog electrical signal; Video server 14 is gathered compression and is converted into digital signal; Through WLAN (wireless local area network) and fiber optic local area network transmission; 31 pairs of digital signals of remote centralized control component computer are decoded, and play through the computer sound equipment; The microphone of remote centralized control component computer 31 carries out sound collection and is converted into analog electrical signal; The 31 logical collection compressions of remote centralized control component computer are converted into digital signal; Through WLAN (wireless local area network) and fiber optic local area network transmission; Video server is decoded to digital signal, plays through loud speaker.
Said intelligent inspection machine people's structure adopts the robot architecture in No. 200920029428 patent of invention of China.
Embodiment 1:
For further disclosing technical scheme of the present invention, combine a concrete grid switching operation that execution mode of the present invention is described now.
Suppose that Ji He II line disconnecting link is positioned at the RFID point No. 1, disconnecting link detects No. 16, the prefabricated position of The Cloud Terrace, and grid switching operation along the control operating procedure is:
(1) Ji He II line No. 1 disconnecting link that closes
(2) inspection Ji He II line disconnecting link really closes
(3) EO
The concrete mode that the present invention realizes is following:
1, the monitoring personnel are positioned at the remote centralized control center, and 3 foundation of operation remote centralized control system are connected with the communication of the local background monitoring analytical system 2 of transformer station, take over intelligent inspection machine people 1 control;
2,, issue " Ji He II line disconnecting link " Equipment Inspection order to robot used for intelligent substation patrol 1 according to the operation task demand;
3; After robot used for intelligent substation patrol 1 receives the Equipment Inspection order; Automatically the position of calculating itself and attitude; Calculate the residing RFID point of equipment to be detected; And according to optimal path planning algorithm compute optimal path; And along optimal path to the operation of No. 1 RFID point of target; After robot used for intelligent substation patrol 1 arrives impact point; Call No. 16 cradle head preset positions that set in advance and be stored in the database; Gather relevant device visible light and infrared image; And upload to local background monitoring analytical system, and be forwarded to remote centralized control system 3 through wireless bridge;
4, the operation task personnel put in place at the scene, properly protect and preparation, and through the audio & video equipment of intelligent substation robot 1, the monitoring personnel to the remote centralized control center report readyly, wait for job instruction;
5, the monitoring personnel adjustment The Cloud Terrace angle at remote centralized control center guarantees that monitoring personnel and operating area are in the video capture district;
6, the monitoring personnel at remote centralized control center, assign " Ji of closing He II line disconnecting link " instruction through the audio & video equipment of intelligent substation robot 1 and give the operation task personnel;
7, the execute-in-place operating personnel is according to instruction, and " Ji of closing He II line disconnecting link ", the monitoring personnel guard Field Force's operation task through intelligent inspection machine people 1 video;
8, after the execute-in-place operating personnel accomplished command content, through the double-directional speech equipment of intelligent substation robot 1 cruising inspection system, the monitoring personnel to the remote centralized control center reported that this step operation finishes, and waits for next step job instruction;
9, the monitoring personnel at remote centralized control center, assign " inspection Ji He II line disconnecting link really closes " instruction through the audio & video equipment of intelligent substation robot 1 and give the operation task personnel;
10, the execute-in-place operating personnel is according to instruction, and " inspection Ji He II line disconnecting link really closes ", the monitoring personnel guard Field Force's operation task through intelligent inspection machine people video;
11, behind the completion all operations job task, monitoring personnel command job personnel clear up equipment and leave the theatre, 1 autonomous time accumulator plant's charging of control robot used for intelligent substation patrol, and operation finishes.
Illustrate through present embodiment: the present invention can alleviate monitoring personnel's labour intensity, shortens the operating time; , the control of multistation collection, reduce monitoring personnel transition and hurry back and forth the time, improve monitoring personnel's operating efficiency; Robot of the present invention mobile monitoring can be realized the multi-angle monitoring, the dead angle of eliminating the fixing camera monitoring.
Claims (5)
1. monitoring method is operated by the transformer station based on intelligent substation robot cruising inspection system, it is characterized in that its step is:
1) the monitoring personnel are positioned at the remote centralized control center, and the foundation of operation remote centralized control system is connected with the communication of the local background monitoring analytical system of transformer station, takes over intelligent inspection machine people's control;
2), issue the Equipment Inspection order to robot used for intelligent substation patrol according to the operation task demand;
3) the intelligent inspection machine people is through the optimal path standard, and self-navigation is passed real-time monitor video back to setting;
4) the operation task personnel put in place at the scene, properly protect and preparation, and through intelligent inspection machine people's audio & video equipment, the monitoring personnel to the remote centralized control center report readyly, wait for job instruction;
5) the monitoring personnel at remote centralized control center, assign the single operation job instruction and give the operation task personnel through intelligent inspection machine people's audio & video equipment according to grid switching operation work ticket, accident treatment step or maintenance step;
6) the execute-in-place operating personnel carries out the execute-in-place operation according to instruction, and the monitoring personnel guard Field Force's operation task through intelligent inspection machine people video;
7) improper if any the monitoring angle, the monitoring personnel order the pausing operation operation, and the remote-controlled intelligent crusing robot moves to correct position or adjustment intelligent inspection machine people's The Cloud Terrace to suitable angle, continues control then;
8) after the execute-in-place operating personnel accomplished command content, through intelligent inspection machine people's audio & video equipment, the monitoring personnel to the remote centralized control center reported that this step operation finishes, and waits for next step job instruction;
9) behind the completion all operations job task, monitoring personnel command job personnel clear up equipment and leave the theatre, and control intelligent inspection machine people independently returns accumulator plant's charging, and operation finishes.
2. the transformer station's operation monitoring method based on intelligent substation robot cruising inspection system as claimed in claim 1; It is characterized in that; In the said step 3); After the intelligent inspection machine people receives the Equipment Inspection order; Automatically the position of calculating itself and attitude; Calculate the residing RFID point of equipment to be detected, and according to optimal path planning algorithm compute optimal path, and move to target RFID point along optimal path; After the intelligent inspection machine people arrives impact point; Call and set and be stored in the cradle head preset positions in the database in advance; Gather the visible images and the infrared image of relevant device; And upload to the local background monitoring analytical system of transformer station, and be forwarded to the remote centralized control system through wireless bridge.
3. one kind based on intelligent substation robot cruising inspection system; It is characterized in that; It comprises the intelligent inspection machine people, and the intelligent inspection machine people communicates by letter through the local background monitoring analytical system of WLAN (wireless local area network) and transformer station, the local background monitoring analytical system of transformer station then with remote centralized control system communication; Wherein have additional audio-video equipment on the intelligent inspection machine people, audio-video equipment is connected with video server;
The local background monitoring analytical system of said transformer station is to be installed on to move the local background monitoring computer of the transformer station that has the intelligent inspection machine people to control background program in the transformer station, and the local background monitoring computer of transformer station is equipped with microphone and stereo set;
Said remote centralized control system for be installed on the centralized monitor center or economize transfer, transfer; Operation has the intelligent inspection machine people to control the remote centralized control component computer of centralized monitor background program, and the remote centralized control component computer is equipped with microphone and stereo set; The local background monitoring analytical system of remote centralized control system and transformer station adopts fiber optic network to be connected.
4. as claimed in claim 3ly it is characterized in that based on intelligent substation robot cruising inspection system said audio-video equipment comprises visible light camera and/or thermal camera, loud speaker and pick-up.
5. as claimed in claim 3 based on intelligent substation robot cruising inspection system; It is characterized in that; Said intelligent inspection machine people is equipped with the robot body of driver, power supply and control computer; Magnetic Sensor that links to each other with robot body and RFID transducer; Be installed in the The Cloud Terrace of robot body top; The pick-up that is installed on the shell links to each other with video server with loud speaker; Be installed in visible light camera and/or thermal camera, rain brush and the secondary light source of The Cloud Terrace top, each equipment all is connected with the control computer.
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