CN102063746B - Program-controlled patrol machine and program-controlled patrol method for transformer station - Google Patents
Program-controlled patrol machine and program-controlled patrol method for transformer station Download PDFInfo
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- CN102063746B CN102063746B CN 201010551607 CN201010551607A CN102063746B CN 102063746 B CN102063746 B CN 102063746B CN 201010551607 CN201010551607 CN 201010551607 CN 201010551607 A CN201010551607 A CN 201010551607A CN 102063746 B CN102063746 B CN 102063746B
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Abstract
The invention provides a program-controlled patrol machine for a transformer station, which is characterized by mainly comprising a railway, a power supply slide rail, a patrol main control machine and a program-controlled patrol machine, wherein the railway is arranged along the patrol route and used for bearing the patrol machine; the power supply slide rail is arranged along the railway; the program-controlled patrol machine is arranged on the railway and can move on the railway; a detection platform is arranged on the program-controlled patrol machine; and the program-controlled patrol machine is connected with the patrol main control machine in a wireless communication mode. By adopting a railway power supply mode, the program-controlled patrol machine can be ensured in an available state at any time. The program-controlled patrol machine has the advantages of accurate positioning and high patrol efficiency, has the functions of resisting high/low temperature, rain, snow, ice, frost and insects, does not have requirements on the patrol road surface, can not become out of control to break into non-safety regions, and is suitable for continuously patrolling outdoor field environment, which has large occupied area and complicated arrangement of equipment and channels in a transformer station.
Description
Technical field
The present invention relates to a kind of programmable control inspection machine and programmable control inspection method thereof, relate in particular to a kind of for unattended substation by manual remote control and projected route automatically to round-the-clock, full visual angle rail mounted programmable control inspection machine and the programmable control inspection method thereof of first and second equipment routing inspection in the transformer station.
Background technology
At present, domestic national grid and rural power grids unattended substation will account for more than 80% of whole transformer stations.
Industrial robot is in industry widespread uses such as processing and manufacturing, storage transportations both at home and abroad, and work efficiency and quality are very high, and production cost, production efficiency and product percent of pass have been brought revolutionary variation.In the domestic Long-and Medium-term Development planning, service robot and dangerous school assignment robot are used as the object of giving priority to.The hyperbaric environment of transformer station is badly in need of crusing robot especially.
Operating mode is complicated in the transformer station, is again high pressure high-risk environment.Manual inspection efficient is low, cost is high, have a big risk.Domestic electric system generally adopts the mode of multipoint video remote reviewing to carry out long-range local the observation at present, such as audio-video monitoring, circumference monitoring, anti-thefting monitoring.Domestic have project verification research substation equipment patrol intelligent mobile robot, but still do not obtain popularizing and applying because of various deficiencies at present.Present existing transformer station automatic remote patrols and examines product and there is following problem in technology more:
Transformer station landform operating mode is complicated, unsuccessfully can be strayed into the hazardous location along the wheeled carriage survey monitor of ground running in case navigate, and causes the accident.The survey monitor that carries battery need to repeatedly charge work, continuously on-line operation.
Adopt the wheeled carriage survey monitor, walk on the road surface.For the covering of the route that guarantees to walk, need to patrol and examine route smooth, nose pile is set on every side.Bearing accuracy and stability are difficult to guarantee, have adopted the laser two-dimension scanning sensor on the car, need to do by stereoscopic article on every side and measure and positioning mark, and walking and bearing accuracy are difficult to control and are uneconomical; When meeting sleet greasy weather gas, when especially accumulated snow being arranged, bearing accuracy can't guarantee, and the meeting blinding, and the user can not relievedly use; It is the vehicle power problem that wheeled carriage also has a problem, and the accumulator of dolly charge power supply itself is very heavy, and the restriction of cycle charging number of times is arranged, can not continuous non-maintaining work.
The wheeled carriage mobile robot makes an inspection tour environment division and has solved the problem of making an inspection tour completely, but the efficient of its location, navigation, power supply and driver element is low so that equipment cost is high, maintenance cost is also high.
In a word, all there are the restriction of reliability and monitoring capacity in the technology of patrolling and examining in the past and product even walking robot monitoring; Related product and technology exist all that security is low, inefficiency, practicality is not high, reliability is low, maintenance is large and cost is high problem.
Summary of the invention
Goal of the invention: the invention provides a kind of programmable control inspection machine for substation and programmable control inspection method thereof, its objective is the following technical matters that solution inspection device work in the past exists: (1), poor stability, inefficiency; (2), poor practicability, unreliable; (3), equipment cost and maintenance cost are high.
Technical scheme: the present invention is achieved through the following technical solutions:
Programmable control inspection machine for substation is characterized in that: described programmable control inspection machine for substation mainly comprises the power supply slide rail laid along the track of patrolling and examining the carrying survey monitor that route lays, along track, patrol and examine main control computer and arrange in orbit and the programmable control inspection machine that can move in orbit; Be provided with detection platform on the described programmable control inspection machine, described programmable control inspection machine with patrol and examine that wireless telecommunications are connected between the main control computer.
Described detection platform is arranged on the programmable control inspection machine by expansion link, and described detection platform can do up and down telescopic moving along vertical under the drive of expansion link, around the gyration of vertical or around the luffing of a transverse axis.
Be provided with airborne checkout equipment on the detection platform.
Track is one-sided vertical rail, equidistantly lays the wireless digital positioning label along track.
Described programmable control inspection machine is to be connected power taking by the power taking brush with the power supply slide rail; Described programmable control inspection machine also is provided with the both sides that are positioned at track and retrains programmable control inspection machine and angle sheave that interorbital position deviation is enough little by running wheel and support wheel setting in orbit on the described programmable control inspection machine.
Utilize the programmable control inspection method of aforesaid programmable control inspection machine for substation, it is characterized in that: described method concrete steps are as follows:
In a, the programmable control inspection machine airborne control computer is installed, patrols and examines to be equipped with in the main control computer and patrol and examine main control computer; Patrol and examine main control computer and accept to patrol and examine the patrol task that main control computer arranges;
Set patrol task in b, basis " a " step, programmable control inspection machine is adjusted the position of programmable control inspection machine automatically, makes programmable control inspection machine mobile in orbit, makes it arrive appointment and patrols and examines the position;
C, arrive to specify patrol and examine the position after, programmable control inspection machine control expansion link is adjusted the operating attitude of airborne checkout equipment, and the running parameter of adjusting airborne checkout equipment detects;
D, read and patrol and examine result data, and upload the data in the database of patrolling and examining main control computer and store.
Described method for inspecting can adopt manual remote control to patrol and examine programmable control inspection with autonomous operation.
Patrol task in described " a " step comprises the project of patrolling and examining and polling period, and each project of patrolling and examining comprises airborne checkout equipment operating attitude and running parameter separately, programmable control inspection machine Position and orientation parameters separately, separately patrol and examine result data.
The described result data of patrolling and examining comprises with date, time, patrols and examines video, picture, value and the status information of item number, data type, size of data and the effective identification information of data, and these are patrolled and examined result data and are gathered and upload in the database of patrolling and examining main control computer and inquired about at any time.
In each programmable control inspection cycle, carry out one by one patrolling and examining of project according to the patrol task tabulation, change accordingly in order the position of programmable control inspection machine, attitude, adjust again operating attitude and the running parameter of airborne checkout equipment, then read accordingly the testing result data of airborne checkout equipment, send to predetermined set form and patrol and examine main control computer patrolling and examining result data.
Advantage and effect: the invention provides a kind of programmable control inspection machine for substation and programmable control inspection method thereof, described programmable control inspection machine for substation mainly comprises power supply slide rail, the programmable control inspection machine that arranges in orbit and can move in orbit of laying along the track of patrolling and examining the carrying survey monitor that route lays, along track and patrols and examines main control computer; Be provided with detection platform on the described programmable control inspection machine, described programmable control inspection machine with patrol and examine that wireless telecommunications are connected between the main control computer.
The present invention is directed to the problem that above-mentioned prior art exists and a kind of unattended substation survey monitor equipment that unattended substation or switching station, switchyard install additional that is adapted at is provided.This is a kind of rail mounted from the mobile device of walking, carries airborne checkout equipment on the programmable control inspection machine, can detect relevant device in the power station along rail.Track is ground rail or hangs rail in the air, provides simultaneously along the rail power channel slide rail of namely powering.Be provided with some check points patrolling and examining route, programmable control inspection machine runs to each check point and stops walking, detects operation with airborne checkout equipment.This equipment can advance and fall back in orbit, to realize reciprocal observation.The detection platform of airborne checkout equipment has three kinds of locomitivities: along vertical move up and down within the specific limits, around the gyration of vertical, around the luffing of a transverse axis.Patrol and examine track in the installation of the indoor and outfield of transformer station, programmable control inspection machine is automatically walked in orbit and is patrolled and examined.Survey monitor is round-the-clock running, accurately location, the design of full visual angle, according to route and the content design task of manual inspection, to interior first and second equipment routing inspection of standing.Patrol and examine minute artificial " distant inspection " and two kinds of patterns of automatic detecting.
The invention has the beneficial effects as follows:
1, track travel, the slide rail power supply makes transformer station's automatic detecting become possibility for the condition of accurate location and on-line continuous operation is provided.Track has also limited the survey monitor people " sneaking away " problem can not occur, can relievedly use the unmanned substation.
2, round-the-clock close non-maintaining highly reliable design, non-maintaining, the life-span is long, has guaranteed on-line automatic reliability of operation.
3, the elevating mechanism of survey monitor guarantees that robot can simulate whole visual angles of inspector, can realize that " bionical " patrol and examine.
4, programmable control inspection machine is patrolled and examined the project automatic detecting by the layout increase and decrease, and patrol and examine the result and inquire by classification, guaranteed that equipment that equipment can be concerned transformer station according to the thinking of manual inspection and feature thereof carry out periodicity and patrol and examine, in order in time find and deal with problems, improved and patrol and examine efficient and quality.
Description of drawings:
Fig. 1 is programmable control inspection machine structural representation of the present invention;
Fig. 2 is the process flow diagram of programmable control inspection method of the present invention.
Embodiment:
The present invention is described in further detail below in conjunction with accompanying drawing, but not because of specific embodiment restriction the present invention.
As shown in Figure 1, the invention provides a kind of programmable control inspection machine for substation, described programmable control inspection machine for substation mainly comprises the power supply slide rail 10 laid along the track 1 of patrolling and examining the carrying survey monitor that route lays, along track, patrol and examine main control computer 11 and arrange in orbit and the programmable control inspection machine 5 that can move in orbit, and programmable control inspection machine 5 is accurately located in orbit; Be provided with detection platform 3 on the described programmable control inspection machine 5, described programmable control inspection machine 5 with patrol and examine that wireless telecommunications are connected between the main control computer 11.The relevant device in the transformer station is back and forth observed and detected to programmable control inspection machine 5 in orbit, has according to patrol task automatic detecting and the manual remote control of layout and patrol and examine double-mode.Patrol and examine main control computer 11 with wireless mode and programmable control inspection machine 5 communications, controlled processing procedure control survey monitor 5 is patrolled and examined according to patrol task automatic detecting and the manual remote control of layout.Programmable control inspection machine 5 is equipped with airborne control computer, patrolling and examining main control computer 11 is equipped with and patrols and examines main control computer, patrol and examine main control computer and have man-machine basal plane and database, operating personnel are by patrolling and examining main control computer control programmable control inspection machine and do that artificial remote control is patrolled and examined or patrolling and examining project for the programmable control inspection machine setting, layout programmable control inspection task, programmable control inspection machine is patrolled and examined according to the programmable control inspection Task Autonomous operation of layout, and send to and patrol and examine main control computer patrolling and examining result data, operating personnel patrol and examine result data by patrolling and examining the main control computer inquiry.
Described detection platform 3 is arranged on the programmable control inspection machine 5 by expansion link, and described detection platform 3 can do up and down telescopic moving along vertical under the drive of expansion link, around the gyration of vertical or around the luffing of a transverse axis.Be provided with airborne checkout equipment 4 on the detection platform 3.It is flexible up and down that expansion link can drive the detection platform 3 of carrying airborne checkout equipment 4, accurately location and program control operation.
Described programmable control inspection machine 5 is to be connected power taking by power taking brush 8 with power supply slide rail 10; Described programmable control inspection machine 5 is arranged on the track 1 by running wheel 2 and support wheel 6, also is provided with the both sides that are positioned at track 1 on the described programmable control inspection machine and retrains programmable control inspection machine and angle sheave 7 that interorbital position deviation is enough little.
Described programmable control inspection machine 5, by power taking brush 8 work to take power on the power supply slide rail, its dragging motor drives in orbit back and forth walking of programmable control inspection machine running wheel 2, programmable control inspection machine is by support wheel 6 and running wheel Support Position, and the position deviation of 1 on angle sheave 7 constraint programmable control inspection machines 5 and track is enough little, programmable control inspection machine 5 is with the control of inertia impact buffering, programmable control inspection machine 5 is with optical code wheel and utilize the wireless digital positioning label accurately to locate, and the pinpoint up and down telescoping mechanism of grating scale namely expansion link drives the object realization image harmony that detection platform makes the airborne checkout equipment 4 aligning detections of carrying, light, electromagnetism, vibration, the detection of the detection limits such as gas.
Utilize the programmable control inspection method of programmable control inspection machine for substation, described method concrete steps are as follows:
A, airborne control computer is installed in programmable control inspection machine (5), during patrolling and examining main control computer (11), is installed and patrol and examine main control computer, make and patrol and examine the patrol task that main control computer (11) accepts to patrol and examine main control computer (11) setting;
Set patrol task in b, basis " a " step, programmable control inspection machine (5) is adjusted the position of programmable control inspection machine automatically, makes programmable control inspection machine mobile at track (1), makes it arrive appointment and patrols and examines the position;
C, arrive to specify patrol and examine the position after, programmable control inspection machine (5) control expansion link is adjusted the operating attitude of airborne checkout equipment (4), and the running parameter of adjusting airborne checkout equipment (4) detects;
D, read and patrol and examine result data, and upload the data in the database of patrolling and examining main control computer (11) and store.
Described programmable control inspection method can adopt manual remote control to patrol and examine programmable control inspection with autonomous operation.Manual remote control is patrolled and examined the method for patrolling and examining project with layout, by man-machine interface in the position of patrolling and examining main control computer and adjust programmable control inspection machine, attitude, adjust operating attitude and the running parameter of airborne checkout equipment, read and patrol and examine result data, carry out manual remote control and patrol and examine, as required this being patrolled and examined project definition is the programmable control inspection project, be programmed into and patrol and examine the patrolling and examining in the bulleted list of main control computer, revise as required cycle and the deletion of programmable control inspection task and revise the project of patrolling and examining in the bulleted list; The implementation method of the programmable control inspection task of autonomous operation is, in each programmable control inspection cycle, carry out one by one patrolling and examining of project according to patrolling and examining bulleted list, change at first in order the position of programmable control inspection machine, attitude is adjusted operating attitude and the running parameter of airborne checkout equipment again, then reads the testing result data of airborne checkout equipment, send to predetermined set form and patrol and examine main control computer patrolling and examining result data, patrol and examine main frame and each is patrolled and examined result data deposit database in.
Patrol task in described " a " step comprises the project of patrolling and examining and polling period, and each project of patrolling and examining comprises airborne checkout equipment operating attitude and running parameter separately, programmable control inspection machine Position and orientation parameters separately, separately patrol and examine result data.
The described result data of patrolling and examining comprises with date, time, patrols and examines video, picture, value and the status information of item number, data type, size of data and the effective identification information of data, these patrol and examine result data gathered and uploaded to patrol and examine main frame database in inquired about at any time, gatherer process is finished by programmable control inspection machine, and upload procedure is patrolled and examined in the database of main frame by wireless communication transmission.
After the cycle of patrol task sets, programmable control inspection machine is according to the programmable control inspection task, in each programmable control inspection cycle, carry out one by one patrolling and examining of project according to patrolling and examining bulleted list, change accordingly in order the position of programmable control inspection machine, attitude, adjust again operating attitude and the running parameter of airborne checkout equipment, then read accordingly the testing result data of airborne checkout equipment, send to predetermined set form and patrol and examine main control computer patrolling and examining result data, patrolling and examining main frame and each is patrolled and examined result data deposit database in, is the problem of further judging and finding to detect, and online data is provided.
As shown in Figure 2, the process flow diagram of programmable control inspection method of the present invention at first carries out manual remote control and patrols and examines, the project of patrolling and examining as the layout programmable control inspection of patrolling and examining a little that manual inspection is paid close attention to.Before determining certain project, this detection information of manual detection, then the position and attitude that sets programmable control inspection machine adjusts the programmable control inspection machine position and attitude, for each patrols and examines project settings airborne checkout equipment operating attitude and running parameter and programmable control inspection machine Position and orientation parameters separately separately, in order to obtain the result data of patrolling and examining separately.The programmable control inspection task is defined by a plurality of predefined projects of patrolling and examining by arranging.Operating personnel by man-machine interface in the position of patrolling and examining main control computer and adjust programmable control inspection machine, attitude, adjust operating attitude and the running parameter of airborne checkout equipment, read airborne checkout equipment testing result data, carrying out manual remote control patrols and examines, this being patrolled and examined project definition as required is the programmable control inspection project, is programmed into to patrol and examine the patrolling and examining in the bulleted list database of main control computer, revises as required cycle and the deletion of programmable control inspection task and revises the project of patrolling and examining in the bulleted list.
The present invention adopts the track power supply mode, assurance equipment is in upstate at any time, accurate positioning, function with the gentle rain of height, snow, ice, frost, worm protection, patrol and examine efficient high, do not require and patrol and examine the road surface, can out of controlly not swarm into non-security zone, be fit to that transformer station's floor area is large, the outdoor sports ground environment of equipment, raceway groove complicated layout patrols and examines continuously.
Claims (1)
1. programmable control inspection machine for substation is characterized in that: described programmable control inspection machine for substation mainly comprises the power supply slide rail (10) laid along the track (1) of patrolling and examining the carrying survey monitor that route lays, along track, patrols and examines main control computer (11) and the programmable control inspection machine (5) that also can move in orbit in orbit is set; Be provided with detection platform (3) on the described programmable control inspection machine (5), described programmable control inspection machine (5) with patrol and examine that wireless telecommunications are connected between the main control computer (11);
Described detection platform (3) is arranged on the programmable control inspection machine (5) by expansion link, and described detection platform (3) can do up and down telescopic moving along vertical under the drive of expansion link, around the gyration of vertical or around the luffing of a transverse axis;
Described programmable control inspection machine (5) is to be connected power taking by power taking brush (8) with power supply slide rail (10); Described programmable control inspection machine (5) is arranged on the track (1) by running wheel (2) and support wheel (6), also is provided with the both sides that are positioned at track (1) on the described programmable control inspection machine and retrains programmable control inspection machine and angle sheave (7) that interorbital position deviation is enough little.
2, programmable control inspection machine for substation according to claim 1 is characterized in that: be provided with airborne checkout equipment (4) on the detection platform (3).
3, programmable control inspection machine for substation according to claim 1 is characterized in that: track (1) is one-sided vertical rail, equidistantly lays the wireless digital positioning label along track (1).
4, utilize the programmable control inspection method of programmable control inspection machine for substation claimed in claim 2, it is characterized in that: described method concrete steps are as follows:
A, programmable control inspection machine are equipped with airborne control computer in (5), patrol and examine to be equipped with in the main control computer (11) and patrol and examine main control computer; Patrol and examine main control computer (11) and accept to patrol and examine the patrol task that main control computer (11) arranges;
Set patrol task in b, basis " a " step, programmable control inspection machine (5) is adjusted the position of programmable control inspection machine automatically, makes programmable control inspection machine mobile at track (1), makes it arrive appointment and patrols and examines the position;
C, arrive to specify patrol and examine the position after, programmable control inspection machine (5) control expansion link is adjusted the operating attitude of airborne checkout equipment (4), and the running parameter of adjusting airborne checkout equipment (4) detects;
D, read and patrol and examine result data, and upload the data in the database of patrolling and examining main control computer (11) and store.
5, the programmable control inspection method of programmable control inspection machine for substation according to claim 4 is characterized in that: described method for inspecting can adopt manual remote control to patrol and examine programmable control inspection with autonomous operation.
6, the programmable control inspection method of programmable control inspection machine for substation according to claim 4, it is characterized in that: the patrol task in described " a " step comprises the project of patrolling and examining and polling period, each project of patrolling and examining comprises airborne checkout equipment operating attitude and running parameter separately, programmable control inspection machine Position and orientation parameters separately, separately patrol and examine result data.
7, the programmable control inspection method of programmable control inspection machine for substation according to claim 4, it is characterized in that: the described result data of patrolling and examining comprises with date, time, patrols and examines video, picture, value and the status information of item number, data type, size of data and the effective identification information of data, and these are patrolled and examined result data and are gathered and upload in the database of patrolling and examining main control computer and inquired about at any time.
8, the programmable control inspection method of programmable control inspection machine for substation according to claim 6, it is characterized in that: in each programmable control inspection cycle, carry out one by one patrolling and examining of project according to the patrol task tabulation, change accordingly in order the position of programmable control inspection machine, attitude, adjust again operating attitude and the running parameter of airborne checkout equipment, then read accordingly the testing result data of airborne checkout equipment, send to predetermined set form and patrol and examine main control computer patrolling and examining result data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010551607 CN102063746B (en) | 2010-11-21 | 2010-11-21 | Program-controlled patrol machine and program-controlled patrol method for transformer station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201010551607 CN102063746B (en) | 2010-11-21 | 2010-11-21 | Program-controlled patrol machine and program-controlled patrol method for transformer station |
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| CN102063746A CN102063746A (en) | 2011-05-18 |
| CN102063746B true CN102063746B (en) | 2013-05-01 |
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| CN 201010551607 Expired - Fee Related CN102063746B (en) | 2010-11-21 | 2010-11-21 | Program-controlled patrol machine and program-controlled patrol method for transformer station |
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| WO2014068570A1 (en) * | 2012-11-04 | 2014-05-08 | Magal Security Systems Ltd. | A self-propelled security system on an adjacent to a fence track |
| US10049542B2 (en) | 2012-11-04 | 2018-08-14 | Magal Security Systems Ltd. | Self-propelled security system on an adjacent to a fence track |
| CN103296753B (en) * | 2013-05-09 | 2015-04-29 | 宁波天安智能电网工程技术有限公司 | Monitoring system for photovoltaic power station |
| CN105270208A (en) * | 2014-07-14 | 2016-01-27 | 刁心玺 | Method and device for tour inspection on road |
| CN105490206A (en) * | 2015-12-18 | 2016-04-13 | 贵州南源电力科技股份有限公司 | Walking method and walking device for no-blind zone intelligent inspection robot for transformer substation |
| CN105775662A (en) * | 2016-04-06 | 2016-07-20 | 天奇自动化工程股份有限公司 | Rail vertical abrasion detection device |
| CN105783836B (en) * | 2016-04-06 | 2019-09-10 | 天奇自动化工程股份有限公司 | Path wear automatic detection vehicle |
| CN107398888A (en) * | 2016-05-20 | 2017-11-28 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
| CN107765695B (en) * | 2017-11-21 | 2024-03-22 | 北京百度网讯科技有限公司 | Inspection robot and inspection system |
| CN108122292B (en) * | 2017-12-29 | 2020-12-08 | 北京元心科技有限公司 | Inspection operation control method and device |
| CN111913478B (en) * | 2019-05-08 | 2024-08-16 | 阿里巴巴集团控股有限公司 | Inspection system, track platform and inspection equipment |
| CN110136293A (en) * | 2019-05-15 | 2019-08-16 | 广州云智易物联网有限公司 | A kind of equipment routing inspection method and device |
| CN112884932A (en) * | 2019-11-29 | 2021-06-01 | 国网山东省电力公司滨州供电公司 | Dispatching automation active inspection system |
| CN117724502A (en) * | 2023-12-21 | 2024-03-19 | 内蒙古伊泰煤基新材料研究院有限公司 | Robot inspection method and device |
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| CN202025364U (en) * | 2010-11-21 | 2011-11-02 | 沈阳华岩电力技术有限公司 | Programmable control inspection machine for substation |
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| CN102063746A (en) | 2011-05-18 |
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