CN102354174B - Inspection system based on mobile inspection apparatus of transformer station and inspection method thereof - Google Patents
Inspection system based on mobile inspection apparatus of transformer station and inspection method thereof Download PDFInfo
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Abstract
The invention discloses an inspection system based on a mobile inspection apparatus of a transformer station and an inspection method thereof. The inspection system comprises a monitoring center; and the monitoring center is connected with at least one station-level mobile inspection apparatus intelligent inspection system of a transformer station through a network. And all station-level mobile inspection apparatus intelligent inspection systems include at least one base station. Meanwhile, an environmental information collection subsystem and fixed point auxiliary monitoring subsystems that are installed at places needing monitoring equipment in the transformer station are arranged in the transformer station. A detection unit comprises an infrared detection unit and an ultraviolet detection unit; and the ultraviolet detection unit is composed of an ultraviolet video server and an ultraviolet detection apparatus. According to the invention, an inspection path is optimized; the safety protection is good; and the intelligent degree is high; moreover, the inspection system has advantages of whole time fault detection and seamless video monitoring; and a novel technical detection means and omnibearing safety guarantee are provided for an intelligent transformer station.
Description
Technical field
The present invention relates to power system transformer substation operation maintenance technical field, relate in particular to a kind of cruising inspection system and method for inspecting thereof based on the portable inspection device of transformer station.
Background technology
For a long time; Work adopts manual type to carry out more to substation inspection; Weak points such as the conventional artificial routine inspection mode exists not only that labour intensity is big, inefficiency, detection quality disperse, means are single, and also can't the data that manual work detected be sent to accurately and timely in the MIS for using in the work afterwards.
Along with the popularization of unmanned pattern transformer station, incident is that the substation inspection workload is increasing, and cyclic in-position measuring rate, promptness can't be guaranteed more.Particularly after extreme weathers such as special geographical conditioned disjunction such as plateau, Gobi desert such as strong wind, greasy weather, ice and snow, hail, thunderstorm take place; Cause manual work in time to patrol and examine; And patrolled and examined by condition restriction to exist big security risk, this moment transformer station's accident that in a single day meets accident, the decision maker is because of can't in time obtaining field data intuitively; Tend to affect adversely the opportunity of optimization process accident, cause great accidents such as unnecessary economic loss even casualties.
In recent years; Along with development of science and technology, occur successively with the portable inspection device of the artificial transformer station that represents of substation inspection machine, realize accomplishing automatically work such as transformer station's everyday devices tour, infrared measurement of temperature, the equipment state inspection of operation front and back; Thereby improve work efficiency and quality that substation equipment is maked an inspection tour greatly; Reduce personnel labor intensity and work risk, promote the intelligent substation level, for transformer station's unmanned provides powerful technical support.The intelligent substation robot has become the important supplementary means of inspecting substation equipment.
The patent No. CN201442264U that State Intellectual Property Office announced on April 28th, 2010; Name is called " robot used for intelligent substation patrol "; With the application number 201010508300.2 that State Intellectual Property Office announced on June 1st, 2011, name is called that emphasis has related to the technical scheme with the transformer station portable inspection device aspect of the artificial representative of substation inspection machine in the patent of " substation equipment intelligent inspection machine robot system ".In conjunction with related data, through analyzing, there is following technical matters in the portable inspection device technical scheme of the existing transformer station that is announced:
1, the portable inspection device of being mentioned does not have the global path planning function.When particular device was maked an inspection tour, portable inspection device was not optimized the path, need walk some unnecessary paths, had both wasted the energy content of battery, and the time that the portable inspection device that extended again puts in place and detects, detection efficiency is not high.
2, the portable inspection device pattern recognition function of being mentioned is weak.The state of current transformer station's primary cut-out equipment leans on manual patrol or on-line monitoring more, and manual patrol labour intensity is big, inefficiency; Tour/verification is not in place, and the cycle of docking with existing MIS is long; Less, the data deficiencies of being mentioned of portable inspection device on-line monitoring sampled signal; Motion process is lacked record; Analysis precision is not high, diagnosis shortcoming such as lack persuasion.
3, the portable inspection device of being mentioned lacks security protection system.Portable inspection device at commissioning test with normally patrol and examine in the process, during particularly through the wireless technology operation, because the effective preventive means of shortage causes portable inspection device when fortuitous event occurring, shell and equipment bump and damage.
4, the portable inspection device of being mentioned can't shift to an earlier date the fault in early stage of checkout equipment.Infrared detection is subject to especially influenced by solar of environment intermediate infrared radiation, so infrared detection generally can not carry out by day, so just causes some equipment failures can not be by timely detection and discovery; The later stage fault of the common checkout equipment of infrared detection can't be made early warning to the fault in early stage of equipment.
5, the portable inspection device of being mentioned can't effectively combine with traditional video monitoring system.Also there is very big monitoring blind area, is difficult to really satisfy the requirement of video tour, comprehensive covering.
6, the portable inspection device of being mentioned can't cooperate with suitable control system.Existing cruising inspection system based on the portable inspection device of transformer station can't be realized the automatic identification of equipment state behind the grid switching operation, can't be mutual with transformer station sequential control platform, can't realize that also grid switching operation is along the control process.
Summary of the invention
The object of the invention is exactly in order to address the above problem, and a kind of cruising inspection system and method for inspecting thereof based on the portable inspection device of transformer station is provided.It is a core with portable inspection device, integrates existing Robotics, power equipment non-contact detecting technology, multi-sensor fusion technology, pattern-recognition, navigator fix technology and technology of Internet of things etc.It has round-the-clock, comprehensive, the full autonomous intelligence of cruising inspection system that can realize based on the portable inspection device of transformer station and patrols and examines and monitor; Realization is to patrolling and examining the storage of monitor data intelligence; Utilize pattern-recognition simultaneously; Effectively reduce labor intensity, reduce transformer station's O&M cost, improve the intellectuality and the automatization level of normally patrolling and examining operation and management; For intelligent substation and unattended operation transformer station provide innovative technology for detection means and omnibearing safety guarantee, advance the advantage of the unattended process of transformer station quickly.
For realizing above-mentioned purpose, the present invention adopts following technical scheme:
A kind of cruising inspection system based on the portable inspection device of transformer station, it comprises Surveillance center, said Surveillance center is connected through network with the portable inspection device intelligent inspection system of the station level of at least one transformer station; The portable inspection device intelligent inspection system of said each station level comprises at least one base station, the base station then with at least one portable inspection device radio communication;
In transformer station, also be provided with simultaneously at least one portable inspection device electrically-charging equipment; Also be equipped with the portable inspection device navigator fix facility that is used to walk that matches with portable inspection device in transformer station, simultaneously in transformer station, also be provided with the environmental information acquisition subsystem and be installed in that each needs the auxiliary Monitor And Control Subsystem of point of fixity at watch-dog place in the transformer station;
Environmental information acquisition subsystem, the auxiliary Monitor And Control Subsystem of point of fixity and base station communication; Said portable inspection device is provided with portable inspection device slave computer, and it is through network communication unit and base station communication;
Said portable inspection device slave computer also is connected with detecting unit; Said detecting unit comprises infrared detection unit and ultraviolet detection unit; Said ultraviolet detection unit comprises ultraviolet video server and ultraviolet detector; The analog video that ultraviolet detector collecting device image obtains is through ultraviolet video server access switch, and to be sent to base station background monitoring computing machine through radio communication be host computer; Ultraviolet detector is connected with the ultraviolet video server, and ultraviolet detector all is connected and is controlled by slave computer with portable inspection device slave computer with the ultraviolet video server.
Said Surveillance center comprises at least one station server, at least one monitoring host computer and corresponding warning device; Wherein, said monitoring host computer has all supervision in video monitoring center, control and management function, and utilizes pattern-recognition that video and picture are carried out intellectual analysis; Described server stores temporal information, photo and video file supply retrieval fast; Warning device is the system hardware and software anomaly alarming device or/and the detection alarm device, and wherein, monitoring alarm is selected from environmental information anomaly alarming device, fire protection warning device, breaks in warning device, in the video mobile alarm device one or more.
Said Surveillance center is connected through the electric power special optical cable with each base station.
Described base station comprises that the background monitoring computing machine is a host computer, and it is through wireless communication module I and portable inspection device communication;
Said host computer is connected with mis system with SCADA system of transformer station through fire wall;
Said host computer is connected with long-range Surveillance center through mobile communication module, and said mobile communication module is gsm module, CDMA module, GPRS module or 3G module;
Said environmental information acquisition subsystem adopts temperature, humidity and air velocity transducer, and adopting the RS485 serial communication protocol to send the data to base station background monitoring computing machine through cable is host computer, and shows storage.
Described portable inspection device comprises portable inspection device body; Portable inspection device body comprises the slave computer that is fixed on the mobile platform and the navigation positioning module that is connected with slave computer, power module, cradle head control module, information acquisition module, display module, safety protection module, detection module, network communication unit; Wherein said network communication unit comprises the wireless communication module I communication of wireless communication module II and base station.
Said navigation positioning module comprises two RFID readers, a GPS unit, a magnetic navigation unit and a laser ranging unit; Said GPS unit receives the GPS locating information; Read the RFID navigation information through the RFID reader; Read the magnetic navigation sign through the magnetic navigation unit, read target/obstacle distance information, be sent to slave computer after the information acquisition through the laser ranging unit;
Said power module comprises the input power supply, and the input power supply is connected with power supply processing module, and power supply processing module divides the output of octuple power supply, comprising two-way 12V output and six road 28V output; In the 12V output a road is wireless communication module and power supply for exchange, and another road is the information acquisition power devices; Said six road 28V output is then supplied power with heat abstractor, portable inspection device slave computer, safety protection module, cradle head control module, portable inspection device walking arrangement and charging detent mechanism respectively;
The structure that said cradle head control module adopts is to adopt the described structure of Chinese granted patent ZL200920029359.6;
Said information acquisition module comprises with lower unit: image information collecting unit, acoustic information collecting unit, temperature/humidity information collecting unit; Said image information collecting unit also comprises visible light camera except that thermal infrared imager, ultraviolet imagery appearance, video server, said visible light camera, thermal infrared imager, ultraviolet imagery appearance difference or aggregate erection are on corresponding The Cloud Terrace; Said acoustic information collecting unit is an acoustic pickup; Said temperature/humidity information collecting unit is a Temperature Humidity Sensor;
Said safety protection module comprises ultrasonic fault detection unit, the safe edge element that touches; Comprise the preposition camera and the rearmounted camera that are connected with video server in addition; The information of being gathered through the video encoder compressed encoding that is controlled by slave computer after, send the base station to through wireless communication module I, wireless communication module II; Rearmounted camera provides portable inspection device rear real-time video, the portable inspection device of auxiliary remote control to retreat;
Said ultrasonic obstacle detection unit comprises the ultrasound transducer probe that is arranged on portable inspection device front end, and the ultrasonic signal that is connected with ultrasound transducer probe processing integrated circuit board, and it passes to portable inspection device slave computer with detected range information.Said ultrasound transducer probe has four, is installed in portable inspection device front end side by side.The structure that this unit adopts is to adopt the described structure of Chinese granted patent ZL200920029427.9, is used to detect barrier, the accident collision when preventing to move automatically of portable inspection device direct of travel;
Said safety is touched edge element for flexible bent ribbon, is fixed on the position, edge of portable inspection device, realizes safeguard protection.When portable inspection device moves when striking barrier, the Flexible Safety limit will be transmitted signal and moved for power-supply system to stop portable inspection device, for portable inspection device accident collision provides important security protection.
Said wireless communication module I, wireless communication module II are the wireless bridge based on 802.11N;
Described slave computer adopts embedded industrial control computer; In build built-in Linux operating system; Slave computer is through wireless communication module II and upper machine communication, and the communication data that is sent to host computer comprises the data of image information collecting unit, acoustic information collecting unit, temperature/humidity information collecting unit; Also transmit RFID data, gps data, target/obstacle distance data that navigation positioning module collects simultaneously.
The auxiliary Monitor And Control Subsystem of described point of fixity is included in transformer station and is provided with at least one high definition web camera; Said high definition web camera is connected with the base station through optical cable; The high definition web camera is arranged on portable inspection device and makes an inspection tour the blind area, and the high definition web camera is directly kept watch on portable inspection device omission equipment, upload the data to the base station, carries out unified monitoring and analyzing stored.
Described portable inspection device electrically-charging equipment comprises accumulator plant and charging detent mechanism; Said accumulator plant adopts the channel-type cabin, and two doors are split by the accumulator plant, and automatic gate inhibition is installed; Portable inspection device can pass through wireless communication module, controls automatic gate inhibition's folding; The accumulator plant is equipped with portable inspection device navigator fix facility, is convenient to the portable inspection device location of charging automatically; Charging case is installed in the accumulator plant.It number is the structure in 2011201896988 patents of invention that the structure of said accumulator plant automatic door control system adopts one Chinese patent application, and the charging detent mechanism adopts Chinese granted patent number to be the structure of ZL200920290409.6.
The method for inspecting of described a kind of cruising inspection system based on the portable inspection device of transformer station may further comprise the steps:
Step 3, task issue and carry out; The base station epigyny machine is according to patrolling and examining requirement, and path planning module is cooked up mission bit stream, and timed task is sent to portable inspection device slave computer through wireless telecommunication system; After arriving task time, portable inspection device breaks away from electrically-charging equipment to begin to patrol and examine; Portable inspection device navigation positioning module is gathered navigator fix information, and the position and attitude signal is sent slave computer, under the control of master control system, goes in transformer station;
Step 4, anchor point detect; When navigation positioning module detects arrival target detection point; Stop mobile platform; According to task; Call the corresponding prefabricated position of the The Cloud Terrace of detection system, aim at substation equipment and detect, and detected video and view data are sent to the base station epigyny machine through wireless telecommunication system carry out data processing, analysis, storage;
In addition, further specify, described background monitoring computing machine is that host computer is provided with the background monitoring analysis software, and the background monitoring analysis software comprises contact bed, key-course and data Layer;
Said contact bed; Be divided into video display module, information exhibition module, alarm indication module, report generation module, electric map module, data query module, data configuration module and device control module, the monitoring of the real time data of portable inspection device oneself state and detection system provides the operating interactive interface to realize through contact bed;
Said key-course; Be divided into path planning, pattern-recognition, suitable control cooperation, audio processing modules, network communication module, video processing module, warning processing module, report form processing module; Path planning module can be patrolled and examined the Automatic Optimal that portable inspection device is patrolled and examined circuit, also can be when formulating the specific patrol task of equipment and portable inspection device low pressure alarming shortest path is provided when returning charging automatically; Pattern recognition module can be realized the automatic identification of equipment, can be in infrared image accurate positioning equipment, automatic accurate judgment device temperature; Pattern recognition module also can automatic identification equipment state, like the state of disconnector and the reading of instrument; Along the comprehensive above-mentioned functions module of control fit module; Mutual with transformer station sequential control platform; Utilize optimal path planning algorithm, graphical analysis, algorithm for pattern recognition to realize the automatic detection of the equipment state behind transformer station's grid switching operation, and recognition result is sent to transformer station's sequential control platform, close in the automatic school of equipment state behind the realization grid switching operation; And automatic, the execution smoothly of driving grid switching operation, really realize the one-touch sequential control of transformer station's grid switching operation;
Said data Layer is divided into real-time data base, CONFIG.SYS, video file and historical data base; Carry out classification and storage to detecting data, and realize the retrievals such as ordering, screening of historical data.
The present invention has following beneficial effect:
1, polling path optimization.
Portable inspection device adopts the global path planning algorithm that polling path is optimized; Travel route is short; Portable inspection device is fast detection time that puts in place, has saved the energy content of battery, can effectively save the time that portable inspection device UC is moved in substation equipment operation back simultaneously.
2, has stronger pattern recognition function.
Pattern recognition function; Comprise based on visible light detection technique, template matches technology and realize the substation breakers state recognition and realize transformer station's disconnecting link state recognition based on infrared detection; These modules and algorithm fast operation; The image recognition rate is high, has improved and has patrolled and examined automatically and identification efficiency, can satisfy on-the-spot real-time tour requirement.
3, all the period of time fault detect.
Ultraviolet detection is not disturbed by solar radiation, and portable inspection device can be patrolled and examined substation equipment by day, cooperates with visible light and/or infrared detection, can equipment be detected whole day any time section, has improved the promptness that equipment deficiency detects; Through the advantage that in portable inspection device distribution equipment detecting unit, combines ultraviolet, infrared, visible light to detect; Can improve the efficient that equipment deficiency detects; Accurately and reliably equipment deficiency is positioned temperature, outward appearance, state and corona flashover situation that can the complete detection substation equipment.
4, omnibearing security protection.
Ultrasonic obstacle detection unit is used to detect barrier, the accident collision when preventing to move automatically of portable inspection device direct of travel; Preposition camera, rearmounted camera provide portable inspection device forward-and-rearward real-time video, the portable inspection device forward-reverse of auxiliary remote control; Safety is touched the limit, and last closes the portable inspection device accident collision of protection.Omnibearing security protection can make the operation of portable inspection device automatic safe, prevents to patrol and examine automatically or the portable inspection device accident collision during remote control or fall.
5, intelligent degree is high.
Full autonomous operation through automatic charging and independent navigation location realization patrol task need not manual intervention; Intelligent degree is high, and it is good to patrol and examine data consistency, adopts portable inspection device to realize the substation equipment fixed point, decides angle, the robotization of fixing time patrols and examines, and data are not are not patrolled and examined the influence of subjective factors such as peopleware ability.
6, the seamless monitoring of omnibearing video.
Cooperation through portable inspection device and the auxiliary Monitor And Control Subsystem of point of fixity; Realized the seamless monitoring of transformer station's video; Patrol and examine non-blind area, eliminate original security protection, fixed video monitoring blind spot, reduced the quantity of unit area control point; Make the monitoring scene coverage wider, improve the usefulness and the intelligent Application level of monitoring system of electric substation.
7, realized cooperating along control system, SCADA system, mis system with transformer station.
Mutual through IEC61850 agreement and transformer station's sequential control platform, SCADA system, mis system; Utilize optimal path planning algorithm, graphical analysis, algorithm for pattern recognition to realize the automatic detection of the equipment state behind transformer station's grid switching operation; And recognition result sent to transformer station's sequential control platform through the IEC61850 agreement; Close in the automatic school of equipment state behind the realization grid switching operation; And automatic, the execution smoothly of driving grid switching operation, really realize the one-touch sequential control of transformer station's grid switching operation.
8, realized the Centralized Monitoring of the portable inspection device intelligent inspection system of multistation level.
A plurality of cruising inspection system Centralized Monitorings based on the portable inspection device of transformer station, centralized management meets the demand of transformer station's unattended, and detection means is provided for the equipment safety operation of unattended operation transformer station; Patrol and examine the centralized management of data and share, more comprehensively judgment device fault and Analysis on Fault Diagnosis.
Description of drawings
Fig. 1 is transformer station's portable inspection device cruising inspection system overall construction drawing;
Fig. 2 is that the station portable inspection device intelligent patrol detection subsystem of level is formed structural drawing;
Fig. 3 is the auxiliary Monitor And Control Subsystem structural drawing of point of fixity;
Fig. 4 is portable inspection device system construction drawing;
Fig. 5 is a background monitoring analyzing software system structural drawing;
Fig. 6 is that portable inspection device detects DFD;
Fig. 7 is portable inspection device safety protection module DFD;
Fig. 8 is based on the method for inspecting process flow diagram of the cruising inspection system of the portable inspection device of transformer station.
1. Surveillance center among the figure, the 2. portable inspection device intelligent inspection system of station level, 3. portable inspection device navigator fix facility, 4. portable inspection device electrically-charging equipment, 5. portable inspection device; 6. environmental information acquisition subsystem, the 7. auxiliary Monitor And Control Subsystem of point of fixity, 8 high definition IP Cameras, 9. host computer, 10. wireless communication module I; 11. wireless communication module II, 12. slave computers, 13. mobile platforms, 14. navigation positioning module, 15. cradle head control modules; 16. power module, 17. information acquisition modules, 18. safety protection modules, 19 display modules, 20. switches; 21. video encoder, 22. preposition cameras, 23. rearmounted cameras, 24. safety are touched limit, 25. ultrasonic fault detection units; 26. visible light camera, 27. thermal infrared imagers, 28. ultraviolet imagery appearance, 29. base stations, 30. networking communication units.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Among Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 6, Fig. 7; A kind of cruising inspection system based on the portable inspection device of transformer station; It comprises Surveillance center 1, and the portable inspection device intelligent inspection system of the station level of said Surveillance center 1 and at least one transformer station 2 is connected through network; Said each station portable inspection device intelligent inspection system 2 of level comprises at least one base station 29,29 of base stations and at least one portable inspection device 5 radio communication; In transformer station, also be provided with simultaneously at least one portable inspection device electrically-charging equipment 4; Also be equipped with the portable inspection device navigator fix facility 3 that is used to walk that matches with portable inspection device 5 in transformer station, simultaneously in transformer station, also be provided with environmental information acquisition subsystem 6 and be installed in that each needs the auxiliary Monitor And Control Subsystem 7 of point of fixity at watch-dog place in the transformer station; Environmental information acquisition subsystem 6, the auxiliary Monitor And Control Subsystem 7 of point of fixity are communicated by letter with base station 29; Said portable inspection device 5 is provided with the slave computer 12 of portable inspection device, and it is communicated by letter with base station 29 through network communication unit 30; The slave computer 12 of said portable inspection device 5 also is connected with detecting unit; Said detecting unit comprises infrared detection unit and ultraviolet detection unit; Said ultraviolet detection unit comprises ultraviolet video server and ultraviolet detector; The analog video that ultraviolet detector collecting device image obtains is through ultraviolet video server access switch 20, and to be sent to base station background monitoring computing machine through radio communication be host computer 9; Ultraviolet detector is connected with the ultraviolet video server, and ultraviolet detector all is connected and is controlled by slave computer 12 with portable inspection device slave computer 12 with the ultraviolet video server.
Said Surveillance center 1 comprises at least one station server, at least one monitoring host computer and corresponding warning device; Wherein, said monitoring host computer has all supervision in video monitoring center, control and management function, and utilizes pattern-recognition that video and picture are carried out intellectual analysis; Described server stores temporal information, photo and video file supply retrieval fast; Warning device is the system hardware and software anomaly alarming device or/and the detection alarm device, and wherein, monitoring alarm is selected from environmental information anomaly alarming device, fire protection warning device, breaks in warning device, in the video mobile alarm device one or more.
Said Surveillance center 1 is connected through the electric power special optical cable with each base station 29.
Described base station 29 comprises that the background monitoring computing machine is a host computer 9, and it is through wireless communication module I10 and 5 communications of portable inspection device;
Said environmental information acquisition subsystem 6 adopts temperature, humidity and air velocity transducer, adopts the RS485 serial communication protocol to send the data to base station 29 background monitoring computing machines through cable; Show storage.
Described portable inspection device 5 comprises portable inspection device body; Portable inspection device body comprises the slave computer 12 that is fixed on the mobile platform 13 and the navigation positioning module 14 that is connected with slave computer 12, power module 16, cradle head control module 15, information acquisition module 17, display module 19, safety protection module 18, detection module, network communication unit 30; Wherein said network communication unit 30 comprises the wireless communication module I10 communication of wireless communication module II11 and base station 29.
Said navigation positioning module 14 comprises two RFID readers, a GPS unit, a magnetic navigation unit and a laser ranging unit; Said GPS unit receives the GPS locating information; Read the RFID navigation information through the RFID reader; Read the magnetic navigation sign through the magnetic navigation unit, read target/obstacle distance information, be sent to slave computer 12 after the information acquisition through the laser ranging unit;
Said power module 16 comprises the input power supply, and the input power supply is connected with power supply processing module, and power supply processing module divides the output of octuple power supply, comprising two-way 12V output and six road 28V output; In the 12V output a road is wireless communication module and switch 20 power supplies, and another road is information acquisition module 17 power devices; Said six road 28V output is then supplied power with heat abstractor, portable inspection device slave computer 12, safety protection module 18, cradle head control module 15, portable inspection device walking arrangement and charging detent mechanism respectively.
The structure that said cradle head control module 15 adopts is to adopt the described structure of Chinese granted patent ZL200920029359.6.
Said information acquisition module 17 comprises with lower unit: image information collecting unit, acoustic information collecting unit, temperature/humidity information collecting unit; Said image information collecting unit also comprises except that thermal infrared imager 27, ultraviolet imagery appearance 28, video server: visible light camera 26, and said visible light camera 26, thermal infrared imager 27, ultraviolet imagery appearance 28 are installed in respectively on the corresponding The Cloud Terrace; Said acoustic information collecting unit is an acoustic pickup; Said temperature/humidity information collecting unit is a Temperature Humidity Sensor;
Said wireless communication module I10, wireless communication module II11 are the wireless bridge based on 802.11N;
Described slave computer 12 adopts embedded industrial control computer; In build built-in Linux operating system; Slave computer 12 is through wireless communication module II11 and host computer 9 communications, and the communication data that is sent to host computer 9 comprises the data of image information collecting unit, acoustic information collecting unit, temperature/humidity information collecting unit; Also transmit RFID data, gps data, target/obstacle distance data that navigation positioning module 14 collects simultaneously.，
Said safety protection module 18 comprises the preposition camera 22 and rearmounted camera 23 that is connected with video server in addition; The information of being gathered through video encoder 21 compressed encodings that are controlled by slave computer 12 after, send base station 29 to through wireless communication module I10, wireless communication module II11; Rearmounted camera 23 provides portable inspection device 5 rear real-time videos, the portable inspection device 5 of auxiliary remote control to retreat.
Said ultrasonic obstacle detection unit comprises the ultrasound transducer probe that is arranged on portable inspection device front end, and the ultrasonic signal that is connected with ultrasound transducer probe processing integrated circuit board, and it passes to industrial control computer with detected range information.Said ultrasound transducer probe has four, is installed in portable inspection device front end side by side.The structure that this unit adopts is to adopt the described structure of Chinese granted patent ZL200920029427.9, is used to detect barrier, the accident collision when preventing to move automatically of portable inspection device 5 direct of travels;
Said safety is touched Unit 24, limit for flexible bent ribbon, is fixed on the position, edge of portable inspection device 5, realizes safeguard protection.When portable inspection device 5 moves when striking barrier, Flexible Safety is touched limit 24 and will be transmitted signal and move for power-supply system to stop portable inspection device, for portable inspection device 5 accident collisions provide important security protection.
Described point of fixity utility appliance Monitor And Control Subsystem 7 is included in transformer station and is provided with at least one high definition web camera 8; Said high definition web camera 8 is connected with base station 29 through optical cable; High definition web camera 8 is arranged on portable inspection device 5 tour blind areas, and high definition web camera 8 is directly kept watch on portable inspection device 5 omission equipment, upload the data to base station 29, carries out unified monitoring and analyzing stored;
Described portable inspection device electrically-charging equipment 4 comprises accumulator plant and charging detent mechanism; Said accumulator plant adopts the channel-type cabin, and two doors are split by the accumulator plant, and automatic gate inhibition is installed; Portable inspection device 5 can pass through wireless communication module, controls automatic gate inhibition's folding; The accumulator plant is equipped with portable inspection device navigator fix facility 3, is convenient to portable inspection device 5 charging location automatically; Charging case is installed in the accumulator plant.It number is the structure in 2011201896988 patents of invention that the structure of said accumulator plant automatic door control system adopts one Chinese patent application, and the charging detent mechanism adopts Chinese granted patent number to be the structure of ZL200920290409.6;
Said mobile platform 13 adopts wheeled construction, and preceding two-wheeled is a driving wheel, drive respectively by two motors, and differential steering, back two-wheeled is a universal wheel, servo-actuated.Simple in structure, be prone to processing, rectilinear motion property and turn performance are good, can do pivot turn with two driving wheel central points, and not have sideslip.Adaptability is strong, and is convenient to the design of control system.
The portable inspection device intelligent inspection system 2 of the level of standing; The flow process of carrying out remote data acquisition is: at first portable inspection device utilizes that the data collector of self will collect patrols and examines data (comprising battery electric quantity, Drive Status and speed, The Cloud Terrace state, obstacle information, Magnetic Sensor information, image information, audio-frequency information, humiture data), is transferred to base station system through wireless communication module; Generation was patrolled and examined daily record, patrols and examines item and is patrolled and examined real time data after base station system utilized each functional module of self will patrol and examine data processing then; To patrol and examine daily record, patrol and examine item and patrol and examine real time data through mobile communication module and be reported to long-range Surveillance center; Make things convenient for the technician in time to understand portable inspection device situation, and portable inspection device fault is carried out maintenance promptly and accurately.
Principle of work based on the cruising inspection system security protection of the portable inspection device of transformer station is: the range information harvester detects the obstacle information on the line directions before the portable inspection device 5 through the ultrasound detection module; And adopt safety to touch the collision protection that portable inspection device is made on limit 24; Can not damage shell and equipment even guarantee that portable inspection device 5 crashes yet; After portable inspection device 5 runs into barrier or bumps; Information acquisition through industrial control computer is handled, and can order intelligent inspection machine 5 people to carry out correct action.When video server is used for that mainly portable inspection device carried out remote control; Monitor through preposition camera 22 and 23 pairs of portable inspection devices 5 of rearmounted camera road conditions of advancing; And pass vision signal back the Control Room background computer through wireless mode; Make operating personnel carry out safe operation, avoid meeting accident portable inspection device 5.
The principle of the portable inspection device all the period of time fault detect of intelligent substation: portable inspection device 5 has visible light detecting unit, infrared detection unit and ultraviolet detection unit; The visible light detecting unit comprises visible light video server and visible light pick-up unit; The analog video that visible light pick-up unit collecting device image obtains is through visible light video server access network communication unit, and the steering order that 29 background monitoring computing machines issue from portable inspection device base station is sent to the visible light pick-up unit through network communication unit through the visible light video server.Infrared detection unit comprises infrared video server and infrared detecting device; The analog video that infrared detecting device collecting device image obtains is through infrared video server access network communication unit, and other exchanges data of infrared detecting device and portable inspection device slave computer can transmit or directly accomplish through network communication unit via the infrared video server; The ultraviolet detection unit comprises ultraviolet video server and ultraviolet detector; The analog video that ultraviolet detector collecting device image obtains is through ultraviolet video server access network communication unit, and other exchanges data of ultraviolet detector and portable inspection device slave computer can transmit or directly accomplish through network communication unit via the ultraviolet video server.Advantage through in portable inspection device distribution equipment detecting unit, combining ultraviolet, infrared, visible light to detect can improve the efficient that equipment deficiency detects, and accurately and reliably equipment deficiency is positioned.
Among Fig. 5, host computer background monitoring analysis software is made up of contact bed, key-course and data Layer.
Said contact bed is divided into video display module, information exhibition module, alarm indication module, report generation module, electric map module, data query module, data configuration module and device control module.Contact bed provides friendly operating interactive interface, accomplishes the monitoring of the real time data of portable inspection device oneself state and detection system.
Said key-course is divided into path planning, pattern-recognition, suitable control cooperation, audio processing modules, network communication module, video processing module, warning processing module, report form processing module.Path planning module can portable inspection device be patrolled and examined the Automatic Optimal of circuit, also can be when the specific patrol task of the equipment of formulation and portable inspection device low pressure alarming shortest path is provided when returning charging automatically.At first to the substation modeling, form topological network diagramming and connected relation matrix during path planning; Then utilize Floyd Freud algorithm to confirm the searching route matrix, i.e. shortest path matrix, and, improve arithmetic speed through iteration optimization; Through traversal, calculate the shortest communication path of originating point then to the impact point sequence to node and limit; At last the shortest communication path is transformed into the travel route that indicates with the RFID sequence; At each crossing RFID,, calculate the rotational angle of portable inspection device according to path connectivity.Mode identification technology can realize the automatic identification of equipment, can be in infrared image accurate positioning equipment, automatic accurate judgment device temperature; Mode identification technology also can automatic identification equipment state, like the state of disconnector and the reading of instrument.Along the comprehensive above-mentioned functions module of control fit module; Mutual with transformer station sequential control platform; Utilize optimal path planning algorithm, graphical analysis, algorithm for pattern recognition to realize the automatic detection of the equipment state behind transformer station's grid switching operation, and recognition result is sent to transformer station's sequential control platform, close in the automatic school of equipment state behind the realization grid switching operation; And automatic, the execution smoothly of driving grid switching operation, really realize the one-touch sequential control of transformer station's grid switching operation.
Said data Layer is divided into real-time data base, CONFIG.SYS, video file and historical data base.Carry out classification and storage to detecting data, and realize the retrievals such as ordering, screening of historical data.
In Fig. 8, portable inspection device method for inspecting may further comprise the steps:
Step 3, task issue and carry out; The host computer 9 of base station 29 is according to patrolling and examining requirement, and path planning module is cooked up mission bit stream, and timed task is sent to portable inspection device 5 slave computers 12 through wireless telecommunication system; After arriving task time, portable inspection device 5 breaks away from electrically-charging equipment to begin to patrol and examine; Portable inspection device 5 navigation positioning module 3 are gathered navigator fix information, and the position and attitude signal is sent slave computer 12, under the control of master control system, go in transformer station;
Step 4, anchor point detect; When navigation positioning module detects arrival target detection point; Stop mobile platform; According to task; Call the corresponding prefabricated position of The Cloud Terrace of detection system, aim at substation equipment and detect, and detected video and view data are carried out data processing, analysis, storage through the host computer 9 that wireless telecommunication system is sent to base station 29;
Though the above-mentioned accompanying drawing specific embodiments of the invention that combines is described; But be not restriction to protection domain of the present invention; One of ordinary skill in the art should be understood that; On the basis of technical scheme of the present invention, those skilled in the art need not pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (10)
1. the cruising inspection system based on the portable inspection device of transformer station is characterized in that it comprises Surveillance center, and said Surveillance center is connected through network with the portable inspection device intelligent inspection system of the station level of at least one transformer station; The portable inspection device intelligent inspection system of said each station level comprises at least one base station, the base station then with at least one portable inspection device radio communication; In transformer station, also be provided with simultaneously at least one portable inspection device electrically-charging equipment; Also be equipped with the portable inspection device navigator fix facility that is used to walk that matches with portable inspection device in transformer station; Simultaneously in transformer station, also be provided with the environmental information acquisition subsystem and be installed in that each needs the auxiliary Monitor And Control Subsystem of point of fixity at watch-dog place in the transformer station, environmental information acquisition subsystem, the auxiliary Monitor And Control Subsystem of point of fixity and base station communication; Said portable inspection device is provided with portable inspection device slave computer, and it is through network communication unit and base station communication; Said portable inspection device slave computer also is connected with detecting unit; Said detecting unit comprises infrared detection unit and ultraviolet detection unit; Said ultraviolet detection unit comprises ultraviolet video server and ultraviolet detector; The analog video that ultraviolet detector collecting device image obtains is through ultraviolet video server access switch, and to be sent to base station background monitoring computing machine through radio communication be host computer; Ultraviolet detector is connected with the ultraviolet video server, and ultraviolet detector all is connected and is controlled by slave computer with portable inspection device slave computer with the ultraviolet video server.
2. a kind of cruising inspection system based on the portable inspection device of transformer station as claimed in claim 1 is characterized in that, said Surveillance center comprises at least one station server, at least one monitoring host computer and corresponding warning device; Wherein, said monitoring host computer has all supervision in video monitoring center, control and management function, and utilizes mode identification technology that video and picture are carried out intellectual analysis; Described server stores temporal information, photo and video file supply retrieval fast; Warning device is the system hardware and software anomaly alarming device or/and monitoring alarm, and wherein, monitoring alarm is selected from environmental information anomaly alarming device, fire protection warning device, breaks in warning device, in the video mobile alarm device one or more.
3. a kind of cruising inspection system based on the portable inspection device of transformer station as claimed in claim 1 is characterized in that said Surveillance center is connected through the electric power special optical cable with each base station.
4. a kind of cruising inspection system based on the portable inspection device of transformer station as claimed in claim 1 is characterized in that described base station comprises that the background monitoring computing machine is a host computer, and it is through wireless communication module I and portable inspection device communication;
Said host computer is connected with mis system with SCADA system of transformer station through fire wall;
Said host computer is connected with long-range Surveillance center through mobile communication module, and said mobile communication module is gsm module, CDMA module, GPRS module or 3G module;
Said environmental information acquisition subsystem adopts temperature, humidity and air velocity transducer, adopts the RS485 serial communication protocol to send the data to base station background monitoring computing machine through cable; Show storage.
5. like claim 1 or 4 described a kind of cruising inspection systems, it is characterized in that described portable inspection device comprises portable inspection device body based on the portable inspection device of transformer station; Portable inspection device body comprises slave computer and the navigation positioning module that is connected with slave computer, power module, cradle head control module, information acquisition module, display module, safety protection module, detection module, network communication unit; Wherein said network communication unit comprises wireless communication module II, the wireless communication module I communication of wireless communication module II and base station;
Said navigation positioning module comprises two RFID readers, a GPS unit, a magnetic navigation unit and a laser ranging unit; Said GPS unit receives the GPS locating information; Read the RFID navigation information through the RFID reader; Read the magnetic navigation sign through the magnetic navigation unit, read target/obstacle distance information, be sent to slave computer after the information acquisition through the laser ranging unit;
Said power module comprises the input power supply, and the input power supply is connected with power supply processing module, and power supply processing module divides the output of octuple power supply, comprising two-way 12V output and six road 28V output; In the 12V output a road is wireless communication module and power supply for exchange, and another road is the information acquisition module power supply; Said six road 28V output is then supplied power with heat abstractor, portable inspection device slave computer, safety protection module, cradle head control module, portable inspection device walking arrangement and charging detent mechanism respectively;
Said information acquisition module comprises with lower unit: image information collecting unit, acoustic information collecting unit, temperature/humidity information collecting unit; Said image information collecting unit also comprises except that thermal infrared imager, ultraviolet imagery appearance, video server: visible light camera, and said visible light camera, thermal infrared imager, ultraviolet imagery appearance difference or aggregate erection are on corresponding The Cloud Terrace; Said acoustic information collecting unit is an acoustic pickup; Said temperature/humidity information collecting unit is a Temperature Humidity Sensor;
Said wireless communication module I, wireless communication module II are the wireless bridge based on 802.11N;
Described slave computer adopts embedded industrial control computer; In build built-in Linux operating system; Slave computer is through wireless communication module II and upper machine communication, and the communication data that is sent to host computer comprises the data of image information collecting unit, acoustic information collecting unit, temperature/humidity information collecting unit; Also transmit RFID data, gps data, target/obstacle distance data that navigation positioning module collects simultaneously.
6. a kind of cruising inspection system as claimed in claim 5 based on the portable inspection device of transformer station; It is characterized in that; Said safety protection module comprises ultrasonic fault detection unit, the safe edge element that touches; Comprise the preposition camera and the rearmounted camera that are connected with video server in addition, the information of being gathered through the video encoder compressed encoding that is controlled by slave computer after, send the base station to through wireless communication module I, wireless communication module II; Rearmounted camera provides portable inspection device rear real-time video, the portable inspection device of auxiliary remote control to retreat.
7. a kind of cruising inspection system as claimed in claim 5 based on the portable inspection device of transformer station; It is characterized in that; Said ultrasonic obstacle detection unit comprises the ultrasound transducer probe that is arranged on portable inspection device front end; And the ultrasonic signal that is connected with ultrasound transducer probe processing integrated circuit board, it passes to industrial control computer with detected range information, and said ultrasound transducer probe has four; Be installed in portable inspection device front end side by side, be used to detect barrier, the accident collision when preventing to move automatically of portable inspection device direct of travel; Said safety is touched edge element and is flexible bent ribbon; Be fixed on the position, edge of portable inspection device; Realize safeguard protection; When portable inspection device moves when striking barrier, the Flexible Safety limit will be transmitted signal and moved for power-supply system to stop portable inspection device, for portable inspection device accident collision provides important security protection.
8. a kind of cruising inspection system based on the portable inspection device of transformer station as claimed in claim 1 is characterized in that described point of fixity utility appliance Monitor And Control Subsystem is included in transformer station and is provided with at least one high definition web camera; Said high definition web camera is connected with the base station through optical cable; The high definition web camera is arranged on portable inspection device and makes an inspection tour the blind area, and the high definition web camera is directly kept watch on portable inspection device omission equipment, upload the data to the base station, carries out unified monitoring and analyzing stored.
9. a kind of cruising inspection system as claimed in claim 1 based on the portable inspection device of transformer station; It is characterized in that described portable inspection device electrically-charging equipment comprises accumulator plant and charging detent mechanism, said accumulator plant adopts the channel-type cabin; Two doors are split by the accumulator plant; Automatic gate inhibition is installed, and portable inspection device can pass through wireless communication module, controls automatic gate inhibition's folding; The accumulator plant is equipped with portable inspection device navigator fix facility, is convenient to the portable inspection device location of charging automatically.
10. the method for inspecting based on the cruising inspection system of the portable inspection device of transformer station is characterized in that, may further comprise the steps:
Step 1, charging; Portable inspection device is when the patrol task instruction of not receiving wireless communication networks or remote control transmission, and the accumulator plant carries out equipment charge at portable inspection device, waits for that patrol task issues;
Step 2, path planning; During path planning,, form topological network diagramming and connected relation matrix at first to the substation modeling; Then utilize Floyd Freud algorithm to confirm the searching route matrix, i.e. shortest path matrix, and, improve arithmetic speed through iteration optimization; Through traversal, calculate the shortest communication path of originating point then to the impact point sequence to node and limit; At last the shortest communication path is transformed into the travel route that indicates with the RFID sequence; RFID at each crossing according to path connectivity, calculates the rotational angle of portable inspection device;
Step 3, task issue and carry out; The host computer of base station is according to patrolling and examining requirement, and path planning module is cooked up mission bit stream, and timed task is sent to portable inspection device slave computer through wireless telecommunication system; After arriving task time, portable inspection device breaks away from electrically-charging equipment to begin to patrol and examine; Portable inspection device navigation positioning module is gathered navigator fix information, and the position and attitude signal is sent slave computer, under the control of master control system, goes in transformer station;
Step 4, anchor point detect; When navigation positioning module detects arrival target detection point; Stop mobile platform; According to task; Call the corresponding prefabricated position of the The Cloud Terrace of detection system, aim at substation equipment and detect, and detected video and view data are sent to the base station epigyny machine through wireless telecommunication system carry out data processing, analysis, storage;
Step 5, pattern-recognition; Detect the video and the view data of gathering based on portable inspection device visible light, utilize the technology of template matches, the circuit-breaker status of transformer station is discerned; Based on video and the view data that portable inspection device infrared detection is gathered, utilize the Sift characteristic that transformer station's disconnecting link state is discerned; The host computer of base station carries out analysis and judgement to detecting data, sends overtemperature warning in case of necessity;
Step 6, order are executed the task, and accomplish until patrol task, and portable inspection device returns portable inspection device electrically-charging equipment, and next timing patrol task is waited in charging;
Step 7, point of fixity monitoring are assisted and are patrolled and examined; Detect in the sequence through all adding a plurality of video cameras of different fixing point to point of fixity, be configured to patrol and examine route, described each video camera is uploaded to the base station according to planning to quasi-shifting inspection device omission equipment and with video information; The host computer of base station utilizes the point of fixity auxiliary video of uploading the malfunction of pattern-recognition identification back judgment device; The zone that system monitors needs is provided with trigger condition, the warning face that passes through promptly is set as required detects, get into, leave the regional detection of invasion, under the state of deploying troops on garrison duty, in a single day triggers, and system is the ability interlink warning just;
Step 8, patrol and examine report generation; All task is accomplished, and the host computer of base station receives patrols and examines end, and this patrols and examines data analyzing and processing, forms and patrols and examines form, and this patrols and examines end; The personnel of patrolling and examining can patrol and examine whole process in the monitoring time monitoring in real time of base station; Also can after patrolling and examining completion, browse and patrol and examine form; Also can check and patrol and examine historical data regularly through the historical data retrieval.
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| CN 201110216445 CN102354174B (en) | 2011-07-30 | 2011-07-30 | Inspection system based on mobile inspection apparatus of transformer station and inspection method thereof |
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| CN 201110216445 CN102354174B (en) | 2011-07-30 | 2011-07-30 | Inspection system based on mobile inspection apparatus of transformer station and inspection method thereof |
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