CN102856827A - Omnibearing ground-space isomeric substation polling system - Google Patents

Omnibearing ground-space isomeric substation polling system Download PDF

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Publication number
CN102856827A
CN102856827A CN2012103109153A CN201210310915A CN102856827A CN 102856827 A CN102856827 A CN 102856827A CN 2012103109153 A CN2012103109153 A CN 2012103109153A CN 201210310915 A CN201210310915 A CN 201210310915A CN 102856827 A CN102856827 A CN 102856827A
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module
ground
robot
energy
polling
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CN2012103109153A
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CN102856827B (en
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吴华
仇晓伟
杨国田
柳长安
刘春阳
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North China Electric Power University
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North China Electric Power University
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02BCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02B90/20Smart grids as enabling technology in buildings sector
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04SSYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S40/00Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
    • Y04S40/12Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
    • Y04S40/126Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission

Abstract

The invention discloses an omnibearing ground-space isomeric substation polling system, belonging to the field of substation polling system design. The technical scheme is that the system comprises a ground polling moving robot subsystem, a space poling flying robot subsystem, a monitoring center and an energy supply depot, wherein the ground polling moving robot subsystem, the space poling flying robot subsystem and the monitoring center are connected together through wireless signals. According to the system, robots are combined to carry out the substation polling, a polling angle is flexible, sight is comprehensive, so that a labor resource is saved, polling difficulties under severe geographical condition and meteorological environments are reduced, polling convenience time is shortened, daily examination efficiency is improved, and a situation of false judgment and maloperation when an independent robot is used for polling is solved; and the system is not only applicable to polling of a substation, and can be expanded to be used for searching and polling of more fields.

Description

The comprehensive cruising inspection system of the empty isomery formula transformer station in ground
Technical field
The invention belongs to substation inspection system field, relate in particular to a kind ofly comprehensive cruising inspection system of empty isomery formula transformer station.
Background technology
Inspecting substation equipment is for effectively guaranteeing the substation equipment safe operation, improving the important process that power supply reliability is carried out.For a long time, the substation equipment manual inspection operating type that China's power industry is continued to use, because the substation inspection circuit is long, scope is wide, and part transformer station region is remote, height above sea level is higher, geographical conditions and weather environment are abominable, the bad weathers such as strong wind, dense fog, ice and snow, thunderstorm often occur, and this is so that the routine of every day at least twice is is only patrolled and examined by manual inspection operational difficulties, efficient low, management cost is high, and difficulty action accomplishment is undesirable.And under high pressure, ultra-high pressure condition, manual inspection has very large danger.Therefore people begin to explore to robot inspection system.
At present, the robot of transformer station of existence patrols and examines and designs often ground mobile robot or flying robot and finish separately and patrol and examine.Because substation equipment is not of uniform size, can't comprehensively patrol and examine all devices with ground mobile robot; Although and flying robot visual angle flexibility and changeability, the flight time is limited, is difficult to the disposable whole process of finishing and patrols and examines.Therefore ground mobile robot combined to cooperate with the flying robot patrols and examines, help in transformer station, to patrol and examine for a long time, in all directions various kinds of equipment.
Summary of the invention
For the deficiency that the present substation inspection mode described in the above-mentioned background technology exists, the present invention proposes a kind ofly comprehensive cruising inspection system of empty isomery formula transformer station.
The comprehensive cruising inspection system of empty isomery formula transformer station is characterized in that a kind ofly, and described system comprises that ground patrols and examines mobile robot's subsystem, patrols and examines flying robot's subsystem, Surveillance center and energy recharge station in the air; Described ground is patrolled and examined mobile robot's subsystem and is comprised multi-sensor data collection and control module, navigation module, energy conservation module, motion-control module, the first controller, the first wireless communication module, Task-decomposing and planning module and landing platform; The described flying robot's subsystem of patrolling and examining in the air comprises autonomous flight control module, sensor assembly, energy resource supply and administration module, second controller, the second wireless communication module and image capture module;
Wherein, described multi-sensor data collection and control module, navigation module, energy conservation module, motion-control module, the first wireless communication module and Task-decomposing are connected with described the first controller respectively with planning module; Described multi-sensor data collection and control module are used for the data acquisition and controlling of real time data, and the state that the mobile robot obtains surrounding devices is patrolled and examined on control ground; Described motion-control module is patrolled and examined the mobile robot for control ground and is moved; Described navigation module is used for that the mobile robot is patrolled and examined on ground and positions, and realizes precisely keeping away barrier and location recognition; Described energy conservation module is used for supply ground and patrols and examines mobile robot's self energy and the aerial crusing robot energy; The first wireless communication module be used for that the real time data that collects patrolled and examined the mobile robot on ground and patrol and examine between flying robot's device people in the air and ground patrol and examine carry out between mobile robot and the Surveillance center mutual; Described Task-decomposing and planning module are used for the task that Surveillance center sends is decomposed, task is divided into ground operating part and aerial operating part, and cook up the equipment of polling path and primary part observation, and patrol and examine in the air flying robot's departure time, viewpoint and flight path observed; Described the first controller is controlled the ground crusing robot by sending controling instruction;
Described autonomous flight control module, sensor assembly, energy resource supply are connected with image capture module with described second controller with administration module, the second wireless communication module and are connected; Described autonomous flight control module is used for the flight attitude that the flying robot is patrolled and examined in real-time measurement in the air; Described sensor assembly is used for measuring air pressure, temperature, humidity and the wind speed of transformer station; Described energy resource supply and administration module are used to patrols and examines the flying robot in the air and calculates the flight time and institute's energy requirement is provided; Described the second wireless communication module is used for patrolling and examining flying robot and Surveillance center's and ground in the air and patrols and examines mobile robot's subsystem and communicate, interactive task information, relative position and energy level and the status information of equipment that collects, and accept the control command that Surveillance center's subsystem sends; Described image capture module is used for the collecting device state information; Described second controller is controlled patrolling and examining the flying robot in the air by sending controling instruction;
Described the first wireless communication module is connected wireless signal with the second wireless communication module with Surveillance center respectively and is connected;
Described the second wireless communication module is connected wireless signal with described the first wireless communication module with Surveillance center respectively and is connected.
Described Surveillance center comprises data storage server, cruising inspection system software server and display screen; Described data storage server, cruising inspection system software server are connected with display screen and are connected; Described data storage server is used for the real time data that receives is stored, and real time data is passed to the cruising inspection system software server; Described cruising inspection system software server is used for sending control information by wireless signal, and the real time data that receives is presented on the display screen.
Described energy recharge station comprises two kinds of charging modes; Described charging modes comprises namely to namely filling mode and timing charging modes; Described energy recharge station is used to the crusing robot supply energy.
Described energy recharge station comprises some charging racks; Described charging side of cabinet is equipped with the automatic rotation dust removal brush, is used to the crusing robot surface to clear up.
Top, station, described energy recharge station comprises light shield, when being used for bad weather, crusing robot is protected.
Described energy conservation module charging modes comprises energy recharge station supply mode and solar recharging mode.
The invention has the beneficial effects as follows:
1. the present invention utilizes robot combination to carry out substation inspection, patrols and examines angle flexible, and sight line is comprehensive, thereby saves human resources, reduces the difficulty of patrolling and examining in abominable geographical conditions and the weather environment, shortens and patrols and examines the convenient time, raising maintenance repair efficient.
2. native system is by the cooperation of vacant lot heterogeneous robot, ground is patrolled and examined mobile robot's subsystem, is patrolled and examined flying robot's subsystem, the mutual real-time, interactive of Surveillance center's subsystem in the air, accurately position, solved the erroneous judgement misoperation situation when self-control robot is patrolled and examined.
3. the present invention is not only applicable to substation inspection, it can be expanded, the search that is applied to more areas with patrol and examine.
Figure of description
Fig. 1 is the structural representation of the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention;
Fig. 2 is the system configuration block diagram of the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention;
Fig. 3 is that mobile robot's subsystem structure schematic diagram is patrolled and examined on the ground of the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention;
Fig. 4 be the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention patrol and examine flying robot's subsystem structure schematic diagram in the air;
Fig. 5 is Surveillance center's structural representation of the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention;
Wherein: 1-patrols and examines flying robot's subsystem in the air; 2-Surveillance center; The 3-landing platform; 4-energy conservation module; 5-patrols and examines on ground mobile robot's subsystem; 6-energy recharge station.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment is elaborated.Should be emphasized that following explanation only is exemplary, rather than in order to limit the scope of the invention and to use.
Fig. 1 is the structural representation of the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention.Among Fig. 1, the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention comprises that patrolling and examining flying robot's subsystem 1, Surveillance center 2, landing platform 3, energy conservation module 4, ground in the air patrols and examines mobile robot's subsystem 5 and energy recharge station 6.
Fig. 2 is the system configuration block diagram of the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention.Among Fig. 2, patrol and examine in the air flying robot's subsystem 1, Surveillance center 2 and the ground of the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention are patrolled and examined mobile robot's subsystem 5 and are interconnected by wireless signal, having realized patrolling and examining flying robot and Surveillance center's and ground in the air patrols and examines mobile robot's subsystem and communicates, interactive task information, relative position and energy level and the status information of equipment that collects, and accept the control command that Surveillance center's subsystem sends.
Fig. 3 is that mobile robot's subsystem structure schematic diagram is patrolled and examined on the ground of the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention.Among Fig. 3, ground is patrolled and examined mobile robot's subsystem and is comprised multi-sensor data collection and control module, navigation module, energy conservation module, motion-control module, the first controller, the first wireless communication module, Task-decomposing and planning module and landing platform.Described multi-sensor data collection and control module, navigation module, energy conservation module, motion-control module, the first wireless communication module and Task-decomposing are connected with described the first controller respectively with planning module.
Described multi-sensor data collection and control module are used for the data acquisition and controlling of real time data, and the state that the mobile robot obtains surrounding devices is patrolled and examined on control ground; Described motion-control module is patrolled and examined the mobile robot for control ground and is moved; Described navigation module is used for that the mobile robot is patrolled and examined on ground and positions, and realizes precisely keeping away barrier and location recognition; Described energy conservation module is used for supply ground and patrols and examines mobile robot's self energy and the aerial crusing robot energy; The first wireless communication module be used for that the real time data that collects patrolled and examined the mobile robot on ground and patrol and examine between flying robot's device people in the air and ground patrol and examine carry out between mobile robot and the Surveillance center mutual; Described Task-decomposing and planning module are used for the task that Surveillance center sends is decomposed, task is divided into ground operating part and aerial operating part, and cook up the equipment of polling path and primary part observation, and patrol and examine in the air flying robot's departure time, viewpoint and flight path observed; Described the first controller is controlled the ground crusing robot by sending controling instruction.
Fig. 4 be the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention patrol and examine flying robot's subsystem structure schematic diagram in the air.Among Fig. 4, patrol and examine flying robot's subsystem in the air and comprise autonomous flight control module, sensor assembly, energy resource supply and administration module, second controller, the second wireless communication module and image capture module; Described autonomous flight control module, sensor assembly, energy resource supply are connected with image capture module with described second controller with administration module, the second wireless communication module and are connected.
Described autonomous flight control module is used for the flight attitude that the flying robot is patrolled and examined in real-time measurement in the air; Described sensor assembly is used for measuring air pressure, temperature, humidity and the wind speed of transformer station; Described energy resource supply and administration module are used to patrols and examines the flying robot in the air and calculates the flight time and institute's energy requirement is provided; Described the second wireless communication module is used for patrolling and examining flying robot and Surveillance center's and ground in the air and patrols and examines mobile robot's subsystem and communicate, interactive task information, relative position and energy level and the status information of equipment that collects, and accept the control command that Surveillance center's subsystem sends; Described image capture module is used for the collecting device state information; Described second controller is controlled patrolling and examining the flying robot in the air by sending controling instruction;
Fig. 5 is Surveillance center's structural representation of the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station provided by the invention.Among Fig. 5, described Surveillance center comprises data storage server, cruising inspection system software server and display screen; Described data storage server, cruising inspection system software server are connected with display screen and are connected; Described data storage server is used for the real time data that receives is stored, and real time data is passed to the cruising inspection system software server; Described cruising inspection system software server is used for sending control information by wireless signal, and the real time data that receives is presented on the display screen.
Embodiment:
When the work of patrolling and examining begins to carry out, at first send task by Surveillance center 2, be transferred to ground by wireless communication module and patrol and examine mobile robot's subsystem 1.It is ground operating part and aerial operating part that the Task-decomposing of this subsystem and planning module receive institute Task-decomposing immediately, and ground robot begins mobile, cooks up this task path and primary part observation equipment; Simultaneously aerial operating part information is transmitting wirelessly to patrols and examines flying robot's subsystem 5 in the air.Patrol and examine the flying robot in the air and take off according to the resulting departure time in the information, and cook up and observe viewpoint and flight path.
Patrol and examine in the process, ground is patrolled and examined mobile robot's subsystem 1 and is patrolled and examined in the air that flying robot's subsystem 5 is uninterrupted must be shared real time information and beam back Surveillance center 2 by wireless telecommunications.Information comprises: environmental data collecting information, positional information, self-energy horizontal information and image information.Every setpoint distance an energy recharge station 6 is installed in the transformer station, patrols and examines mobile robot's subsystem when monitoring the not enough and current solar energy of self energy and be not enough to be full of electricity with energy conservation module 4 when ground, it will independently go in the station and charge; And when patrolling and examining the flying robot in the air need to replenish the energy time, then will seek ground and patrol and examine landing platform 3 on mobile robot's subsystem 5, determine landing place and posture position according to identifier, then drop to ground by self-contained navigation and patrol and examine on mobile robot's landing platform and charge.
When Surveillance center 2 finds to pass back in image or the data abnormal conditions to occur, the monitor staff can send the manual mode operation instruction to patrolling and examining flying robot's subsystem in the air, full angle is carried out in the fault point to be repeated to take, and promptly transfer ground to patrol and examine the mobile robot near the equipment of place, fault point, make that feasibility is processed and prepare for flying robot's makeup energy.The attendant will in time reach the spot according to passing back positional information simultaneously, and abnormal conditions are processed.
The above; only for the better embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of claim.

Claims (6)

1. the comprehensive cruising inspection system of ground empty isomery formula transformer station is characterized in that, described system comprises that ground patrols and examines mobile robot's subsystem, patrols and examines flying robot's subsystem, Surveillance center and energy recharge station in the air; Described ground is patrolled and examined mobile robot's subsystem and is comprised multi-sensor data collection and control module, navigation module, energy conservation module, motion-control module, the first controller, the first wireless communication module, Task-decomposing and planning module and landing platform; The described flying robot's subsystem of patrolling and examining in the air comprises autonomous flight control module, sensor assembly, energy resource supply and administration module, second controller, the second wireless communication module and image capture module;
Wherein, described multi-sensor data collection and control module, navigation module, energy conservation module, motion-control module, the first wireless communication module and Task-decomposing are connected with described the first controller respectively with planning module; Described multi-sensor data collection and control module are used for the data acquisition and controlling of real time data, and the state that the mobile robot obtains surrounding devices is patrolled and examined on control ground; Described motion-control module is patrolled and examined the mobile robot for control ground and is moved; Described navigation module is used for that the mobile robot is patrolled and examined on ground and positions, and realizes precisely keeping away barrier and location recognition; Described energy conservation module is used for supply ground and patrols and examines mobile robot's self energy and the aerial crusing robot energy; The first wireless communication module be used for that the real time data that collects patrolled and examined the mobile robot on ground and patrol and examine between flying robot's device people in the air and ground patrol and examine carry out between mobile robot and the Surveillance center mutual; Described Task-decomposing and planning module are used for the task that Surveillance center sends is decomposed, task is divided into ground operating part and aerial operating part, and cook up the equipment of polling path and primary part observation, and patrol and examine in the air flying robot's departure time, viewpoint and flight path observed; Described the first controller is controlled the ground crusing robot by sending controling instruction;
Described autonomous flight control module, sensor assembly, energy resource supply are connected with image capture module with described second controller with administration module, the second wireless communication module and are connected; Described autonomous flight control module is used for the flight attitude that the flying robot is patrolled and examined in real-time measurement in the air; Described sensor assembly is used for measuring air pressure, temperature, humidity and the wind speed of transformer station; Described energy resource supply and administration module are used to patrols and examines the flying robot in the air and calculates the flight time and institute's energy requirement is provided; Described the second wireless communication module is used for patrolling and examining flying robot and Surveillance center's and ground in the air and patrols and examines mobile robot's subsystem and communicate, interactive task information, relative position and energy level and the status information of equipment that collects, and accept the control command that Surveillance center's subsystem sends; Described image capture module is used for the collecting device state information; Described second controller is controlled patrolling and examining the flying robot in the air by sending controling instruction;
Described the first wireless communication module is connected wireless signal with the second wireless communication module with Surveillance center respectively and is connected;
Described the second wireless communication module is connected wireless signal with described the first wireless communication module with Surveillance center respectively and is connected.
2. the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station according to claim 1 is characterized in that, described Surveillance center comprises data storage server, cruising inspection system software server and display screen; Described data storage server, cruising inspection system software server are connected with display screen and are connected; Described data storage server is used for the real time data that receives is stored, and real time data is passed to the cruising inspection system software server; Described cruising inspection system software server is used for sending control information by wireless signal, and the real time data that receives is presented on the display screen.
3. the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station according to claim 1 is characterized in that, described energy recharge station comprises two kinds of charging modes; Described charging modes comprises namely to namely filling mode and timing charging modes; Described energy recharge station is used to the crusing robot supply energy.
4. the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station according to claim 1 is characterized in that, described energy recharge station comprises some charging racks; Described charging side of cabinet is equipped with the automatic rotation dust removal brush, is used to the crusing robot surface to clear up.
5. the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station according to claim 1 is characterized in that, top, station, described energy recharge station comprises light shield, when being used for bad weather, crusing robot is protected.
6. the comprehensive cruising inspection system of a kind ofly empty isomery formula transformer station according to claim 1 is characterized in that, described energy conservation module charging modes comprises energy recharge station supply mode and solar recharging mode.
CN201210310915.3A 2012-08-28 2012-08-28 Omnibearing ground-space isomeric substation polling system Expired - Fee Related CN102856827B (en)

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CN105449824A (en) * 2015-12-25 2016-03-30 上海电力学院 Substation inspection robot system applying dual power supplies to supply power
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CN103149893B (en) * 2013-01-29 2016-08-03 中国人民解放军装备学院 Motor-driven self-organization situation monitoring system
CN103149893A (en) * 2013-01-29 2013-06-12 中国人民解放军装备学院 Maneuvering self-organization situation monitoring system
CN105449824A (en) * 2015-12-25 2016-03-30 上海电力学院 Substation inspection robot system applying dual power supplies to supply power
CN105678856A (en) * 2015-12-31 2016-06-15 合肥大多数信息科技有限公司 Power industry on-site inspection method based on smart phone
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