CN103199618A - Remote monitoring device of power station equipment - Google Patents
Remote monitoring device of power station equipment Download PDFInfo
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- CN103199618A CN103199618A CN2012105508586A CN201210550858A CN103199618A CN 103199618 A CN103199618 A CN 103199618A CN 2012105508586 A CN2012105508586 A CN 2012105508586A CN 201210550858 A CN201210550858 A CN 201210550858A CN 103199618 A CN103199618 A CN 103199618A
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02B90/20—Smart grids as enabling technology in buildings sector
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- Y—GENERAL 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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS 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
- Y04S40/00—Systems 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
- Y04S40/12—Systems 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
- Y04S40/126—Systems 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
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Abstract
The invention provides a remote monitoring device of power station equipment. A mobile robot comprises a base station control system, a mobile station control system and an infrared thermal imager, the base station control system and the mobile station control system are wirelessly connected, and the mobile station control system is installed on a track robot. The remote monitoring device of the power station equipment provides a brand-new solution for detection of substation equipment, and promotes development progress of automation in an electric system, and meanwhile brings a civil robot system to a new development area. According to the application of the remote monitoring device of the power station equipment, the detection period of the substation equipment is greatly shortened, under the condition that personal safety of workers is ensured, detection quality is ensured better, and a good guarantee is provided for safe running of the electric system and reliable electricity utilization of power consumers.
Description
Technical field
The present invention relates to a kind of power station equipment remote monitoring device, belong to the electric inspection process field.
Background technology
In electric power system, the power transformation system is production, carries, distributes one of core of three big systems, and the power transformation system we can say the safe and reliable crucial effects that all plays to whole electric power system.Rapid lifting along with power industry generating set capacity and electric pressure, the support equipment reliability of operation more becomes the outstanding problem of safety in production, transformer station is the important component part of electric power system, therefore guarantees that the normal operation of transformer station more and more is subjected to the attention of electric power enterprise.Extremely important status is occupied in the patrol and examine ordinary production, the safe operation aspect that are operated in assurance transformer station of transformer station.Therefore, be necessary some advanced technologies, mode, method are incorporated into patrolling and examining of power equipment in Applications for Device Fault Diagnosis, both can have kept the stability of electric power system, the economic benefit that can obtain is arranged again.
Traditional routine inspection mode is to rely on the personnel that patrol and examine to gather a large amount of service datas every day, because patrolling and examining factors such as peopleware, technical merit can produce a lot of problems, and this mode labour intensity is big, and the time has been grown the personnel of patrolling and examining and produced inertia unavoidably and cause and be difficult to timely discovery when really going wrong.At present, 35kV, 110kV transformer station can realize unattended substantially, and 220kV transformer station is unmanned also in fast development.But existing routine inspection mode is compared with the security requirement of electrical production with technology and is still had sizable distance.In unattended substation, equipment is maked an inspection tour and security protection work is only substituted by fixed cameras, not only can not the interior armamentarium of measuring station and instrument, and thermal defect that more can not discovering device inside, these all can stay potential faults.
Summary of the invention
Goal of the invention: the invention provides a kind of power station equipment remote monitoring device, its objective is that the existing labour intensity of solution routine inspection mode in the past is big, patrol and examine inefficient problem.
Technical scheme: the present invention is achieved by the following technical solutions:
A kind of power station equipment remote monitoring device, it is characterized in that: this mobile robot wraps base control, mobile radio station control system and infrared thermography, wireless connections between base control and the mobile radio station control system, mobile radio station control system is installed on the caterpillar robot; Base control comprises base station computer, wireless telecommunications system and hub (HUB), and the base station computer connects hub (HUB), and hub (HUB) connects wireless telecommunications system; The mobile radio station control system comprises walking control circuit, navigator fix computing circuit, motor-drive circuit, visible light acquisition system, infrared acquisition system, LMS laser acquisition system, cloud platform control system, GPS navigation system, video and infrared serial server, wireless telecommunications system and hub (HUB), walking control circuit, GPS navigation system, LMS laser acquisition system and cloud platform control system all are connected to the navigator fix computing circuit, and the navigator fix computing circuit is connected to hub (HUB); Visible light acquisition system and infrared acquisition system are connected to cloud platform control system on the one hand, be connected to video and infrared serial server on the other hand, video and infrared serial server are connected to hub (HUB), hub (HUB) connects wireless telecommunications system, the wireless telecommunications system wireless connections in this wireless telecommunications system and the base control.
The walking control circuit is connected to drive machines people's direct current machine, is provided with the Hall tachometer circuit at the motor shaft of each direct current machine, and this Hall tachometer circuit and motion control circuit connect and compose speed closed loop.
Front end at caterpillar robot is provided with directive wheel, and directive wheel is connected to direct current machine.
The incident radiation absorptivity that is provided with in infrared acquisition system under any circumstance all wavelength all equals 1 black matrix.
Advantage and effect: the invention provides a kind of power station equipment remote monitoring device, the present invention utilizes intelligent mobile robot to finish that patrolling and examining of substation equipment can be increased work efficiency and quality can play the effect of the personnel reduction again, accelerates the unmanned process of transformer station.The development of substation inspection intelligent robot is a technological revolution of electrical production, intelligent mobile robot can be monitored entirely to substation equipment, this will improve the electrical production automatization level greatly, for the power system security economical production provides safeguard, reduce interruption duration, for all trades and professions provide reliable electric power resource, not only can bring very big economic benefit, can also bring the huge social benefit.
Native system utilizes crawler type tour robot that substation equipment is carried out daily tour, can greatly reduce cost of labor, guaranteed staff's personal safety simultaneously, the robot inspection tour system can promote the unmanned degree of transformer station and Automation of Electric Systems degree, the high-tech checkout equipment that it carries can be avoided the various problems of manual inspection, and carries out the detection mode that power failure work could be realized or need to the kinds of artificial routine inspection mode.
The tradition substation equipment detects operation need carry out in a large amount of professional staff's repeatability every day, this kind operating type efficient is very low, relies on the personnel's that patrol and examine individual quality, and detection range is limited, there is bigger operating risk, the substation inspection operation is formed great challenge.
Utilizing the tour robot to carry out substation equipment makes an inspection tour, can replace patrolling and examining of manual type fully, in addition, infrared thermal imaging and CCD visible light camera captured image information and temperature information can be real-time transmitted to the host computer computer, host computer carries out Treatment Analysis and final the preservation to data, after the discovering device fault, can send warning rapidly, notify the maintenance personal to carry out emergency processing.
Crawler type is maked an inspection tour the influence that geographical environment and weather conditions are ignored by robot, can continuous service, because its mechanical structure can be applied to various operational environments by force to the adaptability of geographical configuration.
Make an inspection tour robot under normal circumstances, can advance in the movement velocity of per second 3-5 rice, need to stop mobile the shooting around the equipment of patrolling and examining, transformer station's circuit of making an inspection tour 2000 meters needs about 2 hours.
In addition, utilize to make an inspection tour robot and carry out the personal injury that Equipment Inspection can be stopped the maintainer that equipment fault causes more.
Electric power enterprise is the basic industries of national economy, is again public and social interest's property enterprise, and therefore, it not only will have good social benefit, also good economic benefits will be arranged.Increase economic efficiency and in the production link of power supply enterprise, be mainly reflected in aspect two: the one, " supply " more; The 2nd, " the few damage ".Utilize making an inspection tour that robot makes an inspection tour transformer station can live line working, and obviously, uninterrupted operation can be realized " many for lacking damage ", and economic benefit is very significant.With the double loop 50,000 kilowatts of calculating of loading, 1 hour accumulative total of uninterrupted operation, 50,000 kilowatt hours of can powering more; With 0.58 yuan of calculating of the average sale of electricity unit price in Xiamen in 2008, per hour can produce 2.9 ten thousand yuan economic benefit.Insulation resistance value detects needs long-time power failure operation, and therefore making an inspection tour robot live line working mode can bring huge economic benefit.
The application of making an inspection tour robot will greatly reduce the input of human and material resources and financial resources, also shorten electric power simultaneously greatly and will have detected the time between overhauls(TBO), for the power circuit safe operation provides good guarantee.
Native system provides a kind of brand-new solution for substation equipment detects, and has promoted " automation " development process in electric power system; Simultaneously also civilian robot system is brought into a new development field.The sense cycle of substation equipment has been shortened in the application of native system greatly, has better guaranteed the quality that detects under the situation that guarantees staff's personal safety, for the safe operation of electric power system and the reliable electricity consumption of power consumer provide good guarantee.
Description of drawings:
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is motor-driven structure schematic diagram of the present invention;
Fig. 3 is robot movement-control system's structure.
Embodiment:The present invention is described further below in conjunction with accompanying drawing:
As shown in Figure 1, the invention provides a kind of power station equipment remote monitoring device, this mobile robot wraps base control, mobile radio station control system and infrared thermography, wireless connections between base control and the mobile radio station control system, and mobile radio station control system is installed on the caterpillar robot; Base control comprises base station computer, wireless telecommunications system and hub HUB, and the base station computer connects hub HUB, and hub HUB connects wireless telecommunications system; The mobile radio station control system comprises walking control circuit, navigator fix computing circuit, motor-drive circuit, visible light acquisition system, infrared acquisition system, LMS laser acquisition system, cloud platform control system, GPS navigation system, video and infrared serial server, wireless telecommunications system and hub HUB, walking control circuit, GPS navigation system, LMS laser acquisition system and cloud platform control system all are connected to the navigator fix computing circuit, and the navigator fix computing circuit is connected to hub HUB; Visible light acquisition system and infrared acquisition system are connected to cloud platform control system on the one hand, be connected to video and infrared serial server on the other hand, video and infrared serial server are connected to hub HUB, hub HUB connects wireless telecommunications system, the wireless telecommunications system wireless connections in this wireless telecommunications system and the base control.
The walking control circuit is connected to drive machines people's direct current machine, is provided with the Hall tachometer circuit at the motor shaft of each direct current machine, and this Hall tachometer circuit and motion control circuit connect and compose speed closed loop.
Front end at caterpillar robot is provided with directive wheel, and directive wheel is connected to direct current machine.
In addition, the incident radiation absorptivity that is provided with in infrared acquisition system under any circumstance all wavelength all equals 1 black matrix.
Infrared acquisition system among the present invention is used for the Temperature Distribution of perception target object, and is converted to the faint signal of telecommunication; Subsequent conditioning circuit carries out electronics with the faint signal of telecommunication and amplifies and logical process, thereby can clearly collect target object Temperature Distribution situation; Then the output signal of telecommunication after the above-mentioned amplification is handled by the image processing software on the computer of base station, be rendered as the visible light picture of target object Temperature Distribution.
Visible light acquisition system of the present invention, infrared acquisition system, LMS laser acquisition system, cloud platform control system and video and infrared serial server are called infrared thermography, this infrared thermography is to utilize state-of-the-art a kind of temperature measuring equipment in the infrared radiation temperature field at present, its responding range is wide, detector image signal processing horizontal height, image windowing technology advanced person can be to the detection of not stopping work of the primary equipment of transformer station.
Detector is output as 16bit digital signal (corresponding than wider temperature range), and all civilian display unit (various supervision/display) are 8bit(256 tonal gradation at present), the image information that can't show the 16bit digital signal, therefore need be in the detector temperature signal output area of 16bit, the signal (corresponding narrow temperature range) that shows 8bit selectively, the technology of this signal of displays temperature selectively, we are referred to as windowing technology.
The target that has a large amount of temperature range complexity in the infrared detection of electric power system, the criterion of infrared detection mainly compare according to the comparison of three-phase temperature data and the image of equipment, as the main transformer in summer, and the conductor joint heating of high-tension line etc.This just requires thermal infrared imager (0 ℃-150 ℃ commonly used) to obtain distinct image (station diagram of normal not blanking of station diagram picture, high temperature abnormality is as unsaturated) and precise dose data (target that comprises normal temperature attitude and high temperature simultaneously) simultaneously in a wider temperature range.
As show shown in the 1-1, as the contrast of no this item The Application of Technology is arranged:
Table 1-1 windowing technology is to the influence of thermal imaging system service behaviour
Built-in black matrix function is as the cutting edge technology of current thermal imaging, has temperature measurement accuracy height, good stability, characteristics such as little influenced by ambient temperature.
So-called black matrix simply says to be exactly under any circumstance the incident radiation absorptivity of all wavelength all to be equaled 1 object.Obviously, because the in esse any object of occurring in nature has certain reflection (absorptivity is not equal to 1) to the incident radiation of different wave length, so black matrix is the abstract a kind of idealized object models that come out of people.However, the basic law of blackbody radiation but is the basis that many theoretical researches and technology are used in the infrared scientific domain, and it has disclosed the infrared emanation of black matrix emission with the quantitative relationship of temperature and wavelength change.
It is the basis that thermal imager is accurate, stablize thermometric that thermal imager has built-in black matrix.Because all thermal imagers all are to come its temperature of thermometric according to the size of object radiation energy, therefore all need a temperature reference to determine its temperature reference (actual is the emittance benchmark), after having only this benchmark of determining, could calculate the temperature of target according to the big or small difference (or ratio) with this benchmark of the energy of target emanation.Therefore it is very important accurate, a stable temperature reference being set.We have following characteristics in this respect:
1) built-in blackbody temperature reference source has reduced the influence that external environment changes effectively, has improved temperature reference accuracy and stability.
2) adopt the algorithm of a plurality of built-in temperature sensors and science, can obtain temperature reference accurate radiation watt level, reduced the influence of the temperature drift that the heating of internal electron vigour part and ambient temperature bring effectively
3) adopted special inhibition infrared radiating coating at built-in blackbody temperature reference source, reduced the detector that diffuse reflection causes in the heating of internal electron vigour part and the machine effectively and received the influence that radiant power changes.
4) take the superiority of above-mentioned measure:
Can under the situation of nonintervention thermal imager (thermal imager is in the automatic temperature measurement state), obtain stable measurement result for a long time.As the same temperature object of continuous measurement in 2 hours, the thermometric deviation of thermal imager is less than 2% of the number of degrees
Can under the situation of various nonintervention thermal imagers, under various ambient temperatures, obtain stable measurement result.As measuring same temperature object when thermal imager when ambient temperature is 0 ℃, 20 ℃, 40 ℃, the thermometric deviation of thermal imager is less than 2% of the number of degrees.
Have a large amount of targets that detect in the infrared detection of electric power system, workload is very big, and the environment in the detection often changes, as from outdoor transformer station to the hyperbaric chamber, from air-conditioner vehicle to open-air circuit.
The built-in black matrix technology of table 1-2 is to the influence of the service behaviour of thermal imaging system
The present invention need not regulate the energy automatic temperature measurement, not be subjected to environmental change to influence, be not subjected to the thermal imager that service time, length influenced, and will alleviate working strength greatly, obtains the high-quality effect.
Robot software of the present invention system is based on the Windows xp system of Microsoft company, adopts the Labview of NI company as the platform of upper computer software and exploitation navigation operations program.Be divided into base station control program (host computer procedure), and the Operations Control Procedure two large divisions of robot.Rely on the graphic interface of Labview to make things convenient for man-machine interaction, powerful calculation function can be good carries out the comprehensive computing of navigation information.
Kinetic control system of the present invention is realized the robot power drive, and the motion control according to system path planning and remote control realization car body comprises speed, position etc.
1) given an order by the walking control circuit, by turning to and rotating speed of two direct current machines of motor-drive circuit control, regulate rotating speed of motor according to the radius of bend and turn.
2) according to motion model local paths planning instruction and remote control command are decomposed, realize that robot instruction's speed (velocity magnitude, orientation angle) and two motor speeds are complementary, realize body movement control.
Kinetic control system is that the mobile radio station control system has upper strata control software, motion control circuit, motor-drive circuit, direct current machine, and Hall circuit (being used for measuring motor speed) is formed, and the structure diagram of system is shown in 3.
Motor-drive circuit is drive machines people's both sides driving wheel respectively, drives crawler belt and rolls forward or backward, and each motor shaft is installed the Hall tachometer circuit, constitutes speed closed loop with motion control circuit, realizes state-detection, has strengthened the stability of system.
Motion control circuit of the present invention is to use the single chip machine controlling circuit of Atmega644p, measurement data according to navigation system, motion control circuit becomes the control routine of two motors with the motor performance information decomposition of host computer, by the motion state of motor-drive circuit control robot.For circuit for controlling motor, each motor is exactly a main control unit that has output, feedback and sign, can give each motor distributive property, activates it, its various parameters is set, the regulating system performance.
Claims (4)
1. power station equipment remote monitoring device, it is characterized in that: this mobile robot wraps base control, mobile radio station control system and infrared thermography, wireless connections between base control and the mobile radio station control system, mobile radio station control system is installed on the caterpillar robot; Base control comprises base station computer, wireless telecommunications system and hub (HUB), and the base station computer connects hub (HUB), and hub (HUB) connects wireless telecommunications system; The mobile radio station control system comprises walking control circuit, navigator fix computing circuit, motor-drive circuit, visible light acquisition system, infrared acquisition system, LMS laser acquisition system, cloud platform control system, GPS navigation system, video and infrared serial server, wireless telecommunications system and hub (HUB), walking control circuit, GPS navigation system, LMS laser acquisition system and cloud platform control system all are connected to the navigator fix computing circuit, and the navigator fix computing circuit is connected to hub (HUB); Visible light acquisition system and infrared acquisition system are connected to cloud platform control system on the one hand, be connected to video and infrared serial server on the other hand, video and infrared serial server are connected to hub (HUB), hub (HUB) connects wireless telecommunications system, the wireless telecommunications system wireless connections in this wireless telecommunications system and the base control.
2. power station equipment remote monitoring device according to claim 1, it is characterized in that: the walking control circuit is connected to drive machines people's direct current machine, motor shaft at each direct current machine is provided with the Hall tachometer circuit, and this Hall tachometer circuit and motion control circuit connect and compose speed closed loop.
3. power station equipment remote monitoring device according to claim 1, it is characterized in that: the front end at caterpillar robot is provided with directive wheel, and directive wheel is connected to direct current machine.
4. power station equipment remote monitoring device according to claim 1 is characterized in that: the incident radiation absorptivity that is provided with in infrared acquisition system under any circumstance all wavelength all equals 1 black matrix.
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| CN2012105508586A CN103199618A (en) | 2012-12-18 | 2012-12-18 | Remote monitoring device of power station equipment |
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| CN2012105508586A CN103199618A (en) | 2012-12-18 | 2012-12-18 | Remote monitoring device of power station equipment |
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Cited By (7)
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| CN103552073A (en) * | 2013-11-04 | 2014-02-05 | 同济大学 | Control system for bridge cable detecting robot |
| CN103683499A (en) * | 2013-11-30 | 2014-03-26 | 国网河南省电力公司南阳供电公司 | Automatic remote infrared temperature monitoring warning system for electrical equipment of transformer substation |
| CN105278515A (en) * | 2014-06-05 | 2016-01-27 | 研祥智能科技股份有限公司 | Monitoring acquisition equipment and industrial equipment monitoring, diagnosis and maintenance system thereof |
| CN105446336A (en) * | 2015-12-08 | 2016-03-30 | 哈尔滨工业大学 | Robot inspection system and inspection method for cold region transformer substation |
| CN106451764A (en) * | 2016-08-31 | 2017-02-22 | 杭州申昊科技股份有限公司 | Transformer station monitoring method |
| CN106451201A (en) * | 2016-08-31 | 2017-02-22 | 杭州申昊科技股份有限公司 | Inspection system for transformer substation |
| WO2018161352A1 (en) * | 2017-03-10 | 2018-09-13 | 陈秀祥 | Intelligent network digital cloud platform |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552073A (en) * | 2013-11-04 | 2014-02-05 | 同济大学 | Control system for bridge cable detecting robot |
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| CN103683499A (en) * | 2013-11-30 | 2014-03-26 | 国网河南省电力公司南阳供电公司 | Automatic remote infrared temperature monitoring warning system for electrical equipment of transformer substation |
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| CN105278515A (en) * | 2014-06-05 | 2016-01-27 | 研祥智能科技股份有限公司 | Monitoring acquisition equipment and industrial equipment monitoring, diagnosis and maintenance system thereof |
| CN105446336A (en) * | 2015-12-08 | 2016-03-30 | 哈尔滨工业大学 | Robot inspection system and inspection method for cold region transformer substation |
| CN106451764A (en) * | 2016-08-31 | 2017-02-22 | 杭州申昊科技股份有限公司 | Transformer station monitoring method |
| CN106451201A (en) * | 2016-08-31 | 2017-02-22 | 杭州申昊科技股份有限公司 | Inspection system for transformer substation |
| WO2018161352A1 (en) * | 2017-03-10 | 2018-09-13 | 陈秀祥 | Intelligent network digital cloud platform |
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Application publication date: 20130710 |