CN106444588A - Inspection system and inspection method of valve hall robot based on video monitoring linkage system - Google Patents

Abstract

The invention provides an inspection system and an inspection method of a valve hall robot based on a video monitoring linkage system. The inspection system comprises a linkage analysis control host, a communication server and an auxiliary fixed point monitoring subsystem; an inspection robot comprises a robot terminal system; the robot terminal system comprised a track; a moving mechanism, a motion driving mechanism and a detection mechanism are arranged on the track; the inspection system and the inspection method have the advantage that real-time unmanned detection requirement of valve hall equipment is met; by coordinating inspection of the robot with a fixed point camera, the problems that the monitoring range is limited and the geographic position of substation equipment is not convenient for arrangement of monitoring points are solved; the problems that the abnormality cannot be autonomously identified as well as intelligent linkage security and protection, firefighting and online equipment management system are solved; fires are monitored by using a mixing mode of a visible light video and a thermal infrared imager, so the fires can be reduced; according to the inspection system and the inspection method provided by the invention, by adopting double detection of the visible light video and an infrared thermal video, the false alarm rate of fire alarms is reduced, and the processing efficiency of the fire alarms is improved.

Description

Valve hall robot inspection system and inspection method based on video surveillance linkage system

【Technical field】

The invention belongs to the field of intelligent power transmission and transformation, and relates to a valve hall robot inspection system and inspection method based on a video monitoring linkage system.

【Background technique】

The valve hall is an important part of the converter station, and it is very important to ensure the normal operation of the equipment in the valve hall. On the one hand, the valve hall equipment such as the valve tower needs to have sufficient reliability, on the other hand, it also needs to be detected in time to find and repair potential hidden dangers and ensure the normal operation of the converter station system. Real-time detection of valve hall equipment is of great significance to ensure its reliable and safe operation. The use of orbital robots can conveniently and flexibly detect the equipment in the valve hall in real time and understand the operating status of the equipment.

The main equipment in the valve hall is the valve tower, which is arranged in rows and layers, and the total height of each row is different according to different specifications. The diverter valve of the valve tower is the most important heating device, and the temperature of the diverter valve on each layer needs to be monitored in real time. In addition to temperature monitoring, it is also necessary to monitor equipment appearance, damage, noise and instrument data.

The main electrical equipment in the valve hall includes: converter valve, tubular busbar, lightning arrester, grounding knife, DC current transformer, DC voltage divider and many other equipment. Among them, the converter valve is the core equipment of the DC transmission project. Connect the three-phase AC voltage to the DC terminal in turn to obtain the desired DC voltage and realize power control.

The disadvantages of mobile robots currently used to detect equipment information in valve halls are:

1. The converter valve obtains the desired DC voltage and realizes power control by sequentially connecting the three-phase AC voltage to the DC terminal, and generates a large amount of electromagnetic interference during operation, resulting in strong electromagnetic interference in the valve hall. The existing The mobile robot cannot complete the set work requirements, and the work accuracy is low;

2. In terms of communication methods, the existing mobile robots generally use wireless communication and cannot meet the requirements of stable and reliable data transmission in the valve hall;

3. The space of the valve hall is relatively small. In addition, the equipment in the valve hall is generally required to enter once a year for maintenance. This requires the robot in the valve hall to be flexible in use and high in safety. Existing robots Can not meet the needs of the valve hall;

4. Restricted by the layout of the valve tower and other monitored equipment, to realize the all-round detection function of the equipment, the robot needs to be able to move in the vertical direction. The existing traditional wheel drive or crawler drive method needs to overcome its own gravity when realizing vertical movement, and requires a large friction force, which is difficult to achieve, and the battery cannot be replaced at any time due to the closed space of the valve hall, and the power supply method of carrying the battery cannot be used .

In addition, the current video monitoring linkage system in the substation only detects the equipment status and the physical status of the equipment (for example: the opening and closing status of the knife switch). The temperature of the equipment during operation and the degree of the instrument are mostly The inspectors of the substation collect the temperature of the equipment and read the instrument through the handheld infrared thermal imager and visible light camera. At the same time, the equipment will make a sound when it is running. When the equipment is working abnormally, the sound is often different from the sound when it is working normally. , this work is also listened to manually, and then based on manual analysis, the result of equipment abnormality is finally obtained, and then equipment abnormality records and equipment abnormality alarms are triggered, and equipment detection and some equipment abnormality linkage operations are realized through manual methods. , the real-time and accuracy are relatively low, which is not conducive to the discovery and resolution of abnormalities in equipment.

Now fire detection is the most important detection item in the substation fire protection system. The detection method is roughly the same. In the public intelligent substation fire remote control system with the Chinese patent application number 201320181625.3, it is proposed to install multiple temperature detectors in the substation. When a fire occurs, The temperature value of the temperature detector will continue to rise, and if it exceeds the alarm threshold, it will be considered as a fire, and then the linkage video system will transmit the abnormal scene video data to the remote monitoring end, and the remote monitoring personnel will confirm whether a fire has occurred through the video data, and then Trigger the alarm of the fire protection system to carry out fire fighting work. There are some deficiencies in this patent. First, a certain number of temperature sensors need to be deployed. If there are fewer deployments, effective monitoring cannot be carried out. If more deployments, the cost will inevitably increase. Secondly, if the temperature is too high, it does not necessarily mean that there is a fire, and then manual confirmation through video will inevitably consume manpower and energy. Thirdly, once there is a certain network delay in the video transmission of a fire, it will affect the implementation and control of the fire situation. Finally, the linkage of fire confirmation, analysis and fire fighting are all done manually, obviously the work efficiency is relatively low.

In a word, the shortcoming that existing technology exists is as follows:

1. The existing video monitoring and linkage system can only monitor a certain area, and the monitoring area has limitations, so it is impossible to realize seamless monitoring of the whole station.

2. The existing video monitoring and linkage system detects the state of the equipment, only staying in the detection of the appearance of the equipment and the physical state of the equipment. Most of the detection of the temperature, instrument readings and sound abnormality detection of the equipment during operation is mostly through manual participation. , the real-time and accuracy are relatively low;

3. The existing video monitoring and linkage system detects the fire protection system of the substation. The real-time performance and accuracy of the detection are not high, and there are many manual participations. The work efficiency is low and a considerable number of temperature sensors need to be deployed.

Therefore, there is an urgent need for an intelligent inspection robot for a valve hall of a converter station based on a video monitoring linkage system that can solve the problems in the prior art.

【Content of invention】

The purpose of the present invention is to overcome the defects of the existing technology, and provide a valve hall robot inspection system and inspection method based on the video monitoring linkage system. Through the coordination of the inspection of the robot and the fixed-point camera, it solves the problem of limited monitoring range, variable The geographical location of electrical equipment is not convenient for arranging monitoring points; solve the problem of not being able to independently identify abnormalities and intelligently link security, fire protection, and online equipment management systems; use visible light video and infrared thermal imaging cameras to monitor fires in a mixed way to reduce fire false alarms.

The present invention is achieved through the following technical solutions:

The valve hall robot inspection system based on the video surveillance linkage system includes a linkage analysis control host, which is used to receive the video data collected by the video surveillance equipment on the inspection robot and perform data analysis and processing, and control the robot on the robot according to the analyzed and processed data. The video equipment or the video equipment of the auxiliary fixed-point monitoring subsystem carries out the actions of related instructions;

The communication server is used to send the abnormal situation analyzed by the linkage analysis control host to the external system for linkage; in addition, it is also responsible for receiving the linkage request from the external system, and forwarding the request to the linkage analysis control host to make corresponding linkage;

Auxiliary fixed-point monitoring subsystem, used for fixed-point search, video data and sound data collection, and PTZ control, cooperates with the linkage analysis control host to complete the monitoring linkage work;

The inspection robot includes a robot terminal system. The robot terminal system includes a track on which a motion mechanism, a motion drive mechanism, and a detection mechanism are installed. The robot terminal system is also provided with a shielding device. The input end of the power supply system is provided with a filter module, a lightning protection module and an overvoltage and overcurrent protection module. The robot terminal system uses a tow cable method for power supply communication, or a sliding contact line method for power supply plus a power carrier method and a remote control system For communication, the remote control system controls the motion mechanism to move along the track through the motion drive mechanism, and the motion mechanism drives the detection mechanism to move up and down to monitor the operation status of the equipment in the valve hall;

The detection mechanism includes a first control box; the first control box realizes communication control and power supply to the detection component and the pan/tilt;

A detection device controller, a video server, a first switch, a first power carrier modem, and a first power supply module are installed in the first control box, wherein the video server communicates with the infrared camera and the optical camera in the detection assembly respectively , the first switch communicates with the video server, the first switch communicates with the detection device controller, and the detection device controller communicates with the pan/tilt, thermal imaging camera and optical camera respectively; the first power supply The module supplies power to each electric device in the first control box.

Further, the valve hall robot inspection system based on the video monitoring linkage system also includes a wireless communication module, which is used for linkage analysis and control of the communication between the host computer and the robot.

Further, the valve hall robot inspection system based on the video surveillance linkage system further includes a data storage server, and the data storage server is used for storing video data and audio data.

Further, the abnormal conditions analyzed by the linkage analysis control host include: discovery of moving objects intrusion, discovery of fire, equipment thermal defects, abnormal equipment status, external systems include: security system, fire protection system, PMIS (project management information system) and Integrated information platform.

According to the method of the valve hall robot inspection system based on the video monitoring linkage system, it specifically includes the following steps:

Step 1: The inspection robot finishes charging, leaves the charging room, starts the inspection task, and inspects each area in the substation or detects all online devices in the substation according to the preset inspection route or detection route. When the condition of the equipment is correct, turn to step two; when inspecting the condition of the fire protection system, turn to step three; when inspecting the condition of the security system, turn to step four;

Step 2: The inspection robot transmits the data of the equipment detection points on the detection route to the linkage analysis control host, and the linkage analysis control host intelligently analyzes the operation status of the equipment. Send it to the auxiliary fixed point monitoring subsystem, and the auxiliary fixed point monitoring subsystem cooperates with the linkage analysis control host to complete the monitoring linkage work until the abnormality of the problem is eliminated;

Step 3: The inspection robot sends the inspection video to the linkage analysis control host in real time, and the linkage analysis control host performs intelligent analysis in real time. When there is a fire in the equipment area, the inspection robot moves for tracking and continuous monitoring, and at the same time sends instructions and moving objects The location is given to the auxiliary fixed point monitoring subsystem;

Step 4: The inspection robot sends the inspection video to the linkage analysis control host in real time. The linkage analysis control host analyzes in real time whether there is a moving object intruding in the video. When the linkage analysis control host analyzes that there is a moving object intrusion, the auxiliary fixed point The monitoring subsystem cooperates with the linkage analysis control host to send a linkage request for the discovery of moving objects to the security system, and the security system performs internal linkage work after receiving the linkage request.

Furthermore, in the second step, when the inspection robot detects all online devices in the substation, the specific steps to be executed are:

(2-1): The inspection robot arrives at the equipment detection point on the detection route, collects visible light pictures and infrared heat map data of the equipment around the detection point, and records the sound of equipment operation. The collected pictures, sound data and The real-time video data inspection data is transmitted to the linkage analysis control host through the wireless communication module; the robot moves to the next detection point on the detection route, and repeats the above equipment inspection data collection work until all detection points on the detection route are detected;

(2-2): After the linkage analysis control host receives the inspection data, it intelligently analyzes the operation status of the equipment in the picture, specifically analyzing the opening and closing of the knife switch and switch, the temperature of the equipment, whether there are suspended objects in the equipment, and whether there is any abnormality in the operating sound , when the device itself is found to be abnormal, the linkage analysis control host sends the location of the abnormal device and the continuous detection device request to the auxiliary fixed point monitoring subsystem, and stores the inspection data to the data storage server;

(2-3): The auxiliary fixed point monitoring subsystem searches the surrounding fixed points that can observe the equipment. After searching, let the fixed points collect inspection data for abnormal equipment every once in a while, otherwise, after the robot patrol is completed , for all abnormal equipment found in this inspection, let the robot collect inspection data for abnormal equipment at regular intervals, and send the inspection data to the linkage analysis control host;

(2-4): The linkage analysis control host sends the equipment operation status request to the online equipment management system through the communication server according to the equipment operation status request agreed with the online equipment management system in advance;

(2-5): After the online equipment management system receives the linkage request, the online equipment management system displays the operating status of the equipment, and generates different alarm methods according to the abnormal conditions of the equipment.

When the inspection robot detects all online equipment in the substation, preferably, in the step (2-5), after the online equipment management system receives the linkage request, the online equipment management system displays the operating status of the equipment, and generates Different alarm methods, at the same time, the online management system sends a review linkage request to the linkage analysis control host through the communication server, so that the robot can arrive at the designated equipment location to review the equipment status.

Furthermore, in the third step, when inspecting the status of the fire protection system, the specific steps to be executed are:

(3-1): During the inspection process, the inspection robot sends the inspection video to the linkage analysis control host through the wireless communication module in real time, and the linkage analysis control host intelligently analyzes in real time whether there is flame and heat from the infrared thermal imager in the visible light video. Whether the data temperature exceeds the fire alarm temperature threshold; when the above two conditions are met at the same time, the linkage analysis control host judges that there is a fire point in the area;

(3-2): When the linkage analysis control host analyzes that there is a fire point in the equipment area, it controls the movement of the inspection robot to track and continuously monitor, and at the same time sends instructions and the location of the moving object to the auxiliary fixed point monitoring subsystem;

(3-3): After the auxiliary fixed-point monitoring subsystem receives the command and the position information of the moving object, it searches for fixed-point surveillance cameras near the fire point for monitoring;

(3-4): The linkage analysis control host sends the fire alarm linkage request to the fire protection system through the communication server according to the fire alarm linkage request agreed with the fire protection system in advance;

(3-5): After the fire protection system receives the linkage request, it will perform a series of internal linkage work of sound alarm and alarm state change in the fire protection system;

(3-6): After the moving object is eliminated, the inspection robot returns to the original inspection route to continue the inspection work. When a moving object appears, repeat steps (3-1) to (3-5) until the inspection is completed. Inspection of all areas on the inspection route.

Further, in step 4, when inspecting the status of the security system, the specific steps to be executed are:

(4-1): During the inspection process, the inspection robot sends the inspection video to the linkage analysis control host through the wireless communication module in real time, and the linkage analysis control host analyzes in real time whether there is any moving object intrusion in the video;

(4-2): When the linkage analysis control host analyzes that there is a moving object intruding, it controls the inspection robot to move for tracking and monitoring, and at the same time sends instructions and the location of the moving object to the auxiliary fixed point monitoring subsystem;

(4-3): After the auxiliary fixed point monitoring subsystem receives the command and the position information of the moving object, it searches for the fixed point monitoring camera near the moving object for monitoring;

(4-4): The linkage analysis control host discovers the movement object linkage request according to the prior agreement with the security system, and sends the movement object linkage request to the security system through the communication server;

(4-5): After the security system receives the linkage request, it will perform a series of internal linkage work such as sound alarm and alarm state change in the security system;

(4-6): After the moving object is eliminated, the inspection robot returns to the original inspection route to continue the inspection work. When a moving object is found, repeat steps (4-1) to steps (4-5) until the completion Inspection of all areas on the inspection route, return to the charging room for charging.

The motion mechanism includes a synchronous pulley assembly and a synchronous belt, the synchronous pulley assembly includes a synchronous pulley box and a synchronous pulley, the track is a profile track, and the synchronous pulley box is installed at the upper and lower ends of the profile track , the synchronous pulley is installed inside the synchronous pulley box, and the synchronous belt is tightly wound on the synchronous pulley.

The remote control system includes a second photoelectric converter and a host computer, and the second photoelectric converter performs photoelectric conversion of communication signals to realize communication between the remote control system and the robot terminal system.

The motion driving mechanism includes an AC servo motor and a reducer, and the AC servo motor is installed together with the synchronous pulley through the reducer; the reducer is fixed on the synchronous pulley box at the bottom of the profile track through a flange assembly.

The first control box is installed on the sliding seat, and the sliding seat is fixedly connected with the timing belt. The sliding seat is installed on the profile track through sliding contact, and the synchronous belt drives the sliding seat up and down along the profile track. To move, a pan-tilt is installed on the first control box, so the first control box also acts as a support; a detection component is installed on the pan-tilt.

The detection component includes an infrared camera and an optical camera.

The detection assembly includes at least one smoke alarm module. When the number of the smoke alarm module is one, it is installed on the top of the pan-tilt module. When the number of smoke alarm modules is multiple, it is installed around and on the top of the pan-tilt module. .

The robot terminal system also includes a second control box installed near the track, the second control box communicates with the first control box, and provides power for the first control box, and transmits the signal detected by the first control box to Remote control system; the second control box also controls the movement of the AC servo motor.

The bottom end of the profile track is equipped with a zero point switch, which is used as the origin of the robot operation. Before the inspection robot is powered on each time, the robot will automatically return to the origin, and then perform the assigned inspection tasks.

The second control box implements the power supply and communication relay for the entire robot system terminal, as well as the motion control function of the AC servo motor, and converts the communication control signal into a photoelectric signal so as to realize remote communication.

The robot terminal system also includes a limit mechanism, the limit mechanism includes a limit switch, the limit switch is installed at both ends of the profile track, and the rear surface of the control box in contact with the profile track is equipped with a limit switch Stopper, the limit switch stopper is used in conjunction with the limit switch to prevent collisions caused by abnormal power failure.

The encoder of the AC servo motor is connected with the servo driver, and the sliding seat on the track is controlled by several pulses to drive the detection component to a designated position for detection.

The AC servo motor is equipped with an electromagnetic brake, which can realize braking when the power is cut off.

The synchronous belt and the synchronous pulley are fitted in the groove of the profile track.

The interior of the first control box and the second control box is provided with an electromagnetic shielding module box for placing the controller.

The electromagnetic shielding module box includes a box body and a shielding cover plate. The shielding cover plate is arranged on the box body. The shielding cover plate includes a metal plate, a flexible gasket and a metal foil stacked sequentially from outside to inside. The inside of the box is a cavity, and the arms in the box are provided with steps; the shielding cover is provided with mounting holes, and the steps are provided with threaded holes. Standard fasteners connect the box body and the shielding cover through the mounting holes and threaded holes. Fixed connection.

The box body of the second control box is provided with ventilation, dustproof and electromagnetic shielding windows.

The ventilation and dustproof electromagnetic shielding window, the ventilation and dustproof electromagnetic shielding window includes a frame, and the frame includes a first frame and a second frame, and ring-shaped steps are arranged on the first frame and the second frame, and the first Ventilation metal plates and dust-proof nets are sequentially arranged between the frame and the second frame through steps, and an annular rectangular groove is opened on the second frame, and conductive rubber strips are embedded in the rectangular groove.

The box body of the second control box is grounded through a safety grounding column.

The safety grounding column includes a grounding stud, the middle part of the grounding stud is equipped with a flange, and both ends are threaded, and one end of the grounding stud is punched with a central hole for reaming and upsetting, The other end is processed into a round shape or a D shape; one end of the ground stud with a center hole is screwed into a hexagonal nut one, a flat washer one and a thumb nut in sequence.

The robot terminal system also includes a power remote control system, the input end of the power remote control system is provided with a filter module, a lightning protection module and an overvoltage and overcurrent protection module.

According to different requirements, the robot terminal system adopts the tow cable mode for power supply communication, or adopts the trolley line mode for power supply and power carrier mode for communication.

When the robot adopts the power supply and communication of the drag chain, a detection device controller, a video server, a first switch and a first power supply module are installed in the first control box; wherein, the video server communicates with the infrared camera and the optical camera respectively , the first switch communicates with the video server, the first switch communicates with the detection device controller, and the detection device controller communicates with the pan/tilt, thermal imaging camera and optical camera respectively; the first power supply The module supplies power to each electric device in the first control box.

A motion controller of an AC servo motor, a servo driver, a second power supply module, a second switch and a first photoelectric converter are installed in the second control box, the photoelectric converter communicates with the second switch, and the second switch communicate with the motion controller, the motion controller communicates with the servo drive, the first photoelectric converter communicates with the remote control system, the motion controller communicates with the zero switch and the first and second limit switches, the The servo driver communicates with the AC servo motor, and the second power supply module supplies power to each power consumption module of the second control box and provides power to the first control box.

When the system adopts the drag chain power supply mode, the power supply and communication of the first control box are independent cables, and the power supply cable is drawn from the second control box; the communication cable is connected to the switch in the second control box; The towline baffle and the towline are installed on the profile track, and the towline baffle is fixed on the profile track through the towline baffle installation part, the power supply cable and communication cable are installed in the towline, and the towline The cable acts as a protection.

When the robot uses the trolley line for power supply and the power carrier for communication,

A motion controller of an AC servo motor, a servo driver, a second power supply module, a second switch, a first photoelectric converter and a second power carrier modem are installed in the second control box, and the photoelectric converter communicates with the second switch , the second switch communicates with the motion controller, the controller communicates with the servo driver, the photoelectric converter communicates with the remote control system, and the motion controller communicates with the zero switch and the first and second limit switches , the servo driver communicates with the AC servo motor, the second power supply module supplies power to each power consumption module, and supplies power to the first control box;

One end of the first power carrier modem is connected to the first switch, the other end of the first power carrier modem is connected to one end of the second power carrier modem, and the other end of the second power carrier modem is connected to the second switch .

When the system adopts the trolley line power supply mode, the communication mode adopted for the control of the detection mechanism is the power carrier mode; the collector is installed on the first control box through the collector fixing plate, and the trolley line is installed on the profile rail to fix seat, and the trolley line is installed in the trolley line fixing seat. The two contacts of the current collector are in contact with the trolley line. The two poles of the collector are connected to the two ends of the first power carrier modem of the first control box, and the two poles of the collector are also connected to the two ends of the first power supply module of the first control box.

The two poles of the trolley line are connected to the power carrier modem in the second control box, and the two poles of the trolley line are also connected to both ends of the second power module of the second control box.

The trolley line is composed of a copper wire and an insulating sheath, and the copper wire is made into a sleeve shape, and the same number of wires as the trolley line are provided on the collector to be in sliding contact with the wires of the trolley line.

The first photoelectric converter of the second control box converts all image and video detection signals and control signals into optical signals, and transmits the signals to the remote control system through optical fibers, thereby realizing the processing of the detection content of the entire system And carry out remote control operation on detection and motion status.

The drag chain baffle is an L-shaped aluminum profile, and the L-shaped aluminum profile and the profile track form a guide groove to realize the fixing and guiding of the drag chain.

The present invention is based on the valve hall robot inspection system and inspection method of the video monitoring linkage system, which has the advantage of meeting the real-time unmanned detection requirements of the valve hall equipment. A server for intelligent analysis of inspection data, efficient analysis of video data, and the coordination and cooperation of robot patrols and fixed-point cameras solve the problems of limited monitoring range and inconvenient location of substation equipment for monitoring points; solve the problem of inability to identify abnormalities independently Problems with intelligent linkage security, fire protection and online equipment management systems (PMIS and integrated information platform); using a mixed method of visible light video and infrared thermal imager to monitor fires and reduce fires. This invention uses dual detection of visible light video and infrared thermal video, Reduce the false alarm rate of fire alarm and improve the efficiency of fire alarm handling.

Beneficial effects of the present invention:

1. The present invention can realize power supply and communication by using trolley line plus power carrier technology or drag chain tow cable, and overcomes the interference caused by the complex electromagnetic environment in the valve hall when wireless communication is used, and the transmission bandwidth is larger. It can realize the reliable transmission of video and control signals, and has a compact structure.

2. The present invention adopts wired power, so that the independent inspection time is not limited by the battery capacity, the detection time is more flexible, and long-term continuous inspection work can be realized.

3. The detection component of the present invention can be equipped with visible light, infrared and ultraviolet detection devices, pickups, gas detectors, electromagnetic field strength detectors, etc. according to actual use requirements, so as to facilitate the realization of different detection requirements in the valve hall.

4. The present invention can also be used in all indoor occasions where there is a need for vertical mobile inspections to replace manual work, and the maximum travel distance can reach tens of meters.

5. The present invention expands the monitoring range of the substation security, and through the effective use of robot inspections, the security monitoring range covers the entire station.

6. The present invention improves the detection efficiency of equipment defects. Through the mobile inspection robot and intelligent analysis host, the perfect linkage mechanism, from the discovery and confirmation of equipment defects to the intelligent linkage with online equipment management without manual participation, realizes Autonomy and automation of video surveillance linkage.

Further, the track of the present invention adopts a profile track and a transmission drive system, and the profile structure has high strength, high rigidity, and stable and reliable operation. Moreover, the materials are easy to obtain, and the system can be built relatively quickly. The synchronous belt drive system adopted has high motion precision and can meet the requirements of arbitrary fixed-point detection. Through continuous connection, the detection requirements of large strokes can be realized.

Further, the AC servo motor in the present invention has a brake, which can lock the brake reliably when the power is cut off.

Further, the first control box of the present invention can be used as a bracket box to move together with the sliding seat, and the remote control system is flexible in design.

Furthermore, when the present invention adopts the towline tow cable method for power supply, the towline baffle used is an L-shaped aluminum profile, which not only can realize large-scale installation, but also has convenient material acquisition. The L-shaped aluminum profile and the track form a guide groove, which can not only realize the fixation of the drag chain, but also realize the guidance of the drag chain.

【Description of drawings】

Figure 1 is a schematic diagram of the system outline structure when the track inspection robot terminal is powered by a slide wire;

Figure 2 is a schematic diagram of the system outline and structure of the track inspection robot terminal using the tow chain power supply mode;

Figure 3 is a schematic diagram of the power supply structure of the track inspection robot terminal slide line;

Figure 4 is a schematic diagram of the assembly of the drag chain plate and the corner fittings installed on the track;

Fig. 5 is an example of the cross-sectional form that the track inspection robot profile track can adopt;

Fig. 6 is a schematic diagram of the appearance of the rail mounting structure;

Figure 7 is a schematic cross-sectional view of the drag chain plate;

Fig. 8 is a control structure diagram of the robot terminal system when the tow chain power supply mode is adopted;

Fig. 9 is a structural assembly diagram of the shielding module;

Figure 10 is a box structure diagram;

Figure 11 is a schematic diagram of the grounding of the safety grounding post;

Fig. 12 is a structural schematic diagram of a ventilating and dustproof electromagnetic shielding window;

Fig. 13 Structural diagram of video surveillance linkage system;

Figure 14 is a structural diagram of the linkage analysis control host;

Figure 15 Auxiliary Fixed Point Monitoring Subsystem Structure Diagram;

Figure 16 is a flowchart of linkage between the video surveillance system and the security system;

Figure 17 is a flow chart of the video surveillance system and the online device management system;

Figure 18 is a flowchart of the linkage between the video surveillance system and the fire protection system.

In the figure, 101, linkage analysis control host, 102, data storage server, 103, communication server, 104, inspection robot, 105, wireless communication module, 106, auxiliary fixed point monitoring subsystem, 201, analysis module, 202, control Modules, 301, a fixed point search module, 302, a video data and sound data acquisition module, 303, a cloud platform control module.

Among them, 1 first synchronous pulley assembly, 2 first limit switch, 3 track installation structure, 4 trolley line, 5 sliding seat, 6 collector, 7 trolley line fixing seat, 8 flange assembly, 9 AC Servo motor, 10 reducer, 11 zero switch, 12 first control box, 13 pan/tilt, 14 detection component, 15 profile track, 16 synchronous belt, 17 drag chain, 18 drag chain baffle, 19 limit switch block, 20 Collector fixing plate, 21 Drag chain baffle installation piece, 22 First notch, 23 Second notch, 24 Third notch, 25 Fourth notch, 26 Fifth notch, 27 Second limit switch , 28 second synchronous pulley assembly, 29 second control box, 30 host computer, 31 first photoelectric converter, 32 second photoelectric converter, 33 first switch, 34 second switch, 35 second power supply module, 36 Motion controller, 37 servo driver, 38 video server, 39 infrared camera, 40 optical camera, 41 remote control system, 42 robot terminal system, 43 optical fiber, 44 detection equipment controller, 45 first power module;

12-1 is the shielding cover, 12-2 is the box body, 12-3 is the standard fastener, 12-4 is the connector, 12-2-1 is the outer wall of the box, 12-2-2 is the threaded hole, 12-2-3 is a step, and 12-2-4 is a mounting hole;

29-1-1, hex nut one, 29-1-2, hex nut two, 29-1-3, hex nut three, 29-2-1, flat washer one, 29-2-2, flat washer two, 29-2-3, flat washer three, 29-3, grounding stud, 29-4, wing nut, 29-5. case hole, 29-6, case arm;

2-1-1, the first frame, 2-1-2, the second frame, 2-2, honeycomb ventilation metal plate, 2-3, dust-proof net, 2-4, conductive rubber strip.

【detailed description】

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

As shown in Figure 1, the intelligent inspection robot system for the valve hall of the converter station based on the video monitoring linkage system mainly includes a linkage analysis control host 101, a data storage server 102, a communication server 103 interacting with external systems, an inspection robot 104, The wireless communication module 105 and the auxiliary fixed point monitoring subsystem 106 responsible for linkage analysis control host and inspection robot communication,

The inspection robot includes a robot terminal system 42, which communicates with the remote control system 41. The robot terminal system 42 includes a profile rail 15, which is vertically installed on the wall of the valve hall. A motion mechanism, a motion drive mechanism and a detection mechanism are installed on the track 15 .

The motion mechanism includes a first synchronous pulley assembly 1, a second synchronous pulley assembly 28 and a synchronous belt 16. The synchronous pulley assembly includes a synchronous pulley box and a synchronous pulley, and the synchronous pulley box is installed on the profile The upper and lower ends of the track 15, the synchronous pulley is installed inside the synchronous pulley box, and the synchronous belt 16 is tightly wound on the synchronous pulley;

The motion drive mechanism drives the detection mechanism to move up and down, and the motion drive mechanism includes an AC servo motor 9 and a reducer 10, and the AC servo motor 9 is installed together with the synchronous pulley through the reducer 10; the reducer 10 passes through The flange assembly 8 is fixed on the second synchronous pulley box at the bottom of the profile track 15;

The detection mechanism includes a first control box 12; the first control box 12 realizes communication control and power supply to the detection assembly 14 and the cloud platform 13; the first control box 12 is installed on the slide 5, and the slide 5 Fixedly connected with the synchronous belt 16, the sliding seat 5 is installed on the profile rail 15 through sliding contact, the synchronous belt 16 drives the sliding seat 5 to move up and down along the profile rail 15, and the first control box 12 is installed with a cloud platform 13, so the first control box 12 also plays the role of a support; the detection assembly 14 is installed on the cloud platform 13; the detection assembly 14 is composed of an infrared thermal imager 39, an optical camera 40, and the like.

The robot terminal system 42 also includes a second control box 29 installed near the track, the second control box 29 communicates with the first control box 12, and transmits the signal detected by the first control box 12 to the remote control system 41 ; The second control box 29 also plays a role in controlling the motion of the orbital motion drive assembly;

According to different requirements, the robot terminal system 42 uses a tow cable for power supply and communication, or uses a trolley line for power supply and a power carrier for communication.

When the robot uses drag chain power supply and communication,

Devices such as detection equipment controller 44, video server 38, first switch 33, first power supply module 45 are installed in the first control box 12; Wherein, described video server 38 communicates with infrared camera 39 and optical camera 40 respectively , the first switch 33 communicates with the video server 38, the first switch 33 communicates with the detection device controller 44, and the detection device controller 44 communicates with the pan/tilt 13, the thermal imaging camera 39 and the The optical camera 40 communicates; the first power supply module 45 supplies power for each electric device.

A motion controller 36, a servo driver 37, a second power supply module 35, a second switch 34 and a first photoelectric converter 31 are installed in the second control box 29, and the second photoelectric converter 31 and The second switch 34 communicates, the second switch 34 communicates with the motion controller 36, the motion controller 36 communicates with the servo driver 37, the first photoelectric converter 31 communicates with the remote control system 41, and the motion control The controller 36 communicates with the zero switch 11, the first limit switch 2 and the second limit switch 27, the servo driver 37 communicates with the AC servo motor 9, and the second power supply module 35 supplies power to each power consumption module.

When the robot uses the trolley line for power supply and the power carrier for communication,

The detection equipment controller 44, the video server 38, the first exchange 33, the first power carrier modem, and the first power supply module 45 are installed in the first control box 12, wherein the video server 38 is connected with the detection components 8 respectively. The infrared camera 39 communicates with the optical camera 40, the first switch 33 communicates with the video server 38, the first switch 33 communicates with the detection device controller 44, and the detection device controller 44 communicates with the cloud respectively. The station 13, the thermal imaging camera 39 and the optical camera 40 communicate; the first power supply module 45 supplies power for each electric device.

A motion controller 36, a servo driver 37, a second power supply module 35, a second switch 34, a first photoelectric converter 31 and a second power carrier modem are installed in the second control box 29. A photoelectric converter 31 communicates with the second switch 34, the second switch 34 communicates with the motion controller 36, the motion controller 36 communicates with the servo driver 37, and the first photoelectric converter 31 communicates with the remote control system 41 Communication, the motion controller 36 communicates with the zero switch 11, the first limit switch 2 and the second limit switch 27, the servo driver 37 communicates with the AC servo motor 9, and the second power supply module 35 provides Electric module power supply;

One end of the first power carrier modem is connected to the first switch 33, the other end of the first power carrier modem is connected to one end of the second power carrier modem, and the other end of the second power carrier modem is connected to the second switch 34 connections.

When the system adopts the trolley line power supply mode, the communication mode adopted by the control of the detection mechanism is the power carrier mode; the collector 6 is installed on the first control box 12 through the collector fixing plate 20, and the profile rail 15 is installed The trolley line fixing seat 7, the trolley line 4 is installed in the trolley line fixing seat 7. The two contacts of the current collector 6 are in contact with the trolley line 4 . The two poles of the collector 6 are connected to the two ends of the first power carrier modem of the first control box 12 , and the two poles of the collector 6 are also connected to the two ends of the first power supply module 45 of the first control box 12 . The two poles of the trolley line 4 are connected to the power carrier modem in the second control box 29 , and the two poles of the trolley line 4 are also connected to both ends of the second power supply module 35 of the second control box 29 .

The trolley line 4 is composed of a copper wire and an insulating sheath, and the copper wire is made into a sleeve shape. The current collector 6 has the same number of wires as the trolley line and is connected to the wires of the trolley line by sliding contact.

When the system adopts the drag chain power supply mode, the power supply and communication of the first control box 12 are independent cables respectively, and the power supply cable is provided by the second control box 29; The switch is connected; the drag chain baffle 18 and the drag chain 17 are installed on the profile track 15, the drag chain baffle 18 is fixed on the profile track 15 by the drag chain baffle mounting part 21, the power supply cable and the communication line Cable is contained in the drag chain 17, and drag chain 17 plays a protective role to cable.

The remote control system 41 includes a second photoelectric converter 32 and a host computer 30 , and the second photoelectric converter 32 converts the communication signals of the remote control system 41 and the robot terminal system 42 to the host computer 30 after photoelectric conversion.

The robot terminal system 42 also includes a limit mechanism, the limit mechanism includes a limit switch, the limit switch is installed at both ends of the profile track 15, and the rear surface of the control box in contact with the profile track 15 is installed Limit switch block 19, the limit switch block 19 is used in conjunction with the limit switch to prevent collision caused by abnormal power failure.

The first photoelectric converter 31 of the second control box 29 converts all image and video detection signals and control signals into optical signals, and transmits the signals to the remote control system 41 through the optical fiber 43, thereby realizing the control of the entire system. The detection content is processed and the detection and motion status are remotely controlled.

The encoder of the AC servo motor 9 is connected to the servo driver 37 in the second control box 29, and the sliding seat 5 on the track is precisely controlled by several pulses to drive the detection assembly 14 to a designated position for detection.

The AC servo motor 9 has an electromagnetic brake, which can be braked when the power is cut off.

The profile rail 15 is vertically installed on the wall of the valve hall through the rail installation structure 3 .

Described synchronous belt 16 cooperates with synchronous pulley and is contained in the groove of profile track 15.

The detection component 14 includes an infrared camera and a visible light camera.

The drag chain baffle 18 is an L-shaped aluminum profile, and the L-shaped aluminum profile and the profile rail 15 form a guide groove to realize fixing and guiding the drag chain.

The bottom end of described profile track 15 is equipped with zero point switch 11, as the origin of robot operation. Before the inspection robot is powered on each time, the robot will automatically return to the origin, and then perform the assigned inspection tasks.

The second control box 29 implements the power supply and communication relay for the entire robot system terminal, as well as the motion control function of the AC servo motor, and converts the communication control signal into a photoelectric signal.

As shown in FIG. 4 , a towline baffle 18 and a towline 17 are installed on the profile rail 15 , and the towline baffle 18 is fixed on the profile rail 15 through a towline baffle mounting part 21 .

The drag chain baffle 18 is an L-shaped aluminum profile, and the L-shaped aluminum profile and the profile track 15 form a guide groove to realize the fixing of the drag chain and the guidance of the drag chain 17 .

The bottom end of described profile track 15 is equipped with zero point switch 11, as the origin of robot operation. Before the inspection robot is powered on each time, the robot will automatically return to the origin, and then perform the assigned inspection tasks.

The track system referred to in the present invention is made up of vertical profile guide rail 15, synchronous belt drive system (the first synchronous pulley assembly 1, the second synchronous pulley assembly 28, sliding seat 5, AC servo motor 9, speed reducer 10 and flange Component 8) etc. constitute.

Wherein, the length of the profile guide rail 15 is determined according to the detection range requirements of the inspection robot, and the length can be up to tens of meters through continuous connection. The first synchronous pulley assembly 1 and the second synchronous pulley assembly 28 are installed at both ends of the profile guide rail, and the synchronous belt 16 and the sliding seat 5 are installed. Sliding seat 5 is fixedly connected with synchronous belt 16. Fig. 5 is an optional cross-sectional example of the profile rail 15, the third notch 24 is a T-shaped notch, and other equipment can be fixedly connected to the rail by a T-shaped nut; the fourth notch 25 can be used to install a rectangular Zero switch 11 and other devices. The second notch 23 and the fifth notch 26 are the installation space of the synchronous belt, the first notch 22 on the left and right sides can be used to install the circular optical axis of the guide, and the bearing matching the optical axis is installed on the slide seat 5, Form the supporting and guiding effect on the sliding seat 5. Through the flange assembly 8 at the lower end of the track, the AC servo motor 9 and the reducer 10 are installed together with the second synchronous pulley assembly 28 at the lower end. The AC servo motor 9 rotates to drive the synchronous belt wheel to rotate, and the synchronous belt wheel drives the synchronous belt 16 and the sliding seat 5 to move up and down together, forming the track drive system of the inspection robot.

The first control box 12 is installed on the sliding seat 5, and the control software and hardware of the inspection robot are installed in the first control box 12, and can be used as the support of the cloud platform 13 and the detection assembly 14 simultaneously. Driven by the sliding seat 5, the detection assembly 14 moves up and down, combined with the horizontal rotation motion and pitch motion of the pan-tilt 13, to realize the all-round detection requirements for the equipment.

The rail robot referred to in the present invention can be powered and communicated by wire, and can be realized in two ways, one of which is to add power carrier technology through the trolley line 4, as shown in FIG. 1 . The other is the form of towline towline, as shown in Figure 2.

The trolley line 4 shown in FIG. 1 supplies power and communicates, wherein the trolley line 4 is composed of two or more strands of tongue-shaped or other special-shaped cross-section wires and a trolley line fixing seat 7 . The trolley line fixing seat 7 is installed on the vertical profile track 15, and the trolley line 4 is pressed into the draw-in groove on the plastic insulating trolley line fixing seat 7 to realize the installation of the trolley line 4. The collector 6 is installed on the first control box 12 through the collector fixing plate 20 . The first control box 12 is equipped with a first power supply module 45 and a first power carrier modem, etc., to realize wired power supply and communication of the inspection robot.

The trolley line 4 can adopt two or more strands. When two trolley lines are used, the power line carrier communication technology is adopted, and a power carrier modem is equipped in the first control box 12 to realize cable-free power supply and reliable communication during motion. When multiple strands are used, the signal line and the power line can be directly separated without using the power carrier technology. What kind of sliding contact line to use can be determined according to actual needs.

As shown in FIG. 2 , when the length of the profile rail 15 is small, the system can adopt the power supply mode of drag chain and drag cable. When this method is adopted, as shown in FIG. 7 , the L-shaped towline baffle 18 is installed on the vertical rail 15 through the towline baffle mounting part 21 . The fixed end of drag chain 17 is contained on the drag chain baffle plate 18, and the movable end is contained in the bottom of control box 12 by L-shaped structure. The cable is contained in the drag chain 17, and when the control box 12 moves up and down, the cable and the drag chain 17 move together.

The driving motor adopted in the system is an AC servo motor 9 with an incremental encoder. The motion remote control system in the second control box 29 can accurately control the detection component 14 to reach any position within the required travel range by means of several pulses. Location.

A limit switch 2 is installed at both ends of the profile track 15, and a limit switch block 19 cooperating with the limit switch 2 is installed at the rear of the first control box 12. As shown in Figure 3, when the sliding seat 5 slides When the limit switch is triggered at the same time, the power supply can be disconnected, and the brake of the AC servo motor is tightly held to prevent collisions during the movement.

The bottom end of profile rail 15 is equipped with zero point switch 11, as the origin of robot operation. Before the inspection robot is powered on each time, the robot will automatically return to the origin, and then perform the assigned inspection tasks.

The profile rail 15 can be conveniently installed through the L-shaped rail installation structure 3 as shown in FIG. 6 .

The software and hardware needed for the control of the inspection robot are housed in the first control box 12 . At the same time, a through-wall connector can be installed on the control box to communicate with the second control box 29 .

The motion control equipment of AC servomotor 9 and the communication equipment with first control box 12 and remote control system 41 are installed in the second control box 29, realize the motion control to AC servomotor and the relay processing to signal, and for the second Two control boxes 29 provide power.

The detection component 14 can be equipped with different equipment according to different detection requirements, such as thermal imaging camera 39, visible light camera, toxic gas detector, ultraviolet detector, electromagnetic field strength detector, etc., to achieve different detection requirements.

For the power supply and communication mode of the system, two ways of sliding wire or drag chain can be used. When the detection stroke of the robot is large, the trolley line plus power carrier technology can be adopted to realize cableless power supply and communication. When the stroke is not large, the drag chain method can be used, and the cable power supply and communication can be used. If adopt trolley line, trolley line 4 is installed on the profile track 15, install electric collector 6 additionally on the first control box 12 and cooperate with it by sliding contact. If the towing cable method is adopted, the towline plate and the towline can be installed directly on the vertical track.

As shown in Figure 9-10, the electromagnetic shielding module box includes a box body 12-2 and a shielding cover 12-1, the shielding cover 12-1 is arranged on the box body 12-2, and the shielding cover 1 It includes metal plates, flexible gaskets and metal foils stacked in sequence from outside to inside. The inside of the box body 2 is a cavity, and the inner arm of the box body 2 is provided with steps 2-3.

The shielding cover plate 12-1 is provided with a mounting hole, and the step 12-2-3 is provided with a threaded hole 12-2-2, and the standard fastener 12-3 connects the box through the mounting hole and the threaded hole 12-2-2. The body 12-2 is fixedly connected to the shielding cover plate 12-1. The metal plate is a steel plate, an aluminum plate or a copper plate. The material of the flexible pad is soft foam material with adhesive backing. The metal foil is aluminum foil or copper foil with a thickness of 0.01mm to 0.1mm.

The material of the box body 12-2 is aluminum alloy or copper alloy. The metal plate, the flexible pad and the metal foil are all rectangular in length and width, and the box body 12-2 is a cuboid. The box body 12-2 is an integral structure milled from a whole piece of metal. The box body 12-2 includes a box outer wall 12-2-1. The metal cover plate is an integral part of 12-1. Before use, the flexible liner and the metal foil are pasted on the metal plate to form a whole. Then, the shielding cover plate 12-1 and the cover plate 12-2 are installed together through standard fasteners 12-3 to form a closed space with good electromagnetic shielding. Electronic devices are installed in the shielding cavity as required. A mounting hole 12-2-4 for the external interface is opened on the box body, and an electromagnetic compatibility connector 12-4 is installed to realize external communication.

For the electromagnetic shielding module box, the sealing effect of the shielding cover is better due to the existence of the flexible gasket. There are steps for installing the shielding cover on the box body. The box body can be milled from a whole piece of metal, and the shielding effect is good. The shielding cover plate with flexible gasket and metal foil has a simple structure and lower construction cost than shielding with conductive material.

As shown in FIG. 11 , the safety grounding post is composed of a grounding stud 29 - 3 and a copper standard part. The ground stud 29-3 is made of copper alloy, which has good electrical conductivity and corrosion resistance. The grounding stud 29-3 is divided into three sections, the middle part is a mounting flange, and the two ends are studs. One end of the grounding stud is machined into a round or D shape, and the other end is punched with a center hole. The end of the grounding stud punched with a center hole is screwed into a hexagonal nut 29-1-1 and a flat washer. 29-2-1 and wing nut 29-4. The external grounding wire can be manually tightened and connected with a wing nut 29-4. The hex nut 29-1-1 can provide a certain height plane, and the external grounding wire can be tightened between the wing nut 29-4 and the flat washer 29-2-1 by hand through the wing nut 29-4 to form an external ground wire. reliable grounding.

When in use, a round hole or D-shaped case hole 29-5 is punched on the case wall 29-6 according to the shape of the grounding stud, and the part of the grounding stud 29-3 processed into a round or D-shaped part is inserted into the inside of the case, and then Screw in copper hexagon nut 2 29-1-2, flat washer 2 29-2-2, flat washer 3 29-2-3 and hex nut 3 29-1-3 in sequence inside the chassis, relying on the inner hexagon nut 2 29-1-2 plays the role of fastening the grounding stud 29-3, relying on the free movement of the external hex nut 29-1-3, the cables that need to be grounded inside the chassis can be connected to the grounding stud and tightened with nuts . One end of the grounding stud 29-3 is punched with a center hole, and the center hole is used for reaming and upsetting. After the wing nut 29-4 is loaded, the end is upset, which can permanently prevent the wing nut from coming off. The threaded portion at the other end of the grounding stud 29-3 cuts out a plane, and one plane can be cut to be D-shaped, and two planes can also be symmetrically cut to be waist-shaped. The cabinet wall 29-6 of its installation opens the cabinet hole 29-5 slightly larger than the waist circle on the stud or the D type size.

The middle part of the ground stud 29-3 is to cut out two flat flanges that are waist-shaped, and can be used when tightening on a chassis with a circular hole. The ground stud 29-3 can be a butterfly nut 29-4, or a knurled nut can be used as a hand-tightened nut for tightening. Ground stud 29-3, hex nut one 29-1-1, hex nut two 29-1-2, hex nut three 29-1-3, flat washer one 29-2-1, flat washer two 29-2- 2, flat washer three 29-2-3 and butterfly nut 29-4 are copper standard parts.

As shown in Figure 12, the frame 2-1 of the ventilation and dustproof electromagnetic shielding window is composed of the first frame 2-1-1 and the second frame 2-1-2, and the two are connected by welding or bonding or screws. become. Ring-shaped rectangular groove is opened on the second frame 2-1-2, and the conductive rubber strip 2-4 is glued in the rectangular groove of the second frame 2-1-2 by conductive glue, and the honeycomb ventilation metal plate 2-2 and dustproof The net 3 is encapsulated in the metal frame 2-1 to form a complete ventilation electromagnetic shielding window. Before the combination of the first frame 2-1-1 and the second frame 2-1-2, the ventilation metal plate 2-2 and the dustproof net 2-3 need to be installed in the steps of the two frames.

Ventilation and dust-proof electromagnetic shielding windows are used in shielding boxes that require high electromagnetic sealing and ventilation. It is installed where openings are required, and the metal honeycomb structure forms good electromagnetic shielding. Conductive rubber strips 2-4 are installed on the second frame, which enhances the sealing effect between the frame and the box body, prevents the formation of gaps between the shielding window and the box body, and improves the electromagnetic shielding effect.

Dust can greatly reduce the service life of the device. The dust-proof net 3 can effectively prevent the accumulation of dust in the box due to ventilation, and improve the service life of the equipment.

As shown in Figure 13, the video surveillance linkage system mainly includes a linkage analysis control host 101, a data storage server 102, a communication server 103 interacting with external systems, an inspection robot 104, and a wireless communication system responsible for the linkage analysis control host and the inspection robot. Communication module 105 and auxiliary fixed point monitoring subsystem 106 .

The linkage analysis control host 101 is connected to the data storage 102 and the communication server 103 , the wireless communication module 105 is connected to the linkage analysis control host 101 and the inspection robot 104 , and the auxiliary fixed point monitoring system 106 is connected to the communication server 103 .

The data storage 102 is mainly responsible for video data and audio data storage.

The communication server 103 is mainly responsible for sending the abnormal situation analyzed by the linkage analysis control host 101 to the external system for linkage; in addition, it is also responsible for receiving the linkage request from the external system, and forwarding the request to the linkage analysis control host 101 for corresponding linkage. The communication mode of the communication server 103 adopts network communication, and the abnormal conditions include: discovery of moving objects intruding, discovery of fire, thermal defect of equipment, and abnormal state of equipment. External systems include: security, fire protection, PMIS, integrated information platform.

The wireless communication module 105 is responsible for the communication between the linkage analysis control host and the robot.

As shown in FIG. 14 , the linkage analysis control host 101 is divided into an analysis module 201 and a control module 202 . The analysis module 201 is mainly responsible for analyzing video data to find out whether there is an abnormality in the current video data. The control module 202 is mainly responsible for controlling the video equipment on the robot or the video equipment of the auxiliary fixed point monitoring subsystem.

As shown in FIG. 15 , the auxiliary fixed point monitoring subsystem includes a fixed point search module 301 , a video data and sound data collection module 302 and a pan/tilt control module 303 . It is mainly responsible for the video acquisition and PTZ control of fixed-point cameras, and cooperates with the linkage analysis control host to complete the monitoring linkage work.

The flow chart of the linkage between the video surveillance system and the security system is shown in Figure 16. The inspection robot 104 finishes charging, leaves the charging room, starts the inspection task, and starts the daily inspection work of the whole station, and inspects the substation according to the preset inspection route in each region.

During the inspection process, the inspection robot 104 sends the inspection video to the linkage analysis control host 101 through the wireless communication module 105 in real time, and the linkage analysis control host 101 analyzes in real time whether there is a moving object intruding in the video.

When the linkage analysis control host 101 analyzes that there is a moving object intruding, it controls the inspection robot 104 to move for tracking and monitoring, and at the same time sends instructions and the location of the moving object to the auxiliary fixed point monitoring subsystem 106 .

After the auxiliary fixed point monitoring subsystem 106 receives the command and the position information of the moving object, it searches for fixed point monitoring cameras near the moving object for monitoring.

The linkage analysis control host 101 discovers the movement object linkage request according to the prior agreement with the security system, and sends the movement object linkage request to the security system through the communication server 103 .

After the security system receives the linkage request, it will perform a series of internal linkage work such as sound alarm and alarm state change in the security system.

After the moving object is eliminated, the inspection robot 104 returns to the original inspection route to continue the inspection work. When a moving object is found, the above steps are repeated until the inspection of all areas on the inspection route is completed, and then returns to the charging room for charging.

The flow chart of the video surveillance system and the online equipment management system is shown in Figure 17. The inspection robot 104 finishes charging, starts the equipment inspection task, and starts the daily inspection work on the primary equipment of the whole station. Detect all primary equipment in the substation.

The inspection robot 104 arrives at the equipment detection point on the detection route, collects visible light pictures and infrared thermal images of the equipment around the detection point, and records the sound of equipment operation. The collected inspection data such as pictures, sound data and real-time video data are transmitted to the linkage analysis control host 101 through the wireless communication module 105 . The inspection robot 104 moves to the next inspection point on the inspection route, and repeats the above equipment inspection data collection until all inspection points on the inspection route are detected, and the inspection robot 104 returns to the charging room for charging.

After the linkage analysis control host 101 receives the inspection data, it intelligently analyzes the operation status of the equipment in the picture (opening and closing of the knife switch and switch, equipment temperature, whether there are suspended objects in the equipment, and whether there is any abnormality in the operating sound). When it is found that there are abnormal conditions in the equipment itself (excessive temperature, high temperature rise, improper opening and closing of knife switch or switch, hanging objects in the equipment, abnormal operation sound). The linkage analysis control host 101 sends the location of abnormal equipment and the request for continuous detection equipment to the auxiliary fixed point monitoring subsystem. Store the inspection data to the data storage server 102 .

The auxiliary fixed point monitoring subsystem 106 searches for surrounding fixed points (fixed points equipped with infrared cameras and visible light cameras) that can observe the equipment, and then asks the fixed points to collect inspection data for abnormal equipment at regular intervals. If there is no suitable fixed point around, after the robot patrol is completed, for all abnormal equipment found in this patrol, let the robot collect inspection data for abnormal equipment at regular intervals, and send the inspection data to Give analysis to the control host 101 until the abnormality of the problem is eliminated.

The linkage analysis control host 101 sends the device operation status request to the online device management system through the communication server 103 according to the prior agreement with the online device management system on the device operation status request.

After the online equipment management system receives the linkage request, the online equipment management system displays the operating status of the equipment, and at the same time generates different alarm methods according to the abnormal conditions of the equipment and notifies the maintenance personnel to troubleshoot the on-site equipment.

At the same time, the online management system sends a review linkage request to the linkage analysis control host through the communication server, allowing the robot to arrive at the designated equipment location to review the equipment status. For example, sequence control operation, when the sequence control operation of the equipment is completed, the sequence control system can send a sequence control review request to the video surveillance linkage system, and the linkage robot will go to the vicinity of the equipment to check the completion of the sequence control operation.

When the video monitoring system is linked with the fire protection system, the specific execution flow chart is shown in Figure 18. The inspection robot 104 finishes charging, leaves the charging room, starts the inspection task, and starts the daily inspection work of the whole station. Inspection route, inspection of each area in the substation.

During the inspection process, the inspection robot 104 sends the inspection video to the linkage analysis control host 101 through the wireless communication module 105 in real time, and the linkage analysis control host 101 intelligently analyzes in real time whether there is a flame in the visible light video and the heat map data of the infrared thermal imager Whether the temperature exceeds the fire alarm temperature threshold, and when the above two conditions are met at the same time, the linkage analysis control host 101 judges that the area is on fire.

When the linkage analysis control host 101 analyzes that there is a fire point in the equipment area, it controls the inspection robot 104 to move for tracking and continuous monitoring, and at the same time sends instructions and the location of the moving object to the auxiliary fixed point monitoring subsystem 106 .

After the auxiliary fixed point monitoring subsystem 106 receives the command and the position information of the moving object, it searches for fixed point monitoring cameras near the fire point for monitoring.

The linkage analysis control host 101 sends the fire alarm linkage request to the fire protection system through the communication server 103 according to the fire alarm linkage request agreed with the fire protection system in advance.

After the fire-fighting system receives the linkage request, it will sound an alarm in the fire-fighting system and the alarm state changes, and notify the maintenance personnel to eliminate the fire alarm.

After the fire alarm is eliminated, the inspection robot 104 returns to the original inspection route to continue the inspection work. When a fire point is found to occur, the above steps are repeated until the inspection of all areas on the inspection route is completed.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (10)

1. the valve Room robot inspection system based on video monitor linkage system, it is characterised in that：Including linkage analysis control master Machine (101), for receiving the video data of the collection of the video monitoring equipment on crusing robot (104) and carrying out at data analysiss Reason, according to video equipment in the Data Control robot after analyzing and processing or auxiliary fixing point watchdog subsystem (106) Video equipment carries out the action of dependent instruction；

The communication server, the unusual condition for analyzing linkage analysis control main frame (101) is sent to external system and carries out Linkage；It is otherwise responsible for the linkage request of external system is received, forwards a request to linkage analysis control main frame (101) and make phase Should link；

Auxiliary fixing point watchdog subsystem (106), for the search of fixing point, video data and sound data acquisition and head Control, coordinates linkage analysis control main frame (101) to complete to monitor linkage work；

Described crusing robot (104) include robot terminal system (42), and described robot terminal system (42) include track, Motion, motion driving mechanism and testing agency are installed on the track, are also set on robot terminal system (42) The input for having screening arrangement, the power-supply system of robot terminal system (42) is provided with filtration module, lightning-protection module and overvoltage Overcurrent protection module, robot terminal system (42) are powered communication using towing cable mode, or adopt trolley mode It is powered power-up power carrier system to be communicated with tele-control system, tele-control system is controlled by motion driving mechanism Motion is moved along track, and motion moves up and down the operation shape of equipment in the monitoring valve Room then by driving testing agency Condition；

The testing agency includes the first control chamber (12)；The communication control to detection components and head realized by first control chamber (12) System and power supply；Testing equipment controller, video server, the first switch, the first electric power load are installed in first control chamber Ripple modem, the first power module, wherein, the video server respectively with detection components in infrared video camera and light Video camera communication is learned, first switch communicated with the video server, first switch and the testing equipment Controller communicates, and the testing equipment controller is communicated with head, thermal infrared imager and optical camera respectively；First power supply mould Block is that each electrical equipment of first control chamber is powered.

2. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that：Also Including wireless communication module (105), described wireless communication module (105) are used for linkage analysis control main frame (101) and robot Communication.

3. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that：Also Including data storage server (102), described data storage server (102) are used for storing video data and voice data.

4. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that：Institute Stating the unusual condition that linkage analysis control main frame (101) analyzes includes：It is found that mobile object is swarmed into, finds fire, equipment heat Defect, equipment state exception, external system includes：Safety-protection system, fire-fighting system, PMIS are PMIS and one Change information platform.

5. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that：Institute Stating motion includes synchronous pulley component and Timing Belt, and the synchronous pulley component includes synchronous wheeled box and synchronous pulley, The track is profiled rail, and the synchronous wheeled box is arranged on installed in the upper and lower ends of profiled rail, the synchronous pulley Inside synchronous wheeled box, the Timing Belt is tightly wrapped on synchronous pulley.

6. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that：Institute Stating motion driving mechanism includes AC servo motor (9) and decelerator (10), and described AC servo motor (9) pass through decelerator (10) it is installed together with synchronous pulley；Decelerator (10) are fixed on the Timing Belt of profiled rail bottom by flange assembly On roller box.

7. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that：Institute The first control chamber (12) is stated on slide, the slide is connected with Timing Belt, and the slide is by way of sliding contact On profiled rail, the Timing Belt drives the slide to move up and down along profiled rail, the first control chamber (12) Upper installation head, so the first control chamber (12) also functions to the effect of support；Detection components are installed on the head.

8. the valve Room robot inspection system based on video monitor linkage system as claimed in claim 1, it is characterised in that：Institute State robot terminal system (42) also include install in rail near the second control chamber (29), the second control chamber (29) with First control chamber (12) communicates, and provides power supply for the first control chamber (12), and the signal that the first control chamber (12) is detected is passed It is defeated by tele-control system；Control action is played in the motion of second control chamber (29) also to AC servo motor (9).

9. the Fa Ting robot method for inspecting based on video monitor linkage system based on claim 1 cruising inspection system, its feature It is, specifically includes following steps：

Step one：Crusing robot (104) complete charge, leaves accumulator plant, starts tour task, according to tour set in advance Route or detection route, make an inspection tour in transformer station all online equipments in each region or detection transformer station, when patrolling and examining whole station Online equipment situation constantly, proceed to step 2；When the situation of inspecting fire-extinguishing system, step 3 is proceeded to；When patrolling and examining security protection During the situation of system, step 4 is proceeded to；

Step 2：Crusing robot (104) is by the equipment test point data transfer for detecting on route to linkage analysis control main frame (101), linkage analysis control main frame (101) intellectual analysis equipment operation condition, when there is unusual condition in itself in discovering device, The information of warping apparatus is sent to auxiliary fixing point watchdog subsystem (106) by linkage analysis control main frame (101), and auxiliary is fixed Point watchdog subsystem (106) coordinates linkage analysis control main frame (101) to complete to monitor linkage work until problem is eliminated extremely；

Step 3：Crusing robot (104) will be maked an inspection tour video in real time and be sent to linkage analysis control main frame (101), linkage point Analysis control main frame (101) carry out intellectual analysis in real time, when there is point of origin battery limits, crusing robot (104) movement carry out with Track is continued to monitor, while sending the position at instruction and mobile object place to auxiliary fixing point watchdog subsystem (106)；

Step 4：Crusing robot (104) will be maked an inspection tour video in real time and be sent to linkage analysis control main frame (101), linkage point Mobile object whether is had to swarm in the real-time analysis video of analysis control main frame (101), when linkage analysis control main frame (101) is analyzed When having mobile object to swarm into, auxiliary fixing point watchdog subsystem (106) coordinates linkage analysis control main frame (101) to safety-protection system Send and mobile object linkage request is found, safety-protection system carries out Inner link work after receiving linkage request.

10. the Fa Ting robot method for inspecting based on video monitor linkage system as claimed in claim 9, it is characterised in that： In the step 2, in crusing robot (104) detection transformer station during all online equipments, the step of execution it is specifically：

(2-1)：Crusing robot (104) reaches the equipment test point on detection route, and the equipment around test point is set Standby visible ray picture and Infrared Thermography Data collection, the recording of equipment operation sound, by the picture for collecting, voice data and reality When video data patrol and examine data linkage analysis control main frame (101) be transferred to by wireless communication module (105)；Robot motion The next test point on detection route, repeats above-mentioned equipment routing inspection data collection task, until all of on detection route Test point detection is finished；

(2-2)：Linkage analysis control main frame (101) is received after patrolling and examining data, equipment operation condition in intellectual analysis picture, specifically For analyzing the division of disconnecting link and switch, device temperature, equipment with the presence or absence of hanger, operating sound with the presence or absence of abnormal, when sending out There is unusual condition in existing equipment, linkage analysis control main frame (101) please by the position of warping apparatus and lasting testing equipment in itself Ask and auxiliary fixing point watchdog subsystem (106) is sent to, data to data storage server (102) is patrolled and examined in storage；

(2-3)：The fixing point that can observe the equipment around auxiliary fixing point watchdog subsystem (106) search, after searching, Fixing point is allowed to patrol and examine data once to warping apparatus collection at set intervals, otherwise, after robot is maked an inspection tour and finished, to this The all warping apparatus for finding in tour, allow robot patrol and examine number to warping apparatus collection at set intervals every the set time Linkage analysis control main frame (101) is issued according to data once, will be patrolled and examined；

(2-4)：Linkage analysis control main frame (101) according in advance with on-line equipment management system agreement equipment operation condition please Ask, equipment operation condition request is sent to on-line equipment management system by the communication server；

(2-5)：After on-line equipment management system receives linkage request, the operation conditions of on-line equipment management system display device, While producing different type of alarms according to unit exception situation.