CN107160388B - Intelligent inspection robot monitoring system for transformer substation - Google Patents

Abstract

A transformer substation intelligent inspection robot monitoring system relates to a transformer substation monitoring system. The existing intelligent inspection robot monitoring system for the transformer substation has the following problems: the monitoring system has weak and incomplete functions and does not conform to habits of operation and maintenance personnel; the functional interfaces of the background system of the robot are not uniform, and the interface styles are diversified; the invention comprises the following steps: the system comprises a robot management module, a task management module, a real-time monitoring module, an inspection result confirmation module, an inspection result analysis module, a user setting module, a robot system debugging and maintaining module and a display module; the problem of the monitoring background function of the robot is not unified is solved, according to the practical operation and maintenance requirements of the transformer substation, the technical scheme has the advantages that the design and development functions are rich, the interface is friendly, the transformer substation intelligent inspection robot standardized background monitoring system with the state discrimination function is provided, the monitoring background function and the interface of the robot are unified, and the problem of multiple systems of the transformer substation intelligent inspection robot caused by different manufacturers and different models is solved.

Description

Intelligent inspection robot monitoring system for transformer substation

Technical Field

The invention relates to a transformer substation monitoring system, in particular to an intelligent inspection robot monitoring system for a transformer substation.

Background

With the technological progress and the continuous development of two first-class constructions, the construction of an intelligent power grid characterized by informatization, digitization, automation and interaction is gradually deepened, the intelligent inspection robot of the transformer substation is listed in the first key popularization new technology catalog of the national power grid company, and the intelligent inspection robot of the transformer substation enters the popularization and application stage.

At present, the existing transformer substation intelligent inspection robot background monitoring system comprises the functions of robot communication, microclimate information acquisition, local monitoring client communication, database management, inspection task execution, model configuration, task configuration, interface display man-machine interaction, information query retrieval, data analysis, report statistics and the like. Controlling the robot to complete routine inspection and special inspection work of the transformer substation according to an inspection task preset by a system through interaction with the robot, and verifying and storing equipment inspection data acquired by the robot; the system analyzes the equipment inspection data collected by the robot and automatically generates equipment alarm information according to a set alarm threshold value. The existing background monitoring systems of robots of different manufacturers are incompatible and cannot transmit interface data; most factory robots have interfaces for cooperative linkage with in-station monitoring systems and auxiliary monitoring systems, but interaction between data is not realized yet.

Along with the continuous deepening of the robot is patrolled and examined to transformer substation, current transformer substation intelligence patrols and examines robot monitored control system has mainly exposed following three aspect problems in practical application:

(1) the monitoring system has weak and incomplete functions and is not in line with the habits of operation and maintenance personnel.

(2) The robot background system function interfaces are not uniform, and the interface styles are diversified. In the early popularization and application, the national network company robot has a plurality of manufacturers to bid for winning, different winning manufacturers appear in the same unit, one operation and maintenance station has two sets of different background systems, and the background system function interfaces of the robot are not uniform.

(3) The existing robot monitoring system architectures all adopt a C/S architecture, are limited by the C/S architecture, and mainly expose the following problems:

a. the client needs to install special robot monitoring system client software. Firstly, installation workload is involved, and secondly, any computer problem, such as virus, hardware damage, etc., needs to be installed or maintained on site. Because the span of the distribution area of the transformer substation is large, the distance between stations is long, and the maintenance efficiency is low.

The b.C/S architecture also has the disadvantages of high maintenance costs and high capital investment. Software is upgraded at one time, client programs of robot monitoring systems of all transformer substations need to be upgraded, the maintenance task amount is large, and high operation and maintenance cost and a large amount of operation and maintenance personnel need to be invested.

Disclosure of Invention

The technical problem to be solved and the technical task to be solved are to perfect and improve the prior technical scheme and provide the intelligent inspection robot monitoring system of the transformer substation so as to achieve the purpose of increasing and perfecting the functions of the monitoring system. Therefore, the invention adopts the following technical scheme.

Robot monitored control system is patrolled and examined to transformer substation's intelligence, its characterized in that includes: the system comprises a robot management module, a task management module, a real-time monitoring module, an inspection result confirmation module, an inspection result analysis module, a user setting module, a robot system debugging and maintaining module and a display module;

the task management module comprises a comprehensive inspection submodule, a routine inspection submodule, a special inspection submodule, a user-defined task submodule, a map point selection submodule and a task display submodule; the map point selection submodule comprises: the method has the advantages that users can inquire and quickly position, click or frame on the patrol map according to equipment intervals, and the patrol point location screening function of primary equipment is realized;

the real-time monitoring module comprises a video monitoring submodule, a routing inspection message viewing submodule and a robot control submodule;

the inspection result confirming module comprises an equipment alarm query confirming submodule, a main wiring display submodule, an interval display submodule, an inspection result browsing submodule and an inspection report generating submodule;

the inspection result analysis module comprises a comparison analysis sub-module and a report generation sub-module;

the user setting module comprises an alarm threshold setting submodule, an authority management submodule, a typical inspection point location base maintenance submodule, an inspection point location setting submodule and an inspection area setting submodule; the typical inspection point location base maintenance submodule formulates a typical inspection point location base of the transformer substation according to the actual inspection point location of the typical transformer substation inspection robot and sets the typical inspection point location base as a standard point location base; the maintenance area sets up the submodule piece: the system is used for setting the maintained equipment and the occupied road when the substation equipment is maintained, and automatically closing related inspection point locations and roads when tasks are compiled, wherein the inspection point locations comprise all inspection point locations of the maintained equipment and all inspection point locations for detecting equipment positioned in a maintenance area except the maintained equipment; an alarm threshold setting submodule: the method is used for modifying the alarm threshold setting of the patrol point location by operation and maintenance personnel according to the threshold specification;

the robot system debugging and maintaining module comprises an inspection map maintaining submodule, a software setting submodule and a robot setting submodule.

As a further improvement and supplement to the above technical solutions, the present invention also includes the following additional technical features.

Further, the user setting module further comprises an alarm message subscription setting submodule, and the alarm message subscription setting submodule: the short message reminding setting is carried out, and the message is selected and set according to the alarm type, the alarm level, the sending time and the sending frequency; the alarm types comprise two levels of equipment alarm and system alarm.

Furthermore, the special routing inspection submodule comprises an infrared temperature measuring unit, an oil level and oil temperature meter reading unit, a lightning arrester meter reading unit, an SF6 pressure meter reading unit and a hydraulic pressure meter reading and position state identification unit; the special inspection sub-module comprises a severe weather special inspection unit, a defect tracking unit, a remote abnormal alarm confirming unit, a remote state confirming unit, a security linkage unit and an emergency assisting accident handling unit.

Further, the real-time monitoring module further comprises an alarm photon board display submodule: and the alarm photon board display submodule visually displays the alarm condition of the fully-arranged equipment in an interval mode.

Furthermore, the system adopts a multilayer B/S application system structure, and a presentation layer, a service layer and a database access layer are separated; the development of the application program adopts component type development management, so that the system is easier to manage, develop and maintain; the whole system is realized by adopting a springmvc + Hibernate + Spring architecture;

the presentation layer is realized by springmvc, Spring Web MVC is a lightweight Web framework based on Java and realizing a request-driven type of a Web MVC design pattern, namely, the idea of an MVC architecture pattern is used, the Web layer is subjected to responsibility decoupling, and a request-response model is used based on a request-driven finger; the front-end controller is a DispatcterServlet; the application controller is actually disassembled into a processor mapper (Handler Mapping) for processor management and a view parser (ViewResolver) for view management; the page Controller/action/processor is a Controller interface; supporting localization (Locale) analysis, Theme (Theme) analysis and file uploading; very flexible data verification, formatting and data binding mechanisms are provided; contractual programming support providing strong contract greater than configuration

The service layer realizes the assembly association of service components by Spring, reduces the coupling degree between the service components by relying on injection, AOP application and interface-oriented programming, and enhances the compatibility and the expandability of the system;

and the persistent layer is used for realizing the optimization of the access performance of the database and the common operation of interacting with the database by means of an ORM tool Hibernate, associating the database table with the object, and converting the interaction of the data table by utilizing SQL into the database interaction directly aiming at the object, thereby greatly improving the coding efficiency.

Furthermore, the display module is connected with the robot management module, the task management module, the real-time monitoring module, the inspection result confirmation module, the inspection result analysis module, the user setting module and the robot system debugging and maintaining module to display corresponding contents, and the pages displayed by the display module comprise a system navigation page, a robot remote control page, a robot management page, a main wiring diagram page, an interval display page, a task management page, a task display page, a state display page, an inspection result browsing page and a comparison analysis page.

Further, a title bar is arranged on the upper left of the system navigation page, and the contents including a home page, help, an exit shortcut jump connection icon and user login information are uniformly set from left to right; the left side of the system navigation picture is a system navigation menu, and the navigation menu comprises: the method comprises the following steps of robot setting, task management, real-time monitoring, inspection result confirmation and user setting function menus; when the mouse moves into a certain function menu, displaying the sub-function menu link of the function menu on the rear side of the mouse, and jumping to a corresponding function page by clicking the link;

the robot remote control page displays a polling state, a polling map, a polling message, video monitoring and a control picture; the inspection state display content comprises the total number of inspection points, abnormal inspection points, current inspection points, inspected points, estimated inspection time and inspection progress; the patrol map is a Flash control, the patrolled route is displayed in blue, and the non-patrolled route is displayed in red; the inspection message picture comprises a real-time message printing function of real-time information, equipment alarm information and system alarm information; the control picture is arranged right below the video monitoring picture, and vehicle body control, cradle head control, voice talkback, sound recording, snapshot, video recording and playback function keys are provided in the control picture; the inspection state is displayed in a first screen area, the inspection map and the inspection message are displayed in a second screen area, the video monitoring and control picture is displayed in a third screen area, the first screen area is positioned at the upper part of the left side of the screen, the second screen area is positioned at the lower part of the left side of the screen, and the second screen area is positioned at the right side of the screen;

the robot management page is divided into a left part and a right part according to the application according to an upper layout format and a lower layout format; the left side comprises robot inspection state browsing, robot selection and inspection map display, and the right side comprises video monitoring; the lower half part of the page is used for displaying real-time information, equipment alarm information and system alarm information messages.

Furthermore, the electrical main wiring page is generally divided into a plurality of areas according to the voltage grade; a main area is arranged on a single picture, and a plurality of auxiliary areas are arranged as required; the area of the main area is preferably not less than one fourth of the whole picture; one voltage class is used as a main voltage class and is arranged in a main picture area, and other voltage classes are respectively arranged in auxiliary picture areas according to actual requirements; the position, size, proportion, graph and labeled content of each area are respectively determined according to the requirements of users; main equipment of the same voltage class in the plant station are arranged at intervals according to actual field intervals, and are uniformly arranged by taking a bus of the voltage class to which the main equipment belongs as a center; minimum interval regulations are required to be met among the graphs, among the labels and among the graphs and the labels, and the clear boundary among the graphs and the labels and easy discrimination are ensured when the graphs and the labels are normally displayed in a full screen; the electrical main wiring diagram picture comprises an electrical main wiring diagram and a label, wherein the diagram is primary system main equipment and a wiring mode thereof, and the content comprises a transformer, a bus, a line, a switch, a knife switch, a mutual inductor, a capacitor, a reactor, a lightning arrester, a discharge gap, an arc suppression coil, a neutral point, a wave trap, a fuse and a connecting wire; the analog quantity, the state quantity and the relevant written description are marked as the belonged equipment, and the content of the analog quantity, the state quantity and the relevant written description comprises equipment naming, frequency, current, voltage, active power and reactive power, displacement signals, accident signals and working state signals of primary equipment and secondary equipment, and required auxiliary symbols and characters; drawing the equipment in the electrical main wiring diagram in a partition mode according to the voltage level of the equipment; voltage grade color definition; marking the primary voltage levels of the alternating current equipment and the direct current equipment in the same electric main wiring by colors; specifying the color of each voltage grade, the background color and the power-off color; the sizes of the same equipment in the electrical main wiring diagram should be kept consistent, the equipment intervals should be uniform, the equipment should be aligned with each other, and the connecting lines should be prevented from crossing as much as possible; coloring the measured value, wherein the operation picture is colored according to the measured point attribute and the quality value; the method comprises the following steps of (1) carrying out charged coloring, wherein when the equipment is fully or partially charged, the graph is colored by the primary voltage level color of the equipment in working, and each component of the combined pattern is also colored according to the working voltage level of the component; when the equipment is not electrified, the equipment is marked by the power-off color;

the upper part and the lower part of the interval display page are laid out, and the left side of the upper part is provided with a keyword query input box and a query button; the left side of the lower part is the transformer substation interval voltage grade; the right side is interval information contained in the corresponding voltage level; reasonably dividing each layer area according to the number of intervals, and clearly subdividing and displaying each interval alarm summary light character board and indexes thereof in a table form; the interval display page displays alarm summary synthetic signals of all intervals in the total station in the form of optical character boards, an alarm summary indicator lamp is arranged at each interval and used for summarizing all accidents and alarm signals in each interval, when the routing inspection data exceeds an alarm threshold value formula, the interval alarm indicator lamps display corresponding colors, and when interval picture indexes are clicked, detailed alarm information of each interval can be checked.

Further, the task management page is divided into an upper area and a lower area according to the function requirement; the upper half area is a filtering condition option and comprises a polling type, an equipment area, an equipment type, an identification type and a meter type; the filtering condition options are in check box check forms; the task management page is uniformly arranged between the upper area and the lower area, and a fuzzy query user can input keywords to query, store and reset buttons; the left side of the lower half area of the task management is provided with a point location tree, the point location tree is displayed according to the actual inspection point locations of the transformer substation, the inspection data states are divided into normal, early warning, general warning, serious warning and emergency warning, green is displayed in the normal state, blue is displayed in the early warning state, yellow is displayed in the general warning state, orange is displayed in the serious warning state, and red is displayed in the emergency warning state; the right side is provided with a task compiling list, and each task can be executed immediately or periodically;

the left side of the task display page is provided with a calendar control, the execution time and the task name of all issued tasks per month are displayed, and the color of a display font is changed according to the task state; the time can be selected above the calendar for inquiry, and information indicating the color expression of remarks is arranged below the calendar; task state and task time filtering options are arranged above the right side of the task management page; the lower part of the right side displays the routing inspection task in a table form; the task management page uniformly sets task keyword fuzzy query, addition and deletion buttons; the task state comprises execution completion, midway suspension, execution, waiting execution and task expiration, wherein the green is displayed when the execution is completed, the brown is displayed when the midway suspension is performed, the red is displayed when the execution is performed, the blue is displayed when the execution is waited, and the yellow is displayed when the task is expired.

Further, the state display page is divided into a left part and a right part, and the left side displays the robot state, including the running state information of the robot, the communication state information and the module information of the robot; the right side displays the control state information of the robot, including environment state information and control state;

the inspection result browsing page is distributed according to a left area and a right area, the left side is displayed in an equipment tree form, inspection point positions are actually displayed according to a transformer substation, the inspection point positions of the equipment tree are divided into a normal state, an early warning state, a general warning state, a serious warning state and an emergency warning state, the inspection point positions are displayed in a green state in a normal state, the inspection point positions of the equipment tree are displayed in a blue state in an early warning state, the inspection point positions of the equipment tree are displayed in a yellow state in a general; the right side of the inspection result browsing page is divided into an upper area and a lower area; the top of the upper area is provided with time inquiry, reset and task export buttons, and the inspection result is displayed in a list form; the lower area is uniformly provided with functions of displaying acquired information, confirming by auditors and submitting the acquired information, wherein the acquired information comprises visible light and infrared pictures;

the comparative analysis picture is distributed according to a left area, a middle area and a right area, the left side is displayed in an equipment tree form, the inspection point positions of the equipment tree are actually displayed according to the transformer substation, the inspection point positions of the equipment tree are divided into a normal state, an early warning state, a general warning state, a serious warning state and an emergency warning state, the green state is displayed in the normal state, the blue state is displayed in the early warning state, the yellow state is displayed in the general warning state, the orange state is displayed in the serious warning state, and the red; uniformly providing time and collecting information filtering conditions at the top of the middle area of the comparative analysis picture, and uniformly setting query, reset and export buttons; selecting a single inspection point location through the equipment tree, inquiring conditions through a time period to filter historical information, and generating a corresponding historical curve below the point location to perform longitudinal comparison; the right side of the comparative analysis picture sequentially displays the collected information of the selected point positions in a grid form, and the top of the right side is uniformly provided with four-grid, six-grid and nine-grid radio boxes for the user to select.

Has the advantages that:

the technical scheme is that a transformer substation intelligent inspection robot standardized background monitoring system with rich functions, friendly interfaces and a state discrimination function is designed and developed according to the actual operation and maintenance requirements of a transformer substation, and the background functions and interfaces of the robot monitoring are unified; the problem of the intelligent inspection robot of transformer substation because of the multisystem of different manufacturers, different models production is solved.

The standardized background monitoring system for the intelligent inspection robot of the transformer substation is mainly characterized in that functions of 7 modules, such as robot management, task management, real-time monitoring, inspection result confirmation, inspection result analysis, user setting, robot system debugging and maintenance and the like, are unified and standardized.

Secondly, the interface of the robot monitoring system is standard, and the problem of interface diversity of the robot monitoring system is solved;

and thirdly, the standardized monitoring system of the robot is replaced by a B/S architecture design, the powerful function which can be realized only by complex special software originally is realized by using a general browser, the development cost is saved, and a user can access the monitoring system of the robot only by installing a default browser supported by the system and inputting a service address.

Drawings

FIG. 1 is a schematic diagram of the present invention.

Detailed Description

The technical scheme of the invention is further explained in detail by combining the drawings in the specification.

As shown in fig. 1, the present invention includes: the system comprises a robot management module, a task management module, a real-time monitoring module, an inspection result confirmation module, an inspection result analysis module, a user setting module, a robot system debugging and maintaining module and a display module;

the task management module comprises a comprehensive inspection submodule, a routine inspection submodule, a special inspection submodule, a user-defined task submodule, a map point selection submodule and a task display submodule; the map point selection submodule comprises: the method has the advantages that users can inquire and quickly position, click or frame on the patrol map according to equipment intervals, and the patrol point location screening function of primary equipment is realized; the special routing inspection submodule comprises an infrared temperature measuring unit, an oil level and oil temperature meter reading unit, a lightning arrester meter reading unit, an SF6 pressure meter reading unit and a hydraulic pressure meter reading and position state identification unit; the special inspection sub-module comprises a severe weather special inspection unit, a defect tracking unit, a remote abnormal alarm confirming unit, a remote state confirming unit, a security linkage unit and an emergency assisting accident handling unit;

the real-time monitoring module comprises a video monitoring submodule, a patrol message viewing submodule, a robot control submodule and an alarm photon board display submodule; and the alarm photon board display submodule visually displays the alarm condition of the fully-arranged equipment in an interval mode.

The inspection result confirming module comprises an equipment alarm query confirming submodule, a main wiring display submodule, an interval display submodule, an inspection result browsing submodule and an inspection report generating submodule;

the inspection result analysis module comprises a comparison analysis sub-module and a report generation sub-module;

the user setting module comprises an alarm threshold setting submodule, an authority management submodule, a typical inspection point location base maintenance submodule, an inspection point location setting submodule, an inspection area setting submodule and an alarm message subscription setting submodule; the typical inspection point location base maintenance submodule formulates a typical inspection point location base of the transformer substation according to the actual inspection point location of the typical transformer substation inspection robot and sets the typical inspection point location base as a standard point location base; the maintenance area sets up the submodule piece: the system is used for setting the maintained equipment and the occupied road when the substation equipment is maintained, and automatically closing related inspection point locations and roads when tasks are compiled, wherein the inspection point locations comprise all inspection point locations of the maintained equipment and all inspection point locations for detecting equipment positioned in a maintenance area except the maintained equipment; an alarm threshold setting submodule: the method is used for modifying the alarm threshold setting of the patrol point location by operation and maintenance personnel according to the threshold specification; the alarm information subscription setting submodule: the short message reminding setting is carried out, and the message is selected and set according to the alarm type, the alarm level, the sending time and the sending frequency; the alarm types comprise two levels of equipment alarm and system alarm.

The robot system debugging and maintaining module comprises an inspection map maintaining submodule, a software setting submodule and a robot setting submodule.

The technical scheme mainly performs function unification and standardization on 7 modules including robot management, task management, real-time monitoring, inspection result confirmation, inspection result analysis, user setting, robot system debugging and maintenance and the like. Unifying background functions and interfaces of the robot monitoring; the problem of the intelligent inspection robot of transformer substation because of the multisystem of different manufacturers, different models production is solved.

In order to save development cost and maintenance cost, the system adopts a multilayer B/S application system structure, and a presentation layer, a service layer and a database access layer are separated; the development of the application program adopts component type development management, so that the system is easier to manage, develop and maintain; the whole system is realized by adopting a springmvc + Hibernate + Spring architecture;

the presentation layer is realized by springmvc, Spring Web MVC is a lightweight Web framework based on Java and realizing a request-driven type of a Web MVC design pattern, namely, the idea of an MVC architecture pattern is used, the Web layer is subjected to responsibility decoupling, and a request-response model is used based on a request-driven finger; the front-end controller is a DispatcterServlet; the application controller is actually disassembled into a processor mapper (Handler Mapping) for processor management and a view parser (ViewResolver) for view management; the page Controller/action/processor is a Controller interface; supporting localization (Locale) analysis, Theme (Theme) analysis and file uploading; very flexible data verification, formatting and data binding mechanisms are provided; contractual programming support providing strong contract greater than configuration

The service layer realizes the assembly association of service components by Spring, reduces the coupling degree between the service components by relying on injection, AOP application and interface-oriented programming, and enhances the compatibility and the expandability of the system;

and the persistent layer is used for realizing the optimization of the access performance of the database and the common operation of interacting with the database by means of an ORM tool Hibernate, associating the database table with the object, and converting the interaction of the data table by utilizing SQL into the database interaction directly aiming at the object, thereby greatly improving the coding efficiency.

The system adopts a multilayer B/S application system structure and has the following advantages:

(1) the method has the characteristic of distributivity, and can carry out business processing such as data query, browsing and the like at any time and any place.

(2) The service expansion is simple and convenient, and the functions of the server can be increased by adding the page.

(3) The maintenance is simple and convenient, the software installation, upgrade, maintenance and the like can be carried out at the server side, the client side does not need to install software, and the cross-platform application can be realized. Any client can use the software only through network connection, and the client does not need to be directly connected to the database server, so that the database server is relatively safe.

(4) The sharing is strong.

(5) Low cost and more choices. Currently, browsers become standard configurations, the trend is to use a B/S architecture, all application programs are deployed on a Linux server, and the safety is high.

In order to realize effective monitoring, the display module is connected with the robot management module, the task management module, the real-time monitoring module, the inspection result confirmation module, the inspection result analysis module, the user setting module and the robot system debugging and maintenance module to display corresponding contents, and the pages displayed by the display module comprise a system navigation page, a robot remote control page, a robot management page, a main wiring diagram page, an interval display page, a task management page, a task display page, a state display page, an inspection result browsing page and a contrast analysis page.

The specific transformer substation intelligent inspection robot standardized monitoring system interface standard implementation scheme is as follows:

picture scale specification

1. The display size is preferably 22 inches wide, with a resolution of 1920 x 1080.

2. The monitoring system graphical interface cloth width-height ratio (w: h) is preferably designed and arranged by adopting a 16:9 or 4:3 ratio as a reference

3. The graphic picture should be drawn in a fixed size with reference to the reference resolution, and the closely related graphic objects are preferably arranged in the same picture.

Page color code specification

The color definition is expressed in terms of RGB values. RGB is the three primary colors Red (Red) Green (Green) Blue (Blue) english initials. The three colors of red, green and blue are each 255 th order brightness, "0" weakest and "255" brightest. When the three color values are the same, the three colors are colorless gray colors, and are the brightest white when the three colors are all 255 and are black when the three colors are all 0. The different colors are represented by a combination of (R, G, B) three decimal values.

(III) Page font Specification

The fonts of the monitoring system are unified by Song dynasty.

(IV) System Page Specification

System login page

1. The method comprises the steps of inputting a system service address through a Web client, entering a system login index map, uniformly setting national grid LOGO identification at the upper left of a picture, and immediately connecting electric power company fields of the national grid Zhejiang province at the right side of the LOGO.

2. The system login picture takes an icon picture of a national network LOGO as a background.

3. The right center of the system login picture is a title 'substation robot monitoring system', and a user login area is arranged right below the title and comprises a user name, a password input box, a login button and a reset button.

4. The color code of the user name and password input box in the system login picture is RGB (68,202,177), and the login button and the reset button are pictures. Click the login button to enter the system.

System navigation page

1. The title bar is arranged on the upper left of the system navigation picture, the home page, the help and quit shortcut jump connection icons and the user login information are uniformly arranged from left to right, the characters are Song dynasty, and the size is 12.

2. The upper right side of the system navigation picture is uniformly provided with a national power grid LOGO mark, the right side of the system navigation picture is uniformly provided with a transformer substation robot monitoring system field, and the lower right side of the system navigation picture is provided with a Zhejiang electric power mark.

3. The left side of the system navigation picture is a system navigation menu, and the navigation menu comprises: seven function menus of robot setting, task management, real-time monitoring, inspection result confirmation, user setting and the like, wherein the characters are Song dynasty, 12 in size and RGB (51,163,195) in font color. When the mouse moves into a certain function menu, the sub-function menu (sub-function menu title and function page link identification) link of the function menu is displayed on the rear side of the mouse, and the corresponding function page can be jumped to by clicking the link. The title font of the sub-function menu is Song style, the size is 12 plus thick, and the font color code is RGB (51,163,195); the page link identifies the font as song, size 12, and font color code RGB (102,102,102).

Monitoring system home page

1. The monitoring system home page defaults to a robot remote control page, the inspection state is displayed on the upper left of a robot remote control picture, and the monitoring system home page mainly comprises information display functions of inspection point total number, abnormal inspection point number, current inspection point number, inspected point number, estimated inspection time, inspection progress and the like. The characters are Song dynasty with size of 12, and color code is REG (0,0, 0); the background color RGB (212, 236, 234).

2. And the inspection map and the inspection message are displayed under the inspection state display column, the inspection map is a Flash control, the inspected route is displayed in blue, and the non-inspected route is displayed in red. The characters in the control are Song dynasty with the size of 12. The inspection message picture comprises real-time information, equipment alarm information and system alarm information and has a real-time message printing function, and the title font is a Song style and is a bold 12-numbered font. The background color RGB (212, 236, 234).

3. The right side of the robot remote control page is a video monitoring and control picture. The control picture is under the video monitoring picture, and functional keys such as vehicle body control, pan-tilt control, voice talkback, sound recording, snapshot, video recording, playback and the like are provided in the control picture, and the robot remote control picture is as follows:

robot management page

1. The robot management page is in an upper layout format and a lower layout format, and the upper half part of the robot management picture is divided into a left part and a right part according to application. The left side mainly comprises the steps of robot inspection state browsing, robot selection and inspection map display, and the right side mainly comprises video monitoring; the lower half part of the picture is displayed by real-time information, equipment alarm information and system alarm information messages.

2. The background colors of the title pictures of the routing inspection messages and the routing inspection state display are RGB (212, 236 and 234), the characters are Song dynasty, the size is 12, the number is increased, and the color code is REG (0,0 and 0).

Main wiring diagram page

1. Electrical main wiring pages are typically divided into zones by voltage class. A main area is arranged on a single picture, and a plurality of auxiliary areas can be arranged according to needs. The main area is preferably not less than one fourth of the total area of the picture. One voltage class is preferably used as a main voltage class and is arranged in the main area of the picture, and other voltage classes are respectively arranged in the auxiliary area of the picture according to actual requirements. The position, size, proportion, graph, labeled content and the like of each area can be determined according to the requirements of users.

2. The main equipment of the same voltage class in the station is preferably arranged at intervals according to actual intervals on site, and is uniformly arranged by taking the bus of the voltage class to which the main equipment belongs as the center. In a certain main (or auxiliary) area of the picture, the graphics at the same interval should be vertically aligned at the center, and the graphics at the same interval should be horizontally aligned.

3. Minimum interval regulations are required to be met among the graphs, among the labels and between the graphs and the labels, and the clear boundary among the graphs and the labels and easy discrimination are ensured when the graphs and the labels are normally displayed in a full screen.

4. The electric main wiring diagram picture comprises an electric main wiring diagram and a label. The graph refers to primary system main equipment and a wiring mode thereof, and the content of the primary system main equipment comprises a transformer, a bus, a line, a switch, a knife switch, a mutual inductor, a capacitor, a reactor, a lightning arrester, a discharge gap, an arc suppression coil, a neutral point, a wave trap, a fuse, a connecting wire and the like. The labels refer to analog quantity, state quantity and related text description of the equipment, and the contents of the labels comprise equipment names, frequency, current, voltage, active power and reactive power, displacement signals, accident signals and working state signals of primary equipment and secondary equipment, and other required auxiliary symbols and text.

5. The equipment in the electrical main wiring diagram is drawn in a partition mode according to the voltage grade of the equipment and on the principle of tidiness and attractiveness. The voltage levels are defined separately. In the same electric main connection, the primary voltage levels of the alternating current and direct current equipment are marked by colors. The voltage level colors such as 1000 (800), 500, 220, 110, 35, 20, 15.75, 13.8, 10 and 6 kV, background color and power-off color are specified. See appendix a for details.

6. The sizes of the same devices in the electrical main wiring diagram are consistent, and the devices are uniformly spaced. The devices should be aligned with each other and the connecting lines should be prevented from crossing as much as possible.

7. The measured values were colored. The operation picture is to color the remote signaling state and the remote measuring data according to the attribute and the quality value of the measuring point.

8. And (4) charged coloring. When the equipment is fully or partially charged, the graph is colored by the primary voltage level color of the equipment, and each component of the combined pattern is also colored according to the working voltage level of the component; when the equipment is not electrified, the equipment is marked by the power-off color. See appendix a for details.

9. The background is colored. The background color of all pictures is preferably black, RGB (0,0, 0); when paper is output and displayed, the background color is preferably white.

10. The label is colored. The transformer substation is marked by ' highest voltage level + station name ', for example, 110 kV post change ', and the fonts and colors are uniform; the device name and the measurement name are unified in the characters and colors regardless of the voltage level. When the printing output is needed, the white marks are preferably changed to black.

Interval display page

1. The interval display page is mainly distributed on an upper part and a lower part, and a keyword query input box and a query button are arranged on the left side of the upper part; the left side of the lower part is the transformer substation interval voltage level, the voltage level font is Song dynasty style, the size is 20-numbered, and the color is RGB (255 ), the right side is interval information contained in the corresponding voltage level, the interval information font is Song dynasty style, the size is 12-numbered, and the color is RGB (255 ).

2. The interval display page reasonably divides each layer area according to the number of intervals, and clearly subdivides and displays each interval alarm summary light character board and indexes thereof in a table form.

3. The interval display page displays the alarm summary synthetic signals of all intervals of the total station in the form of light word boards, and each interval is provided with an alarm summary indicator light for summarizing all accidents and alarm signals in each interval. When the routing inspection data exceeds the alarm threshold value formula, the interval alarm indicator lamp displays corresponding colors, and the specific coloring is shown in appendix 5. The left key clicks the interval picture index, and the detailed alarm information of each interval can be checked.

Task management page

1. The task management page is divided into an upper area and a lower area according to the functional requirements. The upper half area is a filtering condition option and comprises a polling type, an equipment area, an equipment type, an identification type and a meter type. The font is Song dynasty with size of 12, and the color of the font is RGB (0,0, 0); the filtering condition options are uniformly set to check box check forms.

2. The task management page is uniformly arranged between the upper area and the lower area, and the fuzzy query user can input keywords to query, save and reset buttons. The font is Song dynasty with size of 12, and the color of the font is RGB (0,0, 0).

3. A point location tree is uniformly arranged on the left side of the lower half area of the task management, the point location tree is displayed according to the actual inspection point locations of the transformer substation, and inspection data states are divided into normal (green) RCB (0,128,0), blue RGB (0, 255), early warning (blue) RGB (0, 255), general warning (yellow) RGB (255, 0), serious warning (orange) RGB (255,128,10) and critical warning (red) RGB (255,0,0); the right side is provided with a task compiling list, and each task can be executed immediately or periodically.

Task display page

1. And a calendar control is arranged on the left side of the task display page, the execution time and the task name of all issued tasks per month are displayed, and the color of a display font is changed according to the task state. The time can be selected to inquire above the calendar, and the information indicated by the colors of the remarks is arranged below the calendar.

2. And task state and task time filtering options are arranged above the right side of the task display picture. And the lower part of the right side displays the routing inspection task in a table form. And the task display picture is uniformly provided with task keyword fuzzy query, addition and deletion buttons.

3. All fonts of the task display picture are Song, the size is 12, the border background color is RGB (219,237,235), the task state is divided into execution completion (green) RGB (0,128,0), midway suspension (brown) RGB (160,82,45), execution (red) RGB (255,0,0), waiting execution (blue) RGB (0, 255) and task overtime (yellow) RGB (255, 0).

Status display

1. The state display page is divided into a left part and a right part, and the left side displays the robot state, including the running state information of the robot, the communication state information, the module information of the robot and the like; and the right side displays the control state information of the robot, including environment state information and control state.

2. The status display screen background color is white RGB (255,255,255), with solid gray lines separated. The page large title bar has a font size of 22, bold black and a background color of RGB (255 ). The page subtitle bar font size is 16 size, centered for red RGB (255,0,0) color.

3. The font colors of the state display picture are RGB (6,120,150), the size is 12, and various working condition information is shown in appendix B.

Inspection result browsing

1. The inspection result browsing page is laid out according to a left area and a right area, the left side is uniformly provided with equipment tree type display, the inspection point positions are actually displayed according to the transformer substation, and the inspection point position states of the equipment tree are divided into normal (green) RCB (0,128,0), blue RGB (0, 255), early warning (blue) RGB (0, 255), general warning (yellow) RGB (255, 0), serious warning (orange) RGB (255,128,10) and critical warning (red) RGB (255,0, 0).

2. The right side of the inspection result browsing picture is divided into an upper area and a lower area. The top of the upper area is provided with time inquiry, reset and task export buttons, and the inspection result is displayed in a list form; the lower region is uniformly provided with functions of information acquisition (visible light and infrared pictures) display, auditor confirmation and submission.

3. And browsing the frame background RGB (219,237,235) of the picture by the inspection result, wherein the font style is Song style, 12-size and RGB (0,0,0) color.

Comparative analysis page

1. The comparison analysis page is laid out according to the left area, the middle area and the right area, the left side is uniformly displayed in an equipment tree form, the inspection point positions are actually displayed according to the transformer substation, and the inspection point position states of the equipment tree are divided into normal (green) RCB (0,128,0), blue RGB (0, 255), early warning (blue) RGB (0, 255), general warning (yellow) RGB (255, 0), serious warning (orange) RGB (255,128,10) and critical warning (red) RGB (255,0, 0).

2. And uniformly providing filtering conditions such as time, collected information and the like on the top of the middle area of the comparative analysis picture, and uniformly setting query, reset and export buttons. A single inspection point location is selected through the equipment tree (the equipment tree supports fuzzy screening), historical information is filtered according to the query conditions in a time period, and meanwhile, a corresponding historical curve is generated below the historical information to carry out longitudinal comparison.

3. The right side of the comparative analysis picture sequentially displays the collected information (visible light and infrared pictures) of the selected point positions in a grid form, and the top of the right side is uniformly provided with four-grid, six-grid and nine-grid radio frames for the user to select.

4. And comparing and analyzing the frame background RGB (219,237,235), wherein the font style is Song style, size 12 and color RGB (0,0, 0).

The transformer substation intelligent inspection robot monitoring system shown in fig. 1 is a specific embodiment of the present invention, already embodies the substantial features and progress of the present invention, and can make equivalent modifications in shape, structure and the like according to the practical use requirements and under the teaching of the present invention, which are within the protection scope of the present scheme.

Claims (10)

1. Robot monitored control system is patrolled and examined to transformer substation's intelligence, its characterized in that includes: the system comprises a robot management module, a task management module, a real-time monitoring module, an inspection result confirmation module, an inspection result analysis module, a user setting module, a robot system debugging and maintaining module and a display module;

the task management module comprises a comprehensive inspection submodule, a routine inspection submodule, a special inspection submodule, a user-defined task submodule, a map point selection submodule and a task display submodule; the map point selection submodule comprises: the method has the advantages that users can inquire and quickly position, click or frame on the patrol map according to equipment intervals, and the patrol point location screening function of primary equipment is realized;

the real-time monitoring module comprises a video monitoring submodule, a routing inspection message viewing submodule and a robot control submodule;

the inspection result confirming module comprises an equipment alarm query confirming submodule, a main wiring display submodule, an interval display submodule, an inspection result browsing submodule and an inspection report generating submodule;

the inspection result analysis module comprises a comparison analysis sub-module and a report generation sub-module;

the user setting module comprises an alarm threshold setting submodule, an authority management submodule, a typical inspection point location base maintenance submodule, an inspection point location setting submodule and an inspection area setting submodule; the typical inspection point location base maintenance submodule formulates a typical inspection point location base of the transformer substation according to the actual inspection point location of the typical transformer substation inspection robot and sets the typical inspection point location base as a standard point location base; the maintenance area sets up the submodule piece: the system is used for setting the maintained equipment and the occupied road when the substation equipment is maintained, and automatically closing related inspection point locations and roads when tasks are compiled, wherein the inspection point locations comprise all inspection point locations of the maintained equipment and all inspection point locations for detecting equipment positioned in a maintenance area except the maintained equipment; an alarm threshold setting submodule: the method is used for modifying the alarm threshold setting of the patrol point location by operation and maintenance personnel according to the threshold specification;

the robot system debugging and maintaining module comprises an inspection map maintaining submodule, a software setting submodule and a robot setting submodule.

2. The substation intelligent inspection robot monitoring system according to claim 1, wherein:

the user setting module also comprises an alarm message subscription setting submodule, and the alarm message subscription setting submodule comprises: the short message reminding setting is carried out, and the message is selected and set according to the alarm type, the alarm level, the sending time and the sending frequency; the alarm types comprise two levels of equipment alarm and system alarm.

3. The substation intelligent inspection robot monitoring system according to claim 2, wherein: the special routing inspection submodule comprises an infrared temperature measuring unit, an oil level and oil temperature meter reading unit, a lightning arrester meter reading unit, an SF6 pressure meter reading unit and a hydraulic pressure meter reading and position state identification unit; the special inspection sub-module comprises a severe weather special inspection unit, a defect tracking unit, a remote abnormal alarm confirming unit, a remote state confirming unit, a security linkage unit and an emergency assisting accident handling unit.

4. The substation intelligent inspection robot monitoring system according to claim 3, wherein: the real-time monitoring module further comprises an alarm photon board display submodule: and the alarm photon board display submodule visually displays the alarm condition of the fully-arranged equipment in an interval mode.

5. The substation intelligent inspection robot monitoring system according to claim 4, wherein: the system adopts a multilayer B/S application system structure, and a presentation layer, a service layer and a database access layer are separated; the development of the application program adopts component type development management, so that the system is easier to manage, develop and maintain; the whole system is realized by adopting a springmvc + Hibernate + Spring architecture;

the presentation layer is realized by springmvc, Spring Web MVC is a lightweight Web framework based on Java and realizing a request-driven type of a Web MVC design pattern, namely, the idea of an MVC architecture pattern is used, the Web layer is subjected to responsibility decoupling, and a request-response model is used based on a request-driven finger; the front-end controller is a DispatcterServlet; the application controller is actually disassembled into a processor mapper (Handler Mapping) for processor management and a view parser (ViewResolver) for view management; the page Controller is a Controller interface; supporting localization (Locale) analysis, Theme (Theme) analysis and file uploading; very flexible data verification, formatting and data binding mechanisms are provided; contractual programming support of powerful contract larger than configuration is provided;

the service layer realizes the assembly association of service components by Spring, reduces the coupling degree between the service components by relying on injection, AOP application and interface-oriented programming, and enhances the compatibility and the expandability of the system;

and the business data access layer realizes the optimization of the access performance of the database and the common operation of interacting with the database by means of an ORM tool Hibernate, associates the database table with the object, converts the interaction of the data table by utilizing SQL into the database interaction directly aiming at the object, greatly improves the coding efficiency, and the common operation comprises addition, modification, deletion and browsing.

6. The substation intelligent inspection robot monitoring system according to claim 5, wherein: the display module is connected with the robot management module, the task management module, the real-time monitoring module, the inspection result confirmation module, the inspection result analysis module, the user setting module and the robot system debugging and maintaining module to display corresponding contents, and the pages displayed by the display module comprise a system navigation page, a robot remote control page, a robot management page, a main wiring diagram page, an interval display page, a task management page, a task display page, a state display page, an inspection result browsing page and a comparison analysis page.

7. The substation intelligent inspection robot monitoring system according to claim 6, wherein:

a title bar is arranged at the upper left of the system navigation page, and the contents including a home page, help, an exit shortcut jump connection icon and user login information are uniformly set from left to right; the left side of the system navigation page is a system navigation menu, and the navigation menu comprises: the method comprises the following steps of robot setting, task management, real-time monitoring, inspection result confirmation and user setting function menus; when the mouse moves into a certain function menu, displaying the sub-function menu link of the function menu on the rear side of the mouse, and jumping to a corresponding function page by clicking the link;

the robot remote control page displays a polling state, a polling map, a polling message, video monitoring and a control picture; the inspection state display content comprises the total number of inspection points, abnormal inspection points, current inspection points, inspected points, estimated inspection time and inspection progress; the patrol map is a Flash control, the patrolled route is displayed in blue, and the non-patrolled route is displayed in red; the inspection message picture comprises a real-time message printing function of real-time information, equipment alarm information and system alarm information; the control picture is arranged right below the video monitoring picture, and vehicle body control, cradle head control, voice talkback, sound recording, snapshot, video recording and playback function keys are provided in the control picture; the inspection state is displayed in a first screen area, the inspection map and the inspection message are displayed in a second screen area, the video monitoring and control picture is displayed in a third screen area, the first screen area is positioned at the upper part of the left side of the screen, the second screen area is positioned at the lower part of the left side of the screen, and the third screen area is positioned at the right side of the screen;

the robot management page is divided into a left part and a right part according to the application according to an upper layout format and a lower layout format; the left side comprises robot inspection state browsing, robot selection and inspection map display, and the right side comprises video monitoring; the lower half part of the page is used for displaying real-time information, equipment alarm information and system alarm information messages.

8. The substation intelligent inspection robot monitoring system according to claim 6, wherein:

dividing a page of the main wiring diagram into a plurality of areas according to voltage grades; a main area is arranged on a single picture, and a plurality of auxiliary areas are arranged as required; the area of the main area is not less than one fourth of the whole picture; one voltage class is used as a main voltage class and is arranged in a main picture area, and other voltage classes are respectively arranged in auxiliary picture areas according to actual requirements; the position, size, proportion, graph and labeled content of each area are respectively determined according to the requirements of users; main equipment of the same voltage class in the plant station are arranged at intervals according to actual field intervals, and are uniformly arranged by taking a bus of the voltage class to which the main equipment belongs as a center; minimum interval regulations are required to be met among the graphs, among the labels and among the graphs and the labels, and the clear boundary among the graphs and the labels and easy discrimination are ensured when the graphs and the labels are normally displayed in a full screen; the main wiring diagram page comprises an electric main wiring diagram and a label, wherein the diagram is primary system main equipment and a wiring mode thereof, and the contents comprise a transformer, a bus, a line, a switch, a knife switch, a mutual inductor, a capacitor, a reactor, a lightning arrester, a discharge gap, an arc suppression coil, a neutral point, a wave trap, a fuse and a connecting wire; the analog quantity, the state quantity and the relevant written description are marked as the belonged equipment, and the content of the analog quantity, the state quantity and the relevant written description comprises equipment naming, frequency, current, voltage, active power and reactive power, displacement signals, accident signals and working state signals of primary equipment and secondary equipment, and required auxiliary symbols and characters; drawing the equipment in the electrical main wiring graph in a partition mode according to the voltage level of the equipment; voltage grade color definition; marking the primary voltage levels of the alternating current equipment and the direct current equipment in the same electric main wiring by colors; specifying the color of each voltage grade, the background color and the power-off color; the sizes of the same devices in the electrical main wiring patterns are kept consistent, the devices are uniformly spaced, the devices are aligned with each other, and the connecting wires are prevented from crossing as much as possible; coloring the measured value, wherein the operation picture is colored according to the measured point attribute and the quality value; the method comprises the following steps of (1) carrying out charged coloring, wherein when the equipment is fully or partially charged, the graph is colored by the primary voltage level color of the equipment in working, and each component of the combined pattern is also colored according to the working voltage level of the component; when the equipment is not electrified, the equipment is marked by the power-off color;

the upper part and the lower part of the interval display page are laid out, and the left side of the upper part is provided with a keyword query input box and a query button; the left side of the lower part is the transformer substation interval voltage grade; the right side is interval information contained in the corresponding voltage level; reasonably dividing each layer area according to the number of intervals, and clearly subdividing and displaying each interval alarm summary light character board and indexes thereof in a table form; the interval display page displays alarm summary synthetic signals of all intervals in the total station in the form of optical character boards, an alarm summary indicator lamp is arranged at each interval and used for summarizing all accidents and alarm signals in each interval, when the routing inspection data exceeds an alarm threshold value formula, the interval alarm indicator lamps display corresponding colors, and when interval picture indexes are clicked, detailed alarm information of each interval can be checked.

9. The substation intelligent inspection robot monitoring system according to claim 8, wherein:

the task management page is divided into an upper area and a lower area according to the functional requirements; the upper half area is a filtering condition option and comprises a polling type, an equipment area, an equipment type, an identification type and a meter type; the filtering condition options are in check box check forms; the task management page is uniformly arranged between the upper area and the lower area, and a fuzzy query user can input keywords to query, store and reset buttons; the left side of the lower half area of the task management is provided with a point location tree, the point location tree is displayed according to the actual inspection point locations of the transformer substation, the inspection data states are divided into normal, early warning, general warning, serious warning and emergency warning, green is displayed in the normal state, blue is displayed in the early warning state, yellow is displayed in the general warning state, orange is displayed in the serious warning state, and red is displayed in the emergency warning state; the right side is provided with a task compiling list, and each task can be executed immediately or periodically;

the left side of the task display page is provided with a calendar control, the execution time and the task name of all issued tasks per month are displayed, and the color of a display font is changed according to the task state; the time can be selected above the calendar for inquiry, and information indicating the color expression of remarks is arranged below the calendar; task state and task time filtering options are arranged above the right side of the task display picture; the lower part of the right side displays the routing inspection task in a table form; task keyword fuzzy query, addition and deletion buttons are uniformly arranged on a task display picture; the task state comprises execution completion, midway suspension, execution, waiting execution and task expiration, wherein the green is displayed when the execution is completed, the brown is displayed when the midway suspension is performed, the red is displayed when the execution is performed, the blue is displayed when the execution is waited, and the yellow is displayed when the task is expired.

10. The substation intelligent inspection robot monitoring system according to claim 9, wherein:

the state display page is divided into a left part and a right part, and the left side displays the robot state, including the running state information of the robot, the communication state information and the module information of the robot; the right side displays the control state information of the robot, including environment state information and control state;

the inspection result browsing page is distributed according to a left area and a right area, the left side is displayed in an equipment tree form, inspection point positions are actually displayed according to a transformer substation, the inspection point positions of the equipment tree are divided into a normal state, an early warning state, a general warning state, a serious warning state and an emergency warning state, the inspection point positions are displayed in a green state in a normal state, the inspection point positions of the equipment tree are displayed in a blue state in an early warning state, the inspection point positions of the equipment tree are displayed in a yellow state in a general; the right side of the inspection result browsing page is divided into an upper area and a lower area; the top of the upper area is provided with time inquiry, reset and task export buttons, and the inspection result is displayed in a list form; the lower area is uniformly provided with functions of displaying acquired information, confirming by auditors and submitting the acquired information, wherein the acquired information comprises visible light and infrared pictures;

the comparative analysis picture is distributed according to a left area, a middle area and a right area, the left side is displayed in an equipment tree form, the inspection point positions of the equipment tree are actually displayed according to the transformer substation, the inspection point positions of the equipment tree are divided into a normal state, an early warning state, a general warning state, a serious warning state and an emergency warning state, the green state is displayed in the normal state, the blue state is displayed in the early warning state, the yellow state is displayed in the general warning state, the orange state is displayed in the serious warning state, and the red; uniformly providing time and collecting information filtering conditions at the top of the middle area of the comparative analysis picture, and uniformly setting query, reset and export buttons; selecting a single inspection point location through the equipment tree, inquiring conditions through a time period to filter historical information, and generating a corresponding historical curve below the point location to perform longitudinal comparison; the right side of the comparative analysis picture sequentially displays the collected information of the selected point positions in a grid form, and the top of the right side is uniformly provided with four-grid, six-grid and nine-grid radio boxes for the user to select.

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