CN107942882A - A kind of substation's Indoor Monitoring System and method - Google Patents
A kind of substation's Indoor Monitoring System and method Download PDFInfo
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- CN107942882A CN107942882A CN201711380037.1A CN201711380037A CN107942882A CN 107942882 A CN107942882 A CN 107942882A CN 201711380037 A CN201711380037 A CN 201711380037A CN 107942882 A CN107942882 A CN 107942882A
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- robot
- substation
- monitoring system
- track
- control platform
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
A kind of substation's Indoor Monitoring System provided in an embodiment of the present invention and method, belong to electrical substation monitoring apparatus field.Substation's Indoor Monitoring System is applied in a substation, and the monitoring system is in orbit by the way that robot suspension is set so that the robot can move on the track, by the way that control platform is connected with the robot；So that the control platform controls the robot to move on the track, and it is gather acquisition by receiving at least one collecting device set in the robot in the robot on the track moving process with least one relevant at least one acquisition parameter of transformer equipment；And the current operating conditions of the substation are obtained based at least one acquisition parameter.
Description
Technical field
The present invention relates to electrical substation monitoring apparatus field, in particular to a kind of substation's Indoor Monitoring System and side
Method.
Background technology
With the propulsion of modernization, urbanization is fast-developing, and substation is during the steady electricity consumption of resident is ensured
Play extremely positive effect.It is most in power grid at present to use substation's operation maintenance personnel under the continuous propulsion of automatic technology
The operation management pattern of a small number of substations is concentrated, most substations are unattended pattern；Provided according to related management, substation
Switch gear room and the small indoor first and second equipment implementation cycle inspection system of relay protection, the inspection pattern are largely consuming manpower, thing
While power, it can not still accomplish to equipment operating environment and real-time security monitoring.Therefore, in the prior art to equipment operating environment
It is monitored that there are inefficiency, the technical problem of real-time difference with safety.
The content of the invention
It is an object of the invention to provide a kind of substation's Indoor Monitoring System and method, it can improve above-mentioned technology and ask
Topic.
What the embodiment of the present invention was realized in：
It is described applied in a substation in a first aspect, the embodiment of the present invention provides a kind of substation's Indoor Monitoring System
Substation includes the building with the interior space, is mounted at least one transformer equipment of the constructure ground；And
Being mounted on the track with ground opposing top, the monitoring system in the building includes：One robot, suspension are set
On the track, the robot can move on the track, and at least one collection is provided with the robot and is set
It is standby；Control platform, by being connected with the robot；The control platform is used to control the robot to move on the track
It is dynamic, and for being gathered by receiving at least one collecting device in the robot on the track moving process
Obtain with least one relevant at least one acquisition parameter of transformer equipment；And at least one being adopted based on described
Collect the current operating conditions of substation described in gain of parameter.
Alternatively, hyperbaric chamber is included in the building, including：Battery limits, neighbouring with the battery limits first reserves
Area, switchgear area, the second neighbouring trough with the switchgear area, at least one transformer equipment include：It is arranged on institute
State at least one high-tension transformation equipment of battery limits；It is arranged on the switchgear in the switchgear area.
Alternatively, the robot further includes：Industrial personal computer, at least one collecting device include：Partial discharge detection instrument, is used
Obtained in detection and be used to characterize switch cabinet parameter of the switchgear with the presence or absence of partial discharge phenomenon；HD video camera, is used for
Detection obtains the indoor at least frame high-definition image of high pressure.
Alternatively, the robot further includes：Thermal infrared imager, for detecting specified point or whole in the interior space
At least one Current Temperatures of at least one transformer equipment connector of point, judge to state at least one Current Temperatures in the industrial personal computer
In when thering are the Current Temperatures to exceed design temperature, generate and export audible ringing signal or visual alarm.
Alternatively, the monitoring system further includes：The wireless hub being arranged in the building, by Ethernet with
The industrial personal computer, the partial discharge detection instrument and HD video camera connection；At least one be arranged in the building
A wireless router, the WLAN in the hyperbaric chamber is covered with wireless hub composition.
Alternatively, the robot further includes servo-drive system, and the control platform is used to run road based on default robot
Footpath generates and sends multiple control instructions to the servo-drive system, and the servo-drive system is used to receive and perform the multiple control
Instruction, to control the robot to be moved on the track according to the default robot operating path.
Alternatively, the industrial personal computer is determining between the robot and the control platform broken communication connection or from institute
State control platform reception the corresponding multiple messages of the multiple control instruction it is abnormal when, generate and outputting alarm information or early warning
Information；The control platform is generated and sent when detecting the warning information of the robot or the warning information
Warning message.
Alternatively, the robot further includes：Self-test unit, is connected with the industrial personal computer, and the self-test unit includes：Electricity
Source monitoring chip, for gathering the present battery information of battery in the robot in real time, and the industrial personal computer being sent to；Electricity
Machine drive module, is connected with the motor in the servo-drive system, for gathering the current driving condition of the motor in real time；Communication
Monitoring module, for detecting the present communications parameter between the robot and the control platform in real time；Collecting device monitors
Module, for detecting the current operating conditions of the partial discharge detection instrument and the HD video camera in real time.
Alternatively, the HD video camera is used to shoot the instrument region for obtaining at least one transformer equipment at least
One frame instrument area image；The industrial personal computer is used to carry out image recognition to an at least frame instrument area image, obtains simultaneously
At least one current meter is counted, at least one current LED status and/or at least one thrown when front pressuring plate move back state biography
It is defeated by the control platform.
Second aspect, the embodiment of the present invention provide substation Indoor Video method, applied to the monitoring system of a substation,
The substation includes the building with the interior space, and at least one power transformation for being mounted on the constructure ground is set
It is standby；And the track in the building with ground opposing top is mounted on, the monitoring system includes：One robot, hangs
Hang and put on the track, the robot can move on the track, be provided with the robot at least one
Collecting device；Control platform, by being connected with the robot, the described method includes：The control platform controls the machine
People moves on the track；The control platform receives at least one collecting device in the robot in the track
During upper movement collection obtain with least one relevant at least one acquisition parameter of transformer equipment；The control is flat
Stylobate obtains the current operating conditions of the substation at least one acquisition parameter.
A kind of substation's Indoor Monitoring System provided in an embodiment of the present invention, substation's Indoor Monitoring System is by by one
Robot suspension sets in orbit so that the robot can move on the track, by by control platform and institute
State robot connection；So that staff controls the robot to move on the track by the control platform,
And gathered in moving process by receiving at least one collecting device set in the robot and obtained on the track
With the relevant at least one acquisition parameter of at least one transformer equipment；So as to pass through at least one collection ginseng gathered
Number obtains the current operating conditions of the substation.As it can be seen that in technical solution provided in an embodiment of the present invention, control can be passed through
Platform courses robot processed moves in orbit, and in moving process, the parameter of control robot collection transformer equipment, and then
The current operating conditions of substation can be determined by the parameter of collection, such as：Normally, abnormal etc., further control is flat
Platform can export current operating conditions on the output equipment in substation, or current operating conditions are sent to the pipe of distal end
Equipment is managed, so that power department understands power supply unit operation and environmental aspect in time, and then efficiently solves the prior art
In to equipment operating environment and safety be monitored there are inefficiency, the technical problem of real-time difference, realizes real-time high-efficiency
And the technique effect being monitored automatically to operation environment of substation equipment and safely, it can be provided directly, just to power consumption management
The technical support of profit, is Electric Power Network Planning, power scheduling, Power marketing management, marketing service level, power utility check, electrical energy measurement
Management etc. provides the analysis foundation of science.
To enable the above-mentioned purpose of the embodiment of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly,
And attached drawing appended by coordinating, it is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of high-level schematic functional block diagram for substation's Indoor Monitoring System that first embodiment of the invention provides；
Fig. 2 is a kind of high-level schematic functional block diagram for substation's Indoor Monitoring System that second embodiment of the invention provides；
Fig. 3 is a kind of high-level schematic functional block diagram for substation's Indoor Monitoring System that third embodiment of the invention provides；
Fig. 4 is a kind of high-level schematic functional block diagram of robot in substation's Indoor Monitoring System shown in Fig. 1；
Fig. 5 is the high-level schematic functional block diagram of another robot in substation's Indoor Monitoring System shown in Fig. 1；
Fig. 6 is the schematic diagram of the thermal infrared imager acquired image in the robot shown in Fig. 5；
Fig. 7 is self-test unit, the high-level schematic functional block diagram of industrial personal computer and collecting device in the robot shown in Fig. 5；
Fig. 8 is a kind of flow chart for substation's Indoor Video method that fourth embodiment of the invention provides；
Fig. 9 is a kind of flow chart for substation's Indoor Video method that fifth embodiment of the invention provides.
Icon：100- robots；110- collecting devices；111- partial discharge detection instrument；112- HD video cameras；
120- industrial personal computers；130- thermal infrared imagers；140- servo-drive systems；150- self-test units；151- power monitoring chips；
152- motor drive modules；153- communication monitoring modules；154- collecting device monitoring modules；10- substations Indoor Video
System；200- control platforms；40- substations Indoor Monitoring System；400- wireless hubs；410- wireless routers；
50- substations Indoor Monitoring System；500- remote controls backstage.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention implementation being usually described and illustrated herein in the accompanying drawings
The component of example can be arranged and designed with a variety of configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this area is common
Technical staff's all other embodiments obtained without creative efforts, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, or should
Invention product using when the orientation usually put or position relationship, be for only for ease of the description present invention and simplify description, without
It is instruction or implies that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and cannot manage
Solve to indicate or implying relative importance.
In addition, the term such as term " level ", " vertical ", " pendency " is not offered as requiring component abswolute level or pendency, and
It is to be slightly tilted.Such as " level " only refers to that its direction is more horizontal with respect to for " vertical ", is not to represent the structure
Have to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
First embodiment
Fig. 1 is refer to, the embodiment of the present invention provides a kind of substation's Indoor Monitoring System 10, substation's Indoor Video
System 10 is applied in a substation, and the substation includes the building with the interior space, is mounted on the building
At least one transformer equipment on thing ground；And it is mounted on the track in the building with ground opposing top.The change
Power station Indoor Monitoring System 10 includes robot 100 and control platform 200.
In embodiments of the present invention, the robot 100 is connected with the control platform 200.Wherein, the robot
100 and the control platform 200 can be wired connection or wireless connection, if in order to make layout more reasonable, reduce
The line that wired connection is brought is complicated and the problem of making space in disorder, the application person of ordinary skill in the field can make institute
Robot 100 and 200 wireless connection of control platform are stated, to carry out wireless communication.
In embodiments of the present invention, the suspension of robot 100 is set on the track, and the robot 100 can
Move on the track.
In embodiments of the present invention, at least one collecting device 110 is provided with the robot 100, the collection is set
Standby 110 are used to gather setting with least one power transformation for acquisition in the robot 100 on the track moving process
Standby relevant at least one acquisition parameter, so as to be put down with the control being arranged in the building that the robot 100 is connected
Platform can obtain the current operating conditions of the substation based at least one acquisition parameter.As it can be seen that implement in the present invention
In the technical solution that example provides, by control platform 200 robot 100 can be controlled to move in orbit, and in moving process
In, control robot 100 gathers the parameter of transformer equipment, and then the current operation of substation can be determined by the parameter of collection
State, such as：Normally, abnormal etc., further control platform 200 can be by output of the current operating conditions in substation
Exported in equipment, or current operating conditions are sent to the management equipment of distal end, so that power department understands power supply in time
Equipment is run and environmental aspect, and then efficiently solves and equipment operating environment and safety are monitored in the presence of effect in the prior art
Rate is low, the technical problem of real-time difference, realizes real-time high-efficiency and operation environment of substation equipment and safety are carried out automatically
The technique effect of monitoring, can provide direct, convenient technical support to power consumption management, be Electric Power Network Planning, power scheduling, electricity consumption
Marketing management, marketing service level, power utility check, electric energy measuring management etc. provide the analysis of science according to for example, the collection
Parameter can be the electric power number of degrees shown by the power supply unit in substation.
In embodiments of the present invention, hyperbaric chamber is included in the building, the hyperbaric chamber includes：Battery limits, it is and described
The first neighbouring trough of battery limits, switchgear area, the second neighbouring trough with the switchgear area, at least one change
Electric equipment includes：It is arranged at least one high-tension transformation equipment of the battery limits；It is arranged on the switchgear in the switchgear area.
In practice, the size and shape of battery limits, the first trough, switchgear area and the second trough can be according to the reality in hyperbaric chamber
Border size and shape determines that, when hyperbaric chamber space is smaller, the area of the first trough and the second trough can be smaller,
During the smaller of hyperbaric chamber space, it might even be possible to do not delineate the first trough and/or the second trough.
In embodiments of the present invention, the control platform 200 is used to send control instruction to the robot 100 and receives
The data that the robot 100 is returned, carry out in fact the power supply unit in substation so as to be realized by the robot 100
When monitor.In actual use, control instruction can be the mobile control instruction for controlling robot 100 to be moved, can also
It is the stopping control instruction or 100 at least one collecting device of control robot for controlling robot 100 to stop movement
The 110 acquisition control instructions to work.Here, the embodiment of the present application just differs and one schematically illustrates.
In embodiments of the present invention, the control platform 200 can be server or a computer equipment,
Or combined by the equipment that multiple servers and/or multiple stage computers equipment form, specifically, first way, in substation
Transformer equipment quantity is big, it is necessary to when the data collected and handled are especially big, and the mode of equipment combination can be utilized to build control and put down
Platform 200；The second way, substation transformer equipment negligible amounts or seldom, it is necessary to the data collecting and handle seldom or
When less, control platform 200 can be used as with a server or computer equipment, in short, the application technical field
Technical staff can according to demand and cost, to select first way or the second way.
In embodiments of the present invention, substation's Indoor Monitoring System 10 has autonomous patrol mode and remote control inspection mould
Formula.Here, it is not especially limited.Wherein, the autonomous patrol mode and remote control patrol mode can free seamless switching, and switching
Response speed should be less than 0.1s, and in handoff procedure, significant change does not occur for 100 inspection state of robot and inspection posture.
For example, the robot 100 can also be timed inspection, inspection or the interim inspection of appointed task etc. are a variety of patrols for fixed point
Procuratorial organ's formula.Wherein, the fixed point inspection can carry out automatic uniform speed according to preassigned path and the inspection specified target point
Inspection, it is only necessary to set polling path and starting automatic detecting can make robot be automatically performed an inspection.During inspection
100 every inspection operating positions of robot, can automatic accurate parking detection, finish after default action according still further to path from
Move and advance toward next inspection target point, and manual operation control is not required, complete inspection operation, and record automatically and preserve institute
The data collected.
Wherein, the timing inspection refers to robot 100 in preset time period, and robot 100 can be along setting in advance
Track is maked an inspection tour automatically, after accurately being stopped according to the place originally set, equipment to be checked is detected automatically, all detections
After the completion of automatically return to starting point, for example, the starting point can be default charge point, so that robot 100 carries out independently
Charging.
The specified point inspection refers to that robot 100 is detected in the detection zone according to set by staff, machine
Device people 100 can cook up optimal path, autonomous operation to target point according to current location and target point.For example, staff refers to
Determine robot 100 and carry out inspection in A areas, and initial position is a, target location b, then robot 100 is according to pre-setting
Map cook up optimal path from a to b, so as to carry out inspection.
Wherein, the remote control inspection refers to that staff can be remotely controlled robot by equipment such as mouse, keyboards
100, so that robot 100 departs from route set in advance, drive to the designated position for meeting 100 working environment of robot.Always
It, the application person of ordinary skill in the field can be realized to the machine to select to input suitable equipment according to demand
Device people 100 is remotely controlled.
In embodiments of the present invention, the inspection of power transformation station equipment is independently completed by using robot 100, so as to pass through
The data that robot 100 is gathered during inspection carry out data analysis, and then equipment work can be provided for staff
State, such as：Normally, it is abnormal etc.；And the foreseeability of equipment is improved by history curve, such as：By line chart or
It is curve map to be predicted, valid data is provided and are supported for repair based on condition of component or status assessment, such as：Break down at the A moment,
It is normal etc. at the B moment, so as to reduce the generation of accident；And inspection is carried out in power transformation station equipment by robot 100 so that
Inspection is gone in person without staff, so as to efficiently reduce number of the staff close to charging equipment, and then is ensured
The safety of staff；Meanwhile innovative technology for detection means can be provided for the popularization and application of substation, improve
The reliable and stable operation level of power distribution room.
Second embodiment
Fig. 2 is refer to, the embodiment of the present invention provides a kind of substation's Indoor Monitoring System 40, its change with first embodiment
Power station Indoor Monitoring System 20 is roughly the same, the two difference lies in the embodiment of the present invention substation's Indoor Monitoring System 40 also
Including the wireless hub 400 and wireless router 410 being arranged in the building.
The quantity of the wireless hub 400 can be one or multiple, here, being not especially limited.Example
Such as, when substation is larger, when robot 100 needs the scope of inspection especially big, the nothing can be increased according to being actually needed
The quantity of line hub 400 so that LAN can be covered in whole transformer station, so that no matter robot 100 is in substation
Interior any position, can receive the control instruction transmitted by control platform 200.And for example, when substation is smaller, machine
When people 100 needs the smaller scope of inspection or very little, then the scope of LAN covering is then smaller, then the wireless hub needed
400 quantity may be less.In short, the application person of ordinary skill in the field can according to demand and cost, to select
Select the quantity of wireless hub 400.
In embodiments of the present invention, the wireless hub 400 is connected by Ethernet with the robot 100.
In embodiments of the present invention, the wireless router 410 is arranged in the building, the wireless router
410 quantity can be one or multiple, here, being not especially limited.For example, when substation is larger, robot
100 need inspection scope it is especially big when, then the scope of LAN covering is then larger, can increase the nothing according to being actually needed
The quantity of line router 410 so that LAN can be covered in whole transformer station, so that no matter robot 100 is in substation
Interior any position, can receive the control instruction transmitted by control platform 200.And for example, when substation is smaller, machine
When people 100 needs the smaller scope of inspection or very little, then the scope of LAN covering is then smaller, then the wireless router needed
410 quantity may be less.In short, the application person of ordinary skill in the field can according to demand and cost, to select
Select the quantity of wireless router 410.
In embodiments of the present invention, the wireless router 410 covers the high pressure with the wireless hub 400 composition
The WLAN of room.So that wireless signal can non-blind area covering so that no matter the robot 100 is in indoor of high pressure
What corner can carry out wireless communication by the WLAN and the control platform 200, to carry out the interaction of data,
So that the control platform sends control instruction by Wi-Fi either receives the machine to the robot 100
The data that people 100 is returned.And coordinate qos feature, to realize that the robot 100 is real to Various types of data such as video, audios
When transmitting.
3rd embodiment
Fig. 3 is refer to, the embodiment of the present invention provides a kind of substation's Indoor Monitoring System 50, its change with second embodiment
Power station Indoor Monitoring System 40 is roughly the same, the two difference lies in the embodiment of the present invention substation's Indoor Monitoring System 50 also
Including remote control backstage 500.
The remote control backstage 500 is connected by network with the control platform 200.The remote control backstage 500
For receiving at least one acquisition parameter and/or the current operation transmitted by the control platform 200 by the network
State is sent to；And the remote control backstage 500 is additionally operable to send remote control commands to the control by the network
Platform 200 processed, so that the remote control commands are sent to the robot 100 by the control platform 200 by network.Example
Such as, remote worker have sent the finger of the temperature of the equipment in a detection substation by remote control backstage 500
When making, the remote control backstage 500 is sent described instruction to the control platform 200, the control platform by network
After 200 receive described instruction, then described instruction is forwarded to by the robot 100 by network, so that the robot 100
Described instruction is performed, so as to fulfill remote operation.So that staff to scene without can just control the robot
100 perform command adapted thereto.
In embodiments of the present invention, the remote control backstage 500 can be server or a computer is set
It is standby, or combined by the equipment that multiple servers and/or multiple stage computers equipment form, specifically, first way, in substation
Quantity it is more or many when, it is necessary to when the data collected and handled are especially big, the mode of equipment combination can be utilized to build far
Journey collection control backstage 500；The second way, substation negligible amounts or it is seldom when, it is necessary to which the data collected and handled are few
Or when less, remote control backstage 500 can be used as with a server or computer equipment, in short, the affiliated technology of the application
The technical staff in field can according to demand and cost, to select first way or the second way.
Fig. 4 is refer to, in embodiments of the present invention, the collecting device 110 includes partial discharge detection instrument 111 and HD video
Camera 112.
In embodiments of the present invention, the partial discharge detection instrument 111 is electrically connected with the industrial personal computer 120, the partial discharge detection
Instrument 111 is connected by Ethernet with wireless hub 400.
Wherein, the partial discharge detection instrument 111 is used to detect to obtain whether there is partial discharge phenomenon for characterizing the switchgear
Switch cabinet parameter.For example, the switch cabinet parameter can be temperature value or color value etc., here, not limiting specifically
It is fixed.
In embodiments of the present invention, by the ground electric wave detection technique of the partial discharge detection instrument 111, and analysis office is passed through
Portion's discharge signal amplitude and collection of illustrative plates so that user can effectively have found the shelf depreciation situation of inside switch cabinet, so that assessment equipment
Built-in electrical insulation degradation, the decision-making foundation of science is provided for the State Maintenance of equipment.For example, transient earth voltage can be shown currently
Test signal amplitude, umber of pulse and the order of severity and amplitude variation tendency, and indicate the order of severity discharged with multiple color.
In embodiments of the present invention, the HD video camera 112 is electrically connected with the industrial personal computer 120, the high definition
Video camera 112 is connected by Ethernet with wireless hub 400.
The HD video camera 112, which is used to detect, obtains the indoor at least frame high-definition image of high pressure.In reality
Border is in use, the HD video camera 112 can be according to the control instruction collection respective numbers that control platform 200 is sent
High-definition image or video etc..In short, the application person of ordinary skill in the field can control the high definition to regard according to demand
Frequency camera 112 gathers the indoor image of high pressure.
In embodiments of the present invention, the HD video camera 112 is additionally operable to shooting and obtains at least one transformer equipment
Instrument region an at least frame instrument area image；So that the industrial personal computer 120 is to an at least frame instrument area image
Image recognition is carried out, obtains and simultaneously counts at least one current meter, at least one currently LED status and/or at least one
Thrown when front pressuring plate and move back state transfer to the control platform 200.Allow users to obtain in real time by the control platform 200
The real-time dynamic of transformer equipment, such as：Normally, abnormal etc., further control platform 200 can exist current operating conditions
Exported on output equipment in substation, or current operating conditions are sent to the remote control backstage 500 of distal end, so that
Power department understands power supply unit operation and environmental aspect in time, and then efficiently solves in the prior art to equipment operating environment
It is monitored with safety there are inefficiency, the technical problem of real-time difference, realizes real-time high-efficiency and substation is set automatically
Standby running environment and the technique effect being monitored safely.
The robot 100 further includes：Industrial personal computer 120.
Wherein, the collecting device 110 is arranged in the robot 100, the collecting device 110 and the industrial personal computer
120 are electrically connected.
In embodiments of the present invention, the collecting device 110 is used to be moved through on the track in the robot 100
In journey collection obtain with least one relevant at least one acquisition parameter of transformer equipment so that with the robot
The control platform 200 being arranged in the building of 100 connections can be based on described at least one acquisition parameter acquisition
The current operating conditions of substation, such as：Normally, it is abnormal etc., further it can also enable control platform 200 ought
Preceding operating status exports on the output equipment in substation, or current operating conditions are sent to the remote control backstage of distal end
500 so that power department understand in time power supply unit operation and environmental aspect, and then efficiently solve it is right in the prior art
Equipment operating environment and safety be monitored there are inefficiency, the technical problem of real-time difference, realize real-time high-efficiency and oneself
The dynamic technique effect being monitored to operation environment of substation equipment and safely, can provide directly, easily to power consumption management
Technical support, is Electric Power Network Planning, power scheduling, Power marketing management, marketing service level, power utility check, electric energy measuring management
Deng the analysis foundation of offer science.
In embodiments of the present invention, the industrial personal computer 120 is arranged in the robot 100, and the industrial personal computer 120 passes through
Ethernet is connected with wireless hub 400.For example, the industrial personal computer 120 can be arranged in 100 body of robot, also may be used
It is external to be arranged on the robot 100.For example, when the industrial personal computer 120 be arranged on the robot 100 it is external when, it is described
Industrial personal computer 120 can be detachably connected with the robot 100 or the industrial personal computer 120 and the robot 100 are solid
Fixed connection, is such as integrally formed or is fixedly connected by welding.Here, it is not especially limited.
Fig. 5 is refer to, the robot 100 further includes thermal infrared imager 130, servo-drive system 140 and self-test unit 150.
In embodiments of the present invention, the thermal infrared imager 130 is arranged in the robot 100.It is for example, described infrared
Thermal imaging system 130 can be arranged on the eyes of the robot 100, or is provided in the external any of the robot 100
Position, here, being not especially limited.
In embodiments of the present invention, the thermal infrared imager 130 is electrically connected with the industrial personal computer 120.
In embodiments of the present invention, the thermal infrared imager 130 is used to detect specified point or whole in the interior space
At least one Current Temperatures of at least one transformer equipment connector of point, and the temperature is sent to the industrial personal computer 120, with
When making the industrial personal computer 120 judge to have at least one Current Temperatures the Current Temperatures exceed design temperature, generate and export
Audible ringing signal or visual alarm.So that staff is after 100 output alarm signal of robot is received, can be quick
Reach the position of fault to check on the spot, and take corresponding measure.So as to significantly reduce the incidence of security incident.Actually make
In, staff can adjust the high temperature alarm limiting value of robot 100 according to the actual conditions in different places in substation, with
Applied to different site requirements, so as to try to avert accidents, life danger is caused.Meanwhile by by high temperature alarm limiting value
Store in database, accident treatment that can be for after provides foundation.For example, as shown in fig. 6, robot 100 is by described
Thermal infrared imager 130 gathers the image of the equipment in switchgear, so that real-time display gathers Temperature Distribution in image and most
The temperature value of high point.So that when tested measurement equipment exceedes set temperature value, robot can automatic sound-light alarm so that
Staff can rapidly rush to the position of fault and be checked on the spot, and take corresponding measure.
In embodiments of the present invention, the servo-drive system 140 is arranged in the robot 100.Wherein, the servo system
System 140 is used for the multiple control instructions for receiving and performing the transmission of control platform 200, to control the robot 100 in the rail
Moved on road according to default robot operating path.And enable staff to combine site environment and safety standard, protect
Demonstrate,prove robot 100 and the safe distance of operational outfit.
In embodiments of the present invention, the self-test unit 150 is arranged in the robot 100.The self-test unit 150
It is connected with the industrial personal computer 120.
Fig. 7 is refer to, in embodiments of the present invention, the self-test unit 150 includes：Power monitoring chip 151, motor drive
Dynamic model block 152, communication monitoring module 153 and collecting device monitoring module 154.
The power monitoring chip 151 is electrically connected with the industrial personal computer 120.
In embodiments of the present invention, the power monitoring chip 151 is used to gather battery in the robot 100 in real time
Present battery information, and the industrial personal computer 120 being sent to.For example, power monitoring chip 151 can use TI specialties battery electricity
Monitoring chip is measured, the battery capacity, voltage, current data of the robot 100 collected in real time are uploaded to the industrial personal computer
120, when the industrial personal computer 120 judge the battery capacity that the power monitoring chip 151 is gathered is too low, cell voltage is too low,
When cell voltage is unstable, battery current is excessive, battery current extreme is unstable, the robot 100 will wait on the spot
It is to be instructed and upload fault message to control platform 200.In short, the application person of ordinary skill in the field can be according to need
Summation cost, to select the power monitoring chip 151 using which kind of model or brand.
Motor drive module 152 is connected with the motor in the servo-drive system 140.Wherein, the motor drive module 152
For gathering the current driving condition of the motor in real time.For example, the motor drive module 152 can use U.S. copley
Motor drive module, so as to be driven the motor monitored in real time in the servo-drive system 140 by the motor drive module 152
State, when there is under-voltage, overcurrent, excess temperature when abnormal conditions, robot 100 is by site instructions and uploads fault message to control
Platform 200.In short, the application person of ordinary skill in the field can according to demand and cost, to select which kind of type used
Number or brand motor drive module 152.
Communication monitoring module 153 is electrically connected with the industrial personal computer 120.Wherein, the communication monitoring module 153 is used for real-time
Detect the present communications parameter between the robot 100 and the control platform.For example, the communication monitoring module 153 can
With using can communications, 485 communications, wifi communications etc. so that when obstruction, dropout, mass data mistake occurs in above-mentioned communication
Etc. under abnormal conditions, robot 100 is by site instructions and uploads fault message to control platform 200.In short, the affiliated skill of the application
The technical staff in art field can according to demand and cost, to select using which kind of communication.
Collecting device monitoring module 154 is electrically connected with the partial discharge detection instrument 111 and the HD video camera 112 respectively
Connect, the collecting device monitoring module 154 is also electrically connected with the industrial personal computer 120.Wherein, the collecting device monitoring module
154 current operating conditions for detecting the partial discharge detection instrument 111 and the HD video camera 112 in real time.So as to work as
The partial discharge detection instrument 111 and the HD video camera 112 occur it is abnormal and can not self- recoverage when, collecting device monitoring mould
The then starting protection measure of block 154, and site instructions upload fault message to control platform 200.In short, the affiliated technology neck of the application
The technical staff in domain can according to demand and cost, to select the collecting device monitoring module 154 using which kind of model or brand.
Fourth embodiment
Fig. 8 is refer to, is a kind of flow chart of substation's Indoor Video method provided in an embodiment of the present invention.The power transformation
Indoor Video method of standing is applied to the monitoring system of a substation, and the substation includes the building with the interior space, peace
Dress is arranged at least one transformer equipment of the constructure ground；And it is mounted on top opposite with ground in the building
The track in face, the monitoring system include：One robot, suspension are set on the track, and the robot can be described
Moved on track, at least one collecting device is provided with the robot；Control platform, by being connected with the robot.
The idiographic flow shown in Fig. 8 will be described in detail below.
Step S101, the control platform control the robot to move on the track.
As a kind of embodiment, the robot further includes servo-drive system, and the control platform is based on default robot
Operating path generates and sends multiple control instructions to the servo-drive system, so that the servo-drive system is by receiving and performing institute
Multiple control instructions are stated, control the robot to be moved on the track according to the default robot operating path.In reality
Border is in use, control instruction can be the mobile control instruction for controlling robot to be moved or control robot to stop
The stopping control instruction only moving.Here, the embodiment of the present application just differs and one schematically illustrates.
Step S102, the control platform receive at least one collecting device in the robot on the track
In moving process collection obtain with least one relevant at least one acquisition parameter of transformer equipment.
In the present embodiment, the acquisition parameter can be switch cabinet parameter.For example, the switch cabinet parameter can be temperature
Angle value or color value etc., here, being not especially limited.Can also be the indoor at least frame high-definition image of high pressure, again
An either at least frame instrument area image in the instrument region of transformer equipment.A citing here, the embodiment of the present application just differs
.
Step S103, the control platform obtain the current operation of the substation based at least one acquisition parameter
State.
Wherein, the operating status can be normal or abnormal.
5th embodiment
Fig. 9 is refer to, is a kind of flow chart of substation's Indoor Video method provided in an embodiment of the present invention.The power transformation
Indoor Video method of standing is applied to the monitoring system of a substation, and the substation includes the building with the interior space, peace
Dress is arranged at least one transformer equipment of the constructure ground；And it is mounted on top opposite with ground in the building
The track in face, the monitoring system include：One robot, suspension are set on the track, and the robot can be described
Moved on track, at least one collecting device is provided with the robot；Control platform, by being connected with the robot.
The idiographic flow shown in Fig. 9 will be described in detail below.
Step S201, the control platform control the robot to move on the track.
Step S202, the control platform receive at least one collecting device in the robot on the track
In moving process collection obtain with least one relevant at least one acquisition parameter of transformer equipment.
Step S203, the control platform obtain the current operation of the substation based at least one acquisition parameter
State.
Step S204, the control platform pass through network connection to remote control backstage.
Step S205, the control platform are used at least one acquisition parameter and/or described by the network
Current operating conditions are sent to the remote control backstage；And/or the control platform is remotely collected by the network from described
Control backstage receives remote control commands, and the remote control commands are sent to the robot by network.
In conclusion the present invention provides a kind of substation's Indoor Monitoring System, substation's Indoor Monitoring System pass through by
The suspension of one robot sets in orbit so that the robot can move on the track, by by control platform with
The robot connection；So that staff controls the robot to move on the track by the control platform
It is dynamic, and gathered in moving process by receiving at least one collecting device set in the robot and obtained on the track
With the relevant at least one acquisition parameter of at least one transformer equipment；So as to pass through at least one collection gathered
The current operating conditions of substation described in gain of parameter.As it can be seen that in technical solution provided in an embodiment of the present invention, can pass through
Control platform control robot moves in orbit, and in moving process, the parameter of control robot collection transformer equipment, into
And the current operating conditions of substation can be determined by the parameter of collection, such as：Normally, it is abnormal etc., further control
Platform can export current operating conditions on the output equipment in substation, or current operating conditions are sent to distal end
Management equipment, so that power department understands power supply unit operation and environmental aspect in time, and then efficiently solves existing skill
Equipment operating environment and safety are monitored there are inefficiency in art, the technical problem of real-time difference, realizes real-time height
Effect and the technique effect being monitored automatically to operation environment of substation equipment and safely, can be provided to power consumption management it is direct,
Convenient technical support, is Electric Power Network Planning, power scheduling, Power marketing management, marketing service level, power utility check, electric energy meter
Buret reason etc. provides the analysis foundation of science.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of substation's Indoor Monitoring System, applied in a substation, it is characterised in that the substation includes having room
The building in interior space, is mounted at least one transformer equipment of the constructure ground；And it is mounted on described build
Building the track with ground opposing top, the monitoring system in thing includes：
One robot, suspension are set on the track, and the robot can move on the track, in the robot
It is provided with least one collecting device；
Control platform, by being connected with the robot；
The control platform is used to control the robot to move on the track, and for by least one described in reception
A collecting device gathered in the robot on the track moving process obtain with least one transformer equipment
Relevant at least one acquisition parameter；And for obtaining the current fortune of the substation based at least one acquisition parameter
Row state.
2. monitoring system as claimed in claim 1, it is characterised in that include hyperbaric chamber in the building, including：Equipment
Area, first trough neighbouring with the battery limits, switchgear area, the second neighbouring trough, described with the switchgear area
At least one transformer equipment includes：It is arranged at least one high-tension transformation equipment of the battery limits；It is arranged on the switchgear
The switchgear in area.
3. monitoring system as claimed in claim 2, it is characterised in that the robot further includes：Industrial personal computer, described at least one
A collecting device includes：Partial discharge detection instrument, is used to characterize the switchgear opening with the presence or absence of partial discharge phenomenon for detecting to obtain
Close cabinet parameter；HD video camera, the indoor at least frame high-definition image of high pressure is obtained for detecting.
4. monitoring system as claimed in claim 3, it is characterised in that the robot further includes：Thermal infrared imager, for examining
At least one Current Temperatures of at least one transformer equipment connector surveyed specified point in the interior space or all put, described
Industrial personal computer judges to state when having the Current Temperatures to exceed design temperature at least one Current Temperatures, generates and exports audible ringing signal
Or visual alarm.
5. monitoring system as claimed in claim 4, it is characterised in that the monitoring system further includes：It is arranged on the building
Wireless hub in thing, is connected by the Ethernet and industrial personal computer, the partial discharge detection instrument and HD video camera
Connect；At least one wireless router being arranged in the building, the hyperbaric chamber is covered with wireless hub composition
WLAN.
6. monitoring system as claimed in claim 5, it is characterised in that the robot further includes servo-drive system, the control
Platform is used for based on the operating path generation of default robot and sends multiple control instructions, the servo system to the servo-drive system
System is used to receive and perform the multiple control instruction, to control the robot on the track according to the default machine
People's operating path moves.
7. monitoring system as claimed in claim 6, it is characterised in that the industrial personal computer is in the definite robot and the control
Broken communication connection or the corresponding multiple messages of the multiple control instruction received from the control platform are different between platform processed
Chang Shi, generates simultaneously outputting alarm information or warning information；The control platform is believed in the alarm for detecting the robot
When breath or the warning information, simultaneously alert is generated.
8. the monitoring system as described in any claim in claim 6-7, it is characterised in that the robot further includes：Self-test
Unit, is connected with the industrial personal computer, and the self-test unit includes：Power monitoring chip, for gathering in real time in the robot
The present battery information of battery, and the industrial personal computer being sent to；Motor in motor drive module, with the servo-drive system connects
Connect, for gathering the current driving condition of the motor in real time；Communication monitoring module, for detecting the robot and institute in real time
State the present communications parameter between control platform；Collecting device monitoring module, for detecting the partial discharge detection instrument and institute in real time
State the current operating conditions of HD video camera.
9. the monitoring system as described in any claim in claim 5-7, it is characterised in that the HD video camera is used
An at least frame instrument area image in the instrument region of at least one transformer equipment is obtained in shooting；The industrial personal computer is used for institute
State an at least frame instrument area image and carry out image recognition, obtain and count at least one current meter, it is at least one current
LED status and/or at least one thrown when front pressuring plate move back state transfer to the control platform.
10. a kind of substation's Indoor Video method, the monitoring system applied to a substation, it is characterised in that the substation
Including the building with the interior space, at least one transformer equipment of the constructure ground is mounted on；And installation is set
The track with ground opposing top in the building is put, the monitoring system includes：One robot, suspension are arranged on described
On track, the robot can move on the track, and at least one collecting device is provided with the robot；Control
Platform, by being connected with the robot, the described method includes：
The control platform controls the robot to move on the track；
The control platform receives at least one collecting device and is adopted in the robot on the track moving process
Collection obtain with least one relevant at least one acquisition parameter of transformer equipment；
The control platform obtains the current operating conditions of the substation based at least one acquisition parameter.
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| CN201711380037.1A CN107942882A (en) | 2017-12-19 | 2017-12-19 | A kind of substation's Indoor Monitoring System and method |
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| CN201711380037.1A CN107942882A (en) | 2017-12-19 | 2017-12-19 | A kind of substation's Indoor Monitoring System and method |
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| CN110854998A (en) * | 2019-10-24 | 2020-02-28 | 北京中润惠通科技发展有限公司 | Unattended inspection system of substation |
| CN111432180A (en) * | 2020-04-26 | 2020-07-17 | 深圳供电局有限公司 | Substation equipment inspection cooperative management method |
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