CN108155595A - Cable duct of substation intelligent patrol system - Google Patents
Cable duct of substation intelligent patrol system Download PDFInfo
- Publication number
- CN108155595A CN108155595A CN201711373205.4A CN201711373205A CN108155595A CN 108155595 A CN108155595 A CN 108155595A CN 201711373205 A CN201711373205 A CN 201711373205A CN 108155595 A CN108155595 A CN 108155595A
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- Prior art keywords
- inspecting robot
- cable
- clouds
- cable duct
- substation
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- 230000005855 radiation Effects 0.000 claims abstract description 15
- 238000007689 inspection Methods 0.000 claims description 12
- 238000012423 maintenance Methods 0.000 claims description 11
- 230000009466 transformation Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 230000020169 heat generation Effects 0.000 claims description 4
- 239000000779 smoke Substances 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000034303 cell budding Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
Abstract
The invention discloses a kind of cable duct of substation intelligent patrol systems,Inspecting robot including the intelligent track being installed on above cable duct of substation and on intelligent track,The inspecting robot includes housing and the cradle head of two degrees of freedom extended downwardly from housing,The cradle head of two degrees of freedom is equipped with infrared camera and infrared radiation thermometer,Equipped with the power supply powered for the inspecting robot and the GPS positioning system for being automatically positioned the inspecting robot position in the housing,Wherein,Network high in the clouds sends patrol route and tour time information to intelligent track,The tour video of infrared camera acquisition is automatically uploaded to network high in the clouds,Infrared radiation thermometer calculates the surface temperature of cable and is automatically uploaded to network high in the clouds by measuring the infrared intensity that cable emits,Inspecting robot real time position is automatically uploaded to network high in the clouds by GPS positioning system.The present invention facilitates tour, and can find and record in time hidden danger defect, and cable fault is avoided to lead to power outage.
Description
Technical field
The present invention relates to electric inspection process technologies, and in particular to cable duct of substation intelligent patrol system.
Background technology
Cable duct is the indispensable infrastructure of power grid, and cable is directed not only to power transmission in ditch, further relates to relay guarantor
It the equipment such as protects, automatically control, communicate, measure and measures, be the nerve center of power grid, once cable breaks down, not only check
Processing work difficulty is big, the time is long, it is also possible to relay protection or control loop be made to fail, the expansion that causes the accident even damages main set
It is standby, it cannot resume production for a long time.Therefore, strengthen the status monitoring to cable duct and management, find cable hidden danger, protection in time
Cable is injury-free, there is very important meaning to electric power netting safe running.
At present, there is many problems in use for cable duct, main as follows：
(1) cable fault causes the accident impacts such as power failure very big.Power transformation station cable furrow width is usually no more than 0.8 meter, deeply
Up to 1.5 meters, up to tens of rice or even hundreds of meters, external environment is complicated, and rain erosion, toy bite cable, cause cable
Damage, leads to equipment fault Frequent Accidents, substation is caused to have a power failure, and great inconvenience is brought to resident living and enterprise's production,
It is serious to cause huge economic loss.
(2) cable duct patrol is important but difficult.Substation equipment patrol inspection is the most important work of power transformation operation maintenance personnel
One of make, wherein the walkaround inspection work to cable duct inner cable equipment is most difficult to carry out, and because cable duct is often located in the ground, ditch
Interior narrow space, operation maintenance personnel are frequently necessary to opening cable cover (weight 35-45kg) and the cable machinery in ditch are observed, see
Whether the dangerous situations such as damaged, short circuit sparking are had.
(3) it finds and record hidden danger defect difficulty is big.It was found that after defect, operation maintenance personnel needs rely in narrow space
Minicam is shot.The defects of due to insufficient space and insufficient light is difficult to careful observation cable machinery situation, fortune
The apparent degree that dimension personnel are shot using camera also tends to be difficult to for analyzing defect, especially during night inspection,
In the case of insufficient light, even if operation maintenance personnel carries flashlight, cooperation camera uses, and also tends to effectively to observe and remember
The hidden danger situation of the cable machinery in cable duct is recorded, this causes very big difficulty to the discovery of cable machinery hidden danger, and also this is to fortune
The work of dimension personnel brings very big inconvenience.
Invention content
Just it is to provide one for the deficiency and limitation, the technical problems to be solved by the invention of current cable duct status monitoring
Kind of cable duct of substation intelligent patrol system automatically walk can monitor in narrow, complicated cable duct, and in real time record and
The situation maked an inspection tour and found during cable duct is uploaded, so as to fulfill to the actual motion state of cable duct and the prison of running environment
It surveys.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：Cable duct of substation intelligent patrol system, packet
Include the intelligent track being installed on above cable duct of substation and the inspecting robot on intelligent track, the intelligence rail
Road is connected with inspecting robot and network high in the clouds using wireless communication, and the intelligent track, which is equipped with, connect simultaneously band with inspecting robot
The transmission line that dynamic inspecting robot is moved along intelligent track, the inspecting robot include housing and are extended downwardly from housing
Cradle head of two degrees of freedom, the cradle head of two degrees of freedom are equipped with infrared camera and infrared radiation thermometer, and interior be equipped with of the housing is
The power supply of inspecting robot power supply and the GPS positioning system for being automatically positioned the inspecting robot position, wherein, network high in the clouds
Patrol route and tour time information are sent to intelligent track, the tour video of infrared camera acquisition is automatically uploaded to network cloud
End, infrared radiation thermometer calculate the surface temperature of cable and are automatically uploaded to net by measuring the infrared intensity that cable emits
Inspecting robot real time position is automatically uploaded to network high in the clouds by network high in the clouds, GPS positioning system.
Preferably, power transformation operation maintenance personnel accesses network high in the clouds by mobile phone app or webpage, checks that infrared camera acquires
Tour video, cable temperature information and inspecting robot real time position.
It preferably, will be by GPS positioning system certainly if the cable temperature that infrared radiation thermometer senses is more than given threshold
Dynamic record sites of heat generation, while alarm is sent out to webpage backstage or mobile phone app by network high in the clouds, remind power transformation O＆M people
Member.
Preferably, the power supply includes accumulator and the wireless charging module for accumulator charging, cable duct of substation
Wireless charging transmitting module is installed in fixed position, when inspecting robot is moved to fixed position, wireless charging transmitting mould
Block will charge automatically by wireless charging module for accumulator.
Preferably, the cradle head of two degrees of freedom is by two right-angled intersection servos controls.
Preferably, the transmission line of the intelligent track be carrier chain/conveyer belt, the inspecting robot by hanging ring with it is defeated
Chain/conveying band connection is sent, the carrier chain/conveyer belt is driven by orbit motor, and the orbit motor is controlled by controller, described
Controller is set with patrol route, the controller timing controlled orbit motor operation, so that inspecting robot completion timing, fixed
Point is maked an inspection tour.
Preferably, the inspecting robot is also equipped with smoke sensor device.
The technical solution adopted by the present invention replaces artificial progress cable duct patrol by inspecting robot, wherein, intelligent track
It can make an inspection tour inspecting robot completion timing, fixed point, infrared camera is by perceiving the change in location of infrared energy, Ke Yishi
Existing dynamic object intelligence tracking function, its movement locus, track up can be captured, and maked an inspection tour after detecting mobile object automatically
The tour video of journey shooting will be automatically uploaded to network high in the clouds, and power transformation operation maintenance personnel can also pass through mobile phone app or webpage control
Camera processed observes the situation of cable whenever and wherever possible.Infrared radiation thermometer can not contact target and by measure cable emit it is red
External radiation intensitometer calculates the surface temperature of cable, and all temperature informations can all be automatically recorded in network high in the clouds, if sensing
Cable temperature is more than that given threshold will record sites of heat generation automatically by gps alignment systems, while to webpage backstage or hand
Machine app sends out alarm, reminds power transformation operation maintenance personnel.Therefore the inspecting robot can be autonomous in narrow, complicated cable duct
Walking, and by by high-definition camera, infrared radiation thermometer, realizing to the complete of the actual motion state of cable duct and running environment
Face monitors, and tour personnel need to only check online makes an inspection tour video and cable temperature record, you can completes to the complete of cable duct of substation
Orientation is maked an inspection tour, and situations such as facilitating tour, and can finding and record in time hidden danger defect, avoid cable fault causes to have a power failure
Etc. accidents.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and detailed description：
Fig. 1 is the system principle diagram of inspecting robot；
Fig. 2 is power supply wireless charging module schematic diagram；
Fig. 3 is the partial structural diagram of inspecting robot；
Fig. 4 is the structure diagram of chain；
Fig. 5 is the exterior chain plate structure schematic diagram of chain.
Specific embodiment
Cable duct of substation intelligent patrol system, including the intelligent track being installed on above cable duct of substation and installation
Inspecting robot on intelligent track, the intelligent track are connected with inspecting robot with network high in the clouds using wireless communication,
The intelligent track is equipped with and the transmission line that inspecting robot is moved along intelligent track, network cloud is connect and driven with inspecting robot
It holds to intelligent track and sends patrol route and tour time information, intelligent track drives inspecting robot to be moved along intelligent track.
As shown in figures 1 and 3, the inspecting robot is equipped with arm processor, the infrared photography being connect with arm processor
First 101, infrared radiation thermometer 102, communication module 103, memory 104, test interface circuit 105, further include the storage being powered
Battery 106, the inspecting robot include housing 10 and the cradle head of two degrees of freedom 100 extended downwardly from housing, and described two certainly
Infrared camera 101 and infrared radiation thermometer 102 are equipped with by degree holder, the cradle head of two degrees of freedom is by two right-angled intersection rudders
Machine controls.Communication module 103, memory 104, test interface circuit 105 and accumulator 106 are installed in housing, separately
Outside, the GPS positioning system for being automatically positioned the inspecting robot position is equipped in the housing, wherein, infrared camera acquisition
It makes an inspection tour video and is automatically uploaded to network high in the clouds, infrared radiation thermometer calculates cable by measuring the infrared intensity that cable emits
Surface temperature and be automatically uploaded to network high in the clouds, inspecting robot real time position is automatically uploaded to network by GPS positioning system
High in the clouds.
Power transformation operation maintenance personnel accesses network high in the clouds by mobile phone app or webpage, checks the tour of infrared camera acquisition
Video, cable temperature information and inspecting robot real time position.If the cable temperature that infrared radiation thermometer senses is more than setting
Threshold value, will record sites of heat generation automatically by GPS positioning system, while by network high in the clouds to webpage backstage or mobile phone
App sends out alarm, reminds power transformation operation maintenance personnel.
As shown in Fig. 2, accumulator uses wireless charging, the power supply of the inspecting robot in addition to above-mentioned accumulator, is gone back
Including the wireless charging receiving module to charge for accumulator, cable duct of substation is equipped with wireless charging transmitting mould in fixed position
Block, when inspecting robot is moved to fixed position, wireless charging transmitting module will be automatically by wireless charging receiving module
Accumulator charges, and boost module, charging and protection module are equipped between wireless charging receiving module and accumulator.
The transmission line of the intelligent track is carrier chain/conveyer belt, and the inspecting robot passes through hanging ring and carrier chain/defeated
Band connection is sent, the carrier chain/conveyer belt is driven by orbit motor, and the orbit motor is controlled by controller, the controller
It is set with patrol route, the controller timing controlled orbit motor operation, so that inspecting robot completion timing, fixed point are patrolled
Depending on.
With reference to shown in figure 4 and Fig. 5, in the present embodiment, transmission line, which uses, includes single carrier chain 20, the single conveying
Chain includes the axis pin of outer plate in the inner plate being arranged in pairs and connection both sides, axis pin housing between the inner plate of both sides
There is roller, sleeve is also arranged between the roller and axis pin, outer plate is equipped on the outside of adjacent two inner plate.In addition, in order to hang
Inspecting robot is filled, suspension installing plate 201 is added in single carrier chain side, hole for hoist is equipped on suspension installing plate, uses
It is connect in the hanging ring with inspecting robot.Hang installing plate 201 and include side plate and the straight panel vertical with side plate, the side plate with it is outer
Chain board stacking and fixation.Certainly it will be appreciated by persons skilled in the art that carrier chain can also use the similar fashions such as conveyer belt
It replaces.
Those skilled in the art can install sensor additional on the inspecting robot as needed, to monitor more environment
Situation, such as smoke sensor device can be installed, for monitoring the imflammable gas concentration such as methane in cable duct, set temperature humidity
Sensor is used to monitor environment temperature and humidity in cable duct.To realize to the complete of the actual motion state of cable duct and running environment
Face monitors.
The information that the inspecting robot is monitored by memory storage further, by communication module, carries out wireless
The information monitored for receiving the control information of network high in the clouds transmission, and can be sent to network high in the clouds by communication, be realized latent
In hidden danger and the timely processing of alert, hidden danger and alert are eliminated in budding state, Redeem large economic loss.
Outside above preferred embodiment, the present invention also has other embodiments, and those skilled in the art can be according to this hair
It is bright to make various changes and modifications, without departing from the spirit of the present invention, should all belong to defined in claims of the present invention
Range.
Claims (7)
1. cable duct of substation intelligent patrol system, which is characterized in that including the intelligent rail being installed on above cable duct of substation
Road and the inspecting robot on intelligent track, the intelligent track is with inspecting robot with network high in the clouds using wireless
Communication connection, the intelligent track are equipped with and the transmission that inspecting robot is moved along intelligent track are connect and driven with inspecting robot
Line, the inspecting robot include housing and the cradle head of two degrees of freedom that is extended downwardly from housing, on the cradle head of two degrees of freedom
It is fixed equipped with the power supply powered for the inspecting robot and automatically in the housing equipped with infrared camera and infrared radiation thermometer
The GPS positioning system of the position inspecting robot position, wherein, network high in the clouds sends patrol route and tour time to intelligent track
Information, the tour video of infrared camera acquisition are automatically uploaded to network high in the clouds, what infrared radiation thermometer was emitted by measuring cable
Infrared intensity calculates the surface temperature of cable and is automatically uploaded to network high in the clouds, and GPS positioning system is by inspecting robot
Real time position is automatically uploaded to network high in the clouds.
2. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that power transformation operation maintenance personnel passes through
Mobile phone app or webpage access network high in the clouds, check tour video, cable temperature information and the tour of infrared camera acquisition
Robot real time position.
3. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that if infrared radiation thermometer senses
The cable temperature arrived is more than given threshold, will record sites of heat generation automatically by GPS positioning system, while pass through network high in the clouds
Alarm is sent out to webpage backstage or mobile phone app, reminds power transformation operation maintenance personnel.
4. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that the power supply includes electric power storage
Pond and the wireless charging module for accumulator charging, cable duct of substation are equipped with wireless charging transmitting mould in fixed position
Block, when inspecting robot is moved to fixed position, wireless charging transmitting module will be electric power storage automatically by wireless charging module
It charges in pond.
5. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that the cradle head of two degrees of freedom
By two right-angled intersection servos controls.
6. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that the biography of the intelligent track
Defeated line is carrier chain/conveyer belt, and the inspecting robot passes through hanging ring and carrier chain/conveying band connection, the carrier chain/conveying
Band is driven by orbit motor, and the orbit motor is controlled by controller, and the controller is set with patrol route, the controller
Timing controlled orbit motor is run, so that inspecting robot completion timing, fixed point are maked an inspection tour.
7. cable duct of substation intelligent patrol system according to claim 1, which is characterized in that the inspecting robot is also
Smoke sensor device is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711373205.4A CN108155595A (en) | 2017-12-19 | 2017-12-19 | Cable duct of substation intelligent patrol system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711373205.4A CN108155595A (en) | 2017-12-19 | 2017-12-19 | Cable duct of substation intelligent patrol system |
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| Publication Number | Publication Date |
|---|---|
| CN108155595A true CN108155595A (en) | 2018-06-12 |
Family
ID=62467655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711373205.4A Pending CN108155595A (en) | 2017-12-19 | 2017-12-19 | Cable duct of substation intelligent patrol system |
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| Country | Link |
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| CN (1) | CN108155595A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108724145A (en) * | 2018-07-03 | 2018-11-02 | 武汉奋进智能机器有限公司 | A kind of robot inspection tour system |
| CN109581131A (en) * | 2019-01-22 | 2019-04-05 | 宁波市电力设计院有限公司 | A kind of transformer fault detection device based on infrared imagery technique |
| CN113381511A (en) * | 2021-06-02 | 2021-09-10 | 深圳市莱达四维信息科技有限公司 | Online intelligent inspection system of transformer substation |
| CN113517651A (en) * | 2021-09-14 | 2021-10-19 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
| CN114047749A (en) * | 2021-10-22 | 2022-02-15 | 国网河北省电力有限公司检修分公司 | Cable trench inspection system |
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| CN101254593A (en) * | 2008-04-11 | 2008-09-03 | 山东电力研究院 | Vision navigated converting station patrolling robot |
| CN203812088U (en) * | 2013-12-04 | 2014-09-03 | 国家电网公司 | Transformer station cable trench tour monitoring system |
| CN104820423A (en) * | 2015-03-13 | 2015-08-05 | 华北电力大学 | Remote control cable trench intelligent patrol car |
| CN104991558A (en) * | 2015-07-03 | 2015-10-21 | 国家电网公司 | Cable trench automatic inspection device |
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| CN101254593A (en) * | 2008-04-11 | 2008-09-03 | 山东电力研究院 | Vision navigated converting station patrolling robot |
| CN203812088U (en) * | 2013-12-04 | 2014-09-03 | 国家电网公司 | Transformer station cable trench tour monitoring system |
| CN104820423A (en) * | 2015-03-13 | 2015-08-05 | 华北电力大学 | Remote control cable trench intelligent patrol car |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108724145A (en) * | 2018-07-03 | 2018-11-02 | 武汉奋进智能机器有限公司 | A kind of robot inspection tour system |
| CN109581131A (en) * | 2019-01-22 | 2019-04-05 | 宁波市电力设计院有限公司 | A kind of transformer fault detection device based on infrared imagery technique |
| CN109581131B (en) * | 2019-01-22 | 2024-01-09 | 宁波市电力设计院有限公司 | Transformer fault detection device based on infrared imaging technology |
| CN113381511A (en) * | 2021-06-02 | 2021-09-10 | 深圳市莱达四维信息科技有限公司 | Online intelligent inspection system of transformer substation |
| CN113517651A (en) * | 2021-09-14 | 2021-10-19 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
| CN113517651B (en) * | 2021-09-14 | 2021-12-10 | 国网山东省电力公司莒县供电公司 | Wireless sensor type cable trench comprehensive early warning device and method |
| CN114047749A (en) * | 2021-10-22 | 2022-02-15 | 国网河北省电力有限公司检修分公司 | Cable trench inspection system |
| CN114047749B (en) * | 2021-10-22 | 2023-11-10 | 国网河北省电力有限公司检修分公司 | Cable trench inspection system |
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