CN109066422A - A kind of substation inspection system - Google Patents

A kind of substation inspection system Download PDF

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Publication number
CN109066422A
CN109066422A CN201811027831.2A CN201811027831A CN109066422A CN 109066422 A CN109066422 A CN 109066422A CN 201811027831 A CN201811027831 A CN 201811027831A CN 109066422 A CN109066422 A CN 109066422A
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China
Prior art keywords
subsystem
robot
module
inspection
main body
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CN201811027831.2A
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Chinese (zh)
Inventor
郭健
施佳伟
李胜
吴益飞
朱禹璇
薛舒严
危海明
黄迪
宋恺
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Priority to CN201811027831.2A priority Critical patent/CN109066422A/en
Publication of CN109066422A publication Critical patent/CN109066422A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
    • H02J13/0079—
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/16—Electric power substations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
    • Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
    • Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明公开了一种变电站巡检系统。该系统包括巡检机器人子系统、本地监控后台子系统、集中监控后台子系统、机器人室和气象采集设备，所述巡检机器人子系统与本地监控后台子系统采用无线网络连接，本地监控后台子系统和集中监控后台子系统采用局域网络连接；其中巡检机器人子系统用于进行机器人巡检；本地监控后台子系统安装于变电站本地，用于监控巡检机器人子系统的运行；集中监控后台子系统安装于集中监控中心，用于远程集中监控巡检机器人子系统的运行，机器人室用于巡检机器人自主充电，气象采集设备用于采集环境信息，并提供给所述巡检机器人子系统进行巡检规划。本发明能够完成极端气候以及自然灾害情况下的巡检任务，具有安全、高效的优点。

The invention discloses a substation inspection system. The system includes an inspection robot subsystem, a local monitoring background subsystem, a centralized monitoring background subsystem, a robot room and weather collection equipment. The inspection robot subsystem and the local monitoring background subsystem are connected by wireless network, and the local monitoring background subsystem The system and the centralized monitoring background subsystem are connected by a local area network; the inspection robot subsystem is used for robot inspection; the local monitoring background subsystem is installed locally in the substation to monitor the operation of the inspection robot subsystem; the centralized monitoring background subsystem The system is installed in the centralized monitoring center for remote centralized monitoring of the operation of the inspection robot subsystem, the robot room is used for autonomous charging of the inspection robot, and the weather collection equipment is used to collect environmental information and provide it to the inspection robot subsystem for further monitoring. Inspection plan. The invention can complete the inspection tasks under extreme weather and natural disasters, and has the advantages of safety and high efficiency.

Description

A kind of substation inspection system
Technical field
The invention belongs to power system automation technology field, especially a kind of substation inspection system.
Background technique
With the development of smart electric grid system, substation, the coverage area of power line are more and more wider, are giving people's lives It is also that the repair and maintenance of equipment brings new problem while offering convenience.In daily maintenance, if using traditional Manual inspection mode can not only expend a large amount of manpower, also will cause the low situation of working efficiency, while the covering of inspection Rate, timeliness and accuracy are also unable to get guarantee.For the possible these problems of manual inspection, substation inspection is utilized Robot replaces the manual inspection to be increasingly becoming a kind of trend.
Existing substation inspection scheme be all by rechargeable battery driving trolley, by trolley carry sense Device, control device and communication device are assembled into, and host computer is only only completed the record of data and sends work, are needed manually upper Position mechanism downloads to crusing robot after determining patrol plan, and patrol plan is formulated not flexible.In addition, crusing robot mostly exists Following problem: 1) operating temperature of rechargeable lithium battary does not adapt to rugged environment, and continues a journey there are problem, to patrolling It is stringenter to examine pathway requirements；2) for the closure of robot, gunlock height is low, can seldom have horizontal view angle, to instrument The precision of identification is brought greater impact；3) bottom trolley used in is mostly rear-guard, needs very big steering space, does not adapt to The severe situation of the landform such as ninor feature and sleet sand ground；4) polling path planning is fixed, and the various situations of flexible adaptation are unable to.
Summary of the invention
The purpose of the present invention is to provide the substation inspection systems that one kind can flexibly formulate patrol plan, thus in pole The equipment routing inspection of substation can be safely and effectively carried out in the case of end weather and natural calamity.
The technical solution for realizing the aim of the invention is as follows: a kind of substation inspection system, including crusing robot subsystem Station subsystem, robot chamber and meteorology acquire equipment after station subsystem, Centralized Monitoring after system, local monitor；The inspection machine Station subsystem uses wireless network connection after people's subsystem and local monitor, monitors backstage after local monitor in station subsystem sum aggregate Subsystem is connected using local area network；
The meteorological acquisition equipment, for acquiring outdoor weather condition, and be supplied to the crusing robot subsystem into Row inspection planning；
The local monitor background system, including local computer, local communication equipment, local monitor analyze software and this Ground data storage device is installed on substation local, for monitoring the operation of crusing robot subsystem；
Station subsystem after the Centralized Monitoring, including remote computer, telecommunication device, long-range monitoring analysis software and Remote data storage device is installed on center of the centralized monitor, the operation for remote centralized control crusing robot subsystem.
Further, the crusing robot subsystem, including network communication module, ontology main control module, power management Module, detection data acquisition module, navigation positioning module, full drive motion module and omnidirectional moving module；
The network communication module, including AP and interchanger, are connected with other modules, for crusing robot Data exchange work between each module of system and after crusing robot subsystem and local monitor between station subsystem；
The ontology main control module, including industrial personal computer and Zigbee module receive the instruction letter of network communication module transmitting Breath is output to specified module through network communication module again after analysis processing；
The detection data acquisition module, including in visible light camera and infrared thermal imager, with network communication module AP is connected, station subsystem after the environmental information taken is exported to ontology main control module and local monitor；
The navigation positioning module, including laser radar and odometer, where exporting current crusing robot subsystem Location information is transmitted to ontology main control module via interchanger and carries out navigator fix；
The power management module, including battery, PLC and relay board, wherein PLC respectively with battery, relay board with And interchanger is connected, and gives battery information real-time delivery to ontology main control module, carries out the management and control of battery；
The full drive motion module, including straight trip motion control board, straight trip motion drive, dropproof sensor and ultrasound Wave sensor receives the movement instruction from ontology main control module wherein straight trip motion control board is connected with interchanger, simultaneously will Dropproof sensor and ultrasonic sensor information pass to ontology main control module；
The omnidirectional moving module, including divertical motion control panel and divertical motion driver, wherein divertical motion controls Plate is connected with interchanger, realizes the control of steering.
Further, the crusing robot subsystem has the function of recharging, can set with the charging of robot chamber Recharging is completed in standby cooperation, and auto-returned can be charged in battery capacity deficiency.
Further, firewall is installed additional between forwarding device and communication apparatus, between receiver and access device Install Ethernet lightning protection device and serial ports lightning protection device on connection additional.
Further, in the crusing robot subsystem, robot body uses the structure of four-wheel robot trolley, packet The main body above the four wheels and wheel of bottom is included, the cabin of main body is completely covered by shell, and the lower section of main body is equipped with bottom Plate, using robot direction of travel as front, the top nose of shell is equipped with holder, and the elevating lever of holder is by ontology main control module control System.
Further, in the crusing robot subsystem, robot body uses the structure of caterpillar type robot trolley, The cabin of Modular track formula chassis including bottom and the main body above it, main body is completely covered by shell, bottom part body Link block caterpillar chassis, using robot direction of travel as front, the top nose of shell is equipped with holder, the lifting of holder Bar is controlled by ontology main control module.
It further, further include temperature control modules in the crusing robot subsystem, the temperature control modules packet Fan, temperature sensor, electric heater and PLC are included, wherein temperature sensor is arranged in the shell of inspection machine human agent On side wall, electric heater and PLC are arranged at body interior, aperture are distinguished above the shell front and back walls of main body, wind is arranged Fan；
The temperature of the temperature sensor real-time detection main body, and data are passed into PLC, PLC root by RS485 communication Temperature upper limit T is preset with according to the optimum working temperature range of batterymax, lower limit value TminAnd room temperature value T, PLC will test Temperature value make comparisons with preset temperature bound, if the temperature value detected has been more than Tmax, PLC issues instruction unpack Fan cools down, until temperature closes fan when dropping to T；If the temperature value detected is lower than Tmin, send instructions under PLC and beat It opens electric heater to be heated, until temperature closes heater when being raised to T.
Further, in the crusing robot subsystem, the visible light camera and infrared thermal imager are solid together Due on holder, holder can be realized the rotation of 360 ° of continuous rotations of horizontal direction and -45 ° of pitch orientation~60 °.
Further, in the crusing robot subsystem, walking mechanism includes motion servo motor, turns to servo electricity Machine, rotating platform and wheel；
When robot straight-line travelling, four motion servo motors give coaxially connected wheel to provide power respectively, in turn Band mobile robot moves forwards or backwards；When robot is when road corner is turned, robot stop motion first, Then four steering servo motors respectively drive corresponding rotating platform, and rotating platform drives corresponding wheel original place to rotate 45 ° again, So that two wheels become interior " eight " apperance before robot, two wheels in back become outer " eight " apperance, then according to left-hand rotation Or it turns right and rotation is carried out by motion servo motor driven wheel until robot car body turns over -90 ° or 90 °, finally again by four A steering servo motor respectively drives corresponding rotating platform, and rotating platform drives corresponding wheel by former with opposite direction before again Ground rotates 45 °, so that four wheels return to the position of straight-line travelling.
Further, in the crusing robot subsystem, walking mechanism uses Modular track formula chassis, including driving Motor, retarder, front drive gear, rear drive gear, crawler belt, carrying roller and bottom cabin are constituted；
The bottom cabin is a rectangular parallelepiped structure part, and respectively there are two connector and robot bodies above four sides Cabin is fixed；The driving motor is fixed on the cabin chassis of bottom, is connect by retarder and shaft coupling with driving gear； The front drive gear, rear drive gear are set to the front and rear ends of bottom cabin；The crawler belt be fixed on front drive gear, In rear drive gear, and track outer surface is equipped with protrusion；The carrying roller is set to the two sides of the bottom of bottom cabin, for carrying The overall weight of robot.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) acquire outdoor weather item using meteorological acquisition equipment Part reasonably plans patrol task, has the advantages that flexible, strong applicability；It (2) can be in extreme climate and natural calamity situation Lower completion patrol task, carries out the equipment routing inspection of substation safer and more effectively；(3) using station subsystem, collection after local monitor Station subsystem ground structure after middle monitoring makes full use of the computing capability of host computer to analyze the data being collected into, according to inspection project And environmental information, automatically formulate patrol plan, artificial intelligence level with higher.
Detailed description of the invention
Fig. 1 is the structural block diagram of substation inspection system of the present invention.
Fig. 2 is the structural block diagram of crusing robot subsystem in the present invention.
Fig. 3 is the work flow diagram of substation inspection system of the present invention.
Figure label: 1, crusing robot subsystem；2, robot chamber；3, meteorological acquisition equipment；4, local monitor backstage Subsystem；5, station subsystem after Centralized Monitoring；6, network communication module；7, detection data acquisition module；8, navigation positioning module； 9, ontology main control module；10, power management module；11, motion module is driven entirely；12, omnidirectional moving module；13, visible image capturing Machine；14, infrared thermal imager；15, laser radar；16, odometer；17, industrial personal computer；18, Zigbee module；19,AP；20, it hands over It changes planes；21, battery；22,PLC；23, relay board；24, straight trip motion control board；25, straight trip motion drive；26, dropproof Sensor；27, ultrasonic sensor；28, divertical motion control panel；29, divertical motion driver.
Specific embodiment
With reference to the accompanying drawing and specific embodiment makes further description to the present invention.
In conjunction with Fig. 1~2, estrade after substation inspection system of the present invention, including crusing robot subsystem 1, local monitor Station subsystem 5, robot chamber 2 and meteorological acquisition equipment 3 after system 4, Centralized Monitoring；The crusing robot subsystem 1 and sheet Station subsystem 4 uses wireless network connection after ground monitoring, and station subsystem 5 is adopted after station subsystem 4 and Centralized Monitoring after local monitor It is connected with local area network；
The meteorological acquisition equipment 3, for acquiring outdoor weather condition, and is supplied to the crusing robot subsystem 1 Carry out inspection planning；
The local monitor background system 4, including local computer, local communication equipment, local monitor analysis software and Local data storage device is installed on substation local, for monitoring the operation of crusing robot subsystem 1；
Station subsystem 5 after the Centralized Monitoring, including remote computer, telecommunication device, long-range monitoring analysis software And remote data storage device, it is installed on center of the centralized monitor, the fortune for remote centralized control crusing robot subsystem 1 Row.
As a kind of specific example, the crusing robot subsystem 1, including network communication module 6, ontology main control module 9, power management module 10, detection data acquisition module 7, navigation positioning module 8, full drive motion module 11 and omnidirectional moving module 12；
The network communication module 6, including AP19 and interchanger 20, are connected with other modules, are used for survey monitor Data exchange between each module of device people subsystem 1 and after crusing robot subsystem 1 and local monitor between station subsystem 4 Work；
The ontology main control module 9, including industrial personal computer 17 and Zigbee module 18 receive what network communication module 6 transmitted Command information is output to specified module through network communication module 6 again after analysis processing；
The detection data acquisition module 7, including visible light camera 13 and infrared thermal imager 14, with network communication mould AP19 is connected in block 6, station subsystem 4 after the environmental information taken is exported to ontology main control module 9 and local monitor；
The navigation positioning module 8, including laser radar 15 and odometer 16, export current crusing robot subsystem 1 The location information at place is transmitted to ontology main control module 9 via interchanger 20 and carries out navigator fix；
The power management module 10, including battery 21, PLC22 and relay board 23, wherein PLC22 respectively with battery 21, relay board 23 and interchanger 20 are connected, and by 21 information real-time delivery of battery to ontology main control module 9, carry out battery 21 Management and control；
The full drive motion module 11, including straight trip motion control board 24, straight trip motion drive 25, dropproof sensor 26 and ultrasonic sensor 27, wherein straight trip motion control board 24 is connected with interchanger 20, reception is from ontology main control module 9 Movement instruction, while dropproof sensor 26 and 27 information of ultrasonic sensor are passed into ontology main control module 9；
The omnidirectional moving module 12, including divertical motion control panel 28 and divertical motion driver 29, wherein turning to fortune Dynamic control panel 28 is connected with interchanger 20, realizes the control of steering.
As a kind of specific example, the crusing robot subsystem 1 has the function of recharging, can be with robot chamber Recharging is completed in 2 charging equipment cooperation, and auto-returned can be charged in battery capacity deficiency.
As a kind of specific example, firewall is installed additional between forwarding device and communication apparatus, fill in receiver and access Install Ethernet lightning protection device and serial ports lightning protection device on connection between setting additional.
As a kind of specific example, in the crusing robot subsystem 1, robot body uses four-wheel robot trolley Structure, the main body above four wheels and wheel including bottom, the cabin of main body is completely covered by shell, under main body Side is equipped with bottom plate, and using robot direction of travel as front, the top nose of shell is equipped with holder, and the elevating lever of holder is by ontology master Control module control.
As a kind of specific example, in the crusing robot subsystem 1, robot body is small using caterpillar type robot The cabin of the structure of vehicle, the Modular track formula chassis including bottom and the main body above it, main body is completely covered by shell, Bottom part body link block caterpillar chassis, using robot direction of travel as front, the top nose of shell is equipped with holder, cloud The elevating lever of platform is controlled by ontology main control module.
It further include temperature control modules in the crusing robot subsystem 1 as a kind of specific example, the temperature Control module includes fan, temperature sensor, electric heater and PLC, and wherein temperature sensor is arranged in crusing robot master On the housing interior side-wall of body, electric heater and PLC are arranged at body interior, above the shell front and back walls of main body respectively Fan is arranged in aperture；
The temperature of the temperature sensor real-time detection main body, and data are passed into PLC, PLC root by RS485 communication It is preset with temperature upper limit Tmax, lower limit value Tmin and room temperature value T according to the optimum working temperature range of battery, PLC will test To temperature value make comparisons with preset temperature bound, if the temperature value detected has been more than Tmax, send instructions under PLC beat It opens fan and cools down, until temperature closes fan when dropping to T；If the temperature value detected is lower than Tmin, send instructions under PLC It opens electric heater to be heated, until temperature closes heater when being raised to T.
As a kind of specific example, in the crusing robot subsystem 1, the visible light camera 13 and it is infrared heat at As instrument 14 is fixed on holder together, holder can be realized 360 ° of continuous rotations of horizontal direction and -45 ° of pitch orientation~60 ° Rotation.
As a kind of specific example, in the crusing robot subsystem 1, walking mechanism includes motion servo motor, turns To servo motor, rotating platform and wheel；
When robot straight-line travelling, four motion servo motors give coaxially connected wheel to provide power respectively, in turn Band mobile robot moves forwards or backwards；When robot is when road corner is turned, robot stop motion first, Then four steering servo motors respectively drive corresponding rotating platform, and rotating platform drives corresponding wheel original place to rotate 45 ° again, So that two wheels become interior " eight " apperance before robot, two wheels in back become outer " eight " apperance, then according to left-hand rotation Or it turns right and rotation is carried out by motion servo motor driven wheel until robot car body turns over -90 ° or 90 °, finally again by four A steering servo motor respectively drives corresponding rotating platform, and rotating platform drives corresponding wheel by former with opposite direction before again Ground rotates 45 °, so that four wheels return to the position of straight-line travelling.
As a kind of specific example, in the crusing robot subsystem 1, walking mechanism uses Modular track formula bottom Disk, including driving motor, retarder, front drive gear, rear drive gear, crawler belt, carrying roller and bottom cabin are constituted；
The bottom cabin is a rectangular parallelepiped structure part, and respectively there are two connector and robot bodies above four sides Cabin is fixed；The driving motor is fixed on the cabin chassis of bottom, is connect by retarder and shaft coupling with driving gear； The front drive gear, rear drive gear are set to the front and rear ends of bottom cabin；The crawler belt be fixed on front drive gear, In rear drive gear, and track outer surface is equipped with protrusion；The carrying roller is set to the two sides of the bottom of bottom cabin, for carrying The overall weight of robot.
In conjunction with Fig. 3, the cruising inspection system workflow is as follows:
Step 1: host computer receives the data of Meteorological Device, is analyzed, and independently formulated according to the patrol task on the same day Patrol plan, and it is output to crusing robot by the plan completed is formulated, start crusing robot, starts inspection；
Step 2: host computer inquires the information such as position, electricity to robot；
Step 3: judging whether robot reaches specified inspection point and enter step 2 if not reaching；If reaching, inspection is received The inspection information of robotic transfer；
Step 4: current inspection point inspection finishes, and judges whether that inspection terminates, next inspection point is gone to if not terminating, into Enter step 2, otherwise enters step 5；
Step 5: inspection terminates, and robot returns to charging room according to specified path.
The present invention is described in further details combined with specific embodiments below.
Embodiment 1
Station subsystem 4, concentration after the present embodiment substation inspection system, including crusing robot subsystem 1, local monitor Station subsystem 5, robot chamber 2 and meteorological acquisition equipment 3 after monitoring；Wherein crusing robot subsystem 1 and local monitor backstage Subsystem 5 uses wireless network connection, and station subsystem 4 uses local area network after station subsystem 5 and Centralized Monitoring after local monitor Connection.
The crusing robot subsystem 1, including network communication module 6, ontology main control module 9, power management module 10, Detection data acquisition module 7, navigation positioning module 8, full drive motion module 11 and omnidirectional moving module 12；The network communication Module 6, including AP19 and interchanger 20, are connected with other modules, are responsible between each module of crusing robot subsystem 1 And the data exchange work after crusing robot subsystem 1 and local monitor between station subsystem 4；The ontology main control module 9, including industrial personal computer 17 and Zigbee18 module, all command informations pass to ontology master control mould via network communication module 6 After 9 analysis of block processing, then via network communication module 6 it is output to specified module；The detection data acquisition module 7, including can Light-exposed video camera 13 and infrared thermal imager 14 are connected with AP19 in network communication module 6, and the environmental information taken is timely It is efficient to export to station subsystem 4 after ontology main control module 9 and local monitor；The navigation positioning module 8, including laser radar 15 and odometer 16, the location information where current crusing robot subsystem 1 is exported, is transmitted to ontology master via interchanger 20 Module 9 is controlled, carries out accurate navigator fix using related algorithm；The power management module 10, including battery 21, PLC22 and Relay board 23, wherein PLC22 is connected with battery 21, relay board 23 and interchanger 20 respectively, and battery information is passed in real time Ontology main control module 9 is passed, the management and control of battery 21 are carried out；The full drive motion module 11, including straight trip motion control Plate 24, straight trip motion drive 25, dropproof sensor 26 and ultrasonic sensor 27, wherein straight trip motion control board 24 and friendship It changes planes and 20 is connected, receive the movement instructions from ontology main control module 9, while by dropproof sensor 26 and ultrasonic sensor 27 information pass to ontology main control module 9；The omnidirectional moving module 12, including divertical motion control panel 28 and divertical motion drive Dynamic device 29, wherein divertical motion control panel 28 is connected with interchanger 20, realizes the control of steering.
The local monitor background system 4, including local computer, local communication equipment, local monitor analysis software and Local data storage device is installed on substation local, for monitoring the operation of crusing robot subsystem 1.
The Centralized Monitoring background system 5, including remote computer, telecommunication device, long-range monitoring analysis software and Remote data storage device is installed on center of the centralized monitor, the operation for remote centralized control crusing robot subsystem 1.
Crusing robot subsystem 1 has the function of recharging, can cooperate with the charging equipment of robot chamber 2 and complete certainly Main charging, and auto-returned can charge in battery capacity deficiency.
In order to ensure the communications security of whole system, firewall is installed additional between forwarding device and communication apparatus, connecing It receives and installs Ethernet lightning protection device and serial ports lightning protection device on the connection between device and access device additional.
In order to more intelligently arrange patrol plan and path, substation inspection system further includes meteorological acquisition equipment 3, is used In meteorological conditions such as acquisition outdoor weather conditions, including temperature, humidity, wind direction, wind speed, rainfall, and it is supplied to crusing robot Subsystem 1, to carry out more reasonable inspection planning.
In the crusing robot subsystem 1, robot body uses the structure of four-wheel robot trolley, including bottom The cabin of main body above four wheels and wheel, main body is completely covered by shell, and the lower section of main body is equipped with bottom plate, with machine People's direction of travel is front, and the top nose of shell is equipped with holder, and the elevating lever of holder is controlled by ontology main control module.
In the crusing robot subsystem 1, walking mechanism includes motion servo motor, turns to servo motor, rotary flat Platform and wheel；When robot straight-line travelling, four motion servo motors give coaxially connected wheel to provide power respectively, into And it is moved forwards or backwards with mobile robot；When robot is when road corner is turned, robot stops transporting first Dynamic, then four steering servo motors respectively drive corresponding rotating platform, and rotating platform drives corresponding wheel original place to rotate again 45 ° so that before robot two wheels become in " eight " apperance, two wheels become outer " eight " apperance below, then basis Turn left or turn right and rotation is carried out by motion servo motor driven wheel until robot car body turns over -90 ° or 90 °, finally again Respectively drive corresponding rotating platform by four steering servo motors, rotating platform drive again corresponding wheel by with opposite side before 45 ° are rotated to original place, so that four wheels return to the position of straight-line travelling.
Further include temperature control modules in the crusing robot subsystem 1, the temperature control modules include fan, Temperature sensor, electric heater and PLC, wherein temperature sensor is arranged on the housing interior side-wall of inspection machine human agent, Electric heater and PLC are arranged at body interior, aperture are distinguished above the shell front and back walls of main body, fan is arranged；
The temperature of the temperature sensor real-time detection main body, and data are passed into PLC, PLC root by RS485 communication Temperature upper limit T is preset with according to the optimum working temperature range of batterymax=25 DEG C, lower limit value Tmin=5 DEG C and room temperature value T= 15 DEG C, the temperature value that PLC will test is made comparisons with preset temperature bound, if the temperature value detected has been more than Tmax, PLC issues instruction unpack fan and cools down, until temperature closes fan when dropping to T；If the temperature value detected is lower than Tmin, PLC issues instruction unpack electric heater and is heated, until temperature closes heater when being raised to T.Such design can be with The operating ambient temperature of battery is maintained at 5 DEG C~25 DEG C, while fan 9 and heater frequent progress switch will not be operated, So that robot battery even if in Urumchi there is the regional of extreme climate can also normally work in this way.
In the crusing robot subsystem 1, the visible light camera 13 and infrared thermal imager 14 are fixed on together On holder, holder can be realized the rotation of 360 ° of continuous rotations of horizontal direction and -45 ° of pitch orientation~60 °.
Embodiment 2
Station subsystem 4, concentration after the present embodiment substation inspection system, including crusing robot subsystem 1, local monitor Station subsystem 5, robot chamber 2 and meteorological acquisition equipment 3 after monitoring；Wherein crusing robot subsystem 1 and local monitor backstage Subsystem 5 uses wireless network connection, and station subsystem 4 uses local area network after station subsystem 5 and Centralized Monitoring after local monitor Connection.
In the crusing robot subsystem 1, robot body uses the structure of caterpillar type robot trolley, including bottom Modular track formula chassis and the main body above it, the cabin of main body be completely covered by shell, bottom part body link block Change caterpillar chassis, using robot direction of travel as front, the top nose of shell is equipped with holder, and the elevating lever of holder is by ontology Main control module control.
In the crusing robot subsystem 1, walking mechanism uses Modular track formula chassis, including driving motor, subtracts Fast device, front drive gear, rear drive gear, crawler belt, carrying roller and bottom cabin are constituted；
The bottom cabin is a rectangular parallelepiped structure part, and respectively there are two connector and robot bodies above four sides Cabin is fixed；The driving motor is fixed on the cabin chassis of bottom, is connect by retarder and shaft coupling with driving gear； The front drive gear, rear drive gear are set to the front and rear ends of bottom cabin；The crawler belt be fixed on front drive gear, In rear drive gear, and track outer surface is equipped with protrusion；The carrying roller is set to the two sides of the bottom of bottom cabin, for carrying The overall weight of robot.
The temperature of the temperature sensor real-time detection main body, and data are passed into PLC, PLC root by RS485 communication Temperature upper limit T is preset with according to the optimum working temperature range of batterymax=25 DEG C, lower limit value Tmin=5 DEG C and room temperature value T= 15 DEG C, the temperature value that PLC will test is made comparisons with preset temperature bound, if the temperature value detected has been more than Tmax, PLC issues instruction unpack fan and cools down, until temperature closes fan when dropping to T；If the temperature value detected is lower than Tmin, PLC issues instruction unpack electric heater and is heated, until temperature closes heater when being raised to T.Such design can be with The operating ambient temperature of battery is maintained at 5 DEG C~25 DEG C, while fan 9 and heater frequent progress switch will not be operated, So that robot battery even if in Urumchi there is the regional of extreme climate can also normally work in this way.
In the crusing robot subsystem 1, the visible light camera 13 and infrared thermal imager 14 are fixed on together On holder, holder can be realized the rotation of 360 ° of continuous rotations of horizontal direction and -45 ° of pitch orientation~60 °.
To sum up, substation inspection system of the present invention is able to solve current mainstream cruising inspection system in extreme climate and nature The problem of being unable to complete patrol task under disaster scenarios it carries out the equipment routing inspection of substation safer and more effectively, has good Practical value.

Claims (10)

1.一种变电站巡检系统，其特征在于，包括巡检机器人子系统(1)、本地监控后台子系统(4)、集中监控后台子系统(5)、机器人室(2)和气象采集设备(3)；所述巡检机器人子系统(1)与本地监控后台子系统(4)采用无线网络连接，本地监控后台子系统(4)和集中监控后台子系统(5)采用局域网络连接；1. A transformer substation inspection system is characterized in that it includes an inspection robot subsystem (1), a local monitoring background subsystem (4), a centralized monitoring background subsystem (5), a robot room (2) and a weather collection device (3); The patrol inspection robot subsystem (1) adopts a wireless network connection with the local monitoring background subsystem (4), and the local monitoring background subsystem (4) and the centralized monitoring background subsystem (5) adopt a local area network connection; 所述气象采集设备(3)，用于采集室外气象条件，并提供给所述巡检机器人子系统(1)进行巡检规划；The meteorological collection device (3) is used to collect outdoor meteorological conditions and provide them to the inspection robot subsystem (1) for inspection planning; 所述本地监控后台系统(4)，包括本地计算机、本地通讯设备、本地监控分析软件和本地数据存储设备，安装于变电站本地，用于监控巡检机器人子系统(1)的运行；The local monitoring background system (4) includes a local computer, a local communication device, a local monitoring analysis software and a local data storage device, and is installed locally in a substation for monitoring the operation of the inspection robot subsystem (1); 所述集中监控后台子系统(5)，包括远程计算机、远程通讯设备、远程监控分析软件和远程数据存储设备，安装于集中监控中心，用于远程集中监控巡检机器人子系统(1)的运行。The centralized monitoring background subsystem (5) includes a remote computer, remote communication equipment, remote monitoring analysis software and remote data storage equipment, installed in a centralized monitoring center, and used for remote centralized monitoring and inspection robot subsystem (1) operation . 2.根据权利要求1所述的变电站巡检系统，其特征在于，所述巡检机器人子系统(1)，包括网络通信模块(6)、本体主控模块(9)、电源管理模块(10)、检测数据采集模块(7)、导航定位模块(8)、全驱运动模块(11)和全向运动模块(12)；2. The substation inspection system according to claim 1, wherein the inspection robot subsystem (1) includes a network communication module (6), a main body control module (9), a power management module (10 ), detection data acquisition module (7), navigation positioning module (8), all-drive motion module (11) and omnidirectional motion module (12); 所述网络通信模块(6)，包括AP(19)和交换机(20)，与其他各个模块相连接，用于巡检机器人子系统(1)各模块之间以及巡检机器人子系统(1)与本地监控后台子系统(4)之间的数据交换工作；The network communication module (6), including an AP (19) and a switch (20), is connected with other modules, and is used between the modules of the inspection robot subsystem (1) and the inspection robot subsystem (1) Data exchange work with the local monitoring background subsystem (4); 所述本体主控模块(9)，包括工控机(17)和Zigbee模块(18)，接收网络通信模块(6)传递的指令信息，分析处理后再经网络通信模块(6)输出到指定模块；The main control module (9) of the main body includes an industrial computer (17) and a Zigbee module (18), receives the instruction information delivered by the network communication module (6), and outputs it to the specified module through the network communication module (6) after analysis and processing ; 所述检测数据采集模块(7)，包括可见光摄像机(13)和红外热成像仪(14)，与网络通信模块(6)中AP(19)相连，将拍摄到的环境信息输出至本体主控模块(9)和本地监控后台子系统(4)；The detection data acquisition module (7) includes a visible light camera (13) and an infrared thermal imager (14), which is connected with the AP (19) in the network communication module (6), and outputs the captured environmental information to the body master Module (9) and local monitoring background subsystem (4); 所述导航定位模块(8)，包括激光雷达(15)和里程计(16)，输出当前巡检机器人子系统(1)所在的位置信息，经由交换机(20)传输至本体主控模块(9)进行导航定位；The navigation and positioning module (8), including the laser radar (15) and the odometer (16), outputs the position information where the current inspection robot subsystem (1) is located, and transmits it to the body main control module (9) via the switch (20) ) for navigation and positioning; 所述电源管理模块(10)，包括电池(21)、PLC(22)和继电器板(23)，其中PLC(22)分别与电池(21)、继电器板(23)以及交换机(20)相连，将电池(21)信息实时传递给本体主控模块(9)，进行电池(21)的管理与控制；The power management module (10) includes a battery (21), a PLC (22) and a relay board (23), wherein the PLC (22) is connected to the battery (21), the relay board (23) and the switch (20) respectively, The information of the battery (21) is transmitted to the main control module (9) of the main body in real time to manage and control the battery (21); 所述全驱运动模块(11)，包括直行运动控制板(24)、直行运动驱动器(25)、防跌落传感器(26)和超声波传感器(27)，其中直行运动控制板(24)与交换机(20)相连，接收来自本体主控模块(9)的运动指令，同时将防跌落传感器(26)和超声波传感器(27)信息传递给本体主控模块(9)；The all-drive motion module (11) includes a straight motion control board (24), a straight motion driver (25), an anti-drop sensor (26) and an ultrasonic sensor (27), wherein the straight motion control board (24) is connected to the switch ( 20) connected, receiving motion commands from the body main control module (9), and simultaneously transmitting the information of the anti-drop sensor (26) and the ultrasonic sensor (27) to the body main control module (9); 所述全向运动模块(12)，包括转向运动控制板(28)和转向运动驱动器(29)，其中转向运动控制板(28)与交换机(20)相连，实现转向的控制。The omnidirectional motion module (12) includes a steering motion control board (28) and a steering motion driver (29), wherein the steering motion control board (28) is connected with the switch (20) to realize steering control. 3.根据权利要求1或2所述的变电站巡检系统，其特征在于，所述巡检机器人子系统(1)具有自主充电功能，能够与机器人室(2)的充电设备配合完成自主充电，并能够在电池电量不足时自动返回充电。3. The substation inspection system according to claim 1 or 2, wherein the inspection robot subsystem (1) has an autonomous charging function, and can cooperate with the charging equipment in the robot room (2) to complete autonomous charging, And can automatically return to charging when the battery is low. 4.根据权利要求1或2所述的变电站巡检系统，其特征在于，在转发设备与通讯设备之间加装防火墙，在接收器与接入装置之间的通讯线上加装以太网防雷器和串口防雷器。4. The substation inspection system according to claim 1 or 2, characterized in that a firewall is installed between the forwarding equipment and the communication equipment, and an Ethernet defense is installed on the communication line between the receiver and the access device. Lightning device and serial port lightning protection device. 5.根据权利要求2所述的变电站巡检系统，其特征在于，所述巡检机器人子系统(1)中，机器人本体采用四轮机器人小车的结构，包括底部的四个轮子以及轮子上方的主体，主体的舱体由外壳完全覆盖，主体的下方设有底板，以机器人行进方向为前方，外壳的顶部前端设有云台，云台的升降杆由本体主控模块控制。5. The substation inspection system according to claim 2, characterized in that, in the inspection robot subsystem (1), the robot body adopts the structure of a four-wheeled robot trolley, including four wheels at the bottom and four wheels above the wheels. The main body, the cabin of the main body is completely covered by the shell, the bottom of the main body is provided with a bottom plate, and the direction of the robot is in front. 6.根据权利要求2所述的变电站巡检系统，其特征在于，所述巡检机器人子系统(1)中，机器人本体采用履带式机器人小车的结构，包括底部的模块化履带式底盘以及其上方的主体，主体的舱体由外壳完全覆盖，主体底部连接模块化履带式底盘，以机器人行进方向为前方，外壳的顶部前端设有云台，云台的升降杆由本体主控模块控制。6. The substation inspection system according to claim 2, characterized in that, in the inspection robot subsystem (1), the robot body adopts the structure of a crawler robot trolley, including a bottom modular crawler chassis and its The main body above, the cabin of the main body is completely covered by the shell, the bottom of the main body is connected to the modular crawler chassis, and the direction of the robot is in front. 7.根据权利要求5或6所述的变电站巡检系统，其特征在于，所述巡检机器人子系统(1)中，还包括温度控制模块，所述温度控制模块包括风扇、温度传感器、电加热器以及PLC，其中温度传感器设置在巡检机器人主体的外壳内侧壁上，电加热器以及PLC均设置在主体内部，在主体的外壳前、后壁上方分别开孔设置风扇；7. The substation inspection system according to claim 5 or 6, characterized in that, in the inspection robot subsystem (1), a temperature control module is also included, and the temperature control module includes a fan, a temperature sensor, an electrical Heater and PLC, in which the temperature sensor is set on the inner wall of the main body of the inspection robot, the electric heater and PLC are set inside the main body, and fans are respectively opened above the front and rear walls of the main body shell; 所述温度传感器实时检测主体的温度，并将数据通过RS485通讯传递给PLC，PLC根据电池的最佳工作温度范围预设有温度上限值Tmax、下限值Tmin以及常温值T，PLC将检测到的温度值与预设的温度上下限作比较，如果检测到的温度值超过了Tmax，PLC下发指令打开风扇进行降温，直至温度降到T时关闭风扇；如果检测到的温度值低于Tmin，PLC下发指令打开电加热器进行加热，直至温度升到T时关闭加热器。The temperature sensor detects the temperature of the main body in real time, and transmits the data to the PLC through RS485 communication. The PLC presets the upper limit value T max , the lower limit value T min and the normal temperature value T according to the optimal working temperature range of the battery. Compare the detected temperature value with the preset upper and lower limits of temperature, if the detected temperature value exceeds T max , the PLC sends an instruction to turn on the fan to cool down, and turn off the fan until the temperature drops to T; if the detected temperature When the value is lower than T min , the PLC sends an instruction to turn on the electric heater for heating, and turn off the heater when the temperature rises to T. 8.根据权利要求5或6所述的变电站巡检系统，其特征在于，所述巡检机器人子系统(1)中，所述可见光摄像机(13)和红外热成像仪(14)一同固定于云台上，云台能够实现水平方向360°连续旋转以及俯仰方向-45°～60°的旋转。8. The substation inspection system according to claim 5 or 6, characterized in that, in the inspection robot subsystem (1), the visible light camera (13) and the infrared thermal imager (14) are fixed together on the On the gimbal, the gimbal can achieve 360° continuous rotation in the horizontal direction and -45° to 60° rotation in the pitch direction. 9.根据权利要求5所述的变电站巡检系统，其特征在于，所述巡检机器人子系统(1)中，行进机构包括运动伺服电机、转向伺服电机、旋转平台以及车轮；9. The substation inspection system according to claim 5, characterized in that, in the inspection robot subsystem (1), the traveling mechanism includes a motion servo motor, a steering servo motor, a rotating platform and wheels; 当机器人直线行驶时，四个运动伺服电机分别给同轴连接的车轮提供动力，进而带动机器人向前或向后运动；当机器人在道路拐角需要进行转弯时，机器人首先停止运动，然后四个转向伺服电机分别驱动对应旋转平台，旋转平台再带动对应的车轮原地转动45°，使得机器人前面两个车轮变成内“八”模样、后面两个车轮变成外“八”模样，然后根据左转还是右转由运动伺服电机驱动车轮进行旋转直至机器人车体转过-90°或90°，最后再由四个转向伺服电机分别驱动对应旋转平台，旋转平台再带动对应的车轮按与之前相反方向原地转动45°，使得四个车轮回到直线行驶的位置。When the robot is driving in a straight line, the four motion servo motors provide power to the coaxially connected wheels respectively, and then drive the robot to move forward or backward; when the robot needs to turn at the corner of the road, the robot first stops moving, and then the four steering The servo motors drive the corresponding rotating platforms respectively, and the rotating platforms drive the corresponding wheels to rotate 45° on the spot, so that the two front wheels of the robot become an inner "eight" shape, and the two rear wheels become an outer "eight" shape, and then according to the left Whether to turn or turn right, the motion servo motor drives the wheels to rotate until the robot body turns -90° or 90°, and finally the four steering servo motors drive the corresponding rotating platform respectively, and the rotating platform drives the corresponding wheel according to the opposite direction. The direction is turned 45° in situ, so that the four wheels get back to the straight-line driving position. 10.根据权利要求6所述的变电站巡检系统，其特征在于，所述巡检机器人子系统(1)中，行进机构采用模块化履带式底盘，包括驱动电机、减速器、前驱动齿轮、后驱动齿轮、履带、承重轮以及底部舱体构成；10. The substation inspection system according to claim 6, characterized in that, in the inspection robot subsystem (1), the traveling mechanism adopts a modular crawler chassis, including a drive motor, a reducer, a front drive gear, Rear drive gear, track, load-bearing wheels and bottom cabin; 所述底部舱体为一长方体结构件，四个侧面上方各有两个连接件与机器人主体的舱体固定；所述驱动电机固定于底部舱体底盘上，通过减速器以及联轴器与驱动齿轮连接；所述前驱动齿轮、后驱动齿轮设置于底部舱体的前、后两端；所述履带固定在前驱动齿轮、后驱动齿轮上，且履带外表面设有凸起；所述承重轮设置于底部舱体的底部两侧，用于承载机器人的整体重量。The bottom cabin is a rectangular parallelepiped structural part, and two connectors are fixed to the cabin of the main body of the robot on each of the four sides; Gear connection; the front drive gear and the rear drive gear are arranged at the front and rear ends of the bottom cabin; the track is fixed on the front drive gear and the rear drive gear, and the outer surface of the track is provided with protrusions; The wheels are arranged on both sides of the bottom of the bottom cabin, and are used to carry the overall weight of the robot.
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