CN109742853A - A kind of transformer substation robot cooperates with cruising inspection system with intelligence sensor - Google Patents
A kind of transformer substation robot cooperates with cruising inspection system with intelligence sensor Download PDFInfo
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- CN109742853A CN109742853A CN201811525251.6A CN201811525251A CN109742853A CN 109742853 A CN109742853 A CN 109742853A CN 201811525251 A CN201811525251 A CN 201811525251A CN 109742853 A CN109742853 A CN 109742853A
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- detection
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- data acquisition
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- 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
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- 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
Abstract
The present invention provides a kind of transformer substation robots to cooperate with cruising inspection system with intelligence sensor, it include: first kind detection device, the second class detection device, crusing robot, wireless communication networks and background system, wherein, the second class detection device, it is installed on substation equipment and does not have reading display device, the crusing robot has the second data acquisition device, and second data acquisition device is used to obtain the detection data of the second class detection device through wireless communication.Transformer substation robot provided by the invention cooperates with cruising inspection system with intelligence sensor, the detection data of the second class detection device is obtained through wireless communication, the approach of data acquisition is extended, the comprehensive analysis of detection data may be implemented in the detection data of available sensor.
Description
Technical field
The present invention relates to power system transformer substation operation and maintenance technical field, especially a kind of transformer substation robot and intelligence
Sensor synergism cruising inspection system.
Background technique
Grid equipment O&M maintenance be equipment overall process control and safety guarantee it is basic, equipment Daily Round Check is O&M again
The most important thing of service work is the important means for obtaining equipment running status and offer O&M decision.As bulk power grid is built
Continuous propulsion, grid equipment quantity rapidly increases, and bulk power grid operation proposes requirements at the higher level to equipment operational safety simultaneously.
In recent years, robot used for intelligent substation patrol is gradually answered in the substation of 220kV and above
With part infrared light thermometric and meter reading task can be undertaken.
The greatest problem that substation's Daily Round Check faces at present is, crusing robot only has meter reading identification and infrared
Temp sensing function, traditional sensor need artificial live detection, and detection data is individually stored in sensor terminal, cannot achieve inspection
The comprehensive analysis of measured data.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of transformer substation robots to cooperate with cruising inspection system with intelligence sensor,
The detection data of available sensor realizes the comprehensive analysis of detection data.
The present invention provides a kind of transformer substation robots to cooperate with cruising inspection system with intelligence sensor, comprising: first kind detection
Equipment, the second class detection device, crusing robot, wireless communication networks and background system, the background system pass through described
Wireless communication networks remotely control the crusing robot and carry out data transmission between the crusing robot；
Wherein, the first kind detection device is installed on substation equipment and has reading display device, the inspection machine
People has the first data acquisition device, and first data acquisition device by way of imaging or taking pictures for obtaining described the
The detection data of a kind of detection device；
The second class detection device is installed on substation equipment and does not have reading display device, the inspection machine
People has the second data acquisition device, and second data acquisition device for obtaining described second through wireless communication
The detection data of class detection device.
Further, the second class detection device includes: detection module, controller, memory, monitoring module, communication
Module and power module, the power module are used for the detection module, controller, memory, monitoring module and communication mould
Block power supply, the detection module, which is used to detect the state of substation equipment and will test result, is sent to the memory, described
Memory is used to receive what second data acquisition device was sent for storing the testing result, the monitoring module
Connection signal is sent after link order to the controller, the controller after receiving the connection signal for controlling institute
It states communication module and second data acquisition device establishes wireless communication connection and controls the memory and ties the detection
Fruit is sent to second data acquisition device.
Further, the second class detection device has operating mode and suspend mode, in mode of operation first
Suspend mode is switched to after period and continues second time period, is constantly recycled, in addition, in the hibernation mode, the only described prison
Control module work, the monitoring the second class detection after module receives the link order that second acquisition device is sent
Equipment enters operating mode.
Further, the first time period is 2 ~ 7min, and the second time period is 1 ~ 3h.
Further, the first time period is 5min, and the second time period is 2h.
Further, the second class detection device are as follows: extra-high video sensor, ultrasonic sensor or high-frequency current sensing
Device, for detecting substation equipment ultrahigh frequency partial discharge signal, the ultrasonic sensor is used for the extra-high video sensor
Substation equipment ultrasonic wave local discharge signal is detected, the High Frequency Current Sensor is for detecting substation equipment high-frequency current
Local discharge signal.
Transformer substation robot provided by the invention cooperates with cruising inspection system with intelligence sensor, obtains through wireless communication
The second class detection device detection data, extend the approach of data acquisition, the detection data of available sensor,
The comprehensive analysis of detection data may be implemented.
Specific embodiment
The present invention is further explained in the light of specific embodiments, so that those skilled in the art can be preferably
Understand the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
A kind of transformer substation robot cooperates with cruising inspection system with intelligence sensor, comprising: first kind detection device, the inspection of the second class
Measurement equipment, crusing robot, wireless communication networks and background system, the background system are remote by the wireless communication networks
Crusing robot described in process control and carry out data transmission between the crusing robot；
Wherein, the first kind detection device is installed on substation equipment and has reading display device, shown by reading
Device can read the measurement result of first kind detection device, and first kind detection device can be that the crusing robot has
First data acquisition device, the first data acquisition device can be camera, and first data acquisition device is used for by taking the photograph
Picture or the mode taken pictures obtain the detection data of the first kind detection device；
The second class detection device is installed on substation equipment and does not have reading display device, the inspection machine
People has the second data acquisition device, and second data acquisition device for obtaining described second through wireless communication
The detection data of class detection device.Specifically, the extra-high video sensor of the second class detection device, ultrasonic sensor and high-frequency current
One or more of sensor, the extra-high video sensor is for detecting substation equipment ultrahigh frequency partial discharge signal, institute
Ultrasonic sensor is stated for detecting substation equipment ultrasonic wave local discharge signal, the High Frequency Current Sensor is for detecting
Substation equipment high-frequency current local discharge signal.
The second class detection device specifically includes: detection module, controller, memory, monitoring module, communication module and
Power module, the power module are used to power to the detection module, controller, memory, monitoring module and communication module,
The detection module, which is used to detect the state of substation equipment and will test result, is sent to the memory, and the memory is used
In storing the testing result, the monitoring module is used in the link order for receiving the second data acquisition device transmission
Connection signal is sent afterwards to the controller, and the controller after receiving the connection signal for controlling the communication mould
Block establishes wireless communication connection and controls the memory and is sent to the testing result with second data acquisition device
Second data acquisition device.
In addition, the cruise duration of the power module to guarantee the second class detection device, the second class detection device have work
Mode and suspend mode switch to suspend mode after mode of operation first time period and continue second time period, constantly
Circulation, in addition, in the hibernation mode, the only described monitoring module work, the monitoring receives second acquisition in module
The second class detection device enters operating mode after the link order that device is sent.Crusing robot is moved to the second class of distance
When in detection device a certain range, " connection " control instruction is issued by NB-Iot wireless signal, the second class detection device receives
To after " connection " control instruction, be switched to operating mode, and will test data transmission to crusing robot, to crusing robot
Broken communication connection after, automatically switch to suspend mode.
The first time period be 2 ~ 7min, it is preferable that the first time period be 5min, the second time period be 1 ~
3h, it is preferable that the second time period is 2h.
The present invention relies on intelligence sensor and crusing robot, and auxiliary operation maintenance personnel carries out the on-the-spot make an inspection tour of substation equipment
And detection.With more flexible, efficient way to manage, intelligence sensor needs to carry out mounting arrangements, nothing according to practical maintenance
Need site operation, without laying the secondary cables such as power supply, communication, while intelligence sensor and robot can to equipment state into
Row continues to monitor, it can be found that latency or sporadic defects that live detection can not be found.
The scope of protection of the present invention is not limited to this.Those skilled in the art are made equivalent on the basis of the present invention
Substitution or transformation, it is within the scope of the present invention.Protection scope of the present invention is subject to claims.
Claims (6)
1. a kind of transformer substation robot cooperates with cruising inspection system with intelligence sensor characterized by comprising first kind detection is set
Standby, the second class detection device, crusing robot, wireless communication networks and background system, the background system pass through the nothing
Line communication network remotely controls the crusing robot and carries out data transmission between the crusing robot；
Wherein, the first kind detection device is installed on substation equipment and has reading display device, the inspection machine
People has the first data acquisition device, and first data acquisition device by way of imaging or taking pictures for obtaining described the
The detection data of a kind of detection device；
The second class detection device is installed on substation equipment and does not have reading display device, the inspection machine
People has the second data acquisition device, and second data acquisition device for obtaining described second through wireless communication
The detection data of class detection device.
2. transformer substation robot as described in claim 1 cooperates with cruising inspection system with intelligence sensor, which is characterized in that described
Two class detection devices include: detection module, controller, memory, monitoring module, communication module and power module, the power supply
Module is used to power to the detection module, controller, memory, monitoring module and communication module, and the detection module is used for
It detects the state of substation equipment and will test result and be sent to the memory, the memory is for storing the detection knot
Fruit, the monitoring module be used to send after receiving the link order that second data acquisition device is sent connection signal to
The controller, the controller after receiving the connection signal for controlling the communication module and second data
Acquisition device, which establishes wireless communication connection and controls the memory, is sent to the second data acquisition for the testing result
Device.
3. transformer substation robot as claimed in claim 2 cooperates with cruising inspection system with intelligence sensor, which is characterized in that described
Two class detection devices have operating mode and suspend mode, and suspend mode is switched to after mode of operation first time period simultaneously
Continue second time period, constantly recycle, in addition, in the hibernation mode, the only described monitoring module work, the monitoring is in module
The second class detection device enters operating mode after receiving the link order that second acquisition device is sent.
4. transformer substation robot as claimed in claim 3 cooperates with cruising inspection system with intelligence sensor, which is characterized in that described
One period was 2 ~ 7min, and the second time period is 1 ~ 3h.
5. transformer substation robot as claimed in claim 4 cooperates with cruising inspection system with intelligence sensor, which is characterized in that described
One period was 5min, and the second time period is 2h.
6. the transformer substation robot as described in claim 1 ~ 5 is any cooperates with cruising inspection system with intelligence sensor, which is characterized in that
The second class detection device are as follows: extra-high video sensor, ultrasonic sensor or High Frequency Current Sensor, the superfrequency sensing
Device is for detecting substation equipment ultrahigh frequency partial discharge signal, and the ultrasonic sensor is for detecting substation equipment ultrasound
Wave local discharge signal, the High Frequency Current Sensor is for detecting substation equipment high-frequency current local discharge signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811525251.6A CN109742853A (en) | 2018-12-13 | 2018-12-13 | A kind of transformer substation robot cooperates with cruising inspection system with intelligence sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811525251.6A CN109742853A (en) | 2018-12-13 | 2018-12-13 | A kind of transformer substation robot cooperates with cruising inspection system with intelligence sensor |
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| CN109742853A true CN109742853A (en) | 2019-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811525251.6A Pending CN109742853A (en) | 2018-12-13 | 2018-12-13 | A kind of transformer substation robot cooperates with cruising inspection system with intelligence sensor |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488841A (en) * | 2019-09-03 | 2019-11-22 | 国网湖南省电力有限公司 | Transformer equipment joint cruising inspection system and its application method based on intelligent robot |
| CN110752668A (en) * | 2019-10-25 | 2020-02-04 | 国网陕西省电力公司电力科学研究院 | Inspection system and inspection method for closed cabinet of transformer substation |
| CN111203875A (en) * | 2020-01-07 | 2020-05-29 | 重庆邮电大学 | Mechanical arm collision safety level detection system |
| CN111404276A (en) * | 2020-05-08 | 2020-07-10 | 广东电网有限责任公司东莞供电局 | Transformer substation monitoring system and control method |
| CN111496842A (en) * | 2020-04-21 | 2020-08-07 | 许昌开普检测研究院股份有限公司 | System for detecting inspection capability of meter of robot of transformer substation |
| CN113507590A (en) * | 2021-06-11 | 2021-10-15 | 浙江工业大学 | Full-automatic inspection system for converter transformer area |
| CN114025138A (en) * | 2021-11-09 | 2022-02-08 | 国网河南省电力公司新野县供电公司 | Substation inspection cooperative system and method |
| CN114069838A (en) * | 2021-10-05 | 2022-02-18 | 国网辽宁省电力有限公司电力科学研究院 | Transformer substation robot intelligent inspection system and method with intelligent sensor actively cooperated |
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| CN203965887U (en) * | 2013-12-17 | 2014-11-26 | 国家电网公司 | There is the robot used for intelligent substation patrol of wireless temperature measuring function |
| CN108890657A (en) * | 2018-07-11 | 2018-11-27 | 清华大学合肥公共安全研究院 | A kind of power distribution room intelligent inspection robot |
| CN108896868A (en) * | 2018-06-21 | 2018-11-27 | 云南电网有限责任公司昭通供电局 | One kind is monitored on-line with formula and realizes system and method |
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Patent Citations (3)
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| CN203965887U (en) * | 2013-12-17 | 2014-11-26 | 国家电网公司 | There is the robot used for intelligent substation patrol of wireless temperature measuring function |
| CN108896868A (en) * | 2018-06-21 | 2018-11-27 | 云南电网有限责任公司昭通供电局 | One kind is monitored on-line with formula and realizes system and method |
| CN108890657A (en) * | 2018-07-11 | 2018-11-27 | 清华大学合肥公共安全研究院 | A kind of power distribution room intelligent inspection robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488841A (en) * | 2019-09-03 | 2019-11-22 | 国网湖南省电力有限公司 | Transformer equipment joint cruising inspection system and its application method based on intelligent robot |
| CN110752668A (en) * | 2019-10-25 | 2020-02-04 | 国网陕西省电力公司电力科学研究院 | Inspection system and inspection method for closed cabinet of transformer substation |
| CN111203875A (en) * | 2020-01-07 | 2020-05-29 | 重庆邮电大学 | Mechanical arm collision safety level detection system |
| CN111203875B (en) * | 2020-01-07 | 2022-08-09 | 重庆邮电大学 | Mechanical arm collision safety level detection system |
| CN111496842A (en) * | 2020-04-21 | 2020-08-07 | 许昌开普检测研究院股份有限公司 | System for detecting inspection capability of meter of robot of transformer substation |
| CN111404276A (en) * | 2020-05-08 | 2020-07-10 | 广东电网有限责任公司东莞供电局 | Transformer substation monitoring system and control method |
| CN113507590A (en) * | 2021-06-11 | 2021-10-15 | 浙江工业大学 | Full-automatic inspection system for converter transformer area |
| CN114069838A (en) * | 2021-10-05 | 2022-02-18 | 国网辽宁省电力有限公司电力科学研究院 | Transformer substation robot intelligent inspection system and method with intelligent sensor actively cooperated |
| CN114069838B (en) * | 2021-10-05 | 2023-09-22 | 国网辽宁省电力有限公司电力科学研究院 | Intelligent sensor active cooperative intelligent inspection system and method for substation robot |
| CN114025138A (en) * | 2021-11-09 | 2022-02-08 | 国网河南省电力公司新野县供电公司 | Substation inspection cooperative system and method |
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Application publication date: 20190510 |