CN109818416A - A kind of multi-functional transformer station intelligent robot inspection system - Google Patents
A kind of multi-functional transformer station intelligent robot inspection system Download PDFInfo
- Publication number
- CN109818416A CN109818416A CN201711173831.9A CN201711173831A CN109818416A CN 109818416 A CN109818416 A CN 109818416A CN 201711173831 A CN201711173831 A CN 201711173831A CN 109818416 A CN109818416 A CN 109818416A
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- intelligent
- inspection
- substation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Alarm Systems (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
The invention discloses a kind of multi-functional transformer station intelligent robot inspection systems, it includes monitoring center, and the station level intelligent robot cruising inspection system of the monitoring center and at least one substation passes through network connection；Each station level intelligent robot cruising inspection system includes at least one base station, it is additionally provided with environment information acquisition subsystem in substation simultaneously and is mounted on each fixed point auxiliary Monitor And Control Subsystem needed at monitoring device in substation, the intelligent inspection robot is equipped with intelligent inspection robot slave computer, the intelligent inspection robot slave computer is also connect with detection unit, the detection unit includes infrared detection unit and ultraviolet detection unit, and the ultraviolet detection unit includes ultraviolet video server and ultraviolet detector.Polling path optimization of the present invention, security protection is good, and intelligence degree is high, has the advantages that all the period of time fault detection and seamless video monitoring, provides completely new technology detection means and comprehensive safety guarantee for intelligent substation.
Description
Technical field
The present invention relates to power system transformer substation operation and maintenance technical field more particularly to a kind of transformer station intelligent robots
Cruising inspection system.
Background technique
For a long time, manual type is mostly used to carry out substation inspection work, traditional manual inspection mode is not only deposited
In large labor intensity, working efficiency is low, detection mass-dispersion, in place of the deficiencies of means are single, and it is subsequent also can not will be artificial
Data detected are accurately and timely transmitted in management information system to use in work.
With the popularization of unattended Substation, incident is that substation inspection workload is increasing, is patrolled
Inspection arrival rate, timeliness are more unable to get guarantee.Especially the Special Geographics condition such as plateau, gobi or as strong wind, the greasy weather,
The extreme weathers such as ice and snow, hail, thunderstorm occur after, cause manually can not timely inspection, and inspection subject to conditions exist compared with
Big security risk, contingency once occurs for substation at this time, and policymaker because that can not obtain intuitive field data in time, often
The opportunity that optimization process accident can be affected adversely causes the great accidents such as unnecessary economic loss even casualties.
In recent years, with the development of science and technology, the appearance of transformer station intelligent robot, it is standing that realization is automatically performed substation day
The work such as standby tour, infrared measurement of temperature, operation front and back equipment state inspection, to greatly improve the work to substation equipment patrol
Efficiency and quality reduce personnel labor intensity and work risk, promote intelligent substationization level, mention for substation is unattended
For powerful technical support.Transformer station intelligent robot has become the important supplementary means of inspecting substation equipment.
The patent No. CN201442264U that State Intellectual Property Office announced on April 28th, 2010, entitled " substation's intelligence
The application number 201010508300.2 that energy crusing robot " and State Intellectual Property Office announced on June 1st, 2011, it is entitled
The technical solution in terms of transformer station intelligent robot is proposed in the patent of " Intelligent inspection robot system for transformer substation equipment ".
By analysis, there are following technical problems for the existing Intelligent Mobile Robot technical solution announced:
1, the crusing robot being previously mentioned does not have global path planning function.When being maked an inspection tour to particular device, survey monitor
Device people does not optimize path, needs some unnecessary paths, not only wastes the energy content of battery, but also increase survey monitor
The time that device people detects in place, detection efficiency be not high.
2, the crusing robot pattern recognition function being previously mentioned is weak.The shape of current substation's high-voltage circuitbreaker equipment
State is mostly manually maked an inspection tour or is monitored on-line, and manual patrol large labor intensity, working efficiency are low；Tour/verification is not in place, and existing
There is the management information system docking period long；Sampled signal is less, data deficiencies for the crusing robot on-line monitoring being previously mentioned；To fortune
Dynamic process lacks record；The disadvantages of analysis precision is not high, and diagnosis lacks persuasion.
3, the crusing robot being previously mentioned lacks security protection system.Crusing robot is in commissioning test and normal inspection
Cheng Zhong when operating especially by wireless technology, due to lacking effective preventive means, causes crusing robot occurring surprisingly
When situation, shell collides with equipment and is damaged.
4, the crusing robot being previously mentioned can not shift to an earlier date failure early period of detection device.Infrared detection is vulnerable to infrared in environment
Radiation especially solar radiation influences, therefore infrared detection cannot generally carry out on daytime, result in some equipment faults in this way
It cannot be timely detected and find；The later period failure of the usual detection device of infrared detection, can not failure early period to equipment make
Early warning.
5, the crusing robot being previously mentioned can not effectively be combined with traditional video monitoring system.There is also very big
Blind area of monitoring is difficult really to meet the requirement that video is maked an inspection tour, covered all around.
6, the crusing robot being previously mentioned can not cooperate with successive control system.Existing Intelligent Mobile Robot, cannot achieve
The automatic identification of equipment state after grid switching operation can not interact with transformer substation sequence control platform, also cannot achieve grid switching operation
Sequence process.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems, provides a kind of multi-functional transformer station intelligent robot inspection system
System.It integrates existing robot technology, power equipment non-contact detecting technology, more sensings using intelligent inspection robot as core
Device integration technology, pattern-recognition, navigator fix technology and technology of Internet of things etc..It is complete with can be realized transformer substation robot
Weather, comprehensive, full autonomous intelligence inspection and monitoring realize to inspection monitoring data intelligent storage, while utilizing pattern-recognition,
Labor intensity is effectively reduced, reduces substation's O&M cost, improve normal inspection operation and manages intelligent and automatic
Change level, for intelligent substation and unattended operation transformer station provides innovative technology detection means and comprehensive safety is protected
Barrier, the advantages of quickly promoting substation's unattended process.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of multi-functional transformer station intelligent robot inspection system, it includes monitoring center, the monitoring center at least
The station level intelligent robot cruising inspection system of one substation passes through network connection；Each station level intelligent robot cruising inspection system packet
At least one base station is included, base station is then wirelessly communicated at least one intelligent inspection robot；
It is additionally provided at least one robot electrically-charging equipment in substation simultaneously, is also equipped with and intelligent patrol detection in substation
Robot navigation's location facilities for walking that robot matches, while environment information acquisition is additionally provided in substation
System and be mounted in substation it is each need at monitoring device fixed point auxiliary Monitor And Control Subsystem；
Environment information acquisition subsystem, fixed point auxiliary Monitor And Control Subsystem and base station communication；The intelligent inspection robot
It is equipped with intelligent inspection robot slave computer, it passes through network communication unit and base station communication；
The intelligent inspection robot slave computer is also connect with detection unit, and the detection unit includes infrared detection unit
With ultraviolet detection unit, the ultraviolet detection unit includes ultraviolet video server and ultraviolet detector, ultraviolet detector
The analog video that acquisition equipment image obtains is sent to base by ultraviolet video server access switch by wireless communication
It stands background monitoring computer i.e. host computer；Ultraviolet detector is connect with ultraviolet video server, ultraviolet detector with it is ultraviolet
Video server connect with intelligent inspection robot slave computer and is controlled by slave computer.
The monitoring center includes an at least server, at least a monitoring host computer and corresponding warning device；Wherein,
The monitoring host computer has all monitoring, control and a management function in video monitoring center, and using pattern-recognition to video and
Picture carries out intellectual analysis；The server storage time information, photos and videos file, for quick-searching；Warning device
For system hardware and software anomaly alarming device or/and detection warning device, wherein monitoring alarm is selected from environmental information and reports extremely
Alarm device, fire fighting alarm device one of break in warning device, video movable alarm device or a variety of.
The monitoring center is connect with each base station by electric power special optical cable.
The base station includes background monitoring computer i.e. host computer, it passes through wireless communication module I and Intelligent inspection machine
Device people communication；
The host computer is connect by firewall with Substation SCADA System and mis system；
The host computer is connect by mobile communication module with long-range monitoring center, and the mobile communication module is GSM
Module, CDMA module, GPRS module or 3G module；
The environment information acquisition subsystem uses temperature, humidity and air velocity transducer, using RS485 serial communication protocol
Base station background monitoring computer i.e. host computer is sent the data to by cable, and carries out display storage.
The intelligent inspection robot includes intelligent inspection robot ontology；Intelligent inspection robot ontology includes fixing
Slave computer on a mobile platform and navigation positioning module, power module, the cradle head control module, letter being connected with slave computer
Cease acquisition module, display module, safety protection module, detection module, network communication unit；The wherein network communication unit
It is communicated including the wireless communication module II and wireless communication module I of base station.
The navigation positioning module includes that two RFID readers, a GPS unit, a magnetic navigation unit and one are sharp
Ligh-ranging unit, the GPS unit receive GPS positioning information, read RFID navigation information by RFID reader, pass through magnetic conductance
The unit that navigates reads magnetic navigation mark, reads target/obstacle distance information by laser ranging unit, is sent to after information collection
Slave computer；
The power module includes input power, and input power is connect with power supply processing module, power supply processing module point eight
Power supply output in road is exported including two-way 12V output and six road 28V；In 12V output is wireless communication module and friendship all the way
It changes planes power supply, another way is information collecting device power supply；The six roads 28V output is then the next with radiator, robot respectively
Machine, safety protection module, cradle head control module, robot ambulation equipment and charging positioning mechanism power supply；
The structure that the cradle head control module uses is using described in Chinese granted patent number ZL200920029359.6
Structure；
The information acquisition module includes with lower unit: image information acquisition unit, acoustic information acquisition unit, temperature/wet
Spend information acquisition unit；The image information acquisition unit also wraps in addition to thermal infrared imager, ultraviolet imager, video server
Visible light camera is included, the visible light camera, thermal infrared imager, ultraviolet imager are respectively or combination is mounted on corresponding cloud
On platform；The acoustic information acquisition unit is sound pick-up；The temperature/humidity information acquisition unit is Temperature Humidity Sensor；
The safety protection module includes ultrasonic fault detection unit, safe touch side unit, is also comprised and Video service
The front camera and rear camera of device connection, information collected compress volume by being controlled by the video encoder of slave computer
After code, base station is sent to through wireless communication module I, wireless communication module II；After rear camera provides intelligent inspection robot
Square real-time video, auxiliary remote control intelligent inspection robot retreat；
The ultrasound obstacle detection unit includes the ultrasound transducer probe that robot front end is arranged in, and is passed with ultrasound
The ultrasonic signal processing board of sensor probe connection, the range information that it will test are transmitted to robot slave computer.The ultrasound
There are four sensor probes, is mounted on robot front end side by side.The structure that this unit uses is using Chinese granted patent number
Structure described in ZL200920029427.9, when for detecting the barrier of crusing robot direction of travel, preventing automatic running
Accident collision；
The safe touch side unit is the ribbon of flexible bendable, is fixed on the edge placement of intelligent inspection robot
On, realize safeguard protection.When crusing robot is mobile strikes barrier, Flexible Safety side will transmit a signal to power supply system
System is mobile to stop robot, and important security protection is provided for crusing robot accident collision.
The wireless communication module I, wireless communication module II are the wireless bridge based on 802.11N；
The slave computer uses embedded industrial control computer, built-in built-in Linux operating system, and slave computer leads to
It crosses wireless communication module II and host computer communicates, the communication data for being transmitted to host computer includes image information acquisition unit, sound
Information acquisition unit, temperature/humidity information acquisition unit data；The collected RFID number of navigation positioning module is also transmitted simultaneously
According to, GPS data, target/obstacle distance data.
The fixed point auxiliary Monitor And Control Subsystem is included in substation equipped at least one high-definition network camera；It is described
High-definition network camera is connect by optical cable with base station；High-definition network camera setting makes an inspection tour blind area in intelligent inspection robot,
High-definition network camera is directly monitored by intelligent inspection robot missing inspection equipment, upload the data to base station, carries out unified monitoring
It is stored with analysis.
The intelligent inspection robot electrically-charging equipment includes accumulator plant and charging positioning mechanism, and the accumulator plant is using logical
Road formula cabin, split two doors in accumulator plant install automatic gate inhibition, intelligent inspection robot can module by wireless communication, control
Make the folding of automatic gate inhibition；Accumulator plant is equipped with intelligent inspection robot navigator fix facility, certainly convenient for intelligent inspection robot
Dynamic charging positioning；Charge indoor location charging case.The structure of accumulator plant's automatic door control system uses Chinese patent application
Number for the structure in 2011201896988 patents of invention, charging positioning mechanism use China's granted patent number for
The structure of ZL200920290409.6.
A kind of transformer station intelligent robot method for inspecting the following steps are included:
Step 1, charging；Intelligent inspection robot refers in the patrol task for not receiving wireless communication networks or contactless transmission
When enabling, equipment charge is carried out in intelligent inspection robot accumulator plant, patrol task is waited to issue；
Step 2, path planning；When path planning, substation is modeled first, form topological network diagramming and is connected to pass
It is matrix；Searching route matrix, i.e. shortest path matrix are determined followed by Floyd Freud's algorithm, and excellent by iteration
Change, improves arithmetic speed；Then pass through the traversal to node and side, the most short access of calculating originating point to target point sequence
Diameter；Most short communication path is finally transformed into the travel route indicated with RFID sequence；RFID at each crossing, according to path
Connectivity calculates the rotational angle of intelligent inspection robot；
Step 3, mission dispatching and execution；Base station epigyny machine is required according to inspection, and path planning module plans letter of going out on missions
Breath, and intelligent inspection robot slave computer is sent by wireless telecommunication system by timed task；After reaching task time, inspection
Robot is detached from electrically-charging equipment and starts inspection；Intelligent inspection robot navigation positioning module acquires navigator fix information, by position
Attitude signal sends slave computer, travels under the control of master control system in substation；
Step 4, anchor point detection；When navigation positioning module, which detects, reaches target detection point, stop mobile platform, root
According to task, call the holder of detection system accordingly prefabricated position, video that alignment substation equipment is detected, and will test and
Image data is sent to base station epigyny machine by wireless telecommunication system and carries out data processing, analysis, storage；
Step 5, pattern-recognition；Based on the video and image data of the acquisition of robot visible detection, template matching is utilized
Technology, the circuit-breaker status of substation is identified；Based on the video and image data of the acquisition of robot infrared detection, benefit
Substation's disconnecting link state is identified with Sift feature；Base station background monitoring computer, that is, host computer divides detection data
Analysis judgement, issues overtemperature warning when necessary；
Step 6, sequence execute task, until patrol task is completed, intelligent inspection robot returns to robot electrically-charging equipment,
Charging waits next timing patrol task；
Step 7, fixed point monitoring auxiliary inspection；By the way that multiple video cameras of different fixed points are all added to fixed point inspection
In sequencing column, it is configured to inspection route, each video camera is according to planning alignment robot missing inspection equipment and by video information
It is uploaded to base station；The fixed point auxiliary video of upload is utilized the failure that equipment is judged after pattern-recognition identification by the host computer of base station
State；Trigger condition is arranged to the region that monitors of needs in system, i.e., on demand setting pass through the detection of warning face, into, leave invasion
Region detection, once triggering under deployment state, system can interlink warning；
Step 8, inspection report generation；Whole tasks are completed, and base station background monitoring computer receives inspection end message,
Analysis handles this inspection data, forms inspection report, this inspection terminates；Patrol officer can be in the monitoring time reality of base station
When monitoring inspection it is whole；Inspection report can also be browsed after the completion of inspection；It can also periodically be retrieved, be checked by historical data
Inspection historical data.
In addition, further illustrating, the background monitoring computer, that is, host computer is equipped with background monitoring and analyzes software, backstage
Monitoring analysis software includes boundary layer, control layer and data Layer；
The boundary layer is divided into video display module, information display module, alarm display module, report generation module, electricity
Sub- mapping module, data inquiry module, data configuration module and device control module, intelligent inspection robot oneself state and inspection
The monitoring of the real time data of examining system provides operating interactive interface by boundary layer and realizes；
The control layer, be divided into path planning, pattern-recognition, sequence cooperation, audio processing modules, network communication module,
Video processing module, alert process module, report form processing module, path planning module can with crusing robot inspection route from
Dynamic optimization, can also be when formulating the specific patrol task of equipment and when intelligent inspection robot low pressure alarming auto-returned charges
Shortest path is provided；The automatic identification of equipment may be implemented in pattern recognition module, can in infrared image accurate positioning equipment,
Automatic accurate judgement device temperature；Pattern recognition module can also with the state of automatic identification equipment, as disconnecting switch state and
The reading of instrument；Sequence fit module in summary functional module, interacts with transformer substation sequence control platform, utilizes optimal path
Planning algorithm, image analysis, algorithm for pattern recognition realize the automatic detection of the equipment state after Substation Switch Changing Operation, and will know
Other result is sent to transformer substation sequence control platform, realizes the automatic school conjunction of equipment state after grid switching operation, and back brake is driven to grasp
The one-touch sequential control of Substation Switch Changing Operation is really realized in automatic, the smooth execution made；
The data Layer is divided into real-time data base, system configuration file, video file and historical data base；To testing number
According to carrying out classification storage, and realizes the sequence of historical data, screening etc. and retrieve.
The invention has the following advantages:
1, polling path optimizes.
Intelligent inspection robot optimizes polling path using global path planning algorithm, and travel route is short, intelligence
Detection time is fast in place for crusing robot, saves the energy content of battery, while can effectively save mobile intelligence after substation equipment operation
The time of energy crusing robot equipment verification.
2, there is stronger pattern recognition function.
Pattern recognition function, including substation breakers state is realized based on visible detection technology, template matching technique
It identifies and the state recognition of substation's disconnecting link is realized based on infrared detection, these modules and algorithm arithmetic speed are fast, image recognition rate
Height improves the efficiency of automatic detecting and identification, can meet the real-time tour requirement at scene.
3, all the period of time fault detection.
Ultraviolet detection is not interfered by solar radiation, and intelligent inspection robot can carry out inspection to substation equipment on daytime,
Cooperate with visible light and/or infrared detection, equipment can be detected with whole day any time section, improves equipment deficiency detection
Timeliness；It is ultraviolet, infrared, visible detection excellent by being combined in intelligent inspection robot distribution equipment detection unit
Gesture can be improved the efficiency of equipment deficiency detection, accurately and reliably position, can be set with complete detection substation to equipment deficiency
Standby temperature, appearance, state and corona flashover situation.
4, comprehensive security protection.
Ultrasonic obstacle detection unit is used to detect the barrier of robot direction of travel, prevents accident when automatic running from touching
It hits；Front camera, rear camera provide the real-time video of intelligent inspection robot front and back, auxiliary remote control Intelligent inspection machine
Device people's forward-reverse；Intelligent inspection robot accident collision is protected in last official seal of safe touch side.Comprehensive security protection can be with
Intelligent inspection robot automatic safe is run, intelligent inspection robot accident collision when automatic detecting or remote control is prevented or is fallen
It falls.
5, intelligence degree is high.
The full autonomous operation that patrol task is realized by automatic charging and Camera calibration, is not necessarily to manual intervention；Intelligence
Change degree is high, and inspection data consistency is good, is pinpointed, determines angle, fixed time using intelligent inspection robot realization substation equipment
Inspection is automated, data are not influenced by subjective factors such as patrol officer's Quality abilities.
6, the seamless monitoring of comprehensive video.
The cooperation that Monitor And Control Subsystem is assisted by mobile intelligent inspection robot and fixed point, realizes transformer substation video
Seamless monitoring, inspection non-blind area, eliminate original security protection, fixed video monitoring blind spot, reduce unit area monitoring point
Quantity keeps monitoring scene coverage area wider, and efficiency and the intelligent Application for improving monitoring system of electric substation are horizontal.
7, it realizes and the cooperation of substation sequence control system, SCADA system, mis system.
It is interacted by IEC61850 agreement with transformer substation sequence control platform, SCADA system, mis system, utilizes optimal road
The automatic detection of equipment state after diameter planning algorithm, image analysis, algorithm for pattern recognition realization Substation Switch Changing Operation, and will
Recognition result is sent to transformer substation sequence control platform by IEC61850 agreement, and equipment state is automatic after realization grid switching operation
School is closed, and drives automatic, the smooth execution of grid switching operation, really realizes the one-touch sequential control of Substation Switch Changing Operation.
8, the Centralized Monitoring of multistation grade intelligent inspection robot intelligent inspection system is realized.
Multiple robot used for intelligent substation patrol Centralized Monitorings, centralized management, meet the demand of substation's unattended,
And detection means is provided for the equipment safety operation of unattended operation transformer station；The centralized management of inspection data and shared, Ke Yigeng
Equipment fault and Analysis on Fault Diagnosis are judged comprehensively.
Detailed description of the invention
Fig. 1 is robot used for intelligent substation patrol cruising inspection system overall construction drawing；
Fig. 2 is station level crusing robot intelligent patrol detection subsystem composite structural diagram；
Fig. 3 is fixed point auxiliary Monitor And Control Subsystem structure chart；
Fig. 4 is intelligent inspection robot system construction drawing；
Fig. 5 is background monitoring analyzing software system structure chart；
Fig. 6 is intelligent inspection robot detection data flow graph；
Fig. 7 is intelligent inspection robot safety protection module data flow diagram；
Fig. 8 is a kind of multi-functional transformer station intelligent robot inspection system method for inspecting flow chart.
1. monitoring center in figure, 2. station level intelligent robot cruising inspection systems, 3. robot navigation's location facilities, 4. robots
Electrically-charging equipment, 5. intelligent inspection robots, 6. environment information acquisition subsystems, 7. fixed points assist Monitor And Control Subsystem, 8 high definition nets
Network camera, 9. host computers, 10. wireless communication module I, 11. wireless communication module II, 12. slave computers, 13. mobile platforms,
14. navigation positioning module, 15. cradle head control modules, 16. power modules, 17. information acquisition modules, 18. safety protection modules,
19 display modules, 20. interchangers, 21. video encoders, 22. front cameras, 23. rear cameras, 24. safe touch sides,
25. ultrasonic fault detection unit, 26. visible light cameras, 27. thermal infrared imagers, 28. ultraviolet imagers, 29. base stations, 30. nets
Road communication unit.
Specific embodiment
The present invention will be further described with embodiment with reference to the accompanying drawing.
Embodiment 1
In Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 6, Fig. 7, a kind of multi-functional transformer station intelligent robot inspection system, it includes prison
Control center 1, the monitoring center 1 and the station level intelligent robot cruising inspection system 2 of at least one substation pass through network connection；Institute
State each station level intelligent robot cruising inspection system 2 include at least one base station 29, base station 29 then at least one intelligent inspection machine
People 5 wirelessly communicates；It is additionally provided at least one robot electrically-charging equipment 4 in substation simultaneously, is also equipped with and intelligence in substation
Robot navigation's location facilities 3 for walking that energy crusing robot 5 matches, while environment letter is additionally provided in substation
It ceases acquisition subsystem 6 and is mounted on each fixed point auxiliary Monitor And Control Subsystem 7 needed at monitoring device in substation；Environment
Information gathering subsystem 6, fixed point auxiliary Monitor And Control Subsystem 7 are communicated with base station 29；The intelligent inspection robot 5 is equipped with intelligence
The slave computer 12 of energy crusing robot, it is communicated by network communication unit 30 with base station 29；The intelligent inspection robot 5
Slave computer 12 is also connect with detection unit, and the detection unit includes infrared detection unit and ultraviolet detection unit, described ultraviolet
Detection unit includes ultraviolet video server and ultraviolet detector, the simulation view that ultraviolet detector acquisition equipment image obtains
Frequency is by ultraviolet video server access switch 20, and it is i.e. upper to be sent to base station background monitoring computer by wireless communication
Machine 9；Ultraviolet detector is connect with ultraviolet video server, and ultraviolet detector and ultraviolet video server are and intelligent patrol detection
Robot slave computer 12 connects and is controlled by slave computer 12.
The monitoring center 1 includes an at least server, at least a monitoring host computer and corresponding warning device；Its
In, monitoring, control and the management function that the monitoring host computer has video monitoring center all, and using pattern-recognition to video
Intellectual analysis is carried out with picture；The server storage time information, photos and videos file, for quick-searching；Alarm dress
It is set to system hardware and software anomaly alarming device or/and detection warning device, wherein it is abnormal that monitoring alarm is selected from environmental information
Warning device, fire fighting alarm device one of break in warning device, video movable alarm device or a variety of.
The monitoring center 1 is connect with each base station 29 by electric power special optical cable.
The base station 29 includes background monitoring computer, that is, host computer 9, it is patrolled by wireless communication module I10 and intelligence
Robot 5 is examined to communicate；
The host computer 9 is connect by firewall with Substation SCADA System and mis system；
The host computer 9 is connect by mobile communication module with long-range monitoring center, and the mobile communication module is GSM
Module, CDMA module, GPRS module or 3G module；
The environment information acquisition subsystem 6 is assisted using temperature, humidity and air velocity transducer using RS485 serial communication
View sends the data to 29 background monitoring computer of base station by cable；Carry out display storage.
The intelligent inspection robot 5 includes robot body；Robot body includes being fixed on mobile platform 13
Slave computer 12 and the navigation positioning module 14, power module 16, the cradle head control module 15, information that are connected with slave computer 12
Acquisition module 17, display module 19, safety protection module 18, detection module, network communication unit 30；Wherein the network is logical
Believe that unit 30 includes the wireless communication module I10 communication of wireless communication module II11 and base station 29.
The navigation positioning module 14 includes two RFID readers, a GPS unit, a magnetic navigation unit and one
Laser ranging unit, the GPS unit receive GPS positioning information, read RFID navigation information by RFID reader, pass through magnetic
Navigation elements read magnetic navigation mark, read target/obstacle distance information by laser ranging unit, transmit after information collection
To slave computer 12；
The power module 16 includes input power, and input power is connect with power supply processing module, power supply processing module point
The output of eight road power supplys is exported including two-way 12V output and six road 28V；In 12V output all the way for wireless communication module and
Interchanger 20 is powered, and another way is the power supply of 17 equipment of information acquisition module；Six roads 28V output then respectively with radiator,
Robot slave computer 12, safety protection module 18, cradle head control module 15, robot ambulation equipment and charging positioning mechanism supply
Electricity.
The structure that the cradle head control module 15 uses is using described in Chinese granted patent number ZL200920029359.6
Structure.
The information acquisition module 17 includes with lower unit: image information acquisition unit, acoustic information acquisition unit, temperature/
Humidity information acquisition unit；The image information acquisition unit removes thermal infrared imager 27, ultraviolet imager 28, video server
Outside, further includes: visible light camera 26, the visible light camera 26, thermal infrared imager 27, ultraviolet imager 28 are installed respectively
On corresponding holder；The acoustic information acquisition unit is sound pick-up；The temperature/humidity information acquisition unit is temperature and humidity biography
Sensor；
The wireless communication module I10, wireless communication module II11 are the wireless bridge based on 802.11N；
The slave computer 12 uses embedded industrial control computer, built-in built-in Linux operating system, slave computer
12 module ii 11 and the communications of host computer 9 by wireless communication, the communication data for being transmitted to host computer 9 includes image information acquisition
Unit, acoustic information acquisition unit, temperature/humidity information acquisition unit data；Also transmission navigation positioning module 14 acquires simultaneously
RFID data, GPS data, the target/obstacle distance data arrived.,
The safety protection module 18 also comprises the front camera 22 and rear camera connecting with video server
23, after information collected is by being controlled by 21 compressed encoding of video encoder of slave computer 12, through wireless communication module I10,
Wireless communication module II11 sends base station 29 to；Rear camera 23 provides 5 rear real-time video of intelligent inspection robot, auxiliary
Intelligent inspection robot 5 is remotely controlled to retreat.
The ultrasound obstacle detection unit includes the ultrasound transducer probe that robot front end is arranged in, and is passed with ultrasound
The ultrasonic signal processing board of sensor probe connection, the range information that it will test are transmitted to industrial control computer.It is described super
There are four sonic transducer probes, is mounted on robot front end side by side.The structure that this unit uses is using Chinese granted patent number
Structure described in ZL200920029427.9, for detecting the barrier of 5 direction of travel of intelligent inspection robot, preventing from transporting automatically
Accident collision when row；
Safe touch side Unit 24 is the ribbon of flexible bendable, is fixed on the edge position of intelligent inspection robot 5
It sets, realizes safeguard protection.When intelligent inspection robot 5 is mobile strikes barrier, Flexible Safety touching side 24 will be transmitted
Signal stops robot movement to power-supply system, provides important security protection for 5 accident collision of intelligent inspection robot.
The fixed point ancillary equipment Monitor And Control Subsystem 7 is included in substation equipped at least one high-definition network camera
8；The high-definition network camera 8 is connect by optical cable with base station 29；High-definition network camera 8 is arranged in intelligent inspection robot
5 make an inspection tour blind area, and high-definition network camera 8 is directly monitored by 5 missing inspection equipment of intelligent inspection robot, upload the data to base station 29,
Carry out unified monitoring and analysis storage；
The robot electrically-charging equipment 4 includes accumulator plant and charging positioning mechanism, and the accumulator plant is small using channel-type
Room, split two doors in accumulator plant install automatic gate inhibition, and intelligent inspection robot 5 can module, control be automatic by wireless communication
The folding of gate inhibition；Accumulator plant is equipped with intelligent inspection robot navigator fix facility 3, fills automatically convenient for intelligent inspection robot 5
Electricity positioning；Charge indoor location charging case.The structure of accumulator plant's automatic door control system use Chinese Patent Application No. for
Structure in 2011201896988 patents of invention, charging positioning mechanism use China granted patent number for
The structure of ZL200920290409.6；
The mobile platform 13 uses wheeled construction, and preceding two-wheeled is driving wheel, is respectively driven by two motors, differential steering,
Two-wheeled is universal wheel afterwards, is servo-actuated.Structure is simple, easy processing, and linear motion property is good with turn performance, can be with two driving wheel centers
Point does pivot turn, and without sideslip.It is adaptable, and it is convenient for the design of control system.
Station level intelligent robot cruising inspection system 2, the process for executing remote data acquisition is: intelligent inspection robot benefit first
With itself data acquisition device by collected inspection data (including battery capacity, Drive Status and speed, holder shape
State, obstacle information, Magnetic Sensor information, image information, audio-frequency information, data of the Temperature and Humidity module), module transfer by wireless communication
To base station system；Then base station system using itself each functional module will after inspection data processing generate inspection log, patrol
Item and inspection real time data are examined, is reported to inspection log, inspection item and inspection real time data by mobile communication module
Long-range monitoring center facilitates technical staff to understand intelligent inspection robot situation in time, and to intelligent inspection robot failure
Carry out maintenance promptly and accurately.
The working principle of robot used for intelligent substation patrol security protection are as follows: range information acquisition device passes through ultrasound detection
Obstacle information before module detection intelligent inspection robot 5 on line direction, and intelligent inspection machine is made using safe touch side 24
The collision protection of people guarantees that intelligent inspection robot 5 will not damage shell and equipment, intelligent patrol detection crashing
After robot 5 encounters barrier or collides, by the Information Collecting & Processing of industrial control computer, intelligence can be ordered to patrol
Inspection 5 people of machine is correctly acted.When video server is mainly used to carry out remote control to intelligent inspection robot, pass through
Front camera 22 and rear camera 23 are monitored 5 traveling road conditions of intelligent inspection robot, and by vision signal
It wirelessly passes monitoring room background computer back, allows the operator to carry out safety operation to intelligent inspection robot 5,
It avoids that accident occurs.
The principle of transformer station intelligent robot all the period of time fault detection: intelligent inspection robot 5 has visible detection list
Member, infrared detection unit and ultraviolet detection unit；Visible detection unit includes visible light video server and visible detection
Device, it is seen that the analog video that optical detection device acquisition equipment image obtains accesses network communication by visible light video server
Unit, the control instruction that 29 background monitoring computer issues from robot base station are taken through network communication unit by visible light video
Business device is sent to visible detection device.Infrared detection unit includes infrared video server and infrared detecting device, infrared inspection
It surveys the analog video that device acquisition equipment image obtains and network communication unit, infrared detection dress is accessed by infrared video server
Net can be transmitted via infrared video server with other data exchanges of intelligent inspection robot slave computer or directly pass through by setting
Network communication unit is completed；Ultraviolet detection unit includes ultraviolet video server and ultraviolet detector, ultraviolet detector acquisition
The analog video that equipment image obtains accesses network communication unit by ultraviolet video server, and ultraviolet detector is patrolled with intelligence
The other data exchanges for examining robot slave computer can transmit via ultraviolet video server or directly pass through network communication unit
It completes.By combining ultraviolet, infrared, visible detection advantage in intelligent inspection robot distribution equipment detection unit,
The efficiency that equipment deficiency detection can be improved, accurately and reliably positions equipment deficiency.
In Fig. 5, host computer background monitoring analysis software is made of boundary layer, control layer and data Layer.
The boundary layer is divided into video display module, information display module, alarm display module, report generation module, electricity
Sub- mapping module, data inquiry module, data configuration module and device control module.Boundary layer provides friendly operating interactive circle
The monitoring of the real time data of intelligent inspection robot oneself state and detection system is completed in face.
The control layer, be divided into path planning, pattern-recognition, sequence cooperation, audio processing modules, network communication module,
Video processing module, alert process module, report form processing module.Path planning module can be with intelligent inspection robot inspection route
Automatic Optimal, can also fill when formulating the specific patrol task of equipment with intelligent inspection robot low pressure alarming auto-returned
Shortest path is provided when electric.Substation is modeled first when path planning, forms topological network diagramming and connected relation matrix；
Searching route matrix, i.e. shortest path matrix are determined followed by Floyd Freud's algorithm, and by iteration optimization, are improved
Arithmetic speed；Then pass through the traversal to node and side, the most short communication path of calculating originating point to target point sequence；Finally will
Most short communication path is transformed into the travel route indicated with RFID sequence；It is calculated in each crossing RFID according to path connectivity
The rotational angle of intelligent inspection robot out.The automatic identification of equipment may be implemented in mode identification technology, can be in infrared image
Middle accurate positioning equipment, automatic accurate judgement device temperature；Mode identification technology can also with the state of automatic identification equipment, such as every
Leave the state of pass and the reading of instrument.Sequence fit module in summary functional module is handed over transformer substation sequence control platform
Mutually, the equipment state after Substation Switch Changing Operation is realized using optimum path planning algorithms, image analysis, algorithm for pattern recognition
Automatic detection, and recognition result is sent to transformer substation sequence control platform, realize the automatic school of equipment state after grid switching operation
It closes, and drives automatic, the smooth execution of grid switching operation, really realize the one-touch sequential control of Substation Switch Changing Operation.
The data Layer is divided into real-time data base, system configuration file, video file and historical data base.To testing number
According to carrying out classification storage, and realizes the sequence of historical data, screening etc. and retrieve.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
In Fig. 8, robot method for inspecting, comprising the following steps:
Step 1, charging；Intelligent inspection robot 5 is in the patrol task for not receiving wireless communication networks or contactless transmission
When instruction, equipment charge is carried out in 5 accumulator plant of intelligent inspection robot, patrol task is waited to issue；
Step 2, path planning: when path planning, first modeling substation, forms topological network diagramming and is connected to pass
It is matrix；Searching route matrix, i.e. shortest path matrix are determined followed by Floyd Freud's algorithm, and excellent by iteration
Change, improves arithmetic speed；Then pass through the traversal to node and side, the most short access of calculating originating point to target point sequence
Diameter；Most short communication path is finally transformed into the travel route indicated with RFID sequence；RFID at each crossing, according to path
Connectivity calculates the rotational angle of intelligent inspection robot 5；
Step 3, mission dispatching and execution；The host computer 9 of base station 29 is required according to inspection, and path planning module planning is taken the post as
Business information, and 5 slave computer 12 of intelligent inspection robot is sent by wireless telecommunication system by timed task；Reach task time
Afterwards, the disengaging of intelligent inspection robot 5 electrically-charging equipment starts inspection；The acquisition navigation of 5 navigation positioning module 3 of intelligent inspection robot is fixed
Position and attitude signal is sent slave computer 12 by position information, is travelled under the control of master control system in substation；
Step 4, anchor point detection；When navigation positioning module, which detects, reaches target detection point, stop mobile platform, root
According to task, call the holder of detection system accordingly prefabricated position, video that alignment substation equipment is detected, and will test and
Image data carries out data processing, analysis, storage by the host computer 9 that wireless telecommunication system is sent to base station 29；
Step 5, pattern-recognition；Based on the video and image data of the acquisition of robot visible detection, template matching is utilized
Technology, the circuit-breaker status of substation is identified；Based on the video and image data of the acquisition of robot infrared detection, benefit
Substation's disconnecting link state is identified with Sift feature；Background monitoring computer, that is, host computer 9 of base station 29 is to detection data
It is analyzed and determined, issues overtemperature warning when necessary；
Step 6, sequence execute task, until patrol task is completed, intelligent inspection robot 5 returns to robot electrically-charging equipment
4, charging waits next timing patrol task；
Step 7, fixed point monitoring auxiliary inspection；By the way that multiple video cameras of different fixed points are all added to fixed point inspection
In sequencing column, it is configured to inspection route, each video camera is according to planning alignment robot missing inspection equipment and by video information
It is uploaded to base station；The fixed point auxiliary video of upload is utilized the event that equipment is judged after pattern-recognition identification by the host computer of base station 29
Barrier state；Trigger condition is arranged to the region that monitors of needs in system, i.e., on demand setting pass through the detection of warning face, into, leave into
Region detection is invaded, once triggering under deployment state, system can interlink warning；
Step 8, inspection report generation；Whole tasks are completed, and 29 background monitoring computer of base station, that is, host computer 9 is received and patrolled
End message is examined, analysis handles this inspection data, forms inspection report, this inspection terminates；Patrol officer can be in base station
29 monitoring time real time monitoring inspection is whole；Inspection report can also be browsed after the completion of inspection；It can also be periodically by going through
History data retrieval checks inspection historical data.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (9)
1. a kind of multi-functional transformer station intelligent robot inspection system, characterized in that it includes monitoring center, the monitoring center
Pass through network connection with the station level intelligent robot cruising inspection system of at least one substation；Each station level intelligent robot inspection
System includes at least one base station, and base station is then wirelessly communicated at least one intelligent inspection robot；Simultaneously in substation also
Equipped at least one intelligent inspection robot electrically-charging equipment, the use matched with intelligent inspection robot is also equipped in substation
In the crusing robot navigator fix facility of walking, while environment information acquisition subsystem and installation are additionally provided in substation
Each fixed point auxiliary Monitor And Control Subsystem needed at monitoring device, environment information acquisition subsystem, fixed point in substation
Assist Monitor And Control Subsystem and base station communication；The intelligent inspection robot is equipped with intelligent inspection robot slave computer, it passes through
Network communication unit and base station communication；The intelligent inspection robot slave computer is also connect with detection unit, the detection unit
Including infrared detection unit and ultraviolet detection unit, the ultraviolet detection unit includes that ultraviolet video server and ultraviolet detection fill
It sets, the analog video that ultraviolet detector acquisition equipment image obtains is passed through by ultraviolet video server access switch
Wireless communication is sent to base station background monitoring computer i.e. host computer；Ultraviolet detector is connect with ultraviolet video server, purple
Outer detection device connect with intelligent inspection robot slave computer with ultraviolet video server and is controlled by slave computer.
2. a kind of multi-functional transformer station intelligent robot inspection system as described in claim 1, characterized in that in the monitoring
Pericardium contains an at least server, at least a monitoring host computer and corresponding warning device；Wherein, the monitoring host computer has view
All monitoring of frequency monitoring center, control and management function, and intelligence point is carried out to video and picture using mode identification technology
Analysis；The server storage time information, photos and videos file, for quick-searching；Warning device is that system hardware and software is different
Normal warning device or/and detection warning device, wherein monitoring alarm is selected from environmental information anomaly alarming device, fire-fighting report
Alarm device one of breaks in warning device, video movable alarm device or a variety of.
3. a kind of multi-functional transformer station intelligent robot inspection system as described in claim 1, characterized in that in the monitoring
The heart is connect with each base station by electric power special optical cable.
4. a kind of multi-functional transformer station intelligent robot inspection system as described in claim 1, characterized in that the base station
Including background monitoring computer, that is, host computer, it is communicated by wireless communication module I and intelligent inspection robot；
The host computer is connect by firewall with Substation SCADA System and M I S system；
The host computer is connect by mobile communication module with long-range monitoring center, the mobile communication module be gsm module,
CDMA module, GPRS module or 3G module；
The environment information acquisition subsystem uses temperature, humidity and air velocity transducer, is passed through using RS485 serial communication protocol
Cable sends the data to base station background monitoring computer；Carry out display storage.
5. a kind of multi-functional transformer station intelligent robot inspection system as described in claim 1 or 4, characterized in that described
Intelligent inspection robot includes robot body；Robot body includes slave computer and the navigator fix that is connected with slave computer
Module, power module, cradle head control module, information acquisition module, display module, safety protection module, detection module, network are logical
Believe unit；Wherein the network communication unit includes wireless communication module I I, wireless communication module I I and base station it is wireless
Communication module I communication；
The navigation positioning module includes two RF I D readers, a GPS unit, a magnetic navigation unit and a laser
Distance measuring unit, the GPS unit receive GPS positioning information, read RF I D navigation information by RF I D reader, pass through magnetic
Navigation elements read magnetic navigation mark, read target/obstacle distance information by laser ranging unit, transmit after information collection
To slave computer；
The power module includes input power, and input power is connect with power supply processing module, eight roads of power supply processing module point electricity
Source output is exported including two-way 12V output and six road 28V；In 12V output is wireless communication module and interchanger all the way
Power supply, another way are information acquisition module power supply；Six roads 28V output then respectively with radiator, robot slave computer, peace
Full protection module, cradle head control module, robot ambulation equipment and charging positioning mechanism power supply；
The information acquisition module includes with lower unit: image information acquisition unit, acoustic information acquisition unit, temperature/humidity letter
Cease acquisition unit；The image information acquisition unit is in addition to thermal infrared imager, ultraviolet imager, video server, further includes: can
Light-exposed video camera, the visible light camera, thermal infrared imager, ultraviolet imager are respectively or combination is mounted on corresponding holder
On；The acoustic information acquisition unit is sound pick-up；The temperature/humidity information acquisition unit is Temperature Humidity Sensor；
The wireless communication module I, wireless communication module I I are the wireless bridge based on 802.11N；
The slave computer uses embedded industrial control computer, built-in embedded L i nux operating system, and slave computer passes through
Wireless communication module I I and host computer communicate, and the communication data for being transmitted to host computer includes image information acquisition unit, sound letter
Cease acquisition unit, temperature/humidity information acquisition unit data；The collected RF I D number of navigation positioning module is also transmitted simultaneously
According to, GPS data, target/obstacle distance data.
6. a kind of multi-functional transformer station intelligent robot inspection system as claimed in claim 5, characterized in that the safety is anti-
Protecting module includes ultrasonic fault detection unit, safe touch side unit, also comprises the front camera connecting with video server
And rear camera, after information collected is by being controlled by the video encoder compressed encoding of slave computer, through radio communication mold
Block I, wireless communication module I I send base station to；It is distant that rear camera provides intelligent inspection robot rear real-time video, auxiliary
Intelligent inspection robot is controlled to retreat.
7. a kind of multi-functional transformer station intelligent robot inspection system as claimed in claim 5, characterized in that the ultrasound barrier
Hindering detection unit includes the ultrasound transducer probe that robot front end is arranged in, and the ultrasound connecting with ultrasound transducer probe
Signal transacting board analysis, the range information that it will test are transmitted to industrial control computer, and there are four the ultrasound transducer probes,
It is mounted on robot front end side by side；When for detecting the barrier of intelligent inspection robot direction of travel, preventing automatic running
Accident collision；The safe touch side unit is the ribbon of flexible bendable, is fixed on the edge placement of intelligent inspection robot
On, realize safeguard protection, when intelligent inspection robot is mobile strikes barrier, Flexible Safety side will transmit a signal to electricity
Source system is mobile to stop robot, and important security protection is provided for intelligent inspection robot accident collision.
8. a kind of multi-functional transformer station intelligent robot inspection system as described in claim 1, characterized in that the fixation
Point ancillary equipment Monitor And Control Subsystem is included in substation equipped at least one high-definition network camera；The high-definition network camera
It is connect by optical cable with base station；High-definition network camera setting makes an inspection tour blind area, high-definition network camera in intelligent inspection robot
It is directly monitored by intelligent inspection robot missing inspection equipment, upload the data to base station, carries out unified monitoring and analysis storage.
9. a kind of multi-functional transformer station intelligent robot inspection system as described in claim 1, characterized in that the intelligence
Crusing robot electrically-charging equipment includes accumulator plant and charging positioning mechanism, and the accumulator plant uses channel-type cabin, accumulator plant pair
Open two doors, automatic gate inhibition be installed, intelligent inspection robot can module by wireless communication, control the folding of automatic gate inhibition；
Accumulator plant is equipped with intelligent inspection robot navigator fix facility, positions convenient for intelligent inspection robot automatic charging；Accumulator plant
Interior installation charging case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711173831.9A CN109818416A (en) | 2017-11-22 | 2017-11-22 | A kind of multi-functional transformer station intelligent robot inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711173831.9A CN109818416A (en) | 2017-11-22 | 2017-11-22 | A kind of multi-functional transformer station intelligent robot inspection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109818416A true CN109818416A (en) | 2019-05-28 |
Family
ID=66601137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711173831.9A Pending CN109818416A (en) | 2017-11-22 | 2017-11-22 | A kind of multi-functional transformer station intelligent robot inspection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109818416A (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110209174A (en) * | 2019-06-28 | 2019-09-06 | 北京史河科技有限公司 | A kind of method and system for realizing robot navigation |
| CN110286684A (en) * | 2019-07-17 | 2019-09-27 | 国网湖北省电力有限公司检修公司 | A kind of Intelligent Mobile Robot and substation inspection system |
| CN110658830A (en) * | 2019-11-12 | 2020-01-07 | 北京华能新锐控制技术有限公司 | Power plant inspection system and control method thereof |
| CN110989609A (en) * | 2019-12-16 | 2020-04-10 | 中信重工开诚智能装备有限公司 | Mining self-power-generation type inspection robot system and control method |
| CN111506065A (en) * | 2020-04-15 | 2020-08-07 | 海隆石油集团(上海)信息技术有限公司 | Petrochemical multi-dimensional sensing inspection robot and power supply system thereof |
| TWI711014B (en) * | 2019-08-29 | 2020-11-21 | 行政院原子能委員會核能研究所 | A system and method for a mobile vehicle to detect the safety area or hazardous area |
| CN112039215A (en) * | 2020-09-23 | 2020-12-04 | 深圳市赛为智能股份有限公司 | Three-dimensional inspection system and inspection method for transformer substation |
| CN112070456A (en) * | 2020-07-31 | 2020-12-11 | 深圳市优必选科技股份有限公司 | Task issuing method, terminal equipment, robot and storage medium |
| CN112147936A (en) * | 2020-09-27 | 2020-12-29 | 武汉大学 | Electric power operation safety control device and behavior identification method |
| WO2021042924A1 (en) * | 2019-09-05 | 2021-03-11 | 北京海益同展信息科技有限公司 | Inspection robot, inspection system, and inspection method |
| CN112748722A (en) * | 2019-10-30 | 2021-05-04 | 大金工业株式会社 | Mobile body control system |
| CN112818716A (en) * | 2021-01-17 | 2021-05-18 | 马陆咀 | Intelligent operation staring and controlling visual management system |
| CN112865307A (en) * | 2021-01-13 | 2021-05-28 | 华东交通大学 | Auxiliary monitoring system for traction substation |
| CN112910094A (en) * | 2021-03-05 | 2021-06-04 | 国网河南省电力公司郑州供电公司 | Remote automatic transformer substation inspection system and method based on ubiquitous power Internet of things |
| CN112953014A (en) * | 2021-03-15 | 2021-06-11 | 杭州佐客科技有限公司 | Low-voltage transformer area line loss monitoring robot, system and use method thereof |
| CN113194128A (en) * | 2021-04-21 | 2021-07-30 | 深圳华瑞通科技有限公司 | Positioning system and method for inspection robot by applying 5G transmission communication |
| CN113310513A (en) * | 2021-05-17 | 2021-08-27 | 苏州香农科技有限公司 | UWB-based factory intelligent inspection robot system |
| CN113671966A (en) * | 2021-08-24 | 2021-11-19 | 成都杰启科电科技有限公司 | Method for realizing remote obstacle avoidance of smart grid power inspection robot based on 5G and obstacle avoidance system |
-
2017
- 2017-11-22 CN CN201711173831.9A patent/CN109818416A/en active Pending
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110209174A (en) * | 2019-06-28 | 2019-09-06 | 北京史河科技有限公司 | A kind of method and system for realizing robot navigation |
| CN110286684A (en) * | 2019-07-17 | 2019-09-27 | 国网湖北省电力有限公司检修公司 | A kind of Intelligent Mobile Robot and substation inspection system |
| TWI711014B (en) * | 2019-08-29 | 2020-11-21 | 行政院原子能委員會核能研究所 | A system and method for a mobile vehicle to detect the safety area or hazardous area |
| WO2021042924A1 (en) * | 2019-09-05 | 2021-03-11 | 北京海益同展信息科技有限公司 | Inspection robot, inspection system, and inspection method |
| CN112748722A (en) * | 2019-10-30 | 2021-05-04 | 大金工业株式会社 | Mobile body control system |
| CN110658830A (en) * | 2019-11-12 | 2020-01-07 | 北京华能新锐控制技术有限公司 | Power plant inspection system and control method thereof |
| CN110989609A (en) * | 2019-12-16 | 2020-04-10 | 中信重工开诚智能装备有限公司 | Mining self-power-generation type inspection robot system and control method |
| CN111506065A (en) * | 2020-04-15 | 2020-08-07 | 海隆石油集团(上海)信息技术有限公司 | Petrochemical multi-dimensional sensing inspection robot and power supply system thereof |
| CN112070456B (en) * | 2020-07-31 | 2023-12-29 | 深圳市优必选科技股份有限公司 | Method for issuing task, terminal equipment, robot and storage medium |
| CN112070456A (en) * | 2020-07-31 | 2020-12-11 | 深圳市优必选科技股份有限公司 | Task issuing method, terminal equipment, robot and storage medium |
| CN112039215A (en) * | 2020-09-23 | 2020-12-04 | 深圳市赛为智能股份有限公司 | Three-dimensional inspection system and inspection method for transformer substation |
| CN112147936A (en) * | 2020-09-27 | 2020-12-29 | 武汉大学 | Electric power operation safety control device and behavior identification method |
| CN112865307A (en) * | 2021-01-13 | 2021-05-28 | 华东交通大学 | Auxiliary monitoring system for traction substation |
| CN112818716A (en) * | 2021-01-17 | 2021-05-18 | 马陆咀 | Intelligent operation staring and controlling visual management system |
| CN112910094B (en) * | 2021-03-05 | 2022-09-27 | 国网河南省电力公司郑州供电公司 | Remote automatic transformer substation inspection system and method based on ubiquitous power Internet of things |
| CN112910094A (en) * | 2021-03-05 | 2021-06-04 | 国网河南省电力公司郑州供电公司 | Remote automatic transformer substation inspection system and method based on ubiquitous power Internet of things |
| CN112953014A (en) * | 2021-03-15 | 2021-06-11 | 杭州佐客科技有限公司 | Low-voltage transformer area line loss monitoring robot, system and use method thereof |
| CN113194128A (en) * | 2021-04-21 | 2021-07-30 | 深圳华瑞通科技有限公司 | Positioning system and method for inspection robot by applying 5G transmission communication |
| CN113310513A (en) * | 2021-05-17 | 2021-08-27 | 苏州香农科技有限公司 | UWB-based factory intelligent inspection robot system |
| CN113671966A (en) * | 2021-08-24 | 2021-11-19 | 成都杰启科电科技有限公司 | Method for realizing remote obstacle avoidance of smart grid power inspection robot based on 5G and obstacle avoidance system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109818416A (en) | A kind of multi-functional transformer station intelligent robot inspection system | |
| CN102280826B (en) | Intelligent robot inspection system and intelligent robot inspection method for transformer station | |
| CN202178515U (en) | Transformer station intelligent robot inspection system | |
| CN102354174B (en) | Inspection system based on mobile inspection apparatus of transformer station and inspection method thereof | |
| CN202145538U (en) | Tour-inspection system based on transformer station mobile tour-inspection apparatus | |
| CN205029436U (en) | Robot system is patrolled and examined to intelligence in centralized control formula transformer substation | |
| WO2022037278A1 (en) | Substation inspection robot system based on artificial intelligence | |
| CN103235562B (en) | Transformer station is based on the comprehensive parameters detection system of crusing robot and method for inspecting | |
| CN206568169U (en) | A kind of city piping lane crusing robot | |
| CN105835063A (en) | Indoor inspection robot system for substation and inspection method for indoor inspection robot system | |
| CN110492607A (en) | A kind of intelligent substation condition monitoring system based on ubiquitous electric power Internet of Things | |
| CN105259899A (en) | Control system for transformer substation patrol robot | |
| CN106600887A (en) | Video monitoring linkage system based on substation patrol robot and method thereof | |
| CN110231825A (en) | Vehicular intelligent cruising inspection system and method | |
| CN206628891U (en) | Substation equipment monitoring system | |
| CN109760837A (en) | A kind of cable duct and the patrol unmanned machine system in tunnel | |
| CN108491758A (en) | A kind of track detection method and robot | |
| CN108956640A (en) | Vehicle-mounted detection apparatus and detection method suitable for distribution line inspection | |
| CN105871071A (en) | Open type digital integrated automation system applied to transformer substation | |
| CN202394362U (en) | Ice melting on-line monitoring system of power transmission line | |
| CN207268846U (en) | Electric inspection process robot | |
| CN205685341U (en) | A kind of combined track formula transformer station indoor crusing robot system | |
| CN209755191U (en) | Intelligent inspection robot for transformer substation monitoring | |
| CN207473031U (en) | Unmanned plane inspection fault diagnosis system | |
| WO2022242759A1 (en) | Unmanned intelligent inspection system and method applied to offshore booster station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190528 |