CN109861387A - A kind of intelligent substation inspection system - Google Patents
A kind of intelligent substation inspection system Download PDFInfo
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- CN109861387A CN109861387A CN201811523319.7A CN201811523319A CN109861387A CN 109861387 A CN109861387 A CN 109861387A CN 201811523319 A CN201811523319 A CN 201811523319A CN 109861387 A CN109861387 A CN 109861387A
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- 238000007689 inspection Methods 0.000 title claims abstract description 52
- 230000033001 locomotion Effects 0.000 claims abstract description 52
- 230000009471 action Effects 0.000 claims abstract description 29
- 239000011159 matrix material Substances 0.000 claims abstract description 20
- 238000012360 testing method Methods 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 48
- 238000012544 monitoring process Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 4
- 238000001931 thermography Methods 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims 1
- 230000032258 transport Effects 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000001976 improved effect Effects 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 230000008093 supporting effect Effects 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005672 electromagnetic field Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
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- 238000007599 discharging Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3438—Rendez-vous, i.e. searching a destination where several users can meet, and the routes to this destination for these users; Ride sharing, i.e. searching a route such that at least two users can share a vehicle for at least part of the route
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of intelligent substation inspection systems, including mobile matrix system, network channel and base station, the mobile matrix system to be connected using the network channel with the base station；The mobile matrix system includes robot body and the motion control system being arranged on the robot body and work system；The motion control system receives the action command that the base station issues, and carries out motion control to robot body；The work system receives the work order that the base station issues, and robot body is driven to detect substation, and the work system will test information by the network tunnel transports to the base station.Inspection cost of labor is greatly lowered in the cruising inspection system, improves patrol frequency, improves instantaneity, reliability, authenticity and the accuracy of inspection result data.
Description
Technical field
The present invention relates to electric inspection process fields, and in particular to a kind of intelligent substation inspection system.
Background technique
Currently, power distribution station website quantity is more, Daily Round Check task weight under traditional operation and management mode, is primarily present following
Problem:
Inspection high labor cost.Power distribution station website quantity is more, and has a very wide distribution, cause patrol officer need for a long time,
Shuttle in a wide range of；And part website check out procedure is cumbersome and partial region traffic is unsmooth, when causing patrol officer's major part
Between loss in the process of deallocation power plant site, routing inspection efficiency is low.
Professional skill requirement is high.Power distribution station belongs to high pressure place, part inspection project have it is professional, to the technical ability of personnel
And skill requirement is higher, while under traditional patrol mode, and efficient staff is caused to carry out the work of low technical technical ability for a long time
Make, waste of human resource is serious.
Inspection data reliability is low.Traditional manual inspection, it is few for inspection process monitoring means, due to patrol officer or
Other factors, inspection is not unpunctual, comprehensive, and the situations such as missing inspection, few inspection occur often；Detection data is into excessively manually recorded, paper
Approach, the accuracys such as transmitting are uncontrollable.
Emergency situations reaction speed is slow.Under traditional operation and management mode, when there are emergency situations, because not first-hand
In-situ data, therefore the first step needs personnel assigned；Second step is assigned personnel and goes and finds out what's going on to scene, the maintenance of third step tissue
Personnel are to scene rush to repair；Whole process takes a long time, and reaction speed is slow.
Data accumulation summarizes difficulty.Under traditional artificial patrol mode, monitoring data classification is few, and the monitoring data period is longer,
Inspection data reliability is low simultaneously, can not carry out strong data supporting for big data analysis and anticipation.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to a kind of intelligent substation inspection system be provided, to understand
Certainly above-mentioned technical problem adopts the following technical scheme that
A kind of intelligent substation inspection system, including mobile matrix system, network channel and base station, the mobile matrix system
System is connected using the network channel with the base station；The mobile matrix system includes robot body and is arranged described
Motion control system and work system on robot body；The motion control system receives the movement that the base station issues and refers to
It enables, and motion control is carried out to robot body；The work system receives the work order that the base station issues, and driving machine
Device human body detects substation, and the work system will test information by the network tunnel transports to the base
It stands.
Further, the motion control system includes PC104 mainboard, motion control card and motor driver, the PC104
Mainboard is sequentially connected with motion control card and motor driver, and the PC104 mainboard passes through the network channel and the base station
It is connected, the movement instruction received is transferred to the motion control card, the motion control card output phase by the PC104 mainboard
The pulse command answered drives the motor driver operating, so that the robot body be driven to move in region of patrolling and examining.
Further, the work system include thermal infrared imager, visible light camera, image server, video server,
Wireless telecom equipment, the thermal infrared imager, visible light camera, image server, video server respectively with it is described wireless
Communication equipment is connected, and collected detection information is transferred to the base station by the wireless telecom equipment respectively.
Further, power-supply system is equipped in the robot body, the power-supply system includes wireless charging device and storage
Battery system, the wireless charging device are connected with the battery system, and the wireless charging device is received from substation
AC rectification be changed into direct current and pass to the battery system, the battery system be the mobile matrix system
System provides electric energy.
Further, the work system further includes power supply monitoring system, electricity described in the power supply monitoring system real-time monitoring
Monitoring information is simultaneously passed to the base station by network channel by the state of source system.
Further, the network channel includes the first wireless bridge and the second wireless bridge；The first wireless bridge peace
In the base station, first wireless bridge is wireless bridge of the work under ap mode；The second wireless bridge peace
On the robot body, second wireless bridge is wireless bridge of the work under client mode；Described first
Wireless bridge and second wireless bridge are connected the communication realized between the base station and the mobile matrix system.
Further, the base station include patrol task management module, robot body control module, image detection module,
Video detection module, alarm output module, data memory module, data inquiry module, robot body operating status module and
Electric map module；The patrol task management module is connected with the robot body control module, the patrol task pipe
It manages module and the action command received is transferred to the robot body control module；The robot body control module with
The motion control system is connected, and the motion control system receives the movement that the robot body control module issues and refers to
It enables, and motion control is carried out to robot body；Described image server, video server detect mould with described image respectively
Block, video detection module are connected；Described image detection module and the video detection module respectively with the alarm output module
It is connected；The data memory module stores the detection information that work system transmission comes, and with the data inquiry module phase
Even；The motion control system is connected with the robot body operating status module, and the electric map module is moved with described
Action control system is connected.
Further, the movement that above-mentioned patrol task management module is transferred to the robot body control module refers to
Order is generated according to patrol task, and the patrol task includes n region of patrolling and examining x1,x2,…,xi,…,xn, 1≤i≤
n.The n region of patrolling and examining x1,x2,…,xi,…,xnBetween have path Dij, i ≠ j, j ∈ [1, n], i ∈ [1, n].It is each
Path D described in itemijWith a corresponding weight coefficient aij。
Generating the action command according to the patrol task, specific step is as follows:
The first step, according to each path Dij, its corresponding weight coefficient dijAnd the region of patrolling and examining x of its processi, 1≤i
≤ n establishes digraph G=(X, A)；Wherein, the set X={ x for whole region of patrolling and examining that X includes by digraph1,x2,…,
xi,…,xn, the All Paths D that A includes by digraphijWeight coefficient set A={ aij, the weight coefficient
Diagonal entry in set A is sky；
Second step, selection is apart from robot body current location apart from nearest region of patrolling and examining xsAs rising for patrol task
Point selects region of patrolling and examining x according to the requirement of the patrol taskeTerminal as patrol task；Initialization is appointed by the inspection
The starting point x of businesssDestination set E pointed by the action command to set out is sky；Calculate the starting point x by the patrol tasksSet out to
Remaining each region of patrolling and examining x that the digraph G is includedkLowest weightings value M [the s]=α being likely to be breachedsk× A [s] [k],
In, A [s] [k]=askFor region of patrolling and examining xsWith region of patrolling and examining xkBetween path DskCorresponding weight coefficient,For the path DskSteer coefficient, θqFor region of patrolling and examining xqTo turning for its next region of patrolling and examining
To angle, s≤q≤k, s ∈ [1, n], k ∈ [1, n]；
Third step traverses the set X for whole region of patrolling and examining that the digraph is included, and finds region of patrolling and examining xr, so that
By the region of patrolling and examining xrIt sets out the lowest weightings value being likely to be breached to remaining each region of patrolling and examining that the digraph G is included
M [r]=min | M [s]-cos θr||xs∈ X-E }, remember region of patrolling and examining xrFor by the starting point x of the patrol tasksOne to set out
The terminal of preferred path；By the region of patrolling and examining xrIt is added into the starting point x by the patrol tasksThe action command to set out is signified
To destination set E；
Whether the 4th step judges M [r]+A [r] [t] more than max { | M [t]-σ | }, wherein σ obeys Poisson distribution, t ∈
[1, n], it is M [t]=M [r]+A [r] [t] that M [t] is updated if being more than；Otherwise it does not update；Wherein, M [t] is by the inspection
The starting point x of tasksIt sets out to region of patrolling and examining x on set X-EtPreferred path weighted value；
5th step repeats the third step to the 4th step, until obtaining the starting point x by the patrol tasksIt sets out to it
Each preferred path of remaining each region of patrolling and examining；
6th step, the terminal x of the patrol task according to selected by the requirement of the patrol taske, inquire updated
Destination set E obtains terminal xeCorresponding preferred path, each region of patrolling and examining sequentially passed through according to the preferred path is one by one
Generate the action command；The action command makes the robot body according to the sequence of the preferred path by an inspection area
Domain is moved to next region of patrolling and examining.
Wherein, path D described in eachijCorresponding weight coefficient aijFor preset value, weight coefficient aijBy this
The probability γ of the robot body failure is comprehensive on the length l in path, the time p detected to substation and the path
It determines, aij=(l+p)1+γ。
As a result of the above technical solution, the following beneficial effects are obtained:
The present invention is a kind of intelligent substation inspection system, which is greatly lowered inspection cost of labor, is improved
Patrol frequency improves instantaneity, reliability, authenticity and the accuracy of inspection result data.
Mobile matrix system is controlled by base station remote, driving robot body carries out inspection operation in region of patrolling and examining,
It realizes and inspection operation automatically is carried out to power transformation station equipment, do not need professional and reach scene, reduce inspection cost of labor,
Patrol frequency can be set as needed simultaneously；And administrative staff remotely can obtain first-hand in-situ data in base station immediately, number
It is reliable accurate according to timeliness height, when website appearance exception, real-time live image video and detection data are provided in time, improved
First-aid repair efficiency and specific aim；
It is stored by the monitoring data for transmitting work system into data memory module, collects all kinds of detection datas, be
Strong data supporting is carried out in big data analysis and anticipation；
By the way that power-supply system is connected with power supply monitoring system, the moment monitors the state of power-supply system, finds power supply in time
The defect of battery system in system improves the safety and reliability of power supply power supply to replace battery in time, guarantees inspection
System worked well.
The above-mentioned calculating process for preferred path, using weight coefficient aijThe comprehensive consideration path of different region of patrolling and examining
Length, detection time and probability of malfunction, therefore comprehensive can provide each paths and be detected paid cost.By
This can be passed through by being screened to the path in digraph according to the method for the first step to the 6th step based on the weight coefficient
Various paths are traversed in the algorithm, obtain the detection the smallest preferred path of cost, each inspection passed through according to the preferred path
The sequence in region generates action command accordingly, controls the robot body by a region of patrolling and examining and is moved to next inspection area
Domain.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is a kind of block schematic illustration of intelligent substation inspection system in the present invention；
Fig. 2 is the block schematic illustration of motion control system in the present invention；
Fig. 3 is the block schematic illustration of work system in the present invention；
Fig. 4 is the block schematic illustration of network channel in the present invention.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by accompanying drawings and embodiments, to this
Invention is further elaborated.However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention,
The range being not intended to restrict the invention.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to keep away
Exempt from unnecessarily to obscure idea of the invention.
As shown in Figure 1, a kind of intelligent substation inspection system, including mobile matrix system, network channel and base station, it is described
Mobile matrix system is connected using the network channel with the base station；The mobile matrix system include robot body and
Motion control system on the robot body and work system are set；The motion control system receives under the base station
The action command of hair, and motion control is carried out to robot body；The work system receives the work that the base station issues and refers to
It enables, and robot body is driven to detect substation, the work system will test information and be passed by the network channel
It is defeated by the base station.
Specifically, the base station include patrol task management module, robot body control module, image detection module,
Video detection module, alarm output module, data memory module, data inquiry module, robot body operating status module and
Electric map module；The patrol task management module is connected with the robot body control module, the patrol task pipe
It manages module and the action command received is transferred to the robot body control module；The robot body control module with
The motion control system is connected, and the motion control system receives the movement that the robot body control module issues and refers to
It enables, and motion control is carried out to robot body；Described image server, video server detect mould with described image respectively
Block, video detection module are connected；Described image detection module and the video detection module respectively with the alarm output module
It is connected；The data memory module stores the detection information that work system transmission comes, and with the data inquiry module phase
Even, it is stored by the monitoring data for transmitting work system into data memory module, collects all kinds of detection datas, be big data
Strong data supporting is carried out in analysis and anticipation；The motion control system and the robot body operating status module phase
Even, the electric map module is connected with the motion control system.The work system includes that thermal infrared imager, visible light are taken the photograph
Camera, image server, video server, wireless telecom equipment, the thermal infrared imager, visible light camera, images serve
Device, video server are connected with the wireless telecom equipment respectively, and respectively pass through collected detection information described wireless
Communication equipment is transferred to the base station.To transformer equipment appearance, whether exception and route hang foreign matter etc. to visible light camera
Video images detection is carried out, thermal infrared imager carries out electrical equipment, equipment junction and power circuit etc. in substation infrared
Detection, operator only need to base station monitoring room can the information such as real-time reception infrared data, video image carry out at analysis
It manages, data age is high, and it is reliable accurate, when website appearance exception, real-time live image video and detection data are provided in time,
Improve first-aid repair efficiency and specific aim.
Specifically, the movement that above-mentioned patrol task management module is transferred to the robot body control module refers to
Order is generated according to patrol task.
The patrol task includes n region of patrolling and examining x1,x2,…,xi,…,xn, 1≤i≤n.The n region of patrolling and examining
x1,x2,…,xi,…,xnBetween have path Dij, i ≠ j, j ∈ [1, n], i ∈ [1, n].Path D described in eachijWith one
A corresponding weight coefficient aij。
Generating the action command according to the patrol task, specific step is as follows:
The first step, according to each path Dij, its corresponding weight coefficient dijAnd the region of patrolling and examining x of its processi, 1≤i
≤ n establishes digraph G=(X, A)；Wherein, the set X={ x for whole region of patrolling and examining that X includes by digraph1,x2,…,
xi,…,xn, the All Paths D that A includes by digraphijWeight coefficient set A={ aij, the weight coefficient
Diagonal entry in set A is sky；
Second step, selection is apart from robot body current location apart from nearest region of patrolling and examining xsAs rising for patrol task
Point selects region of patrolling and examining x according to the requirement of the patrol taskeTerminal as patrol task；Initialization is appointed by the inspection
The starting point x of businesssDestination set E pointed by the action command to set out is sky；Calculate the starting point x by the patrol tasksSet out to
Remaining each region of patrolling and examining x that the digraph G is includedkLowest weightings value M [the s]=α being likely to be breachedsk× A [s] [k],
In, A [s] [k]=askFor region of patrolling and examining xsWith region of patrolling and examining xkBetween path DskCorresponding weight coefficient,For the path DskSteer coefficient, θqFor region of patrolling and examining xqTo turning for its next region of patrolling and examining
To angle, s≤q≤k, s ∈ [1, n], k ∈ [1, n]；
Third step traverses the set X for whole region of patrolling and examining that the digraph is included, and finds region of patrolling and examining xr, so that
By the region of patrolling and examining xrIt sets out the lowest weightings value being likely to be breached to remaining each region of patrolling and examining that the digraph G is included
M [r]=min | M [s]-cos θ r | | xs∈ X-E }, remember region of patrolling and examining xrFor by the starting point x of the patrol tasksOne to set out
The terminal of preferred path；By the region of patrolling and examining xrIt is added into the starting point x by the patrol tasksThe action command to set out is signified
To destination set E；
Whether the 4th step judges M [r]+A [r] [t] more than max { | M [t]-σ | }, wherein σ obeys Poisson distribution, t ∈
[1, n], it is M [t]=M [r]+A [r] [t] that M [t] is updated if being more than；Otherwise it does not update；Wherein, M [t] is by the inspection
The starting point x of tasksIt sets out to region of patrolling and examining x on set X-EtPreferred path weighted value；
5th step repeats the third step to the 4th step, until obtaining the starting point x by the patrol tasksIt sets out to it
Each preferred path of remaining each region of patrolling and examining；
6th step, the terminal x of the patrol task according to selected by the requirement of the patrol taske, inquire updated
Destination set E obtains terminal xeCorresponding preferred path, each region of patrolling and examining sequentially passed through according to the preferred path is one by one
Generate the action command；The action command makes the robot body according to the sequence of the preferred path by an inspection area
Domain is moved to next region of patrolling and examining.
Wherein, path D described in eachijCorresponding weight coefficient aijFor preset value, weight coefficient aijBy this
The probability γ of the robot body failure is comprehensive on the length l in path, the time p detected to substation and the path
It determines, aij=(l+p)1+γ.Thus the weight coefficient in identified path can be fast when the path failure probability is in high level
Speed multiplication, as a result, detection cost corresponding to the path improves several times in above-mentioned calculating.It as a result, can be according on path
Probability of malfunction makes robot body avoid this section of path as far as possible and carries out layout of roads, improves detection efficiency.
The motion control system includes PC104 mainboard, motion control card and motor driver, the PC104 mainboard with
Motion control card and motor driver are sequentially connected, and the PC104 mainboard is connected by the network channel with the base station, institute
It states PC104 mainboard and the movement instruction received is transferred to the motion control card, the motion control card exports corresponding arteries and veins
The operating of motor driver described in order-driven is rushed, so that the robot body be driven to move in region of patrolling and examining.The network
Channel includes the first wireless bridge and the second wireless bridge；First wireless bridge is mounted in the base station, and described first
Wireless bridge is wireless bridge of the work under AP (access points) mode；Second wireless bridge is mounted on the machine
On human body, second wireless bridge is wireless bridge of the work under client (client) mode；Described first is wireless
Bridge and second wireless bridge are connected the communication realized between the base station and the mobile matrix system.Network channel
As the data transmission channel of mobile matrix system and base station, guarantee the real-time and reliability of data transmission.It is being embodied
In example, if substation is bigger, by the way of more bridge networkings, and the switching speed to guarantee signal path between bridge
Degree is fast, it is preferred to use the wireless bridge of seamless roam function.
Specifically, patrol frequency can be set as needed, the instructions operable of robot body is issued there are two types of mode, a kind of
It is to be issued by operation operator in base station, another kind is issued automatically by the pre-set patrol task in base station.Action control
System receives action command, and robot body drives safely to the anchor point needed near detection device, and stops moving；Again
The work order received according to work system, to needing detection device to be accurately positioned, according to distance and bearing to infrared
Thermal imaging system and visible light camera focusing carry out infrared detection and visible detection, and will test information and pass through network tunnel transports
To base station；If the real time temperature of tested equipment is more than the default maximum operating temperature allowed of the equipment, alarm output module meeting
It sounds an alarm immediately；Robot body carries out multi-faceted detection in the anchor point, until continuing to test after equipment detection
Next equipment, until robot body returns to rechargeable charge after all patrol tasks.
Power-supply system is equipped in the robot body, the power-supply system includes wireless charging device and battery system
System, the wireless charging device are connected with the battery system, the exchange that the wireless charging device is received from substation
Electric rectification is changed into direct current and passes to the battery system, and the battery system provides for the mobile matrix system
Electric energy.Specifically, wireless charging device includes alternating-current power supply, the first energy conversion module and energy transmitting module, alternating current
Source is to be drawn by way of cable conductor from the suitable position of substation, and industrial-frequency alternating current is changed into directly by energy conversion module
Galvanic electricity, so that direct current inversion after high frequency conversion is high-frequency alternating current, energy transmitting module includes energy transmitting coil and benefit
Capacitor is repaid, transmitting coil receives the high-frequency electrical energy of transformed mistake, and battery system is transmitted in the form of electromagnetic field of high frequency.It stores
For battery system for receiving and storing electric energy, battery system includes energy acceptance module, the second energy conversion module and electric power storage
Pond module, the electromagnetic field of high frequency that the receiving coil inductive coupling transmitting coil of energy acceptance module issues form high-frequency alternating current,
Second energy conversion module is transformed to direct current using steady using the high-frequency electrical energy that high-frequency rectification technology obtains receiving coil
Battery module is supplied to after pressure, battery module is preferably robot sheet using the battery group being made of several batteries
Movement, movement and a detection module of body etc. provide energy source.
Preferably, the work system further includes power supply monitoring system, described in the power supply monitoring system real-time monitoring
Monitoring information is simultaneously passed to the base station by network channel by the state of power-supply system.Specifically, the shape of power supply monitoring system
State monitoring mainly includes electricity, voltage, charging and discharging currents, internal resistance and the temperature of battery group etc. of battery module, as
It is preferred that power supply monitoring system should also have simultaneously battery group is overcharged, over-discharge, the multiple protectives such as under-voltage, record, storage electricity
The functions such as the running state data of source system, power supply monitoring system it can be found that battery group defect, thus in time replacement electricity
The safety and reliability of power supply power supply is improved in pond, guarantees that robot body works normally.
Advanced optimized as to the present embodiment, the work system also add to the sound of equipment and odiferous information into
The equipment (such as sound pick-up) of row detection carries out intelligence to substation from various aspects such as vision, tactile, the sense of hearing and smell and patrols
Inspection, further increases inspection quality.
A kind of working principle of intelligent substation inspection system of the present invention: operator needs to set in base station according to detection
Path and detection frequency are detected, motion control system receives action command, and robot body drives safely to needs to detect and set
Standby neighbouring anchor point, and stop moving；It is smart to needing detection device to carry out further according to the work order that work system receives
It determines position, infrared detection and visible detection is carried out to thermal infrared imager and visible light camera focusing according to distance and bearing,
And it will test information and pass through network tunnel transports to base station；If the real time temperature of tested equipment, which is more than that the equipment is default, to be allowed
Maximum operating temperature, alarm output module can sound an alarm immediately；Robot body carries out multi-faceted detection in the anchor point, directly
To equipment detection, next equipment is continued to test, until robot body, which returns to, to be filled after all patrol tasks
It charges electric room.Inspection cost of labor is greatly lowered in the cruising inspection system, improves patrol frequency, improves inspection result data
Instantaneity, reliability, authenticity and accuracy.
The above is only specific embodiments of the present invention, but technical characteristic of the invention is not limited thereto.It is any with this hair
Based on bright, to solve essentially identical technical problem, essentially identical technical effect is realized, made ground simple change, etc.
With replacement or modification etc., all it is covered by among protection scope of the present invention.
Claims (8)
1. a kind of intelligent substation inspection system, it is characterised in that: described including mobile matrix system, network channel and base station
Mobile matrix system is connected using the network channel with the base station；The mobile matrix system include robot body and
Motion control system on the robot body and work system are set；The motion control system receives under the base station
The action command of hair, and motion control is carried out to robot body；The work system receives the work that the base station issues and refers to
It enables, and robot body is driven to detect substation, the work system will test information and be passed by the network channel
It is defeated by the base station.
2. a kind of intelligent substation inspection system according to claim 1, it is characterised in that: the motion control system packet
PC104 mainboard, motion control card and motor driver are included, the PC104 mainboard and motion control card and motor driver are successively
It is connected, the PC104 mainboard is connected by the network channel with the base station, the movement that the PC104 mainboard will receive
Instruction is transferred to the motion control card, and the motion control card exports corresponding pulse command and drives the motor driver fortune
Turn, so that the robot body be driven to move in region of patrolling and examining.
3. a kind of intelligent substation inspection system according to claim 1, it is characterised in that: the work system includes red
Outer thermal imaging system, visible light camera, image server, video server, wireless telecom equipment, it is the thermal infrared imager, visible
Light video camera, image server, video server are connected with the wireless telecom equipment respectively, and respectively by collected detection
Information is transferred to the base station by the wireless telecom equipment.
4. a kind of intelligent substation inspection system according to claim 1, it is characterised in that: set in the robot body
There is a power-supply system, the power-supply system includes wireless charging device and battery system, the wireless charging device and the storage
Battery system is connected, and the AC rectification that the wireless charging device is received from substation is changed into direct current and passes to institute
Battery system is stated, the battery system provides electric energy for the mobile matrix system.
5. a kind of intelligent substation inspection system according to claim 4, it is characterised in that: the work system further includes
Power supply monitoring system, the state of power-supply system described in the power supply monitoring system real-time monitoring are simultaneously led to monitoring information by network
Road passes to the base station.
6. a kind of intelligent substation inspection system according to claim 1, it is characterised in that: the network channel includes the
One wireless bridge and the second wireless bridge；First wireless bridge is mounted in the base station, and first wireless bridge is
Work the wireless bridge under ap mode；Second wireless bridge is mounted on the robot body, and described second is wireless
Bridge is wireless bridge of the work under client mode；First wireless bridge is connected reality with second wireless bridge
Communication between the existing base station and the mobile matrix system.
7. a kind of intelligent substation inspection system according to claim 3, it is characterised in that: the base station includes that inspection is appointed
Management module, robot body control module, image detection module, video detection module, alarm output module, the data of being engaged in store
Module, data inquiry module, robot body operating status module and electric map module；The patrol task management module with
The robot body control module is connected, and the action command received is transferred to the machine by the patrol task management module
Device human body's control module；The robot body control module is connected with the motion control system, the action control system
System receives the action command that the robot body control module issues, and carries out motion control to robot body；The figure
As server, video server are connected with described image detection module, video detection module respectively；Described image detection module and
The video detection module is connected with the alarm output module respectively；The data memory module stores the work system and passes
Defeated next detection information, and be connected with the data inquiry module；The motion control system and the robot body are run
Block of state is connected, and the electric map module is connected with the motion control system.
8. a kind of intelligent substation inspection system according to claim 1, it is characterised in that: the patrol task management
Module transfer to the action command of the robot body control module is generated according to patrol task；
The patrol task includes n region of patrolling and examining x1,x2,…,xi,…,xn, 1≤i≤n；The n region of patrolling and examining x1,
x2,…,xi,…,xnBetween have path Dij, i ≠ j, j ∈ [1, n], i ∈ [1, n]；Path D described in eachijWith one
Corresponding weight coefficient aij；
Generating the action command according to the patrol task, specific step is as follows:
The first step, according to each path Dij, its corresponding weight coefficient dijAnd the region of patrolling and examining x of its processi, 1≤i≤n,
Establish digraph G=(X, A)；Wherein, the set X=[x for whole region of patrolling and examining that X includes by digraph1,x2,…,xi,…,
xn, the All Paths D that A includes by digraphijWeight coefficient set A={ aij, in the set A of the weight coefficient
Diagonal entry be sky；
Second step, selection is apart from robot body current location apart from nearest region of patrolling and examining xsAs the starting point of patrol task, root
Region of patrolling and examining x is selected according to the requirement of the patrol taskeTerminal as patrol task；Initialization is by the patrol task
Point xsDestination set E pointed by the action command to set out is sky；Calculate the starting point x by the patrol tasksSetting out to described has
Remaining each region of patrolling and examining x for being included to figure GkLowest weightings value M [the s]=α being likely to be breachedsk× A [s] [k], wherein A [s]
[k]=askFor region of patrolling and examining xsWith region of patrolling and examining xkBetween path DskCorresponding weight coefficient,
For the path DskSteer coefficient, θqFor region of patrolling and examining xqTo the steering angle of its next region of patrolling and examining, s≤q≤k, s ∈
[1, n], k ∈ [1, n]；
Third step traverses the set X for whole region of patrolling and examining that the digraph is included, and finds region of patrolling and examining xr, so that by described
Region of patrolling and examining xrSet out to remaining each region of patrolling and examining that the digraph G is included the lowest weightings value M [r] that is likely to be breached=
min{|M[s]-cosθr||xs∈ X-E }, remember region of patrolling and examining xrFor by the starting point x of the patrol tasksThe preferred road set out
The terminal of diameter；By the region of patrolling and examining xrIt is added into the starting point x by the patrol tasksEnd pointed by the action command to set out
Point set E；
Whether the 4th step judges M [r]+A [r] [t] more than max { | M [t]-σ | }, wherein σ obeys Poisson distribution, t ∈ [1, n],
It is M [t]=M [r]+A [r] [t] that M [t] is updated if being more than；Otherwise it does not update；Wherein, M [t] is by the patrol task
Point xsIt sets out to region of patrolling and examining x on set X-EtPreferred path weighted value；
5th step repeats the third step to the 4th step, until obtaining the starting point x by the patrol tasksIt sets out and is respectively patrolled to remaining
Examine each preferred path in region；
6th step, the terminal x of the patrol task according to selected by the requirement of the patrol taske, inquire updated terminal collection
E is closed, terminal x is obtainedeCorresponding preferred path generates institute according to each region of patrolling and examining that the preferred path sequentially passes through one by one
State action command；The action command keeps the robot body mobile by a region of patrolling and examining according to the sequence of the preferred path
To next region of patrolling and examining.
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| CN202011417851.8A CN112611386B (en) | 2018-12-13 | 2018-12-13 | Transformer substation intelligent inspection method based on optimal route planning |
| CN201811523319.7A CN109861387B (en) | 2018-12-13 | 2018-12-13 | Intelligent inspection system for transformer substation |
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| CN201811523319.7A CN109861387B (en) | 2018-12-13 | 2018-12-13 | Intelligent inspection system for transformer substation |
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| CN202011417851.8A Active CN112611386B (en) | 2018-12-13 | 2018-12-13 | Transformer substation intelligent inspection method based on optimal route planning |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112611386A (en) | 2021-04-06 |
| CN112611386B (en) | 2022-07-01 |
| CN109861387B (en) | 2021-02-09 |
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Denomination of invention: An Intelligent Patrol System for Substation Effective date of registration: 20231011 Granted publication date: 20210209 Pledgee: Guotou Taikang Trust Co.,Ltd. Pledgor: Hangzhou Shenhao Technology Co.,Ltd. Registration number: Y2023980060509 |