CN109861387B - Intelligent inspection system for transformer substation - Google Patents
Intelligent inspection system for transformer substation Download PDFInfo
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- CN109861387B CN109861387B CN201811523319.7A CN201811523319A CN109861387B CN 109861387 B CN109861387 B CN 109861387B CN 201811523319 A CN201811523319 A CN 201811523319A CN 109861387 B CN109861387 B CN 109861387B
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- G—PHYSICS
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Abstract
The invention discloses an intelligent substation inspection system which comprises a mobile base body system, a network channel and a base station, wherein the mobile base body system is connected with the base station by utilizing the network channel; the mobile base system comprises a robot body, and an action control system and a working system which are arranged on the robot body; the action control system receives an action instruction issued by the base station and controls the motion of the robot body; the working system receives the working instruction issued by the base station and drives the robot body to detect the transformer substation, and the working system transmits detection information to the base station through the network channel. The inspection system greatly reduces the inspection labor cost, improves the inspection frequency, and improves the instantaneity, reliability, authenticity and accuracy of inspection result data.
Description
Technical Field
The invention relates to the field of power inspection, in particular to an intelligent inspection system for a transformer substation.
Background
At present, the power distribution station site quantity is many, and the task is heavily patrolled and examined in daily life, and under traditional operation management mode, there is following problem mainly:
the labor cost of routing inspection is high. The number of stations of the power distribution station is large, and the distribution range is wide, so that inspection personnel need to shuttle in a large range for a long time; and part of the stations are complicated in-out procedures and unsmooth in traffic in part of areas, so that most of the time of inspection personnel is lost in the process of going to the distribution station, and the inspection efficiency is low.
The requirement of professional skills is high. The power distribution station belongs to a high-voltage place, part of inspection projects have the specialty, the requirements for skills and experience of personnel are high, meanwhile, in a traditional inspection mode, the technical personnel are caused to work with low technical skills for a long time, and the waste of human resources is serious.
And the routing inspection data has low reliability. The traditional manual inspection has few monitoring means for the inspection process, and the conditions of inaccurate inspection, incomplete inspection, missed inspection, few inspection and the like frequently occur due to inspection personnel or other factors; the detection data enters the ways of manual recording, paper surface transmission and the like, and the accuracy is uncontrollable.
The emergency response speed is slow. In the traditional operation management mode, when an emergency occurs, personnel need to be assigned in the first step because the first hand of site data does not exist; secondly, assigned personnel know the situation on site, and thirdly, maintenance personnel are organized to carry out first-aid repair on site; the whole process takes longer time and the reaction speed is slow.
And data accumulation and summarization are difficult. In a traditional manual inspection mode, the category of the monitored data is few, the period of the monitored data is long, and meanwhile, the reliability of the inspection data is low, so that powerful data support cannot be made for large data analysis and prejudgment.
Disclosure of Invention
The invention aims to provide an intelligent inspection system for a transformer substation aiming at the defects of the prior art, and the following technical scheme is adopted to solve the technical problems:
the intelligent substation inspection system comprises a mobile base body system, a network channel and a base station, wherein the mobile base body system is connected with the base station by using the network channel; the mobile base system comprises a robot body, and an action control system and a working system which are arranged on the robot body; the action control system receives an action instruction issued by the base station and controls the motion of the robot body; the working system receives the working instruction issued by the base station and drives the robot body to detect the transformer substation, and the working system transmits detection information to the base station through the network channel.
Further, action control system includes PC104 mainboard, motion control card and motor drive, PC104 mainboard links to each other with motion control card and motor drive in proper order, PC104 mainboard passes through network channel with the basic station links to each other, PC104 mainboard transmits received motion instruction for the motion control card, the corresponding pulse instruction drive of motion control card output motor drive operation, thereby the drive the robot body is patrolling and examining the regional motion.
Further, the working system comprises a thermal infrared imager, a visible light camera, an image server, a video server and a wireless communication device, wherein the thermal infrared imager, the visible light camera, the image server and the video server are respectively connected with the wireless communication device and respectively transmit the acquired detection information to the base station through the wireless communication device.
Further, this internal power supply system that is equipped with of robot, power supply system includes wireless charging device and battery system, wireless charging device with battery system links to each other, wireless charging device converts the alternating current rectification that receives from the transformer substation into the direct current and transmits for battery system, battery system provides the electric energy for removing the base member system.
Furthermore, the working system also comprises a power supply monitoring system, and the power supply monitoring system monitors the state of the power supply system in real time and transmits monitoring information to the base station through a network channel.
Further, the network channel includes a first wireless bridge and a second wireless bridge; the first wireless bridge is arranged in the base station, and the first wireless bridge is a wireless bridge working in an AP mode; the second wireless network bridge is installed on the robot body and works in a client mode; the first wireless network bridge and the second wireless network bridge are connected to realize the communication between the base station and the mobile base body system.
Further, the base station comprises a polling task management module, a robot body control module, an image detection module, a video detection module, an alarm output module, a data storage module, a data query module, a robot body running state module and an electronic map module; the inspection task management module is connected with the robot body control module and transmits the received action instruction to the robot body control module; the robot body control module is connected with the action control system, and the action control system receives an action instruction sent by the robot body control module and controls the motion of the robot body; the image server and the video server are respectively connected with the image detection module and the video detection module; the image detection module and the video detection module are respectively connected with the alarm output module; the data storage module stores the detection information transmitted by the working system and is connected with the data query module; the action control system is connected with the robot body running state module, and the electronic map module is connected with the action control system.
Further, the action command transmitted by the inspection task management module to the robot body control module is the rootGenerated according to the polling task, the polling task comprises n polling areas x1,x2,…,xi,…,xnI is more than or equal to 1 and less than or equal to n. The n inspection areas x1,x2,…,xi,…,xnHas a path D therebetweenij，i≠j，j∈[1,n]，i∈[1,n]. Each of the paths DijWith a corresponding weight coefficient aij。
The specific steps of generating the action command according to the inspection task are as follows:
first, according to the paths DijIts corresponding weight coefficient dijAnd the inspection area x passed by itiI is more than or equal to 1 and less than or equal to n, and establishing a directed graph G (X, A); wherein, X is a set X ═ X of all routing inspection areas contained in the directed graph1,x2,…,xi,…,xnA is all paths D contained in the directed graphijSet of weight coefficients of (a) { a }ij-diagonal elements in the set a of weight coefficients are null;
secondly, selecting a patrol area x closest to the current position of the robot bodysSelecting a patrol inspection area x as a starting point of a patrol inspection task according to the requirements of the patrol inspection taskeAs the end point of the inspection task; initializing the starting point x of the patrol tasksThe destination set E pointed by the starting action instruction is empty; calculating the starting point x of the routing inspection tasksStarting to the rest routing inspection areas x contained in the directed graph GkThe lowest possible weight value M [ s ]]＝αsk×A[s][k]Wherein A [ s ]][k]＝askFor inspecting the area xsAnd inspection area xkInter path DskThe corresponding weight coefficient is set to be the weight coefficient,
for said path DskSteering coefficient of thetaqFor inspecting the area xqThe steering angle of the next inspection area is more than or equal to s and less than or equal to q, and s belongs to [1, n ]]，k∈[1,n]；
Thirdly, traversing the digraphSearching the patrol area X by the set X of all the patrol areasrSo that the inspection area xrStarting from the lowest weighted value M [ r ] which is possibly reached by the rest routing inspection areas contained in the directed graph G]＝min{|M[s]-cosθr||xsBelongs to X-E, and records the inspection area XrIs the starting point x of the patrol tasksAn end point of a preferred path from which to start; will patrol and examine the region xrAdding a starting point x of the patrol tasksA terminal set E pointed by the starting action instruction;
the fourth step, judge M [ r ]]+A[r][t]Whether max { | M [ t ] is exceeded]- σ | }, where σ obeys a Poisson distribution, t ∈ [1, n | }]If yes, update M [ t ]]Is M [ t ]]＝M[r]+A[r][t](ii) a Otherwise, not updating; wherein, M [ t ]]Is the starting point x of the patrol tasksStarting to set X-E to patrol area XtThe weight value of the preferred path of (1);
fifthly, repeating the third step to the fourth step until the starting point x of the inspection task is obtainedsStarting to each preferred path of the rest inspection areas;
sixthly, selecting the end point x of the inspection task according to the requirement of the inspection taskeInquiring the updated end point set E to obtain an end point xeThe corresponding preferred paths generate the action instructions one by one according to the routing inspection areas sequentially passed by the preferred paths; the action instructions enable the robot body to move from one inspection area to the next inspection area according to the sequence of the preferred path.
Wherein each of the paths DijCorresponding weight coefficient aijThe weighting factor a is a preset valueijComprehensively determining the length l of the path, the time p for detecting the transformer substation and the probability gamma of the robot body fault on the path, aij＝(l+p)1+γ。
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention relates to an intelligent inspection system for a transformer substation, which greatly reduces the labor cost of inspection, improves the inspection frequency and improves the instantaneity, reliability, authenticity and accuracy of inspection result data.
The mobile base body system is remotely controlled by the base station, the robot body is driven to carry out inspection operation in an inspection area, the full-automatic inspection operation of equipment in the transformer substation is realized, a professional is not required to arrive at the site, the inspection labor cost is reduced, and the inspection frequency can be set according to needs; the management personnel can obtain first-hand site data in a base station in real time and remotely, the data timeliness is high, reliability and accuracy are achieved, when the station is abnormal, real-time site image video and detection data are provided in time, and the first-aid repair efficiency and pertinence are improved;
monitoring data transmitted by a working system is stored in a data storage module, various detection data are collected, and powerful data support is provided for big data analysis and prejudgment;
the power supply system is connected with the power supply monitoring system, the state of the power supply system is monitored constantly, and the defects of a storage battery system in the power supply system are found in time, so that the battery is replaced in time, the safety and the reliability of power supply of the power supply are improved, and the normal work of the inspection system is guaranteed.
The calculation process for the preferred path adopts the weight coefficient aijThe path length, the detection time and the fault probability of different routing inspection areas are comprehensively considered, so that the cost for detecting each path can be comprehensively given. Therefore, by screening the paths in the directed graph according to the method from the first step to the sixth step based on the weight coefficient, a preferred path with the minimum detection cost can be obtained by traversing various paths in the algorithm, and the robot body is controlled to move from one routing inspection area to the next routing inspection area according to the action commands generated correspondingly according to the sequence of the routing inspection areas passed by the preferred path.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a framework of an intelligent inspection system of a transformer substation according to the present invention;
FIG. 2 is a block diagram of a motion control system according to the present invention;
FIG. 3 is a schematic diagram of a framework of the working system of the present invention;
fig. 4 is a schematic diagram of a network channel framework according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1, an intelligent substation inspection system includes a mobile base system, a network channel, and a base station, where the mobile base system is connected to the base station through the network channel; the mobile base system comprises a robot body, and an action control system and a working system which are arranged on the robot body; the action control system receives an action instruction issued by the base station and controls the motion of the robot body; the working system receives the working instruction issued by the base station and drives the robot body to detect the transformer substation, and the working system transmits detection information to the base station through the network channel.
Specifically, the base station comprises a polling task management module, a robot body control module, an image detection module, a video detection module, an alarm output module, a data storage module, a data query module, a robot body running state module and an electronic map module; the inspection task management module is connected with the robot body control module and transmits the received action instruction to the robot body control module; the robot body control module is connected with the action control system, and the action control system receives an action instruction sent by the robot body control module and controls the motion of the robot body; the image server and the video server are respectively connected with the image detection module and the video detection module; the image detection module and the video detection module are respectively connected with the alarm output module; the data storage module stores the detection information transmitted by the working system, is connected with the data query module, and collects various detection data by storing the monitoring data transmitted by the working system into the data storage module so as to make powerful data support for big data analysis and prejudgment; the action control system is connected with the robot body running state module, and the electronic map module is connected with the action control system. The working system comprises a thermal infrared imager, a visible light camera, an image server, a video server and wireless communication equipment, wherein the thermal infrared imager, the visible light camera, the image server and the video server are respectively connected with the wireless communication equipment and respectively transmit the acquired detection information to the base station through the wireless communication equipment. The visual camera carries out video image detection to whether the transformer equipment appearance is abnormal and whether foreign matters are hung on the route or not, the thermal infrared imager carries out infrared detection to electrical equipment, equipment joints, power lines and the like in the transformer substation, and an operator can receive information such as infrared data and video images in real time for analysis and processing only in a monitoring room of a base station.
Specifically, the action command transmitted by the inspection task management module to the robot body control module is generated according to an inspection task.
The polling task comprises n polling areas x1,x2,…,xi,…,xnI is more than or equal to 1 and less than or equal to n. The n inspection areas x1,x2,…,xi,…,xnHas a path D therebetweenij，i≠j，j∈[1,n]，i∈[1,n]. Each of the paths DijWith a corresponding weight coefficient aij。
The specific steps of generating the action command according to the inspection task are as follows:
a first step ofRoute DijIts corresponding weight coefficient dijAnd the inspection area x passed by itiI is more than or equal to 1 and less than or equal to n, and establishing a directed graph G (X, A); wherein, X is a set X ═ X of all routing inspection areas contained in the directed graph1,x2,…,xi,…,xnA is all paths D contained in the directed graphijSet of weight coefficients of (a) { a }ij-diagonal elements in the set a of weight coefficients are null;
secondly, selecting a patrol area x closest to the current position of the robot bodysSelecting a patrol inspection area x as a starting point of a patrol inspection task according to the requirements of the patrol inspection taskeAs the end point of the inspection task; initializing the starting point x of the patrol tasksThe destination set E pointed by the starting action instruction is empty; calculating the starting point x of the routing inspection tasksStarting to the rest routing inspection areas x contained in the directed graph GkThe lowest possible weight value M [ s ]]＝αsk×A[s][k]Wherein A [ s ]][k]＝askFor inspecting the area xsAnd inspection area xkInter path DskThe corresponding weight coefficient is set to be the weight coefficient,
for said path DskSteering coefficient of thetaqFor inspecting the area xqThe steering angle of the next inspection area is more than or equal to s and less than or equal to q, and s belongs to [1, n ]]，k∈[1,n]；
Thirdly, traversing the set X of all the routing inspection areas contained in the directed graph, and searching the routing inspection area XrSo that the inspection area xrStarting from the lowest weighted value M [ r ] which is possibly reached by the rest routing inspection areas contained in the directed graph G]＝min{|M[s]-cosθr||xsBelongs to X-E, and records the inspection area XrIs the starting point x of the patrol tasksAn end point of a preferred path from which to start; will patrol and examine the region xrAdding a starting point x of the patrol tasksA terminal set E pointed by the starting action instruction;
the fourth step, judgeM[r]+A[r][t]Whether max { | M [ t ] is exceeded]- σ | }, where σ obeys a Poisson distribution, t ∈ [1, n | }]If yes, update M [ t ]]Is M [ t ]]＝M[r]+A[r][t](ii) a Otherwise, not updating; wherein, M [ t ]]Is the starting point x of the patrol tasksStarting to set X-E to patrol area XtThe weight value of the preferred path of (1);
fifthly, repeating the third step to the fourth step until the starting point x of the inspection task is obtainedsStarting to each preferred path of the rest inspection areas;
sixthly, selecting the end point x of the inspection task according to the requirement of the inspection taskeInquiring the updated end point set E to obtain an end point xeThe corresponding preferred paths generate the action instructions one by one according to the routing inspection areas sequentially passed by the preferred paths; the action instructions enable the robot body to move from one inspection area to the next inspection area according to the sequence of the preferred path.
Wherein each of the paths DijCorresponding weight coefficient aijThe weighting factor a is a preset valueijComprehensively determining the length l of the path, the time p for detecting the transformer substation and the probability gamma of the robot body fault on the path, aij＝(l+p)1+γ. The weight coefficient of the determined path is multiplied rapidly when the failure probability of the path is at a high level, so that the detection cost corresponding to the path in the calculation is increased by multiple times. Therefore, the robot body can avoid the path as far as possible to plan the line according to the fault probability on the path, and the detection efficiency is improved.
Action control system includes PC104 mainboard, motion control card and motor drive, PC104 mainboard links to each other in proper order with motion control card and motor drive, PC104 mainboard passes through network channel with the basic station links to each other, PC104 mainboard transmits received motion instruction for motion control card, the corresponding pulse instruction drive of motion control card output motor drive operation to the drive the robot body is patrolling and examining the regional motion. The network channel comprises a first wireless bridge and a second wireless bridge; the first wireless bridge is installed in the base station, and the first wireless bridge is a wireless bridge working in an AP (access point) mode; the second wireless network bridge is installed on the robot body and is a wireless network bridge working in a client mode; the first wireless network bridge and the second wireless network bridge are connected to realize the communication between the base station and the mobile base body system. The network channel is used as a data transmission channel of the mobile base system and the base station, and the real-time performance and the reliability of data transmission are ensured. In a specific embodiment, if the transformer substation is large, a multi-bridge networking mode is adopted, and in order to ensure that the switching speed of signal channels between bridges is high, a wireless bridge with a seamless roaming function is preferably adopted.
Specifically, the inspection frequency can be set as required, and the operation instruction of the robot body is issued in two modes, one mode is issued by an operation operator at the base station, and the other mode is automatically issued by an inspection task preset by the base station. The action control system receives the action instruction, and the robot body safely drives to a stop point near the equipment to be detected and stops moving; then, according to a working instruction received by a working system, accurately positioning equipment needing to be detected, focusing an infrared thermal imager and a visible light camera according to the distance and the direction for infrared detection and visible light detection, and transmitting detection information to a base station through a network channel; if the real-time temperature of the detected equipment exceeds the preset allowable maximum operating temperature of the equipment, the alarm output module immediately gives an alarm; the robot body carries out diversified detection at this berth point, and after finishing until this equipment detects, continues to detect next equipment, and after finishing until all tasks of patrolling and examining, the robot body returns rechargeable and charges.
The robot is characterized in that a power supply system is arranged in the robot body and comprises a wireless charging device and a storage battery system, the wireless charging device is connected with the storage battery system, alternating current received by a transformer substation is rectified and converted into direct current, the direct current is transmitted to the storage battery system, and the storage battery system provides electric energy for the mobile base body system. Specifically, the wireless charging device comprises an alternating current power supply, a first energy conversion module and an energy transmitting module, wherein the alternating current power supply is led out from a proper position of a transformer substation in a cable wire mode, the energy conversion module converts power frequency alternating current into direct current, the direct current is inverted into high-frequency alternating current after high-frequency conversion, the energy transmitting module comprises an energy transmitting coil and a compensating capacitor, and the transmitting coil receives the converted high-frequency electric energy and transmits the high-frequency electric energy to the storage battery system in a high-frequency electromagnetic field mode. The storage battery system is used for receiving and storing electric energy and comprises an energy receiving module, a second energy conversion module and a storage battery module, wherein a receiving coil of the energy receiving module is coupled with a high-frequency electromagnetic field emitted by an induction transmitting coil to form high-frequency alternating current, the second energy conversion module converts the high-frequency electric energy obtained by the receiving coil into direct current by using a high-frequency rectification technology, and then the direct current is stabilized and supplied to the storage battery module, and the storage battery module preferably adopts a storage battery pack consisting of a plurality of storage batteries and provides energy sources for the movement and action of the robot body, the detection module and the like.
Preferably, the working system further comprises a power supply monitoring system, and the power supply monitoring system monitors the state of the power supply system in real time and transmits monitoring information to the base station through a network channel. Specifically, the state monitoring of the power monitoring system mainly comprises the electric quantity, the voltage, the charging and discharging current, the internal resistance of the storage battery module, the temperature of the storage battery pack and the like, and preferably, the power monitoring system also has multiple functions of protecting the storage battery pack from overcharge, overdischarge, undervoltage and the like, recording and storing running state data of the power system and the like, and can find the defects of the storage battery pack, so that the battery can be replaced in time, the safety and the reliability of power supply of a power supply are improved, and the normal work of the robot body is ensured.
As a further optimization of this embodiment, the working system is further provided with devices (such as sound pick-up devices) for detecting sound and odor information of the devices, so as to intelligently inspect the substation from various aspects such as vision, touch, hearing, smell and the like, thereby further improving inspection quality.
The working principle of the intelligent inspection system of the transformer substation is as follows: an operator sets a detection path and detection frequency at the base station according to detection needs, the action control system receives an action instruction, and the robot body safely drives to a stop point near equipment needing to be detected and stops moving; then, according to a working instruction received by a working system, accurately positioning equipment needing to be detected, focusing an infrared thermal imager and a visible light camera according to the distance and the direction for infrared detection and visible light detection, and transmitting detection information to a base station through a network channel; if the real-time temperature of the detected equipment exceeds the preset allowable maximum operating temperature of the equipment, the alarm output module immediately gives an alarm; the robot body carries out diversified detection at this berth point, and after finishing until this equipment detects, continues to detect next equipment, and after all tasks of patrolling and examining finished, the robot body gets back to the room of charging and charges. The inspection system greatly reduces the inspection labor cost, improves the inspection frequency, and improves the instantaneity, reliability, authenticity and accuracy of inspection result data.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.
Claims (7)
1. The utility model provides a transformer substation's intelligence system of patrolling and examining which characterized in that: the system comprises a mobile base system, a network channel and a base station, wherein the mobile base system is connected with the base station by using the network channel; the mobile base system comprises a robot body, and an action control system and a working system which are arranged on the robot body; the action control system receives an action instruction issued by the base station and controls the motion of the robot body; the working system receives a working instruction issued by the base station and drives the robot body to detect the transformer substation, and the working system transmits detection information to the base station through the network channel;
the action instruction transmitted to the robot body control module by the inspection task management module is generated according to an inspection task;
the polling task comprises n polling areas x1,x2,…,xi,…,xnI is more than or equal to 1 and less than or equal to n; the n inspection areas x1,x2,…,xi,…,xnHas a path D therebetweenij，i≠j，j∈[1,n]，i∈[1,n](ii) a Each of the paths DijWith a corresponding weight coefficient aij；
The specific steps of generating the action command according to the inspection task are as follows:
first, according to the paths DijIts corresponding weight coefficient aijAnd the inspection area x passed by itiI is more than or equal to 1 and less than or equal to n, and establishing a directed graph G (X, A); wherein, X is a set X ═ X of all routing inspection areas contained in the directed graph1,x2,…,xi,…,xnA is all paths D contained in the directed graphijSet of weight coefficients of (a) { a }ij-diagonal elements in the set a of weight coefficients are null; wherein, aijIs a preset value, aij＝(l+p)1+γL is the length of the path, p is the time for detecting the transformer substation, and gamma is the probability of the robot body fault on the path;
secondly, selecting a patrol area x closest to the current position of the robot bodysSelecting a patrol inspection area x as a starting point of a patrol inspection task according to the requirements of the patrol inspection taskeAs the end point of the inspection task; initializing the starting point x of the patrol tasksThe destination set E pointed by the starting action instruction is empty; calculating the starting point x of the routing inspection tasksStarting to the rest routing inspection areas x contained in the directed graph GkThe lowest possible weight value M [ s ]]＝αsk×A[s][k]Wherein A [ s ]][k]＝askFor inspecting the area xsAnd inspection area xkInter path DskThe corresponding weight coefficient is set to be the weight coefficient,
for said path DskSteering coefficient of thetaqFor inspecting the area xqThe steering angle of the next inspection area is more than or equal to s and less than or equal to q, and s belongs to [1, n ]]，k∈[1,n]；
Thirdly, traversing the set X of all the routing inspection areas contained in the directed graph, and searching the routing inspection area XrSo that the inspection area xrStarting from the lowest weighted value M [ r ] which is possibly reached by the rest routing inspection areas contained in the directed graph G]＝min{|M[s]-cosθr||xsBelongs to X-E, and records the inspection area XrIs the starting point x of the patrol tasksAn end point of a preferred path from which to start; will patrol and examine the region xrAdding a starting point x of the patrol tasksA terminal set E pointed by the starting action instruction;
the fourth step, judge M [ r ]]+A[r][t]Whether max { | M [ t ] is exceeded]- σ | }, where σ obeys a Poisson distribution, t ∈ [1, n | }]If yes, update M [ t ]]Is M [ t ]]＝M[r]+A[r][t](ii) a Otherwise, not updating; wherein, M [ t ]]Is the starting point x of the patrol tasksStarting to set X-E to patrol area XtThe weight value of the preferred path of (1);
fifthly, repeating the third step to the fourth step until the starting point x of the inspection task is obtainedsStarting to each preferred path of the rest inspection areas;
sixthly, selecting the end point x of the inspection task according to the requirement of the inspection taskeInquiring the updated end point set E to obtain an end point xeThe corresponding preferred paths generate the action instructions one by one according to the routing inspection areas sequentially passed by the preferred paths; the action instructions enable the robot body to move from one inspection area to the next inspection area according to the sequence of the preferred path.
2. The substation intelligent inspection system according to claim 1, wherein: action control system includes PC104 mainboard, motion control card and motor drive, PC104 mainboard links to each other in proper order with motion control card and motor drive, PC104 mainboard passes through network channel with the basic station links to each other, PC104 mainboard transmits received motion instruction for motion control card, the corresponding pulse instruction drive of motion control card output motor drive operation to the drive the robot body is patrolling and examining the regional motion.
3. The substation intelligent inspection system according to claim 1, wherein: the working system comprises a thermal infrared imager, a visible light camera, an image server, a video server and wireless communication equipment, wherein the thermal infrared imager, the visible light camera, the image server and the video server are respectively connected with the wireless communication equipment and respectively transmit the acquired detection information to the base station through the wireless communication equipment.
4. The substation intelligent inspection system according to claim 1, wherein: the robot is characterized in that a power supply system is arranged in the robot body and comprises a wireless charging device and a storage battery system, the wireless charging device is connected with the storage battery system, alternating current received by a transformer substation is rectified and converted into direct current, the direct current is transmitted to the storage battery system, and the storage battery system provides electric energy for the mobile base body system.
5. The substation intelligent inspection system according to claim 4, wherein: the working system further comprises a power supply monitoring system, and the power supply monitoring system monitors the state of the power supply system in real time and transmits monitoring information to the base station through a network channel.
6. The substation intelligent inspection system according to claim 1, wherein: the network channel comprises a first wireless bridge and a second wireless bridge; the first wireless bridge is arranged in the base station, and the first wireless bridge is a wireless bridge working in an AP mode; the second wireless network bridge is installed on the robot body and works in a client mode; the first wireless network bridge and the second wireless network bridge are connected to realize the communication between the base station and the mobile base body system.
7. The substation intelligent inspection system according to claim 3, wherein: the base station comprises a polling task management module, a robot body control module, an image detection module, a video detection module, an alarm output module, a data storage module, a data query module, a robot body running state module and an electronic map module; the inspection task management module is connected with the robot body control module and transmits the received action instruction to the robot body control module; the robot body control module is connected with the action control system, and the action control system receives an action instruction sent by the robot body control module and controls the motion of the robot body; the image server and the video server are respectively connected with the image detection module and the video detection module; the image detection module and the video detection module are respectively connected with the alarm output module; the data storage module stores the detection information transmitted by the working system and is connected with the data query module; the action control system is connected with the robot body running state module, and the electronic map module is connected with the action control system.
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| CN110190674A (en) * | 2019-06-14 | 2019-08-30 | 国网山东省电力公司桓台县供电公司 | Substation inspection management system |
| CN112152129B (en) * | 2020-09-25 | 2022-08-12 | 国网浙江省电力有限公司湖州供电公司 | Intelligent safety management and control method and system for transformer substation |
| CN113155133B (en) * | 2021-04-25 | 2023-03-28 | 国网山东省电力公司鄄城县供电公司 | Method and device for determining inspection line of power equipment and electronic terminal |
| CN113394706B (en) * | 2021-08-13 | 2021-11-09 | 众芯汉创（北京）科技有限公司 | Method and device for determining power transmission line inspection area |
| CN114374239B (en) * | 2021-11-30 | 2023-08-04 | 杭州申昊科技股份有限公司 | Charging method of explosion-proof type inspection robot |
| CN114374241B (en) * | 2021-12-16 | 2023-12-26 | 杭州申昊科技股份有限公司 | Automatic charging method for intelligent inspection robot and wireless charging house |
| CN116667524B (en) * | 2023-04-20 | 2024-04-19 | 淮阴工学院 | Intelligent internet of things path optimization safety inspection equipment and system |
| CN117498551B (en) * | 2023-11-06 | 2024-04-16 | 南京允能日新智慧能源有限公司 | Intelligent inspection management and control system for transformer substation |
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| GB2443472A (en) * | 2006-10-30 | 2008-05-07 | Cotares Ltd | Method of generating routes |
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| CN102280826B (en) * | 2011-07-30 | 2013-11-20 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| CN104596531B (en) * | 2014-05-28 | 2018-12-28 | 腾讯科技（深圳）有限公司 | A kind of generation method of navigation routine, device and server |
| FR3035961B1 (en) * | 2015-05-04 | 2020-12-25 | Commissariat Energie Atomique | PROCEDURE, COMPUTER PROGRAM AND SYSTEM FOR CONTROL OF A MOVEMENT OF A NAVIGATOR IN AN ENVIRONMENT ORGANIZED IN A NETWORK |
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| CN106949895B (en) * | 2017-04-13 | 2020-05-19 | 杭州申昊科技股份有限公司 | Inspection robot positioning method suitable for transformer substation environment |
| CN107560631B (en) * | 2017-08-30 | 2020-02-14 | 国网智能科技股份有限公司 | Path planning method and device and inspection robot |
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