CN110082638A - A kind of power matching network automatic inspection equipment and method - Google Patents
A kind of power matching network automatic inspection equipment and method Download PDFInfo
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- CN110082638A CN110082638A CN201910394135.3A CN201910394135A CN110082638A CN 110082638 A CN110082638 A CN 110082638A CN 201910394135 A CN201910394135 A CN 201910394135A CN 110082638 A CN110082638 A CN 110082638A
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- image information
- crusing robot
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- power matching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/086—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution networks, i.e. with interconnected conductors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
This application discloses a kind of power matching network automatic inspection equipments, comprising: processing system, crusing robot；Wherein, crusing robot includes: idler wheel, is walked on the guide rail for being laid with crusing robot just on the transmission line；Photographic device, for acquiring image information；Wherein, image information includes Infrared Image Information and visible light image information；Locating signal receiver, for acquiring the corresponding location information of image information；Communication device, for transmitting image information and location information, so that processing system is handled；Power-supply device, for providing electric energy for crusing robot.Inspection is carried out on the guide rail that the application is just laid on the transmission line by crusing robot, acquired image information, location information are sent to processing system, to obtain fault message, routing inspection efficiency is improved, guarantees power matching network reliability of operation.The application additionally provides power matching network automatic detecting method simultaneously, has above-mentioned beneficial effect.
Description
Technical field
This application involves technical field of electric power, in particular to a kind of power matching network automatic inspection equipment and method.
Background technique
With the development of electric power network technique and the continuous expansion of power grid scale, the power network line length in China alreadys exceed 100
Ten thousand kms, coverage area and its vast, distribution transmission line of electricity constantly increase as the important component in power grid, distance,
But since distribution transmission line of electricity is chronically in exposed environment, route is easy to be influenced by various factors, and usually produces
Raw line fault, highly impacts the safe operation of national grid, can not fundamentally guarantee the normal production and living of people.
To grasp the operation conditions of transmission line of electricity, timely discovering device defect and the problem for threatening transmission line safety etc., to power transmission line
The work that road carries out inspection is essential.
Currently, for being set up in surrounding city, unmanned plane no-fly zone or unmanned plane can not be reached 10kv and following
Distribution transmission line of electricity, traditional manual inspection mode can only be used, and can encounter that environment is complicated, weather is multiple when manual inspection
Miscellaneous, heavy workload, consuming time is long, at high cost, high altitude operation risk is big, manual identified error rate is higher, emergency event is rung
It answers not in time and 100% etc. problem is not achieved in manual inspection coverage rate always, although using emergency maintenance and may finally determine
Phase maintenance mode made up, but it is time-consuming and laborious do not say, security risk can not also be prevented in time.
Therefore, how to provide a kind of scheme of solution above-mentioned technical problem is that those skilled in the art need to solve at present
Problem.
Summary of the invention
The purpose of the application is to provide a kind of power matching network automatic inspection equipment and power matching network automatic detecting method, can
Routing inspection efficiency is improved, to better ensure that power matching network reliability of operation.Its concrete scheme is as follows:
The application provides a kind of power matching network automatic inspection equipment, comprising: processing system, crusing robot；Wherein, described
Crusing robot includes:
Idler wheel is walked on the guide rail for being laid with the crusing robot just on the transmission line；
Photographic device, for acquiring image information；Wherein, described image information includes Infrared Image Information and visible light figure
As information；
Locating signal receiver, for acquiring the corresponding location information of described image information；
Communication device, for described image information and the location information to be transmitted, so as to the processing system into
Row processing；
Power-supply device, for providing electric energy for the crusing robot.
Optionally, the power-supply device includes the inductive charging device being embedded in the crusing robot, the induction
Formula charger charges from being arranged in the solar energy radio charging pile away from shaft tower pre-determined distance.
Optionally, the idler wheel is also used to hang upside down the crusing robot on the predetermined trajectory.
Optionally, the crusing robot further include:
Control signal receiver, for receiving control information.
Optionally, the locating signal receiver is big-dipper satellite locating signal receiver.
Optionally, the crusing robot further include: warning lamp.
Optionally, the crusing robot further include: sound transducer, for acquiring acoustic information, so as to the inspection
Robot can execute respective operations according to the acoustic information.
The application provides a kind of power matching network automatic detecting method, comprising:
Receive when walking on the guide rail that crusing robot is just laid on the transmission line the image information that acquires with it is corresponding
Location information；Wherein, described image information includes Infrared Image Information and visible light image information；
It is handled according to described image information and the corresponding location information.
Optionally, it is handled according to described image information and the corresponding location information, comprising:
Described image information is identified using image algorithm, obtains recognition result；
Fault message is judged whether there is according to the recognition result；
Fault message if it exists will then record the fault message and the location information, so as to the fault message
Corresponding equipment is repaired and is checked.
Optionally, after being handled according to described image information and the corresponding location information, further includes:
Control information is sent to the crusing robot, wherein the control information includes working line.
The application provides a kind of power matching network automatic inspection equipment, comprising: processing system, crusing robot；Wherein, inspection
Robot includes: idler wheel, is walked on the guide rail for being laid with crusing robot just on the transmission line；Photographic device is used for
Acquire image information；Wherein, image information includes Infrared Image Information and visible light image information；Locating signal receiver is used
In the corresponding location information of acquisition image information；Communication device, for transmitting image information and location information, to locate
Reason system is handled；Power-supply device, for providing electric energy for crusing robot.
As it can be seen that carrying out inspection on the guide rail that the application is just laid on the transmission line by crusing robot, communication is utilized
Photographic device acquired image information, the collected location information of locating signal receiver are sent to processing system by device,
So that processing system is handled to obtain fault message, avoid need in the related technology manually be set up in surrounding city,
The safety that the 10kv and distribution transmission line of electricity below that unmanned plane no-fly zone or unmanned plane can not be reached carry out inspection is low, imitates
The low problem of rate improves routing inspection efficiency, to better ensure that power matching network reliability of operation.The application additionally provides simultaneously
A kind of power matching network automatic detecting method has above-mentioned beneficial effect, and details are not described herein.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of power matching network automatic inspection equipment provided by the embodiment of the present application；
Fig. 2 is a kind of structural schematic diagram of crusing robot provided by the embodiment of the present application；
Fig. 3 is a kind of schematic diagram of crusing robot inspection provided by the embodiments of the present application；
Fig. 4 is a kind of flow chart of power matching network automatic detecting method provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
It is defeated in the 10kv being set up in surrounding city, unmanned plane no-fly zone or unmanned plane can not be reached and distribution below
The mode that electric line carries out inspection is usually manual inspection, therefore the safety of inspection is low, low efficiency.It is asked based on above-mentioned technology
Topic, the present embodiment provides a kind of power matching network automatic inspection equipments, and inspection is carried out on predetermined trajectory by crusing robot, benefit
Photographic device acquired image information, the collected location information of locating signal receiver are sent to processing with communication device
System improves routing inspection efficiency so that processing system is handled to obtain fault message, to better ensure that power matching network is run
Reliability, specifically please refer to Fig. 1 and Fig. 2, Fig. 1 is a kind of power matching network automatic inspection equipment provided by the embodiment of the present application
Structural schematic diagram, Fig. 2 is that a kind of structural schematic diagram of crusing robot provided by the embodiment of the present application specifically includes:
Processing system 100, crusing robot 200；Wherein, crusing robot 200 includes: idler wheel 210, for making survey monitor
It walks on the guide rail 10 that device people 200 is just laid on the transmission line；Photographic device 220, for acquiring image information；Wherein, scheme
As information includes Infrared Image Information and visible light image information；Locating signal receiver 230, it is corresponding for acquiring image information
Location information；Communication device 240, for transmitting image information and location information, at processing system 100
Reason；Power-supply device 260, for providing electric energy for crusing robot 200.
100 the present embodiment of processing system is no longer defined, and corresponding terminal device can be computer equipment, movement eventually
End or other equipment, user can customize setting, as long as being that by the purpose of the present embodiment.
The structure of idler wheel 210 is no longer defined with size the present embodiment, and idler wheel 210 is mounted on crusing robot 200
Position the present embodiment is also no longer defined, as long as walk on the guide rail 10 that can be just laid on the transmission line,
In, the present embodiment is not defined the material and structure of guide rail 10, as long as crusing robot 200 can be made to be walked i.e.
It can.Crusing robot 200 is moved by idler wheel 210 along guide rail, and wherein idler wheel 210 is tooth-like wheel, laying is with teeth in guide rail 10
Shape band, such crusing robot 200 are not influenced when encountering climbing or rain and snow weather vulnerable to skidding.
The present embodiment is not defined the installation site and model of photographic device 220, as long as figure can be acquired
As information, it should be noted that image information includes Infrared Image Information and visible light image information, Infrared Image Information
Convenient for the inspection at night, certain corresponding photographic device 220 can be infrared eye 221 and visible image capturing device 222,
It is also possible to infrared visible image capturing device, user can select according to actual needs.
The present embodiment is not defined the installation site and model of locating signal receiver 230, as long as can acquire
Obtain corresponding location information.
Communication device 240 is connect with photographic device 220 and locating signal receiver 230, and the present embodiment is not to connection type
It is defined, as long as being able to carry out data transmission.Communication device 240 is connect with processing system 100, so as to realize
The transmission of the image information and location information of crusing robot 200 and processing system 100.
Power-supply device 260, for providing electric energy for crusing robot 200.
The present embodiment is not defined power-supply device 260, can be using non-rechargeable battery, also can use can fill
Battery, naturally it is also possible to provide power supply in the way of wireless and passive for crusing robot 200.
Based on the above-mentioned technical proposal, it is carried out on the guide rail that the present embodiment is just laid on the transmission line by crusing robot
Inspection is sent out photographic device acquired image information, the collected location information of locating signal receiver using communication device
It send to processing system, so that processing system is handled to obtain fault message, avoids and need manually setting up in the related technology
In surrounding city, 10kv that unmanned plane no-fly zone or unmanned plane can not be reached and distribution transmission line of electricity below carry out inspection
The problem of safety is low, low efficiency, routing inspection efficiency is improved, to better ensure that power matching network reliability of operation.
In another specific embodiment of power matching network automatic inspection equipment provided by the present invention, power-supply device
260 include the inductive charging device 261 and the rechargeable batteries that are embedded in crusing robot 200, and inductive charging device 261 is from setting
It sets and charges in the solar energy radio charging pile 20 away from shaft tower pre-determined distance.Specifically referring to FIG. 3, Fig. 3 is the embodiment of the present application
A kind of schematic diagram of the crusing robot inspection provided.
It is understood that distributed solar energy wireless charging stake 20 can be arranged, on guide rail 10 so as to inspection machine
People 200 is able to carry out charging, and crusing robot 200 is charged by inductive charging device and solar energy radio charging pile 20
Mode, solar panel 40 are set to head of mast.Of course, it is possible to which each 400 meters or other distances are set on guide rail 10
Set solar energy radio charging pile 20.As it can be seen that the scheme of power matching network automatic inspection equipment provided in this embodiment, is convenient for survey monitor
Device people 200 carries out inspection to transmission line of electricity 30 for a long time, and the routing inspection efficiency of raising reduces artificial operation.
In another specific embodiment of power matching network automatic inspection equipment provided by the present invention, idler wheel 210, also
For hanging upside down crusing robot 200 in predetermined trajectory.Crusing robot 200 is hung upside down when predetermined trajectory, is encountering sleet
It is not easy to shoot 220 inspection of photographic device when weather and have an impact, and be not easy to accumulate foreign materials away bat at photographic device 220
It takes the photograph.
In another specific embodiment of power matching network automatic inspection equipment provided by the present invention, crusing robot
200 further include: control signal receiver 250, for receiving control information.
Specifically, control information includes mobile predeterminated position, the preset time of movement, default rate travel.For example, patrolling
Inspection robot 200 is moved to predeterminated position according to default rate travel in preset time according to the control information, or according to control
The transmission line of electricity of section is preset in information inspection processed, naturally it is also possible to be other control information, as long as being that by the present embodiment
Purpose.As it can be seen that by control information control crusing robot carry out inspection, be easy to implement inspection high efficiency and flexibly
Property.
In another specific embodiment of power matching network automatic inspection equipment provided by the present invention, positioning signal is connect
Receiving device 230 is big-dipper satellite locating signal receiver.
In another specific embodiment of power matching network automatic inspection equipment provided by the present invention, crusing robot
Further include: warning lamp.The present embodiment is not defined warning lamp, and user can be configured according to actual needs.For example, warning
Lamp can be specifically used for the indicator light of crusing robot 200 when crusing robot 200 failure itself or not enough power supply
The light color of pre-set color is issued so that technical staff understands the working condition of crusing robot 200, and/or works as processing system 100
After being handled, the transmission line of electricity for obtaining target position breaks down, then controls crusing robot 200 in target position and make to warn
Show that lamp issues the light color of preinstalled circuit failure color, so as to technical staff's effective acquisition fault message；It can certainly be other
Mode, the present embodiment are no longer defined.
In another specific embodiment of power matching network automatic inspection equipment provided by the present invention, crusing robot
Further include: sound transducer, for acquiring acoustic information, so that crusing robot can execute corresponding behaviour according to acoustic information
Make.The present embodiment is not defined sound transducer, can be the acquisition for carrying out acoustic information using microphone, then extracts
The feature of acoustic information carries out operation determination according to sound characteristic and preset operation library, obtains execution operation information, according to holding
Row operation information executes respective operations.Specifically, the feature of acoustic information includes the voiceprint of active user and the pass of sound
Keyword determines whether current acoustic information is legal information according to voiceprint, when acoustic information is legal information, according to
Keyword executes corresponding operation, such as keyword is to move forward, then survey monitor is controlled when acoustic information is legal information
Device people is moved forward with pre-set velocity.As it can be seen that executing operation by what sound transducer can flexibly control crusing robot.
A kind of power matching network automatic detecting method provided by the embodiments of the present application is introduced below, electricity described below
Power distribution automatic detecting method can correspond to each other reference with above-described power matching network automatic inspection equipment, with reference to Fig. 4, Fig. 4
For a kind of flow chart of power matching network automatic detecting method provided by the embodiment of the present application, comprising:
S401, receive when walking on the guide rail that crusing robot is just laid on the transmission line the image information that acquires with
Corresponding location information；Wherein, image information includes Infrared Image Information and visible light image information.
S402, it is handled according to image information and corresponding location information.
The present embodiment is not defined the mode of processing, and user can be configured according to actual needs.For example, for figure
As information processing includes but is not limited to the information such as pixel distribution and brightness, the color of image, it is transformed into digitized signal, and logarithm
Word signal carries out operation with image algorithm, and then judges whether transmission line of electricity is attached with the sundries such as kite, branch；Power transmission line
Whether road overheats；Whether there is or not the problems of breakage etc. to obtain judging result for insulator.The above problem is judged whether there is according to differentiation result
The normal operation for influencing transmission line of electricity, if judging no above problem, crusing robot continues to run along guide rail and inspection is subsequent
Transmission line of electricity sends location information if judgement is problematic, and so as to inspection, staff goes to transmission line of electricity according to location information
Exception carries out trouble hunting investigation, thus completes the inspection of transmission line of electricity.
In another specific embodiment of power matching network automatic detecting method provided by the present invention, believed according to image
Breath and corresponding location information are handled, comprising: are identified using image algorithm to image information, obtained recognition result；
Fault message is judged whether there is according to recognition result；Fault message if it exists will then record fault message and location information, with
Just the corresponding equipment of fault message is repaired and is checked.
The present embodiment is not defined image algorithm, as long as being that by the purpose of the present embodiment.Identification knot
Fruit includes that the transmission line of electricity recognized is attached with kite, branch；Whether insulator has the problem of breakage etc..Sentenced according to recognition result
It is disconnected to whether there is fault message, and if so, record fault message and location information, so as to the corresponding equipment of fault message
It is repaired and is checked.
Based on the above-mentioned technical proposal, the present embodiment is enterprising in the guide rail being just laid on the transmission line by crusing robot
Row inspection, using communication device by photographic device acquired image information, the collected location information of locating signal receiver
It is sent to processing system, so that processing system is handled to obtain fault message, avoids and needs in the related technology manually in frame
Set on surrounding city, 10kv that unmanned plane no-fly zone or unmanned plane can not be reached and distribution transmission line of electricity below patrolled
The problem of safety of inspection is low, low efficiency improves routing inspection efficiency, to better ensure that power matching network reliability of operation.
In another specific embodiment of power matching network automatic detecting method provided by the present invention, believed according to image
After breath and corresponding location information are handled, further includes: send control information to crusing robot, wherein control information
Including working line.Control information includes mobile predeterminated position, the preset time of movement, default rate travel.For example, inspection
Robot is moved to predeterminated position according to default rate travel in preset time according to the control information, or according to control information
The transmission line of electricity of section is preset in inspection, naturally it is also possible to be other control information, as long as being that by the purpose of the present embodiment
?.As it can be seen that controlling crusing robot by control information carries out inspection, it is easy to implement the high efficiency and flexibility of inspection.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond scope of the present application.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
A kind of power matching network automatic inspection equipment provided herein, power matching network automatic detecting method are carried out above
It is discussed in detail.Specific examples are used herein to illustrate the principle and implementation manner of the present application, above embodiments
Explanation be merely used to help understand the present processes and its core concept.It should be pointed out that for the common of the art
For technical staff, under the premise of not departing from the application principle, can also to the application, some improvement and modification can also be carried out, these
Improvement and modification are also fallen into the protection scope of the claim of this application.
Claims (10)
1. a kind of power matching network automatic inspection equipment characterized by comprising processing system, crusing robot；Wherein, described
Crusing robot includes:
Idler wheel is walked on the guide rail for being laid with the crusing robot just on the transmission line；
Photographic device, for acquiring image information；Wherein, described image information includes Infrared Image Information and visible images letter
Breath；
Locating signal receiver, for acquiring the corresponding location information of described image information；
Communication device, for transmitting described image information and the location information, at the processing system
Reason；
Power-supply device, for providing electric energy for the crusing robot.
2. power matching network automatic inspection equipment according to claim 1, which is characterized in that the power-supply device includes embedded
Inductive charging device in the crusing robot, the inductive charging device is from being arranged in the sun away from shaft tower pre-determined distance
It can charge in wireless charging stake.
3. power matching network automatic inspection equipment according to claim 1, which is characterized in that the idler wheel is also used to make described
Crusing robot is hung upside down on the predetermined trajectory.
4. power matching network automatic inspection equipment according to claim 1, which is characterized in that the crusing robot also wraps
It includes:
Control signal receiver, for receiving control information.
5. power matching network automatic inspection equipment according to claim 1, which is characterized in that the locating signal receiver is
Big-dipper satellite locating signal receiver.
6. power matching network automatic inspection equipment according to claim 1, which is characterized in that the crusing robot also wraps
It includes: warning lamp.
7. power matching network automatic inspection equipment according to any one of claims 1 to 6, which is characterized in that the survey monitor
Device people further include: sound transducer, for acquiring acoustic information, so that the crusing robot can be according to the acoustic information
Execute respective operations.
8. a kind of power matching network automatic detecting method characterized by comprising
Receive the image information that acquires and corresponding position when walking on the guide rail that crusing robot is just laid on the transmission line
Confidence breath；Wherein, described image information includes Infrared Image Information and visible light image information；
It is handled according to described image information and the corresponding location information.
9. power matching network automatic detecting method according to claim 8, which is characterized in that according to described image information and right
The location information answered is handled, comprising:
Described image information is identified using image algorithm, obtains recognition result；
Fault message is judged whether there is according to the recognition result；
Fault message if it exists will then record the fault message and the location information, so as to corresponding to the fault message
Equipment repaired and checked.
10. power matching network automatic detecting method according to claim 9, which is characterized in that according to described image information and
After the corresponding location information is handled, further includes:
Control information is sent to the crusing robot, wherein the control information includes working line.
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| CN110708844A (en) * | 2019-09-25 | 2020-01-17 | 河南省纺织建筑设计院有限公司 | Method and system for automatically regulating and controlling light of pipe gallery |
| CN111537601A (en) * | 2020-04-26 | 2020-08-14 | 国网浙江省电力有限公司宁波供电公司 | Large-span power transmission line inspection and broken strand detection device and method |
| CN113112517A (en) * | 2021-04-07 | 2021-07-13 | 西安英诺视通科技有限公司 | Automatic transformer substation robot inspection and charging method based on color recognition |
| CN113295965A (en) * | 2021-05-25 | 2021-08-24 | 国网山东省电力公司济南市济阳区供电公司 | Distribution network ground fault positioning method, system and terminal |
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