CN110111213A - Indoor substation inspection tour system, method, apparatus and readable storage medium storing program for executing - Google Patents
Indoor substation inspection tour system, method, apparatus and readable storage medium storing program for executing Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 465
- 238000000034 method Methods 0.000 title claims abstract description 22
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- 239000007921 spray Substances 0.000 claims description 22
- 239000003990 capacitor Substances 0.000 claims description 20
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- 229910018503 SF6 Inorganic materials 0.000 description 6
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- SFZCNBIFKDRMGX-UHFFFAOYSA-N sulfur hexafluoride Chemical compound FS(F)(F)(F)(F)F SFZCNBIFKDRMGX-UHFFFAOYSA-N 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 4
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- 230000002159 abnormal effect Effects 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
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- 230000008439 repair process Effects 0.000 description 2
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- 238000005286 illumination Methods 0.000 description 1
- 238000002386 leaching Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
This application involves a kind of indoor substation inspection tour system, method, apparatus and readable storage medium storing program for executing, and the system comprises make an inspection tour the robot tour mould group that point obtains first kind tour data for making an inspection tour the first kind；The image capture mould group that point obtains the second class tour data is maked an inspection tour for making an inspection tour the second class；For obtaining visit program task, and robot is controlled according to visit program task respectively and makes an inspection tour mould group, image capture mould group, which obtains, makes an inspection tour data, it is also used to judge according to tour data the operating status of the electrical equipment at each tour point, and the control backstage for making an inspection tour record is generated according to the corresponding relationship of the electrical equipment and operating status maked an inspection tour at point, it is realized by the application and indoor substation is maked an inspection tour according to visit program task, and generate tour record, it causes to make an inspection tour accuracy rate so as to avoid manual patrol and makes an inspection tour the low problem of promptness rate, tour point abundant is arranged in substation indoors, improve the tour coverage rate maked an inspection tour to indoor substation.
Description
Technical field
This application involves electric system O&M service technique field, more particularly to a kind of indoor substation inspection tour system,
Method, apparatus and readable storage medium storing program for executing.
Background technique
Domestic electrical system promotion and implementation substation is unattended 20 years nearly, however each substation still needs to a large amount of personnel and determines
Phase enters the station maintenance, operation, and O&M human cost is high.With the rapid growth of substation's quantity in recent years, it is based on existing fortune
Dimensional pattern, equal O&M manpower notch of standing are in obvious ascendant trend, cause O&M quality downside risk more significant, directly affect pair
Outer reliable power supply.Under the overall background that country innovates driving development, exploration is carried out intelligent substation O&M and is in urgent need.
The substation inspection maintenance work frequency is high, and time-consuming, and technical requirements are relatively low, and machine substitutes artificial efficiency and excavates
Potentiality are considerable.Although being applicable in currently, having begun gradually popularization inspecting robot application in open type substation outdoors
Indoor substation canyon is more, distributed nature tour technology is still insufficient, and generally uses manual patrol, in the process of realization
In, inventor has found that at least there are the following problems in traditional technology: the tour coverage rate of substation inspection technology in conventional chamber is patrolled
It is low depending on accuracy rate and tour promptness rate.
Summary of the invention
Based on this, it is necessary to for the tour coverage rate of substation inspection technology, tour accuracy rate and tour in conventional chamber
The low problem of promptness rate provides a kind of indoor substation inspection tour system, method, apparatus and readable storage medium storing program for executing.
To achieve the goals above, on the one hand, the embodiment of the present application provides a kind of indoor substation inspection tour system, packet
It includes:
Mould group is maked an inspection tour by robot, makes an inspection tour point acquisition first kind tour data for making an inspection tour the first kind；First kind inspection point provided
Position includes that point is maked an inspection tour in hyperbaric chamber, master control room makes an inspection tour point and point is maked an inspection tour in the room GIS；
Image capture mould group makes an inspection tour point acquisition the second class tour data for making an inspection tour the second class；Second class makes an inspection tour point
Point is maked an inspection tour including transformer chamber, battery room makes an inspection tour point, capacitor chamber makes an inspection tour point, main transformer rain spray chamber makes an inspection tour point and disappears
Waterproof pump chamber inspection point provided position；
Control backstage for obtaining visit program task, and controls robot according to visit program task respectively and makes an inspection tour mould
Group, image capture mould group, which obtain, makes an inspection tour data；Control backstage is also used to judge according to tour data electrical at each tour point
The operating status of equipment, and generated according to the corresponding relationship of the electrical equipment and operating status maked an inspection tour at point and make an inspection tour record；It patrols
It include the tour point and control object to be maked an inspection tour of tour vacuum phase, corresponding each tour vacuum phase depending on plan target.
It includes switchgear, cable connector that point is maked an inspection tour in hyperbaric chamber in one of the embodiments,；Master control room makes an inspection tour point packet
Include secondary component；It includes gas chamber SF6 meter, mechanism position that point is maked an inspection tour in the room GIS；
It includes casing oil level gauge, leakage current of an arrester table, main transformer, blower and on-line monitoring that point is maked an inspection tour by transformer chamber
Cabinet；It includes accumulator equipment, compound ventilation air-changing device that battery room, which makes an inspection tour point,；It includes that capacitor is set that capacitor chamber, which makes an inspection tour point,
It is standby；It includes spray system control equipment that main transformer rain spray chamber, which makes an inspection tour point,；Fire water pump chamber inspection point provided position includes that water pump control is set
It is standby.
In one of the embodiments, further include:
Lighting control system is also used to detect the switch shape of lighting system for controlling the lighting system of indoor substation
State, and switch state is transferred to control backstage；
Control backstage is also used to make an inspection tour mould group, image capture mould group in starting robot, and switch state is in off state
When, it is opened by the lighting system that lighting control system controls indoor substation corresponding region.
It in one of the embodiments, further include temperature detection mould group, Humidity Detection mould group and the water on connection control backstage
Leaching monitoring mould group.
It in one of the embodiments, further include interchanger and the server for being connected with network hard disc；
Interchanger is separately connected robot and makes an inspection tour mould group, image capture mould group and server；Server connection control backstage.
On the other hand, the embodiment of the present application also provides a kind of indoor substation inspection methods, comprising the following steps:
Visit program task is obtained, and mould group is maked an inspection tour according to visit program task control robot and makes an inspection tour first kind inspection point provided
Position, control image capture mould group make an inspection tour the second class and make an inspection tour point；It includes that point, master control room are maked an inspection tour in hyperbaric chamber that the first kind, which makes an inspection tour point,
It makes an inspection tour point and point is maked an inspection tour in the room GIS；It includes that point is maked an inspection tour by transformer chamber, battery room makes an inspection tour point, electricity that second class, which makes an inspection tour point,
Container chamber makes an inspection tour point, main transformer rain spray chamber makes an inspection tour point and fire water pump chamber inspection point provided position；
It receives the first kind that robot tour mould group tour first kind tour point obtains and makes an inspection tour data, and receive image and take the photograph
Modulus group makes an inspection tour the second class and makes an inspection tour the second class tour data that point obtains；
Data are maked an inspection tour according to the first kind, the second class makes an inspection tour data and judges each operation shape for making an inspection tour the electrical equipment at point
State, and generated according to the corresponding relationship of the electrical equipment and operating status maked an inspection tour at point and make an inspection tour record；Visit program task packet
Include the tour point and control object to be maked an inspection tour of tour vacuum phase, corresponding each tour vacuum phase.
Visit program task is obtained in one of the embodiments, and is maked an inspection tour according to visit program task control robot
Mould group makes an inspection tour the first kind and makes an inspection tour point, and control image capture mould group makes an inspection tour the step of the second class makes an inspection tour point and includes:
When tour vacuum phase arrives, the control object maked an inspection tour in mould group to robot assigns tour point to be maked an inspection tour, to
Control object in image capture mould group assigns tour point to be maked an inspection tour.
Data are maked an inspection tour according to the first kind in one of the embodiments, the second class is maked an inspection tour data and judged at each tour point
Electrical equipment operating status the step of include:
Data are maked an inspection tour according to the first kind, the second class makes an inspection tour data, each operation ginseng for making an inspection tour the electrical equipment at point of acquisition
Number；
Each operating parameter is compared with corresponding parameter preset, and is judged at each tour point according to comparison result
The operating status of electrical equipment.
Another aspect, the embodiment of the present application also provides a kind of indoor substation inspection devices, comprising the following steps:
Control module for obtaining visit program task, and is maked an inspection tour mould group according to visit program task control robot and is patrolled
Point is maked an inspection tour depending on the first kind, control image capture mould group makes an inspection tour the second class and makes an inspection tour point；It includes hyperbaric chamber that the first kind, which makes an inspection tour point,
Make an inspection tour point, master control room makes an inspection tour point and point is maked an inspection tour in the room GIS；It includes that point, electric power storage are maked an inspection tour by transformer chamber that second class, which makes an inspection tour point,
Point is maked an inspection tour in pond room, capacitor chamber makes an inspection tour point, main transformer rain spray chamber makes an inspection tour point and fire water pump chamber inspection point provided position；
Data reception module makes an inspection tour the first kind tour that mould group makes an inspection tour first kind tour point acquisition for receiving robot
Data, and receive image capture mould group and make an inspection tour the second class tour data that the second class makes an inspection tour point acquisition；
Data processing module, for making an inspection tour data according to the first kind, the second class is maked an inspection tour data and is judged at each tour point
The operating status of electrical equipment, and generated according to the corresponding relationship of the electrical equipment and operating status maked an inspection tour at point and make an inspection tour note
Record；Visit program task includes tour vacuum phase, tour point and control object to be maked an inspection tour.
In another aspect, being stored thereon with computer the embodiment of the present application also provides a kind of computer readable storage medium
Program, when computer program is executed by processor the step of the realization above method.
A technical solution in above-mentioned technical proposal is had the following advantages and beneficial effects:
Mould group, image capture mould are maked an inspection tour by each embodiment that the application indoor substation inspection tour system provides, including robot
Group and control backstage, specifically, robot make an inspection tour mould group for make an inspection tour the first kind make an inspection tour point obtain the first kind make an inspection tour data；Figure
Data are maked an inspection tour as intake mould group obtains the second class for tour the second class tour point；Appoint for obtaining visit program on control backstage
Business, and robot is controlled according to visit program task respectively and makes an inspection tour mould group, image capture mould group acquisition tour data；Control backstage
It is also used to judge according to tour data the operating status of the electrical equipment at each tour point, and according to tour point and operation shape
The corresponding relationship of state, which generates, makes an inspection tour record；Visit program task includes that tour vacuum phase, corresponding each the to be maked an inspection tour of tour vacuum phase are patrolled
Viewpoint position and control object.It is realized according to visit program task by the application indoor substation inspection tour system to indoor substation
It is maked an inspection tour, and generates tour record, caused to make an inspection tour accuracy rate so as to avoid manual patrol and tour promptness rate is low
Tour point abundant is arranged in problem indoors in substation, improve the tour coverage rate maked an inspection tour to indoor substation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of indoor substation inspection tour system in one embodiment；
Fig. 2 is the structural schematic diagram of indoor substation inspection tour system in another embodiment；
Fig. 3 is the structural schematic diagram of indoor substation inspection tour system in another embodiment；
Fig. 4 is the structural schematic diagram of indoor substation inspection tour system in further embodiment；
Fig. 5 is the flow diagram of indoor substation inspection method in one embodiment；
Fig. 6 is the structural schematic diagram of indoor substation inspection device in one embodiment；
Fig. 7 is the internal structure chart that backstage is controlled in one embodiment.
Specific embodiment
The application in order to facilitate understanding is described more fully the application below with reference to relevant drawings.In attached drawing
Give the preferred embodiment of the application.But the application can realize in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is make it is more thorough and comprehensive to disclosure of this application.
It should be noted that it can be directly to separately when an element is considered as " connection " another element
One element and it is in combination be integrated, or may be simultaneously present centering elements.Term as used herein " installation ", " one
End ", " other end " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
It is low in order to solve the tour coverage rate of substation inspection technology in conventional chamber, making an inspection tour accuracy rate and make an inspection tour promptness rate
Under problem, in one embodiment, as shown in Figure 1, providing a kind of indoor substation inspection tour system, comprising:
Mould group 11 is maked an inspection tour by robot, makes an inspection tour point acquisition first kind tour data for making an inspection tour the first kind；The first kind is maked an inspection tour
Point includes that point is maked an inspection tour in hyperbaric chamber, master control room makes an inspection tour point and point is maked an inspection tour in the room GIS；
Image capture mould group 13 makes an inspection tour point acquisition the second class tour data for making an inspection tour the second class；Second class inspection point provided
Position include transformer chamber make an inspection tour point, battery room make an inspection tour point, capacitor chamber make an inspection tour point, main transformer rain spray chamber make an inspection tour point and
Fire water pump chamber inspection point provided position；
Control backstage 15 for obtaining visit program task, and controls robot according to visit program task respectively and makes an inspection tour
Mould group 11, image capture mould group 13, which obtain, makes an inspection tour data；Control backstage 15 is also used to judge each tour point according to tour data
The operating status of the electrical equipment at place, and generate and make an inspection tour according to the corresponding relationship of the electrical equipment and operating status maked an inspection tour at point
Record；Visit program task includes the tour point and control object to be maked an inspection tour of tour vacuum phase, corresponding each tour vacuum phase.
Wherein, it is using inspecting robot to hyperbaric chamber, master control room and GIS (Gas Insulated that mould group is maked an inspection tour by robot
Switchgear, gas insulated combined electric appliance equipment) each tour point in interior (including point is maked an inspection tour in hyperbaric chamber, master control room is maked an inspection tour
Point is maked an inspection tour in point and the room GIS) maked an inspection tour and acquired the system that the first kind makes an inspection tour data.In one example, the first kind is patrolled
Data are regarded as image data, specifically, image data includes to be located at each corresponding image of electrical equipment for making an inspection tour point.
In one example, as shown in Fig. 2, it includes: the first wheeled robot 111 that mould group 11 is maked an inspection tour by robot, for adopting
Collect the first kind tour data that point is maked an inspection tour in hyperbaric chamber；Second wheeled robot 113, make an inspection tour point for acquiring the room GIS the
One kind makes an inspection tour data；Rail robot 115 is hung, the first kind that point is maked an inspection tour for acquiring master control room makes an inspection tour data.
It should be noted that the operating environment space due to hyperbaric chamber is spacious, check that point is more, arranges specification, switchgear
Height is higher, and indoor top has bus bar, ventilation shaft to block, and extension rail robot installation is at high cost, and difficulty is big, therefore
Point is respectively maked an inspection tour to hyperbaric chamber using the first wheeled robot and carries out high-definition camera, the premise of daily tour demand may be implemented
Under, the flexibility of rail robot hoisting machine people's running route is relatively hung, response speed is promoted, further, using based on two
Tie up the wheeled robot of code positioning.In order to improve tour coverage rate, tour accuracy rate and the tour promptness rate maked an inspection tour to hyperbaric chamber,
Include switchgear, cable connector etc. in the indoor tour point of high pressure, specifically, make an inspection tour the panel signal of switchgear, pressing plate and
Equipment state makes an inspection tour the connection state etc. of cable connector after switchgear screen.
Since the operating environment space of the room GIS is spacious, point dispersion, farther out apart from metope, it is contemplated that position is examined after operation
The flexibility of the timeliness and daily tour looked into, therefore point is respectively maked an inspection tour to the room GIS using the second wheeled robot and carries out high definition
Camera shooting, further, can be used the wheeled robot of laser positioning.In one example, it is covered to further provide for making an inspection tour
Rate, also adds a set of camera and respectively makes an inspection tour point to the room GIS and shoot.In order to improve to the room GIS make an inspection tour tour coverage rate,
It makes an inspection tour accuracy rate and makes an inspection tour promptness rate, include gas chamber SF6 (sulfur hexafluoride) meter, mechanism position in the indoor tour point of GIS
Deng specifically, making an inspection tour tabular value, mechanism position instruction, the equipment heating situation etc. of gas chamber SF6 meter.In another example,
SF6 gas leakage monitor is installed on two wheeled robots, is realized to the monitoring of the room GIS SF6 air tightness and early warning.
Due to master control room operating environment space spaciousness, point arrangement specification, indoor top space is succinct, therefore using extension rail
Formula robot respectively makes an inspection tour point to master control room and carries out high-definition shooting.In order to improve the tour coverage rate to master control room tour, make an inspection tour
Accuracy rate and tour promptness rate, the tour point of master control room includes secondary component, specifically, secondary component includes indicator light shape
State, panel pressing plate, handle etc..
Wherein, image capture mould group is to be sprayed using picture pick-up device to transformer chamber, battery room, capacitor chamber, main transformer rain
Respectively maked an inspection tour in room and fire pump room point (including transformer chamber make an inspection tour point, battery room make an inspection tour point, capacitor chamber inspection point provided
Position, main transformer rain spray chamber make an inspection tour point and fire water pump chamber inspection point provided position) it is maked an inspection tour and acquire that the second class makes an inspection tour data is
System.In one example, it is image data that the second class, which makes an inspection tour data, and image information includes positioned at the electrical equipment pair for making an inspection tour point
The image answered.
In one example, as shown in Fig. 2, image capture mould group includes:
First camera 131, the second class that point is respectively maked an inspection tour for acquiring transformer chamber make an inspection tour data；
Second camera 133, the second class that point is respectively maked an inspection tour for acquiring battery room make an inspection tour data；
Third camera 135, the second class that point is respectively maked an inspection tour for acquiring capacitor chamber make an inspection tour data；
4th camera 137, the second class that point is respectively maked an inspection tour for acquiring main transformer rain spray chamber make an inspection tour data；
5th camera 139, the second class that point is respectively maked an inspection tour for acquiring fire water pump chamber make an inspection tour data.
It should be noted that due to transformer chamber, battery room, capacitor chamber, main transformer rain spray chamber and fire water pump chamber
Operating environment narrow space, point dispersion, while there are visual dead angles for part point, therefore, in transformer chamber, battery room, electricity
It is all made of camera in container chamber, main transformer rain spray chamber and fire pump room, high-definition shooting is carried out to each tour point.In order to mention
Tour coverage rate, tour accuracy rate and the tour promptness rate that height makes an inspection tour transformer chamber, it includes casing oil level that point is maked an inspection tour by transformer chamber
Table, leakage current of an arrester table, main shift, main transformer temperature, fan condition, on-line monitoring cabinet clip plate etc..In order to improve pair
Tour coverage rate, tour accuracy rate and the tour promptness rate that battery room is maked an inspection tour, it includes that battery is set that battery room, which makes an inspection tour point,
Standby, compound ventilation air-changing device etc..In order to improve tour coverage rate, tour accuracy rate and the tour promptness rate maked an inspection tour to capacitor chamber,
It includes capacitor equipment etc. that capacitor chamber, which makes an inspection tour point,.In order to improve the tour coverage rate to main transformer rain spray chamber, make an inspection tour accurately
Rate and tour promptness rate, it includes spray system control equipment etc. that main transformer rain spray chamber, which makes an inspection tour point,.In order to improve to fire pump
The tour coverage rate of room makes an inspection tour accuracy rate and makes an inspection tour promptness rate, and fire water pump chamber inspection point provided position includes water pump control flow etc..One
In a example, camera can be high-definition camera or infrared thermal imaging camera.
Wherein, control backstage is the control centre and data processing centre of indoor substation inspection tour system.In the application
Before the execution of indoor substation inspection tour system is maked an inspection tour, staff's establishment visit program task in control backstage specifically will
The information such as tour vacuum phase, tour point to be maked an inspection tour and control object are incorporated into visit program task, wherein tour vacuum phase refers to often
Certain time length, such as interval three days, five days are spaced, a visit program task is executed；Tour point to be maked an inspection tour refers to machine
The position that people makes an inspection tour mould group, image capture mould group needs to make an inspection tour when making an inspection tour for each time；Control object refers to that meter is maked an inspection tour in each execution
(which specific robot in mould group is maked an inspection tour by robot participates in the participation equipment for the task of drawing, and specifically which is taken the photograph in image capture mould group
As head participates in).Then, tour vacuum phase then, control backstage according to visit program task control by robot make an inspection tour mould group that
Tour point to be maked an inspection tour is maked an inspection tour in a little robot (control object) participations, by those cameras (control object) of image capture mould group
Tour point to be maked an inspection tour is maked an inspection tour in participation.
Control backstage receives robot and makes an inspection tour the first kind tour data acquired after the controlled tour of mould group, receives image capture
The second class acquired after the controlled tour of mould group makes an inspection tour data, and control backstage is maked an inspection tour in data using image processing techniques from the first kind
It identifies that the operating status of each electrical equipment of point is respectively maked an inspection tour in hyperbaric chamber, master control room and the room GIS, is maked an inspection tour in data from the second class
Identify that transformer chamber, battery room, capacitor chamber, main transformer rain spray chamber and fire water pump chamber respectively make an inspection tour each electrical equipment of point
Operating status, each electrical equipment and corresponding operating status are subjected to corresponding record, generates and makes an inspection tour record.At one
It in example, makes an inspection tour record and presents in table form, for example, the title of the perpendicular behavior electrical equipment of table, row is corresponding
Operating status.Relevant staff can carry out maintenance and repair to there is abnormal electrical equipment according to record is maked an inspection tour.
In one example, judge the operating status of electrical equipment based on following steps: making an inspection tour data, the according to the first kind
Two classes make an inspection tour data, obtain each operating parameter for making an inspection tour the electrical equipment at point；By each operating parameter and corresponding default ginseng
Number is compared, and the operating status of the electrical equipment at each tour point is judged according to comparison result.Specifically, will be from tour
The operating parameter of the electrical equipment recognized in data is compared with corresponding parameter preset, if operating parameter and parameter preset
Being consistent, then the operating status of electrical equipment is normal, if operating parameter is not consistent with parameter preset, the operation shape of electrical equipment
State is abnormal.It should be noted that equipment running status include the operating parameter of electrical equipment, switchgear switch state,
The instruction state of the connection status of connecting terminal, the magnitude of scale (voltmeter, ammeter, thermometer, hygrometer etc.), indicator light
Etc., corresponding preset state also includes above-mentioned various states.
Making an inspection tour data and the second class tour data when the first kind is all image data, then image recognition technology is utilized, from figure
The operating parameter of electrical equipment is taken as knowing in data.
In one example, control backstage also communicates to connect smart phone or tablet computer, and control is from the background to smart phone
Or tablet computer is sent when making an inspection tour record, realization holds above-mentioned smart phone or the staff of tablet computer being capable of timely basis
It makes an inspection tour record and maintenance and repair is carried out to electrical equipment, avoid bigger accident.
In one embodiment, as shown in figure 3, indoor substation inspection tour system further includes interchanger 17 and is connected with network
The server 10 of hard disk 19；Interchanger 17 is separately connected robot and makes an inspection tour mould group 11, image capture mould group 13 and server 10；Clothes
The business connection control of device 10 backstage 15.It should be noted that interchanger is used for extended network structure, network hard disc is maked an inspection tour for storing
Data facilitate the calling for making an inspection tour data.
In each embodiment of the application indoor substation, including after robot tour mould group, image capture mould group and control
Platform, specifically, mould group is maked an inspection tour by robot makes an inspection tour point acquisition first kind tour data for making an inspection tour the first kind；Image capture mould group
Point acquisition the second class tour data are maked an inspection tour for making an inspection tour the second class；It controls and is used to obtain visit program task from the background, and according to
Visit program task controls robot respectively and makes an inspection tour mould group, image capture mould group acquisition tour data；Control backstage be also used to according to
Each operating status for making an inspection tour the electrical equipment at point is judged according to data are maked an inspection tour, and corresponding with operating status according to point is maked an inspection tour
Relationship, which generates, makes an inspection tour record；Visit program task include tour vacuum phase, the tour point to be maked an inspection tour of corresponding each tour vacuum phase and
Control object.It is realized by the application indoor substation inspection tour system and indoor substation is patrolled according to visit program task
Depending on, and generate tour record, cause to make an inspection tour accuracy rate so as to avoid manual patrol and make an inspection tour the low problem of promptness rate,
Setting tour point abundant in indoor substation, improves the tour coverage rate maked an inspection tour to indoor substation.
In one embodiment, as shown in figure 4, indoor substation inspection tour system further include:
Lighting control system 41 is also used to detect the switch of lighting system for controlling the lighting system of indoor substation
State, and switch state is transferred to control backstage；
Control backstage 15 is also used to make an inspection tour mould group, image capture mould group in starting robot, and switch state is to close shape
When state, opened by the lighting system that lighting control system controls corresponding region in indoor substation.
Wherein, lighting control system is controlled by control backstage to control unlatching and the pass of the lighting system of indoor substation
Close, meanwhile, lighting control system also detect lighting system current switch states and be transferred to control backstage, control backstage according to
When mould group and/or the tour of image capture mould group are maked an inspection tour by visit program task start robot, the illumination in the region if desired maked an inspection tour
When the switch state of system is in off state, the lighting system in the region is opened on control backstage by lighting control system.For example,
In certain tour task, need to make an inspection tour hyperbaric chamber, and the lighting system in hyperbaric chamber is in close state, control backstage is starting
While mould group is maked an inspection tour by the robot in hyperbaric chamber, the lighting system in hyperbaric chamber is opened by lighting control system.
In one example, lighting control system can also be realized hand-held by the long-range control of smart phone or tablet computer
The staff of above-mentioned smart phone or tablet computer, to the lighting system remote control of indoor transformation station.
In each embodiment of the application indoor substation, maked an inspection tour in robot tour mould group and image capture mould group same
When, control backstage controls lighting system by lighting control system and opens, and guarantees ambient brightness, improves the image information of acquisition
Clear degree makes an inspection tour accuracy rate to be conducive to improve.
In one embodiment, as shown in figure 4, indoor substation inspection tour system further include:
Temperature detection mould group 43 is transferred to control backstage for acquiring the temperature value of indoor substation, and by temperature value；
Control backstage 15, is also used to control the temperature equipment of indoor substation when except preset temperature range in temperature value
Carry out temperature adjustment, trip temperature of going forward side by side alarm.
It should be noted that the temperature value of temperature detection mould group acquisition indoor substation is transferred to control backstage, after control
Platform judges temperature value when except preset temperature range, and the temperature equipment for controlling indoor substation carries out temperature adjustment, specifically, in temperature
When angle value is more than preset temperature range, control temperature equipment cooling, and carry out high temperature alarm；In temperature value in preset temperature model
When enclosing following, control temperature equipment heating, and carry out low temperature alarm.In one example, temperature equipment includes air-conditioning, central hollow
Adjust etc..
In each embodiment of the application indoor substation, pass through the environment of temperature detection mould group real-time monitoring indoor substation
Temperature guarantees that the environment temperature of indoor substation in suitable range, provides the safety in operation of indoor substation.
In one embodiment, as shown in figure 4, indoor substation inspection tour system further include:
Humidity Detection mould group 45 is transferred to control backstage for acquiring the humidity value of indoor substation, and by humidity value；
Control backstage 15 is also used to control the damping equipment of indoor substation when except default humidity range in humidity value
Damping is carried out, and carries out humidity alarm.
It should be noted that the temperature value of Humidity Detection mould group acquisition indoor substation is transferred to control backstage, after control
Platform judges humidity value when except default humidity range, and the damping equipment for controlling indoor substation carries out damping, specifically, wet
When angle value is more than default humidity range, control damping equipment is dry, and carries out high humidity alarm；In humidity value in default humidity model
When enclosing following, control damping equipment humidification, and carry out low humidity alarm.In one example, damping equipment includes drying machine, humidification
Machine etc..
In each embodiment of the application indoor substation, pass through the environment of Humidity Detection mould group real-time monitoring indoor substation
Humidity guarantees that the ambient humidity of indoor substation in suitable range, provides the safety in operation of indoor substation.
In one embodiment, as shown in figure 4, indoor substation inspection tour system further include:
Flood monitoring mould group 47, for acquiring the water logging state of indoor substation, and after water logging state is transferred to control
Platform；
Control backstage 15 is also used to carry out water damage alarm when water logging state is water logging occur.
It should be noted that flood monitoring mould group is occurring for monitoring whether indoor transformation station the case where water logging occurs
When the case where water logging, notice control backstage, control backstage issues alarm.
In each embodiment of the application indoor substation, whether gone out by Humidity Detection mould group real-time monitoring indoor substation
The case where existing water logging, guarantees the operation of indoor substation safety.
In one embodiment, as shown in figure 5, additionally providing a kind of indoor substation inspection method, comprising the following steps:
Step S110 obtains visit program task, and makes an inspection tour mould group according to visit program task control robot and make an inspection tour the
One kind makes an inspection tour point, and control image capture mould group makes an inspection tour the second class and makes an inspection tour point；It includes that hyperbaric chamber is maked an inspection tour that the first kind, which makes an inspection tour point,
Point, master control room make an inspection tour point and point is maked an inspection tour in the room GIS；It includes that point, battery room are maked an inspection tour by transformer chamber that second class, which makes an inspection tour point,
Make an inspection tour point, capacitor chamber makes an inspection tour point, main transformer rain spray chamber makes an inspection tour point and fire water pump chamber inspection point provided position；
Step S120 receives the first kind that robot tour mould group tour first kind tour point obtains and makes an inspection tour data, and
It receives image capture mould group and makes an inspection tour the second class tour data that the second class makes an inspection tour point acquisition；
Step S130 makes an inspection tour data according to the first kind, the second class makes an inspection tour data and judges each electrical equipment maked an inspection tour at point
Operating status, and according to make an inspection tour point at electrical equipment and operating status corresponding relationship generate make an inspection tour record；Make an inspection tour meter
The task of drawing includes the tour point and control object to be maked an inspection tour of tour vacuum phase, corresponding each tour vacuum phase.
In one embodiment, visit program task is obtained, and mould group is maked an inspection tour according to visit program task control robot
It makes an inspection tour the first kind and makes an inspection tour point, control image capture mould group makes an inspection tour the step of the second class makes an inspection tour point and includes:
When tour vacuum phase arrives, the control object maked an inspection tour in mould group to robot assigns tour point to be maked an inspection tour, to
Control object in image capture mould group assigns tour point to be maked an inspection tour.
Data are maked an inspection tour according to the first kind in one of the embodiments, the second class is maked an inspection tour data and judged at each tour point
Electrical equipment operating status the step of include:
Data are maked an inspection tour according to the first kind, the second class makes an inspection tour data, each operation ginseng for making an inspection tour the electrical equipment at point of acquisition
Number；
Each operating parameter is compared with corresponding parameter preset, and is judged at each tour point according to comparison result
The operating status of electrical equipment.
It should be noted that the detailed description of the application indoor substation inspection method please refers to the application indoor substation
Description in each embodiment of inspection tour system, details are not described herein again.
It should be understood that although each step in the flow chart of Fig. 4 is successively shown according to the instruction of arrow, this
A little steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, these steps
It executes there is no the limitation of stringent sequence, these steps can execute in other order.Moreover, at least part in Fig. 4
Step may include that perhaps these sub-steps of multiple stages or stage are executed in synchronization to multiple sub-steps
It completes, but can execute at different times, the execution sequence in these sub-steps or stage, which is also not necessarily, successively to be carried out,
But it can be executed in turn or alternately at least part of the sub-step or stage of other steps or other steps.
In one embodiment, as shown in fig. 6, additionally providing a kind of indoor substation inspection device, comprising the following steps:
Control module 61 is maked an inspection tour for obtaining visit program task, and according to visit program task control robot
Mould group makes an inspection tour the first kind and makes an inspection tour point, and control image capture mould group makes an inspection tour the second class and makes an inspection tour point；The first kind makes an inspection tour point
Point is maked an inspection tour including hyperbaric chamber, master control room makes an inspection tour point and point is maked an inspection tour in the room GIS；It includes transformer chamber that second class, which makes an inspection tour point,
Make an inspection tour point, battery room makes an inspection tour point, capacitor chamber makes an inspection tour point, main transformer rain spray chamber makes an inspection tour point and fire water pump chamber patrols
Viewpoint position；
Data reception module 63 makes an inspection tour what the first kind tour point obtained for receiving the robot tour mould group
The first kind makes an inspection tour data, and receives described image intake mould group and make an inspection tour the second class tour number that second class makes an inspection tour point acquisition
According to；
Data processing module 65, for making an inspection tour data according to the first kind, second class makes an inspection tour data and judges each institute
The operating status for making an inspection tour the electrical equipment at point is stated, and according to the electrical equipment maked an inspection tour at point and the operating status
Corresponding relationship generate make an inspection tour record；The visit program task includes tour vacuum phase, tour point to be maked an inspection tour and control pair
As.
In one embodiment, control module the following steps are included:
Period control unit, for when the tour vacuum phase arrives, the control in mould group to be maked an inspection tour by Xiang Suoshu robot
Object processed assigns the tour point to be maked an inspection tour, and the control object into described image intake mould group is assigned described wait patrol
Depending on tour point.
In one embodiment, data processing module includes
Operating parameter acquiring unit, for making an inspection tour data according to the first kind, second class makes an inspection tour data, obtains each
The operating parameter for making an inspection tour the electrical equipment at point；
Operating status acquiring unit, for each operating parameter to be compared with corresponding parameter preset, and according to described
Comparison result judges each operating status for making an inspection tour the electrical equipment at point.
Specific restriction about indoor substation inspection device may refer to above for indoor substation inspection method
Restriction, details are not described herein.Modules in above-mentioned indoor substation inspection device can be fully or partially through software, hard
Part and combinations thereof is realized.Above-mentioned each module can be embedded in the form of hardware or independently of control backstage in processor in,
It can be stored in a software form in the memory in control backstage, in order to which processor calls the above modules of execution corresponding
Operation.
In one embodiment, a kind of control backstage is provided, internal structure chart can be as shown in Figure 7.After the control
Platform includes processor, memory, network interface and the database connected by system bus.Wherein, the processing on the control backstage
Device is for providing calculating and control ability.The memory on the control backstage includes non-volatile memory medium, built-in storage.This is non-
Volatile storage medium is stored with operating system, computer program and database.The built-in storage is non-volatile memory medium
In operating system and computer program operation provide environment.The database on the control backstage is for storing image information.It should
The network interface on control backstage is used to make an inspection tour mould group, camera inspection tour system with robot and be communicated by network connection.The calculating
To realize the application indoor substation inspection method when machine program is executed by processor.
It will be understood by those skilled in the art that structure shown in Fig. 7, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
Visit program task is obtained, and the mould group tour first kind is maked an inspection tour according to visit program task control robot and is patrolled
Viewpoint position, control image capture mould group make an inspection tour the second class and make an inspection tour point；It includes hyperbaric chamber inspection point provided that the first kind, which makes an inspection tour point,
Point is maked an inspection tour in position, master control room and point is maked an inspection tour in the room GIS；It includes that point, battery are maked an inspection tour by transformer chamber that second class, which makes an inspection tour point,
Point is maked an inspection tour in room, capacitor chamber makes an inspection tour point, main transformer rain spray chamber makes an inspection tour point and fire water pump chamber inspection point provided position；
It receives the robot tour mould group and makes an inspection tour the first kind tour data that the first kind tour point obtains, and connect
It receives described image intake mould group and makes an inspection tour the second class tour data that second class makes an inspection tour point acquisition；
Data are maked an inspection tour according to the first kind, second class makes an inspection tour data and judges electrically setting at each tour point
Standby operating status, and generated according to the corresponding relationship of the tour point and the operating status and make an inspection tour record；The tour
Plan target includes the tour point and control object to be maked an inspection tour of tour vacuum phase, corresponding each tour vacuum phase.
In one embodiment, it is also performed the steps of when computer program is executed by processor
Data, second class tour data are maked an inspection tour according to the first kind, are obtained electrical at each tour point
The operating parameter of equipment；
Each operating parameter is compared with corresponding parameter preset, and each tour is judged according to the comparison result
The operating status of electrical equipment at point.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.Those of ordinary skill in the art will appreciate that realizing above-mentioned implementation
All or part of the steps in example method is relevant hardware can be instructed to complete by program, and the program can deposit
It is stored in a computer-readable storage medium, which when being executed, includes the steps that described in above method, the storage
Medium, such as: ROM/RAM, magnetic disk, CD.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to claim therefore cannot be interpreted as.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of indoor substation inspection tour system characterized by comprising
Mould group is maked an inspection tour by robot, makes an inspection tour point acquisition first kind tour data for making an inspection tour the first kind；The first kind inspection point provided
Position includes that point is maked an inspection tour in hyperbaric chamber, master control room makes an inspection tour point and point is maked an inspection tour in the room GIS；
Image capture mould group makes an inspection tour point acquisition the second class tour data for making an inspection tour the second class；Second class makes an inspection tour point
Point is maked an inspection tour including transformer chamber, battery room makes an inspection tour point, capacitor chamber makes an inspection tour point, main transformer rain spray chamber makes an inspection tour point and disappears
Waterproof pump chamber inspection point provided position；
Control backstage, for obtaining visit program task, and controls the robot according to the visit program task respectively and patrols
The tour data are obtained depending on mould group, described image intake mould group；The control backstage is also used to sentence according to the tour data
The operating status of electrical equipment at each tour point of breaking, and according to the electrical equipment maked an inspection tour at point and the fortune
The corresponding relationship of row state, which generates, makes an inspection tour record；The visit program task includes tour vacuum phase, corresponding each tour vacuum phase
Tour point and control object to be maked an inspection tour.
2. indoor substation inspection tour system according to claim 1, which is characterized in that
It includes switchgear, cable connector that point is maked an inspection tour in the hyperbaric chamber；It includes secondary component that the master control room, which makes an inspection tour point,；It is described
It includes gas chamber SF6 meter, mechanism position that point is maked an inspection tour in the room GIS；
It includes casing oil level gauge, leakage current of an arrester table, main transformer, blower and on-line monitoring that point is maked an inspection tour by the transformer chamber
Cabinet；It includes accumulator equipment, compound ventilation air-changing device that the battery room, which makes an inspection tour point,；It includes electricity that the capacitor chamber, which makes an inspection tour point,
Tankage；It includes spray system control equipment that the main transformer rain spray chamber, which makes an inspection tour point,；The fire water pump chamber inspection point provided position
Including water pump control apparatus.
3. indoor substation inspection tour system according to claim 1, which is characterized in that further include:
Lighting control system is also used to detect the switch shape of the lighting system for controlling the lighting system of indoor substation
State, and the switch state is transferred to the control backstage；
The control backstage is also used to starting the robot tour mould group, described image intake mould group, and the switch shape
When state is in off state, opened by the lighting system that the lighting control system controls the indoor substation corresponding region.
4. indoor substation inspection tour system according to claim 1, which is characterized in that further include connecting the control backstage
Temperature detection mould group, Humidity Detection mould group and flood monitoring mould group.
5. indoor substation inspection tour system according to any one of claims 1 to 4, which is characterized in that further include interchanger
And it is connected with the server of network hard disc；
The interchanger is separately connected the robot and makes an inspection tour mould group, described image intake mould group and the server；The clothes
The device connection control be engaged in from the background.
6. a kind of indoor substation inspection method, which comprises the following steps:
Visit program task is obtained, and mould group is maked an inspection tour according to visit program task control robot and makes an inspection tour first kind inspection point provided
Position, control image capture mould group make an inspection tour the second class and make an inspection tour point；It includes that point, master are maked an inspection tour in hyperbaric chamber that the first kind, which makes an inspection tour point,
It controls room and makes an inspection tour point and the room GIS tour point；It includes that point is maked an inspection tour by transformer chamber, battery room is maked an inspection tour that second class, which makes an inspection tour point,
Point, capacitor chamber make an inspection tour point, main transformer rain spray chamber makes an inspection tour point and fire water pump chamber inspection point provided position；
It receives the robot tour mould group and makes an inspection tour the first kind tour data that the first kind tour point obtains, and receive institute
It states image capture mould group and makes an inspection tour the second class tour data that second class makes an inspection tour point acquisition；
The electrical equipment at each tour point is judged according to first kind tour data, second class tour data
Operating status, and the corresponding relationship according to electrical equipment and the operating status at the tour point generates and makes an inspection tour record；
The visit program task includes the tour point and control object to be maked an inspection tour of tour vacuum phase, corresponding each tour vacuum phase.
7. interior substation inspection method according to claim 6, which is characterized in that acquisition visit program task, and according to
Visit program task control robot makes an inspection tour mould group and makes an inspection tour first kind tour point, and control image capture mould group makes an inspection tour second
Class make an inspection tour point the step of include:
When the tour vacuum phase arrives, the control object that Xiang Suoshu robot is maked an inspection tour in mould group assigns inspection point provided to be maked an inspection tour
Position, the control object into described image intake mould group assign tour point to be maked an inspection tour.
8. interior substation inspection method according to claim 6 or 7, which is characterized in that make an inspection tour number according to the first kind
Making an inspection tour the step of data judge the operating status of each electrical equipment maked an inspection tour at point according to, second class includes:
Data are maked an inspection tour according to the first kind, second class makes an inspection tour data, each electrical equipment maked an inspection tour at point of acquisition
Operating parameter；
Each operating parameter is compared with corresponding parameter preset, and each tour point is judged according to the comparison result
The operating status of the electrical equipment at place.
9. a kind of indoor substation inspection device, which comprises the following steps:
Control module for obtaining visit program task, and is maked an inspection tour mould group according to visit program task control robot and is patrolled
Point is maked an inspection tour depending on the first kind, control image capture mould group makes an inspection tour the second class and makes an inspection tour point；It includes height that the first kind, which makes an inspection tour point,
Pressure chamber makes an inspection tour point, master control room makes an inspection tour point and point is maked an inspection tour in the room GIS；It includes transformer chamber's inspection point provided that second class, which makes an inspection tour point,
Point is maked an inspection tour in position, battery room, capacitor chamber makes an inspection tour point, main transformer rain spray chamber makes an inspection tour point and fire water pump chamber inspection point provided
Position；
Data reception module makes an inspection tour the first kind that mould group makes an inspection tour the first kind tour point acquisition for receiving the robot
Data are maked an inspection tour, and receives described image intake mould group and makes an inspection tour the second class tour data that second class makes an inspection tour point acquisition；
Data processing module, for making an inspection tour data according to the first kind, second class makes an inspection tour data and judges each tour
The operating status of electrical equipment at point, and it is corresponding with the operating status according to the electrical equipment at the tour point
Relationship, which generates, makes an inspection tour record；The visit program task includes tour vacuum phase, tour point and control object to be maked an inspection tour.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of claim 6 to 8 described in any item methods are realized when being executed by processor.
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