CN110562653A - power transformation operation detection intelligent decision system and maintenance system based on ubiquitous power Internet of things - Google Patents

Abstract

The invention discloses a power transformation operation detection intelligent decision system and maintenance system based on a ubiquitous power Internet of things, wherein the decision system comprises: the detection module is used for acquiring a detection value of the equipment and numbering the detection value of the equipment in a unified way with the equipment; the statistical module is used for summarizing and counting the information acquired by the detection module; and the processing module is used for analyzing the statistical data of the statistical module and forming a maintenance scheme according to the analysis result. The maintenance system comprises a scheduling unit, a warehouse and a field auxiliary unit, wherein the scheduling unit selects emergency repair vehicles and personnel according to a maintenance scheme, the intelligent warehouse extracts required tools according to the maintenance scheme, and the field auxiliary unit guides and supervises the personnel according to the maintenance scheme. The substantial effects of the invention include: by integrating all links, the final maintenance is detected from the source to realize effective coordination, the whole working efficiency and reliability are improved, and the safe operation of the transformer substation is favorably ensured.

Description

Power transformation operation detection intelligent decision system and maintenance system based on ubiquitous power Internet of things

Technical Field

The invention relates to the technical field of power grids, in particular to a power transformation operation detection intelligent decision making system and a maintenance system based on a ubiquitous power Internet of things.

Background

The intelligent operation and inspection is an effective monitoring means which is adopted for ensuring safe and stable operation of the transformer substation, reliable external power supply and orderly operation of various power production works. The transformer substation is always electrified, and the operation and the detection work are that faults possibly existing in transformer substation equipment are found through intelligent operation and detection, so that the faults are prevented in the bud, and timely maintenance of the fault equipment is guaranteed. However, the current operation and inspection system in the whole process from detection judgment to scheduling maintenance is lacked, so that the connection among all links is not tight, the work is not coordinated, and the overall efficiency is reduced.

As published (bulletin) No.: the utility model discloses a CN206162656U intelligent operation and inspection system applied to integrated operation and maintenance of transformer equipment, which comprises an intelligent operation and inspection box, a detection instrument, a mobile control device and a server; the data input end of the intelligent operation and detection box is connected with the data output end of the detection instrument, the mobile control device is in data communication with the intelligent operation and detection box through an 802.11 protocol, and the server is in real-time data transmission with the intelligent operation and detection box through a 3G/4G network.

In the prior art, the overall operation and inspection process is usually lack of control, and optimization and improvement are only performed in certain aspects, so that reliable operation or fault maintenance of a transformer substation cannot be well guaranteed in practice, and the working efficiency and the reliability are low.

disclosure of Invention

aiming at the problems that in the prior art, the relation among all links in the coordinated operation and detection process is absent, the fault detection and maintenance efficiency is low, and the operation and detection reliability is poor, the invention provides the power transformation operation and detection intelligent decision-making system and the maintenance system based on the ubiquitous power internet of things.

The technical scheme of the invention is as follows.

A power transformation operation detection intelligent decision system based on ubiquitous power Internet of things comprises: the detection module is used for acquiring a detection value of the equipment and numbering the detection value of the equipment in a unified way with the equipment; the statistical module is used for summarizing and counting the information acquired by the detection module; the processing module is used for analyzing the statistical data of the statistical module and forming a maintenance scheme according to the analysis result; and the display terminal is used for displaying the maintenance scheme and is connected with the processing module.

As preferred, detection module includes remote terminal, heat sink, temperature-sensing device, microprocessor, power conversion module, data storage module, communication subassembly, alarm module and relay group, communication subassembly, alarm module, data storage module and relay group are connected with unprocessed ware electricity respectively, remote terminal connects statistics module and is connected with the microprocessor communication through communication subassembly, temperature-sensing device fixed mounting is on the transformer lateral wall, microprocessor is connected with temperature-sensing device, heat sink is connected with the microprocessor electricity. The detection module obtains a temperature detection value and sends the temperature detection value to the statistic module, and meanwhile, the temperature reduction can be achieved to a certain degree through the temperature reduction device.

As preferred, temperature-sensing device includes oil gas cylinder, rack, gear and gear potentiometer, oil gas cylinder is including first piston head, second piston head and intermediate part, the intermediate part cup joints at oil pipe port department, first piston head sliding connection is in the oil pipe inner wall, the lower extreme fixedly connected with rack of second piston head, rack and gear engagement, the axle center of gear passes through the transmission shaft and is connected with gear potentiometer transmission.

Preferably, the cooling device comprises a shell and a plurality of exhaust fans; be provided with netted oil pipe of arranging in the shell, a plurality of exhaust fans are evenly installed in the side of shell, are provided with the exhaust hole on the opposite side of exhaust fan. The temperature sensing device senses the volume of the transformer oil along with the change of the temperature, drives the exhaust fan in the cooling device to work, formulates different heat dissipation levels according to different transformer oil temperatures, achieves intelligent cooling, can directionally and purposefully cool according to requirements, can save energy and ensure safe operation of the transformer.

Preferably, the relay group comprises relays the number of which is the same as that of the exhaust fans, a coil of any relay is electrically connected with a control pin of the single chip microcomputer, the exhaust fan is electrically connected with the power supply unit through a moving contact of the relay, and an output end of the gear potentiometer is electrically connected with a detection pin of the single chip microcomputer.

Preferably, the statistical module comprises a plurality of graphic units, each graphic unit is provided with a plurality of pixel points, and each graphic unit is used for executing the following steps: each graphic unit counts a type of detection value and a corresponding equipment number acquired by the detection module, normalizes the type of detection value, associates a gray value and enables pixel points to correspond to the equipment numbers one by one; and displaying the gray value corresponding to the equipment number in the pixel point through gray scale to form a statistical chart.

Preferably, the processing module performs the steps of: calling historical fault data and a maintenance mode, generating a sample graph of each type of detection value in the historical fault data, associating the sample graph with the maintenance mode, and setting an early warning value range according to the sample graph; and comparing the sample image with the statistical image generated by the real-time detection value through image processing, and if the gray value of any numbered pixel point in the statistical image reaches a certain time within the range of the early warning value, judging that maintenance is needed and generating a maintenance scheme according to the maintenance mode.

The power transformation operation and maintenance system based on the ubiquitous power Internet of things is used for executing the maintenance scheme of the decision system and comprises a scheduling unit, a warehouse and a field auxiliary unit, wherein the scheduling unit selects a breakdown van and personnel according to the maintenance scheme, the warehouse extracts required tools according to the maintenance scheme, and the field auxiliary unit guides and supervises the personnel according to the maintenance scheme.

Preferably, the scheduling unit performs the steps of: importing road GIS information of a region where a target is located, marking all emergency repair vehicle positions on the road GIS information, and determining positions of emergency repair workers and warehouses; introducing a rush-repair vehicle driver duty table, and removing rush-repair vehicle drivers and corresponding rush-repair vehicles in a fatigue period according to the rush-repair vehicle driver duty table; introducing a rush-repair personnel duty list, removing rush-repair personnel in a fatigue period, and determining the number of the rush-repair personnel according to a maintenance scheme; the method comprises the steps of selecting a breakdown van and emergency repair workers by using an optimization algorithm, and formulating a driving route of the breakdown van to ensure that the time required by the breakdown van to get on all the emergency repair workers and get tools and reach a fault site is shortest, wherein the boarding time of the emergency repair workers and the tool loading time are unified preset values.

Preferably, the warehouse comprises a plurality of trays, a trolley and a server, the server is connected with the decision-making system and the dispatching unit, a trolley path and a landmark are drawn on the ground of the warehouse, the trays are arranged on two sides of the trolley path, an overhead area for the trolley to pass through is arranged at the bottom of the tray, a goods taking area is arranged on the ground of the warehouse, the tray is provided with a tray two-dimensional code which identifies spare part information in the tray, the trolley comprises a main camera, a secondary camera, a steering mechanism, a walking wheel, a chassis, a pallet, a lifting mechanism, a communication module and a controller, the main camera is arranged on the upper surface of the chassis and used for shooting the tray two-dimensional code, the pallet is arranged on the upper portion of the chassis through the lifting mechanism, the walking wheel and the steering mechanism are respectively arranged on the lower portion of the chassis, the secondary camera is arranged on the lower portion of the chassis and, the main camera, the auxiliary camera, the steering mechanism, the walking wheels and the lifting mechanism are all connected with the controller, the controller is in communication connection with the server through the communication module, the trolley path is provided with an extension area, and the extension area of the trolley path extends into the lower portion of the tray and is used for guiding the trolley to enter the lower portion of the tray. This warehouse can get goods as required.

Preferably, the auxiliary cameras comprise a pair of longitudinal auxiliary cameras and a pair of transverse auxiliary cameras, the trolley path comprises two parallel paths, the pair of longitudinal auxiliary cameras are arranged on the lower surface of the chassis in the moving direction of the travelling wheel of the trolley, the pair of transverse auxiliary cameras are arranged on the lower surface of the chassis in the normal direction of the moving direction of the travelling wheel of the trolley, the pair of transverse auxiliary cameras are respectively used for shooting the two parallel paths, the pair of longitudinal auxiliary cameras are used for shooting a landmark, the landmark is a two-dimensional code landmark, the arrangement position of the landmark is matched with the pair of longitudinal auxiliary cameras, and the pair of longitudinal auxiliary cameras and the pair of transverse auxiliary cameras are both connected with the controller.

Preferably, the lifting mechanism comprises a lifting motor, a worm wheel, a worm, a chain, a driving sprocket, a plurality of driven sprockets, a plurality of lead screws and a plurality of core columns, the lifting motor is fixedly arranged on the upper portion of the chassis, the worm is fixedly connected with the output end of the lifting motor, the worm wheel is rotatably arranged on the chassis, the worm wheel is matched with the worm, the driving sprocket and the worm wheel are concentrically and fixedly connected, the driven sprockets are rotatably arranged on the chassis and are provided with through holes with internal threads, the plurality of lead screws are respectively matched with the internal threads of the sprockets to form thread pairs, cavities for containing the core columns are axially formed in the middle portions of the lead screws, the plurality of core columns are fixedly arranged on the chassis, the core columns are sleeved in the cavities in the middle portions of the lead screws and prevent the lead screws from rotating, the chain is in transmission connection around, the upper parts of the screw rods are connected with the supporting table, and the lifting motor is connected with the controller.

Preferably, the tray two-dimensional code comprises a substrate, a locking device, a plurality of string shafts, a plurality of spacers and a plurality of magnetic columns, wherein the plurality of magnetic columns and the spacers are all strung on the string shafts, the magnetic columns are separated by the spacers, the plurality of string shafts are arranged in parallel and mounted on the substrate, the substrate is fixedly mounted on the tray, the magnetic pole direction of the magnetic columns is along the normal direction of the string shafts, two magnetic poles of the magnetic columns are respectively coated with different colors, and the locking device is mounted on the substrate and used for locking the rotation of the magnetic columns; the trolley is further provided with a tray two-dimensional code modifying magnetic head, a driving circuit and a magnetic head moving device, the tray two-dimensional code modifying magnetic head is mounted on the trolley through the magnetic head moving device, the magnetic head comprises electromagnets of which the number and the arrangement positions are matched with the magnetic columns, the magnetic head moving device drives the tray two-dimensional code modifying magnetic head to align to the magnetic columns, the electromagnets are connected with the driving circuit, the driving circuit is provided with a current direction reversing control end, and the current direction reversing control end is connected with the controller; the locking device comprises a modification locking plate, a back plate and a plurality of springs, wherein two magnetic poles of the magnetic column are both processed with a platform, four corners of the substrate are processed with a modification unlocking hole which is a counter bore, the trolley is also provided with a thimble matched with the modification unlocking hole, four corners of the back plate are provided with contact pins, the diameter of each contact pin is smaller than that of the counter bore, the bottom of the counter bore is processed with a through hole, the contact pins are inserted into the through holes, the length of the contact pins is larger than the depth of the through holes, the ends of the contact pins inserted into the through holes are expanded to form round caps, the springs are arranged between the round caps and the bottom of the counter bores, the modification locking plate is fixedly arranged on one side of the back plate close to the substrate, the back plate is abutted against the platform of the modification locking plate and the magnetic column when the stroke is furthest away from the substrate, and a damping device is arranged between the magnetic column and the string shaft.

As preferred, the warehouse still includes elevating platform and lifter, and the warehouse has a plurality of layers of storage layer, the storage layer has all been painted dolly route and land mark, connects through the support column between the storage layer, the elevating platform has the position of lining up every layer of storage layer and ground in the stroke, the elevating platform is installed at the lifter expansion end, the lifter is installed subaerially, the lifter is connected with the server, the lifter is hydraulic pressure lifter or electric lift pole. The trolley is guided to move to the lower portion of the tray corresponding to the spare parts through the trolley path and the landmark, the tray is lifted through the lifting mechanism, then the tray is moved to the goods taking area, the required spare parts are placed in the goods taking area in advance through an instruction of an emergency repair center before the emergency repair vehicle arrives, the time for searching and carrying the spare parts can be effectively saved, and the repair efficiency of power grid faults is improved.

Preferably, the field auxiliary unit comprises: the processor controls the operation of other modules; the communication module is connected with the processor and is used for communicating with the decision-making system or the scheduling unit; the indicating module is connected with the processor and used for indicating the target; the display module is connected with the processor and used for displaying pictures; the audio module is connected with the processor and used for sounding; and the input module is connected with the processor and used for inputting voice, image and text data.

Preferably, the indication module comprises a light emitting unit and a reflector, the light emitting unit and the reflector are both connected with the processor, and the reflector is used for reflecting light rays emitted by the light emitting unit; the reflector includes: the reflecting mirror support comprises a reflecting mirror, a support and a first driving mechanism, wherein the support is a regular polygon prism support, the reflecting mirror is arranged on each outer side face of the support, and the first driving mechanism is used for enabling the support to horizontally rotate around the central axis of the support; the light emitting unit comprises a light source and a second driving mechanism, and the second driving mechanism is used for adjusting the emergent angle of the light source in the vertical direction. The field auxiliary unit indicates the position information of the text, the voice or the image which can not be accurately expressed through the indicating module, so that the communication efficiency between field personnel and background personnel is higher, meanwhile, the transmission of real-time data can be realized, and the field personnel can be helped to record the operation condition.

The substantial effects of the invention include: the piston is driven by the volume expansion of the transformer oil caused by the temperature rise of the transformer oil, the potentiometer is driven to rotate by the piston, the microprocessor detects the potential change of the gear potentiometer to obtain a detection value, the counting module can realize visual counting of the detection value, a large amount of data can be managed conveniently, the processing module generates a maintenance scheme and is executed by a maintenance system, and the scheduling unit, the warehouse and the field auxiliary unit are coordinated with each other to ensure that personnel and tool equipment can arrive at the field quickly and maintain efficiently.

Drawings

Fig. 1 is a schematic diagram of a decision making system according to a first embodiment.

Fig. 2 is a schematic diagram of a detection module according to the first embodiment.

Fig. 3 is a schematic structural diagram of a temperature sensing device according to a first embodiment.

fig. 4 is a schematic structural diagram of a warehouse according to an embodiment.

FIG. 5 is a schematic cross-sectional view of a warehouse, according to an embodiment.

Fig. 6 is a schematic structural view of a cart according to an embodiment.

Fig. 7 is a schematic view of a bottom structure of a cart according to an embodiment of the present invention.

fig. 8 is a schematic structural diagram of an elevating mechanism according to an embodiment.

FIG. 9 is a schematic view of a lead screw installation according to an embodiment.

Fig. 10 is a schematic structural view of a two-dimensional code of a second tray according to an embodiment.

FIG. 11 is a schematic view of the installation of the second magnetic pillar according to the embodiment.

FIG. 12 is a schematic illustration of the locking mechanism of the second embodiment.

FIG. 13 is a schematic view of an unlocking apparatus according to the second embodiment.

FIG. 14 is a schematic diagram of a field auxiliary unit according to one embodiment.

Fig. 15 is a schematic diagram of an indication module according to the first embodiment.

Fig. 16 is a first schematic view of the indication light according to the first embodiment.

Fig. 17 is a second schematic view of the indication light according to the first embodiment.

Fig. 18 is a third schematic view of the indication light according to the first embodiment.

Detailed Description

The technical scheme is further explained by combining the drawings in the specification.

The first embodiment is as follows:

As shown in fig. 1, a power transformation operation detection intelligent decision system based on ubiquitous power internet of things includes: the detection module 90 collects the detection values of the equipment and numbers the detection values with the equipment uniformly; a counting module 91 for summarizing and counting the information acquired by the detection module 90; and the processing module 92 analyzes the statistical data of the statistical module 91 and forms a maintenance scheme according to the analysis result.

As shown in fig. 2, the detection module 90 includes a transformer 101, a control box 104, a remote terminal, a cooling device 102 and a temperature sensing device 103, a microprocessor, a power supply unit, a power conversion module, a data storage module, a communication component, an alarm module and a relay set are disposed in the control box, the power supply unit is electrically connected to a power input pin of the microprocessor through a power converter, the communication component, the alarm module, the data storage module and the relay set are respectively electrically connected to the microprocessor, the remote terminal is connected to a statistics module 91 and is communicatively connected to the microprocessor through the communication component, the temperature sensing device 103 is fixedly mounted on a sidewall of the transformer 101, the control box 104 is connected to the temperature sensing device 103, the cooling device 102 is electrically connected to the control box 104, as shown in fig. 2, the transformer 101 is connected to the cooling device 102, the cooling device 102 is provided with the oil pipes arranged in a net shape in the shell, so that the heat area of the fan is increased, the six exhaust fans 121 are uniformly arranged on one side surface of the shell, and the heat dissipation efficiency is improved on the opposite side surfaces of the exhaust fans 121; as shown in fig. 3, the temperature sensing device 103 is composed of an oil cylinder 131, a rack 132, a gear 133, and a gear potentiometer 134, the oil cylinder 131 includes a first piston head 311, a second piston head 313, and an intermediate part 312, the intermediate part 312 is sleeved at the oil pipe port, because the intermediate part 312 is sleeved with the oil pipe port, if it is not firm, the action of the oil cylinder 131 is unbalanced, and even worse, the transformer oil leaks, therefore, a support (not shown) is disposed on the side wall of the transformer 101 housing, the intermediate part 312 and the support are fixed by hoops, which has the advantages of stability and reliability, the first piston head 311 is slidably connected to the inner wall of the oil pipe, the lower end of the second piston head 313 is fixedly connected with the rack 132, the rack 132 is engaged with the gear 133, the axis of the gear 133 is drivingly connected with the gear potentiometer 134 by a transmission shaft, the control box 104, is convenient and reliable; the control box is internally provided with a microprocessor, a power supply unit and a relay group, the relay group consists of six relays, the power supply unit is electrically connected with a power input pin of the microprocessor through a power supply conversion module, each relay correspondingly controls one contact, each contact corresponds to one path of exhaust fan 121, the microprocessor controls the energization of a relay coil so as to control the conduction and the turn-off of an exhaust fan circuit, an analog-to-digital conversion module is integrated in the microprocessor, an analog signal measured by a potentiometer can be converted into a digital signal for processing, and the heat dissipation grade can be obtained through potential comparison so as to control the action of the relay group; six exhaust fans 121 are arranged in the cooling device 102, each exhaust fan 121 is independently controlled through a relay, each relay is independently controlled through a pin of a microprocessor, potential signals with different sizes are output corresponding to different rotation angles of gear potentiometers according to the volume expansion degrees corresponding to different transformer oil temperatures, six heat dissipation levels are formulated, and the microprocessor adopts a stm32f103 type single chip microcomputer and can have high stability under outdoor severe conditions; the gear potentiometer 134 is a GP model gear potentiometer 134, and has the advantages of large adjustable range, high sensitivity and capability of reducing control errors.

The statistical module 91 comprises a plurality of graphic units, the graphic units are provided with a plurality of pixel points, and the graphic units are used for executing the following steps: each graphic unit counts a type of detection value and a corresponding equipment number acquired by the detection module, normalizes the type of detection value, associates a gray value and enables pixel points to correspond to the equipment numbers one by one; and displaying the gray value corresponding to the equipment number in the pixel point through gray scale to form a statistical chart.

The processing module 92 performs the following steps: calling historical fault data and a maintenance mode, generating a sample graph of each type of detection value in the historical fault data, associating the sample graph with the maintenance mode, and setting an early warning value range according to the sample graph; and comparing the sample image with the statistical image generated by the real-time detection value through image processing, and if the gray value of any numbered pixel point in the statistical image reaches a certain time within the range of the early warning value, judging that maintenance is needed and generating a maintenance scheme according to the maintenance mode.

the embodiment also comprises a power transformation operation and maintenance system based on the ubiquitous power internet of things, which is used for executing the maintenance scheme of the decision system.

The scheduling unit performs the following steps: importing road GIS information of a region where a target is located, marking all emergency repair vehicle positions on the road GIS information, and determining positions of emergency repair workers and warehouses; introducing a rush-repair vehicle driver duty table, and removing rush-repair vehicle drivers and corresponding rush-repair vehicles in a fatigue period according to the rush-repair vehicle driver duty table; introducing a rush-repair personnel duty list, removing rush-repair personnel in a fatigue period, and determining the number of the rush-repair personnel according to a maintenance scheme; the method comprises the steps of selecting a breakdown van and emergency repair workers by using an optimization algorithm, and formulating a driving route of the breakdown van to ensure that the time required by the breakdown van to get on all the emergency repair workers and get tools and reach a fault site is shortest, wherein the boarding time of the emergency repair workers and the tool loading time are unified preset values.

As shown in fig. 4, the warehouse comprises a plurality of trays 1, a trolley 4, a lifting platform 5, lifting rods 9 and a server, the server is connected with a decision-making system and a dispatching unit, as shown in fig. 5, the warehouse is provided with a plurality of storage layers, the storage layers are all provided with trolley paths 3 and landmarks 2, the storage layers are connected through supporting columns 7, the lifting platform 5 is provided with positions for aligning each storage layer and the ground in the process, the lifting platform 5 is arranged at the movable end of the lifting rods 9, the lifting rods 9 are arranged under the ground, the lifting rods 9 are connected with the server, and the lifting rods 9 are hydraulic lifting rods 9 or electric lifting rods 9. The ground of the warehouse is provided with a trolley path 3 and a landmark 2, a plurality of pallets 1 are arranged on two sides of the trolley path 3, the trolley path 3 is provided with an extension area, and the extension area of the trolley path 3 extends into the lower part of the pallet 1 and is used for guiding a trolley 4 to enter the lower part of the pallet 1. Tray 1 bottom is equipped with the frame dead zone that is used for dolly 4 to pass through, and warehouse ground is equipped with gets goods district 6, and tray 1 is equipped with tray two-dimensional code 8, and 8 sign spare part information in the tray 1 of tray two-dimensional code. As shown in fig. 6 and 7, the trolley 4 comprises a main camera 10, a pair of longitudinal auxiliary cameras 17, a pair of transverse auxiliary cameras 13, a steering mechanism, a traveling wheel, a chassis 12, a pallet 11, a lifting mechanism, a communication module and a controller, wherein the main camera 10 is mounted on the upper surface of the chassis 12 and is used for shooting the pallet two-dimensional code 8, the pallet 11 is mounted on the upper portion of the chassis 12 through the lifting mechanism, the traveling wheel and the steering device are respectively mounted on the lower portion of the chassis 12, the auxiliary cameras are mounted on the lower portion of the chassis 12 and are used for shooting the landmark 2, the trolley path 3 comprises two parallel paths, the pair of longitudinal auxiliary cameras 17 are mounted on the lower surface of the chassis 12 in the traveling direction of the traveling wheel of the trolley 4, the pair of transverse auxiliary cameras 13 are mounted on the lower surface of the chassis 12 in the normal direction of the traveling wheel moving direction of the trolley 4, and the pair of transverse auxiliary cameras, the pair of longitudinal auxiliary cameras 17 are used for shooting the landmark 2, the landmark 2 is the two-dimensional code landmark 2, the arrangement position of the landmark 2 is matched with the pair of longitudinal auxiliary cameras 17, and the pair of longitudinal auxiliary cameras 17 and the pair of transverse auxiliary cameras 13 are connected with the controller. The main camera 10, the pair of longitudinal auxiliary cameras 17, the pair of transverse auxiliary cameras 13, the steering mechanism, the walking wheels and the lifting mechanism are all connected with the controller, the controller is in communication connection with the server through the communication module, and the server runs the warehouse entry module, the warehouse entry query module and the warehouse exit module. The landmark 2 is a color block, a bar code or a two-dimensional code. The position of the trolley path 3 in the visual field of the transverse auxiliary camera 13 is calibrated in advance, and when the trolley 4 deviates from the trolley path 3, the transverse auxiliary camera 13 can capture the deviation in time and correct the deviation according to the deviation degree. The calibration distance between the longitudinal auxiliary camera 17 and the center of the trolley 4 is calibrated in advance, and when the landmark 2 is captured by the longitudinal auxiliary camera 17, the center of the trolley 4 can be aligned with the landmark 2 after the trolley 4 moves the calibration distance.

As shown in fig. 8 and 9, the lifting mechanism includes a lifting motor 25, a worm wheel 19, a worm 18, a chain 24, a driving sprocket 20, a plurality of driven sprockets 23, a plurality of lead screws 21 and a plurality of core columns 22, the lifting motor 25 is fixedly installed on the upper portion of the chassis 12, the worm 18 is fixedly connected with the output end of the lifting motor 25, the worm wheel 19 is rotatably installed on the chassis 12, the worm wheel 19 is matched with the worm 18, the driving sprocket 20 is concentrically and fixedly connected with the worm wheel 19, the driven sprockets 23 are rotatably installed on the chassis 12 and are provided with through holes with internal threads, the plurality of lead screws 21 are respectively matched with the internal threads of the sprockets to form thread pairs, cavities for accommodating the core columns 22 are axially formed in the middle portions of the lead screws 21, the core columns 22 are fixedly installed on the chassis 12, the core columns 22 are sleeved in the cavities in the middle portions of the lead screws 21 to prevent the lead screws, the upper parts of the screw rods 21 are connected with the supporting platform 11, and the lifting motor 25 is connected with the controller. The lifting motor 25 drives the worm 18 and the worm wheel 19 to rotate, the worm wheel 19 drives the chain wheel to rotate, the driving chain wheel 20 drives all the driven chain wheels 23 to rotate through the chain 24, the chain wheels drive the screw rod 21 to ascend or descend through internal threads, the core column 22 prevents the screw rod 21 from rotating relative to the chassis 12, and the screw rod 21 can be supported in an auxiliary mode. The walking wheel comprises a walking motor, a transmission mechanism, a pair of driving wheels 14 and a pair of driven wheels 15, the driving wheels 14 and the driven wheels 15 are both rotatably installed on the lower portion of the chassis 12, the driving wheels 14 are connected with the walking motor through the transmission mechanism, the transmission mechanism is a transmission mechanism with a self-locking function, the walking motor is a stepping motor or a servo motor with a speed reducer, and the walking motor is connected with the controller. The steering mechanism comprises an electric push rod, a steering seat, an angular displacement sensor, a steering motor, a transmission part and a steering support disc 16, wherein the electric push rod is arranged at the lower part of the chassis 12, the steering seat is arranged at the movable end of the electric push rod, the steering motor is fixedly arranged on the steering seat, the steering support disc 16 is rotatably arranged on the steering seat, the steering support disc 16 is connected with the steering motor through the transmission part, the angular displacement sensor is arranged between the steering seat and the steering support disc 16 and is used for detecting the angular displacement of the steering support disc 16 relative to the steering seat, and the electric push rod, the angular displacement sensor and the steering motor are. When the direction needs to be adjusted, the supporting platform 11 is firstly lowered, so that the trolley 4 does not bear load any more; then the electric push rod electric steering seat moves downwards, the steering support plate 16 is contacted with the ground, and then the whole trolley 4 is jacked up, so that the travelling wheels of the trolley 4 are separated from the ground a little; and then the steering motor works to drive the trolley 4 to steer, whether the steering is completed or not can be judged according to the angular displacement sensor, and at the moment, the transverse auxiliary camera 13 is used for judging whether the steering is completed or not.

The warehouse control method comprises the following steps: the server receives the spare part requirement sent by the decision system or the dispatching unit, finds the position of the required spare part on the tray 1 by inquiring the in-library record, and sends the requirement to the controller of the trolley 4. The trolley 4 controller controls the trolley 4 to move to the position corresponding to the pallet 1 along the trolley path 3 and move into the position below the pallet 1, and then the pallet 11 is lifted by the lifting mechanism to jack up the pallet 1 to be separated from the ground. The trolley 4 is then controlled by the trolley 4 controller to move along the trolley path 3 to the pick-up area 6 and lower the pallet 1 to contact the ground, and then the trolley 4 is moved out of the pallet 1 to pick up or wait for the next spare part. When the spare parts in the pallet 1 in the pick zone 6 are taken out, the trolley 4 moves the pallet 1 from the pick zone 6 back to the original position in a similar manner to pick. When spare parts are put in a warehouse, the trolley 4 firstly moves an empty tray 1 to the goods taking area 6, updates the two-dimensional code 8 of the tray after the spare parts are put in and registered in the server, and then moves the tray 1 to the original position by the trolley 4 and reports the tray to the server. The warehousing module, the in-warehouse query module and the ex-warehouse module are all easy to implement in the prior art, and are not described herein again.

As shown in fig. 14, the field auxiliary unit includes a housing 201 and an actuator, and the actuator includes: the processor controls the operation of other modules; the communication module is connected with the processor and is used for communicating with the background; an indication module 202, connected to the processor, for indicating a target; the display module is connected with the processor and used for displaying pictures; the audio module is connected with the processor and used for sounding; and the input module is connected with the processor and used for inputting voice, image and text data. The input module comprises a camera 203, a touch screen 204 and a microphone, the camera 203 is arranged on the front surface of the shell 201, the touch screen 204 is arranged on the upper surface of the shell 201, the touch screen 203 is connected with the shell 201 in a flip-type mode, the microphone and the audio module are arranged in the area of the sound transmission hole 205, and the input module facilitates field personnel to transmit information to background personnel and record the information.

The upper surface and the lower surface of casing 1 are equipped with draw-in groove 206, and draw-in groove 206 is used for dismantling with the braces of taking the buckle and is connected, and the lower surface of casing 1 still is equipped with connecting portion 207, and connecting portion 207 are equipped with and are used for dismantling the connector of being connected with putting the frame. This device supports to use and puts the frame and put on ground, or when inconvenient putting, carries on the back in the front through the braces, makes application scope wider, and the restriction of use is littleer.

as shown in fig. 15, the indication module includes a light emitting unit and a reflector 220, both the light emitting unit and the reflector 220 are connected to the processor, and the reflector 220 is used for reflecting light emitted by the light emitting unit. The light is re-emitted through the reflector 220, so that the adjustment potential of the final emitting direction is greater, and the loss of the service life of the light emitting unit is reduced.

The reflector 220 includes: the reflecting mirror 223, the bracket 222 and the first driving mechanism 224, the bracket 222 is a regular hexagonal prism bracket, the reflecting mirror 223 is disposed on each outer side surface of the bracket 222, and the first driving mechanism 224 is used for enabling the bracket 222 to horizontally rotate around the central axis of the bracket.

The light emitting unit includes a light source 221 and a second driving mechanism 225, and the second driving mechanism 225 is used for adjusting the emission angle of the light source 221 in the vertical direction.

The first driving mechanism 224 of the present embodiment is directly connected to the bracket 222 by using a motor, and the second driving mechanism 225 is connected to the light source 221 by using a rack.

the specific operation mode of the indicating module 202 of this embodiment is that the light emitted from the light source 221 is incident on the reflector 223, and the reflector 223 rotates along with the bracket 222, so as to change the reflection angle accordingly and cover various angles as shown in fig. 16, 17 and 18. In addition, since the shape of the reflecting mirror 223 is a regular polygon, if the rotating direction is not changed, the reflected light will have a horizontal and repeated scanning process, and when the rotating speed reaches a certain value, the light is seen by the naked eye as a straight line, so that the reflector 220 realizes the optional adjustment of the reflected light from point to line. In addition, the light source 221 is adjusted within a certain angle in the vertical direction, and the reflected light is supported to point to any point or straight line in a certain area by matching with the reflector 220. Making the way of indication more diverse and more definite. Is beneficial to improving the communication efficiency.

example two:

The decision system of this embodiment is the same as the first embodiment, except that the warehouse in the system is maintained, and this embodiment modifies the pallet two-dimensional code 8 in the warehouse based on the first embodiment.

Specifically, as shown in fig. 10, the tray two-dimensional code 8 includes a substrate 26, a locking device, a plurality of serial shafts 33, a plurality of spacers 32 and a plurality of magnetic columns 27, the plurality of magnetic columns 27 and the spacers 32 are all serially connected to the serial shafts 33, the magnetic columns 27 are separated by the spacers 32, the plurality of serial shafts 33 are arranged in parallel on the substrate 26, the substrate 26 is fixedly mounted on the tray 1 through four mounting feet 30, as shown in fig. 11, the magnetic pole direction of the magnetic column 27 is along the normal direction of the serial shafts 33, two magnetic poles of the magnetic column 27 are respectively coated with different colors, and the locking device is mounted on the substrate 26 and used for locking the rotation of the magnetic column 27; the trolley 4 is further provided with a tray two-dimensional code 8 modification magnetic head, a driving circuit and a magnetic head moving device, the tray two-dimensional code 8 modification magnetic head is installed on the trolley 4 through the magnetic head moving device, the magnetic head comprises electromagnets with the number and the arrangement positions matched with the magnetic columns 27, the magnetic head moving device drives the tray two-dimensional code 8 modification magnetic head to align to the magnetic columns 27, the electromagnets are connected with the driving circuit, the driving circuit is provided with a current direction reversing control end, and the current direction reversing control end is connected with the controller. When the magnetic head is aligned with the magnetic pole 27, the magnetic field generated by the magnetic head should have a small offset from the axis of the magnetic pole 27 to accelerate the rotation of the magnetic pole 27. The magnetic field produced by the head should have a smaller range of influence than the magnetic field of the magnetic pillar 27 itself. The magnetic head is aligned with each magnetic column 27, the electromagnet of the magnetic head generates a corresponding magnetic field direction under the control of the controller, the magnetic columns 27 are driven to rotate, the required color surface is rotated to one side close to the magnetic head, the updating of the two-dimensional code can be completed, and the rotation of the magnetic columns 27 is locked by the locking device after the updating is completed. After spare parts in the tray 1 are replaced, the tray two-dimensional code 8 can be updated by adopting the method, new two-dimensional codes do not need to be printed and pasted again, and management is convenient. The two poles of the magnetic column 27 are preferably coated with black and white, respectively.

As shown in fig. 12 and 13, the two-dimensional tray code 8 further includes a modifying locking plate 36, a back plate 29 and a plurality of springs 34, two magnetic poles of the magnetic column 27 are both processed with a platform, four corners of the base plate 26 are processed with modifying unlocking holes 28, the modifying unlocking holes 28 are counter bores, the cart 4 is further installed with ejector pins matched with the modifying unlocking holes 28, four corners of the back plate 29 are provided with insertion pins 35, diameters of the insertion pins 35 are smaller than diameters of the counter bores, through holes are processed at bottoms of the counter bores, the insertion pins 35 are inserted into the through holes, lengths of the insertion pins 35 are larger than depths of the through holes, ends of the insertion pins 35 inserted into the through holes are expanded to form round caps 31, the springs 34 are installed between the round caps 31 and bottoms of the counter bores, the modifying locking plate, the modified locking plate 36 abuts the platform of the magnetic column 27, and the distance from the modified locking plate 36 to the axis of the string shaft 33 is greater than the radius of the magnetic column 27 when the back plate 29 travels furthest away from the base plate 26. When the two-dimensional code 8 of the tray needs to be updated, the thimble is pushed into the modification unlocking hole 28, the back plate 29 is driven to move through the round cap 31, and then the modification locking plate 36 is driven to be separated from the magnetic column 27, so that the magnetic column 27 can rotate, after the modification is completed, namely after the magnetic column 27 is rotated, the thimble is moved out first, at the moment, the electromagnet still keeps a magnetic field, the modification locking plate 36 is again abutted to the magnetic column 27, the magnetic column 27 is locked, and then the magnetic field of the electromagnet is stopped. A damping device is arranged between the magnetic column 27 and the string shaft 33. Excessive rotation of the magnetic column 27, jitter and resistance to small amounts of magnetic field disturbances are avoided by damping means. The rest of the structure is the same as the first embodiment.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer program code embodied therein.

Where the application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application, it is understood that each flowchart illustration and/or block diagram block or blocks, and combinations of flowchart illustrations and/or block diagrams, are implemented by computer program instructions, and it is also understood that such computer program instructions are provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine instruction, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustration flow or flows and/or block or blocks.

These computer program instructions may be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It should be noted that the specific examples are only used for further illustration of the technical solution and are not used for limiting the scope of the technical solution, and any modification, equivalent replacement, improvement and the like based on the technical solution should be considered as being within the protection scope of the present invention.

Claims (16)

1. The utility model provides a transformer operation detection wisdom decision-making system based on ubiquitous electric power thing networking which characterized in that includes:

The detection module is used for acquiring a detection value of the equipment and numbering the detection value of the equipment in a unified way with the equipment;

The statistical module is used for summarizing and counting the information acquired by the detection module;

The processing module is used for analyzing the statistical data of the statistical module and forming a maintenance scheme according to the analysis result;

And the display terminal is used for displaying the maintenance scheme and is connected with the processing module.

2. The intelligent decision-making system is examined in transformer fortune based on ubiquitous electric power thing networking of claim 1, characterized in that, the detection module includes remote terminal, heat sink, temperature-sensing device, microprocessor, power conversion module, data storage module, communication subassembly, alarm module and relay group, communication subassembly, alarm module, data storage module and relay group are connected with not treater electricity respectively, the statistics module is connected and is connected with microprocessor communication through communication subassembly to remote terminal connection, temperature-sensing device fixed mounting is on the transformer lateral wall, microprocessor and temperature-sensing device are connected, the heat sink is connected with microprocessor electricity.

3. the intelligent decision-making system is examined in transformer operation based on ubiquitous electric power thing networking of claim 2, characterized in that, temperature-sensing device includes oil gas cylinder, rack, gear and gear potentiometer, the oil gas cylinder is including first piston head, second piston head and intermediate part, the intermediate part cup joints at oil pipe port department, first piston head sliding connection is in oil pipe inner wall, the lower extreme fixedly connected with rack of second piston head, rack and gear engagement, the axle center of gear passes through the transmission shaft and is connected with gear potentiometer transmission.

4. the intelligent decision making system for power transformation operation detection based on the ubiquitous power internet of things as claimed in claim 3, wherein the cooling device comprises a housing and a plurality of exhaust fans; be provided with netted oil pipe of arranging in the shell, a plurality of exhaust fans are evenly installed in the side of shell, are provided with the exhaust hole on the opposite side of exhaust fan.

5. The intelligent decision-making system for power transformation operation detection based on the ubiquitous power internet of things as claimed in claim 4, wherein the relay group comprises relays the same as the number of the exhaust fans, a coil of any one of the relays is electrically connected with a control pin of the single chip microcomputer, the exhaust fan is electrically connected with the power supply unit through a moving contact of the relay, and an output end of the gear potentiometer is electrically connected with a detection pin of the single chip microcomputer.

6. The intelligent decision making system for power transformation operation detection based on the ubiquitous power internet of things as claimed in claim 1, wherein the statistical module comprises a plurality of graphic units, each graphic unit is provided with a plurality of pixels, and each graphic unit is configured to perform the following steps: each graphic unit counts a type of detection value and a corresponding equipment number acquired by the detection module, normalizes the type of detection value, associates a gray value and enables pixel points to correspond to the equipment numbers one by one; and displaying the gray value corresponding to the equipment number in the pixel point through gray scale to form a statistical chart.

7. The intelligent decision making system for power transformation operation detection based on the ubiquitous power internet of things as claimed in claim 6, wherein the processing module performs the following steps:

Calling historical fault data and a maintenance mode, generating a sample graph of each type of detection value in the historical fault data, associating the sample graph with the maintenance mode, and setting an early warning value range according to the sample graph;

And comparing the sample image with the statistical image generated by the real-time detection value through image processing, and if the gray value of any numbered pixel point in the statistical image reaches a certain time within the range of the early warning value, judging that maintenance is needed and generating a maintenance scheme according to the maintenance mode.

8. A power transformation operation maintenance system based on the ubiquitous power Internet of things is used for executing a maintenance scheme of a decision system according to any one of claims 1-7 and is characterized by comprising a scheduling unit, a warehouse and a field auxiliary unit, wherein the scheduling unit selects a breakdown van and personnel according to the maintenance scheme, the intelligent warehouse extracts required tools according to the maintenance scheme, and the field auxiliary unit guides and supervises the personnel according to the maintenance scheme.

9. The power transformation operation and maintenance system based on the ubiquitous power internet of things according to claim 8, wherein the scheduling unit performs the following steps: importing road GIS information of a region where a target is located, marking all emergency repair vehicle positions on the road GIS information, and determining positions of emergency repair workers and warehouses; introducing a rush-repair vehicle driver duty table, and removing rush-repair vehicle drivers and corresponding rush-repair vehicles in a fatigue period according to the rush-repair vehicle driver duty table; introducing a rush-repair personnel duty list, removing rush-repair personnel in a fatigue period, and determining the number of the rush-repair personnel according to a maintenance scheme; the method comprises the steps of selecting a breakdown van and emergency repair workers by using an optimization algorithm, and formulating a driving route of the breakdown van to ensure that the time required by the breakdown van to get on all the emergency repair workers and get tools and reach a fault site is shortest, wherein the boarding time of the emergency repair workers and the tool loading time are unified preset values.

10. The power transformation operation and maintenance system based on the ubiquitous power internet of things as claimed in claim 8 or 9, wherein the warehouse comprises a plurality of trays, a trolley and a server, the server is connected with the decision system and the scheduling unit, a trolley path and a ground mark are drawn on the ground of the warehouse, the trays are arranged on two sides of the trolley path, an overhead area for the trolley to pass through is arranged at the bottom of each tray, a goods taking area is arranged on the ground of the warehouse, the trays are provided with tray two-dimensional codes which identify spare part information in the trays, the trolley comprises a main camera, an auxiliary camera, a steering mechanism, a walking wheel, a chassis, a pallet, a lifting mechanism, a communication module and a controller, the main camera is arranged on the upper surface of the chassis and used for shooting the tray two-dimensional codes, the pallet is arranged on the upper portion of the chassis through the lifting mechanism, the walking wheel and the steering mechanism are respectively arranged on the lower portion of the chassis, the auxiliary camera is installed on the lower portion of the chassis and used for shooting a landmark, the main camera, the auxiliary camera, the steering mechanism, the walking wheel and the lifting mechanism are all connected with the controller, the controller is in communication connection with the server through the communication module, the trolley path is provided with an extension area, and the extension area of the trolley path extends into the lower portion of the tray and used for guiding the trolley to enter the lower portion of the tray.

11. The power transformation operation and maintenance system based on the ubiquitous power internet of things as claimed in claim 10, it is characterized in that the auxiliary cameras comprise a pair of longitudinal auxiliary cameras and a pair of transverse auxiliary cameras, the trolley path comprises two parallel paths, the pair of longitudinal auxiliary cameras are arranged on the lower surface of the chassis along the moving direction of the travelling wheels of the trolley, the pair of transverse auxiliary cameras are arranged on the lower surface of the chassis in a normal direction of the moving direction of the walking wheels of the trolley, the pair of transverse auxiliary cameras are respectively used for shooting the two paths which are parallel to each other, the pair of longitudinal auxiliary cameras are used for shooting landmarks, the landmark is a two-dimensional code landmark, the setting position of the landmark is matched with the pair of longitudinal auxiliary cameras, and the pair of longitudinal auxiliary cameras and the pair of transverse auxiliary cameras are both connected with the controller.

12. The power transformation operation maintenance system based on the ubiquitous power internet of things as claimed in claim 10, wherein the lifting mechanism comprises a lifting motor, a worm wheel, a worm, a chain, a driving sprocket, a plurality of driven sprockets, a plurality of lead screws and a plurality of core columns, the lifting motor is fixedly mounted on the upper portion of the chassis, the worm is fixedly connected with the output end of the lifting motor, the worm wheel is rotatably mounted on the chassis, the worm wheel is matched with the worm, the driving sprocket and the worm wheel are concentrically and fixedly connected, the driven sprockets are rotatably mounted on the chassis and are provided with through holes with internal threads, the plurality of lead screws are respectively matched with the internal threads of the sprockets to form thread pairs, cavities for accommodating the core columns are axially formed in the middle portions of the lead screws, the plurality of core columns are fixedly mounted on the chassis, the core columns are sleeved in the cavities in the middle portions of the lead screws and prevent the lead screws, the chain encircles a plurality of the chain wheels to form transmission connection, the upper parts of the screw rods are connected with the supporting platform, and the lifting motor is connected with the controller.

13. The power transformation operation and maintenance system based on the ubiquitous power internet of things is characterized in that the tray two-dimensional code comprises a base plate, a locking device, a plurality of string shafts, a plurality of spacers and a plurality of magnetic columns, wherein the plurality of magnetic columns and the spacers are all strung on the string shafts, the magnetic columns are separated by the spacers, the plurality of string shafts are arranged in parallel and mounted on the base plate, the base plate is fixedly mounted on the tray, the magnetic pole direction of each magnetic column is in the normal direction of the string shafts, two magnetic poles of each magnetic column are respectively coated with different colors, and the locking device is mounted on the base plate and used for locking the rotation of the magnetic columns; the trolley is further provided with a tray two-dimensional code modifying magnetic head, a driving circuit and a magnetic head moving device, the tray two-dimensional code modifying magnetic head is mounted on the trolley through the magnetic head moving device, the magnetic head comprises electromagnets of which the number and the arrangement positions are matched with the magnetic columns, the magnetic head moving device drives the tray two-dimensional code modifying magnetic head to align to the magnetic columns, the electromagnets are connected with the driving circuit, the driving circuit is provided with a current direction reversing control end, and the current direction reversing control end is connected with the controller; the locking device comprises a modification locking plate, a back plate and a plurality of springs, wherein two magnetic poles of the magnetic column are both processed with a platform, four corners of the substrate are processed with a modification unlocking hole which is a counter bore, the trolley is also provided with a thimble matched with the modification unlocking hole, four corners of the back plate are provided with contact pins, the diameter of each contact pin is smaller than that of the counter bore, the bottom of the counter bore is processed with a through hole, the contact pins are inserted into the through holes, the length of the contact pins is larger than the depth of the through holes, the ends of the contact pins inserted into the through holes are expanded to form round caps, the springs are arranged between the round caps and the bottom of the counter bores, the modification locking plate is fixedly arranged on one side of the back plate close to the substrate, the back plate is abutted against the platform of the modification locking plate and the magnetic column when the stroke is furthest away from the substrate, and a damping device is arranged between the magnetic column and the string shaft.

14. the power transformation operation and maintenance system based on the ubiquitous power internet of things is characterized in that the warehouse further comprises a lifting table and a lifting rod, the warehouse is provided with a plurality of storage layers, trolley paths and landmarks are drawn on the storage layers, the storage layers are connected through supporting columns, the lifting table is provided with a position for aligning each storage layer and the ground in the process, the lifting table is installed at the movable end of the lifting rod, the lifting rod is installed under the ground and connected with a server, and the lifting rod is a hydraulic lifting rod or an electric lifting rod.

15. a power transformation operation and maintenance system based on the internet of things of ubiquitous power as claimed in claim 8 or 9, wherein the field auxiliary unit comprises:

The processor controls the operation of other modules;

The communication module is connected with the processor and is used for communicating with the decision-making system or the scheduling unit;

The indicating module is connected with the processor and used for indicating the target;

The display module is connected with the processor and used for displaying pictures;

The audio module is connected with the processor and used for sounding;

And the input module is connected with the processor and used for inputting voice, image and text data.

16. The power transformation operation and maintenance system based on the ubiquitous power internet of things is characterized in that the indicating module comprises a light-emitting unit and a reflector, the light-emitting unit and the reflector are both connected with the processor, and the reflector is used for reflecting light rays emitted by the light-emitting unit; the reflector includes: the reflecting mirror support comprises a reflecting mirror, a support and a first driving mechanism, wherein the support is a regular polygon prism support, the reflecting mirror is arranged on each outer side face of the support, and the first driving mechanism is used for enabling the support to horizontally rotate around the central axis of the support; the light emitting unit comprises a light source and a second driving mechanism, and the second driving mechanism is used for adjusting the emergent angle of the light source in the vertical direction.