CN110587629A - Transformer substation inspection robot, inspection method and inspection robot control method - Google Patents
Transformer substation inspection robot, inspection method and inspection robot control method Download PDFInfo
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- CN110587629A CN110587629A CN201910977627.5A CN201910977627A CN110587629A CN 110587629 A CN110587629 A CN 110587629A CN 201910977627 A CN201910977627 A CN 201910977627A CN 110587629 A CN110587629 A CN 110587629A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The application discloses inspection robot, inspection method and inspection robot control method for transformer substation, wherein, the inspection robot includes: the system comprises a movable inspection platform, a positioning system and an inspection system, wherein the positioning system and the inspection system are arranged on the movable inspection platform; the positioning system is fixed on the movable inspection platform, the lifting system is fixed on the movable inspection platform, the inspection system is fixed at the top end of the lifting system, and the inspection system can inspect target hardware fittings and power transmission wires according to the height and angle adjusted by the lifting system; the inspection method comprises the following steps: acquiring a first image shot by an inspection system, and determining whether defects exist in a target hardware fitting and a power transmission conductor according to the first image; if the defect level exists, the defect level in the first image is judged, the inspection cycle is formulated according to the defect level, and the target hardware fitting and the power transmission conductor are tracked and recorded according to the inspection cycle so as to be replaced in time. Adopt aforementioned scheme, do not rely on the manual work to patrol and examine, improve and patrol and examine efficiency.
Description
Technical Field
The application relates to the technical field of power system inspection, in particular to a transformer substation inspection robot, an inspection method and an inspection robot control method.
Background
The transformer substation is composed of electrical equipment, hardware fittings and power transmission conductors, mainly used for changing voltage and transmitting the voltage to each power distribution network in the power system, and is a power transmission junction in the power system. Therefore, the transformer substation plays a crucial role in the power system, and therefore, in order to guarantee normal operation of the transformer substation, the transformer substation needs to regularly patrol and examine so as to find problems in time, connect with related personnel to solve the problems and improve user electricity consumption experience.
When the transformer substation is patrolled and examined, whether the electrical equipment operation of not only will patrolling and examining the low department is normal, still need to patrol and examine the defect such as whether the gold utensil of eminence and wire appear bulging fracture. At present, a transformer substation mainly adopts manual inspection, inspection personnel usually adopt 8-10 times of binoculars to observe hardware and power transmission wires arranged at high positions, and the inspection personnel identify whether the hardware and the power transmission wires have defects or not by means of the binoculars.
However, in the research process of the application, the inventor finds that the conventional substation inspection depends on an inspector and is low in inspection efficiency.
Disclosure of Invention
The application provides a transformer substation inspection robot, an inspection method and an inspection robot control method, and aims to solve the problem that inspection personnel are relied on for inspection of the existing transformer substation, and inspection efficiency is low.
First aspect, the embodiment of this application provides a transformer substation patrols and examines robot, includes: the system comprises a movable inspection platform, a positioning system and an inspection system, wherein the positioning system and the inspection system are arranged on the inspection platform;
the positioning system is fixedly arranged on the movable inspection platform and is used for positioning the movable inspection platform and the inspection system;
the movable inspection platform is fixedly provided with a lifting system, the top end of the lifting system is fixedly provided with the inspection system, and the inspection system can lift and rotate on the lifting system;
and the inspection system is used for inspecting the target hardware fitting and the power transmission conductor according to the height and the angle adjusted by the lifting system.
With reference to the first aspect, in one implementation, the inspection system is a 20-80 times high power telescope.
With reference to the first aspect, in one implementation, the lifting system includes: the device comprises a base, a rotary lifting device and a pitching rotating device; the base is fixed on the portable platform of patrolling and examining, rotatory elevating gear fixes on the base, every single move rotary device sets up rotatory elevating gear's top, the system of patrolling and examining is fixed on every single move rotary device.
In combination with the first aspect, in an implementation manner, a processor is arranged in the inspection system, and the processor is configured to receive an instruction of the background control system and control the lifting system to adjust the height and the angle according to the instruction.
In a second aspect, an embodiment of the present application provides a substation inspection method, where the inspection method is applied to a processor in an inspection system, and the inspection method includes:
acquiring a first image shot by an inspection system;
determining whether the target hardware and the power transmission conductor have defects or not according to the first image;
if the first image has defects, judging the defect level in the first image;
and formulating an inspection cycle according to the defect grade, and tracking and recording the target hardware fitting and the power transmission conductor according to the inspection cycle so as to replace the target hardware fitting and the power transmission conductor in time.
With reference to the second aspect, in one implementation manner, formulating a polling period according to the defect level, and tracking and recording a target hardware fitting and a power transmission conductor according to the polling period includes:
according to the inspection cycle, a second image is shot at the same shooting position and angle on the target hardware fitting and the power transmission conductor regularly, the image parameters of the second image are consistent with those of the first image, and the image parameters comprise shooting positions and angles determined according to the height and the angle adjusted by the lifting system;
comparing the second image with the first image, determining and recording the defect levels of the target hardware fitting and the power transmission conductor;
and if a new defect grade appears, establishing a new polling period, and tracking and recording the target hardware and the power transmission conductor according to the new polling period.
With reference to the second aspect, in one implementation, the level of the defect includes: general defects, major defects, and emergency defects;
the tracking and recording device tracks and records hardware fittings with general defects and important defects and power transmission conductors.
In a third aspect, an embodiment of the present application provides a method for controlling a substation inspection robot, where the method is applied to a substation inspection robot control system, the system includes the substation inspection robot and a background control system according to any one of the first aspects, and the background control system and the substation inspection robot may interact with each other to realize data interaction, and the method includes:
the background control system sets target positions of a target hardware fitting and a power transmission conductor according to the positioning system and the topography of the transformer substation;
the background control system sends an instruction to the transformer substation inspection robot;
the transformer substation inspection robot receives the instruction and controls the movable inspection platform to move to the target position according to the instruction;
and the transformer substation inspection robot starts an inspection system to inspect the target hardware fitting and the power transmission conductor at the target position.
The embodiment of the application discloses inspection robot, inspection method and inspection robot control method for transformer substation, wherein the inspection robot comprises: the system comprises a movable inspection platform, a positioning system and an inspection system, wherein the positioning system and the inspection system are arranged on the inspection platform; the positioning system is fixedly arranged on the movable inspection platform and is used for positioning the movable inspection platform and the inspection system; the movable inspection platform is fixedly provided with a lifting system, the top end of the lifting system is fixedly provided with the inspection system, and the inspection system can lift and rotate on the lifting system; and the inspection system is used for inspecting the target hardware fitting and the power transmission conductor according to the height and the angle adjusted by the lifting system. Adopt aforementioned inspection robot, can not rely on the manual work to patrol and examine, improve and patrol and examine efficiency.
The inspection method is applied to a processor in an inspection system, and comprises the following steps: firstly, acquiring a first image shot by an inspection system; then determining whether the target hardware and the power transmission conductor have defects according to the first image; if the first image has defects, judging the defect level in the first image; and finally, setting a polling period according to the defect grade, and tracking and recording the target hardware fitting and the power transmission conductor according to the polling period so as to replace the target hardware fitting and the power transmission conductor in time. By adopting the inspection method, the tiny defects in the hardware fitting and the power transmission conductor can be found to be difficult, and the defects are tracked and observed, so that the hardware fitting and the power transmission conductor can be replaced in time, loss is avoided, and user experience is improved.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a substation inspection robot provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a substation inspection method provided in an embodiment of the present application;
fig. 3 is a flow diagram of a method for controlling a substation inspection robot according to an embodiment of the present application.
Wherein, 1-a movable inspection platform; 2-a positioning system; 3-inspection system, 4-lifting system, 41-base, 42-rotary lifting device and 43-pitching rotary device.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
The embodiment of the application provides a transformer substation inspection robot, an inspection method and an inspection robot control method, and aims to solve the problems that inspection personnel are depended on in the conventional transformer substation inspection, and inspection efficiency is low.
Referring to fig. 1, the embodiment of the application provides a transformer substation inspection robot, includes: the mobile inspection platform 1, the positioning system 2 and the inspection system 3 are arranged on the inspection platform 1.
Wherein, two at least wheels of portable platform 1 below installation of patrolling and examining make things convenient for its removal to patrol and examine.
Positioning system 2 is fixed to be set up portable platform 1 of patrolling and examining, positioning system 2 is used for portable platform 1 of patrolling and examining and patrol and examine system 3 and provide the location.
Wherein, positioning system 2 is high accuracy GPS positioning system 2, and its effect makes the transformer substation patrol and examine the accurate removal of robot all topography in the transformer substation on the one hand, avoids bumping some electric power facilities, and on the other hand, positioning system 2 also can provide accurate location for patrolling and examining system 3 to patrol and examine and track with the defect in 3 later stages of patrolling and examining system.
The portable platform 1 of patrolling and examining is gone up the fixed operating system 4 that is provided with, 4 top ends of operating system are fixed and are provided with system 3 patrols and examines, system 3 patrols and examines can go up and down and rotate on the operating system 4.
Optionally, the lifting system 4 comprises: a base 41, a rotary elevating device 42, and a pitch rotating device 43; the base 41 is fixed on the movable inspection platform 1, the rotary lifting device 42 is fixed on the base 41, the pitching rotary device 43 is arranged at the top end of the rotary lifting device 42, and the inspection system 3 is fixed on the pitching rotary device 43.
In this embodiment, operating system 4 adopts screw fixed mounting to movably patrol and examine on platform 1 to resist the influence of external strong wind, operating system 4 can the omnidirectional rotation, can make the system of patrolling and examining 3 of installing on operating system 4 can omnidirectional aim at target gold utensil and transmission conductor like this, then patrol and examine its omnidirectional.
Concretely, the platform 1 is patrolled and examined to portable comprises the triplex, patrols and examines the base 41 on the platform 1 through the bolt fastening portable, base 41 is square, and its cross section is greater than the rotatory elevating gear 42 of fixed connection above that, and the effect of rotatory elevating gear 42 is rotatory and goes up and down, and it includes the back shaft and leads to with a plurality of circles of back shaft coaxial arrangement, and circular telegram electric power makes its automatic rising or rotatory, rotatably installs every single move rotary device 43 on the top of rotatory elevating gear 42, and every single move rotary device 43 can realize the omnidirectional rotation to enlarge patrolling and examining system 3's the scope of patrolling and examining.
And the inspection system 3 is used for inspecting the target hardware fitting and the power transmission conductor according to the height and the angle adjusted by the lifting system 4.
The inspection system 3 is used for inspecting a target hardware fitting and a power transmission conductor, and recording the current inspection position and the height and angle adjusted by the lifting system 4 during inspection so as to facilitate inspection and comparison again.
The embodiment of the application discloses an inspection robot, which comprises a robot body; the system comprises a movable inspection platform 1, a positioning system 2 and an inspection system 3, wherein the positioning system 2 and the inspection system are arranged on the inspection platform; the positioning system 2 is fixedly arranged on the movable inspection platform 1, and the positioning system 2 is used for positioning the movable inspection platform 1 and the inspection system 3; the movable inspection platform 1 is fixedly provided with a lifting system 4, the top end of the lifting system 4 is fixedly provided with the inspection system 3, and the inspection system 3 can lift and rotate on the lifting system 4; and the inspection system 3 is used for inspecting the target hardware fitting and the power transmission conductor according to the height and the angle adjusted by the lifting system 4. Adopt aforementioned inspection robot, can not rely on the manual work to patrol and examine, improve and patrol and examine efficiency.
Optionally, the inspection system 3 is a 20-80 times high power telescope.
Wherein, system 3 of patrolling and examining is preferably 80 times high multiple telescopes, and the gold utensil and transmission conductor can be shot clearly to high multiple telescope, clearly discerns the defect, and system 3 of patrolling and examining of this application adopts waterproof and anticorrosive treatment, is fit for working outside for a long time, does not receive external environment's influence.
Further, be provided with the treater in the system of patrolling and examining 3, the treater is used for receiving backstage control system's instruction, and according to the instruction, controls operating system 4 height-adjusting and angle.
The inspection system 3 is provided with a processor, the processor can receive the instruction of the background control system, and the lifting system 4 is controlled to adjust the height and the angle according to the instruction. Of course, this treater also can integrate programmable chip for it patrols and examines to patrol and examine the robot automatically, and adjust operating system 4 height-adjusting and angle automatically as required, and this application does not do specifically and restricts.
Referring to fig. 2, an embodiment of the present application provides a substation inspection method, where the inspection method is applied to a processor in an inspection system, and the inspection method includes:
step 201, a first image shot by the inspection system is obtained.
The first image comprises image parameters such as the shooting position and angle of the inspection system and the position of the inspection robot, so that images with consistent image parameters can be shot subsequently and compared with the images.
Step 202, determining whether the target hardware and the power transmission conductor have defects according to the first image.
In this step, according to the image obtained in step 210, the image of the defective hardware and power transmission line is identified by using the automatic image identification system, and is marked, so that the defect tracking is continuously performed on the hardware and power transmission line.
Step 203, if there is a defect in the first image, determining the defect level in the first image.
In this step, if the defect is identified in step 202, the level comparison is performed on the defect, the image with the low defect level is continuously tracked, and for the high defect level, the target hardware and the power transmission conductor which are power-safe are damaged, the corresponding power maintainer needs to be timely notified to replace the defect, so that the situations of sudden power failure and the like are reduced, the loss is reduced, and the user experience is improved.
And 204, formulating a polling period according to the defect grade, and tracking and recording the target hardware fitting and the power transmission conductor according to the polling period so as to replace the target hardware fitting and the power transmission conductor in time.
In this step, for the image with low defect level determined in step 203, a corresponding inspection cycle needs to be formulated according to the defect level, and subsequent development of the image is observed, for example, the inspection cycle of very small defects can be slightly longer, and the inspection cycle of very small defects can be slightly shorter, so that resource waste can be avoided, and meanwhile, power safety can be ensured.
Further, according to the defect grade, a polling period is formulated, and according to the polling period, a target hardware fitting and a power transmission conductor are tracked and recorded, and the method comprises the following steps:
according to the inspection cycle, a second image is shot at the same shooting position and angle on the target hardware fitting and the power transmission conductor regularly, the image parameters of the second image are consistent with those of the first image, and the image parameters comprise shooting positions and angles determined according to the height and the angle adjusted by the lifting system;
comparing the second image with the first image, determining and recording the defect levels of the target hardware fitting and the power transmission conductor;
and if a new defect grade appears, establishing a new polling period, and tracking and recording the target hardware and the power transmission conductor according to the new polling period.
In this embodiment, for the target hardware and the power transmission conductor that need to be tracked, the second image is shot at the same shooting position and angle as the first image, and each of the second image is consistent with the first image parameter, so that the accuracy of defect judgment is increased. And after the second image is shot, the second image is compared with the first image, the defect grades of the target hardware fitting and the power transmission conductor are determined and recorded, the development condition of the defects is observed, if a new defect grade appears, the inspection cycle is adjusted, and then the inspection cycle is tracked, so that the adjustment is timely carried out, and the accuracy is ensured.
Further, the level of defects includes: general defects, major defects, and emergency defects;
the tracking and recording device tracks and records hardware fittings with general defects and important defects and power transmission conductors.
The general defects are defects which have little influence on the recent safe operation and can be eliminated in annual or seasonal maintenance plans or daily maintenance work, such as the condition that a wire is broken or has worn and loose strands, the condition that a transmission wire is broken or has worn and loose strands, and the major defects are serious defects, but equipment can still continue to operate safely in a short period; the urgent defect refers to a serious defect, but equipment can still continue to operate safely in a short period, the defect is eliminated in the short period, monitoring is enhanced before elimination, for example, the situation that a wire is broken or has abrasion and looseness, and the situation that a power transmission wire is broken or has abrasion and looseness is adopted, the defect is classified and input into an inspection system after division, the inspection system automatically identifies and compares according to a shot image, the defect can be timely tracked by adopting the method, waste is avoided, and faults caused by overlarge defects of hardware fittings and power transmission wires can be prevented.
Of course, the hardware fitting can be divided according to the type of the hardware fitting and the type of the lead, and the divided hardware fitting is input into the inspection system to be used as a judgment standard, so that the method is not particularly limited in the application.
The embodiment discloses a transformer substation inspection method, which is applied to a processor in an inspection system and comprises the following steps: firstly, acquiring a first image shot by an inspection system; then determining whether the target hardware and the power transmission conductor have defects according to the first image; if the first image has defects, judging the defect level in the first image; and finally, setting a polling period according to the defect grade, and tracking and recording the target hardware fitting and the power transmission conductor according to the polling period so as to replace the target hardware fitting and the power transmission conductor in time. By adopting the inspection method, the tiny defects in the hardware fitting and the power transmission conductor can be found to be difficult, and the defects are tracked and observed, so that the hardware fitting and the power transmission conductor can be replaced in time, loss is avoided, and user experience is improved.
Referring to fig. 3, an embodiment of the present application provides a substation inspection robot control method, where the control method is applied to a substation inspection robot control system, the system includes the substation inspection robot and a background control system in any one of fig. 1, and the background control system and the substation inspection robot may interact with each other to realize data interaction, and the control method includes:
and 301, setting target positions of the target hardware fittings and the power transmission conductors by the background control system according to the positioning system and the topography of the transformer substation.
And 302, the background control system sends an instruction to the transformer substation inspection robot.
And 303, the transformer substation inspection robot receives the instruction and controls the movable inspection platform to move to the target position according to the instruction.
And 304, starting an inspection system by the inspection robot of the transformer substation to inspect the target hardware and the power transmission conductor at the target position.
The embodiment discloses a method for controlling an inspection robot, which is mainly used for controlling the inspection robot to perform inspection, and the control method disclosed by the embodiment is mainly realized by realizing data interaction between the inspection robot and a background control system, and specifically comprises the following steps: the background control system sets target positions of a target hardware fitting and a power transmission conductor according to the positioning system and the topography of the transformer substation; the background control system sends an instruction to the transformer substation inspection robot; the transformer substation inspection robot receives the instruction and controls the movable inspection platform to move to the target position according to the instruction; and the transformer substation inspection robot starts an inspection system to inspect the target hardware fitting and the power transmission conductor at the target position. By adopting the control method, the inspection robot can be controlled at the background without field control.
Of course, the programmable chip can be integrated in the robot, so that the inspection robot can automatically perform inspection according to a set program, and automatically adjust the height and the angle of the lifting system according to the requirement, and the automation degree of the inspection robot is improved.
The same and similar parts in the various embodiments in this specification may be referred to each other.
The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.
Claims (8)
1. The utility model provides a transformer substation patrols and examines robot which characterized in that includes: the inspection system comprises a movable inspection platform (1), a positioning system (2) and an inspection system (3), wherein the positioning system and the inspection system are arranged on the inspection platform (1);
the positioning system (2) is fixedly arranged on the movable inspection platform (1), and the positioning system (2) is used for positioning the movable inspection platform (1) and the inspection system (3);
the movable inspection platform (1) is fixedly provided with a lifting system (4), the top end of the lifting system (4) is fixedly provided with the inspection system (3), and the inspection system (3) can be lifted and rotated on the lifting system (4);
and the inspection system (3) is used for inspecting the target hardware fitting and the power transmission conductor according to the height and the angle adjusted by the lifting system (4).
2. A substation inspection robot according to claim 1, characterized in that the inspection system (3) is a high-magnification telescope of 20-80 times.
3. The substation inspection robot according to claim 1, characterized in that the lifting system (4) comprises: a base (41), a rotary lifting device (42), and a pitching rotary device (43); base (41) are fixed portable platform (1) of patrolling and examining is gone up, rotatory elevating gear (42) are fixed on base (41), every single move rotary device (43) set up the top of rotatory elevating gear (42), system of patrolling and examining (3) are fixed on every single move rotary device (43).
4. The substation inspection robot according to claim 1, wherein a processor is arranged in the inspection system (3), and the processor is used for receiving an instruction of a background control system and controlling the lifting system (4) to adjust the height and the angle according to the instruction.
5. A transformer substation inspection method is applied to a processor in an inspection system and comprises the following steps:
acquiring a first image shot by an inspection system;
determining whether the target hardware and the power transmission conductor have defects or not according to the first image;
if the first image has defects, judging the defect level in the first image;
and formulating an inspection cycle according to the defect grade, and tracking and recording the target hardware fitting and the power transmission conductor according to the inspection cycle so as to replace the target hardware fitting and the power transmission conductor in time.
6. The inspection method according to claim 5, wherein a inspection cycle is established according to the defect levels, and the target hardware and the power transmission conductors are tracked and recorded according to the inspection cycle, and the inspection method comprises the following steps:
according to the inspection cycle, a second image is shot at the same shooting position and angle on the target hardware fitting and the power transmission conductor regularly, the image parameters of the second image are consistent with those of the first image, and the image parameters comprise shooting positions and angles determined according to the height and the angle adjusted by the lifting system;
comparing the second image with the first image, determining and recording the defect levels of the target hardware fitting and the power transmission conductor;
and if a new defect grade appears, establishing a new polling period, and tracking and recording the target hardware and the power transmission conductor according to the new polling period.
7. The inspection method according to claim 5, wherein the level of defects includes: general defects, major defects, and emergency defects;
the tracking and recording device tracks and records hardware fittings with general defects and important defects and power transmission conductors.
8. A transformer substation inspection robot control method is applied to a transformer substation inspection robot control system, the transformer substation inspection robot control system comprises the transformer substation inspection robot and a background control system according to any one of claims 1-4, data interaction can be achieved between the background control system and the transformer substation inspection robot, and the control method comprises the following steps:
the background control system sets target positions of a target hardware fitting and a power transmission conductor according to the positioning system and the topography of the transformer substation;
the background control system sends an instruction to the transformer substation inspection robot;
the transformer substation inspection robot receives the instruction and controls the movable inspection platform to move to the target position according to the instruction;
and the transformer substation inspection robot starts an inspection system to inspect the target hardware fitting and the power transmission conductor at the target position.
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| CN112153266A (en) * | 2020-10-20 | 2020-12-29 | 国网甘肃省电力公司兰州供电公司 | Transformer substation's protection screen patrols and examines robot |
| CN112659130A (en) * | 2020-12-30 | 2021-04-16 | 嘉兴学院 | Control method and control system of suspension type inspection robot |
| CN112731948A (en) * | 2021-04-01 | 2021-04-30 | 北京全路通信信号研究设计院集团有限公司 | Control method and system of inspection robot based on fusion networking technology |
| CN113886256A (en) * | 2021-10-14 | 2022-01-04 | 广州九尾信息科技有限公司 | Method for monitoring and training model of software quality |
| CN114627119A (en) * | 2022-05-16 | 2022-06-14 | 山东通广电子有限公司 | Visual neural network-based appearance defect intelligent identification system and identification method |
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