CN110601358B - Remote dispatching monitoring system for intelligent robot of power grid - Google Patents
Remote dispatching monitoring system for intelligent robot of power grid Download PDFInfo
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- CN110601358B CN110601358B CN201910721908.4A CN201910721908A CN110601358B CN 110601358 B CN110601358 B CN 110601358B CN 201910721908 A CN201910721908 A CN 201910721908A CN 110601358 B CN110601358 B CN 110601358B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/16—Electric power substations
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Abstract
The invention discloses a remote dispatching monitoring system of an intelligent robot for a power grid, wherein the robot is integrated with a newly-added safety communication proxy module with a built-in digital certificate, and the wireless access of a robot service to a robot control console is ensured through technical means such as identity authentication, data encryption, access control and the like. The robot network hard disk video recorder is deployed in a substation III area and communicates with the robot body through a USAP3000 security gateway. The DICP service agent deployed in the substation III area is communicated with the DICP system service of the dispatching master station III area through the comprehensive data network, system data are uniformly sent to the data processing service for processing, and the dispatching DICP system can also send an execution command to the substation DICP service agent through the data processing service, so that remote control of the substation robot is realized.
Description
Technical Field
The invention relates to the field of power grid dispatching operation of power systems, in particular to a remote dispatching monitoring system of a power grid intelligent robot.
Background
With the gradual expansion of the power grid scale and the continuous improvement of the intelligent level, how to adopt new technical means to effectively ensure the safe and reliable operation of equipment is one of the main problems facing power enterprises. Under the trend of the integrated development of power dispatching and monitoring, power dispatchers bear more and more system operation and monitoring tasks, traditional manual methods such as running, inspection and the like face new challenges, and the requirements of a power grid on quick response treatment of emergency signals are higher and higher. In addition, the computer monitoring technology is popularized and applied in the transformer substation, so that the transformer substation on-duty mode is changed from the on-duty mode to the off-duty mode, and the application of the intelligent robot in the transformer substation is becoming a new exploration and development direction.
At present, intelligent robots are preliminarily applied to transformer substations in some areas, but are mainly limited to daily work in equipment inspection and infrared temperature measurement stations, and are not related to real-time dispatching and monitoring business of power dispatchers. The substation inspection robot business application is deployed on an independently built local area network environment and is not yet in data docking with a dispatching command platform (DICP system).
According to the national issued general scheme of the safety protection of the power monitoring system, the network safety partition of the power secondary system is divided into a production control area and a management information area. The production control area is divided into a control area (safety area I) and a non-control area (safety area II). The information management area is divided into a production management area (safety area iii) and a management information area (safety area iv). Different safety protection requirements are determined by different safety areas, wherein the safety level of the safety area I is highest, the safety area II is second, and the rest are analogized. Wherein the security iii zone is a production management zone and the system of the zone is a system for production management, such as a dispatch production management system.
The dispatching master station end and the transformer substation end are both in the power network and are subjected to safe partition.
Disclosure of Invention
The invention provides a remote dispatching monitoring system of an intelligent robot of a power grid, which remotely controls the intelligent robot and develops regulation and control integrated business.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides a remote dispatch monitored control system of electric wire netting intelligent robot, includes robot control system and dispatch command system, robot control system includes robot control platform, robot body, switch and DICP service agent lower computer, the robot body communicates with robot control platform through wireless network, and DICP service agent lower computer is disposed in the district III of transformer substation, and DICP service agent lower computer communicates with dispatching main website district III DICP system service upper computer through synthesizing the data network, and DICP service agent lower computer communicates with robot control platform through the switch, the DICP system includes DICP system service upper computer and data processing service upper computer, and data processing service upper computer carries out the data processing of system and issues the DICP service agent lower computer of execution command to district III of transformer substation.
Preferably, the robot body is internally integrated with a safety communication proxy module with a built-in digital certificate, and the safety communication proxy module ensures that the robot body service is wirelessly accessed to the robot control platform through identity authentication, data encryption and access control.
Preferably, the robot body is further integrated with a HUB module, a visible light camera, an infrared camera and a lower computer, wherein the visible light camera, the infrared camera and the lower computer are connected with the secure communication proxy module through the HUB module. And after receiving the instruction sent by the background, the lower computer controls the robot.
Preferably, the robot control system further comprises a USAP3000 security gateway, the USAP3000 security gateway is connected with the switch, and the robot control platform communicates with the robot body through the USAP3000 security gateway.
Preferably, the robot control system further comprises a network hard disk video recorder, and the network hard disk video recorder is deployed in a substation III area and connected with the switch.
Preferably, the robot body is remotely scheduled and monitored to complete the following applications:
and (3) running analysis and automatic uploading of inspection emergency defects, operation project inspection, emergency event and emergency signal inspection.
Preferably, the operation analysis and automatic uploading of the inspection emergency defect specifically include using a robot to perform equipment inspection, if the robot finds the emergency defect, wherein the emergency defect is as follows:
automatically uploading data to a DICP system after finding out an emergency defect, wherein the data comprises equipment pictures and analysis results; the DICP system automatically pops up related alarm signals, the condition of related equipment can be checked remotely by controlling a robot camera on the DICP system, and checking results sent to a robot task by checking and inspection can be called at any time.
Preferably, the operation item inspection is specifically that the robot body performs visual confirmation to the equipment site through a mechanism box on/off indication board, a convergence control box position indication lamp and the like according to a dispatching operation command of a DICP system, automatically identifies the on/off state of equipment such as a disconnecting link, a grounding disconnecting link and the like through a photographed image, and timely feeds back related inspection results, wherein the inspection results comprise pictures and judging results, and the photographed image meets the following conditions:
(1) The detection device in the visible light image or the infrared ray image should be a front image, and the camera should be perpendicular to the target device;
(2) The whole knife switch is in the image, and the target equipment is in the middle of the whole image;
(3) No shielding object is arranged in front of the knife switch;
(4) The knife switch has single background;
(5) The distance for observing the knife switch is the nearest distance which can be observed for meeting the requirements (1) to (4);
(6) The shooting angle is favorable for calibrating the disconnecting link;
(7) The precisely identified knife switch adopts multi-angle observation, including a front image and an image at a contact;
judging whether the knife switch is in place, two situations are adopted:
a. the switch-on is not switched on, and a gap is reserved between the contacts;
b. the closing is closed and is not closed tightly;
for the situation that the closing is closed but not closed, the scene high-definition photo shot at multiple angles sent back by the robot needs to be checked for manual judgment;
when judging whether the knife switch is in place, two situations are also adopted:
c. the knife switch is not completely separated;
d. the knife switch is not in place after being separated.
Preferably, the emergency event and the emergency signal check specifically automatically send an alarm signal corresponding to the emergency power failure library to the robot in the station, and the alarm signal and corresponding processing matters are as follows:
or manually selecting a transformer substation, equipment interval and related alarm signals for emergency event to be sent to the robot in the substation, wherein the emergency event comprises the following contents:
after receiving the alarm signal, the in-station robot automatically judges the equipment interval, goes to the fault equipment according to the planned path, performs targeted inspection according to the alarm content, feeds back the inspection result to the dispatcher, and processes the emergency signal.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the robot is integrated with a newly-added safety communication proxy module with a built-in digital certificate, and the wireless access of the robot service to a robot console is ensured through technical means such as identity authentication, data encryption, access control and the like. The robot network hard disk video recorder is deployed in a substation III area and communicates with the robot body through a USAP3000 security gateway. The DICP service agent deployed in the substation III area is communicated with the DICP system service of the dispatching master station III area through the comprehensive data network, system data are uniformly sent to the data processing service for processing, and the dispatching DICP system can also send an execution command to the substation DICP service agent through the data processing service, so that remote control of the substation robot is realized. The intelligent robot is connected to the business application of the DICP system, so that the limitation that the current robot is only applied to the daily business of power transformation operation is broken, the intelligent robot is connected with the daily work and emergency disposal business of a power dispatcher, and the dispatching monitoring and controlling efficiency can be further improved.
Drawings
Fig. 1 is a schematic diagram of a remote dispatching monitoring system of a power grid intelligent robot.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions;
it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Example 1
The embodiment discloses remote dispatch monitored control system of electric wire netting intelligent robot, as shown in fig. 1, including robot control system and dispatch command system (DICP system), robot control system includes robot control platform, robot body, switch and DICP service agent lower computer, the robot body still integrates HUB module, visible light camera, infrared camera and lower computer, the robot body communicates with robot control platform through wireless network, and DICP service agent lower computer deploys in the district III of transformer substation, and DICP service agent lower computer communicates with dispatch master station district III DICP system service upper computer through comprehensive data network, and DICP service agent lower computer communicates with robot control platform through switch, DICP system includes DICP system service upper computer and data processing service upper computer, DICP system deploys in the district III of dispatch master station, and data processing service upper computer carries out the data processing of system and issues the P service agent lower computer of execution command to the district III of transformer substation.
The robot body is internally integrated with a safety communication proxy module with a built-in digital certificate, and the safety communication proxy module ensures that the robot body service is wirelessly accessed to a robot control platform through identity authentication, data encryption and access control.
The robot control system visible light camera, the infrared camera and the lower computer are connected with the safety communication agent module through the HUB module.
The network hard disk video recorder is deployed in a substation III area and is connected with the switch.
The robot body is remotely scheduled and monitored to complete the following applications:
and (3) running analysis and automatic uploading of inspection emergency defects, operation project inspection, emergency event and emergency signal inspection.
In a specific implementation process, the operation analysis and automatic uploading of the inspection emergency defect specifically include that when the robot is used for performing equipment inspection, if the robot finds the emergency defect, the judgment standard and the information required to be fed back to the DICP system are shown in the following table:
automatically uploading data to a DICP system after finding out an emergency defect, wherein the data comprises equipment pictures and analysis results; the DICP system automatically pops up related alarm signals, the condition of related equipment can be checked remotely by controlling a robot camera on the DICP system, and checking results sent to a robot task by checking and inspection can be called at any time.
The operation item inspection is specifically that a robot body performs visual confirmation to an equipment site through a mechanism box opening/closing indication board, a junction box position indication lamp and the like according to a dispatching operation command of a DICP system, automatically identifies the opening/closing state of equipment such as a disconnecting link, a grounding disconnecting link and the like through a shot image, and timely feeds back related inspection results, wherein the inspection results comprise pictures and judgment results, and the shot image meets the following conditions:
(1) The detection device in the visible light image or the infrared ray image should be a front image, and the camera should be perpendicular to the target device;
(2) The whole knife switch is in the image, and the target equipment is in the middle of the whole image;
(3) No shielding object is arranged in front of the knife switch;
(4) The knife switch has single background;
(5) The distance for observing the knife switch is the nearest distance which can be observed for meeting the requirements (1) to (4);
(6) The shooting angle is favorable for calibrating the disconnecting link;
(7) The precisely identified knife switch adopts multi-angle observation, including a front image and an image at a contact;
judging whether the knife switch is in place, two situations are adopted:
a. the switch-on is not switched on, and a gap is reserved between the contacts;
b. the closing is closed and is not closed tightly;
for the situation that the closing is closed but not closed, the scene high-definition photo shot at multiple angles sent back by the robot needs to be checked for manual judgment;
when judging whether the knife switch is in place, two situations are also adopted:
c. the knife switch is not completely separated;
d. the knife switch is not in place after being separated.
The emergency event and emergency signal checking is specifically to automatically send an alarm signal corresponding to the emergency power failure library to the robot in the station, wherein the alarm signal and corresponding processing matters are as follows:
or manually selecting a transformer substation, equipment interval and related alarm signals for emergency event to be sent to the robot in the substation, wherein the emergency event comprises the following contents:
after receiving the alarm signal, the in-station robot automatically judges the equipment interval, goes to the fault equipment according to the planned path, performs targeted inspection according to the alarm content, feeds back the inspection result to the dispatcher, and processes the emergency signal.
The same or similar reference numerals correspond to the same or similar components;
the terms describing the positional relationship in the drawings are merely illustrative, and are not to be construed as limiting the present patent;
it is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (5)
1. The utility model provides a remote dispatch monitored control system of electric wire netting intelligent robot, a serial communication port, including robot control system and dispatch command system, namely DICP system, robot control system includes robot control platform, robot body, switch and DICP service agent lower computer, the robot body communicates with robot control platform through wireless network, DICP service agent lower computer deploys in transformer substation's III district, DICP service agent lower computer communicates with dispatch main website's III district DICP system service upper computer each other through the integrated data network, DICP service agent lower computer communicates with robot control platform through the switch, DICP system includes DICP system service upper computer and data processing service upper computer, DICP system deploys in dispatch main website's III district, data processing service upper computer carries out systematic data processing and issues the DICP service agent lower computer of execution command to transformer substation's III district;
the robot body is remotely scheduled and monitored to complete the following applications:
operation analysis and automatic uploading of inspection emergency defects, operation project inspection, emergency event and emergency signal inspection;
the operation analysis and automatic uploading of the inspection emergency defect specifically include that when the robot is used for equipment inspection, if the robot finds the emergency defect, the judgment standard and the information needing to be fed back to the DICP system are shown in the following table:
automatically uploading data to a DICP system after finding out an emergency defect, wherein the data comprises equipment pictures and analysis results; the DICP system automatically pops up related alarm signals, a robot camera is controlled on the DICP system to remotely check the conditions of related equipment, and check results sent to a robot task by checking and inspection are called at any time;
the operation item inspection is specifically that a robot body carries out visual confirmation to equipment sites through a mechanism box opening/closing indication board and a junction box position indication lamp according to a dispatching operation instruction of a DICP system, and automatically recognizes the opening and closing states of a disconnecting link and a grounding disconnecting link device through photographed images, and then timely feeds back related inspection results, wherein the inspection results comprise pictures and judgment results, and the photographed images meet the following conditions:
(1) The detection device in the visible light image or the infrared ray image should be a front image, and the camera should be perpendicular to the target device;
(2) The whole knife switch is in the image, and the target equipment is in the middle of the whole image;
(3) No shielding object is arranged in front of the knife switch;
(4) The knife switch has single background;
(5) The distance of the observation knife switch is the nearest distance observed in the requirements (1) to (4);
(6) The shooting angle is favorable for calibrating the disconnecting link;
(7) The precisely identified knife switch adopts multi-angle observation, including a front image and an image at a contact;
judging whether the knife switch is in place, two situations are adopted:
a. the switch-on is not switched on, and a gap is reserved between the contacts;
b. the closing is closed and is not closed tightly;
for the situation that the closing is closed but not closed, the scene high-definition photo shot at multiple angles sent back by the robot needs to be checked for manual judgment;
when judging whether the knife switch is in place, two situations are also adopted:
c. the knife switch is not completely separated;
d. the disconnecting link is not in place after being separated;
the emergency event and emergency signal checking is specifically to automatically send an alarm signal corresponding to the emergency power failure library to the robot in the station, wherein the alarm signal and corresponding processing matters are as follows:
or manually selecting a transformer substation, equipment interval and related alarm signals for emergency event to be sent to the robot in the substation, wherein the emergency event comprises the following contents:
after receiving the alarm signal, the in-station robot automatically judges the equipment interval, goes to the fault equipment according to the planned path, performs targeted inspection according to the alarm content, feeds back the inspection result to the dispatcher, and processes the emergency signal.
2. The intelligent power grid robot remote dispatching monitoring system according to claim 1, wherein the robot body is internally integrated with a safety communication proxy module with a built-in digital certificate, and the safety communication proxy module ensures that the robot body service is wirelessly accessed to the robot control platform through identity authentication, data encryption and access control.
3. The intelligent power grid robot remote dispatching monitoring system of claim 2, wherein the robot body is further integrated with a HUB module, a visible light camera, an infrared camera and a lower computer, wherein the visible light camera, the infrared camera and the lower computer are all connected with the secure communication proxy module through the HUB module.
4. The system of claim 3, wherein the robot control system further comprises a USAP3000 security gateway, the USAP3000 security gateway is connected to the switch, and the robot control platform communicates with the robot body through the USAP3000 security gateway.
5. The intelligent power grid robot remote dispatching and monitoring system of claim 4, wherein the robot control system further comprises a network hard disk video recorder, wherein the network hard disk video recorder is deployed in a substation III area and connected with a switch.
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| WO2019095910A1 (en) * | 2017-11-15 | 2019-05-23 | 天津市普迅电力信息技术有限公司 | Daily patrol working method and system in substation |
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- 2019-08-06 CN CN201910721908.4A patent/CN110601358B/en active Active
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| CN106451790A (en) * | 2016-11-21 | 2017-02-22 | 北京殷图网联科技股份有限公司 | Remote intelligent inspection system for transformer substations and implementation method of inspection system |
| WO2019095910A1 (en) * | 2017-11-15 | 2019-05-23 | 天津市普迅电力信息技术有限公司 | Daily patrol working method and system in substation |
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