CN110989686A - Unmanned aerial vehicle and transformer substation actuating mechanism interaction method and system - Google Patents
Unmanned aerial vehicle and transformer substation actuating mechanism interaction method and system Download PDFInfo
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- CN110989686A CN110989686A CN201911420973.XA CN201911420973A CN110989686A CN 110989686 A CN110989686 A CN 110989686A CN 201911420973 A CN201911420973 A CN 201911420973A CN 110989686 A CN110989686 A CN 110989686A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention provides an interaction method and system for an unmanned aerial vehicle and a transformer substation actuating mechanism, wherein when the unmanned aerial vehicle is used for cruise monitoring in a power station, an interaction system is established between the unmanned aerial vehicle and the actuating mechanism of the transformer substation, the unmanned aerial vehicle is used for monitoring actuating mechanisms such as a cooling fan and an insulating oil supply box in the transformer substation, so that the unmanned aerial vehicle is used for controlling the actuating mechanism to solve small problems, and a worker uses the unmanned aerial vehicle to issue an instruction to the actuating mechanism to implement a rescue measure when the worker cannot reach a fault point at the first time; the unmanned aerial vehicle cruises on a cruise line, sends an execution command to control an execution mechanism according to measurement data, and the execution mechanism also needs to feed back a real-time state, because the unmanned aerial vehicle is not only monitoring a mechanism to be measured, but also monitoring the running state of the execution mechanism; the actuating mechanism is the guarantee of fault handling, so establish unmanned aerial vehicle and transformer substation actuating mechanism's interactive system and improved the safety of whole power station system to the range of application of intelligent monitoring has been improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle cruising, in particular to an unmanned aerial vehicle and transformer substation actuating mechanism interaction method and system.
Background
In daily electric power maintenance operation, inspection personnel are often required to be dispatched to inspect equipment facilities, the inspection frequency is fixed, and the working strength is high; the inspection is very troublesome, especially inspection is carried out in special weather, and the severe weather brings inconvenience to inspection personnel. In addition, when a certain device breaks down, the inspection personnel cannot arrive at the site immediately, and the site situation cannot be known in the first time, so that unnecessary troubles are brought to the inspection and the overhaul of the device. In the high-speed development of modern technology, the unmanned aerial vehicle cruising scheme is gradually covered in the power station, but a specific scheme for some actuating mechanisms of the power station, such as a cooling fan and an opening and closing mechanism, may not be designed, because the actuating mechanism is the guarantee of routine maintenance of the power station and is the most important. In the prior art, for example, patent No. 201910115087.X discloses an unmanned aerial vehicle inspection system for an intelligent substation, which specifically comprises a nest, a transmission system and a control system of an unmanned aerial vehicle; and carry out the tour of transformer substation by the infrared camera that carries on the unmanned aerial vehicle, but it does not consider how to interact with transformer substation execution structure, and this problem needs to solve in the prior art urgently.
Disclosure of Invention
Aiming at the defects in the technology, the problem that no interactive operation method with a transformer substation actuating mechanism exists in the existing intelligent transformer substation unmanned aerial vehicle cruising process in the prior art is solved; the aim is to achieve the aim that the unmanned aerial vehicle can carry out interactive operation with an actuating mechanism in a transformer substation in cruising.
In order to solve the technical problem, the invention provides an interaction method of an unmanned aerial vehicle and a transformer substation actuating mechanism, which comprises the following steps:
the unmanned aerial vehicle receives a transformer substation route and coordinate points of a mechanism to be measured, wherein the coordinate points are arranged on the route; networking the unmanned aerial vehicle, the mechanism to be measured, the actuating mechanism and the upper computer;
the unmanned aerial vehicle acquires measurement data of a mechanism to be measured, and generates an execution command according to the measurement data to instruct the opening of an execution mechanism;
the execution mechanism receives the execution command to work and generates a confirmation command to the unmanned aerial vehicle, and the unmanned aerial vehicle confirms the execution command to be effective according to the confirmation command; and uploading the measured data and the state of the actuating mechanism to an upper computer.
Preferably, in the step of acquiring the measurement data by the unmanned aerial vehicle, the unmanned aerial vehicle further needs to send a broadcast type search command at the coordinate point, and the search command contains a unique identification code of the execution mechanism; after receiving the search command, the executing mechanism sends a standby command to the unmanned aerial vehicle, so that the state of the executing mechanism is confirmed.
Preferably, after the execution mechanism receives the execution command to work and generates a confirmation command to the unmanned aerial vehicle, the unmanned aerial vehicle is further required to continuously acquire measurement data of the mechanism to be measured, generate an end command according to the measurement data acquired last time and send the end command to the execution mechanism, the execution mechanism receives the end command to stop working and sends a standby state signal to the unmanned aerial vehicle, and the unmanned aerial vehicle confirms the execution mechanism through the standby state signal.
Preferably, in the step of uploading the measurement data to the upper computer, the unmanned aerial vehicle generates an alarm signal according to the measurement data and uploads the alarm signal to the upper computer, the upper computer sends an emergency processing command to the unmanned aerial vehicle through the alarm signal, then the unmanned aerial vehicle sends an emergency execution command to the execution mechanism, the execution mechanism is started and feeds back a forced execution command to the unmanned aerial vehicle, and therefore the unmanned aerial vehicle can obtain the running state of the execution mechanism.
Preferably, in the step of uploading the measurement data to the upper computer, the unmanned aerial vehicle generates an alarm signal according to the measurement data and uploads the alarm signal to the upper computer, the upper computer sends an ignoring instruction to the unmanned aerial vehicle through the alarm signal, then the unmanned aerial vehicle sends a waiting instruction to the execution mechanism, the execution mechanism receives the waiting instruction and then stands by, feeds back a state confirmation signal to the unmanned aerial vehicle, and the unmanned aerial vehicle cruises at the next point position.
The invention also discloses an interaction system of the unmanned aerial vehicle and the transformer substation actuating mechanism, which comprises the following steps:
unmanned aerial vehicle: setting a transformer substation route and calibrating coordinate points of a mechanism to be measured, which is set on the route; networking the unmanned aerial vehicle, the mechanism to be measured, the actuating mechanism and the upper computer;
an acquisition module in the unmanned aerial vehicle acquires measurement data of a mechanism to be measured, generates an execution command according to the measurement data, and sends the execution command to a central control module of an execution mechanism through a first communication module, so that the execution mechanism is started;
an executing mechanism: receiving the execution command to work and generating a confirmation command to the unmanned aerial vehicle, wherein the unmanned aerial vehicle confirms the effectiveness of the execution command through the confirmation command; and uploading the measured data and the state of the actuating mechanism to an upper computer.
Preferably, the unmanned aerial vehicle further comprises a broadcasting module, wherein the broadcasting module sends a search command in the coordinate point range, and the search command is provided with a unique identification code of the executing mechanism; after a matching module in the executing mechanism receives the searching command, a standby command is sent to the unmanned aerial vehicle by the second communication module, and therefore the state of the executing mechanism is confirmed.
Preferably, the acquisition module continuously acquires measurement data of the mechanism to be measured, an end command is generated according to the last measurement data acquired by the acquisition module and is sent to the central control module by the first communication module, the execution mechanism stops working after receiving the end command, the second communication module sends a standby state signal to the unmanned aerial vehicle, and the unmanned aerial vehicle confirms the execution mechanism by the standby state signal.
Preferably, the first communication module generates an alarm signal according to the measurement data and uploads the alarm signal to an upper computer, wherein the upper computer comprises a handheld console for power station workers; the host computer includes third communication module, third communication module sends urgent processing command to unmanned aerial vehicle, then by first communication module sends urgent execution command extremely actuating mechanism, actuating mechanism opens to by the forced execution order of second communication module feedback to unmanned aerial vehicle, thereby let unmanned aerial vehicle obtain actuating mechanism's running state.
Preferably, the first communication module generates an alarm signal according to the measurement data and uploads the alarm signal to an upper computer, wherein the upper computer comprises a handheld console for power station workers; the host computer includes third communication module, third communication module sends and ignores instruction to unmanned aerial vehicle, then first communication module sends and waits for the order extremely actuating mechanism, actuating mechanism carries out the standby after receiving and waits for the order to feedback state acknowledgement signal to unmanned aerial vehicle, unmanned aerial vehicle carry out the cruiser of next position.
The beneficial effects of the invention are as follows: when the unmanned aerial vehicle is used for cruise monitoring in a power station, an interactive system is established between the unmanned aerial vehicle and an actuating mechanism of a transformer substation, namely the unmanned aerial vehicle and actuating mechanisms of a cooling fan, a switching gate, an insulating oil supply box and the like in the transformer substation are controlled, so that the problem that the actuating mechanism is controlled by the unmanned aerial vehicle is solved, and when a worker cannot reach a fault point before the worker reaches the fault point, the unmanned aerial vehicle gives an instruction to the actuating mechanism to implement a rescue safety measure; the unmanned aerial vehicle cruises on a cruise line, sends an execution command to control an execution mechanism according to measurement data, and the execution mechanism also needs to feed back a real-time state, because the unmanned aerial vehicle is not only monitoring a mechanism to be measured, but also monitoring the running state of the execution mechanism; the actuating mechanism is the guarantee of fault handling, so establish unmanned aerial vehicle and transformer substation actuating mechanism's interactive system and improved the safety of whole power station system to the range of application of intelligent monitoring has been improved.
Drawings
FIG. 1 is a networking connection diagram of the present invention;
FIG. 2 is a schematic connection diagram of the present invention;
FIG. 3 is a flow chart of the method of the present invention.
The main element symbols are as follows:
1. an unmanned aerial vehicle; 11. an acquisition module; 12. a first communication module; 13. a broadcast module; 2. an actuator; 21. a central control module; 22. a second communication module; 23. a matching module; 3. and (4) an upper computer.
Detailed Description
In order to more clearly describe the present invention, the present invention will be further described with reference to the accompanying drawings.
The invention provides an interaction method of an unmanned aerial vehicle and a transformer substation actuating mechanism, and particularly relates to a method which is applied to the indoor of a transformer substation, firstly, indoor positioning and route planning are required, and a generally used method is that a GPS/Beidou system is directly adopted for positioning under the environment that the GPS/Beidou system can normally identify operation; if the GPS/beidou system cannot be used in a specific environment, a non-GPS positioning system may be adopted, and specifically, the unmanned aerial vehicle navigation system and method disclosed in patent No. 201910447837.3 may be used for position positioning.
When the unmanned aerial vehicle patrols in the transformer substation, in order to improve the intelligent operation of the unmanned aerial vehicle, the unmanned aerial vehicle is required to perform information interaction with an actuating mechanism in the transformer substation, and firstly, in order to determine the information source of the unmanned aerial vehicle, the information source is an execution command of the unmanned aerial vehicle or an execution command sent to the actuating mechanism by an upper computer through the unmanned aerial vehicle; secondly, the unmanned aerial vehicle sends a command to the executing mechanism, and when the executing mechanism starts to work, the executing mechanism sends a confirmation command to the unmanned aerial vehicle. Therefore, based on the background, the interaction system of the unmanned aerial vehicle between the transformer substation and the actuating mechanism is very important, and the unmanned aerial vehicle cruise control system is a priority purpose.
Specifically, a cruising route of the unmanned aerial vehicle at the substation needs to be set, and coordinate point positions of mechanisms to be measured in the substation, which need to be measured, are calibrated on the cruising route, because the unmanned aerial vehicle takes cruising coordinates as a primary identification element, and the mechanisms to be measured may exist in a plurality of coordinate point ranges of the unmanned aerial vehicle, and in the substation, one mechanism to be measured corresponds to one actuator, for example, a cooling fan corresponds to a temperature rise point; therefore, the unmanned aerial vehicle needs to acquire the unique identification code of the actuating mechanism paired with the mechanism to be measured, namely, the actuating mechanism which is a corresponding fault point can be confirmed to be in action when the unmanned aerial vehicle performs information interaction with the actuating mechanism; after the cruise route of the transformer substation area and the coordinate point position design and calibration of the mechanism to be measured are carried out, data networking of the unmanned aerial vehicle, the mechanism to be measured and the actuating mechanism is carried out, and the data networking is open-type networking.
When the unmanned aerial vehicle patrols and navigates, the unmanned aerial vehicle cruises to the coordinate point position of the mechanism to be measured, because the coordinate point position has a plurality of mechanisms to be measured, and in the existing coordinate, the realized positioning precision is about 10cm, although the uniqueness of the mechanism to be measured can be judged by starting the identification of the communication distance, more preferably, an identification command is sent to the executing mechanism, the corresponding mechanism to be measured is preliminarily identified by the matching communication code fed back to the unmanned aerial vehicle by the executing mechanism, finally, the corresponding identification is carried out by the identification code of the mechanism to be measured filled during networking, and when the networking is carried out, the mechanisms to be measured positioned at the same point position are stored in a mode of coding in advance; after the unmanned aerial vehicle flies to the coordinate point position, the mechanism to be measured is confirmed through the camera or the optical flow sensor/infrared sensor, the unique actuating mechanism corresponding to the mechanism to be measured is confirmed, a searching instruction is sent to all actuating mechanisms of the point position, after the actuating mechanism receives the searching instruction, a standby instruction is sent to the unmanned aerial vehicle for identification, the unmanned aerial vehicle can confirm the state of the actuating mechanism through the standby instruction, can start and confirm the integrity of equipment at any time, and can also confirm which mechanism to be measured is correspondingly matched with the actuating mechanism through the standby instruction.
On the basis, after the mechanism to be measured and the actuating mechanism are matched, the corresponding measuring mechanism on the unmanned aerial vehicle is correspondingly started to monitor the mechanism to be measured, and measuring data is obtained; if the mechanism to be measured is temperature rise point No. 1 and the actuating mechanism corresponding to the temperature rise point No. 1 is a No. 1 fan, when the temperature of the temperature rise point No. 1 is measured, the unmanned aerial vehicle opens the infrared temperature measuring gun to measure the temperature of the temperature rise point No. 1, and if the temperature needs to be reduced, the No. 1 fan is indicated to be started to carry out temperature reduction processing.
The specific process is as follows: comparing the measurement data with a first threshold segment, wherein the first threshold segment represents a threshold segment stored in each different mechanism to be measured, the range of the threshold segment is slightly smaller than that of a transformer substation system, so that better safety is guaranteed, for example, the range value of a temperature rise point is 70 ℃, when the unmanned aerial vehicle detects 65 ℃, the unmanned aerial vehicle needs to perform cooling processing on an execution mechanism, and when the measurement data falls into the range of the first threshold segment, the data of the temperature measurement point is normal, the unmanned aerial vehicle cruises to the coordinate point position of the next mechanism to be measured, and the operation is repeated; if the measured data do not fall into the range of the first threshold value section, the unmanned aerial vehicle sends an execution command to a corresponding execution mechanism; carry out corresponding processing by actuating mechanism according to the execution command, open and blow if the fan, if the switching floodgate then carries out corresponding switching floodgate operation, unmanned aerial vehicle then continues monitoring the fault point this moment, wait for the data recovery of fault point to normal level, also be in the within range of first threshold value section, send the end command and give actuating mechanism, actuating mechanism stop work after receiving the execution command, enter into standby state, and send standby state signal and give unmanned aerial vehicle, unmanned aerial vehicle confirms after the standby state signal, fly to the left side point position of next mechanism of waiting to measure and carry out above-mentioned work.
When the unmanned aerial vehicle identifies the mechanism to be measured of the coordinate point position calibration, namely after the uniqueness of the mechanism to be measured is identified, the type of the mechanism to be measured can be identified, the measuring mechanism on the unmanned aerial vehicle is opened according to the type of the mechanism to be measured, the mechanism to be measured is monitored by the measuring mechanism, and the measuring data is acquired.
When the first threshold value section is set, an ultra-high threshold value section and an ultra-low threshold value section are also needed to be set, the minimum value of the ultra-high threshold value section is larger than the maximum value of the first threshold value section, and the maximum value of the ultra-low threshold value section is smaller than the minimum value of the first threshold value section; when the unmanned aerial vehicle finds that the measured data is no longer within the range of the first threshold value section, calibrating the mechanism to be measured as a fault mechanism; meanwhile, a warning signal is transmitted to an upper server for reminding processing, and data are stored and uploaded in the unmanned aerial vehicle; on the basis, if the measured data falls into the ultra-high threshold section or the ultra-low threshold section, the measured data is directly uploaded to the upper computer and waits for continuous measurement in situ, when receiving the alarm signal, a worker holding the upper computer can send an ignoring command to the unmanned aerial vehicle, the unmanned aerial vehicle receives the ignoring command and then carries out next-point measurement, and an executing command is not sent to an executing mechanism; the working personnel can also directly need the unmanned aerial vehicle to carry out emergency processing according to the alarm signal, and the unmanned aerial vehicle sends an emergency execution command to the execution mechanism after receiving the emergency processing command sent by the upper computer, and the execution mechanism responds to the emergency execution command to carry out work; when the unmanned aerial vehicle receives an emergency execution command, the unmanned aerial vehicle is in an original position to continuously collect, wherein in one situation, the cruise is not carried out until the cruise command is received, in the second situation, the working state is confirmed through a forced execution command returned by an execution mechanism after the emergency execution command is received, and then the unmanned aerial vehicle confirms that the unmanned aerial vehicle is normally started; because when the measured data is in the ultra-high threshold value or the ultra-low threshold value section, it indicates that the unmanned aerial vehicle may not be the tangible problem point of solving to actuating mechanism's execution command, that is to say, need the staff scene to confirm, or the staff directly lets unmanned aerial vehicle carry out emergency treatment from the host computer, try to cool down or close the floodgate operation to the fault point with actuating mechanism, this in-process unmanned aerial vehicle is the collection data that lasts, the picture is also taken in real-time to the camera, the staff discovers that the overtemperature also can be cooled down by actuating mechanism's fan, then the staff will send the command of cruising to unmanned aerial vehicle, let unmanned aerial vehicle continue to cruise, but actuating mechanism still is cooling down and is handled, the staff can arrive to the scene simultaneously and carry out the processing of problem.
The interaction process is realized through radio communication, and the unmanned aerial vehicle comprises a control module, an acquisition module and a first communication module; the measurement data includes: current, voltage, temperature rise, catalytic combustion gas volume fraction, real-time images, and the like. The mechanisms to be measured are, for example, a voltmeter, an oil flow indicator, a cooling system power supply meter, a power cable temperature rise point and the like.
For the unmanned aerial vehicle and transformer substation actuating mechanism interaction system disclosed by the invention, please refer to fig. 1-3, including an unmanned aerial vehicle; a transformer substation route and coordinate points for calibrating a mechanism to be measured arranged on the route are arranged in the unmanned aerial vehicle; networking the unmanned aerial vehicle, the mechanism to be measured, the actuating mechanism and the upper computer;
the acquisition module 11 in the unmanned aerial vehicle 1 acquires measurement data of a mechanism to be measured, and generates an execution command according to the measurement data, wherein the acquisition module includes various sensor units, including but not limited to: temperature sensors, thermal infrared imagers, gas (toxic) sensors, high definition cameras, etc.; the first communication module 12 sends an execution command to the central control module 21 of the execution mechanism 2, the execution mechanism is usually a fan, a cooling oil tank and other devices, and the execution mechanism is provided with a control chip, so that a short-range communication protocol with the unmanned aerial vehicle can be written in the control chip, and the long-range communication is unstable and the safety cannot be guaranteed, so that the short-range communication is preferentially selected; the starting and the state query of the execution mechanism are realized by the modules.
The executing mechanism 2 receives the executing command to work and generates a confirmation command to the unmanned aerial vehicle, and the second communication unit 22 sends the confirmation command to the unmanned aerial vehicle 1 so as to confirm that the executing command is valid; after receiving the confirmation command, the unmanned aerial vehicle uploads the state of the measurement data and the state of the execution mechanism to the upper computer through the first communication module 12 for storage, so that the unmanned aerial vehicle can be used for checking and subsequently browsing by workers in real time.
In this embodiment, please refer to fig. 2, the drone 1 further includes a broadcasting module 13, the broadcasting module 13 sends a search command within the coordinate point range, because the positioning accuracy of the drone still has a certain error, and there may be multiple actuators within the coordinate point range; so there is a unique identification code of the actuator in the search command; after receiving the search command, the matching module 23 in the execution mechanism sends a standby command to the unmanned aerial vehicle through the second communication module, so that the state of the execution mechanism is confirmed; the broadcast module adopts what is commonly known as an FM system, performs fixed-point and small-range signal propagation by adjusting the transmission bandwidth of FM signals, and prevents signals from interfering with each other by just utilizing the characteristic of short transmission distance.
In this embodiment, the acquisition module 11 continuously acquires measurement data of the mechanism to be measured, and generates an end command according to the last measurement data acquired by the acquisition module 11, because the execution mechanism cannot autonomously judge whether a fault of a fault point has been eliminated or weakened, it is only the unmanned aerial vehicle that continuously monitors the fault point, and because the unmanned aerial vehicle can control the execution mechanism to process the fault point, the operation validity of the execution mechanism can be trusted; when the unmanned aerial vehicle continuously monitors and finally finds that the fault of the fault point is eliminated, the fault point is sent to the central control module 21 by the first communication module 12, the execution mechanism stops working after receiving the ending command, the second communication module 22 sends a standby state signal to the unmanned aerial vehicle, and the unmanned aerial vehicle confirms the execution mechanism by the standby state signal. The confirmation of the state of the actuator is to record the actual on state of the actuator and the validity of the on time, and to confirm the actual validity of each action. As mentioned above, the communication module adopts a radio communication mode, and the acquisition module adopts a sensor carried by the unmanned aerial vehicle, such as a contact temperature sensor, for measuring the temperature of the temperature rise point; the thermal infrared imager is used for thermal imaging and hot spot tracking; gas sensor for gas such as sulfur dioxide, hydrogen sulfide and sulfur hexafluoride in the transformer substation monitors, and also can patrol whether there is gaseous seepage in the cable channel, because the cable channel has many cables to pile up, thereby if the high temperature of bottom cable takes place, can ignite the cable conductor and have harmful gas to waft out, and temperature sensor does not survey in addition, can only rely on gas sensor to carry out indirect detection.
The first communication module generates an alarm signal according to the measurement data and uploads the alarm signal to the upper computer 3, wherein the upper computer comprises a power station worker handheld console; the host computer includes third communication module, and the third communication module sends urgent processing command to unmanned aerial vehicle, then sends urgent executive command to actuating mechanism by first communication module, and actuating mechanism opens to force executive command to unmanned aerial vehicle by the feedback of second communication module, thereby let unmanned aerial vehicle obtain actuating mechanism's running state. Because the unmanned aerial vehicle can not autonomously judge as the key operation which needs higher processing authority or directly influences the operation of the power station like switching on and off, the type and authority of the mechanism to be measured are classified and divided at the same time when the mechanism to be measured is marked, and in this case, workers are required to directly judge; there are also situations when the collected data is already in the above-mentioned ultra-high threshold or ultra-low threshold range, and it is necessary for the operator to make a decision on the basis of the situation, because in this case, blind activation of the actuator may cause the fault to be spread and aggravated. Therefore, the working personnel can transmit an emergency execution command to the unmanned aerial vehicle to the execution mechanism through the upper computer; certainly, if the condition must be solved by the staff on the spot, then the staff just sends the instruction of ignoring to unmanned aerial vehicle through the third communication module of host computer, then first communication module sends the wait command to actuating mechanism, and actuating mechanism carries out the standby after receiving the wait command to feedback state confirmation signal to unmanned aerial vehicle, unmanned aerial vehicle carries out the cruiser of next position. The unmanned aerial vehicle records the situation, and then patrols the next point position.
The invention has the advantages that:
1) by establishing interaction with an actuating mechanism in the transformer substation, fault point processing of the transformer substation can be more timely and effective;
2) the actuator also needs to feed back the real-time state, because the unmanned aerial vehicle is not only monitoring the mechanism to be measured, but also monitoring the operating state of the actuator; the actuating mechanism is the guarantee of fault handling, so establish unmanned aerial vehicle and transformer substation actuating mechanism's interactive system and improved the safety of whole power station system to the range of application of intelligent monitoring has been improved.
The above disclosure is only for a few specific embodiments of the present invention, but the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (10)
1. An interaction method of an unmanned aerial vehicle and a transformer substation actuating mechanism is characterized by comprising the following steps:
the unmanned aerial vehicle receives a transformer substation route and coordinate points of a mechanism to be measured, wherein the coordinate points are arranged on the route; networking the unmanned aerial vehicle, the mechanism to be measured, the actuating mechanism and the upper computer;
the unmanned aerial vehicle acquires measurement data of a mechanism to be measured, and generates an execution command according to the measurement data to instruct the opening of an execution mechanism;
the execution mechanism receives the execution command to work and generates a confirmation command to the unmanned aerial vehicle, and the unmanned aerial vehicle confirms the execution command to be effective according to the confirmation command; and uploading the measured data and the state of the actuating mechanism to an upper computer.
2. The method for interaction between the unmanned aerial vehicle and the substation actuator according to claim 1, wherein in the step of acquiring the measurement data by the unmanned aerial vehicle, the unmanned aerial vehicle further needs to send a broadcast type search command at the coordinate point, and the search command carries a unique identifier of the actuator; after receiving the search command, the executing mechanism sends a standby command to the unmanned aerial vehicle, so that the state of the executing mechanism is confirmed.
3. The interaction method of the unmanned aerial vehicle and the substation actuator according to claim 1, wherein after the actuator receives the execution command to operate and generate a confirmation command to the unmanned aerial vehicle, the unmanned aerial vehicle is further required to continuously acquire measurement data of the mechanism to be measured, generate a completion command according to the measurement data acquired last time and send the completion command to the actuator, the actuator receives the completion command to stop operating and sends a standby state signal to the unmanned aerial vehicle, and the unmanned aerial vehicle confirms the actuator by the standby state signal.
4. The interaction method of the unmanned aerial vehicle and the transformer substation actuator according to claim 1, wherein in the step of uploading the measurement data to the upper computer, the unmanned aerial vehicle generates an alarm signal according to the measurement data and uploads the alarm signal to the upper computer, the upper computer sends an emergency processing command to the unmanned aerial vehicle through the alarm signal, then the unmanned aerial vehicle sends an emergency execution command to the actuator, the actuator is started, and a forced execution command is fed back to the unmanned aerial vehicle, so that the unmanned aerial vehicle obtains the operation state of the actuator.
5. The interaction method of the unmanned aerial vehicle and the transformer substation execution mechanism according to claim 1, wherein in the step of uploading the measurement data to the upper computer, the unmanned aerial vehicle generates an alarm signal according to the measurement data and uploads the alarm signal to the upper computer, the upper computer sends an ignore instruction to the unmanned aerial vehicle through the alarm signal, then the unmanned aerial vehicle sends a waiting instruction to the execution mechanism, the execution mechanism performs standby after receiving the waiting instruction and feeds back a state confirmation signal to the unmanned aerial vehicle, and the unmanned aerial vehicle performs cruise of the next point location.
6. The utility model provides an unmanned aerial vehicle and actuating mechanism interactive system of transformer substation which characterized in that includes:
unmanned aerial vehicle: setting a transformer substation route and calibrating coordinate points of a mechanism to be measured, which is set on the route; networking the unmanned aerial vehicle, the mechanism to be measured, the actuating mechanism and the upper computer;
an acquisition module in the unmanned aerial vehicle acquires measurement data of a mechanism to be measured, generates an execution command according to the measurement data, and sends the execution command to a central control module of an execution mechanism through a first communication module, so that the execution mechanism is started;
an executing mechanism: receiving the execution command to work and generating a confirmation command to the unmanned aerial vehicle, wherein the unmanned aerial vehicle confirms the effectiveness of the execution command through the confirmation command; and uploading the measured data and the state of the actuating mechanism to an upper computer.
7. The unmanned aerial vehicle and substation actuator interaction method according to claim 1, wherein the unmanned aerial vehicle further comprises a broadcasting module, the broadcasting module sends a search command within the coordinate point range, and the search command carries a unique identification code of the actuator; after a matching module in the executing mechanism receives the searching command, a standby command is sent to the unmanned aerial vehicle by the second communication module, and therefore the state of the executing mechanism is confirmed.
8. The interaction method of the unmanned aerial vehicle and the transformer substation execution mechanism as claimed in claim 1, wherein the acquisition module continuously acquires measurement data of a mechanism to be measured, an end command is generated according to the last measurement data acquired by the acquisition module and sent to the central control module by the first communication module, the execution mechanism stops working after receiving the end command and sends a standby state signal to the unmanned aerial vehicle by the second communication module, and the unmanned aerial vehicle confirms the execution mechanism by the standby state signal.
9. The unmanned aerial vehicle and substation actuating mechanism interaction method according to claim 1, wherein the first communication module generates an alarm signal according to the measurement data and uploads the alarm signal to an upper computer, wherein the upper computer comprises a handheld console of a power station worker; the host computer includes third communication module, third communication module sends urgent processing command to unmanned aerial vehicle, then by first communication module sends urgent execution command extremely actuating mechanism, actuating mechanism opens to by the forced execution order of second communication module feedback to unmanned aerial vehicle, thereby let unmanned aerial vehicle obtain actuating mechanism's running state.
10. The unmanned aerial vehicle and substation actuating mechanism interaction method according to claim 1, wherein the first communication module generates an alarm signal according to the measurement data and uploads the alarm signal to an upper computer, wherein the upper computer comprises a handheld console of a power station worker; the host computer includes third communication module, third communication module sends and ignores instruction to unmanned aerial vehicle, then first communication module sends and waits for the order extremely actuating mechanism, actuating mechanism carries out the standby after receiving and waits for the order to feedback state acknowledgement signal to unmanned aerial vehicle, unmanned aerial vehicle carry out the cruiser of next position.
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