CN111308284A - System and method for detecting running GIS fault - Google Patents
System and method for detecting running GIS fault Download PDFInfo
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- CN111308284A CN111308284A CN202010117123.9A CN202010117123A CN111308284A CN 111308284 A CN111308284 A CN 111308284A CN 202010117123 A CN202010117123 A CN 202010117123A CN 111308284 A CN111308284 A CN 111308284A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 88
- 238000007689 inspection Methods 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 7
- 230000007547 defect Effects 0.000 claims description 6
- 238000003745 diagnosis Methods 0.000 claims description 4
- 230000010354 integration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
- G01R31/1263—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation
- G01R31/1281—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of solid or fluid materials, e.g. insulation films, bulk material; of semiconductors or LV electronic components or parts; of cable, line or wire insulation of liquids or gases
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
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- General Physics & Mathematics (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Abstract
The invention discloses a system and a method for detecting a running GIS fault, and belongs to the technical field of high voltage. The system of the invention comprises: the upper computer determines the GIS fault according to the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal; the track robot is used for receiving a detection task of the upper computer, acquiring a routing track, routing inspection the GIS according to the routing track, identifying an RFID label arranged on the GIS, determining a detection position of the GIS, accurately positioning the detection position to determine an accurate positioning point of the GIS, applying a preset pressing force to the accurate positioning point of the GIS, collecting a vibration signal, an ultrasonic partial discharge signal and an ultrahigh frequency partial discharge signal of the GIS, and transmitting the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal to the upper computer. The invention effectively improves the detection efficiency of operating the GIS.
Description
Technical Field
The present invention relates to the field of high voltage technology, and more particularly, to a system and method for detecting an operating GIS fault.
Background
At present, transformer substation inspection robots related to GIS live line detection mostly adopt a 'wheel type structure' and are limited by the wheel type structure, the robots can only move on the ground near GIS equipment and cannot approach most of areas of the GIS equipment, so that the robots can only realize simple functions of partial GIS shell surface temperature detection, partial GIS instrument parameter reading and the like, and the robots are greatly limited to realize other various live line detection functions.
Disclosure of Invention
In view of the above problems, the present invention provides a system for detecting an operating GIS fault, comprising:
the upper computer is used for determining a routing inspection track of the track robot for detecting the GIS, generating a detection task and transmitting the detection task to the track robot, determining detection positions of the GIS, installing the RFID tags and the ultrahigh frequency partial discharge sensors at the detection positions of the GIS, receiving a vibration signal, an ultrasonic partial discharge signal and an ultrahigh frequency partial discharge signal transmitted by the track robot, and determining GIS faults according to the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal;
the track robot is used for receiving a detection task of the upper computer, acquiring a routing track, routing inspection the GIS according to the routing track, identifying an RFID label arranged on the GIS, determining a detection position of the GIS, accurately positioning the detection position to determine an accurate positioning point of the GIS, applying a preset pressing force to the accurate positioning point of the GIS, collecting a vibration signal, an ultrasonic partial discharge signal and an ultrahigh frequency partial discharge signal of the GIS, and transmitting the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal to the upper computer.
Optionally, the orbital robot, comprising:
the RFID detection device is used for identifying RFID tags arranged on the GIS;
the binocular vision camera is used for accurately positioning the detection position;
the wireless communication module is used for receiving a detection task of the upper computer and acquiring a routing inspection track;
the data acquisition module is used for acquiring an ultrahigh frequency partial discharge signal of the ultrahigh frequency partial discharge sensor;
the direct current power supply is used for providing direct current for the track robot;
and the vibration sensor and the ultrasonic partial discharge sensor are used for acquiring a vibration signal, an ultrasonic partial discharge signal and an ultrahigh frequency partial discharge signal of the GIS.
Optionally, the wireless communication module is further configured to receive a vibration signal, an ultrasonic partial discharge signal, and an ultrahigh frequency partial discharge signal transmitted by the track robot.
Optionally, the GIS fault is an operation fault or GIS defect during GIS operation.
Optionally, the host computer includes:
the robot server determines the routing inspection track of the fixed track robot for detecting the GIS, generates detection tasks, transmits the detection tasks to the track robot and determines the detection positions of a plurality of GIS;
and the diagnosis platform is used for receiving the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal transmitted by the rail robot and determining the GIS fault according to the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal.
Optionally, the vibration sensor and the ultrasonic partial discharge sensor are mounted on a mechanical arm of the track robot.
The invention also provides a method for detecting the running GIS fault, which comprises the following steps:
determining a routing inspection track of the track robot for detecting the GIS, and generating a detection task;
determining the detection positions of a plurality of GIS, and installing a plurality of RFID labels and a plurality of ultrahigh frequency partial discharge sensors on the detection positions of a plurality of GIS of the GIS according to the determined detection positions of the plurality of GIS;
receiving a detection task, acquiring a polling track, polling the GIS according to the polling track, identifying an RFID tag arranged on the GIS, determining a detection position of the GIS, accurately positioning the detection position, determining an accurate positioning point of the GIS, controlling a vibration sensor and an ultrasonic partial discharge sensor to be close to the accurate positioning point of the GIS, applying a preset pressing force to the accurate positioning point of the GIS, collecting a vibration signal and an ultrasonic partial discharge signal of the GIS by using the vibration sensor and the ultrasonic partial discharge sensor, collecting an ultrahigh frequency partial discharge signal of the ultrahigh frequency partial discharge sensor, and determining a GIS fault according to the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal;
optionally, the GIS fault is an operation fault or GIS defect during GIS operation.
Optionally, the binocular vision camera accurately positions the detection position. The system has high integration level, and the track robot can realize the comprehensive coverage of the live-line detection of the GIS operation by combining the RFID label, the binocular vision positioning and the mechanical arm, thereby effectively improving the detection efficiency of the GIS operation.
The system has high integration level, and the track robot can realize the comprehensive coverage of the live-line detection of the GIS operation by combining the RFID label, the binocular vision positioning and the mechanical arm, thereby effectively improving the detection efficiency of the GIS operation.
Drawings
FIG. 1 is a system block diagram of the present invention for detecting an operational GIS fault;
FIG. 2 is a flow chart of a method for detecting an operating GIS fault in accordance with the present invention;
fig. 3 is a flowchart of an embodiment of a method for detecting an operating GIS fault according to the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
The invention proposes a system for detecting a GIS fault in operation, as shown in fig. 1, comprising:
the system comprises an upper computer, a plurality of RFID labels, a plurality of ultrahigh frequency partial discharge sensors, a plurality of vibration signals, ultrasonic partial discharge signals and ultrahigh frequency partial discharge signals, wherein the upper computer determines the routing track of the GIS detected by the track robot, generates a detection task and transmits the detection task to the track robot, determines the detection positions of the GIS, installs the RFID labels and the ultrahigh frequency partial discharge sensors at the detection positions of the GIS according to the detection positions of the GIS determined by the upper computer, receives the vibration signals, the ultrasonic partial discharge signals and the ultrahigh frequency partial discharge signals transmitted by the track robot, and determines the GIS faults according to the vibration signals, the ultrasonic partial discharge signals and the ultrahigh frequency partial discharge signals;
the track robot, receive the detection task of host computer, acquire and patrol and examine the orbit and patrol and examine GIS according to patrolling and examining the orbit, through the RFID detection device of track robot, the RFID label of installing on the discernment GIS, confirm GIS's detection position, carry out accurate location to detecting the position via track robot's binocular vision camera, confirm GIS's accurate setpoint, the accurate setpoint that vibration sensor and the supersound partial discharge sensor that install on the arm of start track robot paste GIS, and exert preset packing force to GIS's accurate setpoint, vibration sensor and supersound partial discharge sensor collection GIS's vibration signal and supersound partial discharge signal, and gather the superfrequency partial discharge sensor's superfrequency partial discharge signal, transmit vibration signal, supersound partial discharge signal and superfrequency partial discharge signal to the host computer.
An orbital robot comprising:
the wireless communication module is used for receiving a detection task of the upper computer and acquiring a routing inspection track;
the data acquisition module is used for acquiring an ultrahigh frequency partial discharge signal of the ultrahigh frequency partial discharge sensor;
and the direct current power supply is used for providing direct current for the track robot.
The wireless communication module is also used for receiving vibration signals, ultrasonic partial discharge signals and ultrahigh frequency partial discharge signals transmitted by the rail robot.
The GIS fault is an operation fault or a GIS defect when the GIS operates.
The host computer includes:
the robot server determines the routing inspection track of the fixed track robot for detecting the GIS, generates detection tasks, transmits the detection tasks to the track robot and determines the detection positions of a plurality of GIS;
and the diagnosis platform is used for receiving the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal transmitted by the rail robot and determining the GIS fault according to the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal.
The present invention also provides a method for detecting an operating GIS fault, as shown in fig. 2, comprising:
determining a routing inspection track of the track robot for detecting the GIS, and generating a detection task;
determining the detection positions of a plurality of GIS, and installing a plurality of RFID labels and a plurality of ultrahigh frequency partial discharge sensors on the detection positions of a plurality of GIS of the GIS according to the detection positions of the plurality of GIS determined by an upper computer;
receiving a detection task, acquiring a polling track, polling the GIS according to the polling track, identifying an RFID tag arranged on the GIS, determining a detection position of the GIS, accurately positioning the detection position, determining an accurate positioning point of the GIS, controlling a vibration sensor and an ultrasonic partial discharge sensor to be close to the accurate positioning point of the GIS, applying a preset pressing force to the accurate positioning point of the GIS, collecting a vibration signal and an ultrasonic partial discharge signal of the GIS by using the vibration sensor and the ultrasonic partial discharge sensor, collecting an ultrahigh frequency partial discharge signal of the ultrahigh frequency partial discharge sensor, and determining a GIS fault according to the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal;
the GIS fault is an operation fault or a GIS defect when the GIS operates.
And carrying out accurate positioning by using a binocular vision camera.
The invention is further illustrated by the following examples:
as shown in fig. 3, the flow is as follows:
the robot server determines and issues a detection task, the track robot is started, and the detection task is started to be executed.
And in the detection process of the track robot, starting an RFID detection device, judging whether an RFID label preset on the GIS is detected, if not, continuing to move the robot, and if so, starting a detection program.
The method comprises the steps of firstly starting a binocular vision camera, judging the position of a GIS (geographic information System) electrified detection point, then starting a mechanical arm, enabling a vibration sensor to be attached to the GIS vibration detection point by the aid of the auxiliary mechanical arm of the camera and exerting certain pressure to collect vibration signals, enabling an ultrasonic partial discharge sensor to be attached to the GIS partial discharge detection point by the aid of the mechanical arm and collecting ultrasonic partial discharge signals, and further collecting signals of the ultrahigh-frequency partial discharge sensor in a wireless mode.
And after the acquisition of the vibration, ultrasonic partial discharge and ultrahigh frequency partial discharge signals is finished, the robot continues to move to the next detection point for detection until the charged detection of all the detection points is finished.
After all detection is finished, the robot body transmits the detection data to a robot server of the upper computer through the wireless communication module, and the intelligent analysis and diagnosis platform running on the robot body analyzes the detection data to judge whether defects or faults exist.
The system has high integration level, and the track robot can realize the comprehensive coverage of the live-line detection of the GIS operation by combining the RFID label, the binocular vision positioning and the mechanical arm, thereby effectively improving the detection efficiency of the GIS operation.
Claims (9)
1. A system for detecting an operational GIS fault, the system comprising:
the upper computer is used for determining a routing inspection track of the track robot for detecting the GIS, generating a detection task and transmitting the detection task to the track robot, determining detection positions of the GIS, installing the RFID tags and the ultrahigh frequency partial discharge sensors at the detection positions of the GIS, receiving a vibration signal, an ultrasonic partial discharge signal and an ultrahigh frequency partial discharge signal transmitted by the track robot, and determining GIS faults according to the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal;
the track robot is used for receiving a detection task of the upper computer, acquiring a routing track, routing inspection the GIS according to the routing track, identifying an RFID label arranged on the GIS, determining a detection position of the GIS, accurately positioning the detection position to determine an accurate positioning point of the GIS, applying a preset pressing force to the accurate positioning point of the GIS, collecting a vibration signal, an ultrasonic partial discharge signal and an ultrahigh frequency partial discharge signal of the GIS, and transmitting the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal to the upper computer.
2. The system of claim 1, the orbital robot, comprising:
the RFID detection device is used for identifying RFID tags arranged on the GIS;
the binocular vision camera is used for accurately positioning the detection position;
the wireless communication module is used for receiving a detection task of the upper computer and acquiring a routing inspection track;
the data acquisition module is used for acquiring an ultrahigh frequency partial discharge signal of the ultrahigh frequency partial discharge sensor;
the direct current power supply is used for providing direct current for the track robot;
and the vibration sensor and the ultrasonic partial discharge sensor are used for acquiring a vibration signal, an ultrasonic partial discharge signal and an ultrahigh frequency partial discharge signal of the GIS.
3. The system of claim 2, wherein the wireless communication module is further configured to receive a vibration signal, an ultrasonic partial discharge signal and an ultrahigh frequency partial discharge signal transmitted by the rail robot.
4. The system of claim 1, wherein the GIS fault is an operational fault or GIS fault at GIS runtime.
5. The system of claim 1, the upper computer, comprising:
the robot server determines the routing inspection track of the fixed track robot for detecting the GIS, generates detection tasks, transmits the detection tasks to the track robot and determines the detection positions of a plurality of GIS;
and the diagnosis platform is used for receiving the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal transmitted by the rail robot and determining the GIS fault according to the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal.
6. The system of claim 1, wherein the vibration sensor and the ultrasonic partial discharge sensor are mounted on a robotic arm of the orbital robot.
7. A method for detecting an operating GIS fault, the method comprising:
determining a routing inspection track of the track robot for detecting the GIS, and generating a detection task;
determining the detection positions of a plurality of GIS, and installing a plurality of RFID labels and a plurality of ultrahigh frequency partial discharge sensors on the detection positions of a plurality of GIS of the GIS according to the determined detection positions of the plurality of GIS;
receiving a detection task, acquiring a polling track, polling the GIS according to the polling track, identifying an RFID label arranged on the GIS, determining a detection position of the GIS, accurately positioning the detection position, determining an accurate positioning point of the GIS, controlling a vibration sensor and an ultrasonic partial discharge sensor to be close to the accurate positioning point of the GIS, applying a preset pressing force to the accurate positioning point of the GIS, collecting a vibration signal and an ultrasonic partial discharge signal of the GIS by using the vibration sensor and the ultrasonic partial discharge sensor, collecting an ultrahigh frequency partial discharge signal of the ultrahigh frequency partial discharge sensor, and determining a GIS fault according to the vibration signal, the ultrasonic partial discharge signal and the ultrahigh frequency partial discharge signal.
8. The method of claim 7, wherein the GIS fault is an operational fault or GIS defect at GIS runtime.
9. The method of claim 7, using binocular vision cameras to pinpoint the detection location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010117123.9A CN111308284A (en) | 2020-02-25 | 2020-02-25 | System and method for detecting running GIS fault |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010117123.9A CN111308284A (en) | 2020-02-25 | 2020-02-25 | System and method for detecting running GIS fault |
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| CN111308284A true CN111308284A (en) | 2020-06-19 |
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| CN202010117123.9A Pending CN111308284A (en) | 2020-02-25 | 2020-02-25 | System and method for detecting running GIS fault |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112526995A (en) * | 2020-12-02 | 2021-03-19 | 中国计量大学 | Hanging rail type inspection robot system and detection method thereof |
| CN116148614A (en) * | 2023-04-18 | 2023-05-23 | 江苏明月软件技术股份有限公司 | Cable partial discharge detection system and method based on unmanned mobile carrier |
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| CN208596456U (en) * | 2018-03-30 | 2019-03-12 | 国网江苏省电力有限公司电力科学研究院 | Integral intelligent inspection device |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112526995A (en) * | 2020-12-02 | 2021-03-19 | 中国计量大学 | Hanging rail type inspection robot system and detection method thereof |
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Application publication date: 20200619 |