CN111505009A - Power transformer internal fault detection system based on wall-climbing robot - Google Patents
Power transformer internal fault detection system based on wall-climbing robot Download PDFInfo
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- CN111505009A CN111505009A CN202010316899.3A CN202010316899A CN111505009A CN 111505009 A CN111505009 A CN 111505009A CN 202010316899 A CN202010316899 A CN 202010316899A CN 111505009 A CN111505009 A CN 111505009A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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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
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/62—Testing of transformers
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Abstract
The application relates to a power transformer internal fault detection system based on a wall-climbing robot, which comprises the wall-climbing robot arranged in a power transformer, wherein at least 3 visual sensors used for acquiring the temperature and image information of components in the transformer in real time are arranged, and the at least 3 visual sensors realize 360-degree rotary motion in the same plane; the robot main control device sends a command to the driving circuit to control the speed and the direction of each adsorption wheel according to real-time position information of the corresponding adsorption wheel fed back by each position sensor. The invention gradually realizes the unmanned detection of the interior of the transformer, thereby not only saving a great deal of manpower, but also reducing the probability of the failure of the interior of the transformer.
Description
Technical Field
The utility model belongs to the technical field of power transformer, especially, relate to power transformer's detection, concretely relates to power transformer internal fault detecting system based on wall climbing robot.
Background
Since the development of the power industry, the operation and maintenance of power equipment become an important task for ensuring the reliable operation of the power grid, and the transition from the conventional periodic maintenance to the state maintenance is gradually carried out. Such or other abnormalities inevitably occur in the operation of various types of high-voltage power equipment.
The method for visually and deeply inspecting and detecting the interior of the equipment is a method for running, maintaining and managing the equipment and directing decision-making personnel at all levels, and is a direct and effective means for quickly confirming the state of the equipment and searching faults.
The power transformer is an indispensable device for reliable operation of the power system, is one of the most important and expensive devices in the power system, is a junction device of the power system, and the normal operation of the power transformer is a powerful guarantee for reliable operation of a power grid. Reducing and avoiding power transformer faults is the basis for safe operation of transformers.
In the actual operation process, the transformer runs for a long time and is influenced by factors such as a magnetic field, temperature and humidity, an electric field, a manufacturing process of the transformer, and the like, fault phenomena occur sometimes, most faults occur inside the transformer, such as winding faults, iron core faults, tap switch faults and the like, the faults are all located inside the transformer, the space is narrow, the concealment is strong, and great difficulty is brought to state judgment and fault diagnosis of the power transformer. The existing manual detection method is troublesome, consumes great manpower and material resources, more importantly, lacks microscopic observation and detection means, has great difficulty in state confirmation and fault finding, and prolongs the state confirmation and fault finding time, so that the fault risk of equipment and a power grid is increased.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the power transformer internal fault detection system based on the wall-climbing robot is provided for solving the problems that fault finding difficulty is high and efficiency is low in transformer internal fault detection through manual work, and fault risks of equipment and a power grid are increased.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a power transformer internal fault detection system based on a wall-climbing robot comprises the wall-climbing robot arranged inside a power transformer, wherein the wall-climbing robot comprises a robot body, a robot main control device and detection equipment, the detection equipment comprises at least 3 visual sensors used for acquiring the temperature and image information of components inside the transformer in real time, and the at least 3 visual sensors are distributed in the same plane;
the robot is characterized by further comprising a driving mechanism for driving the at least 3 vision sensors to rotate 360 degrees in the same plane, wherein the driving mechanism comprises a rotating motor, a transverse supporting column and a vertical supporting column, the rotating motor is mounted on the robot body, the transverse supporting column is hinged to the upper end of the vertical supporting column, the lower end of the vertical supporting column is hinged to the rotating motor, and the at least 3 vision sensors are mounted on the transverse supporting column;
the robot main control device is connected with the rotating motor in a control mode and used for adjusting the rotating angle of the rotating motor.
The invention has the beneficial effects that: the wall-climbing robot is used for replacing manual work to enter the transformer to detect the internal fault of the transformer, so that the internal detection of the transformer is gradually unmanned, a large amount of manpower is saved, the probability of the internal fault of the transformer is reduced, and the safety of social electricity utilization is ensured.
The invention is provided with 3 visual sensors which can rotate in the same plane by 360 degrees, thereby being capable of collecting the internal image of the transformer in all directions and ensuring that the internal fault information of the transformer can be detected more comprehensively.
The wall-climbing robot is provided with the magnetic type wheels, and each wheel adopts the independent suspension mechanism, so that when encountering an obstacle, the corresponding wheel on the obstacle side can be avoided independently, and the condition of overturning is avoided.
The invention has at least 6 wheels, which increases the adsorption force.
Drawings
The technical solution of the present application is further explained below with reference to the drawings and the embodiments.
Fig. 1 is a schematic perspective view of a wall-climbing robot according to an embodiment of the present application;
FIG. 2 is a left side view of a wall climbing robot according to an embodiment of the present application;
FIG. 3 is a top view of a wall-climbing robot according to an embodiment of the present application;
FIG. 4 is a schematic diagram of the structure of an embodiment of the present application;
fig. 5 is an operation schematic diagram of the dc motor according to the embodiment of the present application.
In the figure, 1-an electromagnetic control panel, 2-an air pressure control valve, 3-a hinge, 4-a telescopic cylinder, 5-a vision sensor, 6-a rotating motor, 7-a communication interface, 8-an electromagnetic adsorption wheel, 9-a nut, 10-a connecting column, 11-a vertical supporting column and 12-an independent suspension mechanism.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Examples
The present embodiment provides a power transformer internal fault detection system based on a wall climbing robot, as shown in fig. 1 to 3, including:
the wall-climbing robot comprises a robot body, a driving walking mechanism, a robot main control device and detection equipment, wherein the detection equipment comprises at least 3 visual sensors 5 used for acquiring the temperature and image information of components inside the transformer in real time, and the at least 3 visual sensors 5 are distributed in the same plane;
the robot is characterized by further comprising a rotary driving mechanism arranged on the robot body, the robot main control device is in control connection with the rotary driving mechanism, and the rotary driving mechanism is used for driving the at least 3 vision sensors 5 to realize 360-degree rotary motion in the same plane according to commands of the robot main control device;
the driving and traveling mechanism comprises a plurality of electromagnetic adsorption wheels 8, motors and driving circuits, wherein the motors are in one-to-one corresponding driving connection with the electromagnetic adsorption wheels 8, and position sensors are further arranged on the electromagnetic adsorption wheels 8 and are connected with the input end of the robot main control device;
the control output end of the robot main control device is connected with the driving circuit, and the robot main control device sends commands to the driving circuit according to the real-time position information of the corresponding adsorption wheels fed back by the position sensors so as to control the speed and the direction of the adsorption wheels.
When the wall climbing robot walks, the vision sensor 5 can perform 360-degree rotation motion on a plane, so that the environment inside the transformer can be imaged and identified, and when the wall climbing robot walks, the image and temperature information inside the transformer can be continuously received.
This embodiment drive running gear has set up 6 electromagnetic adsorption wheels 8, is favorable to increasing the adsorption affinity, and every electromagnetic adsorption wheel 8 all disposes the motor alone, and each electromagnetic adsorption wheel 8 is independent drive, and when climbing wall robot ran in and met the barrier, the velocity of motion does not influence each other.
The driving circuit comprises three L298N motor driving chips, the main controller controls the motors driving the travelling mechanism according to signals of the vision sensor 5, the signals output by the main controller control the three L298N motor driving chips, and each L298N motor driving chip can drive 2 motors to drive the travelling of the two electromagnetic adsorption wheels 8.
As shown in fig. 5, the motors of this embodiment are dc motors, the main controller sends out commands to drive the rotation of the dc motors, there are 6 dc motors in total, each dc motor is equipped with a gear reduction set, and outputs the speed reduced by the gear reduction set to the electromagnetic adsorption wheel 8, the rotation speed and position signal of the electromagnetic adsorption wheel 8 are fed back to the main controller through the position sensor, and the main controller determines the speed and direction of the rotation of the electromagnetic adsorption wheel 8 according to the position and speed of the electromagnetic adsorption wheel 8.
The control signal of the L298N motor driving chip is a Pulse Width Modulation (PWM) signal of 20ms, wherein the pulse width is from 0.5ms to 2.5 ms., and the voltage required by the steering engine of each L298N motor driving chip is 5V, and the embodiment is provided with an X L4015 switching step-down type conversion chip, so that the power voltage can be converted to obtain 3V voltage, and the X L4015 chip can provide stable working voltage for a driving execution mechanism.
The robot master control device of this embodiment adopts STM32F103VET6 chip as main control unit, and STM32F103VET6 chip has a plurality of I/O input/output ports, and the compatibility is better.
Optionally, the rotation driving mechanism includes a rotating electrical machine 6, a horizontal support column and a vertical support column 11, the rotating electrical machine 6 is installed on the robot body, the horizontal support column is hinged to the upper end of the vertical support column 11, the lower end of the vertical support column 11 is hinged to the rotating electrical machine 6, and the at least 3 vision sensors 5 are installed on the horizontal support column.
The horizontal support column of this embodiment passes through nut 9 and vertical support column 11 is articulated, and horizontal support column can rotate 180 around the articulated center, can adjust the angle through the elasticity of manual regulation nut 9. The vertical support column 11 is hinged with the rotating motor 6 through the hinge 3, and the action of swinging 60 degrees can be realized. The angle of the vision sensor 5 can be conveniently adjusted by means of hinged connection.
The rotating motor 6 of this embodiment adopts the pneumatic drive mode, and rotating motor 6 carries out drive control through air pressure control valve 2, and air pressure control valve 2 adjusts rotating motor 6's rotation angle according to main control unit's instruction, drives vertical support column 11 rotatory.
Further optionally, the transverse supporting columns are cylinder connecting mechanisms, each cylinder connecting mechanism comprises a connecting column 10 and telescopic cylinders 4 corresponding to the vision sensors 5, each telescopic cylinder 4 is mounted on the connecting column 10, the connecting column 10 is hinged to the upper end of the vertical supporting column 11, and piston rods of the telescopic cylinders 4 are connected with the corresponding vision sensors 5.
This embodiment is through setting up cylinder coupling mechanism, when climbing wall robot meets constrictive false face at the operation in-process, can be according to the inside actual conditions of transformer, under robot master control device's control, flexible vision sensor 5.
Further optionally, the vision sensor 5 adopts a vision sensor 5 with infrared thermal imaging fused with a visible light image, the detection circuit includes 3 vision sensors 5, and two adjacent vision sensors 5 are spaced by 120 degrees.
The vision sensor 5 of this embodiment can simultaneously acquire the infrared image and the visible light image at the same detection point inside the transformer, and perform image fusion to obtain a fused image. The visual sensor 5 of the present embodiment can greatly improve the accuracy and reliability of detection and recognition by effectively fusing infrared thermal imaging and visible light images.
When the wall climbing robot is used for detection, all devices in the transformer can emit electromagnetic radiation, the electromagnetic radiation can be detected by the infrared thermal imaging sensor, when the temperature of the devices in the transformer changes, the wavelength of the electromagnetic waves radiated by the devices in the transformer can also change, and the change of the wavelength can be converted into the change of the temperature, so that the aim of measuring the temperature is fulfilled. If abnormal temperature exists, the sensor transmits abnormal data to the main controller.
Optionally, the robot body is further provided with an electromagnetic control panel 1, and the electromagnetic control panel 1 is connected with the robot main control device and used for controlling the electromagnetic force of the electromagnetic adsorption wheel 8 according to a command of the robot main control device.
The magnetic force of each electromagnetic attraction wheel 8 is determined by the electromagnetic force, the electromagnetic control panel 1 drives the electromagnetic attraction wheel 8, the magnitude of the attraction force between the electromagnetic attraction wheel 8 and the contact surface is determined by the magnitude of the electromagnetic force, and the minimum attraction force generated by each electromagnetic attraction wheel 8 is 30N in the embodiment on average.
Optionally, each electromagnetic adsorption wheel 8 adopts an independent suspension mechanism 12.
The advantage of using the independent suspension mechanism 12 is that when the obstacle is located on one side of the wheels of the wall-climbing robot, since each wheel of the wall-climbing robot adopts the independent suspension structure, the walking of the wheels on the other side will not be affected, and the robot can be prevented from tipping over.
Optionally, as shown in fig. 4, the detection apparatus further includes a fault detection module in communication connection with the robot main control device, and the robot main control device processes image information sent by the vision sensor 5 and sends the processed image information to the fault detection module;
the fault detection module stores reference fault information pictures, and is used for comparing image information acquired by the vision sensor 5 with each reference fault information picture and identifying fault types.
The fault detection module of the embodiment comprises 3 common fault categories, namely winding faults, iron core faults and tap changer faults, the fault detection module adopts big data to store reference fault information pictures of the three fault categories, and image information shot by the visual sensor 5 is compared with each reference fault information picture, so that different fault categories are identified.
Optionally, a path planning module is arranged in the robot main control device, and the path planning module is used for planning an inspection line of the wall-climbing robot, controlling the wall-climbing robot to avoid the obstacle when the wall-climbing robot encounters the obstacle, and selecting another inspection line.
Because the internal structure of the transformer is complex, common fault points are not uniformly distributed, and a detected path needs to be reasonably planned, the path planning module of the embodiment adopts an ant colony algorithm to plan the path of the inspection line, and the embodiment plans two inspection lines.
In the embodiment, the walking path of the wall-climbing robot is shot through the vision sensor 5, the walking path information is transmitted to the main controller, when the wall-climbing robot faces the obstacle, the vision sensor 5 identifies the obstacle, and the robot main control device determines the optimal walking path of the wall-climbing robot by combining with a path planning algorithm of the path planning module.
Optionally, a human-computer interface is further provided, and the human-computer interface is arranged outside the power transformer, connected with the robot main control device, and used for displaying real-time information of detection data of the wall-climbing robot.
The human-computer interface is used for displaying and storing the detection data of the wall climbing robot in real time. In this embodiment, the human-computer interface receives and stores the fault information collected by the fault detection module through the RS-232/RS-485 communication interface. Through a human-computer interface, real-time online observation of the internal picture of the transformer can be realized, and fault detection is facilitated.
Optionally, the robot control system further comprises an intelligent mobile device, wherein the intelligent mobile device is in communication connection with the robot main control device through a wireless communication module, and is used for realizing wireless control over the robot.
The robot master control device is provided with a bluetooth module and is connected with an intelligent mobile device (such as a mobile phone and an iPAD) through the bluetooth module. The Bluetooth module of this embodiment adopts the HC-05 module, and the distance that the bluetooth is connected keeps within 6m effective distance, and the signal can not influenced like this, through setting up intelligent Mobile device, can master the walking route of climbing robot at any time.
Further, the present embodiment is provided with a reset circuit, the reset circuit of the present embodiment adopts an external manual key reset circuit, and a reset end of the main controller is connected with a reset signal output end of the reset circuit. When the reset end of the main controller receives the high level of 2 machine periods, the reset operation can be completed. At a crystal oscillator frequency of 12MHz, the reset signal duration should be no less than 2 milliseconds.
The wall-climbing robot is used for replacing manual work to enter the transformer to detect the internal fault of the transformer, so that the internal detection of the transformer is gradually unmanned, a large amount of manpower is saved, the probability of the internal fault of the transformer is reduced, and the safety of social electricity utilization is ensured.
In light of the foregoing description of the preferred embodiments according to the present application, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the invention. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides a power transformer internal fault detecting system based on wall climbing robot, is including setting up in the inside wall climbing robot of power transformer, wall climbing robot includes robot body, drive running gear, robot master control device and check out test set, its characterized in that:
the detection equipment comprises at least 3 visual sensors for acquiring the temperature and image information of components inside the transformer in real time, wherein the at least 3 visual sensors are distributed in the same plane;
the robot main control device is connected with the rotary driving mechanism in a control mode, and the rotary driving mechanism is used for driving the at least 3 vision sensors to realize 360-degree rotary motion in the same plane according to commands of the robot main control device;
the driving travelling mechanism comprises a plurality of electromagnetic adsorption wheels, motors and driving circuits, wherein the motors are in one-to-one driving connection with the electromagnetic adsorption wheels, and the plurality of electromagnetic adsorption wheels are also provided with position sensors which are connected with the input end of the robot main control device;
the control output end of the robot main control device is connected with the driving circuit, and the robot main control device sends commands to the driving circuit according to the real-time position information of the corresponding adsorption wheels fed back by the position sensors so as to control the speed and the direction of the adsorption wheels.
2. The system for detecting the internal fault of the power transformer based on the wall-climbing robot as claimed in claim 1, wherein the rotary driving mechanism comprises a rotary motor, a transverse supporting column and a vertical supporting column, the rotary motor is mounted on the robot body, the transverse supporting column is hinged to the upper end of the vertical supporting column, the lower end of the vertical supporting column is hinged to the rotary motor, and the at least 3 visual sensors are mounted on the transverse supporting column.
3. The power transformer internal fault detection system based on the wall-climbing robot is characterized in that the transverse supporting columns are cylinder connecting mechanisms, each cylinder connecting mechanism comprises a connecting column and telescopic cylinders corresponding to the vision sensors, each telescopic cylinder is installed on the connecting column, the connecting column is hinged to the upper end of the vertical supporting column, and piston rods of the telescopic cylinders are connected with the corresponding vision sensors.
4. The power transformer internal fault detection system based on the wall-climbing robot as claimed in claim 1, wherein the robot body is further provided with an electromagnetic control board, and the electromagnetic control board is connected with a robot main control device and used for controlling the electromagnetic force of the electromagnetic adsorption wheel according to a command of the robot main control device.
5. The system for detecting the internal fault of the power transformer based on the wall-climbing robot as claimed in claim 4, wherein each electromagnetic adsorption wheel is of an independent suspension structure.
6. The power transformer internal fault detection system based on the wall-climbing robot is characterized in that the detection equipment further comprises a fault detection module in communication connection with a robot main control device, and the robot main control device processes image information sent by a visual sensor and sends the processed image information to the fault detection module;
the fault detection module is used for comparing image information acquired by the vision sensor with each reference fault information picture and identifying fault types.
7. The power transformer internal fault detection system based on the wall-climbing robot is characterized in that the vision sensors adopt vision sensors with infrared thermal imaging and visible light image fusion, the detection circuit comprises 3 vision sensors, and two adjacent vision sensors are spaced by 120 degrees.
8. The power transformer internal fault detection system based on the wall-climbing robot as claimed in claim 1, wherein a path planning module is arranged in the robot main control device, and the path planning module is used for planning an inspection line of the wall-climbing robot, controlling the wall-climbing robot to avoid an obstacle and selecting another inspection line when the wall-climbing robot encounters the obstacle.
9. The power transformer internal fault detection system based on the wall-climbing robot as claimed in claim 1, further comprising a human-machine interface, wherein the human-machine interface is disposed outside the power transformer, connected to the robot master control device, and configured to display real-time information of detection data of the wall-climbing robot.
10. The power transformer internal fault detection system based on the wall-climbing robot is characterized by further comprising an intelligent mobile device, wherein the intelligent mobile device is in communication connection with a robot main control device through a wireless communication module and used for achieving wireless control over the robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010316899.3A CN111505009A (en) | 2020-04-21 | 2020-04-21 | Power transformer internal fault detection system based on wall-climbing robot |
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| CN202010316899.3A CN111505009A (en) | 2020-04-21 | 2020-04-21 | Power transformer internal fault detection system based on wall-climbing robot |
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| CN111505009A true CN111505009A (en) | 2020-08-07 |
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| CN112881426A (en) * | 2021-01-09 | 2021-06-01 | 西南大学 | Transformer intracavity winding nondestructive testing device and control method thereof |
| CN113120107A (en) * | 2021-04-25 | 2021-07-16 | 贵州电网有限责任公司 | Wheel type permanent magnet adsorption double-information channel transformer climbing robot |
| CN113899758A (en) * | 2021-09-30 | 2022-01-07 | 三峡大学 | Visual inspection trolley and method for detecting defects of inner wall of scraper conveyor |
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