CN111596176A - Inspection robot system for transformer substation - Google Patents
Inspection robot system for transformer substation Download PDFInfo
- Publication number
- CN111596176A CN111596176A CN202010403655.9A CN202010403655A CN111596176A CN 111596176 A CN111596176 A CN 111596176A CN 202010403655 A CN202010403655 A CN 202010403655A CN 111596176 A CN111596176 A CN 111596176A
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- ultraviolet detection
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- 238000007689 inspection Methods 0.000 title description 18
- 238000004891 communication Methods 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000000825 ultraviolet detection Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 17
- 238000011161 development Methods 0.000 claims description 16
- 230000003750 conditioning effect Effects 0.000 claims description 13
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 230000018109 developmental process Effects 0.000 description 11
- 238000012544 monitoring process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000010891 electric arc Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000003331 infrared imaging Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008140 language development Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000007781 pre-processing Methods 0.000 description 1
- 239000002243 precursor Substances 0.000 description 1
- 210000000697 sensory organ Anatomy 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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Classifications
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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
- G01R31/1218—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 optical methods; using charged particle, e.g. electron, beams or X-rays
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention relates to a substation patrol robot system, which comprises a base station system and a mobile robot system, wherein the base station system comprises an internal local area network, first wireless communication equipment and a data display and control system which is respectively connected with the internal local area network and the first wireless communication equipment; the motion control system comprises a movement control device for controlling the robot to move, a positioning device for positioning and a holder control device for controlling the holder to move.
Description
Technical Field
The invention relates to the field of power equipment, in particular to a substation inspection robot system.
Background
The existing inspection mode of the transformer substation is mainly manual inspection, and the manual inspection has the obvious defects of high labor intensity, low working efficiency, dispersed detection quality, high management cost and the like. Along with the rapid development of the robot technology, the robot technology is combined with electric power application, and based on an outdoor robot mobile platform, carrying detection equipment to replace manual equipment inspection becomes possible. The traditional inspection of transformer substation mainly goes to the scene through personnel and patrols, and through personnel's subjective sense organ, if see, touch, listen, smell etc. come to carry out qualitative judgement to equipment operation condition. For equipment, the leakage phenomenon is checked by visual inspection, the parameters of the equipment are checked, the pollution flashover condition of the equipment at night is checked, the insulation of the equipment is checked, the shell of the equipment is touched, the temperature change and the vibration condition of the equipment are detected, and the operation condition of the equipment is effectively judged by combining the prior work experience. The precursor judgment of the failure of the equipment is carried out by judging the vibration, the discharging sound and the like of the equipment, which is mainly realized by the hearing of workers.
Disclosure of Invention
In order to solve the technical problem, the invention provides a substation inspection robot system.
The technical scheme adopted by the invention is as follows: the substation patrol robot system comprises a base station system and a mobile robot system, wherein the base station system comprises an internal local area network, first wireless communication equipment and a data display and control system which is respectively connected with the internal local area network and the first wireless communication equipment, the mobile robot system comprises an action control system, a visible light camera and an infrared imager which are arranged on a holder, a video image processor which is connected with the visible light camera and the infrared imager, and second wireless communication equipment which is respectively connected with the video image processor and the action control system, and the first wireless communication equipment and the second wireless communication equipment are connected through a wireless network channel; the motion control system comprises a motion control device for controlling the robot to move, a positioning device for positioning and a holder control device for controlling the holder to move; the holder control device comprises an orientation adjusting frame used for installing a visible light camera and an infrared imager, a pitching rotating motor used for controlling the orientation adjusting frame to pitch and rotate, and a horizontal rotating motor used for controlling the orientation adjusting frame to horizontally rotate.
In the substation patrol robot system, the mobile robot system further comprises a sound collection device for recording the operation noise of the substation equipment.
In the substation patrol robot system, the mobile robot system further comprises ultraviolet detection equipment for detecting arc discharge, flashover and corona phenomena of high-voltage equipment of the substation.
In the substation patrol robot system, the ultraviolet detection equipment comprises an ultraviolet detection tube, an ultraviolet detection tube driving plate, an STM32 development plate and a touch screen, the ultraviolet detection tube detects and receives ultraviolet light emitted by discharge and then sends out signals, the signals are processed by the ultraviolet detection tube driving plate to form standard square waves, the square waves are sent to an AD end of the STM32 development plate, the STM32 development plate processes data after analog-to-digital conversion, and the signals are sent to the touch screen through the STM32 development plate serial port 1 in a communication mode.
In the substation patrol robot system, the STM32 development board serial port 2 is connected with a base station system through the second wireless communication equipment.
In the substation patrol robot system, the infrared imager comprises a conditioning plate, a processing plate connected with the conditioning plate, a compression plate connected with the processing plate and interface plates respectively connected with the compression plate and the control plate.
In the substation patrol robot system, the conditioning board comprises a signal conditioning module, and the compression board comprises a Hi3516 chip module; the processing board comprises an FPGA chip module.
The transformer substation inspection robot system provided by the invention combines intelligent inspection and traditional inspection, the intelligent inspection robot can not be limited by time, the operation is accurately and in place, the working range of people and intelligent inspection equipment is optimized, the intelligent inspection equipment is used for replacing people to carry out special type operation, and the work of remote control, automatic inspection and the like is realized.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of a wire structure according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an embodiment of the present invention provides a substation patrol robot system, which includes a base station system and a mobile robot system, where the base station system includes an internal local area network 1, a first wireless communication device 3, and a data display and control system 2 connected to the internal local area network and the first wireless communication device, respectively, the mobile robot system includes a motion control system 4, a visible light camera 5 and an infrared imager 6 mounted on a cradle head, a video image processor 7 connected to the visible light camera 5 and the infrared imager 6, and a second wireless communication device 8 connected to the video image processor 7 and the motion control system 4, and the first wireless communication device 3 and the second wireless communication device 8 are connected through a wireless network channel; the motion control system 4 comprises a movement control device for controlling the movement of the robot, a positioning device for positioning and a pan-tilt control device for controlling the motion of the pan-tilt. The holder control device comprises an orientation adjusting frame used for installing a visible light camera and an infrared imager, a pitching rotating motor used for controlling the orientation adjusting frame to pitch and rotate, and a horizontal rotating motor used for controlling the orientation adjusting frame to horizontally rotate. The mobile robot system further comprises a sound collection device for recording the operation noise of the substation equipment. The mobile robot system further comprises ultraviolet detection equipment for detecting arc discharge, flashover and corona phenomena of the high-voltage equipment of the transformer substation. Ultraviolet check out test set is including ultraviolet detection tube, ultraviolet detection tube drive plate, STM32 development board and touch-sensitive screen, ultraviolet detection tube detects and receives and sends out the signal behind the ultraviolet light that discharges and send, and the signal forms the standard square wave after ultraviolet detection tube drive plate signal processing, and the AD end of STM32 development board is sent into to the square wave, and STM32 development board is to the data processing behind the analog-to-digital conversion, sends to the touch-sensitive screen through STM32 development board serial ports 1 communication on. The STM32 development board serial port 2 is connected with the base station system through the second wireless communication equipment, so that alarm information can be sent to the base station system in time when an accident happens.
The base station system is a management control center of the mobile robot system, mainly undertakes monitoring the working condition of the mobile station, and mainly comprises a laser printer, a switch and a monitoring master station. The connection mode of the base station system and the mobile robot system is a wireless network channel and needs to meet the requirement of high bandwidth, so that the remote command and the remote data information can be transmitted. The base station system mainly comprises hardware equipment such as a network hub, a computer, a printer, a wireless bridge and the like, and mainly uses a window operating system, uses C # object-oriented programming language development design and provides a human-computer interaction interface. The base station system mainly has the functions of receiving the detection information and the running state information transmitted by the mobile robot, analyzing and processing various data, and thus, the mobile information of the mobile robot and the monitoring information of the power transformation equipment can be obtained. The hardware of the motion control subsystem in the mobile robot system mainly comprises a motor driver, a motion control card, a main board and the like, and can provide navigation positioning, motion control, motor driving, holder motion and the like for a mobile station of the robot. The working subsystems in the mobile robot system comprise a power supply monitoring system, a video server, wireless communication equipment, a visible light camera and the like, and can collect video information, visible light image state information and the like to realize network communication and energy management functions.
The mobile robot system is provided with the infrared imager, the inspection task can be automatically executed, the infrared chart of the designated equipment is obtained, the application layer can judge the temperature data by means of temperature difference comparison and the like, and whether the abnormal phenomenon exists or not is checked. By applying the auxiliary monitoring equipment and the visible light camera, the appearance image of the specified equipment can be automatically captured, and the abnormality of the equipment can be judged. The inspection robot can also analyze the instrument photo by using a pattern recognition technology, read meter data and monitor the running state of the total station equipment. The mobile robot system can use the carried sound collection equipment to record the running noise of the specified equipment, intelligently analyze the parameter characteristics of the sound and judge the abnormality of the sound. Secondly, during the working period, the phenomena of arc discharge, flashover, corona and the like can occur during the design, manufacture, installation and the like of the power transmission and transformation line or the high-voltage electrical equipment, at the moment, the robot can use ultraviolet detection equipment to detect the high-voltage equipment of the transformer substation, automatically judge the paying-off phenomenon of the high-voltage equipment and send out alarm sound.
Further, the infrared imager 6 comprises a conditioning board, a processing board connected with the conditioning board, a compression board connected with the processing board, and interface boards respectively connected with the compression board and the control board, wherein the conditioning board comprises a signal conditioning module, and the compression board comprises a Hi3516 chip module; the processing board comprises an FPGA chip module and is used for executing preprocessing operation on the digital video signal transmitted to the processing board by the signal conditioning module; the processing board further comprises an image output module which is used for outputting the digital video signal preprocessed by the FPGA chip module according to a preset digital video signal format, wherein the preset digital video signal is one of an LVDS digital video signal, an HDMI high-definition video signal and a PAL analog video signal; and the Hi3516 chip module is used for compressing the digital video signals preprocessed by the FPGA chip module. The Hi3516 chip module comprises: the image denoising submodule is used for denoising the digital video signal preprocessed by the FPGA chip module; and the image enhancement processing submodule is used for carrying out image enhancement and/or edge enhancement processing on the digital video signal preprocessed by the FPGA chip module. Because the Hi3516 chip has powerful functions and high integration level, the Hi3516 chip is used as a core processor of the thermal infrared imager core, the processing speed of images can be increased, the infrared imaging quality is optimized, and the power consumption of an infrared imaging system can be reduced.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A transformer substation patrol robot system is characterized by comprising a base station system and a mobile robot system, wherein the base station system comprises an internal local area network, first wireless communication equipment and a data display and control system which is respectively connected with the internal local area network and the first wireless communication equipment; the motion control system comprises a motion control device for controlling the robot to move, a positioning device for positioning and a holder control device for controlling the holder to move; the holder control device comprises an orientation adjusting frame used for installing a visible light camera and an infrared imager, a pitching rotating motor used for controlling the orientation adjusting frame to pitch and rotate, and a horizontal rotating motor used for controlling the orientation adjusting frame to horizontally rotate.
2. The substation patrol robot system according to claim 1, wherein the mobile robot system further comprises a sound collection device for recording operating noise of the substation equipment.
3. The substation patrol robot system according to claim 1, wherein the mobile robot system further comprises an ultraviolet detection device for detecting substation high voltage equipment arcing, flashover, and corona phenomena.
4. The substation patrol robot system according to claim 3, wherein the ultraviolet detection device comprises an ultraviolet detection tube, an ultraviolet detection tube driving board, an STM32 development board and a touch screen, the ultraviolet detection tube detects ultraviolet light emitted by discharge and sends out signals, the signals are processed by the ultraviolet detection tube driving board to form standard square waves, the square waves are sent to the AD end of the STM32 development board, the STM32 development board processes data after analog-to-digital conversion, and the signals are sent to the touch screen through STM32 development board serial port 1 communication.
5. The substation patrol robot system of claim 4, wherein the STM32 development board serial port 2 is connected to a base station system through the second wireless communication device.
6. The substation patrol robot system according to claim 1, wherein the infrared imager comprises a conditioning board, a processing board connected to the conditioning board, a compression board connected to the processing board, and interface boards connected to the compression board and the control board, respectively.
7. The substation patrol robot system of claim 6, wherein the conditioning board comprises a signal conditioning module, the compression board comprises a Hi3516 chip module; the processing board comprises an FPGA chip module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010403655.9A CN111596176A (en) | 2020-05-13 | 2020-05-13 | Inspection robot system for transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010403655.9A CN111596176A (en) | 2020-05-13 | 2020-05-13 | Inspection robot system for transformer substation |
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| Publication Number | Publication Date |
|---|---|
| CN111596176A true CN111596176A (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010403655.9A Pending CN111596176A (en) | 2020-05-13 | 2020-05-13 | Inspection robot system for transformer substation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670213A (en) * | 2021-12-30 | 2022-06-28 | 深圳潜行创新科技有限公司 | Control system of multiple cleaning modes of swimming pool cleaning robot |
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2020
- 2020-05-13 CN CN202010403655.9A patent/CN111596176A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670213A (en) * | 2021-12-30 | 2022-06-28 | 深圳潜行创新科技有限公司 | Control system of multiple cleaning modes of swimming pool cleaning robot |
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