CN111645048A - Emergency deployment system and method for transformer substation inspection robot - Google Patents
Emergency deployment system and method for transformer substation inspection robot Download PDFInfo
- Publication number
- CN111645048A CN111645048A CN202010397647.8A CN202010397647A CN111645048A CN 111645048 A CN111645048 A CN 111645048A CN 202010397647 A CN202010397647 A CN 202010397647A CN 111645048 A CN111645048 A CN 111645048A
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- Prior art keywords
- robot
- transformer substation
- inspection robot
- substation inspection
- parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
Abstract
The invention provides an emergency deployment system and method for a transformer substation inspection robot, which comprises a machine library and a plurality of parking robots, wherein a plurality of storage positions are arranged in the machine library and are used for storing the transformer substation inspection robot and the parking robots; a power supply unit is arranged in the hangar and provides charging service for the transformer substation inspection robot and the parking robot; the storage position of the machine library at least comprises two layers; the parking robot comprises a robot body, wherein the robot body is provided with a moving mechanism for driving the robot body to move, the robot body is provided with a bearing platform for carrying the transformer substation inspection robot, at least one end of the bearing platform is provided with a ramp for the transformer substation inspection robot to move up and down, and the surface of the bearing platform is provided with a locking mechanism; the method is beneficial to improving the efficiency and quality of defect hidden danger discovery and disposal, and provides technical support for the whole life cycle management of the equipment.
Description
Technical Field
The invention belongs to the field of power equipment inspection, and particularly relates to an emergency deployment system and method for a transformer substation inspection robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The transformer substation inspection robot is used for automatic inspection, or an unattended transformer substation is constructed according to the technical scheme which is generally adopted at present.
According to the inventor, only a single substation inspection robot is considered to be stored in the existing intelligent substation or the existing unattended substation, but the existing unattended substation generally has a plurality of inspection robots, because the inspection robots of the substation have serious power consumption due to overlarge self weight, inspection operation is influenced effectively for a long time, and the deployment time of the single inspection robot is short, so that a group control or standby replacement mode can be generally adopted.
In addition, the outdoor primary equipment and the outdoor secondary equipment of the transformer substation are numerous, and accidents are easy to happen when the robot patrols and examines.
Disclosure of Invention
The invention aims to solve the problems and provides an emergency deployment system and method for a transformer substation inspection robot.
According to some embodiments, the invention adopts the following technical scheme:
an emergency deployment system of a transformer substation inspection robot comprises a machine library and a plurality of parking robots, wherein a plurality of storage positions are arranged in the machine library and used for storing the transformer substation inspection robot and the parking robots;
a power supply unit is arranged in the machine base and provides charging service for the transformer substation inspection robot and the parking robot;
the storage positions of the hangar at least comprise two layers;
the parking robot comprises a robot body, wherein the robot body is provided with a moving mechanism to drive the robot body to move, the robot body is provided with a bearing platform for carrying a transformer substation inspection robot, at least one end of the bearing platform is provided with a ramp for the transformer substation inspection robot to go up and down, and a locking mechanism is arranged on the surface of the bearing platform.
As an alternative embodiment, the lower layer stores the substation inspection robot and the parking robot, and the upper layer stores the standby substation inspection robot.
As an alternative embodiment, the locking mechanism is a locking buckle, and comprises a plurality of locking buckles and is arranged on the bearing platform.
In an alternative embodiment, the upper edge of the ramp is flush with the bearing platform, and the lower edge of the ramp is less than a set value away from the bottom end level of the walking mechanism. So as to ensure the stability and safety of the transformer substation inspection robot when going up and down.
As an alternative embodiment, a laser scanner is arranged on the robot body to determine the absolute coordinates of the robot body.
As an alternative embodiment, the laser scanner constructs a substation space coordinate, and the ground traffic area width is marked in the substation space coordinate.
As an optional implementation mode, the bearing platform is provided with the super capacitor battery, has the advantages of large capacity and quick charging, and can provide wireless charging for the outside to supplement power for the substation inspection robot.
Among the above-mentioned scheme, utilize the robot of parking to carry on the transformer substation and patrol and examine the robot and deploy the operation position fast, help promoting efficiency and the quality that defect hidden danger was discovered, was dealt with, simultaneously, just can patrol and examine the robot to the transformer substation at the in-process of carrying and charge, promote and store the electric quantity, help patrolling and examining going on smoothly of task.
As an alternative embodiment, the system further comprises a plurality of communication units, and a communication network of the communication units covers the whole area of the substation.
As an alternative embodiment, the substation inspection robot, the parking robot and the computer library are all provided with positioning units, and the positioning units are configured to determine the absolute coordinates of the robots based on the spatial coordinates of the substation in a unified coordinate system;
as an optional implementation mode, the system further comprises a navigation unit, wherein the navigation unit is configured to drive the robot to move by adopting a global optimal method according to the current positions and the storage positions of the substation inspection robot and the parking robot in the unified coordinate system, so that the tasks of anchoring deployment, charging rescue and anchoring recovery are completed.
In an alternative embodiment, the navigation unit checks the widths of the road and the cover top plate in the space coordinates of the transformer substation and the minimum turning radius of the parking robot, the area with the ratio exceeding the set value is a movable space, otherwise, the area is an immovable space, and the edge of the curb and the cover top plate is the boundary limit of the movable space.
As an alternative embodiment, the navigation unit adopts a laser scanner to construct substation space coordinates under a unified coordinate system; checking the sizes of the road of the transformer substation and the width of the cover top plate according to the minimum turning radius of the parking robot, and further determining a movable space; planning the storage positions and the sizes of the hangars according to the storage quantity and the sizes of the inspection robots of the transformer substation; and planning power supply and charging positions of the power supply unit according to the position of the hangar.
The operation method of the system comprises the following processes:
establishing a transformer substation space coordinate, and reasonably establishing the position and size of a hangar under a unified coordinate system;
marking the coordinates of substation equipment, the widths of ground traffic areas such as roads, roof covers and the like under a unified coordinate system, and determining the movable space of the parking robot;
when the inspection operation is required, planning a path and executing an anchoring deployment task in a unified coordinate system and a movable space according to the storage position and the inspection position of the inspection robot of the transformer substation and the current position of the parking robot;
when the electric quantity of the transformer substation inspection robot is insufficient, according to the inspection position of the transformer substation inspection robot and the current position of the parking robot, a path is planned in a unified coordinate system and a movable space, and a charging rescue task is executed;
when the transformer substation inspection robot fails, according to the current position, the storage position and the current position of the transformer substation inspection robot, a path is planned in a unified coordinate system and a movable space, and an anchoring recovery task is executed.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an emergency deployment method of a transformer substation inspection robot, develops a related system, solves the problem of emergency deployment of multiple transformer substation inspection robots when equipment is abnormal, and a parking robot intensively deploys multiple inspection robots to unify global path planning, thereby avoiding deadlock of multi-robot path planning algorithms in adjacent areas, preventing collision faults, improving deployment efficiency and ensuring inspection operation safety.
The transformer substation inspection robot comprises a machine library, a parking robot and auxiliary equipment such as a power supply, a communication device, a navigation device and a positioning device, wherein the machine library can simultaneously store a plurality of transformer substation inspection robots and the parking robot, and the parking robot can carry the transformer substation inspection robot to be rapidly deployed to an inspection position, so that the utilization rate of a storage space is improved, the deployment efficiency is improved, and a technical support is provided for the whole life cycle management of the equipment.
According to the invention, the parking robot is utilized to rapidly deploy the transformer substation inspection robot to the inspection operation position, so that unnecessary electric quantity consumption is reduced, and emergency power supplement is provided.
The invention adopts the laser scanner to construct the space coordinate of the transformer substation, reasonably constructs the position and the size of the hangar under a unified coordinate system, and ensures that the hangar does not interfere with the safe operation and the use of the existing equipment and buildings of the transformer substation.
In the aspect of deployment of the substation inspection robot, the parking robot is preferentially adopted to ensure rapid deployment in consideration of factors such as charging and faults, so that deployment efficiency is improved, and safety risks are reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top plan view of the hangar of the present invention;
FIG. 3 is a cross-sectional view of the hangar of the present invention;
FIG. 4 is an exterior view of the hangar of the present invention;
FIG. 5 is a schematic structural diagram of a bare machine of the parking robot of the present invention;
FIG. 6 is an expanded view of the bare machine structure of the parking robot of the present invention;
fig. 7 is a schematic diagram of the work of the parking robot carrying the substation inspection robot according to the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
As shown in fig. 1, the substation inspection robot emergency deployment system includes a hangar, a parking robot, a power supply, a navigation module, a communication module, a positioning module, and the like. The transformer substation inspection robot and the parking robot are stored in the hangar, centralized charging is achieved, unnecessary electric quantity consumption is reduced, and emergency power supplement is provided.
A hangar: the hangar provides many storage positions, can store many transformer substations and patrol and examine robot, parking robot.
A power supply module: providing wireless charging to charge the transformer substation inspection robot and the parking robot; the parking robot is internally provided with the super capacitor battery, has the advantages of large capacity and quick charging, and can externally provide wireless charging to supplement power for the inspection robot of the transformer substation.
The positioning module (at least arranged on the parking robot, and also arranged on the transformer substation inspection robot and each storage machine position simultaneously): under a unified coordinate system, a laser scanner constructs space coordinates of a transformer substation, and the parking robot determines absolute coordinates of the parking robot by adopting the laser scanner.
Navigation module (set up in the transformer substation, with each orientation module communication): in a unified coordinate system, the parking robot is driven to move and position, the transformer substation inspection robot is preferentially and optimally ensured to be rapidly deployed, and the redeployment time of the transformer substation inspection robot is shortened.
A communication module: and a full-coverage 2.4G same-name SSID communication channel is adopted.
The specific structure of the hangar is shown in fig. 2 and 3, and comprises a plurality of storage positions for respectively storing the substation inspection robot and the parking robot. In the two figures, the substation inspection robot and the parking robot are sequentially stored from left to right.
The system can also comprise a plurality of layers, such as two layers, wherein the lower layer stores the substation inspection robot and the parking robot, and the upper layer stores the standby substation inspection robot.
As shown in fig. 4, the hangar is further provided with an access door and the like.
As shown in fig. 5 and 6, the parking robot comprises a robot body, wherein the robot body is provided with a moving mechanism to drive the robot body to move, the robot body is provided with a bearing platform for supporting a transformer substation to patrol the robot, at least one end of the bearing platform is provided with a ramp for the transformer substation to patrol the robot up and down, the surface of the bearing platform is provided with a locking mechanism, a capacitor battery and a charging module are arranged inside the bearing platform, and the charging mechanism can charge the transformer substation patrol the robot in the anchoring process.
The locking mechanism is a locking buckle, comprises a plurality of locking buckles and is arranged on the bearing platform.
The upper edge of the ramp is flush with the bearing platform, and the distance between the lower edge of the ramp and the horizontal plane at the bottom end of the walking mechanism is less than a set value. So as to ensure the stability and safety of the transformer substation inspection robot when going up and down.
Of course, in some embodiments, the ramp may be provided with a multi-stage structure, as shown in fig. 7, and the ramp may be extended to multiple stages to ensure that the ramp is flush with the load-bearing platform on one side and contact or nearly contact the ground on the other side.
The parking robot body is provided with a laser scanner to determine absolute coordinates of the parking robot body.
In some embodiments, the travel mechanism is a travel wheel.
A storage and transportation system of a transformer substation inspection robot specifically comprises the following processes:
and (3) under a unified coordinate system, digitizing the space of the transformer substation, and establishing a coordinate with the key size of mm and complete attributes.
Except the geometric dimensions, the widths of ground traffic areas such as roads, roof covers and the like are marked in an important way.
The widths of the road and the cover top plate and the minimum turning radius of the parking robot are checked, and the movable space is the space with the ratio of more than 1.2 times, otherwise, the immovable space is the space; the kerb and the edge of the cover top plate are movable space boundary limits.
And under the limitation of the movable area, determining the space position and size of the hangar according to the storage quantity and size of the substation inspection robot.
When the inspection operation is required, planning a path and executing an anchoring deployment task in a unified coordinate system according to the storage position, the inspection position and the current position of the inspection robot of the transformer substation.
When the transformer substation inspection robot is insufficient in electric quantity, according to the inspection position of the transformer substation inspection robot and the current position of the parking robot, a path is planned in a unified coordinate system, and a power supply rescue task is executed.
When the transformer substation polling robot has a fault, planning a path and executing a mooring recovery task in a unified coordinate system according to the current position, the storage position and the current position of the transformer substation polling robot.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The utility model provides a transformer substation patrols and examines emergent deployment system of robot which characterized by: the system comprises a machine library and a plurality of parking robots, wherein a plurality of storage positions are arranged in the machine library and are used for storing the substation inspection robot and the parking robots;
a power supply unit is arranged in the machine base and provides charging service for the transformer substation inspection robot and the parking robot;
the storage positions of the hangar at least comprise two layers;
the parking robot comprises a robot body, wherein the robot body is provided with a moving mechanism to drive the robot body to move, the robot body is provided with a bearing platform for carrying a transformer substation inspection robot, at least one end of the bearing platform is provided with a ramp for the transformer substation inspection robot to go up and down, and a locking mechanism is arranged on the surface of the bearing platform.
2. The substation inspection robot emergency deployment system according to claim 1, characterized in that: the lower layer of the storage position of the machine library stores the substation inspection robot and the parking robot, and the upper layer stores the standby substation inspection robot.
3. The substation inspection robot emergency deployment system according to claim 1, characterized in that: the locking mechanism is a locking buckle and comprises a plurality of locking buckles, and the locking buckles are arranged on the bearing platform.
4. The substation inspection robot emergency deployment system according to claim 1, characterized in that: the upper edge of the ramp is flush with the bearing platform, and the distance between the lower edge of the ramp and the horizontal plane at the bottom end of the walking mechanism is less than a set value.
5. The substation inspection robot emergency deployment system according to claim 1, characterized in that: the robot body is provided with a laser scanner to determine absolute coordinates of the robot body.
6. The substation inspection robot emergency deployment system according to claim 1, characterized in that: the bearing platform is provided with a super capacitor battery.
7. The substation inspection robot emergency deployment system according to claim 1, characterized in that: the transformer substation communication system further comprises a plurality of communication units, and a communication network of each communication unit covers the whole area of the transformer substation.
8. The substation inspection robot emergency deployment system according to claim 1, characterized in that: the transformer substation inspection robot, the parking robot and the machine library are all provided with positioning units which are configured to determine the absolute coordinates of the robots based on the space coordinates of the transformer substation under a unified coordinate system.
9. The substation inspection robot emergency deployment system according to claim 1, characterized in that: the system comprises a transformer substation inspection robot, a parking robot and a navigation unit, wherein the transformer substation inspection robot and the parking robot are arranged in a unified coordinate system;
or the navigation unit checks the widths of the road and the cover top plate in the space coordinate of the transformer substation and the minimum turning radius of the parking robot, the area with the ratio exceeding the set value is a movable space, otherwise, the area is an unmovable space, and the edges of the curb and the cover top plate are the boundary limit of the movable space;
or the navigation unit adopts a laser scanner to construct a transformer substation space coordinate under a unified coordinate system; checking the sizes of the road of the transformer substation and the width of the cover top plate according to the minimum turning radius of the parking robot, and further determining a movable space; planning the storage positions and the sizes of the hangars according to the storage quantity and the sizes of the inspection robots of the transformer substation; and planning power supply and charging positions of the power supply unit according to the position of the hangar.
10. A method of operation based on the system of any one of claims 1 to 9, comprising the steps of:
establishing a transformer substation space coordinate, and reasonably establishing the position and size of a hangar under a unified coordinate system;
marking the coordinates of substation equipment, the widths of ground traffic areas such as roads, roof covers and the like under a unified coordinate system, and determining the movable space of the parking robot;
when the inspection operation is required, planning a path and executing an anchoring deployment task in a unified coordinate system and a movable space according to the storage position and the inspection position of the inspection robot of the transformer substation and the current position of the parking robot;
when the electric quantity of the transformer substation inspection robot is insufficient, according to the inspection position of the transformer substation inspection robot and the current position of the parking robot, a path is planned in a unified coordinate system and a movable space, and a charging rescue task is executed;
when the transformer substation inspection robot fails, according to the current position, the storage position and the current position of the transformer substation inspection robot, a path is planned in a unified coordinate system and a movable space, and an anchoring recovery task is executed.
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| CN202010397647.8A CN111645048A (en) | 2020-05-12 | 2020-05-12 | Emergency deployment system and method for transformer substation inspection robot |
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| CN114152819A (en) * | 2021-09-29 | 2022-03-08 | 国网山东省电力公司潍坊供电公司 | Mobile background machine of transformer substation and fault removing method thereof |
| CN114310889A (en) * | 2021-12-28 | 2022-04-12 | 东旭蓝天智慧能源科技有限公司 | Intelligent robot inspection system for transformer substation and access operation method thereof |
| CN114310889B (en) * | 2021-12-28 | 2023-11-14 | 东旭蓝天智慧能源科技有限公司 | Intelligent robot inspection system of transformer substation and access operation method thereof |
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