CN111665456B - Control method for self safety of unmanned aerial vehicle and safety of converter station equipment - Google Patents
Control method for self safety of unmanned aerial vehicle and safety of converter station equipment Download PDFInfo
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- CN111665456B CN111665456B CN202010476051.7A CN202010476051A CN111665456B CN 111665456 B CN111665456 B CN 111665456B CN 202010476051 A CN202010476051 A CN 202010476051A CN 111665456 B CN111665456 B CN 111665456B
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- 238000007689 inspection Methods 0.000 claims abstract description 24
- 238000009413 insulation Methods 0.000 claims description 75
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- 238000003384 imaging method Methods 0.000 claims description 33
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- 238000012423 maintenance Methods 0.000 claims description 18
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- 229920001187 thermosetting polymer Polymers 0.000 claims description 9
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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
- G01R31/56—Testing of electric apparatus
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
- 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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- 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
- G01J2005/0077—Imaging
Abstract
The invention discloses a control method for the self safety of an unmanned aerial vehicle and the safety of convertor station equipment, which belongs to the field of convertor station equipment, can realize the purpose of providing accurate positioning information for the inspection of the unmanned aerial vehicle in a convertor station by an RTK positioning technology, improves the positioning precision of the unmanned aerial vehicle during inspection, thereby improving the safety during inspection, and provides guarantee for the safety of the unmanned aerial vehicle and the convertor station equipment.
Description
Technical Field
The invention relates to the field of convertor station equipment, in particular to a control method for the safety of an unmanned aerial vehicle and the safety of convertor station equipment.
Background
The converter station is a station established in a high-voltage direct-current transmission system for converting alternating current into direct current or converting direct current into alternating current and meeting the requirements of a power system on safety, stability and power quality.
The traditional method is adopted when daily inspection and maintenance work acceptance is carried out on the converter station at the present stage, the method totally relying on manpower has many defects, so that the working efficiency is low, the working quality is not high, many parts of equipment cannot be seen during inspection, and when power failure maintenance relates to overhead work, the traditional method carries out acceptance through an ascending operation method, so that the time consumption is long.
When the unmanned aerial vehicle flies on a flight line, a common GPS is used for positioning, the error of the flight line deviation can even reach about 10 meters, if the deviation amount is too large, the unmanned aerial vehicle can be caused to collide the equipment in the station to cause accidents, and the unmanned aerial vehicle inspection mostly can only detect the dominant faults of some equipment but cannot detect the transformer insulating layer, the transformer insulating layer adopts resin pouring as main insulation, so the resin insulating layer determines the insulating property of the transformer and further determines the stability and the reliability of the transformer in operation, the insulating layer is easily influenced by mechanical force, external environment, manual operation and the like in the using process to cause cracking or damage, the part of faults are difficult to be detected by the unmanned aerial vehicle and technicians, but once no matter is found in time, the transformer is easily damaged or even is a major safety accident.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide a control method for the self safety of an unmanned aerial vehicle and the safety of converter station equipment, which can provide accurate positioning information for the inspection of the unmanned aerial vehicle in a converter station through an RTK positioning technology, improve the positioning precision of the unmanned aerial vehicle during inspection, thereby improving the safety during inspection, and provide guarantee for the safety of the unmanned aerial vehicle and the converter station equipment.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
The control method for the safety of the unmanned aerial vehicle and the safety of the converter station equipment comprises the following steps:
s1, constructing a positioning system: a reference station is arranged in the power regulation and control center, a mobile station is carried on the unmanned aerial vehicle, and signal transmission is carried out between the reference station and the mobile station through a signal transfer device, so that the safety of the unmanned aerial vehicle during routing inspection is ensured;
s2, acquiring converter station data: the method comprises the steps that accurate installation coordinate information of equipment in a converter station is obtained and stored in a database, and meanwhile, corresponding sensor modules are installed on the converter station equipment to collect data and upload the data to a cloud server in real time;
s3, unmanned aerial vehicle field inspection: the unmanned aerial vehicle specifies an optimal routing inspection path by means of a constructed positioning system, imaging acquisition and insulation detection are carried out on converter station equipment by means of a carried imaging module and an insulation maintenance module, and imaging data are uploaded to a cloud server in real time;
s4, cloud fault analysis and positioning: the cloud server analyzes a recessive fault of the positioning equipment according to the converter station data, analyzes a dominant fault of the positioning equipment according to the imaging data, and sends the analysis data to the electric power regulation and control center, and the electric power regulation and control center arranges a special person to overhaul according to the fault;
s5, analyzing and positioning field faults: an insulation overhaul module carried by the unmanned aerial vehicle detects an insulation part of converter station equipment, directly repairs the insulation part on site when repairable insulation damage is detected, and pre-embeds secondary damage color development strips for subsequent insulation damage detection;
s6, big data learning: common faults and large faults are analyzed by regularly applying big data, and a specially-assigned person is arranged to regularly cooperate with the unmanned aerial vehicle to accelerate the inspection cycle aiming at the fault parts, so that the safety of the converter station equipment is ensured.
Furthermore, the sensor module comprises a wind speed acquisition sensor, a humidity sensor, a temperature sensor, a tension sensor, a wire vibration monitor and a static inductor, so that various data of the operation of the converter station equipment are effectively acquired, and the reliability of fault detection is ensured.
Furthermore, the imaging module comprises a visible light imaging unit and a thermal infrared imaging unit, multiple imaging requirements are met by two imaging modes, the imaging detection range is enlarged, and meanwhile, the thermal infrared imaging unit can assist the insulation maintenance module to detect.
Further, the insulating module of overhauing is including installing the arm on the unmanned aerial vehicle lateral wall, the unmanned aerial vehicle one end fixedly connected with maintenance box of keeping away from of arm, install on the maintenance box and store the box, it has the insulation repair granule to store the box intussuseption, it is connected with porous box that induced drafts to overhaul box front end inlay, it is connected with the delivery pump to store between box and the porous box that induced drafts, it is connected with the electro-magnet to overhaul the box in-box inlay, it still has seted up the bar groove to overhaul the box front end, the bar inslot is equipped with a plurality of secondary damage and shows the colour bar, a pair of bilateral symmetry's heating wire is installed to bar groove department, and unmanned aerial vehicle can keep being close to the current conversion station equipment under the condition of safe distance through the arm and carry out insulation detection, simultaneously pre-buried secondary damage shows the colour bar after insulation repair.
Furthermore, the insulation repair particles comprise magnetic powder inner cores, repair resin wraps the outer surfaces of the magnetic powder inner cores, self-heating layers wrap the outer surfaces of the repair resin, the magnetic powder inner cores give magnetism to the insulation repair particles, the insulation repair particles can be recycled after detection is finished, the repair resin is used for filling and repairing damaged portions of the insulation layers, and the magnetic powder inner cores can generate heat automatically to consume and force the repair resin to be filled in the damaged portions to be repaired.
Furthermore, the magnetic powder inner core is made of a magnetic material, the repair resin is made of a thermoplastic insulating resin material, the self-heating layer is made of a self-heating material, and the self-heating layer can perform self-heating by means of oxygen in air at a damaged part to provide heat for the repair resin.
Furthermore, the particle size of the insulation repair particles is 50-100 μm, and the insulation repair particles can basically penetrate into most insulation layer damaged parts to effectively repair the insulation repair particles when stored in an oxygen-free environment.
Further, the secondary damage color development strip includes insulating cover, the equal fixedly connected with magnet piece in both ends about the insulating cover, it is a pair of fixedly connected with power rod between the magnet piece, and power rod insert locate in insulating cover, insulating cover front end fixedly connected with assorted seal membrane seals it, seal membrane one end fixedly connected with insulated column is kept away from to the seal membrane, can cover under the effect that magnetism is rejected and carry out the secondary repair protection at damaged position, utilizes the breakable characteristic of power rod, in case receive the damage just can break and be used for suggestion technical staff and make things convenient for unmanned aerial vehicle imaging to detect.
Furthermore, the sealing film is made of thermoplastic resin materials, thermosetting insulating paint is filled in the insulating sleeve, the sealing film is plasticized by heating to release the thermosetting insulating paint inside for repairing, and meanwhile, the influence on the sealing film is small.
Furthermore, the force detection rod is made of glass, and the color dye is filled in the force detection rod and can flow out after the force detection rod is broken, so that the damaged display effect is improved.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) This scheme can realize providing accurate positioning information for patrolling and examining of unmanned aerial vehicle in the converter station through RTK positioning technology, improve the positioning accuracy when unmanned aerial vehicle patrols and examines, thereby improve the security when patrolling and examining, safety to unmanned aerial vehicle and converter station equipment provides the guarantee, unmanned aerial vehicle carries on imaging module and insulating maintenance module simultaneously, the sensor module of installation in the cooperation converter station equipment, basically cover converter station equipment fault detection scope, effectively enlarge the comprehensive of patrolling and examining, especially the insulating maintenance of introducing can detect to the resin insulation layer of transformer, in case detect the damage can in time restore, avoid the further expansion of damage, monitor it simultaneously, effectively guarantee the stability and the security of later stage operation, realize the effective control to unmanned aerial vehicle and converter station equipment safety.
(2) The sensor module comprises a wind speed acquisition sensor, a humidity sensor, a temperature sensor, a tension sensor, a lead vibration monitor and a static inductor, effectively acquires various data of the operation of the converter station equipment, and ensures the reliability of fault detection.
(3) The imaging module comprises a visible light imaging unit and a thermal infrared imaging unit, multiple imaging requirements are met by two imaging modes, the imaging detection range is enlarged, and meanwhile, the thermal infrared imaging unit can assist the insulation maintenance module to detect.
(4) Insulating maintenance module is including installing the arm on the unmanned aerial vehicle lateral wall, the unmanned aerial vehicle one end fixedly connected with maintenance box of keeping away from of arm, install on the maintenance box and store the box, it has the insulation repair granule to store the box intussuseption, it inlays and is connected with porous box that induced drafts to overhaul the box front end, it is connected with the electro-magnet to store between box and the porous box that induced drafts, it has the bar groove still to overhaul the box front end, the bar inslot is equipped with a plurality of secondary damage color development strips, a pair of bilateral symmetry's heating wire is installed to bar groove department, unmanned aerial vehicle can keep being close to the converter station equipment under the condition of safe distance through the arm and carry out insulation detection, pre-buried secondary damage color development strip after insulation repair simultaneously.
(5) The insulation repair particles comprise magnetic powder inner cores, repair resin wraps the outer surfaces of the magnetic powder inner cores, self-heating layers wrap the outer surfaces of the repair resin, the magnetic powder inner cores endow the insulation repair particles with magnetism, the insulation repair particles can be recycled after detection is finished, the repair resin is used for filling and repairing damaged portions on the insulation layers, and the magnetic powder inner cores can generate heat automatically to consume and force the repair resin to be filled in the damaged portions to be repaired.
(6) The magnetic powder inner core is made of a magnetic material, the repair resin is made of a thermoplastic insulating resin material, the self-heating layer is made of a self-heating material, and the self-heating layer can perform self-heating by means of oxygen in air at a damaged part to provide heat for the repair resin.
(7) The particle size of the insulation repair particles is 50-100 mu m, and the insulation repair particles can basically penetrate into most of the damaged parts of the insulation layer to effectively repair the damaged parts when being stored in an oxygen-free environment.
(8) The secondary damage color development strip includes insulating cover, the equal fixedly connected with magnet piece in both ends about the insulating cover, fixedly connected with power rod between a pair of magnet piece, and power rod inserts and locates in the insulating cover, insulating cover front end fixedly connected with assorted seal membrane seals it, seal membrane one end fixedly connected with insulated column is kept away from to the seal membrane, can cover under magnetic repulsion's effect and carry out secondary repair protection at damaged position, utilize the breakable characteristic of power rod, in case receive the damage just can break and be used for suggestion technical staff and make things convenient for unmanned aerial vehicle imaging to detect.
(9) The sealing film is made of thermoplastic resin materials, thermosetting insulating paint is filled in the insulating sleeve, the sealing film is plasticized by heating to release the thermosetting insulating paint inside for repair, and meanwhile, the influence on the sealing film is small.
(10) The power of examining stick adopts the glass material, and its intussuseption is filled with color dye, and color dye can flow out after the power of examining stick is broken, improves damaged display effect.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic view of the structure of the insulation service module of the present invention;
FIG. 3 is a schematic view of the structure at A in FIG. 2;
FIG. 4 is a schematic view of the construction of the service box portion of the present invention;
FIG. 5 is a schematic view of the structure at B in FIG. 4;
FIG. 6 is a schematic structural view of a secondary damage color strip according to the present invention;
fig. 7 is a schematic structural view of the insulation repair particle of the present invention.
The numbering in the figures illustrates:
1 mechanical arm, 2 overhaul boxes, 3 electromagnets, 4 storage boxes, 5 delivery pumps, 6 porous air suction boxes, 7 strip-shaped grooves, 8 secondary damage color development strips, 801 insulation sleeves, 802 magnet blocks, 803 force detection rods, 804 sealing films, 805 isolation columns, 9 insulation repair particles, magnetic powder 901 inner cores, 902 repair resins, 903 self-heating layers and 10 heating wires.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is to be understood that the embodiments described are merely exemplary embodiments, rather than exemplary embodiments, and that all other embodiments may be devised by those skilled in the art without departing from the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
referring to fig. 1, a control method for the safety of an unmanned aerial vehicle and the safety of converter station equipment includes the following steps:
s1, constructing a positioning system: a reference station is arranged in the power regulation center, a mobile station is carried on the unmanned aerial vehicle, and signal transmission is carried out between the reference station and the mobile station through a signal transfer device, so that the self safety of the unmanned aerial vehicle during inspection is ensured;
s2, acquiring converter station data: the method comprises the steps that accurate installation coordinate information of equipment in a converter station is obtained and stored in a database, and meanwhile, corresponding sensor modules are installed on the converter station equipment to collect data and upload the data to a cloud server in real time;
s3, unmanned aerial vehicle field inspection: the unmanned aerial vehicle specifies an optimal routing inspection path by means of a constructed positioning system, imaging acquisition and insulation detection are carried out on converter station equipment by means of a carried imaging module and an insulation maintenance module, and imaging data are uploaded to a cloud server in real time;
s4, cloud fault analysis and positioning: the cloud server analyzes a recessive fault of the positioning equipment according to the converter station data, analyzes a dominant fault of the positioning equipment according to the imaging data, and sends the analysis data to the electric power regulation and control center, and the electric power regulation and control center arranges a special person to overhaul according to the fault;
s5, analyzing and positioning field faults: an insulation overhaul module carried by the unmanned aerial vehicle detects the insulation part of the converter station equipment, the insulation damage which can be repaired is directly repaired on site when the insulation damage which can be repaired is detected, and a secondary damage color development strip 8 is pre-buried for subsequent insulation damage detection;
s6, big data learning: common faults and large faults are analyzed by regularly applying big data, and a specially-assigned person is arranged to regularly cooperate with the unmanned aerial vehicle to accelerate the inspection cycle aiming at the fault parts, so that the safety of the converter station equipment is ensured.
The sensor module comprises a wind speed acquisition sensor, a humidity sensor, a temperature sensor, a tension sensor, a lead vibration monitor and a static inductor, effectively acquires various data of the operation of the converter station equipment, and ensures the reliability of fault detection.
The imaging module comprises a visible light imaging unit and a thermal infrared imaging unit, multiple imaging requirements are met by two imaging modes, the imaging detection range is enlarged, and meanwhile, the thermal infrared imaging unit can assist the insulation maintenance module to detect.
Please refer to fig. 2-4, the insulating module of overhauing is including installing arm 1 on the unmanned aerial vehicle lateral wall, arm 1 keeps away from unmanned aerial vehicle one end fixedly connected with maintenance box 2, install on the maintenance box 2 and store box 4, it is filled with insulation repair granule 9 to store the intussuseption of box 4, it is connected with porous box 6 that induced drafts to overhaul 2 front ends of box, it is connected with delivery pump 5 to store between box 4 and the porous box 6 that induced drafts, it is connected with electro-magnet 3 to overhaul to inlay in the box 2, strip groove 7 has still been seted up to overhaul 2 front ends of box, be equipped with a plurality of secondary damage color development strips 8 in the strip groove 7, a pair of bilateral symmetry's heating wire 10 is installed to strip groove 7 notch department, unmanned aerial vehicle can keep being close to the current conversion station equipment under the condition of safe distance through arm 1 and carry out insulation detection, simultaneously pre-buried secondary damage color development strip after insulation repair.
Referring to fig. 7, the insulation repair particle 9 includes a magnetic powder core 901, a repair resin 902 wraps the outer surface of the magnetic powder core 901, a self-heating layer 903 wraps the outer surface of the repair resin 902, the magnetic powder core 901 gives magnetism to the insulation repair particle 9, the insulation repair particle can be recycled after detection is finished, the repair resin 902 is used for filling and repairing a damaged portion on the insulation layer, the magnetic powder core 901 can self-heat to consume to force the repair resin 902 to fill the damaged portion for repair, the magnetic powder core 901 is made of a magnetic material, the repair resin 902 is made of a thermoplastic insulation resin material, the self-heating layer 903 is made of a self-heating material, the self-heating layer 903 can perform self-heating by oxygen in air of the damaged portion to provide heat for the repair resin 902, the insulation repair particle 9 has a particle size of 50-100 μm, and can be stored in an oxygen-free environment and can substantially go deep into most damaged portions of the insulation layer for effective repair.
Referring to fig. 5-6, the secondary damage color development strip 8 includes an insulating sleeve 801, magnet blocks 802 are fixedly connected to upper and lower ends of the insulating sleeve 801, a force detection rod 803 is fixedly connected between a pair of magnet blocks 802, the force detection rod 803 is inserted into the insulating sleeve 801, a matching sealing film 804 is fixedly connected to a front end of the insulating sleeve 801 to seal the insulating sleeve, an isolation pillar 805 is fixedly connected to one end of the sealing film 804 far away from the sealing film 804, the sealing film 804 can cover a damaged portion under the action of magnetic repulsion to perform secondary repair protection, the fragile characteristic of the force detection rod 803 is utilized, the sealing film is broken once damaged to prompt a technician and facilitate unmanned aerial vehicle imaging detection, the sealing film 804 is made of a thermoplastic resin material, the insulating sleeve 801 is filled with a thermosetting insulating paint, the sealing film 804 is heated to release the thermosetting insulating paint inside the plasticized material to perform repair, the influence on the sealing film is small, the force detection rod 803 is made of a glass material, and the color dye is filled in the sealing film, and the color dye can flow out after the force detection rod is broken, so that the damaged display effect set is improved.
The insulation overhaul method comprises the following specific steps: in the specification, a in fig. 2 represents converter station equipment, b represents an insulating layer, an unmanned aerial vehicle is close to the converter station equipment, an overhaul box 2 is close to the insulating layer and attached through a mechanical arm 1, a conveying pump 5 is started to pump out insulation repair particles 9 in a storage box 4 and spray the insulation repair particles onto the surface of the insulating layer, at the moment, the intact area of the surface of the insulating layer is an oxygen-free environment, the insulation repair particles 9 can normally exist, once a damaged part occurs, the damaged part contains air, the insulation repair particles 9 react with oxygen in the air to generate heat after entering the damaged part to repair the damaged part, an electromagnet 3 is started to suck the residual insulation repair particles 9 back and recover the particles through the conveying pump 5, then a thermal imaging unit is used for detecting to obtain an image of the damaged part, the mechanical arm 1 controls the overhaul box 2 to move to a strip-shaped groove 7 to align to the damaged part, the electromagnet 3 is reversely started to push out a secondary damage color development strip 8 on the front side through repulsion, then the heating wire 10 heats the insulation repair strip-shaped groove, thermosetting insulation paint inside after 804 plasticization flows out to perform secondary repair on the surface of the damaged part, and simultaneously, and the thermosetting insulation paint enters a pre-embedded film until the pre-buried film.
The invention can provide accurate positioning information for the routing inspection of the unmanned aerial vehicle in the convertor station by an RTK positioning technology, and improves the positioning precision of the unmanned aerial vehicle during routing inspection, thereby improving the safety during routing inspection and ensuring the safety of the unmanned aerial vehicle and convertor station equipment.
The above are merely preferred embodiments of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should also be able to cover the technical scope of the present invention by the equivalent or modified embodiments and the modified concepts of the present invention.
Claims (6)
1. The control method for the safety of the unmanned aerial vehicle and the safety of the converter station equipment is characterized by comprising the following steps: the method comprises the following steps:
s1, constructing a positioning system: a reference station is arranged in the power regulation center, a mobile station is carried on the unmanned aerial vehicle, and signal transmission is carried out between the reference station and the mobile station through a signal transfer device, so that the self safety of the unmanned aerial vehicle during inspection is ensured;
s2, acquiring converter station data: the method comprises the steps that accurate installation coordinate information of equipment in a converter station is obtained and stored in a database, and meanwhile, corresponding sensor modules are installed on the converter station equipment to collect data and upload the data to a cloud server in real time;
s3, unmanned aerial vehicle field inspection: the unmanned aerial vehicle appoints an optimal routing inspection path by means of a constructed positioning system, imaging acquisition and insulation detection are carried out on convertor station equipment by means of a carried imaging module and an insulation maintenance module, and imaging data are uploaded to a cloud server in real time;
s4, cloud fault analysis and positioning: the cloud server analyzes a recessive fault of the positioning equipment according to the converter station data, analyzes a dominant fault of the positioning equipment according to the imaging data, and sends the analysis data to the power regulation and control center, and the power regulation and control center arranges a specially-assigned person to overhaul according to the fault;
s5, analyzing and positioning field faults: an insulation maintenance module carried by the unmanned aerial vehicle detects the insulation part of the convertor station equipment, the insulation damage can be directly repaired on site when the repairable insulation damage is detected, and a secondary damage color development strip (8) is pre-embedded to be used for subsequent insulation damage detection;
s6, big data learning: common faults and large faults are analyzed by regularly applying big data, and a specially-assigned person is arranged to regularly cooperate with an unmanned aerial vehicle to accelerate the routing inspection period of the fault part positioned by S4 or S5, so that the safety of equipment of the convertor station is ensured;
the insulation overhaul module comprises a mechanical arm (1) arranged on the side wall of the unmanned aerial vehicle, one end, far away from the unmanned aerial vehicle, of the mechanical arm (1) is fixedly connected with an overhaul box (2), a storage box (4) is arranged on the overhaul box (2), insulation repair particles (9) are filled in the storage box (4), the front end of the overhaul box (2) is connected with a porous air suction box (6) in an embedded mode, a conveying pump (5) is connected between the storage box (4) and the porous air suction box (6), an electromagnet (3) is connected in the overhaul box (2) in an embedded mode, a strip-shaped groove (7) is further formed in the front end of the overhaul box (2), a plurality of secondary damage color-displaying strips (8) are arranged in the strip-shaped groove (7), and a pair of bilaterally symmetrical heating wires (10) is arranged at the notch of the strip-shaped groove (7);
the insulation repair particles (9) comprise magnetic powder inner cores (901), the outer surfaces of the magnetic powder inner cores (901) are wrapped with repair resin (902), and the outer surfaces of the repair resin (902) are wrapped with self-heating layers (903);
the magnetic powder inner core (901) is made of a magnetic material, the repair resin (902) is made of a thermoplastic insulating resin material, and the self-heating layer (903) is made of a self-heating material;
the secondary damage color development strip (8) comprises an insulating sleeve (801), magnet blocks (802) are fixedly connected to the upper end and the lower end of the insulating sleeve (801), one pair of force detection rods (803) are fixedly connected between the magnet blocks (802), the force detection rods (803) are inserted into the insulating sleeve (801), the front end of the insulating sleeve (801) is fixedly connected with a matched sealing film (804) to seal the sealing film, and the sealing film (804) is far away from an isolation column (805) fixedly connected with one end of the sealing film (804).
2. The control method for the unmanned aerial vehicle self safety and the convertor station equipment safety according to claim 1, wherein the control method comprises the following steps: the sensor module comprises a wind speed acquisition sensor, a humidity sensor, a temperature sensor, a tension sensor, a lead vibration monitor and an electrostatic inductor.
3. The control method for the unmanned aerial vehicle self-safety and the convertor station equipment safety according to claim 1, wherein the control method comprises the following steps: the imaging module comprises a visible light imaging unit and a thermal infrared imaging unit.
4. The control method for the unmanned aerial vehicle self safety and the convertor station equipment safety according to claim 1, wherein the control method comprises the following steps: the size of the particle diameter of the insulation repair particles (9) is 50-100 mu m, and the insulation repair particles are stored in an oxygen-free environment.
5. The control method for the unmanned aerial vehicle self safety and the convertor station equipment safety according to claim 1, wherein the control method comprises the following steps: the sealing film (804) is made of thermoplastic resin materials, and the insulating sleeve (801) is filled with thermosetting insulating paint.
6. The method for controlling the safety of the unmanned aerial vehicle and the equipment safety of the converter station according to claim 5, wherein the method comprises the following steps: the force detection rod (803) is made of glass materials, and color dyes are filled in the force detection rod.
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| CN113125504B (en) * | 2021-04-19 | 2023-01-10 | 广西天正钢结构有限公司 | Steel structure weld joint detection process |
| CN113313853A (en) * | 2021-05-31 | 2021-08-27 | 国网冀北电力有限公司检修分公司 | Direct current converter station valve room system of patrolling and examining based on unmanned aerial vehicle |
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