CN112039215A - Three-dimensional inspection system and inspection method for transformer substation - Google Patents
Three-dimensional inspection system and inspection method for transformer substation Download PDFInfo
- Publication number
- CN112039215A CN112039215A CN202011009257.5A CN202011009257A CN112039215A CN 112039215 A CN112039215 A CN 112039215A CN 202011009257 A CN202011009257 A CN 202011009257A CN 112039215 A CN112039215 A CN 112039215A
- Authority
- CN
- China
- Prior art keywords
- subunit
- inspection
- unit
- image
- transformer substation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02B90/20—Smart grids as enabling technology in buildings sector
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
Abstract
The invention relates to a transformer substation three-dimensional inspection system and an inspection method thereof, wherein the system comprises a meteorological acquisition unit, a data acquisition unit and a data analysis unit, wherein the meteorological acquisition unit is used for acquiring meteorological information of a transformer substation area and counting and analyzing the acquired meteorological information to obtain an analysis result; the RTK base station unit is used for acquiring real-time position information of a fixed RTK base station and a mobile RTK carried by an execution inspection task; the inspection unmanned aerial vehicle unit is used for executing an aerial inspection task and acquiring an image of the transformer substation; the inspection robot unit is used for executing a ground inspection task and acquiring an image of the transformer substation; and the monitoring unit is used for judging the fault area and the fault type according to the real-time position information transmitted by the RTK base station unit, the image transmitted by the inspection unmanned aerial vehicle unit and the image transmitted by the inspection robot unit. The intelligent routing inspection substation equipment fault diagnosis method and system improve the efficiency of substation equipment fault diagnosis, improve the operation and maintenance operation efficiency and flexibility, and can achieve multi-angle, omnibearing, three-dimensional and flexible intelligent routing inspection substation.
Description
Technical Field
The invention relates to a transformer substation inspection system, in particular to a transformer substation three-dimensional inspection system and an inspection method thereof.
Background
With the development of socioeconomic in China, the scale of power grid informatization and smart power grid systems is continuously enlarged, the coverage range of transformer substations and power transmission lines is wider and wider, and a new challenge is provided for the overhaul and maintenance of power equipment while convenience life is brought to people. In daily maintenance, if the manual inspection is adopted, the time and labor are consumed, the efficiency is low, and the coverage rate, timeliness and accuracy of the inspection can not be guaranteed. In order to solve the problems possibly brought by manual inspection, the intelligent robot is used for replacing the manual inspection, and the trend is gradually increased.
At present, an aerial unmanned aerial vehicle and a ground robot are used for intelligent inspection of a transformer substation, and a single combined inspection mode of 'manual operation + ground robot' or 'manual operation + aerial unmanned aerial vehicle' is mostly adopted. The single combination mode host computer can only accomplish the record and the send work of data, still needs the manual work to download to intelligent patrol and examine equipment after the host computer formulates and patrols and examines the plan, and single combination mode patrols and examines sensing equipment and look down or the angle of elevation degree has the vision blind area, needs artifical the differentiation to operation weather environment, still can not reach multi-angle, all-round, three-dimensional, flexibility intelligence and patrols and examines.
Therefore, a new system is needed to be designed, the efficiency of fault diagnosis of the substation equipment is improved, the operation and maintenance efficiency and flexibility are improved, and the intelligent inspection substation with multiple angles, all-around, three-dimensional and flexibility can be realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a transformer substation three-dimensional inspection system and an inspection method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme: a three-dimensional inspection system for a transformer substation comprises a meteorological acquisition unit, an RTK base station unit, an inspection unmanned aerial vehicle unit, an inspection robot unit and a monitoring unit;
the weather acquisition unit is used for acquiring weather information of the transformer substation area, and counting and analyzing the acquired weather information to obtain an analysis result;
the RTK base station unit is used for acquiring real-time position information of a fixed RTK base station and a mobile RTK carried by an execution inspection task;
the inspection unmanned aerial vehicle unit is used for executing an aerial inspection task and acquiring an image of a transformer substation;
the inspection robot unit is used for executing a ground inspection task and acquiring an image of the transformer substation;
and the monitoring unit is used for judging a fault area and a fault type according to the real-time position information transmitted by the RTK base station unit, the image transmitted by the inspection unmanned aerial vehicle unit and the image transmitted by the inspection robot unit.
The further technical scheme is as follows: the weather acquisition unit comprises an acquisition subunit and a monitoring analysis subunit;
the acquisition subunit is used for acquiring data of temperature, humidity, wind speed, wind direction, air pressure and rainfall of the transformer substation;
and the monitoring and analyzing subunit is used for carrying out real-time monitoring, statistics and analysis on the data acquired by the acquiring subunit to form an analysis result.
The further technical scheme is as follows: the weather acquisition unit also comprises an early warning subunit;
and the early warning subunit is used for comparing the data acquired by the acquisition subunit with a set threshold value and sending early warning information if the data exceeds the set threshold value.
The further technical scheme is as follows: the RTK base unit comprises a fixed RTK base subunit, a mobile RTK station subunit and a terminal device, wherein the fixed RTK base subunit and the mobile RTK station subunit are respectively connected with the terminal device, and the terminal device is connected with the monitoring unit.
The further technical scheme is as follows: the inspection unmanned aerial vehicle unit comprises an unmanned aerial vehicle platform subunit, an unmanned aerial vehicle mobile RTK station subunit, a camera shooting subunit and an energy monitoring subunit;
the unmanned aerial vehicle platform subunit is used for carrying inspection related equipment to execute an aerial inspection task;
the unmanned aerial vehicle mobile RTK base subunit is used for acquiring the push information of the fixed RTK base subunit, determining the current state of the fixed RTK base subunit, and sending out the state prompt information of the corresponding fixed RTK base subunit;
the camera shooting subunit is used for acquiring an image of the transformer substation and sending the image to the monitoring unit;
the energy monitoring subunit is used for detecting the electric quantity of the unmanned aerial vehicle platform subunit and sending the electric quantity to the monitoring unit.
The further technical scheme is as follows: the monitoring unit comprises a control subunit, an image processing subunit and a fault determining subunit;
the control subunit is used for controlling the inspection unmanned aerial vehicle unit and the inspection robot unit to execute corresponding inspection tasks according to the real-time position information transmitted by the RTK base station unit;
the image processing subunit is used for receiving the image transmitted by the inspection unmanned aerial vehicle unit and the image transmitted by the inspection robot unit, and performing fusion processing to generate a three-channel state image;
and the fault determining subunit is used for receiving the three-channel state image and determining a fault area and a fault type according to the three-channel state image.
The further technical scheme is as follows: the fault determining subunit comprises a damage judging module, a heating judging module and a discharging judging module;
the damage judging module is used for receiving the three-channel state image, judging whether the related equipment of the transformer substation has physical damage according to the three-channel state image, and determining the physical damage position of the equipment to be diagnosed when the related equipment of the transformer substation has physical damage;
the heating judgment module is used for receiving the three-channel state image, judging whether a heating point exceeding a preset temperature value exists in the three-channel state image or not, and determining the position and the corresponding temperature of the heating point of the related equipment of the transformer substation if the heating point exceeding the preset temperature value exists in the three-channel state image;
the discharge judgment module is used for receiving the three-channel state image, judging whether a discharge point exceeding a preset ultraviolet intensity value exists in the three-channel state image, and determining the discharge point position and the corresponding discharge intensity of the relevant equipment of the transformer substation if the discharge point exceeding the preset ultraviolet intensity value exists in the three-channel state image.
The further technical scheme is as follows: the monitoring unit also comprises a prompting subunit;
and the prompting subunit is used for carrying out corresponding early warning prompting according to the fault area and the fault type.
The further technical scheme is as follows: the prompting subunit comprises a display module and an early warning module;
the display module is used for displaying the fault area and the fault type;
and the early warning module is used for sending out corresponding sound and light alarm signals according to the fault area and the fault type.
The invention also provides a routing inspection method of the three-dimensional routing inspection system of the transformer substation, which comprises the following steps:
the method comprises the following steps that a meteorological unit collects meteorological information of a transformer substation area, statistics and analysis are conducted on the collected meteorological information to obtain an analysis result, and the analysis result is sent to a monitoring unit;
the RTK base station unit acquires real-time position information of a fixed RTK base station and a mobile RTK carried by an execution inspection task;
the inspection unmanned aerial vehicle unit executes an aerial inspection task and acquires an image of the transformer substation;
the inspection robot unit executes a ground inspection task and acquires an image of the transformer substation;
and the monitoring unit judges the fault area and the fault type according to the real-time position information transmitted by the RTK base station unit, the image transmitted by the inspection unmanned aerial vehicle unit and the image transmitted by the inspection robot unit.
Compared with the prior art, the invention has the beneficial effects that: the intelligent patrol substation is provided with a meteorological acquisition unit, an RTK base station unit, a patrol unmanned aerial vehicle unit, a patrol robot unit and a monitoring unit, wherein the patrol unmanned aerial vehicle unit and the patrol robot unit are combined to form an all-dimensional and three-dimensional patrol mode of the substation equipment, the monitoring unit diagnoses faults of images acquired by the patrol unmanned aerial vehicle unit and the patrol robot unit and position information acquired by the RTK base station unit, the efficiency of fault diagnosis of the substation equipment is improved, the operation and maintenance efficiency and flexibility are improved, the intelligent patrol substation with multi-angle, all-dimensional, three-dimensional and flexibility is realized, a meteorological information support patrol decision is formed by acquiring meteorological information of the substation, and current position information of a fixed RTK base station and a mobile RTK patrol equipment carried on the patrol equipment is acquired in real time, the patrol positioning precision is improved, and the operation efficiency is improved, and the inspection operation can be remotely executed, and the inspection flexibility is enlarged.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic block diagram of a three-dimensional inspection system of a transformer substation according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a weather acquisition unit of a three-dimensional inspection system of a transformer substation according to an embodiment of the present invention;
fig. 3 is a schematic block diagram of an RTK base station unit of a substation three-dimensional inspection system according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of an inspection unmanned aerial vehicle unit of a three-dimensional inspection system of a transformer substation according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of a monitoring unit of a substation three-dimensional inspection system according to an embodiment of the present invention;
fig. 6 is a schematic block diagram of a fault determination subunit of a substation three-dimensional inspection system according to a specific 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 will be described in detail with reference to the accompanying drawings and the detailed description.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.
According to the specific embodiment shown in fig. 1 to 6, the three-dimensional inspection system for the transformer substation provided by the embodiment can be applied to an inspection scene of power equipment in the transformer substation.
Referring to fig. 1, the three-dimensional inspection system for the transformer substation comprises a weather acquisition unit 10, an RTK base station unit 20, an inspection unmanned aerial vehicle unit 30, an inspection robot unit 40 and a monitoring unit 50;
the weather acquisition unit 10 is used for acquiring weather information of a transformer substation area, and counting and analyzing the acquired weather information to obtain an analysis result; specifically, the weather collecting unit 10 collects weather information such as humidity, wind speed, wind direction, air pressure, rainfall data and the like of the transformer substation, so as to realize real-time collection, statistics and analysis of micro-weather data of the transformer substation area, and provide the micro-weather data to the monitoring unit 50 for routing inspection planning decision.
And the RTK base station unit 20 is used for acquiring real-time position information of the fixed RTK base station and the mobile RTK carried by the execution inspection task.
The inspection unmanned aerial vehicle unit 30 is used for executing an aerial inspection task and acquiring an image of the transformer substation; specifically, the inspection unmanned aerial vehicle unit 30 executes an aerial inspection task, flies to the power equipment of the transformer substation to be inspected, acquires image information, and sends the image information to the monitoring unit 50.
The inspection robot unit 40 is used for executing a ground inspection task and acquiring an image of the transformer substation; specifically, the inspection robot unit 40 executes a ground inspection task, travels to the substation power equipment to be inspected, collects image information, and sends the image information to the monitoring unit 50.
And the monitoring unit 50 is used for judging a fault area and a fault type according to the real-time position information transmitted by the RTK base station unit 20, the image transmitted by the inspection unmanned aerial vehicle unit 30 and the image transmitted by the inspection robot unit 40. Specifically, the monitoring unit 50 analyzes weather information, operates the inspection platform, processes the acquired image, determines the fault region and the fault type, and can remotely perform inspection operation.
The system utilizes the coordination and matching of the aerial inspection unmanned aerial vehicle and the ground inspection robot to form omnibearing and three-dimensional substation equipment fault diagnosis, the visual blind area is reserved in the overlooking or elevation angle of the single combined mode inspection sensing equipment, the aerial unmanned aerial vehicle and the ground robot are carried with the visible light image, the ultraviolet image and the infrared thermal imaging image of the substation equipment, the three-channel state image is generated through the image fusion processing of the monitoring unit 50, the fault of the equipment to be diagnosed is determined by utilizing the ultraviolet imaging and the infrared thermal imaging in the three-channel state image, and the fault area is determined by utilizing the visible light image. And through collecting the meteorological information of the transformer substation, the meteorological information is analyzed and formed to support the routing inspection decision, and the current position information of the fixed RTK base station and the mobile RTK carried on the routing inspection equipment is obtained in real time, so that the routing inspection positioning precision is improved, the routing inspection operation efficiency is improved, the routing inspection operation can be remotely executed, and the routing inspection flexibility is improved.
In an embodiment, referring to fig. 2, the weather collecting unit 10 includes a collecting subunit 11 and a monitoring and analyzing subunit 12;
the collecting subunit 11 is used for collecting data of temperature, humidity, wind speed, wind direction, air pressure and rainfall of the transformer substation; specifically, the acquisition subunit 11 includes a temperature and humidity sensor, a wind speed sensor, a wind direction sensor, an air pressure sensor, and a rainfall sensor, and respectively acquires temperature and humidity, wind speed, wind direction, air pressure, and rainfall data information of the transformer substation.
And the monitoring and analyzing subunit 12 is used for monitoring, counting and analyzing the data acquired by the acquisition subunit 11 in real time to form an analysis result. The collecting subunit 11 is connected to the monitoring and analyzing subunit 12, and monitors the data information collected by the collecting subunit 11 in real time, so as to realize real-time collection, statistics and analysis of the microclimate data in the transformer substation area, form a routing inspection planning decision of the meteorological data, and feed back the decision to the monitoring unit 50.
In addition, the weather collecting unit 10 further includes an early warning subunit 13;
and the early warning subunit 13 is configured to compare the data acquired by the acquisition subunit 11 with a set threshold, and send early warning information if the data exceeds the set threshold.
In an embodiment, referring to fig. 3, the RTK base unit 20 includes a fixed RTK base subunit 21, a mobile RTK station subunit 22, and a terminal device 23, where the fixed RTK base subunit 21 and the mobile RTK station subunit 22 are respectively connected to the terminal device 23, and the terminal device 23 is connected to the monitoring unit 50.
The fixed RTK base subunit 21, the mobile RTK base subunit 22 and the terminal device 23 establish a communication connection.
The fixed RTK base subunit 21 is relative to the mobile RTK base used on mobile RTK stations such as patrol drones, patrol robots, so the fixed RTK base does not represent a fixed base. The mobile RTK station subunit 22 refers to a mobile station used on an inspection drone or an inspection robot. The fixed RTK base subunit 21 cooperates with the mobile RTK station subunit 22 for acquiring current position information of the mobile RTK station subunit 22 in real time. Terminal equipment 23 can patrol and examine unmanned aerial vehicle or patrol and examine local monitoring platform, remote control platform or the handheld remote controller etc. of robot for control, and terminal equipment 23 can control the airline route of patrolling and examining the unmanned aerial vehicle flight, patrol and examine the route of advancing etc. of robot.
The mobile RTK station subunit 22 acquires the current push information of the fixed RTK base subunit 21, determines the current state of the fixed RTK base subunit 21 according to the current push information, sends out the state prompt information of the corresponding fixed RTK base subunit 21, and the terminal device 23 acquires the state prompt information of the fixed RTK base subunit 21. The mobile RTK station subunit 22 starts to acquire the current push information of the fixed RTK base station subunit 21 at a preset time interval, which may be a fixed time interval, that is, periodically acquires the current push information of the fixed RTK base station subunit 21.
In one embodiment, the mobile RTK station subunit 22 acquires the current push information of the fixed RTK station subunit 21 every 1 minute. The mobile RTK station subunit 22 may actively request to acquire the current push information sent by the fixed RTK base station subunit 21, or may passively acquire the current push information sent by the fixed RTK base station subunit 21.
In an embodiment, referring to fig. 4, the inspection drone unit 30 includes a drone platform subunit 31, a drone mobile RTK station subunit 32, a camera subunit 33, and an energy monitoring subunit 34;
the unmanned aerial vehicle platform subunit 31 is used for carrying inspection related equipment to execute an aerial inspection task; specifically, the main part of unmanned aerial vehicle platform subunit 31 is provided with the spiral arm all around, the tip of spiral arm is provided with the motor fixing base, install the motor in the motor fixing base, be provided with the rotor on the top power output shaft of motor, the rotor outside is provided with the outer shroud, the top of unmanned aerial vehicle platform subunit 31 is provided with power supply unit, unmanned aerial vehicle platform subunit 31's main part below is provided with the control box, the control box is provided with communication module, the realization is mutual with outside communication, the control box still is provided with removal RTK station subunit 22, the control box below is provided with camera subunit 33, the control box both sides are provided with the undercarriage.
The unmanned aerial vehicle moves the RTK base subunit 32, is used for obtaining the push information of the fixed RTK base subunit 21, confirm the current state of the fixed RTK base subunit 21, send out the corresponding state prompt message of the fixed RTK base subunit 21;
the camera shooting subunit 33 is used for acquiring an image of the transformer substation and sending the image to the monitoring unit 50; specifically, the image pickup sub-unit 33 may perform image pickup using an industrial infrared-ultraviolet camera. The camera sub-unit 33 is in a normally closed state, and when receiving the instruction of the monitoring unit 50, the camera sub-unit is opened and reads data, so that effective data can be directly collected by adopting the mode, the camera is prevented from being in a normally open state to cause a large amount of invalid data, the workload of data processing is reduced, and the data is more accurate and reliable.
And the energy monitoring subunit 34 is configured to detect the electric quantity of the unmanned aerial vehicle platform subunit 31, and send the electric quantity to the monitoring unit 50.
In addition, foretell unmanned aerial vehicle of patrolling and examining still includes the inertia and measures the sub unit, and this inertia measures the sub unit and is used for detecting whether there is the trend of deviating the power equipment place of hovering and generating the negative feedback signal patrolling and examining the unmanned aerial vehicle after patrolling and examining the position that unmanned aerial vehicle arrived to patrol and examine power device place, and sends for monitoring unit 50 to make monitoring unit 50 patrol and examine unmanned aerial vehicle according to the control of negative feedback signal and carry out motion compensation along the direction opposite with external force.
In particular, the inertial measurement subunit includes a plurality of velocity sensors and a plurality of acceleration sensors. The instantaneous angular velocity of speed sensor output, acceleration sensor output unmanned aerial vehicle body is for the acceleration component of plumb line. The unmanned aerial vehicle body hovers means that the unmanned aerial vehicle is fixed to stay on a three-dimensional coordinate. When unmanned aerial vehicle receives external force influence, if influenced by magnetic field, unmanned aerial vehicle's height has when the trend of rising or reducing, perhaps influenced by wind, unmanned aerial vehicle has when being blown away from the trend of hovering the position, velocity sensor and acceleration sensor's output value generate negative feedback signal and send for the control unit after handling, monitoring unit 50 control is patrolled and examined unmanned aerial vehicle and is followed the direction motion opposite with external force, offset the influence of external force, make and patrol and examine stable hovering of unmanned aerial vehicle at the relevant position, guarantee to make a video recording subunit 33 or temperature measurement subunit data collection.
In one embodiment, the inspection robot unit 40 includes a robot platform subunit, a robot mobile RTK station subunit, a robot camera subunit, and a robot energy monitoring subunit.
The robot platform subunit is used for carrying inspection related equipment;
the robot platform subunit comprises two motors which are arranged on horizontal planes at two sides of the front end of the robot moving base, and two transmission shafts are vertical to two side edges of the moving base, opposite in direction and outward; the two front wheels are respectively arranged on the transmission shafts of the two motors and driven by the two motors to perform differential steering; the universal rear wheels are arranged on the horizontal bottom surface of the rear end of the mobile base, the universal rear wheels are arranged into two universal rear wheels, a control box is arranged above the mobile base of the robot and can be connected to a communication module of the inspection robot and perform communication interaction with the outside of the inspection robot, so that the purpose of remotely controlling the inspection robot is achieved, the control box is provided with a robot mobile RTK station subunit, and a robot camera subunit is arranged above the control box.
The robot moving RTK station subunit is used for acquiring current push information of the fixed RTK base station subunit 21; determining the current state of the fixed RTK base subunit 21 from the current push information; sending out prompt information of the state of the corresponding fixed RTK base station subunit 21 according to the current state of the fixed RTK base station subunit 21;
and the robot camera shooting subunit is used for acquiring an imaging image of the substation equipment, sending the imaging image to the monitoring unit 50, receiving the imaging image, performing fusion processing on the imaging image, generating a three-channel state image, and determining a fault area and a fault type of the substation equipment to be diagnosed according to the three-channel state image.
And the robot camera shooting subunit can adopt an infrared and ultraviolet camera to shoot.
Furthermore, the robot camera subunit is in a normally closed state, and when the command of the monitoring unit 50 is received, the robot camera subunit is opened and reads data, so that effective data can be directly acquired by adopting the method, the camera is prevented from being in a normally open state to cause a large amount of invalid data, the workload of data processing is reduced, and the data is more accurate and reliable.
And the robot energy monitoring subunit is used for detecting the electric quantity of the robot platform subunit and sending the electric quantity to the monitoring unit 50.
In an embodiment, referring to fig. 5, the monitoring unit 50 includes a control subunit 51, an image processing subunit 52 and a failure determination subunit 53;
the control subunit 51 is used for controlling the inspection unmanned aerial vehicle unit 30 and the inspection robot unit 40 to execute corresponding inspection tasks according to the real-time position information transmitted by the RTK base station unit 20; specifically, the control subunit 51 controls the inspection unmanned aerial vehicle and the inspection robot to execute work tasks according to the position signals, coordinates to carry out the inspection work of the unmanned aerial vehicle and the robot, generates image monitoring signals, sends the image monitoring signals to the camera subunit 33 of the inspection unmanned aerial vehicle and the robot camera subunit of the inspection robot, and feeds back inspection results, namely, collected images.
The image processing subunit 52 is configured to receive the image transmitted by the inspection unmanned aerial vehicle unit 30 and the image transmitted by the inspection robot unit 40, perform fusion processing on the images to generate a three-channel state image, and specifically, receive images such as a visible light image, an ultraviolet image, and an infrared thermal imaging image from the camera subunit 33 and the robot camera subunit, perform fusion processing on the images, and generate a three-channel state image;
furthermore, the image processing subunit 52 performs channel separation after acquiring the image, respectively obtains image information of the R channel, the G channel, and the B channel, performs filtering enhancement processing on the image information of the R, G, B channels, and fuses the image information of the three channels after the enhancement processing, so as to obtain a fused image. The shooting angles of the three fused images are consistent, and the power equipment to be diagnosed can have three-channel state images in multiple directions shot by an inspection unmanned aerial vehicle, an inspection robot and the like, so that the faults of the equipment can be better diagnosed.
Preferably, the image processing subunit 52 is a computer with image conversion software installed.
And the fault determining subunit 53 is configured to receive the three-channel state image, and determine a fault area and a fault type according to the three-channel state image.
In one embodiment, referring to fig. 6, the fault determination subunit 53 includes a damage determination module 531, a heat generation determination module 532 and a discharge determination module 533;
the damage judging module 531 is configured to receive the three-channel state image, judge whether the relevant equipment of the substation is physically damaged according to the three-channel state image, and determine a physical damage position of the equipment to be diagnosed when the relevant equipment of the substation is physically damaged;
the heating judgment module 532 is used for receiving the three-channel state image, judging whether a heating point exceeding a preset temperature value exists in the three-channel state image or not, and determining the position and the corresponding temperature of the heating point of the related equipment of the transformer substation if the heating point exceeding the preset temperature value exists in the three-channel state image;
the discharge determining module 533 is configured to receive the three-channel state image, determine whether a discharge point exceeding a preset ultraviolet intensity value exists in the three-channel state image, and determine a discharge point position and a corresponding discharge intensity of the relevant device of the substation if the discharge point exceeding the preset ultraviolet intensity value exists in the three-channel state image.
In addition, the monitoring unit 50 further includes a prompt subunit;
and the prompting subunit is used for carrying out corresponding early warning prompting according to the fault area and the fault type.
In an embodiment, the prompt subunit includes a display module and an early warning module;
the display module is used for displaying the fault area and the fault type;
and the early warning module is used for sending out corresponding sound and light alarm signals according to the fault area and the fault type.
The monitoring unit 50 also includes a terminal controller. The terminal controller is configured to obtain the fault region and the fault type of the electrical equipment to be diagnosed of the transformer substation, which are sent by the monitoring unit 50. The monitoring unit 50 and the terminal controller transmit data signals through a wireless network.
The inspection unmanned machine subunit and the inspection robot subunit are provided with an automatic mode and a manual mode, and when the inspection unmanned machine subunit and the inspection robot subunit are in the automatic mode, data information is preset in the monitoring unit 50 for automatic inspection; when in the manual mode, the operation and maintenance personnel can send a control instruction to the monitoring unit 50 through the terminal controller, so as to control the flight route of the unmanned aerial vehicle and the traveling path of the robot.
Furthermore, the monitoring unit 50 stores the common fault area and fault type of the substation equipment determined according to the three-channel state image, so that operation and maintenance personnel can read data conveniently, and abnormal equipment can be checked conveniently.
In an embodiment, the monitoring unit 50 may also be connected to a remote control center through communication, and the operation and control are realized on a remote control platform.
The transformer substation three-dimensional inspection system is characterized in that a weather acquisition unit 10, an RTK base station unit 20, an inspection unmanned aerial vehicle unit 30, an inspection robot unit 40 and a monitoring unit 50 are arranged, the inspection unmanned aerial vehicle unit 30 and the inspection robot unit 40 are combined to form an all-dimensional and three-dimensional inspection mode of transformer substation equipment, the monitoring unit 50 diagnoses faults of images acquired by the inspection unmanned aerial vehicle unit 30 and the inspection robot unit 40 and position information acquired by the RTK base station unit 20, the efficiency of transformer substation equipment fault diagnosis is improved, the operation and maintenance efficiency and flexibility are improved, the intelligent inspection transformer substation capable of achieving multi-angle, all-dimensional, three-dimensional and flexibility is formed by acquiring weather information of the transformer substation, analyzing and forming weather information supporting inspection decision, and acquiring current position information of a fixed RTK base station and a mobile RTK carried on the inspection equipment in real time, the inspection positioning precision is improved, the inspection working efficiency is improved, the inspection operation can be remotely executed, and the inspection flexibility is enlarged.
In an embodiment, a routing inspection method of the three-dimensional routing inspection system of the transformer substation is further provided, which includes:
the weather collecting unit 10 collects weather information of the transformer substation area, counts and analyzes the collected weather information to obtain an analysis result, and sends the analysis result to the monitoring unit 50;
the RTK base unit 20 acquires real-time position information of a fixed RTK base and a mobile RTK carried by an execution inspection task;
the inspection unmanned aerial vehicle unit 30 executes an aerial inspection task and acquires an image of the transformer substation;
the inspection robot unit 40 executes a ground inspection task and acquires an image of the substation;
the monitoring unit 50 determines the fault area and the fault type according to the real-time position information transmitted by the RTK base station unit 20, the image transmitted by the inspection unmanned aerial vehicle unit 30, and the image transmitted by the inspection robot unit 40.
It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation process of the routing inspection method of the three-dimensional routing inspection system of the transformer substation may refer to the corresponding description in the foregoing embodiment of the three-dimensional routing inspection system of the transformer substation, and for convenience and brevity of description, no further description is provided herein.
The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. A three-dimensional inspection system of a transformer substation is characterized by comprising a meteorological acquisition unit, an RTK base station unit, an inspection unmanned aerial vehicle unit, an inspection robot unit and a monitoring unit;
the weather acquisition unit is used for acquiring weather information of the transformer substation area, and counting and analyzing the acquired weather information to obtain an analysis result;
the RTK base station unit is used for acquiring real-time position information of a fixed RTK base station and a mobile RTK carried by an execution inspection task;
the inspection unmanned aerial vehicle unit is used for executing an aerial inspection task and acquiring an image of a transformer substation;
the inspection robot unit is used for executing a ground inspection task and acquiring an image of the transformer substation;
and the monitoring unit is used for judging a fault area and a fault type according to the real-time position information transmitted by the RTK base station unit, the image transmitted by the inspection unmanned aerial vehicle unit and the image transmitted by the inspection robot unit.
2. The substation three-dimensional inspection system according to claim 1, wherein the weather collecting unit comprises a collecting subunit and a monitoring and analyzing subunit;
the acquisition subunit is used for acquiring data of temperature, humidity, wind speed, wind direction, air pressure and rainfall of the transformer substation;
and the monitoring and analyzing subunit is used for carrying out real-time monitoring, statistics and analysis on the data acquired by the acquiring subunit to form an analysis result.
3. The substation three-dimensional inspection system according to claim 2, wherein the weather acquisition unit further comprises an early warning subunit;
and the early warning subunit is used for comparing the data acquired by the acquisition subunit with a set threshold value and sending early warning information if the data exceeds the set threshold value.
4. The substation stereoscopic inspection system according to claim 1, wherein the RTK base unit comprises a fixed RTK base subunit, a mobile RTK base subunit and a terminal device, the fixed RTK base subunit and the mobile RTK base subunit are respectively connected with the terminal device, and the terminal device is connected with the monitoring unit.
5. The transformer substation three-dimensional inspection system according to claim 4, wherein the inspection unmanned aerial vehicle unit comprises an unmanned aerial vehicle platform subunit, an unmanned aerial vehicle mobile RTK station subunit, a camera subunit and an energy monitoring subunit;
the unmanned aerial vehicle platform subunit is used for carrying inspection related equipment to execute an aerial inspection task;
the unmanned aerial vehicle mobile RTK base subunit is used for acquiring the push information of the fixed RTK base subunit, determining the current state of the fixed RTK base subunit, and sending out the state prompt information of the corresponding fixed RTK base subunit;
the camera shooting subunit is used for acquiring an image of the transformer substation and sending the image to the monitoring unit;
the energy monitoring subunit is used for detecting the electric quantity of the unmanned aerial vehicle platform subunit and sending the electric quantity to the monitoring unit.
6. The substation three-dimensional inspection system according to claim 1, wherein the monitoring unit comprises a control subunit, an image processing subunit and a fault determination subunit;
the control subunit is used for controlling the inspection unmanned aerial vehicle unit and the inspection robot unit to execute corresponding inspection tasks according to the real-time position information transmitted by the RTK base station unit;
the image processing subunit is used for receiving the image transmitted by the inspection unmanned aerial vehicle unit and the image transmitted by the inspection robot unit, and performing fusion processing to generate a three-channel state image;
and the fault determining subunit is used for receiving the three-channel state image and determining a fault area and a fault type according to the three-channel state image.
7. The substation three-dimensional inspection system according to claim 6, wherein the fault determination subunit comprises a damage judgment module, a heating judgment module and a discharging judgment module;
the damage judging module is used for receiving the three-channel state image, judging whether the related equipment of the transformer substation has physical damage according to the three-channel state image, and determining the physical damage position of the equipment to be diagnosed when the related equipment of the transformer substation has physical damage;
the heating judgment module is used for receiving the three-channel state image, judging whether a heating point exceeding a preset temperature value exists in the three-channel state image or not, and determining the position and the corresponding temperature of the heating point of the related equipment of the transformer substation if the heating point exceeding the preset temperature value exists in the three-channel state image;
the discharge judgment module is used for receiving the three-channel state image, judging whether a discharge point exceeding a preset ultraviolet intensity value exists in the three-channel state image, and determining the discharge point position and the corresponding discharge intensity of the relevant equipment of the transformer substation if the discharge point exceeding the preset ultraviolet intensity value exists in the three-channel state image.
8. The substation stereo inspection system according to claim 7, wherein the monitoring unit further comprises a prompt subunit;
and the prompting subunit is used for carrying out corresponding early warning prompting according to the fault area and the fault type.
9. The substation three-dimensional inspection system according to claim 8, wherein the prompting subunit comprises a display module and an early warning module;
the display module is used for displaying the fault area and the fault type;
and the early warning module is used for sending out corresponding sound and light alarm signals according to the fault area and the fault type.
10. A routing inspection method of a three-dimensional routing inspection system of a transformer substation is characterized by comprising the following steps:
the method comprises the following steps that a meteorological unit collects meteorological information of a transformer substation area, statistics and analysis are conducted on the collected meteorological information to obtain an analysis result, and the analysis result is sent to a monitoring unit;
the RTK base station unit acquires real-time position information of a fixed RTK base station and a mobile RTK carried by an execution inspection task;
the inspection unmanned aerial vehicle unit executes an aerial inspection task and acquires an image of the transformer substation;
the inspection robot unit executes a ground inspection task and acquires an image of the transformer substation;
and the monitoring unit judges the fault area and the fault type according to the real-time position information transmitted by the RTK base station unit, the image transmitted by the inspection unmanned aerial vehicle unit and the image transmitted by the inspection robot unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011009257.5A CN112039215A (en) | 2020-09-23 | 2020-09-23 | Three-dimensional inspection system and inspection method for transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011009257.5A CN112039215A (en) | 2020-09-23 | 2020-09-23 | Three-dimensional inspection system and inspection method for transformer substation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112039215A true CN112039215A (en) | 2020-12-04 |
Family
ID=73574167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011009257.5A Pending CN112039215A (en) | 2020-09-23 | 2020-09-23 | Three-dimensional inspection system and inspection method for transformer substation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112039215A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113002774A (en) * | 2021-02-19 | 2021-06-22 | 北京玄马知能科技有限公司 | Robot inspection system based on ground-air integrated cooperative work |
| CN113514778A (en) * | 2021-04-29 | 2021-10-19 | 广东电网有限责任公司 | Method and related device for detecting electric leakage of flood area |
| CN114050649A (en) * | 2021-11-12 | 2022-02-15 | 国网山东省电力公司临朐县供电公司 | Transformer substation inspection system and inspection method thereof |
| CN114114465A (en) * | 2021-11-24 | 2022-03-01 | 北京国网富达科技发展有限责任公司 | Power transmission line meteorological monitoring method and system |
| CN114845260A (en) * | 2022-04-22 | 2022-08-02 | 华北水利水电大学 | Hydrology monitoring data acquisition system based on thing networking |
| CN115273267A (en) * | 2022-07-21 | 2022-11-01 | 西安理工大学 | Power equipment inspection control method and device and power equipment inspection system |
| CN115454135A (en) * | 2022-10-08 | 2022-12-09 | 国网福建省电力有限公司超高压分公司 | Substation unmanned aerial vehicle and robot cooperative inspection method and system |
| CN116054417A (en) * | 2023-03-16 | 2023-05-02 | 山东联行智能科技有限公司 | Monitoring system and method for transformer substation |
| CN116188975A (en) * | 2023-01-03 | 2023-05-30 | 国网江西省电力有限公司电力科学研究院 | Power equipment fault identification method and system based on air-ground visual angle fusion |
| CN116388034A (en) * | 2023-03-30 | 2023-07-04 | 江苏泽宇智能电力股份有限公司 | Remote substation inspection system capable of displaying images as inspection |
| CN116707133A (en) * | 2023-06-05 | 2023-09-05 | 泰州敬道电力工程有限公司 | Intelligent control method and equipment for assembly transformer substation based on BIM technology |
| WO2024093420A1 (en) * | 2022-11-04 | 2024-05-10 | 新特能源股份有限公司 | Patrol method and apparatus for cooperative operation of unmanned aerial vehicle and ground patrol robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102280826A (en) * | 2011-07-30 | 2011-12-14 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| WO2015131462A1 (en) * | 2014-03-07 | 2015-09-11 | 国家电网公司 | Centralized monitoring system and monitoring method for unmanned aerial vehicle to patrol power transmission line |
| CN107818559A (en) * | 2017-09-22 | 2018-03-20 | 太原理工大学 | Crystal is inoculated with condition detection method and the harvester of crystal inoculation status image |
| CN109066422A (en) * | 2018-09-04 | 2018-12-21 | 南京理工大学 | A kind of substation inspection system |
| CN109142935A (en) * | 2018-10-15 | 2019-01-04 | 广东电网有限责任公司 | Crusing robot |
| CN109818416A (en) * | 2017-11-22 | 2019-05-28 | 杨娜 | A kind of multi-functional transformer station intelligent robot inspection system |
| CN110888457A (en) * | 2019-12-13 | 2020-03-17 | 云南电网有限责任公司保山供电局 | System and method for carrying out three-dimensional inspection on power transformation equipment by using unmanned aerial vehicle and robot |
| CN110957704A (en) * | 2019-12-13 | 2020-04-03 | 云南电网有限责任公司保山供电局 | Intelligent inspection method and system for protection action tripping of transformer substation |
| CN111432180A (en) * | 2020-04-26 | 2020-07-17 | 深圳供电局有限公司 | Substation equipment inspection cooperative management method |
-
2020
- 2020-09-23 CN CN202011009257.5A patent/CN112039215A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102280826A (en) * | 2011-07-30 | 2011-12-14 | 山东鲁能智能技术有限公司 | Intelligent robot inspection system and intelligent robot inspection method for transformer station |
| WO2015131462A1 (en) * | 2014-03-07 | 2015-09-11 | 国家电网公司 | Centralized monitoring system and monitoring method for unmanned aerial vehicle to patrol power transmission line |
| CN107818559A (en) * | 2017-09-22 | 2018-03-20 | 太原理工大学 | Crystal is inoculated with condition detection method and the harvester of crystal inoculation status image |
| CN109818416A (en) * | 2017-11-22 | 2019-05-28 | 杨娜 | A kind of multi-functional transformer station intelligent robot inspection system |
| CN109066422A (en) * | 2018-09-04 | 2018-12-21 | 南京理工大学 | A kind of substation inspection system |
| CN109142935A (en) * | 2018-10-15 | 2019-01-04 | 广东电网有限责任公司 | Crusing robot |
| CN110888457A (en) * | 2019-12-13 | 2020-03-17 | 云南电网有限责任公司保山供电局 | System and method for carrying out three-dimensional inspection on power transformation equipment by using unmanned aerial vehicle and robot |
| CN110957704A (en) * | 2019-12-13 | 2020-04-03 | 云南电网有限责任公司保山供电局 | Intelligent inspection method and system for protection action tripping of transformer substation |
| CN111432180A (en) * | 2020-04-26 | 2020-07-17 | 深圳供电局有限公司 | Substation equipment inspection cooperative management method |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113002774A (en) * | 2021-02-19 | 2021-06-22 | 北京玄马知能科技有限公司 | Robot inspection system based on ground-air integrated cooperative work |
| CN113514778B (en) * | 2021-04-29 | 2023-07-18 | 广东电网有限责任公司 | Flood area electric leakage detection method and device |
| CN113514778A (en) * | 2021-04-29 | 2021-10-19 | 广东电网有限责任公司 | Method and related device for detecting electric leakage of flood area |
| CN114050649A (en) * | 2021-11-12 | 2022-02-15 | 国网山东省电力公司临朐县供电公司 | Transformer substation inspection system and inspection method thereof |
| CN114114465A (en) * | 2021-11-24 | 2022-03-01 | 北京国网富达科技发展有限责任公司 | Power transmission line meteorological monitoring method and system |
| CN114845260A (en) * | 2022-04-22 | 2022-08-02 | 华北水利水电大学 | Hydrology monitoring data acquisition system based on thing networking |
| CN114845260B (en) * | 2022-04-22 | 2024-05-24 | 华北水利水电大学 | Hydrologic monitoring data acquisition system based on thing networking |
| CN115273267A (en) * | 2022-07-21 | 2022-11-01 | 西安理工大学 | Power equipment inspection control method and device and power equipment inspection system |
| CN115454135A (en) * | 2022-10-08 | 2022-12-09 | 国网福建省电力有限公司超高压分公司 | Substation unmanned aerial vehicle and robot cooperative inspection method and system |
| WO2024093420A1 (en) * | 2022-11-04 | 2024-05-10 | 新特能源股份有限公司 | Patrol method and apparatus for cooperative operation of unmanned aerial vehicle and ground patrol robot |
| CN116188975A (en) * | 2023-01-03 | 2023-05-30 | 国网江西省电力有限公司电力科学研究院 | Power equipment fault identification method and system based on air-ground visual angle fusion |
| CN116054417B (en) * | 2023-03-16 | 2023-09-19 | 山东联行智能科技有限公司 | Monitoring system and method for transformer substation |
| CN116054417A (en) * | 2023-03-16 | 2023-05-02 | 山东联行智能科技有限公司 | Monitoring system and method for transformer substation |
| CN116388034B (en) * | 2023-03-30 | 2024-03-08 | 江苏泽宇智能电力股份有限公司 | Remote substation inspection system capable of displaying images as inspection |
| CN116388034A (en) * | 2023-03-30 | 2023-07-04 | 江苏泽宇智能电力股份有限公司 | Remote substation inspection system capable of displaying images as inspection |
| CN116707133A (en) * | 2023-06-05 | 2023-09-05 | 泰州敬道电力工程有限公司 | Intelligent control method and equipment for assembly transformer substation based on BIM technology |
| CN116707133B (en) * | 2023-06-05 | 2024-02-23 | 泰州敬道电力工程有限公司 | Intelligent control method and equipment for assembly transformer substation based on BIM technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112039215A (en) | Three-dimensional inspection system and inspection method for transformer substation | |
| CN102510011B (en) | Method for realizing the intelligent tour-inspection of power tower based on miniature multi-rotor unmanned helicopter | |
| CN106886225B (en) | Multifunctional unmanned aerial vehicle intelligent landing station system | |
| CN110488841A (en) | Transformer equipment joint cruising inspection system and its application method based on intelligent robot | |
| CN107765145B (en) | Automatic partial discharge detection device, system and method | |
| CN105700544A (en) | UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station | |
| CN110658830A (en) | Power plant inspection system and control method thereof | |
| CN108255189A (en) | A kind of power patrol unmanned machine system | |
| CN105242616A (en) | Track type inspection system applied to transformer substation | |
| CN208873047U (en) | A kind of inspection device based on multi-rotor unmanned aerial vehicle | |
| CN207268846U (en) | Electric inspection process robot | |
| CN103235562A (en) | Patrol-robot-based comprehensive parameter detection system and method for substations | |
| CN102317041A (en) | Route inspecting robot and system | |
| CN107147710A (en) | A kind of power network unmanned plane inspection management control device | |
| CN110632433A (en) | Power plant equipment operation fault diagnosis system and method | |
| CN111952883B (en) | Power transmission line fault recognition system and method based on three-dimensional laser radar | |
| CN205685341U (en) | A kind of combined track formula transformer station indoor crusing robot system | |
| CN214475072U (en) | Inspection system for underground comprehensive pipe gallery | |
| WO2024093420A1 (en) | Patrol method and apparatus for cooperative operation of unmanned aerial vehicle and ground patrol robot | |
| CN210605473U (en) | Power plant inspection system | |
| CN112859917A (en) | Flight control system capable of intelligently setting safety points of air route | |
| CN208384644U (en) | Unmanned plane Power Line Inspection System | |
| CN114185363A (en) | Power inspection unmanned aerial vehicle multi-machine integrated management system based on 5G link | |
| CN210982641U (en) | Power plant equipment operation fault diagnosis system | |
| CN115188091B (en) | Unmanned aerial vehicle gridding inspection system and method integrating power transmission and transformation equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201204 |
|
| RJ01 | Rejection of invention patent application after publication |