CN112179591A - Intelligent detection vehicle for sulfur hexafluoride gas leakage of transformer substation - Google Patents
Intelligent detection vehicle for sulfur hexafluoride gas leakage of transformer substation Download PDFInfo
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- CN112179591A CN112179591A CN202010971599.9A CN202010971599A CN112179591A CN 112179591 A CN112179591 A CN 112179591A CN 202010971599 A CN202010971599 A CN 202010971599A CN 112179591 A CN112179591 A CN 112179591A
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- 238000001514 detection method Methods 0.000 title claims abstract description 82
- 229910018503 SF6 Inorganic materials 0.000 title claims abstract description 55
- SFZCNBIFKDRMGX-UHFFFAOYSA-N sulfur hexafluoride Chemical compound FS(F)(F)(F)(F)F SFZCNBIFKDRMGX-UHFFFAOYSA-N 0.000 title claims abstract description 54
- 229960000909 sulfur hexafluoride Drugs 0.000 title claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000012423 maintenance Methods 0.000 abstract description 9
- 239000007789 gas Substances 0.000 description 34
- 238000007689 inspection Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/38—Investigating fluid-tightness of structures by using light
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Emergency Alarm Devices (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses an intelligent detection vehicle for sulfur hexafluoride gas leakage of a transformer substation, which comprises a detection vehicle body, a main controller, a driving motor, a sulfur hexafluoride gas detection module, a video acquisition module, an obstacle avoidance module, an alarm module and a wireless transmission module, wherein the sulfur hexafluoride gas detection module, the video acquisition module, the obstacle avoidance module, the alarm module and the wireless transmission module are arranged on the detection vehicle body and are respectively connected with the main controller, the sulfur hexafluoride gas detection module is used for detecting sulfur hexafluoride gas leakage, the video acquisition module is used for acquiring image information of a detection area, the obstacle avoidance module is arranged on the front end face of the detection vehicle body and is used for detecting whether an obstacle exists in front of the walking path of the detection vehicle, the alarm module is used for giving an alarm when detecting sulfur hexafluoride gas leakage, and. The invention accurately positions the sulfur hexafluoride leakage point and gives an alarm, thereby greatly improving the personal safety of operation and maintenance personnel and the operation safety of equipment.
Description
Technical Field
The invention relates to an intelligent detection vehicle for sulfur hexafluoride gas leakage of a transformer substation, and belongs to the technical field of transformer overhaul and transformer operation and maintenance operation safety.
Background
At present, the popularization rate of GIS equipment in transformer substations is higher and higher, and along with the increase of equipment operation age, sulfur hexafluoride gas in the GIS equipment is influenced by arc discharge and can produce toxic gas, in order to ensure equipment operation and personnel daily operation and maintenance safety, leak detection work needs to be regularly carried out on the GIS equipment.
GIS equipment is widely used because its area is little, arc extinguishing ability is strong, advantages such as reliability height, but along with the increase of equipment operation age, GIS equipment has sulfur hexafluoride gas leakage risk.
The traditional sulfur hexafluoride gas detector is large in size and high in price, detection personnel need to enter a GIS chamber for detection in the detection process, and personal safety of the detection personnel is threatened to a certain extent.
Disclosure of Invention
In order to solve the problems, the invention provides the sulfur hexafluoride gas leakage intelligent detection vehicle for the transformer substation, which not only can reduce the detection cost of the sulfur hexafluoride gas, but also can accurately position the leakage point of the sulfur hexafluoride gas and give an alarm, and greatly improves the personal safety of operation and maintenance personnel and the operation safety of equipment.
The technical scheme adopted for solving the technical problems is as follows:
the invention provides an intelligent detection vehicle for sulfur hexafluoride gas leakage of a transformer substation, which comprises a detection vehicle body, a main controller and a driving motor, the main controller and the driving motor are arranged in the detection vehicle body, the main controller controls the driving motor to drive the detection vehicle body to walk in a transformer substation, the detection device also comprises a sulfur hexafluoride gas detection module, a video acquisition module, an obstacle avoidance module, an alarm module and a wireless transmission module which are respectively connected with the main controller, the sulfur hexafluoride gas detection module is used for detecting sulfur hexafluoride gas leakage, the video acquisition module is used for acquiring image information of a detection area, the obstacle avoidance module is arranged on the front end face of the detection vehicle body, the detection vehicle is used for detecting whether an obstacle exists in front of the traveling distance of the detection vehicle or not, the alarm module is used for giving an alarm when sulfur hexafluoride gas leakage is detected, and the wireless transmission module is used for transmitting field image information to the handheld terminal.
As a possible implementation of this embodiment, the master comprises an ardonio microcontroller.
As a possible implementation manner of this embodiment, the driving motor includes an L293D high-current H-bridge driving chip and four detection vehicle traveling wheel motors, a control end of the L293D high-current H-bridge driving chip is connected with a control output end of the master controller, and output ends of the L293D high-current H-bridge driving chip are connected with the four detection vehicle traveling wheel motors through driving circuits respectively.
As a possible implementation manner of this embodiment, the sulfur hexafluoride gas detection module includes a sulfur hexafluoride gas sensor of model YDBS-3001-SF 6.
As a possible implementation manner of this embodiment, the video capture module includes a wide-angle camera.
As a possible implementation manner of this embodiment, the obstacle avoidance module includes an ultrasonic sensor and two infrared sensors, the ultrasonic sensor is disposed at a middle position on a front end surface of the detection vehicle body, and the two infrared sensors are respectively disposed at left and right sides of the ultrasonic sensor.
As a possible implementation manner of this embodiment, the alarm module includes an active buzzer.
As a possible implementation manner of this embodiment, the wireless transmission module includes a wireless router with a model number WR 702N.
The technical scheme of the embodiment of the invention has the following beneficial effects:
the intelligent routing inspection and monitoring video real-time feedback system can realize intelligent routing inspection and real-time feedback of monitoring videos, accurately position sulfur hexafluoride leakage points and give an alarm, realize that operation and maintenance personnel can finish GIS equipment leakage detection work without entering a GIS room, and greatly improve the personal safety of the personnel and the operation safety of the equipment. The invention is suitable for routine inspection of the GIS room, accurately positions gas leakage points of the GIS room and carries out safety alarm.
Compared with the traditional sulfur hexafluoride gas detector, the intelligent detection vehicle for sulfur hexafluoride gas leakage of the transformer substation can automatically complete gas leakage detection of GIS equipment and return images in real time, and is low in cost.
Description of the drawings:
fig. 1 is a structural diagram illustrating an intelligent detection vehicle for sulfur hexafluoride gas leakage in a transformer substation according to an exemplary embodiment;
fig. 2 is a circuit diagram illustrating an infrared sensor processing circuit in accordance with an exemplary embodiment.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various examples or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
As shown in fig. 1, the sulfur hexafluoride gas leakage intelligent detection vehicle for the transformer substation provided by the embodiment of the invention comprises a detection vehicle body, a main controller and a driving motor, the main controller and the driving motor are arranged in the detection vehicle body, the main controller controls the driving motor to drive the detection vehicle body to walk in a transformer substation, the detection device also comprises a sulfur hexafluoride gas detection module, a video acquisition module, an obstacle avoidance module, an alarm module and a wireless transmission module which are respectively connected with the main controller, the sulfur hexafluoride gas detection module is used for detecting leakage of sulfur hexafluoride gas, the video acquisition module is used for acquiring image information in the detection area, the obstacle avoidance module is arranged at the front end of the detection vehicle body, the detection vehicle is used for detecting whether an obstacle exists in front of a walking path of the detection vehicle or not, the alarm module is used for giving an alarm when sulfur hexafluoride gas leakage is detected, and the wireless transmission module is used for transmitting field image information to the handheld terminal.
As a possible implementation of this embodiment, the master comprises an ardonio microcontroller.
The master controller adopts an Ardunio microcontroller from Italy, and the microcontroller adopts an AVR singlechip as a processor. The AVR adopts the RISC structure, so that the AVR series singlechip has the high-speed processing capability of 1MIPS/MHz (million instructions per second/megahertz). The AVR singlechip hardware structure adopts a compromise strategy of 8-bit computers and 16-bit computers, namely a scheme of local register file storage and single high-speed input/output (namely an input capture register, an output comparison matching register and corresponding control logic). The instruction execution speed is improved, the bottleneck phenomenon is overcome, and the function is enhanced; meanwhile, the expense for external management is reduced, the hardware structure is relatively simplified, and the cost is reduced.
As a possible implementation manner of this embodiment, the driving motor includes an L293D high-current H-bridge driving chip and four detection vehicle traveling wheel motors, a control end of the L293D high-current H-bridge driving chip is connected with a control output end of the master controller, and output ends of the L293D high-current H-bridge driving chip are connected with the four detection vehicle traveling wheel motors through driving circuits respectively.
The chip is driven by an L293D high-current H bridge, and the L293D provides bidirectional driving current up to 600 milliamperes, and the voltage is from 4.5V to 36V, and is specially used for driving inductive loads. The L293D is compatible with all TTL level input, each output is a push-pull type driving circuit, the working temperature of the push-pull type driving circuit is from 0 to 70 ℃, and the power consumption is low. Pins 2, 3 and 6, 7 of the L293D drive the two motors on the left side of the test cart, and pins 10, 11 and 14, 15 drive the two motors on the right side of the test cart, and the motor state codes are shown in the following table:
table 1: motor rotation state coding table
As a possible implementation manner of this embodiment, the sulfur hexafluoride gas detection module includes a sulfur hexafluoride gas sensor of model YDBS-3001-SF 6.
The sulfur hexafluoride gas detection module adopts a sulfur hexafluoride gas module sensor with the model of YDBS-3001-SF6, and the sensor has the advantages of high measurement sensitivity, wide measurement range and good linearity. The communication mode of the sensor adopts RS485 communication, can realize the compatibility with TTL level, and can realize the communication with the AVR singlechip without adding a level conversion circuit.
As a possible implementation manner of this embodiment, the video capture module includes a wide-angle camera.
As a possible implementation manner of this embodiment, the obstacle avoidance module includes an ultrasonic sensor and two infrared sensors, the ultrasonic sensor is disposed at a middle position on a front end surface of the detection vehicle body, and the two infrared sensors are respectively disposed at left and right sides of the ultrasonic sensor.
The obstacle avoidance module adopts an ultrasonic sensor as a main obstacle avoidance sensor and adopts a left infrared sensor and a right infrared sensor as auxiliary obstacle avoidance sensors. The HC-SR04 is adopted as the ultrasonic ranging module, the module has stable performance, a direct current 5V power supply is used for supplying power, a power supply circuit is not required to be added, the detection distance can reach 2 cm-450 cm, and the precision can reach 0.2 cm. The module adopts a single chip microcomputer I0 port TRIG to trigger ranging, 8 square waves of 40khz are sent to high level signals of at least 10us, whether the signals return or not is automatically detected, the signals return, a high level is output through an IO port ECHO, and the duration time of the high level is the time from transmitting to returning of ultrasonic waves. The probe distance is (high level time: speed of sound (340M/S))/2.
As shown in fig. 2, the processing circuit of the infrared sensor adjusts two potentiometers R23 and R24 to adjust the detection distance of the two infrared sensors to be on-off output, that is, the output is TTL level. In order to avoid the defect that the common infrared sensor is easily influenced by external light, the invention adopts the HJ-IR2 type light-resistant infrared sensor module, and the module outputs low level when detecting an obstacle and outputs high level when detecting the obstacle. When there is an obstacle in the place ahead, infrared tube sends infrared signal and receives back through infrared receiving tube, after the comparison of integrated chip enlargies, outputs the low level, lightens the LED luminotron on the module, can output a low level signal simultaneously, and the signal can regard as the signal input detection of singlechip, controls outside various drive module.
As a possible implementation manner of this embodiment, the alarm module includes an active buzzer.
When the sulfur hexafluoride gas sensor detects a leakage point, the I/O port of the singlechip outputs low level, and the active buzzer is switched on to start alarming.
As a possible implementation manner of this embodiment, the wireless transmission module includes a wireless router with a model number WR 702N.
The WR702N wireless router employs Atheros' AR9331-AL1A processor, main frequency 400MHz, which is a highly integrated and cost-effective single chip of IEEE 802.11n1x1 2.4GHz system single chip Wireless Local Area Network (WLAN) AP and router platform. The wifi trolley is controlled by communicating the router with the single chip microcomputer,
and 3 110 KV transformer substations in the district of a certain power supply company are GIS equipment. Two to three thousand yuan are needed to buy a traditional sulfur hexafluoride gas leak detector, and the operation and maintenance personnel are required to enter a GIS room for leakage detection operation during each inspection, so that the operation risk of the operation and maintenance personnel is increased. The cost of the sulfur hexafluoride gas leakage intelligent detection vehicle is only about six thousand yuan, and operation and maintenance personnel do not need to enter a GIS switch room in the whole leakage detection process, so that the personal safety of the operation and maintenance personnel is effectively ensured. By adopting the sulfur hexafluoride gas leakage intelligent detection vehicle, the inspection frequency of GIS switch room equipment can be increased, the gas leakage risk is effectively reduced, and the healthy operation level of the equipment is improved. Taking the spring inspection and the autumn inspection twice each year as an example, the method can bring indirect benefits of more than 10 ten thousand yuan to enterprises.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (8)
1. An intelligent detection vehicle for sulfur hexafluoride gas leakage of a transformer substation comprises a detection vehicle body, a main controller and a driving motor, the main controller and the driving motor are arranged in the detection vehicle body, the main controller controls the driving motor to drive the detection vehicle body to walk in a transformer substation, the sulfur hexafluoride gas detection module, the video acquisition module, the obstacle avoidance module, the alarm module and the wireless transmission module are arranged on the detection vehicle body and are respectively connected with the main controller, the sulfur hexafluoride gas detection module is used for detecting sulfur hexafluoride gas leakage, the video acquisition module is used for acquiring image information of a detection area, the obstacle avoidance module is arranged on the front end surface of the detection vehicle body, the detection vehicle is used for detecting whether an obstacle exists in front of the walking path of the vehicle body, the alarm module is used for giving an alarm when sulfur hexafluoride gas leakage is detected, and the wireless transmission module is used for transmitting field image information to the handheld terminal.
2. An intelligent substation sulfur hexafluoride gas leakage detection vehicle as claimed in claim 1, wherein said master controller comprises an ardonio microcontroller.
3. The intelligent sulfur hexafluoride gas leakage detection vehicle for the substation according to claim 1, wherein the driving motors comprise an L293D high-current H-bridge driving chip and four detection vehicle traveling wheel motors, a control end of the L293D high-current H-bridge driving chip is connected with a control output end of the main controller, and the output ends of the L293D high-current H-bridge driving chip are respectively connected with the four detection vehicle traveling wheel motors through driving circuits.
4. The intelligent sulfur hexafluoride gas leakage detection vehicle of claim 1, wherein the sulfur hexafluoride gas detection module comprises a sulfur hexafluoride gas sensor of type YDBS-3001-SF 6.
5. The intelligent substation sulfur hexafluoride gas leakage detection vehicle of claim 1, wherein the video acquisition module includes a wide-angle camera.
6. The intelligent detection vehicle for sulfur hexafluoride gas leakage in a transformer substation of claim 1, wherein the obstacle avoidance module comprises an ultrasonic sensor and two infrared sensors, the ultrasonic sensor is arranged in the middle of the front end face of the detection vehicle body, and the two infrared sensors are respectively arranged on the left side and the right side of the ultrasonic sensor.
7. The intelligent substation sulfur hexafluoride gas leakage detection vehicle of claim 1, wherein the alarm module includes an active buzzer.
8. The intelligent substation sulfur hexafluoride gas leakage detection vehicle of claim 1, wherein the wireless transmission module comprises a wireless router of model WR 702N.
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| CN202010971599.9A CN112179591A (en) | 2020-09-16 | 2020-09-16 | Intelligent detection vehicle for sulfur hexafluoride gas leakage of transformer substation |
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| CN202010971599.9A CN112179591A (en) | 2020-09-16 | 2020-09-16 | Intelligent detection vehicle for sulfur hexafluoride gas leakage of transformer substation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113514192A (en) * | 2021-06-10 | 2021-10-19 | 南方电网科学研究院有限责任公司 | Automatic detection, separation and recovery system for sulfur hexafluoride gas leakage |
| CN114062612A (en) * | 2021-11-19 | 2022-02-18 | 贵州电网有限责任公司 | Gaseous detection device of portable SF6 |
| CN114965896A (en) * | 2022-05-31 | 2022-08-30 | 广东电网有限责任公司 | Method and device for detecting concentration of indoor sulfur hexafluoride |
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Application publication date: 20210105 |