CN112531732A - Transformer substation reactive power electrical equipment and intelligent robot linkage inspection system and method - Google Patents
Transformer substation reactive power electrical equipment and intelligent robot linkage inspection system and method Download PDFInfo
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- 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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
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- 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]
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- 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
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- 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
- H02J13/00016—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 a wired telecommunication network or a data transmission bus
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- 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
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- 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
- H02J13/00028—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 involving the use of Internet protocols
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- 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
- H02J13/00032—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for
- H02J13/00034—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for the elements or equipment being or involving an electric power substation
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- 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
- H02J13/00032—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for
- H02J13/00036—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for the elements or equipment being or involving switches, relays or circuit breakers
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
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Abstract
The invention discloses a linkage inspection system and a linkage inspection method for reactive electrical equipment and an intelligent robot of a transformer substation. The signal detection conversion device includes: the device comprises a power supply unit, a signal detection unit, a signal conversion unit, a communication unit and a device shell; after a high-voltage charge indicator at the front end detects an equipment commissioning signal, a reactive power linkage controller of the system links whether the robot carries out corresponding equipment inspection according to the setting requirement, and automatically returns to charge after the inspection is finished; the detection subsystem comprises a data management center of a background and an intelligent inspection robot; the invention adopts a mode of collecting commissioning signals, and carries out linkage temperature measurement with the robot system after reactive equipment is put into operation, thereby improving the safety of the transformer substation.
Description
Technical Field
The invention relates to the technical field of automatic monitoring and control of the state of electrical equipment in a transformer substation, in particular to a linkage inspection system and a linkage inspection method of reactive electrical equipment and an intelligent robot in the transformer substation.
Background
The transformer substation is a hub of a power transmission network, equipment inspection in operation and maintenance work of the transformer substation is basic work for safe operation of transformer substation equipment and improvement of power supply reliability, and a mode of manual inspection and manual recording is generally adopted in the prior art. Along with the enlargement of the scale of the transformer substation, the inspection area is continuously increased, the operation environment is more complex, the inspection range and the workload of the field equipment of the transformer substation are enlarged, the inspection is simply dependent on the sense organ and experience of inspection personnel, the comprehensive and accurate inspection is difficult to achieve, and the potential hazard is brought to the safe operation of the equipment and a power grid. At present, most transformer substations are upgraded to unattended transformer substations, and basically no operation and maintenance personnel are in the transformer substations during operation; the temperature of reactive electrical equipment in the transformer substation is high during normal operation, and the temperature change of the electrical equipment must be paid attention to in real time. Along with the development and maturity of the robot technology, the intelligent inspection robot assists operation and maintenance personnel to carry out daily inspection on the transformer substation equipment, and the workload of staff on duty in the station is greatly reduced.
CN107160388A discloses a transformer substation intelligence inspection robot monitoring system, through modules such as robot management, task management, real-time monitoring, inspection result affirmation analysis, solves the robot control backstage function problem non-uniformity. CN211362271U discloses an explosion-proof transformer substation patrols and examines robot, through organism structural design and video monitoring equipment, has improved the work of bearing high load for a long time and explosion-proof performance. At present, most reactive equipment in a transformer substation adopts an automatic switching mode, and when the system voltage is low, a capacitor is put into the transformer substation to improve the voltage; when the system voltage is higher, the reactor is put into use to increase the voltage. The switching of this kind of reactive equipment is by system automatic control, and unmanned on duty transformer substation does not have the operation and maintenance personnel and is standing, can't carry out the temperature measurement according to normal cycle, if this kind of reactive equipment's unusual generate heat can not be monitored, will cause safe great hidden danger. In fact, by investigating the heating defects of the transformer substations in recent years, the heating occupancy of the reactive equipment is up to more than 50%, so the intelligent inspection robot monitoring system cannot solve the abnormal heating monitoring problem of the transformer substations.
Meanwhile, the existing intelligent robot system is a set of system which operates independently and is not connected with a mistake prevention system, an auxiliary control system and the like in a transformer substation. The daily routine inspection and special inspection of the intelligent robot can only be set on a robot system, and the robot can not be accurately and pertinently inspected according to the switching condition of a transformer substation.
Disclosure of Invention
In order to solve the technical problem, the invention provides a transformer substation reactive electrical equipment and intelligent robot linkage inspection system. Firstly, a mode of collecting commissioning signals is adopted, and the commissioning signals and the robot system are linked to measure the temperature after reactive equipment is placed in, so that the operation safety of the transformer substation equipment is improved. .
The complete technical scheme of the invention comprises the following steps:
a transformer substation reactive electrical equipment and intelligent robot linkage inspection system is characterized by comprising a monitoring subsystem, a reactive linkage controller and a detection subsystem;
the monitoring subsystem comprises a high-voltage charge indicator for monitoring the operation state of the reactive electrical equipment, a signal detection and conversion device, a signal receiving switchboard and a serial server, wherein the linkage inspection system is jointly monitored by a plurality of monitoring subsystems which are not directly communicated;
the high-voltage charge indicator acquires whether the reactive equipment is electrified or not according to an induction electric field principle, takes an electrified signal as a switching signal to complete the acquisition work of the switching signal of the reactive equipment, is arranged at an isolating switch far away from a bus, and an induction probe is arranged at one side of the group of isolating switches close to a capacitor or a reactor; the signal detection and conversion device is used for receiving an output signal of the high-voltage charge indicator, adding an address code and a check code of equipment according to a communication protocol, discriminating equipment groups, ensuring the integrity in the information communication process and sending out information through a serial interface or a wireless communication module; the signal receiving switchboard is used for summarizing the information sent by the signal detection and conversion module, caching and storing the information sent by the multiple groups of signal detection and conversion modules, and then forwarding the information to the serial server; the serial server is used for receiving the information forwarded by the signal receiving switchboard and transmitting the information to the reactive power linkage controller through a 2.4G network;
the high-voltage charge indicator is normally installed outside the safe working distance, the signal detection conversion module is additionally installed in a control box of the high-voltage charge indicator, an output signal of the high-voltage charge indicator is directly and electrically connected to a signal input end of the signal detection conversion device, and a direct-current power supply of the signal detection conversion module is obtained from the high-voltage charge indicator and is electrically connected; the receiving switchboard server and the serial port service area are deployed in an outdoor receiving switchboard and serial port server control box,
the signal detection conversion apparatus includes: the device comprises a power supply unit, a signal detection unit, a signal conversion unit, a communication unit and a device shell;
the device shell contains a power supply unit, a signal detection unit, a signal conversion unit and a communication unit and is connected with the outside through a standard connector; the signal detection unit, the signal conversion unit and the communication unit are electrically connected in sequence;
the power supply unit can realize wide voltage input of 3.5V-28V, and outputs 3.3V and 5V direct current voltage after voltage stabilization to provide a stable direct current power supply for the signal detection unit, the signal conversion unit and the communication unit; the input of the power supply unit is connected to the internal switching power supply of the high-voltage charge indicator;
the signal detection unit has an optical coupling isolation function, a signal interface of the signal detection unit is connected to the output end of the high-voltage live equipment through an electric cable, the output of the 2-path high-voltage live indicator can be detected simultaneously, the output of the output signal of the high-voltage live equipment is detected accordingly, and the signal detection unit is connected with the 2-path high-voltage live indicator through a corresponding cable as required;
the signal conversion unit identifies the signal of the detection unit and automatically attaches an address code and a check code to transmit the signal to the communication unit according to a serial communication protocol;
the communication unit comprises 2 paths of RS-485, 1 path of RS-232 serial bus communication ports and 1 wireless communication module, and information can be transmitted out through the wireless communication module or the 2 paths of RS-485; the wireless communication module can realize a many-to-one networking transmission function; the receiving server of the switchboard can check and receive the information sent by a plurality of groups of detection conversion devices in real time;
the shell of the device is provided with 6 freely-adjusted mounting holes, the connection between the signal detection and conversion device and external equipment is realized through a standard connector, and the shell is made of stainless steel materials, so that the reliable grounding of the signal detection and conversion device is ensured;
after a high-voltage charge indicator at the front end detects an equipment commissioning signal, a reactive power linkage controller of the system links whether the robot carries out corresponding equipment inspection according to the setting requirement, and automatically returns to charge after the inspection is finished;
the detection subsystem comprises a data management center of a background and an intelligent inspection robot;
the data management center generates curves and reports through reactive equipment operation frequency, robot detection data and reactive equipment defect data collection, real-time monitoring, historical query and statistical analysis are facilitated, and alarm can be performed in a linkage mode when data are abnormal;
the intelligent robot system is in butt joint with the reactive power linkage controller and the data management center, the intelligent robot communication interface is used for enabling the monitoring subsystem to obtain a switching signal and sending the switching signal to the reactive power linkage controller after switching action of reactive power equipment occurs, the reactive power linkage controller transmits a remote signaling displacement signal to the switch and the disconnecting link equipment in a one-way mode to the intelligent robot, the intelligent robot patrols to the position of the switching signal source and a preset position associated in advance and conducts field equipment image acquisition and temperature measurement on the reactive power equipment, and the intelligent robot assists regulating and controlling personnel to timely and effectively confirm the state of the field equipment (the state of the field equipment comprises fault equipment and peripheral affected equipment) and conduct emergency treatment;
the intelligent robot comprises a robot main body, wherein a communication module, a main control module, a video detection module, a temperature detection module and a walking module are arranged on the main body.
The walking module is arranged below the robot main body and can be composed of walking equipment such as universal wheels. The communication module completes wireless communication between the intelligent inspection robot and the reactive power linkage controller and the data management center.
The video detection module is a high-definition camera installed on the robot main body, and collects and transmits field images to the main control module.
The temperature detection module comprises an infrared temperature measurement unit, the infrared temperature measurement unit is an infrared thermometer arranged on the main body, and infrared temperature measurement is carried out on the surface of the reactive power equipment.
Drawings
Fig. 1 is a schematic structural diagram of the linkage inspection system of the invention.
FIG. 2a is a block diagram of a monitoring subsystem;
fig. 2b is a schematic diagram of an outdoor receiving switchboard and a serial server control box;
fig. 3 is an external view of the signal detecting and converting module.
Fig. 4 is a high voltage charge indicator installation diagram.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only illustrative and are not intended to limit the present application.
The following schematically illustrates a transformer substation reactive electrical equipment and intelligent robot linkage inspection system disclosed by the invention.
As shown in fig. 1, the transformer substation reactive electric equipment and intelligent robot linkage inspection system comprises a monitoring subsystem, a reactive linkage controller and a detection subsystem.
The structure diagram of the monitoring subsystem is shown in fig. 2a, and the monitoring subsystem comprises a high-voltage live indicator for monitoring the operation state of the reactive electrical equipment, a signal detection and conversion device, a signal receiving switchboard and a serial server. Wherein, a plurality of sets of monitoring subsystems in the transformer substation monitor the normal operation of the electrical equipment together. In order to ensure the stability and the safety of the transformer substation system, a plurality of sets of monitoring subsystems are not communicated with each other directly.
The high-voltage charge indicator is used for detecting whether the electrical equipment of the open-type transformer substation is charged or not and outputting a charged signal. When the reactive equipment of the transformer substation is switched, switching signals exist in the error prevention system and the comprehensive measurement and control system, but the error prevention system and the comprehensive measurement and control system are completely closed systems, and other network signals are not allowed to be accessed from the aspect of national grid network safety, so that the auxiliary equipment, namely the high-voltage charge indicator, which meets the safety standard condition is installed on the reactive equipment site. The high-voltage charge indicator obtains whether the reactive equipment is electrified or not according to the induction electric field principle, and takes the electrified signal as a switching signal to finish the work of obtaining the switching signal of the reactive equipment. The signal detection and conversion device is used for receiving an output signal of the high-voltage charge indicator, adding an address code and a check code of equipment according to a communication protocol through an MCU (microprogrammed control Unit), discriminating equipment groups, ensuring the integrity in the information communication process and sending information out through an RS-485 serial interface or a wireless communication module; the signal receiving switchboard is used for summarizing the information sent by the signal detection and conversion module, caching and storing the information sent by the multiple groups of signal detection and conversion modules, and then forwarding the information to the serial server; the serial server is used for receiving the information forwarded by the signal receiving switchboard and transmitting the information to the reactive power linkage controller through the 2.4G network, so that the function of linkage with other systems is realized.
A schematic diagram of an outdoor receiving switchboard and a serial port server control box of the whole monitoring subsystem is shown in fig. 2b, wherein the high-voltage potential indicator of the transformer substation is normally installed outside the safe working distance, and whether the electrical equipment of the transformer substation is switched to be electrified or not can be normally detected.
The signal detection and conversion module is additionally arranged in a control box of the high-voltage charge indicator, and the output signal of the high-voltage charge indicator is directly and electrically connected to the signal input end of the signal detection and conversion device in the control box. And the direct current power supply of the signal detection conversion module is obtained from the high-voltage charge indicator to carry out simple electrical connection.
The receiving switchboard server and the serial port service area are deployed into an outdoor receiving switchboard and serial port server control box, the control box needs to be installed in a substation equipment area, receives information sent by the multiple groups of signal detection and conversion devices, and sends the information through the serial port server according to a 2.4G wireless communication network after gathering, caching and storing. Other systems in the substation acquire the current operation state of the electrical equipment of the substation by receiving the 2.4G wireless network interface, and the other systems determine whether to monitor the current electrical equipment or not so as to ensure the normal operation of the electrical equipment of the substation.
The invention relates to a structure of a signal detection and conversion device, wherein a high-voltage charge indicator in a transformer substation is only used for indicating whether open electrical equipment is charged or not, and the high-voltage charge indicator operates independently.
Therefore, the present invention provides a signal detection and conversion device for solving the problem, as shown in fig. 3, including: the device comprises a power supply unit, a signal detection unit, a signal conversion unit, a communication unit and a device shell.
The device case accommodates the power supply unit, the signal detection unit, the signal conversion unit, and the communication unit, and is connected to the outside through a standard connector. The signal detection unit, the signal conversion unit and the communication unit are electrically connected in sequence;
the power supply unit can realize wide voltage input of 3.5V-28V, and outputs 3.3V and 5V direct current voltage after voltage stabilization to provide a stable direct current power supply for the signal detection unit, the signal conversion unit and the communication unit; the input of the power supply unit is connected to a switching power supply inside the high-voltage charge indicator, and the switching power supply of the high-voltage charge indicator used in the invention is direct current 12V or 24V, so that the power supply of the signal detection conversion device is satisfied.
The signal detection unit has an optical coupling isolation function, a signal interface of the signal detection unit is connected to the output end of the high-voltage live equipment through an electric cable, the output of the 2-path high-voltage live indicator can be detected simultaneously, the output of the output signal of the high-voltage live equipment is detected accordingly, and the signal detection unit and the 2-path high-voltage live indicator are connected with corresponding cables according to requirements.
The signal conversion unit identifies the signal of the detection unit and automatically attaches an address code and a check code to transmit the signal to the communication unit according to a serial communication protocol;
the communication unit comprises 2 paths of RS-485 channels, 1 path of RS-232 serial bus communication ports and 1 wireless communication module, and information can be transmitted out through the wireless communication module or the 2 paths of RS-485 channels; the wireless communication module can realize a many-to-one networking transmission function. The communication mode works in a wireless networking mode, the communication module completes the communication, and the switchboard receiving server can check and receive information sent by a plurality of groups of detection and conversion devices in real time. Meanwhile, in order to ensure the reliability and safety in the signal transmission process, 1 RS-485 serial bus can be selected to complete networking sharing of information.
The device shell is provided with 6 freely-adjustable mounting holes, and the signal detection and conversion device is connected with external equipment through a standard connector. The device needs to be installed inside the high-voltage charge indicator, 6 freely-adjusted installation hole positions guarantee that the device can be firmly fixed, and meanwhile, the equipment shell is made of stainless steel, and the monitoring conversion device is guaranteed to be reliably grounded.
The signal detection and conversion device can realize the networking of output signals of a plurality of groups of high-voltage charge indicators and realize the linkage function of a plurality of devices in a transformer substation through information sharing.
. In terms of the installation position of the high-voltage charge indicator, each reactive equipment interval of the transformer substation consists of 2 groups of isolating switches, 1 group of circuit breakers, 1 group of current transformers, 1 group of lightning arresters, 1 group of reactors or 1 group of series-reactance connected 1 group of capacitors, and the switching action of the reactive electrical equipment is to switch in or switch off load current through the circuit breakers. Therefore, the high-voltage charge indicator of the present invention is installed at a position far from the disconnecting switch of the bus bar and the inductive probe is installed at a side of the group of disconnecting switches close to the capacitor or the reactor, and the high-voltage charge indicator is installed as shown in fig. 4.
After the high-voltage charge indicator at the front end detects an equipment operation signal, a reactive power linkage controller of the system links whether the robot carries out corresponding equipment inspection according to setting requirements, and the robot automatically returns to charge after the inspection is finished.
The detection subsystem comprises a data management center of a background and an intelligent inspection robot.
The data management center generates curves and reports through reactive equipment operation frequency, robot detection data and reactive equipment defect data collection, real-time monitoring, historical query and statistical analysis are facilitated, and alarm can be performed in a linkage mode when data are abnormal.
The intelligent robot system is in butt joint with the linkage inspection system, a communication interface adopts a factory-defined interface of a substation SCADA system, after the switching action of reactive equipment occurs, the linkage inspection system unidirectionally transmits telesignalling displacement signals to equipment such as a switch and a disconnecting link to the robot system, the robot specifically inspects a preset position associated with a linkage signal source and a preset time, and assists a regulation and control worker to timely and effectively confirm the state of field equipment (including fault equipment and peripheral affected equipment) and make emergency treatment.
The intelligent robot comprises a robot main body, wherein a communication module, a main control module, a video detection module, a temperature detection module and a walking module are arranged on the main body.
The robot main body can be composed of any frame or box body which can bear the modules in the prior art, and the walking module is arranged below the robot main body and can be composed of walking equipment such as universal wheels and the like. The communication module completes wireless communication between the intelligent inspection robot and the reactive power linkage controller and the data management center.
The video detection module is a high-definition camera installed on the robot main body, and collects and transmits field images to the main control module.
The temperature detection module comprises an infrared temperature measurement unit, the infrared temperature measurement unit is an infrared thermometer arranged on the main body, and infrared temperature measurement is carried out on the surface of the reactive power equipment.
The temperature detection module has the design idea that: according to the condition that present robot intelligence was patrolled and examined, because the mode that adopts infrared temperature measurement is mostly patrolled and examined to present robot intelligence, and because require the robot to have certain safe distance (5 ~6 meters usually) apart from idle equipment when patrolling and examining, certain temperature error can be caused to the infrared temperature measurement mode because the characteristics of itself, leads to the fact misleading and difficulty to patrolling and examining work.
The temperature measuring principle of the infrared thermometer is that the surface temperature of an object can be measured by measuring the infrared energy radiated by the object, and the infrared thermometer can be widely used in the current intelligent inspection robot for measuring the temperature remotely due to the fast response time. But infrared thermometer has two problems, and firstly the temperature measurement precision is relatively poor, and field test discovers, compares with traditional contact temperature sensor, and infrared thermometer error can reach 5~10 ℃ the highest. The other problem is that the infrared temperature measurement error is further amplified under the conditions of high ambient temperature or dust, smoke and haze. The traditional contact type temperature measurement sensor has accurate temperature measurement, but has slow response time, and generally needs about 10-30 s to react to the temperature measurement. And because the characteristics of the reactive electric equipment of the transformer substation, the contact temperature measuring sensor is not allowed to be close to the reactive equipment.
In view of the above two problems, the temperature detection module designed by the invention comprises an infrared temperature measurement unit, a temperature correction unit is additionally arranged on the reactive power linkage controller and the data management center, image data collected by the video camera is combined, simulation training is carried out by using uncharged common heating equipment, infrared and contact temperature data collection is carried out on the image data, and a correction method for infrared temperature measurement data is obtained after a large amount of historical data is analyzed and trained. The method comprises the following specific steps:
(1) during simulation training, install a flexible temperature measurement unit additional at the intelligence robot of patrolling and examining, this unit includes fixed connection's electric telescopic handle in the main part, and electric telescopic handle front end fixedly connected with connector installs contact temperature sensor on the connector, and the intelligence is patrolled and examined robot and is reachd simulated heating equipment the place ahead 70cm department, is surveyed simulated heating equipment by infrared thermometerMeasuring the temperature on the surface to obtain infrared temperature measurement data TUSimultaneously, the camera shoots an environment image, and the temperature recorded by the temperature sensor at the moment is the environment temperature data TA(ii) a Then, an electric telescopic rod of the intelligent robot extends forwards, the temperature sensor is made to contact the surface of the simulated heating equipment and stay for 30-150 s, and sensing temperature measurement data T are obtained after the temperature measurement data of the temperature sensor are stabilized to +/-0.2 DEG CC. The obtained infrared temperature measurement data TUAmbient temperature data TASensing temperature data TCAnd the environment image is sent to a data management center.
(2) The data management center processes the environment image, judges and classifies the environment conditions such as dust, smoke, haze and the like in the air which possibly interfere with the infrared temperature measurement into good (M)0) Medium interference (M)1) Severe interference (M)2) Three levels. Then, the obtained infrared temperature measurement data T is subjected to a machine learning method such as an artificial neural network modelUAmbient temperature data TASensing temperature data TCTraining with environmental conditions, in particular to the environmental temperature data TATaking the environmental condition M as the input of the neural network, and sensing temperature measurement data TCAnd infrared temperature measurement data TURatio of (A) to (B)NAs the output of the neural network. And training and optimizing the input data by adopting an artificial neural network model.
(3) In the subsequent actual inspection process, similar to the previous steps, the intelligent inspection robot carries out infrared temperature measurement, environment temperature measurement and environment image acquisition on the reactive electrical equipment, and the data management center environment temperature data TAInputting the environment condition M into a neural network, and obtaining the ratio T of the sensing temperature measurement data and the infrared temperature measurement data under the condition by using a trained neural network modelNAnd multiplying the obtained infrared temperature measurement data by the ratio to obtain the actual temperature data of the reactive electrical equipment at the moment.
In the step (1), the intelligent inspection robot judges the distance from the simulated heating equipment through the image shot by the camera by the reactive power linkage controller.
In the step (1), the intelligent inspection robot judges the distance between the temperature sensor and the simulated heating equipment through the image shot by the camera by the reactive power linkage controller.
The above applications are only some embodiments of the present application. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept herein, and it is intended to cover all such modifications and variations as fall within the scope of the invention.
Claims (1)
1. A transformer substation reactive electrical equipment and intelligent robot linkage inspection system is characterized by comprising a monitoring subsystem, a reactive linkage controller and a detection subsystem;
the monitoring subsystem comprises a high-voltage charge indicator for monitoring the operation state of the reactive electrical equipment, a signal detection and conversion device, a signal receiving switchboard and a serial server, wherein the linkage inspection system is jointly monitored by a plurality of monitoring subsystems which are not directly communicated;
the high-voltage charge indicator acquires whether the reactive equipment is electrified or not according to an induction electric field principle, takes an electrified signal as a switching signal to complete the acquisition work of the switching signal of the reactive equipment, is arranged at an isolating switch far away from a bus, and an induction probe is arranged at one side of the group of isolating switches close to a capacitor or a reactor; the signal detection and conversion device is used for receiving an output signal of the high-voltage charge indicator, adding an address code and a check code of equipment according to a communication protocol, discriminating equipment groups, ensuring the integrity in the information communication process and sending out information through a serial interface or wireless communication; the signal receiving switchboard is used for summarizing the information sent by the signal detection and conversion module, caching and storing the information sent by the multiple groups of signal detection and conversion modules, and then forwarding the information to the serial server; the serial server is used for receiving the information forwarded by the signal receiving switchboard and transmitting the information to the reactive power linkage controller through a 2.4G network;
the high-voltage charge indicator is normally installed outside the safe working distance, the signal detection conversion module is additionally installed in a control box of the high-voltage charge indicator, an output signal of the high-voltage charge indicator is directly and electrically connected to a signal input end of the signal detection conversion device, and a direct-current power supply of the signal detection conversion module is obtained from the high-voltage charge indicator and is electrically connected; the receiving switchboard server and the serial port service area are deployed in an outdoor receiving switchboard and serial port server control box,
the signal detection conversion apparatus includes: the device comprises a power supply unit, a signal detection unit, a signal conversion unit, a communication unit and a device shell;
the device shell contains a power supply unit, a signal detection unit, a signal conversion unit and a communication unit and is connected with the outside through a standard connector; the signal detection unit, the signal conversion unit and the communication unit are electrically connected in sequence;
the power supply unit can realize wide voltage input of 3.5V-28V, and outputs 3.3V and 5V direct current voltage after voltage stabilization to provide a stable direct current power supply for the signal detection unit, the signal conversion unit and the communication unit; the input of the power supply unit is connected to the internal switching power supply of the high-voltage charge indicator;
the signal detection unit has an optical coupling isolation function, a signal interface of the signal detection unit is connected to the output end of the high-voltage live equipment through an electric cable, the output of the 2-path high-voltage live indicator can be detected simultaneously, the output of the output signal of the high-voltage live equipment is detected accordingly, and the signal detection unit is connected with the 2-path high-voltage live indicator through a corresponding cable as required;
the signal conversion unit identifies the signal of the detection unit and automatically attaches an address code and a check code to transmit the signal to the communication unit according to a serial communication protocol;
the communication unit comprises 2 paths of RS-485, 1 path of RS-232 serial bus communication ports and 1 wireless communication module, and information can be transmitted out through the wireless communication module or the 2 paths of RS-485; the wireless communication module can realize a many-to-one networking transmission function; the receiving server of the switchboard can check and receive the information sent by a plurality of groups of detection conversion devices in real time;
the shell of the device is provided with 6 freely-adjusted mounting holes, the connection between the signal detection and conversion device and external equipment is realized through a standard connector, and the shell is made of stainless steel materials, so that the reliable grounding of the signal detection and conversion device is ensured;
after a high-voltage charge indicator at the front end detects an equipment commissioning signal, a reactive power linkage controller of the system links whether the robot carries out corresponding equipment inspection according to the setting requirement, and automatically returns to charge after the inspection is finished;
the detection subsystem comprises a data management center of a background and an intelligent inspection robot;
the data management center generates curves and reports through reactive equipment operation frequency, robot detection data and reactive equipment defect data collection, real-time monitoring, historical query and statistical analysis are facilitated, and alarm can be performed in a linkage mode when data are abnormal;
the intelligent robot is a track robot, a track robot system is in butt joint with a reactive power linkage controller and a data management center, a communication interface of the intelligent robot is used, after switching action of reactive equipment occurs, a monitoring subsystem obtains a switching signal and sends the switching signal to the reactive power linkage controller, the reactive power linkage controller transmits a remote signaling displacement signal to a switch and a disconnecting link device in a one-way mode to the intelligent robot, the intelligent robot patrols to a preset position in which the switching signal source position is associated with the position in advance and carries out field equipment image acquisition and temperature measurement on the reactive equipment, and a regulator is assisted to confirm the state of the field equipment (the state of the field equipment comprises fault equipment and peripheral affected equipment) timely and effectively to carry out emergency treatment;
the intelligent robot comprises a robot main body, wherein an intelligent robot communication module, a main control module, a video detection module, a temperature detection module and a walking module are arranged on the main body;
the intelligent robot communication module completes wireless communication between the intelligent inspection robot and the reactive power linkage controller as well as the data management center;
the video detection module is a high-definition camera arranged on the robot main body, and is used for collecting field images and transmitting the field images to the main control module;
the temperature detection module comprises an infrared temperature measurement unit, the infrared temperature measurement unit is an infrared thermometer arranged on the main body, and infrared temperature measurement is carried out on the surface of the reactive power equipment.
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