CN113485414A - Fault processing system and method for computer monitoring device of substation - Google Patents
Fault processing system and method for computer monitoring device of substation Download PDFInfo
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- CN113485414A CN113485414A CN202110712908.5A CN202110712908A CN113485414A CN 113485414 A CN113485414 A CN 113485414A CN 202110712908 A CN202110712908 A CN 202110712908A CN 113485414 A CN113485414 A CN 113485414A
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Abstract
The invention discloses a system and a method for processing faults of a computer monitoring device of a substation, which comprises an inspection robot mobile platform, an inspection unmanned aerial vehicle, a ground label positioning system and a remote control server side, wherein the inspection unmanned aerial vehicle is connected with the ground label positioning system; the inspection robot mobile platform is provided with a laser sensing module, a video acquisition mechanism, a ground tag radio frequency receiver, an information instruction receiving module and a robot control center, wherein the laser sensing module, the video acquisition mechanism, the ground tag radio frequency receiver and the information instruction receiving module are all connected with the robot control center, and the information instruction receiving module is also in communication connection with a remote control server through a wireless local area network; patrol and examine unmanned aerial vehicle and set and survey radar, make a video recording mechanism, laser emitter, distance sensor, speed controller, unmanned aerial vehicle control center, survey radar, make a video recording mechanism, laser emitter, distance sensor, speed controller and all be connected with unmanned aerial vehicle control center.
Description
Technical Field
The invention relates to the technical field of substation routing inspection, in particular to a system and a method for processing faults of a substation computer monitoring device.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The traditional transformer substation inspection mode mainly adopts means such as manual inspection, inspection robot or ground video monitoring, has some blind areas, for example equipment such as high altitude circuit, insulator can't be detected, for promoting the transformer substation and patrols and examines the quality, effectively combines the common application to the transformer substation with unmanned aerial vehicle and inspection robot and patrols and examines and is the technique of development emphatically in the future.
The unmanned aerial vehicle inspection has good advantages, but has great defects, for example, the layout of various devices in a substation is very complex, the unmanned aerial vehicle is easily subjected to electromagnetic interference in the inspection process, and safety risks exist; unmanned aerial vehicle battery electric power is not enough, and the charge time is long to lead to the time of redeploying long, can't wait for a long time, and adopts the light energy mode to charge because its light energy conversion efficiency is low problem again, leads to its unable work while accomplishing the work of charging.
Disclosure of Invention
In order to overcome the defects, the invention provides the system and the method for processing the fault of the computer monitoring device of the substation, which effectively combine the unmanned aerial vehicle and the inspection robot, not only eliminate the detection blind area of the inspection robot, but also avoid the influence of the layout of each device and the power problem of the substation on the work of the unmanned aerial vehicle, and effectively improve the inspection quality and efficiency.
The invention is realized by the following technical scheme:
in a first aspect, the invention provides a fault processing system for a computer monitoring device of a substation, which mainly comprises an inspection robot mobile platform, an inspection unmanned aerial vehicle, a ground label positioning system and a remote control server;
the ground tag positioning system comprises a ground radio frequency tag and a ground tag radio frequency receiver arranged on a mobile platform of the inspection robot;
the inspection robot mobile platform is provided with a laser sensing module, a video acquisition mechanism, a ground tag radio frequency receiver, an information instruction receiving module and a robot control center, wherein the laser sensing module, the video acquisition mechanism, the ground tag radio frequency receiver and the information instruction receiving module are all connected with the robot control center, and the information instruction receiving module is also in communication connection with a remote control server through a wireless local area network;
the inspection unmanned aerial vehicle is provided with a detection radar, a camera shooting mechanism, a laser transmitter, a distance sensor, a speed controller and an unmanned aerial vehicle control center, and the detection radar, the camera shooting mechanism, the laser transmitter, the distance sensor and the speed controller are all connected with the unmanned aerial vehicle control center;
patrol and examine unmanned aerial vehicle and place on patrolling and examining robot moving platform.
As a further technical scheme, still include the wireless module of charging, the wireless module of charging is including setting up in the wireless charging seat of patrolling and examining on the robot mobile platform and patrol and examine unmanned aerial vehicle's wireless rechargeable battery, the laser-induced module sets up and puts at wireless charging seat central point.
As a further technical scheme, the laser emitter is arranged in the middle of the bottom of the inspection unmanned aerial vehicle.
As a further technical solution, the laser sensing module cooperates with the laser emitter for positioning when the inspection unmanned aerial vehicle falls back onto the inspection robot moving platform.
As a further technical scheme, still include data transmission module, patrol and examine unmanned aerial vehicle and patrol and examine the robot mobile platform and pass through data transmission module communication connection for patrol and examine unmanned aerial vehicle and to patrol and examine the robot mobile platform transmission and shoot the image, and receive the control information who patrols and examines robot mobile platform transmission.
As a further technical solution, the ground radio frequency tag has position coordinates.
As a further technical scheme, the remote control server stores a three-dimensional model of the substation, and can determine the position of the substation and the arrangement condition of surrounding buildings according to coordinate information transmitted by the mobile platform of the inspection robot.
As a further technical scheme, the camera shooting mechanism of the inspection unmanned aerial vehicle consists of an infrared camera and a visible light camera.
In a second aspect, the present invention provides a monitoring method based on the monitoring system, specifically including:
carrying an inspection unmanned aerial vehicle on an inspection robot moving platform for inspection, wherein the inspection robot moving platform acquires coordinate information of a radio frequency tag on the ground through a ground tag radio frequency receiver and transmits the coordinate information to a remote control server, the remote control server inputs the coordinate information into a three-dimensional model of a substation, the position of the inspection robot and the arrangement condition of surrounding buildings are determined at the moment, and an inspection route of the inspection unmanned aerial vehicle is determined according to the arrangement condition of the buildings;
the remote control server transmits the inspection route information of the inspection unmanned aerial vehicle to an information instruction receiving module of an inspection robot mobile platform, and transmits the inspection route instruction to the inspection unmanned aerial vehicle through the inspection robot mobile platform in a communication manner;
the inspection unmanned aerial vehicle takes off according to the inspection navigation letter instruction to perform inspection high-altitude shooting, and the inspection robot mobile platform performs pavement shooting on the ground.
As further technical scheme, patrol and examine that unmanned aerial vehicle shoots and accomplish the back and return according to patrolling and examining the navigation letter, fall back the in-process through laser emitter transmission laser, patrol and examine that unmanned aerial vehicle carries out the position adjustment until laser irradiation patrols and examines the laser induction module on robot mobile platform, patrol and examine robot mobile platform and send the whereabouts instruction to patrolling and examining unmanned aerial vehicle, patrol and examine that unmanned aerial vehicle whereabouts charges to wireless charging seat middle part, patrol and examine that robot mobile platform removes to the next shooting place.
The invention has the beneficial effects that:
(1) the invention carries out the inspection work by the inspection unmanned aerial vehicle and the inspection robot moving platform, eliminates the detection blind area and dead angle of the inspection robot and improves the inspection quality.
(2) Patrol and examine unmanned aerial vehicle through patrolling and examining robot moving platform and carry on patrolling and examining, avoided unmanned aerial vehicle to follow the extravagant too much electric quantity of flight, and can charge to patrolling and examining unmanned aerial vehicle through wireless charging module, need not to set up the large capacity battery to unmanned aerial vehicle, reduced the unmanned aerial vehicle volume, and can also make unmanned aerial vehicle can the overlength await the order.
(3) The mobile platform of the inspection robot collects coordinate information of the ground radio frequency tag through the ground tag radio frequency receiver and transmits the coordinate information to the remote control server, and the coordinate information is input into the three-dimensional model of the substation under the work of the remote control server, so that the position of the inspection robot and the arrangement condition of surrounding buildings can be determined, an inspection route of the unmanned aerial vehicle is formulated according to the arrangement condition of the buildings, and the risk of crash caused by collision is avoided.
(4) The setting of laser emitter and laser-induced module makes the unmanned aerial vehicle of patrolling and examining can be accurate fall back to patrolling and examining robot mobile platform's wireless charging seat on, and the setting of distance sensor and speedtransmitter can be according to patrolling and examining unmanned aerial vehicle and patrolling and examining robot mobile platform's relative distance and confirm the speed of falling back for patrol and examine unmanned aerial vehicle and patrol and examine robot mobile platform and can not receive the damage because of the collision.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic block diagram of a processing system of the present invention.
Fig. 2 is a schematic diagram of the general structure of the invention.
In fig. 2, 1, patrol and examine robot mobile platform, 2, patrol and examine unmanned aerial vehicle, 3, video acquisition mechanism, 4, ground label radio frequency receiver, 5, laser induction module, 6, wireless charging seat, 7, survey radar, 8, make a video recording the mechanism, 9, laser emitter.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "front" and "rear" when used in this application shall be construed to mean that they correspond only to the directions of "up", "down", "front" and "rear" of the accompanying drawings, as they are intended and not limiting in structure, but merely to facilitate the description of the invention and to simplify the description, and shall not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore shall not be considered as limiting in the present invention.
As described in the background art, the layout of various devices in the substation is very complex, so that the unmanned aerial vehicle is easily subjected to electromagnetic interference in the inspection process, and a safety risk exists; unmanned aerial vehicle battery electric power is not enough, and the charge time is long to lead to the time of redeploying long, can't wait for a long time, and adopts the light energy mode to charge because its light energy conversion efficiency is low problem again, leads to its unable work while accomplishing the work of charging.
Example 1
Based on the above problems, the present embodiment discloses a fault handling system for a substation computer monitoring device, which includes an inspection robot mobile platform 1, an inspection unmanned aerial vehicle 2, a ground tag positioning system, and a remote control server, as shown in fig. 1-2;
the ground tag positioning system comprises a ground radio frequency tag and a ground tag radio frequency receiver arranged on a mobile platform of the inspection robot;
the inspection robot moving platform 1 is provided with a laser sensing module 5, a video acquisition mechanism 3, a ground tag radio frequency receiver 4, an information instruction receiving module and a robot control center, wherein the laser sensing module, the video acquisition mechanism, the ground tag radio frequency receiver and the information instruction receiving module are respectively connected with the robot control center, and the information instruction receiving module is also in communication connection with a remote control server through a wireless local area network;
the ground radio frequency tag is provided with a position coordinate, the mobile platform of the inspection robot can receive the position coordinate information through the ground tag radio frequency receiver 4 and transmit the position coordinate information to the remote control server through wireless local area network communication, the remote control server stores a three-dimensional model of the substation, and after the coordinate position is input into the three-dimensional model, the position of the mobile platform of the inspection robot can be determined, and accurate position positioning is achieved.
The inspection unmanned aerial vehicle 2 is provided with a detection radar 7, a camera shooting mechanism 8, a laser emitter 9, a distance sensor and a speed controller and is respectively connected with an unmanned aerial vehicle control center;
patrol and examine unmanned aerial vehicle 2 and place on patrolling and examining robot mobile platform 1, when need not carry out high altitude shooting, patrol and examine unmanned aerial vehicle and carry on patrolling and examining robot mobile platform, thereby reduce the waste of patrolling and examining the unmanned aerial vehicle electric quantity, when patrolling and examining robot mobile platform with coordinate information transmission to remote control service end, remote control service end can confirm simultaneously patrolling and examining unmanned aerial vehicle and patrol and examine robot mobile platform's position, and confirm the building condition of laying around this position according to positional information and three-dimensional model, thereby formulate reasonable unmanned aerial vehicle and patrol and examine the course and transmit, it patrols and examines the course information through information instruction receiving module receipt to patrol and examine robot mobile platform.
Patrol and examine unmanned aerial vehicle and patrol and examine robot mobile platform and pass through data transmission module and realize communication connection, the effect of data transmission module after patrolling and examining the course information is received to patrol and examine unmanned aerial vehicle when patrolling and examining the robot mobile platform, make and patrol and examine unmanned aerial vehicle according to patrolling and examining the course flight, need not artificial control flight course, the interference of electromagnetism to control signal has been avoided, it is established to combine the laying condition of position information and building around this position to patrol and examine the course, the problem of hindering of building to unmanned aerial vehicle flight has been avoided, the emergence of crash phenomenon has effectively been avoided, and patrol and examine still be equipped with the detection radar on the unmanned aerial vehicle, when special circumstances appears, the accessible detects the radar and surveys foreign matter around the detection, the ability that patrols and examines the robot and evade the risk has further been improved.
Patrol and examine unmanned aerial vehicle and shoot around equipment through mechanism of making a video recording 8, wherein make a video recording the mechanism and include infrared camera and visible light camera for patrol and examine unmanned aerial vehicle and not receive the influence of light and sunshine, all can shoot daytime and night.
When patrolling and examining unmanned aerial vehicle and carrying out the high altitude shooting, patrolling and examining robot mobile platform can carry out the land shooting simultaneously through video acquisition mechanism, and the unmanned aerial vehicle of patrolling and examining transmits the video image who shoots to patrolling and examining robot mobile platform through data transmission module in the shooting process, and patrols and examines robot mobile platform and collect video image information and wireless transmission to remote control service end.
After the inspection is finished, the inspection unmanned aerial vehicle returns according to the inspection route, laser is emitted through a laser emitter at the bottom of the inspection unmanned aerial vehicle in the falling process and is matched with a laser sensing module on a mobile platform of the inspection robot, so that the falling point is determined, and the inspection unmanned aerial vehicle is provided with a distance sensor and a speed controller, so that the falling speed can be determined according to the relative position between the unmanned aerial vehicle and the inspection robot in the falling process;
wherein laser-induced module sets up the central point that patrols and examines the wireless charging seat of robot mobile platform and puts, and this makes the unmanned aerial vehicle of patrolling and examining can be accurate fall to wireless charging seat 6 on, and can be according to relative distance control falling speed, the emergence of the device damage problem that has avoided the collision to arouse makes under the effect of the wireless module of charging patrol and examine the unmanned aerial vehicle can no longer work power consumptive and can carry out the electric quantity replenishment when reaching next position of patrolling and examining.
Example 2
Based on the monitoring system, the embodiment further provides a monitoring method, which specifically includes:
carrying an inspection unmanned aerial vehicle on an inspection robot moving platform for inspection, wherein the inspection robot moving platform acquires coordinate information of a radio frequency tag on the ground through a ground tag radio frequency receiver and transmits the coordinate information to a remote control service end through a wireless network in the inspection process, the remote control service end inputs the coordinate information into a three-dimensional model of a substation, the position of the inspection robot and the arrangement condition of surrounding buildings are determined at the moment, and an inspection route of the inspection unmanned aerial vehicle is formulated according to the arrangement condition of the buildings;
the remote control server wirelessly transmits the inspection course information of the inspection unmanned aerial vehicle to an information instruction receiving module of an inspection robot mobile platform, the inspection robot mobile platform transmits the inspection course information to the inspection unmanned aerial vehicle through a data transmission module, and the inspection unmanned aerial vehicle takes off and performs inspection work according to the inspection course and simultaneously detects foreign matters by using a detection radar;
the inspection unmanned aerial vehicle shoots surrounding equipment at high altitude through the camera mechanism, meanwhile, the inspection robot mobile platform shoots the land through the video acquisition mechanism, and images shot by the unmanned aerial vehicle are transmitted to the inspection robot mobile platform through the data transmission module, collected and transmitted to the remote control server through wireless transmission;
patrol and examine the completion back, patrol and examine unmanned aerial vehicle and return according to patrolling and examining the airline, the in-process of falling back is through bottom laser emitter transmission laser, realize the centering after laser induction module on patrolling and examining robot moving platform senses the laser, through data transmission system to patrolling and examining unmanned aerial vehicle transmission whereabouts information, patrol and examine unmanned aerial vehicle whereabouts in-process through distance sensor and speed controller's cooperation, according to the speed of falling apart from control, until patrolling and examining unmanned aerial vehicle steadily fall to patrol and examine robot moving platform's wireless charging seat, accomplish the back of patrolling and examining unmanned aerial vehicle and carry out wireless charging, patrol and examine robot moving platform and remove to the next shooting place, and repeat above-mentioned work.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A fault processing system for a computer monitoring device of a substation is characterized by comprising an inspection robot moving platform, an inspection unmanned aerial vehicle, a ground label positioning system and a remote control server side;
the ground tag positioning system comprises a ground radio frequency tag and a ground tag radio frequency receiver arranged on a mobile platform of the inspection robot;
the inspection robot mobile platform is provided with a laser sensing module, a video acquisition mechanism, a ground tag radio frequency receiver, an information instruction receiving module and a robot control center, wherein the laser sensing module, the video acquisition mechanism, the ground tag radio frequency receiver and the information instruction receiving module are all connected with the robot control center, and the information instruction receiving module is also in communication connection with a remote control server through a wireless local area network;
the inspection unmanned aerial vehicle is provided with a detection radar, a camera shooting mechanism, a laser transmitter, a distance sensor, a speed controller and an unmanned aerial vehicle control center, and the detection radar, the camera shooting mechanism, the laser transmitter, the distance sensor and the speed controller are all connected with the unmanned aerial vehicle control center;
patrol and examine unmanned aerial vehicle and place on patrolling and examining robot moving platform.
2. The system of claim 1, further comprising a wireless charging module, wherein the wireless charging module comprises a wireless charging base disposed on the mobile platform of the inspection robot and a wireless rechargeable battery of the inspection unmanned aerial vehicle, and the laser sensing module is disposed at a central position of the wireless charging base.
3. The system for processing the fault of the computer monitoring device of the substation according to claim 1, wherein the laser transmitter is arranged at the middle position of the bottom of the inspection unmanned aerial vehicle.
4. The system of claim 2, wherein the laser sensing module is used in cooperation with a laser emitter to locate the position of the inspection unmanned aerial vehicle when the inspection unmanned aerial vehicle falls back onto the inspection robot moving platform.
5. The system for processing the faults of the substation computer monitoring device according to claim 1, further comprising a data transmission module, wherein the inspection unmanned aerial vehicle is in communication connection with the inspection robot mobile platform through the data transmission module, and is used for transmitting the shot image to the inspection robot mobile platform and receiving the control information transmitted by the inspection robot mobile platform.
6. The system of claim 1, wherein the ground radio frequency tag has location coordinates.
7. The system for processing the faults of the substation computer monitoring device according to claim 1, wherein the remote control server stores a three-dimensional model of the substation, and can determine the position of the substation and the arrangement condition of surrounding buildings according to coordinate information transmitted by the mobile platform of the inspection robot.
8. The system of claim 1, wherein the camera of the inspection unmanned aerial vehicle is composed of an infrared camera and a visible light camera.
9. The method for monitoring the fault processing system of the substation computer monitoring device according to any one of claims 1 to 8, comprising the steps of:
carrying an inspection unmanned aerial vehicle on an inspection robot moving platform for inspection, wherein the inspection robot moving platform acquires coordinate information of a radio frequency tag on the ground through a ground tag radio frequency receiver and transmits the coordinate information to a remote control server, the remote control server inputs the coordinate information into a three-dimensional model of a substation, the position of the inspection robot and the arrangement condition of surrounding buildings are determined at the moment, and an inspection route of the inspection unmanned aerial vehicle is determined according to the arrangement condition of the buildings;
the remote control server transmits the inspection route information of the inspection unmanned aerial vehicle to an information instruction receiving module of an inspection robot mobile platform, and transmits the inspection route instruction to the inspection unmanned aerial vehicle through the inspection robot mobile platform in a communication manner;
the inspection unmanned aerial vehicle takes off according to the inspection navigation letter instruction to perform inspection high-altitude shooting, and the inspection robot mobile platform performs pavement shooting on the ground.
10. The monitoring method of the fault processing system of the substation computer monitoring device according to claim 9, wherein the inspection unmanned aerial vehicle returns after completing the shooting according to the inspection navigation letter, the laser emitter emits laser in the falling process, the inspection unmanned aerial vehicle adjusts the position until the laser irradiates the laser sensing module on the inspection robot mobile platform, the inspection robot mobile platform sends a falling instruction to the inspection unmanned aerial vehicle, the inspection unmanned aerial vehicle falls to the middle of the wireless charging seat for charging, and the inspection robot mobile platform moves to the next shooting place.
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