CN113753154A - Transformer substation intelligent inspection system based on 5G and artificial intelligence - Google Patents
Transformer substation intelligent inspection system based on 5G and artificial intelligence Download PDFInfo
- Publication number
- CN113753154A CN113753154A CN202111075243.8A CN202111075243A CN113753154A CN 113753154 A CN113753154 A CN 113753154A CN 202111075243 A CN202111075243 A CN 202111075243A CN 113753154 A CN113753154 A CN 113753154A
- Authority
- CN
- China
- Prior art keywords
- servo motor
- base
- transformer substation
- aerial vehicle
- unmanned aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 62
- 238000013473 artificial intelligence Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000004891 communication Methods 0.000 claims abstract description 17
- 230000001105 regulatory effect Effects 0.000 claims abstract description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 24
- 238000001931 thermography Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 14
- 229910052742 iron Inorganic materials 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 26
- 238000012423 maintenance Methods 0.000 abstract description 22
- 238000001514 detection method Methods 0.000 abstract description 9
- 238000012544 monitoring process Methods 0.000 abstract description 8
- 230000002159 abnormal effect Effects 0.000 abstract description 6
- 238000010977 unit operation Methods 0.000 abstract 1
- 238000007726 management method Methods 0.000 description 24
- 238000005516 engineering process Methods 0.000 description 19
- 238000004458 analytical method Methods 0.000 description 13
- 230000008901 benefit Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 10
- 101100520231 Caenorhabditis elegans plc-3 gene Proteins 0.000 description 7
- 230000002035 prolonged effect Effects 0.000 description 5
- 230000008520 organization Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000009529 body temperature measurement Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000012217 deletion Methods 0.000 description 2
- 230000037430 deletion Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000007619 statistical method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013523 data management Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000013058 risk prediction model Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/022—Tethered aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A transformer substation intelligent inspection system based on 5G and artificial intelligence comprises a base, an adjusting frame and an unmanned aerial vehicle body; base: the bottom four corners are provided with steering units, the end parts of the steering units are provided with moving mechanisms, the middle part of the bottom end of the base is provided with a power supply, the top of the base is provided with a PLC (programmable logic controller), and the side surface of the PLC is provided with a 5G communication antenna; an adjusting frame: install at the top of base through horizontal adjustment regulating unit, this transformer substation intelligence system of patrolling and examining based on 5G and artificial intelligence can realize intellectual detection system and the early warning to the complicated defect of key equipment in the transformer substation, carries out intelligent abnormal examination and defect searching to the substation equipment for the daily monitoring and the operation of transformer substation are maintained, greatly reduce basic unit operation and maintenance personnel work burden, provide effective guarantee for the steady operation of electric wire netting.
Description
Technical Field
The invention relates to the technical field of intelligent substation inspection, in particular to an intelligent substation inspection system based on 5G and artificial intelligence.
Background
Although the traditional video monitoring system and the intelligent inspection robot are developed relatively mature, the inspection equipment is lack of contact, and the accuracy of inspection results is influenced by the lack of intelligent and efficient analysis and judgment means in the face of a large amount of inspection data, so that a new automatic and intelligent technology is required to be introduced to solve the problem in order to further guarantee the safe production of a transformer substation;
with the development of the 5G technology, various industries actively explore and expand related applications, the construction of 5G base stations of national power grid companies is carried out in order, the construction of 5G in smart power grids and energy Internet systems is promoted, the transmission speed of the 5G network communication technology is high, the transmission stability is high, and the problems of overlong transmission time or unstable transmission caused by complex working environment scenes can be solved;
through research and development and application of the intelligent substation inspection system based on 5G and artificial intelligence technology, intelligent detection and early warning of complex defects of key equipment in the substation can be realized, intelligent abnormal inspection and defect search are performed on the substation equipment, the intelligent substation inspection system is used for daily monitoring and operation maintenance of the substation, the workload of primary operation and maintenance personnel is greatly reduced, and effective guarantee is provided for stable operation of a power grid;
therefore, the intelligent substation inspection system based on 5G and artificial intelligence is provided.
Disclosure of Invention
The invention aims to overcome the existing defects, provides a transformer substation intelligent inspection system based on 5G and artificial intelligence, can realize intelligent detection and early warning on complex defects of key equipment in a transformer substation, carries out intelligent abnormal inspection and defect search on the transformer equipment, is used for daily monitoring and operation maintenance of the transformer substation, greatly reduces the workload of primary operation and maintenance personnel, provides effective guarantee for stable operation of a power grid, and can effectively solve the problems in the background technology.
In order to realize the purpose, the invention adopts the following technical scheme:
a transformer substation intelligent inspection system based on 5G and artificial intelligence comprises a base, an adjusting frame and an unmanned aerial vehicle body;
base: the bottom four corners are provided with steering units, the end parts of the steering units are provided with moving mechanisms, the middle part of the bottom end of the base is provided with a power supply, the top of the base is provided with a PLC (programmable logic controller), and the side surface of the PLC is provided with a 5G communication antenna;
an adjusting frame: the adjusting device is arranged at the top of the base through a horizontal adjusting and adjusting unit, the adjusting frame is rotatably connected with a swing arm through a rotating shaft, one end of the swing arm is provided with a pitching angle adjusting unit, and the other end of the swing arm is movably connected with the adjusting frame through a sliding mechanism;
unmanned aerial vehicle body: the bottom of the unmanned aerial vehicle is fixedly provided with an undercarriage, the undercarriage is connected with the movable part of the sliding mechanism through a connecting mechanism, and the unmanned aerial vehicle body is respectively provided with an information acquisition unit and a positioning unit;
wherein, still include fourth servo motor, fourth servo motor installs in the side of alignment jig, is fixed with the line wheel on fourth servo motor's the output shaft, the winding has the cable on the line wheel, and the one end of cable and this internal controller electric connection of unmanned aerial vehicle, the other end of cable passes through electric slip ring electric connection PLC controller, this internal controller of PLC controller electric connection 5G communication antenna, fourth servo motor, power and unmanned aerial vehicle.
Further, the steering unit comprises a first servo motor and a motor base, the first servo motor is installed at the bottom of the base, the motor base is fixed on an output shaft of the first servo motor, and the first servo motor is electrically connected with the PLC.
Further, the moving mechanism comprises a stepping motor and a moving wheel, the stepping motor is assembled on the motor base, the moving wheel is fixed on an output shaft of the stepping motor, and the stepping motor is electrically connected with the PLC.
Further, horizontal adjustment regulating unit includes second servo motor, worm and worm wheel, and second servo motor installs at the top of base, the worm wheel rotates to be connected at the top of base, and the worm is fixed on second servo motor's output shaft and with worm wheel meshing transmission, the top at the worm wheel is fixed to the alignment jig, second servo motor electric connection PLC controller.
Furthermore, every single move angle adjusting unit includes third servo motor, gear and rack, and the third servo motor is installed at the tip of swing arm, the rack is fixed on the alignment jig, and the gear is fixed on third servo motor's output shaft and with rack meshing transmission, third servo motor electric connection PLC controller.
Furthermore, slide mechanism includes arc slide rail and sliding seat, and the arc slide rail is fixed on the alignment jig, sliding seat sliding connection is on the arc slide rail, and the tip at the swing arm is fixed to the sliding seat.
Further, coupling mechanism is including adsorbing iron plate and electro-magnet, adsorbs the iron plate to fix the bottom at the undercarriage, the electro-magnet assembly is on the sliding seat, and the electro-magnet is connected with adsorbing iron plate magnetism, electro-magnet electric connection PLC controller.
Further, the positioning unit includes GPS locator and infrared obstacle avoidance sensor, and infrared obstacle avoidance sensor installs the side at the unmanned aerial vehicle body, the GPS locator is installed at the top of unmanned aerial vehicle body, and GPS locator and infrared obstacle avoidance sensor equal electric connection unmanned aerial vehicle controller in vivo.
Furthermore, the information acquisition unit comprises a thermal imaging camera, a multispectral imager and an industrial camera, the thermal imaging camera, the multispectral imager and the industrial camera are all installed on the side face of the unmanned aerial vehicle body, and the thermal imaging camera, the multispectral imager and the industrial camera are all electrically connected with a controller in the unmanned aerial vehicle body.
Compared with the prior art, the invention has the beneficial effects that: this transformer substation intelligence system of patrolling and examining based on 5G and artificial intelligence has following benefit:
1. the 5G technology has the advantages of being ultrahigh in bandwidth, extremely low in delay and the like, the 5G technology is used for the inspection robot, real-time performance and timeliness of inspection are greatly improved, the problems of video image frame loss, blocking, high network delay and the like caused by insufficient network bandwidth are solved, inspection efficiency is improved due to the application of the 5G technology, efficient and stable operation of an unmanned inspection operation system is guaranteed, and a wider space is provided for development of the inspection robot.
2. The unmanned aerial vehicle body drives the information acquisition unit and carries out information acquisition to the region that needs detected, and its unmanned aerial vehicle body of being convenient for patrols and examines the operation to some places that can not remove, and it cooperates through the cooperation of moving mechanism and unmanned aerial vehicle body, has improved this system of patrolling and examining's the ability of patrolling and examining greatly.
3. The horizontal working angle of the information acquisition unit is adjusted through the horizontal adjustment adjusting unit, the pitching working angle of the information acquisition unit is adjusted through the pitching angle adjusting unit, the adjusting capacity is strong, and the information acquisition capacity of the information acquisition unit is improved.
4. The intelligent detection and early warning of the complex defects of key equipment in the transformer substation can be realized, intelligent abnormal detection and defect searching are carried out on the transformer equipment, the intelligent detection and defect searching are carried out, the intelligent detection and early warning is used for daily monitoring and operation maintenance of the transformer substation, the workload of primary operation and maintenance personnel is greatly reduced, and effective guarantee is provided for stable operation of a power grid.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic bottom view of the present invention;
FIG. 3 is a schematic view of a partial angle adjustment structure according to the present invention;
fig. 4 is a schematic view of a local structure of the unmanned aerial vehicle body according to the present invention.
In the figure: the system comprises a base 1, a 25G communication antenna, a 3 PLC controller, a 4 steering unit, a 41 first servo motor, a 42 motor base, a 5 horizontal adjustment adjusting unit, a 51 second servo motor, a 52 worm, a 53 worm wheel, a 6 sliding mechanism, a 61 arc-shaped sliding rail, a 62 sliding base, a 7 connecting mechanism, a 71 adsorption iron block, a 72 electromagnet, an 8 moving mechanism, a 81 stepping motor, a 82 moving wheel, a 9 pitching angle adjusting unit, a 91 third servo motor, a 92 gear, a 93 rack, a 10 information acquisition unit, a 101 thermal imaging camera, a 102 multispectral imager, a 103 industrial camera, a 11 positioning unit, a 1101 GPS positioner, a 1102 infrared obstacle avoidance sensor, 12 cables, 13 wire wheels, a 14 fourth servo motor, a 15 adjusting frame, a 16 unmanned aerial vehicle body, 17 landing gear, an 18 power supply, a 19 rotating shaft, a 20 swinging arm and a 21 electric slip ring.
Detailed Description
The present invention will be explained in detail by the following examples, which are disclosed for the purpose of protecting all technical improvements within the scope of the present invention.
Referring to fig. 1-4, the present embodiment provides a technical solution: a transformer substation intelligent inspection system based on 5G and artificial intelligence comprises a base 1, an adjusting bracket 15 and an unmanned aerial vehicle body 16;
base 1: the four corners of the bottom of the base are provided with steering units 4, the end part of each steering unit 4 is provided with a moving mechanism 8, the middle part of the bottom end of the base 1 is provided with a power supply 18, the top of the base 1 is provided with a PLC (programmable logic controller) 3, and the side surface of the PLC 3 is provided with a 5G communication antenna 2;
information processed by the PLC 3 is transmitted to a remote monitoring end through the 5G communication antenna 2, the 5G technology has the advantages of ultrahigh bandwidth, extremely low time delay and the like, the real-time performance and the timeliness of routing inspection are greatly improved when the 5G technology is used for a routing inspection robot, the communication problems of video image frame loss, blocking, network delay and the like caused by insufficient network bandwidth in the prior art are solved, the routing inspection efficiency is improved by the application of the 5G technology, the efficient and stable operation of an unmanned routing inspection operation system is guaranteed, and a wider space is provided for the development of the routing inspection robot;
the inspection robots can be interconnected with each other through a 5G communication antenna 2;
the adjusting bracket 15: the adjusting device is arranged on the top of the base 1 through a horizontal adjusting and adjusting unit 5, the adjusting frame 15 is rotatably connected with a swing arm 20 through a rotating shaft 19, one end of the swing arm 20 is provided with a pitching angle adjusting unit 9, and the other end of the swing arm 20 is movably connected with the adjusting frame 15 through a sliding mechanism 6;
unmanned aerial vehicle body 16: the bottom of the unmanned aerial vehicle is fixed with an undercarriage 17, the undercarriage 17 is connected with the movable part of the sliding mechanism 6 through a connecting mechanism 7, and an information acquisition unit 10 and a positioning unit 11 are respectively arranged on the unmanned aerial vehicle body 16;
wherein, still include fourth servo motor 14, fourth servo motor 14 is installed in the side of alignment jig 15, be fixed with line wheel 13 on fourth servo motor 14's the output shaft, the winding has cable 12 on line wheel 13, the one end of cable 12 and the interior controller electric connection of unmanned aerial vehicle body 16, the other end of cable 12 passes through electric slip ring 21 electric connection PLC controller 3, 3 electric connection 5G communication antenna 2 of PLC controller, fourth servo motor 14, the controller in power 18 and the unmanned aerial vehicle body 16.
The output shaft of fourth servo motor 14 drives line wheel 13 and rotates, and line wheel 13 carries out the unwrapping wire operation to cable 12, then, unmanned aerial vehicle body 16 drives information acquisition unit 10 and carries out information acquisition to the region that needs detected, and its unmanned aerial vehicle body 16 of being convenient for patrols and examines the operation to some places that can not remove, and its cooperation through moving mechanism 8 and unmanned aerial vehicle body 16 has improved this system of patrolling and examining's ability greatly.
Steering unit 4 includes first servo motor 41 and motor cabinet 42, and first servo motor 41 installs in base 1's bottom, and motor cabinet 42 is fixed on first servo motor 41's output shaft, and first servo motor 41 electric connection PLC controller 3, first servo motor 41's output shaft pass through motor cabinet 42 and drive 8 rotations of moving mechanism to adjust 8's of moving mechanism's walking direction, guaranteed the rationality of design.
Moving mechanism 8 includes step motor 81 and removes wheel 82, and step motor 81 assembles on motor cabinet 42, removes wheel 82 and fixes on step motor 81's output shaft, and step motor 81 electric connection PLC controller 3, step motor 81's output shaft drive remove wheel 82 and rotate, remove wheel 82 and remove base 1 and remove work area to the work is patrolled and examined to the convenience.
Horizontal adjustment regulating unit 5 includes second servo motor 51, worm 52 and worm wheel 53, second servo motor 51 is installed at the top of base 1, worm wheel 53 rotates the top of connecting at base 1, worm 52 fixes on second servo motor 51's the output shaft and meshes the transmission with worm wheel 53, alignment jig 15 fixes the top at worm wheel 53, second servo motor 51 electric connection PLC controller 3, second servo motor 51's output shaft drives worm 52 and rotates, worm 52 meshes the transmission with worm 52, worm 52 drives alignment jig 15 and rotates, thereby adjust the horizontal working angle of information acquisition unit 10, its regulating capability is strong, the information acquisition ability of information acquisition unit 10 has been improved.
Every single move angle regulating unit 9 includes third servo motor 91, gear 92 and rack 93, the tip at swing arm 20 is installed to third servo motor 91, rack 93 is fixed on alignment jig 15, gear 92 is fixed on third servo motor 91's output shaft and meshes the transmission with rack 93, third servo motor 91 electric connection PLC controller 3, third servo motor 91's output shaft drives gear 92 and rotates, gear 92 and rack 93 mesh the transmission, thereby drive swing arm 20 and remove, swing arm 20 takes place relative rotation through rotation axis 19 and alignment jig 15, thereby adjust the every single move operating angle of information acquisition unit 10, its regulating capability is strong, the information acquisition ability of information acquisition unit 10 has been improved.
The sliding mechanism 6 comprises an arc-shaped sliding rail 61 and a sliding seat 62, the arc-shaped sliding rail 61 is fixed on the adjusting frame 15, the sliding seat 62 is connected to the arc-shaped sliding rail 61 in a sliding manner, the sliding seat 62 is fixed at the end of the swing arm 20, and the end of the swing arm 20 drives the sliding seat 62 to slide along the arc-shaped sliding rail 61, so that the stability of the information acquisition unit 10 during pitching adjustment is ensured.
The information acquisition unit 10 comprises a thermal imaging camera 101, a multispectral imager 102 and an industrial camera 103, wherein the thermal imaging camera 101, the multispectral imager 102 and the industrial camera 103 are all installed on the side surface of the unmanned aerial vehicle body 16, the thermal imaging camera 101, the multispectral imager 102 and the industrial camera 103 are all electrically connected with a controller in the unmanned aerial vehicle body 16, the image information of a working area is collected through a thermal imaging camera 101, a multispectral imager 102 and an industrial camera 103, the collected information is transmitted to a controller in an unmanned aerial vehicle body 16, the controller in the unmanned aerial vehicle body 16 transmits the information to a PLC (programmable logic controller) 3, the PLC 3 analyzes and processes the information, the information processed by the PLC 3 is transmitted to a remote monitoring end through a 5G communication antenna 2, when positioning is performed, the information acquisition unit 10 can be used for acquiring visual information, so that the positioning unit 11 is matched to achieve the effect of accurate positioning.
The inspection process comprises the following steps:
firstly, the method comprises the following steps: task management
Carry out robot inspection work management with the task mode, according to actual demand, formulate patrolling and examining the task plan, patrol and examine the task and can divide into: the system provides standard templates of various task types for the infrared inspection task and the visible light inspection task, and supports functions of adding, editing, deleting and the like of the inspection task;
II, secondly: intelligent inspection
The system comprises a multi-source data source compatible with a transformer substation robot, multispectral information such as infrared images and visible light of equipment is rapidly, real-timely and accurately acquired by combining a 5G technology, the infrared image information is acquired by a thermal imaging camera 101, a multispectral imager 102 and an industrial camera 103 carried by the robot and is transmitted to a background inspection management system through a 5G communication antenna 2 for management, the visible light image mainly comprises a meter identification number, a main equipment appearance change identification and a nameplate identification, the photo information is acquired by the industrial camera 103 carried by the robot, the background management system provides functions of classified management, inquiry and browsing of various photos, and the system supports batch import and export of image data;
thirdly, the method comprises the following steps: device management
The system provides management of historical inspection data of equipment for many years, and comprises multi-dimensional historical data management such as inspection tasks, inspection equipment, inspection personnel, inspection time and the like, the system intelligently monitors and establishes a risk early warning model based on visible light and infrared big data of historical inspection and combined with factors such as equipment production time, brand, geographical area and the like, historical statistical analysis is carried out on frequently-occurring areas with abnormal temperature and abnormal equipment components to form risk prediction, inspection work is guided, statistical analysis is carried out on data of data equipment with faults and abnormalities to form a risk prediction model, equipment and positions with possible abnormalities can be predicted and analyzed according to various factors such as equipment operation time, manufacturer brand, weather environment, power load and the like, early warning is carried out, the system provides a defect management function, and defect information inquiry is realized, meanwhile, state marking and picture previewing can be carried out on the defects, related pictures and infrared temperature measurement information can be directly inquired according to corresponding defect information, and in-place condition checking corresponding to the corresponding defect information is supported;
thirdly, the method comprises the following steps: patrol report
The system provides inquiry statistics and one-key output of various business reports, including the output of business reports such as a polling task list, a defect registration list, a personnel in-place condition list and the like;
fourthly, the method comprises the following steps: system management
The system management comprises personnel management, role management, authority management, log management, organization management and the like, provides a personnel basic information management function, is divided according to organizations, and performs addition, modification, deletion, role binding and the like on personnel information; providing a role information management function, carrying out division setting according to system service application, carrying out addition, modification, deletion, authority binding and the like on roles; providing an authority information management function, dividing and setting functions according to the authority of the roles in system service application, and distributing corresponding authority to each role; log management is provided, information such as system operation, abnormity and the like is recorded, query is facilitated, and support is provided for system operation, maintenance and management; providing an organization mechanism dynamic management function, dynamically updating, editing and deleting the organization mechanism, and flexibly configuring the organization mechanism according to actual conditions;
the system establishes an infrared defect information base and a non-infrared inspection defect information base, carries out special query management on two types of defect information generated in the inspection process, provides a function of rendering and displaying a defect topic, and carries out analysis and statistics according to general defects, serious defects and crisis defects in a defect topic window.
In order to realize the intelligent inspection task of the robot transformer substation, the system utilizes core technologies such as AI image recognition and multispectral fusion, utilizes technologies in multiple aspects such as multidimensional image intelligent detection, robot joint inspection, defect image self-learning and image recognition, cloud heterogeneous analysis, edge cloud cooperation and the like, improves the control capability of the state of the transformer substation equipment, and utilizes a deep learning technology and massive training data for image labels, so that intelligent classification and object recognition can be carried out on pictures.
Economic and social benefits generated by system operation
The system gives full play to the safety, stability and high efficiency of the robot to the maximum extent through the automatic analysis of the inspection data, improves the inspection precision and efficiency, enhances the comprehensiveness and reliability of the inspection of the transformer substation, applies an intelligent image recognition processing technology, improves the automation level and the intelligent level of the inspection work of the transformer substation, reduces the time for discovering hidden dangers, shortens the fault processing time, greatly reduces the workload of personnel analysis and processing, reduces the false alarm rate and the missing report rate of manual recognition and processing, and improves the accuracy and the effectiveness of the analysis; through historical image analysis and calculation, hidden defects such as hidden danger can be well recognized and processed, the transformer substation inspection work efficiency and benefit can be remarkably improved, the operation cost is reduced, the data standardization is improved, the work efficiency is improved, and a large amount of labor cost is saved.
Economic benefits are as follows:
the implementation of the project can reduce the workload of operation and maintenance personnel; the maintenance period of the equipment can be prolonged, the maintenance cost is reduced, and the service life of the equipment is prolonged; misoperation can be reduced, the working efficiency and the safety reliability of the whole transformer substation are improved, and the power-off time is greatly shortened, so that the loss cost caused by the interruption of the power supply of the transformer substation is reduced;
the main calculation is based on the following:
the new production value = labor cost of operation and maintenance personnel + depreciation for prolonging service life of equipment + saved power supply interruption loss;
1) according to the operation and maintenance characteristics of a single transformer substation, the number of arrival operation and maintenance times can be reduced by 2 times per week on average, operation and maintenance personnel are 2 persons, the operation and maintenance work inspection time is 2 hours, the operation and maintenance analysis work is 3 hours, and the operation and maintenance work is 1 hour back and forth, so that the annual labor cost and the vehicle loss can be greatly reduced.
2) The project can utilize the equipment state analysis and high-frequency infrared temperature measurement technology, the equipment maintenance period is prolonged, the maintenance cost is reduced, the asset operation benefit is improved, the service life of the equipment is prolonged to a certain extent, the existing equipment depreciation age limit is 10 years, one transformer substation equipment is calculated by 2000 ten thousand yuan, the service life of the equipment is prolonged by 1 year, and the depreciation cost of the equipment is considerable.
3) The application of the project in the transformer substation reduces manual complicated operation and misoperation, improves the working efficiency of the whole transformer substation, and greatly shortens the power-off time due to the improvement of the safety reliability and the efficiency.
Social benefits are as follows:
1) and (3) from social benefit analysis: the application of the system reduces the power failure maintenance times and time of the main equipment, further shortens the equipment operation time and improves the reliability of the power grid by means of sequential control operation, a remote fault alarm verification technology and the like, and strongly supports the construction of a power grid security defense system containing dynamic security assessment, early warning and auxiliary decision by utilizing advanced application functions of a remote intelligent inspection technology, equipment state visualization, intelligent alarm and analysis decision, a fault information advanced analysis decision and the like, so that the security level of the power grid is improved.
2) Economic and environmental benefits: the application of the system can reduce the cost of maintenance and operation, can effectively control the labor cost, and can improve the operational reliability of equipment and the management level and efficiency of a transformer substation.
3) The safety benefit aspect is as follows: the system collects the state information and the operation data of the equipment, transmits the state information and the operation data to the host for analysis, can realize the functions of equipment state estimation, fault analysis, intelligent alarm and the like, can quickly judge and position the fault type and the position of the transformer substation, shortens the time of recovering the live line, alarms through the intelligence, can analyze and judge the danger degree of the fault as soon as possible, is favorable for quickly making a corresponding decision, and controls the risk at the minimum degree.
The working principle of the intelligent substation inspection system based on 5G and artificial intelligence provided by the invention is as follows: the obstacle information around the unmanned aerial vehicle body 16 is detected through the infrared obstacle avoidance sensor 1102, the spatial position of the unmanned aerial vehicle body 16 is positioned through the GPS positioner 1101, the image information of a working area is collected through the thermal imaging camera 101, the multispectral imager 102 and the industrial camera 103, the collected information is transmitted to the controller in the unmanned aerial vehicle body 16, the controller in the unmanned aerial vehicle body 16 transmits the information to the PLC 3, the PLC 3 analyzes and processes the information and plans the moving path of the moving mechanism 8 and the unmanned aerial vehicle body 16, the information processed by the PLC 3 is transmitted to a remote monitoring end through the 5G communication antenna 2, the output shaft of the first servo motor 41 drives the moving mechanism 8 to rotate through the motor base 42, so that the walking direction of the moving mechanism 8 is adjusted, the output shaft of the stepping motor 81 drives the moving wheel 82 to rotate, the moving wheel 82 moves the base 1 to a working area, the output shaft of the second servo motor 51 drives the worm 52 to rotate, the worm 52 is in meshing transmission with the worm 52, the worm 52 drives the adjusting frame 15 to rotate, so as to adjust the horizontal working angle of the information acquisition unit 10, the output shaft of the third servo motor 91 drives the gear 92 to rotate, the gear 92 is in meshing transmission with the rack 93, so as to drive the swing arm 20 to move, the swing arm 20 rotates relative to the adjusting frame 15 through the rotating shaft 19, the end part of the swing arm 20 drives the sliding seat 62 to slide along the arc-shaped sliding rail 61, so as to adjust the pitching working angle of the information acquisition unit 10, when the information needs to be transferred to an area which cannot be reached by the moving mechanism 8 through the unmanned aerial vehicle body 16 for information acquisition, the electromagnet 72 is powered off, so as to lose the connection constraint effect with the adsorption iron block 71, and then, the output shaft of the fourth servo motor 14 drives the wire wheel 13 to rotate, the line wheel 13 carries out the unwrapping wire operation to cable 12, then, unmanned aerial vehicle body 16 drives information acquisition unit 10 and carries out information acquisition to the region that needs carry out the detection.
It is to be noted that the PLC controller 3 disclosed in the above embodiments controls the 5G communication antenna 2, the fourth servo motor 14, the main body 16 of the drone, the first servo motor 41, the stepper motor 81, the second servo motor 51, the third servo motor 91 and the electromagnet 72 by using methods commonly used in the prior art, the controller in the main body 16 of the drone controls the GPS locator 1101, the infrared obstacle avoidance sensor 1102, the thermal imaging camera 101, the multispectral imager 102 and the industrial camera 103 by using methods commonly used in the prior art, the GPS locator 1101, the infrared obstacle avoidance sensor 1102, the thermal imaging camera 101, the multispectral imager 102, the industrial camera 103, the 5G communication antenna 2, the fourth servo motor 14, the main body 16 of the drone, the first servo motor 41, the stepper motor 81, the second servo motor 51, the third servo motor 91 and the electromagnet 72 are configured by selecting types according to actual application scenarios, the model 3 of the PLC controller is an ohm dragon CSI series.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The utility model provides a transformer substation intelligence system of patrolling and examining based on 5G and artificial intelligence which characterized in that: comprises a base (1), an adjusting bracket (15) and an unmanned aerial vehicle body (16);
base (1): the bottom four corners are provided with steering units (4), the end parts of the steering units (4) are provided with moving mechanisms (8), the middle part of the bottom end of the base (1) is provided with a power supply (18), the top part of the base (1) is provided with a PLC (programmable logic controller) (3), and the side surface of the PLC (3) is provided with a 5G communication antenna (2);
adjusting bracket (15): the adjusting device is arranged at the top of the base (1) through a horizontal adjusting and adjusting unit (5), the adjusting frame (15) is rotatably connected with a swing arm (20) through a rotating shaft (19), one end of the swing arm (20) is provided with a pitching angle adjusting unit (9), and the other end of the swing arm (20) is movably connected with the adjusting frame (15) through a sliding mechanism (6);
unmanned aerial vehicle body (16): an undercarriage (17) is fixed at the bottom, the undercarriage (17) is connected with the movable part of the sliding mechanism (6) through a connecting mechanism (7), and an information acquisition unit (10) and a positioning unit (11) are respectively installed on the unmanned aerial vehicle body (16);
wherein, still include fourth servo motor (14), the side at alignment jig (15) is installed in fourth servo motor (14), is fixed with line wheel (13) on the output shaft of fourth servo motor (14), the winding has cable (12) on line wheel (13), the one end of cable (12) and the controller electric connection in unmanned aerial vehicle body (16), the other end of cable (12) passes through electric slip ring (21) electric connection PLC controller (3), PLC controller (3) electric connection 5G communication antenna (2), fourth servo motor (14), power (18) and the controller in unmanned aerial vehicle body (16).
2. The transformer substation intelligent inspection system based on 5G and artificial intelligence according to claim 1, characterized in that: the steering unit (4) comprises a first servo motor (41) and a motor base (42), the first servo motor (41) is installed at the bottom of the base (1), the motor base (42) is fixed on an output shaft of the first servo motor (41), and the first servo motor (41) is electrically connected with the PLC (3).
3. The transformer substation intelligent inspection system based on 5G and artificial intelligence according to claim 2, characterized in that: moving mechanism (8) include step motor (81) and remove wheel (82), and step motor (81) assemble on motor cabinet (42), remove wheel (82) and fix on the output shaft of step motor (81), step motor (81) electric connection PLC controller (3).
4. The transformer substation intelligent inspection system based on 5G and artificial intelligence according to claim 1, characterized in that: horizontal adjustment regulating unit (5) include second servo motor (51), worm (52) and worm wheel (53), and the top in base (1) is installed in second servo motor (51), worm wheel (53) rotate to be connected at the top of base (1), and worm (52) are fixed on the output shaft of second servo motor (51) and with worm wheel (53) meshing transmission, the top at worm wheel (53) is fixed in alignment jig (15), second servo motor (51) electric connection PLC controller (3).
5. The transformer substation intelligent inspection system based on 5G and artificial intelligence according to claim 1, characterized in that: every single move angle adjusting unit (9) include third servo motor (91), gear (92) and rack (93), and the tip at swing arm (20) is installed in third servo motor (91), rack (93) are fixed on alignment jig (15), and gear (92) are fixed on the output shaft of third servo motor (91) and with rack (93) meshing transmission, third servo motor (91) electric connection PLC controller (3).
6. The transformer substation intelligent inspection system based on 5G and artificial intelligence according to claim 1, characterized in that: slide mechanism (6) are including arc slide rail (61) and sliding seat (62), and arc slide rail (61) are fixed on alignment jig (15), sliding seat (62) sliding connection is on arc slide rail (61), and sliding seat (62) are fixed at the tip of swing arm (20).
7. The transformer substation intelligent inspection system based on 5G and artificial intelligence according to claim 6, characterized in that: coupling mechanism (7) are including adsorbing iron plate (71) and electro-magnet (72), adsorb iron plate (71) and fix the bottom at undercarriage (17), electro-magnet (72) assembly is on sliding seat (62), electro-magnet (72) and adsorb iron plate (71) magnetism and be connected, electro-magnet (72) electric connection PLC controller (3).
8. The transformer substation intelligent inspection system based on 5G and artificial intelligence according to claim 1, characterized in that: positioning unit (11) include GPS locator (1101) and infrared obstacle avoidance sensor (1102), and the side at unmanned aerial vehicle body (16) is installed in infrared obstacle avoidance sensor (1102), the top at unmanned aerial vehicle body (16) is installed in GPS locator (1101), and the equal electric connection of GPS locator (1101) and infrared obstacle avoidance sensor (1102) controller in unmanned aerial vehicle body (16).
9. The transformer substation intelligent inspection system based on 5G and artificial intelligence according to claim 1, characterized in that: the information acquisition unit (10) comprises a thermal imaging camera (101), a multispectral imager (102) and an industrial camera (103), the thermal imaging camera (101), the multispectral imager (102) and the industrial camera (103) are all installed on the side face of the unmanned aerial vehicle body (16), and the thermal imaging camera (101), the multispectral imager (102) and the industrial camera (103) are all electrically connected with a controller in the unmanned aerial vehicle body (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111075243.8A CN113753154B (en) | 2021-09-14 | 2021-09-14 | Transformer substation intelligent inspection system based on 5G and artificial intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111075243.8A CN113753154B (en) | 2021-09-14 | 2021-09-14 | Transformer substation intelligent inspection system based on 5G and artificial intelligence |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113753154A true CN113753154A (en) | 2021-12-07 |
| CN113753154B CN113753154B (en) | 2022-06-28 |
Family
ID=78795514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111075243.8A Active CN113753154B (en) | 2021-09-14 | 2021-09-14 | Transformer substation intelligent inspection system based on 5G and artificial intelligence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113753154B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206871367U (en) * | 2017-06-12 | 2018-01-12 | 武汉艾东科技有限公司 | A kind of Intelligent Mobile Robot |
| CN107683243A (en) * | 2015-06-01 | 2018-02-09 | 元基渊 | Fire-fighting unmanned plane is used in fire extinguishing |
| CN210191678U (en) * | 2019-03-21 | 2020-03-27 | 首钢京唐钢铁联合有限责任公司 | Robot |
| CN211032070U (en) * | 2019-12-10 | 2020-07-17 | 华东理工大学 | Air-ground inspection robot |
| CN111602385A (en) * | 2018-11-28 | 2020-08-28 | 深圳市大疆创新科技有限公司 | Specifying device, moving object, specifying method, and program |
| CN212354210U (en) * | 2020-06-18 | 2021-01-15 | 上海英粤汽车科技有限公司 | Unmanned safety patrol car |
| CN112441160A (en) * | 2020-11-06 | 2021-03-05 | 广东嘉腾机器人自动化有限公司 | AGV with unmanned aerial vehicle maintenance function and unmanned aerial vehicle mobile base maintenance method |
| CN112476461A (en) * | 2020-11-26 | 2021-03-12 | 云南电网有限责任公司昆明供电局 | Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method |
| CN213705621U (en) * | 2020-11-26 | 2021-07-16 | 联想(北京)有限公司 | Robot and inspection system |
-
2021
- 2021-09-14 CN CN202111075243.8A patent/CN113753154B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107683243A (en) * | 2015-06-01 | 2018-02-09 | 元基渊 | Fire-fighting unmanned plane is used in fire extinguishing |
| CN206871367U (en) * | 2017-06-12 | 2018-01-12 | 武汉艾东科技有限公司 | A kind of Intelligent Mobile Robot |
| CN111602385A (en) * | 2018-11-28 | 2020-08-28 | 深圳市大疆创新科技有限公司 | Specifying device, moving object, specifying method, and program |
| CN210191678U (en) * | 2019-03-21 | 2020-03-27 | 首钢京唐钢铁联合有限责任公司 | Robot |
| CN211032070U (en) * | 2019-12-10 | 2020-07-17 | 华东理工大学 | Air-ground inspection robot |
| CN212354210U (en) * | 2020-06-18 | 2021-01-15 | 上海英粤汽车科技有限公司 | Unmanned safety patrol car |
| CN112441160A (en) * | 2020-11-06 | 2021-03-05 | 广东嘉腾机器人自动化有限公司 | AGV with unmanned aerial vehicle maintenance function and unmanned aerial vehicle mobile base maintenance method |
| CN112476461A (en) * | 2020-11-26 | 2021-03-12 | 云南电网有限责任公司昆明供电局 | Transformer substation inspection robot carrying unmanned aerial vehicle and inspection method |
| CN213705621U (en) * | 2020-11-26 | 2021-07-16 | 联想(北京)有限公司 | Robot and inspection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113753154B (en) | 2022-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111611855B (en) | Intelligent inspection system for three-dimensional visual robot of transformer substation | |
| CN110865917A (en) | AR technology-based electric power machine room inspection operation method, system and application | |
| CN110647082A (en) | Intelligent inspection system for machine room and working method of intelligent inspection system | |
| CN108527399A (en) | A kind of robot used for intelligent substation patrol monitoring system Internet-based | |
| CN202474607U (en) | Automatic patrol inspection robot system of intelligent transformer substation | |
| CN105700544A (en) | UAV tour inspection system and implementation method for electrical equipment of photovoltaic power station | |
| CN105171748A (en) | Remote state monitoring method and system for robots and robot production line equipment | |
| CN105871071A (en) | Open type digital integrated automation system applied to transformer substation | |
| CN110649706A (en) | Intelligent inspection robot for power equipment | |
| CN202135260U (en) | High-definition image detection system of transformer station inspection robot | |
| CN207268846U (en) | Electric inspection process robot | |
| CN109412079A (en) | A kind of power transmission line unmanned plane cruising inspection system | |
| CN110957704B (en) | Intelligent inspection method and system for protection action tripping of transformer substation | |
| CN112414469A (en) | Power patrol inspection and rush repair safety monitoring system based on Beidou space-time data sensing | |
| CN205685341U (en) | A kind of combined track formula transformer station indoor crusing robot system | |
| CN111556171A (en) | Intelligent inspection system and robot | |
| CN208323406U (en) | A kind of robot used for intelligent substation patrol monitoring system Internet-based | |
| CN113753154B (en) | Transformer substation intelligent inspection system based on 5G and artificial intelligence | |
| CN205029244U (en) | Power equipment inspection robot and power equipment inspection robot system | |
| CN110334820A (en) | A kind of power distribution network intelligent inspection system | |
| CN111509856A (en) | Intelligent inspection integrated platform system | |
| CN116713969A (en) | Intelligent robot capable of monitoring inspection site in real time | |
| CN207731119U (en) | A kind of movable type production scene information collecting device | |
| CN203870440U (en) | Network centralized control platform of transformer station main transformation oil chromatogram on-line monitoring devices | |
| Xiao-le et al. | 500 kV substation robot patrol system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |