CN113858231A

CN113858231A - Control method of transformer substation track robot system

Info

Publication number: CN113858231A
Application number: CN202111260099.5A
Authority: CN
Inventors: 查长清; 周宏�; 田益胜; 郭军; 赖晧; 鞠林涛; 周子豪; 王伟; 刘厚磊; 郑苗; 刘涛
Original assignee: Wuhan Xiwen Technology Co ltd
Current assignee: Wuhan Xiwen Technology Co ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2021-12-31
Anticipated expiration: 2041-10-28
Also published as: CN113858231B

Abstract

The invention is suitable for the technical field of transformer substation inspection, and provides a control method of a transformer substation track robot system, which comprises the following steps: establishing a track map of the grid track; updating the inspection heat value of each device in the transformer substation; selecting a plurality of equipment points with the largest inspection thermal value; generating a routing inspection path; controlling the robot to inspect the equipment according to the inspection path; and when the current routing inspection path is executed, automatically sending an inspection trigger instruction. The invention establishes a patrol inspection thermodynamic value model, carries out patrol inspection on equipment according to the size of the patrol inspection thermodynamic value according to a preset method, considers the inherent grade of the reaction importance degree of the substation equipment, the historical fault information of the equipment, the weather influence and whether the equipment has the latest patrol inspection information, simultaneously divides the existing one-time long-time complete patrol inspection into short-time continuous single patrol inspection, and can quickly find problems as far as possible and avoid serious accidents by updating the patrol inspection thermodynamic value and inspecting a plurality of equipment with larger numerical values each time.

Description

Control method of transformer substation track robot system

Technical Field

The invention belongs to the technical field of transformer substation inspection, and particularly relates to a control method of a transformer substation track robot system.

Background

The electric power system is the foundation of national construction and is the life line of national economy. With the rapid development of national economy and the rapid improvement of the ice level of residents, the demand for electricity is continuously increased, and power plants, transformer substations and supporting lines are largely constructed.

The transformer substation is used as a core link of a power grid and is responsible for power supply tasks of the area where the transformer substation is located. The transformer substation has the characteristics of large number, wide regional distribution and many places in areas with rare human smoke, and brings inconvenience to maintenance and management. Along with the improvement of the automation degree of the transformer substation, the unattended mode is widely popularized in an electric power system, so that the manpower resource is saved for a force department, the management efficiency is improved, and the economic benefit is improved.

Automatic remote monitoring of substations is therefore becoming a trend. At present, a track monitoring robot for a transformer substation is provided, wherein a track is installed in the transformer substation, the robot is mounted on the track, various probes such as a camera, a gas sensor, a temperature sensor and an infrared sensor are mounted on the robot, and the robot moves on the track to realize routing inspection monitoring of internal equipment of the transformer substation.

According to the current inspection mode, the rails in the transformer substation are single-line rails and are generally in S-shaped structures, the rails are arranged near equipment, the robot is mounted on the rails to reciprocate and inspect according to a rail line, and the equipment along the line is monitored one by one. However, the importance degree and the important time period of the fault of different equipment in the substation are different, and even the monitoring requirement of urban weather on the equipment is influenced. Therefore, the current inspection mode cannot find problems in time and cannot predict equipment which needs a specific time period and needs to be monitored in a key mode. And to the transformer substation that the area is great, track length is longer, and it is longer to accomplish once complete the inspection consuming time, and this has further caused unable in time to discover equipment problem, has obvious potential safety hazard.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a control method for a substation track robot system, which aims to solve the technical problem that the existing substation track robot cannot find equipment problems in time.

The invention adopts the following technical scheme:

the transformer substation track robot system comprises grid tracks arranged in a grid mode and robots mounted on the grid tracks, and the control method comprises the following steps:

step S1, establishing a track map of the grid track, and calibrating the equipment to be inspected in the transformer substation on the track map in the form of equipment points, wherein the attributes of the equipment points comprise position coordinates of the equipment points in the track map and inspection setting parameters of the robot on the equipment points;

step S2, after receiving the polling trigger instruction, updating the polling heat value of each device in the transformer substation and reflecting the polling heat value on the track map device point;

s3, selecting a plurality of equipment points with the largest patrol inspection thermal value;

step S4, generating a routing inspection path passing through the position coordinates of the selected equipment points;

s5, controlling the robot to patrol the equipment according to the patrol path, and specifically executing patrol setting parameters of the equipment points when the robot passes through one equipment point;

and step S6, automatically sending out an inspection trigger instruction after the current inspection path is executed.

Further, in step S1, a coordinate system is established by the grid tracks, and a track map of the grid tracks is obtained.

Further, in step S2, the specific process of updating the patrol heat value of each device in the substation and reflecting the patrol heat value on the track map device point is as follows:

counting historical fault data of each device in the transformer substation according to a time period of one day to obtain historical fault parameters of the devices at the current time;

counting continuous non-inspection parameters of each device in the transformer substation, wherein the continuous non-inspection parameters are functions of continuous non-inspection times of the devices, and the more the times are, the larger the function value is;

taking the product of the inherent grade parameter of the equipment, the historical fault parameter of the equipment and the continuous non-polling parameter as the polling heat value of the equipment;

and displaying the inspection heat value on the corresponding equipment point of the track map.

Further, in step S2, it is further necessary to update the weather-related parameter of the device, specifically, the weather-related parameter of the device that is not affected by weather is updated according to the local weather forecast data, the weather-related parameter of the device that is not affected by weather is 1, and the product of the intrinsic grade parameter, the device historical fault parameter, the continuous non-polling parameter, and the weather-related parameter is taken as the polling heat value of the device.

Further, the attribute of the device point in step S1 further includes a patrol time, and step S1 further includes: and setting a maximum time threshold value of single polling.

Further, the specific process of step S3 is as follows:

sequentially selecting equipment points from large to small according to the inspection heat value of the equipment points, and counting the total inspection time of the selected equipment points when one equipment point is selected;

and reserving the first i selected equipment points until the inspection time sum counted by the (i +1) th equipment point is just greater than the maximum time threshold.

Further, the routing inspection path generated in step S4 is the shortest path passing through the coordinates of the selected device point location.

Further, the control method comprises the following steps:

and returning the track map to a background monitoring display terminal for display, and displaying the spots with corresponding colors and sizes on the track map according to different inspection heat values by the equipment points.

Further, continuous non-polling parameters

Wherein x is the continuous inspection-free times of the equipment, k is an adjustment coefficient, and k is not less than 0.6.

The invention has the beneficial effects that: the tracks in the transformer substation are arranged in a grid shape, so that the robot can be conveniently and quickly moved from one place to another place; and through establishing a patrol inspection thermodynamic value model, the equipment is patrolled and inspected according to the size of the patrol inspection thermodynamic value according to a preset method, the model considers the inherent grade of the reaction importance degree of the substation equipment, the historical fault information of the equipment, the weather influence and whether the equipment has patrolled and inspected the information recently, the existing one-time long-time complete patrol inspection is divided into short-time continuous single patrol inspection, and through updating the patrol inspection thermodynamic value, a plurality of pieces of equipment with larger values are patrolled and inspected each time, the problems can be quickly discovered as far as possible, and serious accidents are avoided.

Drawings

FIG. 1 is a schematic illustration of a track provided by an embodiment of the present invention;

fig. 2 is a flowchart of a control method of a substation track robot system according to an embodiment of the present invention;

fig. 3 is a graph of a continuous non-polling parameter function provided by an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.

Fig. 1 shows a flow of a control method of a substation rail robot system provided in an embodiment of the present invention, and only the parts related to the embodiment of the present invention are shown for convenience of description.

As shown in fig. 2, the method for controlling a substation track robot system provided in this embodiment includes the following steps:

step S1, establishing a track map of the grid track, and calibrating the equipment to be inspected in the substation on the track map in the form of equipment points, wherein the attributes of the equipment points include the position coordinates of the equipment points in the track map and the inspection setting parameters of the robot on the equipment points.

At present, most of substations are S-shaped rails, and robots carry out equipment inspection one by one on the S-shaped rails according to existing paths, wherein inspection contents comprise video recording, equipment display image identification, sensitive gas detection and the like. The track design is inconvenient for a robot to rapidly move from one equipment position to another equipment position, and the detection efficiency of the robot is affected, so that the current track design is only suitable for a transformer substation with single track design.

The present embodiment sets a grid track, and as shown in fig. 1, the mark a is a grid track, and the black origin is a mark B, which is a device point mapped on the track by the device. The equipment point of one equipment is the moving point position of the robot for monitoring the equipment, namely when one equipment needs to be monitored, the machine needs to move to the corresponding equipment point for monitoring.

In the orbit map, the device points are represented in the form of circular spots. As a preferred mode, the track map can be transmitted to a background monitoring display terminal through a network for display, and background personnel can observe the working state of the current robot and the monitored equipment object in real time.

In order to facilitate subsequent calculation and operation, a coordinate system can be established by the grid track, so that each equipment point has a corresponding position coordinate, and the distance between any two equipment points can be calculated through coordinate calculation. The equipment points in the track map have attributes including position coordinates of the equipment points in the track map and patrol setting parameters of the robot on the equipment points at the equipment points. Background personnel can modify the polling setting parameters of the equipment by clicking the equipment points, and can even modify the position coordinates of the equipment points. In addition, the attribute of the equipment point further can comprise inspection time, namely the time required by the robot to monitor the equipment. Because the importance degree of each device is not used, and the monitoring schemes are different, the polling time of the devices may be different. Therefore, the polling time can be added to the attribute of the equipment point for subsequent use.

And step S2, after the polling trigger instruction is received, updating the polling heat value of each device in the transformer substation and reflecting the polling heat value on the track map device point.

In the inspection of the track robot in the transformer substation, the detection time of the robot on each device, namely the inspection time, is the most time spent, and the moving time of the robot at two device points is generally greatly shorter than the inspection time.

In the existing S-shaped track, a long time is needed for routine one-time complete inspection, so that the robot cannot timely detect the most-needed equipment, and the detection safety risk is increased. The embodiment adopts a scheme of continuous multiple short-time routing inspection. And automatically triggering an inspection trigger instruction to perform next inspection after each inspection. Therefore, the equipment which is patrolled and examined at each time is the most needed equipment at present, the probability of rapidly finding equipment faults is improved, and the safety of the transformer substation can be obviously improved on the whole.

And the demand emergency degree that equipment need patrol and examine at present is through patrolling and examining the reaction of heat value, and the equipment that needs to patrol and examine more at present patrols and examines that the heat value is higher more promptly. In this embodiment, the inspection heat value is related to whether the equipment has been inspected recently, historical failure data of the equipment, and the inherent importance level of the equipment. In particular, historical fault data over different time periods on different days are more relevant. These relevant data are explained in detail below.

For the historical fault data of the equipment, the working condition of each equipment is recorded in the historical data, and the fault time, the fault content and the like are recorded. The 24 hours a day is divided into a plurality of time periods, the time periods can be equal-interval time periods, for example, every 4 hours is a time period, historical fault data of each device in each time period is counted, certainly, the time periods can also be unequal-interval time periods, and corresponding intervals can be divided between working peaks and valleys of substation devices. And converting historical fault data of the equipment into fault rate of the equipment, and converting the historical fault rate data into historical fault parameters according to different time periods. In the present embodiment, the historical failure rate and the historical failure parameter are in a proportional relationship, and it is assumed that the historical failure rate of the device in the time period t is ρ (t), and the corresponding historical failure parameter W is n × ρ (t). The value of n is more suitable for being 300-800.

For whether the equipment has been patrolled or not recently, in general, a timer can be set for each equipment, and after the equipment finishes the current patrolling and examining, the timer is cleared, and the timing time of the timer is converted into corresponding parameters. However, because the number of devices is large, the mapping relationship between the timing time of the timer and the corresponding parameter is difficult to actually and accurately calibrate, and the mapping for mapping the specific timing time to the minute-second is not required in practice. In order to simplify statistics, the invention needs only to count the continuous non-inspection times of the equipment and map the times into continuous non-inspection parameters, so that the statistics complexity is greatly reduced, and the total mapping relation is that the more times are, the larger the function value is.

Since it has been explained in the foregoing step S1 that the attribute of the device point includes the polling time, as a preferable mode here, in step S1, a maximum time threshold for a single polling may also be set, where the maximum time threshold for a single polling is T, and the value of T may be 1, and the unit is hour, and if the current device q is polled, the value of the number of consecutive times that the device q has not polled is 0. After next inspection (the time does not exceed T, the equipment q is not inspected at this time), the continuous non-inspection times corresponding to the equipment q are updated to be 1, the continuous non-inspection times of each equipment can be counted according to the method, and then the times are mapped into continuous non-inspection parameters through a function.

Specifically, as shown in fig. 3, the continuous non-polling parameter is set in this example

Wherein x is the continuous inspection-free times of the equipment and is a natural number, k is an adjustment coefficient, k is not less than 0.6, and log means that the logarithm is based on 10.

The level of importance inherent to the device itself can be represented by a device-inherent level parameter U. The importance degree of each device in the substation needs to be graded, generally, the degree is suitably graded into about 5 grades, and then each grade is mapped into a device inherent grade parameter. Such as shown in the following table:

grade	U value
		D1	0.5
D2	1
		D3	2
D4	4
		D5	6

And finally, taking the product of the inherent grade parameter of the equipment, the historical fault parameter of the equipment and the continuous non-polling parameter as a polling heat value of the equipment, namely, the polling heat value P is U multiplied by W multiplied by R, so that when x is 0, R is 0 and P is 0, and the meaning is that after the current equipment is polled once, the next polling cannot poll the equipment again. Because the maximum time threshold value of single polling is not large, the same equipment is not required to be polled twice continuously in a short time according to actual requirements. And the R value changes in a small range after being not patrolled for several times (within 4 times), the R value is represented by a function log (x +1) and is relatively fit with the reality, and the R value changes obviously after more than 4 times, so that even if equipment with a low grade is not patrolled for a long time, the R value changes obviously in the later period, and the patrolling heat value is gradually increased until the patrolling requirement is met, and the problem that the equipment is not patrolled is solved.

In addition, in the actual working process, the operation conditions of some equipment of the transformer substation are related to local weather, and some equipment needs to pay more attention to extreme weather, so that the inspection heat value can be further adjusted according to local weather forecast data. Specifically, the weather influence parameter of the weather influence-free device is set to be 1, the weather influence parameter Z corresponding to the weather influence-free device is set, and the value Z is specifically selected in the range that Z is more than 1 and less than or equal to 6, so that the inspection heat value P is U × W × R × Z.

And finally, displaying the inspection heat value on a corresponding equipment point of the track map. Specifically, the inspection heat value can be displayed on the track map by the spots with corresponding colors and sizes according to different inspection heat values, and the important degree of inspection required by the equipment can be visually known by a background worker according to the colors and the sizes of the spots of the equipment.

And step S3, selecting a plurality of equipment points with the maximum inspection thermal value.

The method is simple, but the total time of each inspection is uncontrollable, and the problem of overlong inspection time may exist each time. In order to avoid the overlong single-inspection time, it has been described in the foregoing that a maximum time threshold for single-inspection may be set, and the inspection thermal value of each equipment point of the obtained track map is automatically updated after each inspection is finished.

During specific operation, the equipment points are sequentially selected from large to small according to the inspection heat value of the equipment points, when one equipment point is selected, the inspection time sum of the selected equipment points is counted until the inspection time sum counted by the first i equipment points is selected to be smaller than or equal to the maximum time threshold, the inspection time sum counted by the first i +1 equipment points is larger than the maximum time threshold, and the selected first i equipment points are reserved.

In the step, the total inspection time of all the selected equipment is only counted, and the time consumption of the robot moving from one equipment point to another equipment point is not considered. As described above, the moving time of the robot is much shorter than the polling time, and the path distance connecting each device point is not determined nor determined when the time is counted. Therefore, the total time of the single patrol is not obviously influenced by not counting the moving time.

And step S4, generating a routing inspection path passing through the position coordinates of the selected equipment points.

After each equipment point is selected, a routing inspection path passing through all the equipment points is generated, and the shortest path is optimized. The patrol path includes a starting equipment point and an ending equipment point.

And step S5, controlling the robot to patrol the equipment according to the patrol route, and specifically executing patrol setting parameters of the equipment points when the robot passes through one equipment point.

And controlling the robot to walk to the initial equipment point, inspecting each equipment one by one according to the inspection path, and specifically moving to each equipment point to execute corresponding inspection setting parameters. After the routing inspection of one path is finished, an inspection trigger instruction is automatically sent out, and the track map is updated to carry out the next inspection.

Therefore, the scheme of the invention provides a reasonable control method for robot inspection, which reflects the required inspection degree of each device through the inspection thermodynamic value, can ensure that the inspection device is the current device which needs to pay attention to, and can improve the probability of finding out the fault device in time through designing the reasonable calculation method for the inspection thermodynamic value. And finishing the inspection after receiving the inspection stopping instruction.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A control method of a transformer substation rail robot system is characterized in that the transformer substation rail robot system comprises grid rails arranged in a grid mode and a robot mounted on the grid rails, and the control method comprises the following steps:

2. The method for controlling a substation trajectory robot system according to claim 1, wherein in step S1, the coordinate system is established by using the grid trajectory, and a trajectory map of the grid trajectory is obtained.

3. The method for controlling the substation orbital robot system according to claim 2, wherein in step S2, the specific process of updating the patrol thermal value of each device in the substation and reflecting the patrol thermal value on the orbital map device point is as follows:

4. The method for controlling the substation track robot system according to claim 3, wherein in step S2, the weather parameter of the device is further updated, specifically, the weather parameter of the device affected by weather is updated according to the local weather forecast data, the weather parameter of the device not affected by weather is 1, and the product of the intrinsic class parameter, the device history fault parameter, the continuous non-polling parameter and the weather parameter is taken as the polling heat value of the device.

5. The control method of the substation rail robot system according to claim 4, wherein the attributes of the equipment points in step S1 further include a patrol time, and step S1 further includes: and setting a maximum time threshold value of single polling.

6. The method for controlling the substation rail robot system according to claim 5, wherein the step S3 is implemented as follows:

7. The control method of the substation rail robot system according to claim 6, wherein the generation of the patrol path in step S4 is a shortest path through the coordinates of the selected device point position.

8. The control method of the substation rail robot system according to claim 4, wherein the control method comprises:

9. The method of controlling a substation rail robot system of claim 4, wherein the continuous non-inspection parameter