CN114326524A - Distributed cable tunnel inspection system and detection evaluation method - Google Patents
Distributed cable tunnel inspection system and detection evaluation method Download PDFInfo
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Abstract
The invention provides a distributed cable tunnel inspection system and a detection evaluation method. The invention uses a distributed transmission and detection structure to dynamically and wirelessly charge the inspection robot, provides an evaluation method based on abnormal coefficients by processing and analyzing phase current information obtained by sampling of an electrical parameter acquisition circuit and combining a detection method of an information acquisition part of a robot end, simultaneously evaluates equipment running states of cables and cable tunnels and cable tunnel environments, improves the safety of the cable tunnels, and has very important effect on effectively solving the problems existing in the conventional cable inspection process and evaluation method, so that the full-automatic inspection of the cable tunnels is safer and more reliable.
Description
Technical Field
The invention belongs to the field of cable tunnel inspection, and particularly relates to a distributed cable tunnel inspection system and a detection evaluation method.
Background
In the industries of electric power, metallurgy, traffic and the like, power and control cables and some special equipment are often intensively laid in tunnels, and the failure of the cables or the equipment can cause the breakdown of a certain system or project. In order to prevent such accidents, cable inspection is necessary to maintain cables and equipment. But the internal environment in tunnel is complicated, and the environment is comparatively more abominable, and air humidity is big, and has combustible gas, and traditional manual work is patrolled and examined work load great, and efficiency is lower, and has the potential safety hazard. In recent years, the robot inspection technology is rapidly developed, and has a certain application in the field of cable inspection. However, the existing cable inspection robot has many imperfect places, such as: the inspection robot is not accurate enough in positioning, cannot detect equipment in a cable tunnel, adopts a large-capacity large-size storage battery due to long working time of the robot caused by long cable tunnel, and is low in efficiency and not visual enough in an abnormal condition detection and evaluation mode of the cable tunnel.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a distributed cable tunnel inspection system and a detection and evaluation method, has an extremely important function of effectively solving the problems of the conventional cable tunnel inspection (such as the problems that an inspection robot is not accurate enough in positioning, cannot detect the condition of equipment, has too large size of a storage battery, and has low efficiency and is not intuitive enough in abnormal condition detection and evaluation modes), and provides higher safety and feasibility for the robot to perform full-automatic inspection on a cable tunnel.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a distributed cable tunnel inspection system, comprising: the system comprises a distributed dynamic wireless charging end, N distributed monitoring points, an inspection robot end and a remote control center temperature and humidity sensor;
the distributed dynamic wireless charging terminal comprises: a single-phase inverter circuit, a distributed charging coil with a soft switch, a coil current detection circuit,
the N distributed monitoring points comprise: a digital signal processor and an electrical parameter sampling circuit;
patrol and examine robot end includes: the robot comprises a wireless energy transmission receiving end, a robot microcontroller, an information acquisition part and a wireless communication module;
the remote control center includes: server, on-site upper computer and upper computer software.
The digital signal processor is used for sampling and processing the current signal acquired by the electrical parameter sampling circuit, and exchanging data of the processed data and the logic signal with the robot microcontroller through the wireless communication module;
the distributed dynamic wireless charging end can confirm the position of the inspection robot or detect whether foreign matters exist on a running track by detecting a current signal of a distributed charging coil with a soft switch when the robot is started, and then open a corresponding coil according to the detected position of the robot and realize low electromagnetic interference switching of the charging coil through the soft switch along with the change of the position of the inspection robot so as to realize wireless charging of the inspection robot;
the wireless energy transmission receiving end is used for establishing an electromagnetic induction relationship with the distributed dynamic wireless charging end, converting the alternating current collected by induction into direct current through the single-phase inverter circuit, and measuring information such as electric quantity, voltage and the like of the battery through the coil current detection circuit;
the information acquisition part is used for sampling tunnel environment information and cable surface information in the tunnel;
the wireless communication module is used for communicating with the N distributed monitoring points and the remote control center to realize data exchange among the N distributed monitoring points and the remote control center;
preferably, the distributed dynamic wireless charging terminal operating step includes:
foreign matter and robot position detection: the robot and foreign matter position is confirmed based on the coil current of the starting machine, the coil current is measured by a coil current detection circuit, the wireless charging coil with current change can wirelessly charge the robot end or the foreign matter capacitor, the charging coil is the position of the robot or the foreign matter, the coil with the maximum current is used as the center of the robot or the foreign matter, and then the robot and the track foreign matter are distinguished through a handshaking mechanism between the robot and a distributed monitoring point.
Dynamic wireless charging is started: after the position detection is finished, all coils are closed to avoid other coils from generating larger electromagnetic interference and save energy, and three soft switch wireless charging coils which take the position of the robot (the position of the coil with the largest current in the position detection stage) as the center are opened to start dynamic wireless charging.
Dynamic wireless charging coil switching: the coil current detection circuit measures the currents of the three opened soft switch wireless charging coils in real time, when the position of the inspection robot is changed during movement, the maximum value of the coil current is changed, when the maximum value of the coil current is changed, coil switching is started, firstly, when the coil current detects that the alternating current instantaneous value of the coil with the minimum current is 0, the coil is closed, meanwhile, the adjacent coil of the coil with the maximum current is opened, and Zero Current Switching (ZCS) is achieved.
Preferably, the N distributed monitoring points are divided into two types, namely a detection cable and a detection device, the distributed monitoring points of the detection cable are distributed at the cable connection position, and the distributed monitoring points of the detection device are distributed at the total power transmission network of the device and the terminal of each device.
Preferably, the inspection robot is provided with a fixed running track, the running track connects N distributed monitoring points, the wireless charging coils with the soft switches are arranged on the track, and each distributed monitoring point controls the charging coils around the distributed monitoring point.
Preferably, the wireless energy transfer receiving end includes:
and the receiving rectification circuit is used for storing the energy transmitted by the distributed dynamic wireless energy transmission end in the receiving coil and obtaining direct current from the received alternating current through the rectifier bridge.
And the numerical control power supply circuit is used for carrying out DC-DC change on the direct current obtained by the rectifier bridge, changing the charging mode of the battery, and working in three charging modes of constant-current charging, constant-voltage charging and constant-power charging according to the electric quantity of the battery.
And the electric energy detection circuit is used for monitoring the working current and voltage of the numerical control power supply circuit and each electrical parameter of the battery of the robot and monitoring the electric quantity of the battery in real time.
Preferably, the information collecting section includes:
and the temperature and humidity sensor is used for acquiring the temperature and the humidity in the tunnel.
The combustible gas concentration sensor is used for detecting the concentration of 4 gases including oxygen (O2), methane (CH4), carbon monoxide (CO) and hydrogen sulfide (H2S) in real time.
And the camera is used for shooting real-time condition information in the cable and the tunnel.
And the infrared thermal imager is used for acquiring the temperature information of the cable.
Preferably, the electrical parameter sampling circuit includes:
three single-phase current transformers convert a large primary side current into a small secondary side current through an electromagnetic induction principle so as to conveniently measure the currents of three phase lines of a cable or equipment.
The three-phase voltage sampling circuit measures real-time three-phase alternating-current voltage according to a certain proportion in a resistance voltage division mode, and the voltage period and the waveform are stable, so that the voltage period and the waveform are used as a reference of a current sampling period, and zero points of the start and the end of the voltage period are used as marks of the start and the end of one period of current sampling.
A detection and evaluation method for a distributed cable tunnel inspection system comprises the following steps: the method comprises a cable fault detection method, an equipment fault detection method, a tunnel environment detection method and a cable tunnel safety evaluation method.
The cable fault detection method is a phase current analysis method, the currents on three phase lines are respectively sampled by an electrical parameter sampling circuit, the magnitude of each phase current is calculated by a digital signal processor, the vector sum of three phases of currents is calculated, if the vector sum of three phases of currents is lower than a threshold value, the cable state is healthy, otherwise, a fault exists, and the fault position can be roughly positioned between a normal monitoring point and an abnormal monitoring point.
The equipment fault detection method is a cluster analysis method, current waveforms on three phase lines are respectively sampled through an electrical parameter sampling circuit, analog-to-digital conversion is carried out through an ADC (analog-to-digital converter) module in a digital signal processor, digital signals obtained through sampling form an n-dimensional vector, the digital signals obtained through sampling are used as a cluster center when equipment normally works, and whether the equipment normally works or not is judged through calculating Euclidean distance and comparing the Euclidean distance with a set threshold value.
The tunnel environment detection method is a threshold detection method, a threshold which is lower than a critical value and is safe enough is set, and only when the information acquisition module detects that a certain environmental parameter is higher than the threshold, the environmental parameter is sent to the robot microprocessor.
The cable tunnel safety evaluation method is an abnormal coefficient evaluation method, and the value of the abnormal coefficient considers whether the detection value is higher than a threshold value or a critical value and the change trend of the detection value.
In summary, after the technical scheme is adopted, the invention has the beneficial effects that:
1. the invention uses a distributed detection structure to dynamically and wirelessly charge the inspection robot, provides an evaluation method based on abnormal coefficients by processing and analyzing phase current information obtained by sampling of a current transformer module and combining a detection method of an information acquisition module at a robot end, simultaneously evaluates the running states of the cable and the equipment of the cable tunnel, improves the safety of the cable tunnel, and effectively solves the problems of the existing cable inspection process and evaluation method, such as inaccurate positioning of the inspection robot, too large fault range obtained by cable fault positioning, too large data quantity of the information acquisition module, low battery capacity, short service life, low efficiency of the evaluation method, non-intuition and the like, thereby having very important functions and leading the full automation of the cable tunnel to be safer and more reliable.
2. According to the invention, a distributed structure based on N distributed monitoring points and distributed wireless energy transfer ends is provided, so that more accurate positioning of the inspection robot and the track foreign matters is realized, electromagnetic interference caused by coils is reduced by using a soft switching technology, dynamic wireless charging is realized by switching the wireless charging coils, meanwhile, a wireless energy transfer receiving end is matched, a proper charging mode is selected by detecting the condition of a battery in real time, the charging efficiency is improved, the size and the capacity of the battery used by the inspection robot are reduced, and the service life of the battery is prolonged.
3. The invention provides a phase current analysis method for detecting cable faults, wherein current transformers of an electrical parameter sampling circuit are arranged at cable joints, the currents on three phase lines are respectively sampled, and the sum of three-phase current vectors is calculated and analyzed to judge whether the faults are electric leakage faults. And the fault position can be reduced to a position between the normal monitoring point and the abnormal monitoring point, and the time for rough positioning can be saved when the cable is maintained subsequently.
4. The invention provides a cluster analysis method for detecting equipment faults, information mining is carried out on analog signals of working current of the equipment, the analog signals are converted into digital signals and form vector columns, and the emphasis is placed on the working state of the detection equipment.
5. According to the invention, a threshold detection method is provided for detecting the cable tunnel environment information, and the information is sent to the robot microprocessor only when the information acquisition module detects that a certain environment parameter is higher than a threshold value, so that the data transmission amount and the data processing amount can be greatly reduced, and the burden of the robot microcontroller is reduced.
6. According to the invention, an evaluation method based on the abnormal coefficient is provided, the abnormal coefficient is calculated by combining the value and the variation trend of the environment or fault parameter, the waveform of the abnormal coefficient can be drawn by taking 24 hours as a period, and the abnormal condition and the variation trend of the cable tunnel can be reflected more intuitively according to the waveform.
Drawings
FIG. 1 is a block diagram of the system architecture of the system of the present invention;
FIG. 2 is a schematic structural diagram of an inspection robot according to an embodiment of the invention;
FIG. 3 is a schematic diagram illustrating a dynamic wireless charging principle according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating an installation manner of a current transformer at a distributed monitoring point according to an embodiment of the present invention;
in the figure: 1. a temperature and humidity sensor bracket; 2. a combustible gas concentration sensor; 3, infrared thermal imaging camera; 4. a temperature and humidity sensor; 5. a motor output shaft 1; 6. a front left wheel of the robot; 7. a variable spoke support frame; 8. a variable spoke support frame sleeve; 9. a variable spoke support frame base; 10. a camera mounting base; 11. a camera; 12. the right rear wheel of the robot; 13. a robot side mounting plate; 14. a robot top mounting plate; 15. a robot front end mounting plate; 16. an amplitude wheel mounting shaft; 17. a variable amplitude stepping motor; 18. a coupling 19, a driving motor; 20. a variable amplitude gear mounting rod; 21. a variable amplitude gear; 22. and a variable amplitude rack.
Detailed Description
The technical solution of the present invention is further specifically described below by way of specific examples in conjunction with the accompanying drawings.
Example 1
In order to make the technical solutions of the present invention better understood and make the objects, technical solutions and advantages of the present invention more apparent to those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The features and properties of the present invention are described in further detail below with reference to examples.
As shown in fig. 1, an embodiment of the present invention provides a distributed cable tunnel inspection system, which includes a distributed dynamic wireless charging terminal, N distributed monitoring points, an inspection robot terminal, and a remote control center. The distributed dynamic wireless charging end comprises a single-phase inverter circuit, a distributed charging coil with a soft switch and a coil current detection circuit, and the N distributed monitoring points comprise a digital signal processor and an electrical parameter sampling circuit; the inspection robot end comprises a wireless energy transmission receiving end, a robot microcontroller, an information acquisition part and a wireless communication module; the remote control center comprises a server, an on-site upper computer and upper computer software.
The digital signal processor converts the current analog quantity acquired by the electrical parameter sampling circuit into a digital signal through the internal ADC analog-to-digital conversion circuit, analyzes and calculates the digital signal, judges whether a fault exists or not, and then realizes data interaction with the robot microprocessor through communication with the wireless communication module. Specifically, the model of the robot microcontroller is STM32F407ZGT6, the model of the digital signal processor is TMS320F2812, and the chip is a fixed-point 32-bit DSP chip on a C2000 platform, which is introduced by the american TI company.
The schematic diagram of the inspection robot is shown in fig. 2, the whole structure adopts a four-wheel structure and a front wheel driving mode, and in order to adapt to different road conditions, the inspection robot structure with variable amplitude front wheel driving is designed. The structure 1 is a temperature and humidity sensor placing mechanism, and a temperature and humidity sensor 4 is arranged on the temperature and humidity sensor placing mechanism; the combustible gas concentration sensor 2 and the infrared thermal imager 3 are arranged at the front end of the robot and fixed, and are composed of a motor output shaft, a robot front wheel 6 and a variable spoke support frame 7; the variable spoke support frame comprises a variable spoke support frame sleeve 8, a variable spoke support frame base 9, a variable amplitude wheel mounting shaft 16 and a variable amplitude stepping motor 17; the coupling 18, the driving motor 19, the amplitude-changing gear mounting rod 20 and the amplitude-changing rack 21 jointly form an amplitude-changing driving system of the inspection robot, forward driving is provided by the driving motor 19, the amplitude-changing motor 17 transmits the amplitude-changing rack 21 to the amplitude-changing gear mounting rod 20 through the coupling 18, the amplitude-changing rack 1 moves to drive the variable spoke support to move, and the spoke changing function is achieved to adapt to different line inspection environments. The camera 11 is installed on the top of the robot through the camera installation base 10 and can rotate 360 degrees, so that the patrol visual field is increased.
The schematic diagram of the dynamic wireless charging principle is shown in fig. 3, alternating current generated by a single-phase inverter circuit of a wireless energy transmission transmitting end is introduced into a plurality of parallel distributed soft switch wireless charging transmitting coils, a receiving coil of a wireless energy transmission receiving end generates resonance with the receiving coil and converts the resonance into direct current through a rectifying circuit, and the direct current is input into a numerical control power supply circuit. The electric energy detection module measures the electric quantity of the battery, the charging voltage and the charging current and sends the information to the robot microcontroller through the UART interface, and the robot microcontroller outputs two complementary PWM waves and controls the working mode of the numerical control power supply circuit by combining with a closed loop system formed by the electric energy detection module. Specifically, the unit inverter circuit works at 100KHZ, the numerical control power supply module adopts a synchronous rectification BUCK-BOOST circuit, and the battery adopts a lithium battery with 11.1v and 2200 mAH.
The operation steps of the distributed dynamic wireless charging terminal comprise:
foreign matter and robot position detection: the robot and foreign matter position is confirmed based on the coil current of the starting machine, the coil current is measured by a coil current detection circuit, the wireless charging coil with current change can wirelessly charge the robot end or the foreign matter capacitor, the charging coil is the position of the robot or the foreign matter, the coil with the maximum current is used as the center of the robot or the foreign matter, and then the robot and the track foreign matter are distinguished through a handshaking mechanism between the robot and a distributed monitoring point. Preferably, the current detection circuit uses a sampling resistor to be connected in series to the wireless charging coil, and after the voltage on the resistor is sampled by the ADC, the magnitude of the effective value of the current is obtained by using the ohm theorem.
Dynamic wireless charging is started: after the position detection is finished, all coils are closed to avoid other coils from generating larger electromagnetic interference and save energy, and three soft switch wireless charging coils which take the position of the robot (the position of the coil with the largest current in the position detection stage) as the center are opened to start dynamic wireless charging.
Dynamic wireless charging coil switching: the coil current detection circuit measures the currents of the three opened soft switch wireless charging coils in real time, when the position of the inspection robot is changed during movement, the maximum value of the coil current is changed, when the maximum value of the coil current is changed, coil switching is started, firstly, when the coil current detects that the alternating current instantaneous value of the coil with the minimum current is 0, the coil is closed, meanwhile, the adjacent coil of the coil with the maximum current is opened, and Zero Current Switching (ZCS) is achieved. Preferably, the MOSFET made of the SIC material at the beginning of the coil has the characteristics of small on-resistance, excellent high-frequency characteristic and the like, and the driving circuit of the MOSFET is driven in an isolated mode to ensure the safety of the MOSFET.
The information acquisition part is used for sampling tunnel environment information and cable surface information in the tunnel. The method comprises the following steps: the temperature and humidity sensor is used for acquiring the temperature and the humidity in the tunnel; combustible gas concentration sensor for oxygen (O)2) Methane (CH)4) Carbon monoxide (CO), hydrogen sulfide (H)2S) detecting the concentration of the 4 gases in real time; the camera is used for shooting the real-time conditions in the cable and the tunnel; and the infrared thermal imager is used for acquiring the temperature information of the cable. Preferably, in consideration of the problem of electromagnetic compatibility, the temperature and humidity sensor and the combustible gas concentration sensor are separately fabricated on a single PCB in order to reduce unnecessary interference. Install the camera and infrared thermal imager on same cloud platform, conveniently confirm.
And the remote control center is used for communicating with the wireless communication module. The wireless communication module transmits data to an on-site upper computer, the upper computer software displays the data more visually and controls the inspection robot, and meanwhile, the obtained data can be uploaded to a server to be stored. The software of the specific upper computer comprises: positioning information, an abnormal coefficient curve, tunnel environment data, tunnel evaluation information, image data, holder operation and robot operation. Specifically, the rough positioning information is obtained according to the wireless charging and communication conditions of the robot end and the distributed monitoring points; the abnormal coefficient curve is divided into three stages of health, sub-health and abnormity; the tunnel environment data includes temperature, humidity and oxygen (O) in the tunnel2) Methane (CH)4) Carbon monoxide (CO), hydrogen sulfide (H)2S)4 gas concentrations; the holder operation comprises camera position and shooting control; the robot can control the starting and inspection speed of the robot. The N distributed monitoring points are divided into two types, namely a detection cable and a detection device, the distributed monitoring points of the detection cable are distributed at the cable connection position, the distributed monitoring points of the detection device are distributed at the total power transmission network of the device and the terminal of each device, preferably, in addition, a plurality of monitoring points are added to ensure that at least one monitoring point in every 200m is arranged to reduce the faultThe extent of the positioning.
The inspection robot is provided with a fixed running track, and the running track connects the N distributed monitoring points. Preferably, the robot is patrolled and examined for the suspension type, and the track is laid in order to avoid ground obstacle at electric power corridor top, prevents that the robot from meeting water short circuit machine down.
The electric parameter sampling circuit comprises three single-phase current transformers and a three-phase voltage sampling circuit.
The three single-phase current transformers convert large primary side current into small secondary side current through an electromagnetic induction principle so as to conveniently measure the current of three phase lines of a cable or equipment. The installation is as shown in fig. 4, and the core of each phase line of the cable passes through a single-phase current transformer at the joint of the cable, so as to measure the current of each phase separately.
The three-phase voltage sampling circuit measures real-time three-phase alternating-current voltage according to a certain proportion in a resistance voltage division mode, and the voltage period and the waveform are stable, so that the voltage period and the waveform are used as a reference of a current sampling period, and zero points of the start and the end of the voltage period are used as marks of the start and the end of one period of current sampling. For example, when the three-phase voltage sampling circuit detects that the line voltage is zero for the first time, the digital signal processor calculates the number of points which have been sampled from the moment, and when the line voltage is detected to be zero for the third time, the line voltage has already finished one period, the number of sampling points is cleared, and the sampling of the next period is ready to start.
A detection and evaluation method for a distributed cable tunnel inspection system comprises a cable fault detection method, an equipment fault detection method, a tunnel environment detection method and a cable tunnel safety evaluation method.
The cable fault detection method is a phase current analysis method, the currents on three phase lines are respectively sampled by an electrical parameter sampling circuit, the magnitude of each phase current is calculated by a digital signal processor, and the vector sum of the three phase currents is calculated:
IA+IB+IC＝Io
wherein IA，IB，ICIs a three-phase electricityFlow, IoThe magnitude of the unbalanced current of the three phases is small under normal conditions, and when a leakage fault such as a ground fault occurs, the loop impedance of the ground fault is lower than the impedance of the phase line, so that the unbalanced current of the three phases is large, and the threshold current of the cable phase current analysis method is set between the ground fault and the normal conditions. The magnitude of the unbalanced current is below a threshold value and the cable is healthy, otherwise a fault exists, and the fault location can be approximately located between the normal monitoring point and the abnormal monitoring point.
The equipment fault detection method is a cluster analysis method, current waveforms on three phase lines are respectively sampled through a current transformer module, analog-to-digital conversion is carried out through an ADC (analog-to-digital converter) module in a digital signal processor, digital signals obtained through sampling form an n-dimensional vector, the digital signals obtained through sampling are used as a cluster center when the equipment normally works, and whether the equipment normally works or not is judged through calculating Euclidean distance and comparing the Euclidean distance with a set threshold value.
Wherein the two eigenvectors are each x ═ x (x)1，x2，......，xn)，y＝(y1，y2，......，yn) And n represents the dimension of the feature vector. Specifically, an ADC module inside the digital signal processor samples 128 current points at equal time intervals per cycle, that is, n is 128, and the vector is 128-dimensional.
The tunnel environment detection method is a threshold detection method, a threshold which is lower than a critical value and is safe enough is set, only when an information acquisition module detects that a certain environmental parameter is higher than the threshold, the certain environmental parameter is sent to a robot microprocessor, specifically, because abnormal environments in the cable tunnel coexist or are mutually promoted, when the certain environmental parameter is higher than the threshold, all the environmental parameters are sent to the robot microcontroller, and meanwhile, the change trend of other parameters is monitored so as to judge more accurately.
The cable tunnel safety evaluation method is an abnormal coefficient evaluation method, the value of the abnormal coefficient considers whether the detection value is higher than a threshold value and a critical value and the change trend of the detection value, and specifically, the abnormal coefficient:
zi represents abnormal coefficient of three-phase unevenness and current of cable, abnormal coefficient of characteristic vector of working current of equipment, abnormal coefficient of temperature, abnormal coefficient of humidity, and oxygen (O)2) Coefficient of concentration anomaly, methane (CH)4) Concentration abnormality coefficient, carbon monoxide (CO) concentration abnormality coefficient, and hydrogen sulfide (H)2S)4, the concentration abnormal coefficient and the thermal imaging cable temperature abnormal coefficient. Is determined by whether the detected value of each portion is higher than the threshold value or the critical value and the variation tendency of the detected value.
Zi＝K1A1+K2A2
K1 is the correlation coefficient between the detection value and the abnormal coefficient, A1 is the reference correlation coefficient between the detection value and the threshold value and the critical value, K2 is the correlation coefficient between the variation trend of the detection value and the constant coefficient, and A2 is the value of the variation trend. And finally, dividing the cable tunnel into a healthy state, a sub-healthy state and an abnormal state according to the calculated abnormal coefficient value. And drawing the waveform of the abnormal coefficient by taking 24 hours as a period, and reflecting the abnormal condition and the variation trend of the cable tunnel more intuitively according to the waveform.
Claims (8)
1. The utility model provides a distributed cable tunnel system of patrolling and examining which characterized in that: the method comprises the following steps: the system comprises a distributed dynamic wireless charging end, N distributed monitoring points, an inspection robot end and a remote control center temperature and humidity sensor;
the distributed dynamic wireless charging terminal comprises: a single-phase inverter circuit, a distributed charging coil with a soft switch, a coil current detection circuit,
the N distributed monitoring points comprise: a digital signal processor and an electrical parameter sampling circuit;
patrol and examine robot end includes: the robot comprises a wireless energy transmission receiving end, a robot microcontroller, an information acquisition part and a wireless communication module;
the remote control center includes: the system comprises a server, a field upper computer and upper computer software;
the digital signal processor is used for sampling and processing the current signal acquired by the electrical parameter sampling circuit, and exchanging data of the processed data and the logic signal with the robot microcontroller through the wireless communication module;
the distributed dynamic wireless charging end can confirm the position of the inspection robot or detect whether foreign matters exist on a running track by detecting a current signal of a distributed charging coil with a soft switch when the robot is started, and then open a corresponding coil according to the detected position of the robot and realize low electromagnetic interference switching of the charging coil through the soft switch along with the change of the position of the inspection robot so as to realize wireless charging of the inspection robot;
the wireless energy transmission receiving end is used for establishing an electromagnetic induction relationship with the distributed dynamic wireless charging end, converting the alternating current collected by induction into direct current through the single-phase inverter circuit, and measuring information such as electric quantity, voltage and the like of the battery through the coil current detection circuit;
the information acquisition part is used for sampling tunnel environment information and cable surface information in the tunnel;
the wireless communication module is used for communicating with the N distributed monitoring points and the remote control center to realize data exchange among the N distributed monitoring points and the remote control center;
the remote control center is used for communicating with the wireless communication module, uploading data of the inspection robot to an on-site upper computer, displaying the data more visually through upper computer software, controlling the inspection robot, and uploading obtained data to a server for storage.
2. The distributed cable tunnel inspection system according to claim 1, wherein: the operation steps of the distributed dynamic wireless charging terminal comprise:
foreign matter and robot position detection: the method comprises the steps that positions of a robot and foreign matters are confirmed on the basis of coil current of a starting machine, the coil current is measured by a coil current detection circuit, a wireless charging coil with current change can wirelessly charge a robot end or a foreign object capacitor, the charging coil is the position of the robot or the foreign matters, the coil with the largest current is used as the center of the robot or the foreign matters, and then the robot and the foreign matters on a track are distinguished through a handshaking mechanism between the robot and distributed monitoring points;
dynamic wireless charging is started: after the position detection is finished, all coils are closed to avoid other coils from generating larger electromagnetic interference and save energy, and three soft switch wireless charging coils taking the position of the robot as the center are opened to start dynamic wireless charging;
dynamic wireless charging coil switching: the coil current detection circuit measures the current of the three soft switch wireless charging coils which are opened in the dynamic wireless charging opening step in real time, when the position of the inspection robot is changed during movement, the maximum value of the coil current can be changed, when the maximum value of the coil current is changed, coil switching is started, when the coil current is waited for firstly, the coil current detects that the alternating current instantaneous value of the coil with the minimum current is 0, the coil is closed, meanwhile, the adjacent coil of the coil with the maximum current is opened, and zero current switching is realized.
3. The distributed cable tunnel inspection system according to claim 1, wherein: the N distributed monitoring points comprise: detecting distributed monitoring points of the cable and distributed monitoring points of the detection equipment;
distributed monitoring points for detecting the cable are arranged at the cable connection position;
distributed monitoring points of the detection equipment are arranged at the total power transmission network of the equipment and each equipment terminal.
4. The distributed cable tunnel inspection system according to claim 1, wherein: the inspection robot is provided with a fixed running track, the running track connects N distributed monitoring points, distributed charging coils with soft switches are arranged on the track, and each distributed monitoring point controls the charging coils around the distributed monitoring point.
5. The distributed cable tunnel inspection system according to claim 1, wherein: the wireless energy transfer receiving end comprises:
the electric parameter sampling circuit is used for storing the energy transmitted by the distributed dynamic wireless energy transmission end in the receiving coil and obtaining direct current from the received alternating current through the rectifier bridge;
the numerical control power supply circuit is used for carrying out DC-DC change on the direct current obtained by the rectifier bridge, changing a battery charging mode, and switching three charging modes of constant-current charging, constant-voltage charging and constant-power charging according to the work of the battery electric quantity;
and the electric energy detection circuit is used for monitoring the working current and voltage of the numerical control power supply circuit and each electrical parameter of the battery of the robot and monitoring the electric quantity of the battery in real time.
6. The distributed cable tunnel inspection system according to claim 1, wherein: the information acquisition section includes:
the temperature and humidity sensor is used for acquiring the temperature and the humidity in the tunnel;
combustible gas concentration sensor for oxygen (O)2) Methane (CH)4) Carbon monoxide (CO), hydrogen sulfide (H)2S) detecting the concentration of the 4 gases in real time;
the camera is used for shooting real-time condition information in the cable and the tunnel;
and the infrared thermal imager is used for acquiring the temperature information of the cable.
7. The distributed cable tunnel inspection system according to claim 1, wherein: the electrical parameter sampling circuit comprises:
the three single-phase current transformers convert a large primary side current into a small secondary side current by an electromagnetic induction principle so as to conveniently measure the currents of three phase lines of a cable or equipment;
the three-phase voltage sampling circuit measures three-phase alternating voltage in real time in a resistance voltage division mode.
8. A detection and evaluation method of a distributed cable tunnel inspection system is suitable for the distributed cable tunnel inspection system of claim 1, and comprises a cable fault detection method, an equipment fault detection method, a tunnel environment detection method and a cable tunnel safety evaluation method;
the cable fault detection method is a phase current analysis method, the currents on three phase lines are respectively sampled by an electrical parameter sampling circuit, the magnitude of each phase current is calculated by a digital signal processor, the vector sum of three phases of currents is calculated, if the vector sum of three phases of currents is lower than a threshold value, the cable state is healthy, otherwise, a fault exists, and the fault position is positioned between a normal monitoring point and an abnormal monitoring point;
the equipment fault detection method is a cluster analysis method, current waveforms on three phase lines are respectively sampled by an electrical parameter sampling circuit, analog-to-digital conversion is carried out by an ADC (analog-to-digital converter) module in a digital signal processor, digital signals obtained by sampling form an n-dimensional vector, the digital signals obtained by sampling are used as a cluster center when the equipment normally works, and the equipment normally works or not is judged by calculating Euclidean distance and comparing the Euclidean distance with a set threshold value;
the tunnel environment detection method is a threshold detection method, a numerical value which is lower than a critical value and is larger than a safety threshold is set, and only when an information acquisition part detects that a certain environmental parameter is higher than the threshold, the numerical value is sent to a robot microprocessor;
the cable tunnel safety evaluation method is an abnormal coefficient evaluation method, and for the electrical parameters of equipment and cables, the value of the abnormal coefficient only considers whether the cables and the equipment are normal or not;
and in the information acquisition part, the value of the abnormal coefficient considers whether the detection value is higher than a threshold value or a critical value and the change trend of the detection value.
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