CN114362357A - Monitoring method of transformer substation - Google Patents
Monitoring method of transformer substation Download PDFInfo
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- CN114362357A CN114362357A CN202111509430.2A CN202111509430A CN114362357A CN 114362357 A CN114362357 A CN 114362357A CN 202111509430 A CN202111509430 A CN 202111509430A CN 114362357 A CN114362357 A CN 114362357A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
- H02J13/00026—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission involving a local wireless network, e.g. Wi-Fi, ZigBee or Bluetooth
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00016—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using a wired telecommunication network or a data transmission bus
- H02J13/00018—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using a wired telecommunication network or a data transmission bus using phone lines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
- H02J13/00024—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission by means of mobile telephony
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2213/00—Indexing scheme relating to details of circuit arrangements for providing remote indication of network conditions of for circuit arrangements for providing remote control of switching means in a power distribution network
- H02J2213/10—Indexing scheme relating to details of circuit arrangements for providing remote indication of network conditions of for circuit arrangements for providing remote control of switching means in a power distribution network using simultaneously two or more different transmission means
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Abstract
The monitoring method, the monitoring device, the computer equipment and the storage medium of the transformer substation receive a patrol instruction sent by a scheduling platform, plan a patrol route according to the patrol instruction, move according to the patrol route and sequentially arrive at each patrol viewpoint to be patrolled in the patrol route, send a data reading request after arriving at each patrol viewpoint, receive patrol data returned by each device of the patrol viewpoint according to the received data reading request, and send the patrol data to the scheduling platform. According to the monitoring method of the transformer substation, the inspection robot is used for planning the inspection route and reading the inspection data, so that the inspection workload of technicians is reduced, and the inspection efficiency is improved.
Description
Technical Field
The application relates to the technical field of transformer substation monitoring, in particular to a transformer substation monitoring method.
Background
With the rapid development of scientific technology and energy technology, in the application field of electric power energy, transformer substations are more and more built, and the daily maintenance of the transformer substations is more and more emphasized.
At present, maintenance of the transformer substation is usually realized by using a manual inspection mode, namely, a special inspection worker sequentially inspects inspection points of each transformer substation, manually checks or detects equipment at each inspection point to record inspection data, and reports the inspection data obtained by recording to related technical personnel, so that the related technical personnel can monitor the operation condition of each inspection point equipment of the transformer substation in real time.
However, the conventional method for performing patrol maintenance on the transformer substation manually has the problem of low patrol efficiency.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a monitoring method, an apparatus, a computer device, a computer-readable storage medium, and a computer program product for a substation, which can improve inspection efficiency of the substation.
In a first aspect, the present application provides a monitoring method for a substation. The method comprises the following steps:
receiving a patrol instruction sent by a scheduling platform;
planning a patrol route according to the patrol instruction;
moving according to the patrol route and sequentially reaching each patrol viewpoint to be patrolled in the patrol route;
sending a data reading request after each inspection point is reached, and receiving inspection data returned by the equipment of each inspection point according to the received data reading request;
and sending the routing inspection data to the dispatching platform.
In one embodiment, the planning of the tour route according to the tour instruction includes:
extracting each patrol viewpoint to be patrolled from the patrol instruction;
and solving a shortest route according to each inspection point by adopting a Floiede path search algorithm, and determining the shortest route as the inspection route.
In one embodiment, the method further comprises:
acquiring road surface information on the patrol route through an image acquisition device;
acquiring the distance of an object on the tour route through a radar;
identifying an obstacle on the patrol route according to the road surface information and the distance of the object;
optimizing the patrol route according to the position of the obstacle to obtain an optimized patrol route;
move according to the tour route and arrive in proper order each tour viewpoint of waiting to tour in the tour route, include:
and moving according to the optimized patrol route and sequentially reaching each patrol viewpoint to be patrolled in the patrol route.
In one embodiment, the method further comprises:
acquiring an infrared image of each inspection point through an infrared image acquisition unit, and detecting the temperature value of each node on the infrared image;
and when detecting that a node with a temperature value exceeding a preset threshold exists, sending an early warning signal to the scheduling platform.
In one embodiment, during the process of moving according to the patrol route, the method further includes:
sensing a radio frequency sensor within a preset distance range through a vehicle-mounted sensing element;
performing radio frequency communication with the sensed radio frequency sensor on a radio frequency channel, and determining the patrol point to be patrolled according to the radio frequency tag;
reach in proper order each tour viewpoint of waiting to tour in the tour route, include:
and sequentially reaching each determined patrol viewpoint to be patrolled.
In one embodiment, the routing inspection data at least comprises one of grounding information, photoacoustic spectrum information, optical fiber temperature measurement information, surface acoustic wave temperature measurement information, neutral point current information and lightning arrester leakage current information.
In a second aspect, the application further provides a monitoring method for the transformer substation. The method comprises the following steps:
sending a patrol instruction to a patrol robot to instruct the patrol robot to plan a patrol route according to the patrol instruction, move according to the patrol route and sequentially reach each patrol viewpoint point to be patrolled in the patrol route, and after reaching each patrol viewpoint point, sending a data reading request to obtain patrol data returned by equipment of each patrol viewpoint point according to the received data reading request;
and receiving the inspection data sent by the inspection robot.
In a third aspect, the application further provides a monitoring method for the transformer substation. The method comprises the following steps:
receiving a data reading request sent by the inspection robot;
the acquisition device is called to acquire the inspection data of the equipment at the current inspection point according to the data reading request;
and sending the inspection data to the inspection robot to indicate the inspection robot to send the inspection data to a dispatching platform.
In one embodiment, the collecting device comprises at least: the sensor at least comprises one of an audible and visual alarm, a smoke alarm, a temperature and humidity sensor, a water immersion sensor, an infrared sensor and a leakage sensor.
In one embodiment, the inspection robot is in communication connection with the dispatching platform through a transverse isolation device.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
receiving a patrol instruction sent by a scheduling platform;
planning a patrol route according to the patrol instruction;
moving according to the patrol route and sequentially reaching each patrol viewpoint to be patrolled in the patrol route;
and sending a data reading request after each inspection point is reached, and receiving inspection data returned by the equipment of each inspection point according to the received data reading request.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
receiving a patrol instruction sent by a scheduling platform;
planning a patrol route according to the patrol instruction;
moving according to the patrol route and sequentially reaching each patrol viewpoint to be patrolled in the patrol route;
and sending a data reading request after each inspection point is reached, and receiving inspection data returned by the equipment of each inspection point according to the received data reading request.
According to the monitoring method and device of the transformer substation, the computer equipment and the storage medium, the patrol command sent by the scheduling platform is received, the patrol route is planned according to the patrol command, the patrol route is moved according to the patrol route and sequentially arrives at each patrol point to be patrolled in the patrol route, a data reading request is sent after each patrol point is arrived, patrol data returned by the equipment of each patrol point according to the received data reading request are received, and the patrol data are sent to the scheduling platform. According to the monitoring method of the transformer substation, the inspection robot is used for planning the inspection route and reading the inspection data, so that the inspection workload of technicians is reduced, and the inspection efficiency is improved; on the other hand uses patrolling and examining the robot and patrols and examines each inspection point of transformer substation, strengthens patrolling and examining the robot and patrolling and examining the interdynamic between viewpoint, the scheduling platform, also scientific and reasonable more to the planning of inspection task, has promoted the intelligent degree that transformer substation patrolled.
Drawings
Fig. 1 is an application environment diagram of a monitoring method of a substation in one embodiment;
FIG. 2 is a flow diagram of a monitoring method of a substation in one embodiment;
FIG. 3 is a flow diagram illustrating one implementation of S102 in one implementation of FIG. 2;
FIG. 4 is a flow diagram of a monitoring method of a substation in one embodiment;
FIG. 5 is a flow diagram of a monitoring method of a substation in one embodiment;
FIG. 6 is a flow diagram illustrating one implementation of S109 in one implementation of FIG. 4;
FIG. 7 is a flow diagram of a monitoring method of a substation in one embodiment;
FIG. 8 is a flow diagram of a monitoring method of a substation in one embodiment;
FIG. 9 is a schematic flow chart diagram of a monitoring method for a substation in one embodiment;
FIG. 10 is a block diagram of a monitoring device of a substation in one embodiment;
FIG. 11 is a block diagram of a monitoring device of a substation in one embodiment;
FIG. 12 is a block diagram of a monitoring device of a substation in one embodiment;
FIG. 13 is a block diagram of a monitoring device of a substation in one embodiment;
FIG. 14 is a block diagram of a monitoring device of a substation in one embodiment;
FIG. 15 is a block diagram of a monitoring device of a substation in one embodiment;
FIG. 16 is a block diagram of a monitoring device of a substation in one embodiment;
FIG. 17 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application 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 present application and are not intended to limit the present application.
The monitoring method of the transformer substation provided by the embodiment of the application can be applied to the application environment shown in fig. 1. The system comprises an inspection robot 102, a plurality of inspection point devices 104 and a scheduling platform 106, wherein the scheduling platform 106 is connected with the robot 102, and the robot 102 is connected with the plurality of inspection point devices 104. Each inspection point device 104 is distributed at the location of a different inspection point of the substation. The dispatching platform 106 is used for sending patrol instructions to the patrol robot and receiving patrol data sent by the patrol robot. The inspection robot 102 is configured to receive an inspection instruction sent by the scheduling platform 106, send a data reading request after reaching each inspection point, receive inspection data fed back by the inspection point devices 104, and then send the inspection data to the scheduling platform 106 by the inspection robot 102 to complete an inspection task. The scheduling platform 106 may be, but is not limited to, various personal computers, laptops, smart phones, tablets, internet of things devices, and portable wearable devices, and the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart car devices, and the like. The portable wearable device can be an intelligent watch, an intelligent bracelet, a head-mounted device and the like; the inspection robot 102 can be any intelligent robot that can receive instructions and process data; the patrol point device 104 may be any working device under the substation.
In one embodiment, as shown in fig. 2, a monitoring method for a substation is provided, which is described by taking the inspection robot in fig. 1 as an example, and includes:
and S101, receiving a patrol instruction sent by a scheduling platform.
The inspection instruction is an instruction for indicating the inspection robot to acquire inspection data, and can include inspection points required to be inspected by the inspection robot, inspection completion time limit and inspection data required to be acquired, wherein the inspection data at least comprises one of grounding information, photoacoustic spectrum information, optical fiber temperature measurement information, surface acoustic wave temperature measurement information, neutral point current information and lightning arrester leakage current information.
In this embodiment, can adopt one or more to patrol and examine the robot and patrol and examine the completion task of patrolling and examining to the transformer substation, consequently, when the robot is patrolled and examined in needs call and is patrolled and examined the point and patrol and examine the data monitoring of accomplishing the transformer substation, scheduling platform can send the tour instruction to the robot of patrolling and examining, instructs the robot of patrolling and examining to treat the tour point of patrolling and examining according to patrolling and examining the instruction and patrol and examine. The inspection robot receiving the inspection instruction can determine the inspection point to be inspected from the inspection instruction and then move to the inspection point to be inspected for inspection. Optionally, can install the communication unit on the robot of patrolling and examining for communicate with the dispatch platform, when the dispatch platform sent the instruction of patrolling and examining, the robot of patrolling and examining can receive this instruction of patrolling and examining through the communication unit and accomplish and patrol and examine. Optionally, in order to ensure the safety of data transmission between the dispatching platform and the inspection robot, a transverse isolation device may be installed on the inspection robot for isolating abnormal or illegal data. Wherein the lateral isolation device may be a security gateway.
And S102, planning a patrol route according to the patrol instruction.
Wherein, the tour route includes each tour viewpoint that the robot need tour in tour inspection.
In this embodiment, after the inspection robot receives the inspection command, the inspection command may be further analyzed, the inspection point to be inspected and the related information of each inspection point to be inspected, such as the position coordinates of the inspection points to be inspected, are extracted from the inspection command, and then the routing algorithm is used to construct or generate the inspection route according to the position coordinates of the inspection points to be inspected. In practical application, the routing planning unit can be installed or set on the inspection robot and used for analyzing the received inspection command and further generating an inspection route according to a plurality of inspection points to be inspected. It should be noted that one patrol route may be generated according to a plurality of patrol points to be patrolled, or a plurality of patrol routes may be generated by a plurality of patrol points to be patrolled. .
And S103, moving according to the patrol route and sequentially arriving at each patrol viewpoint to be patrolled in the patrol route.
In this embodiment, when the inspection robot obtains the inspection route, the position coordinates or addresses of each inspection point, and the following moving direction and target position may be extracted from the inspection route, and then the inspection robot may sequentially reach each inspection point to be inspected in the inspection route according to the moving direction and the target position. In practical application, when the inspection robot obtains an inspection route, the inspection robot directly reaches each inspection point to be inspected in the inspection route in sequence according to the inspection route, and inspection is completed in sequence. When the inspection robot obtains a plurality of inspection routes, the inspection robot can adopt a corresponding optimal route screening method to screen an optimal inspection route from the plurality of inspection routes, and then sequentially reach each inspection point to be inspected in the inspection routes according to the inspection route, so that the inspection robot can quickly reach each inspection point for inspection; optionally, the inspection robot may also directly screen a shortest inspection route from the plurality of inspection routes, and then sequentially reach each inspection point to be inspected in the inspection route according to the inspection route.
And S104, sending the routing inspection data to a dispatching platform.
In the embodiment, after the inspection robot acquires the inspection data of each inspection point, the inspection data of each inspection point can be sent to the scheduling platform in real time; optionally, after the inspection robot obtains the inspection data of each inspection point, the inspection data can be further analyzed, specifically, after abnormal or invalid data processing can be performed on the inspection data or the inspection data is analyzed to obtain an analysis result, the analysis result or the abnormal data processing result is sent to the scheduling platform.
According to the monitoring method of the transformer substation, the inspection robot receives inspection instructions sent by the scheduling platform, then an inspection route is planned according to the inspection instructions, the inspection robot moves according to the inspection route and sequentially arrives at each inspection point to be inspected in the inspection route, a data reading request is sent after each inspection point is arrived, inspection data returned by equipment of each inspection point according to the received data reading request are received, and the inspection data are sent to the scheduling platform. According to the monitoring method of the transformer substation, the inspection robot is used for planning the inspection route and reading the inspection data, so that the inspection workload of technicians is reduced, and the inspection efficiency is improved; on the other hand uses patrolling and examining the robot and patrols and examines each inspection point of transformer substation, strengthens patrolling and examining the robot and patrolling and examining the interdynamic between viewpoint, the scheduling platform, also scientific and reasonable more to the planning of inspection task, has promoted the intelligent degree that transformer substation patrolled.
In an embodiment, the present application further provides a specific implementation manner of the above "planning a tour route according to a tour instruction", as shown in fig. 3, including:
s201, extracting each tour viewpoint to be toured from the tour command.
In this embodiment, after the inspection robot receives the inspection instruction, each inspection point to be inspected can be extracted from the inspection instruction, and then each inspection point can be reached according to the route indicated by each inspection point for inspection, so that the inspection task can be completed by information interaction with the scheduling platform.
S202, solving the shortest route according to each inspection point by adopting a Floiede path search algorithm, and determining the shortest route as the inspection route.
In this embodiment, if a plurality of routes are formed at each inspection point, the inspection points and intersections of the routes on the routes are abstracted to nodes of the directed graph data structure, then the shortest path between the nodes in the directed graph is calculated by using a froude path search algorithm, and the shortest route is solved according to each inspection point by using the current shortest path, where the route is the inspection route of the inspection robot.
In an embodiment, on the basis of the method in the embodiment in fig. 2, as shown in fig. 4, the provided monitoring method for the substation further includes:
and S105, acquiring road surface information on the patrol route through an image acquisition device.
The road surface information comprises image information and video information of the road surface. The image acquisition device can be installed at any position on the inspection robot and is used for acquiring road surface images or videos on the inspection route or in the surrounding area. The image acquisition device can be a camera or a camera.
In this embodiment, patrol and examine the robot and arrive the inspection point in-process at the removal, can start image acquisition device and shoot road surface image or video on the inspection route or in the region of surrounding in real time to patrol and examine the robot and can carry out obstacle identification based on the picture or the video of shooing afterwards, thereby arrive the inspection point fast.
And S106, acquiring the distance of the object on the patrol route through the radar.
Wherein, the distance of the object on the patrol route refers to the distance between the object on the patrol route and the patrol robot. The radar can be installed at any position on the inspection robot and used for detecting the distance of an object on the inspection route. The radar may be any type of radar device, such as a lidar, multiline lidar, or the like.
In the embodiment, the inspection robot can start the radar to detect the distance of the object on the inspection route in real time in the process of moving to the inspection point, so that the inspection robot can recognize obstacles based on the shot picture or video, and can quickly reach the inspection point.
And S107, identifying the obstacles on the tour route according to the road surface information and the distance of the object.
In this embodiment, when the inspection robot acquires the road surface information and the distance between the object based on the foregoing steps, the inspection robot may further determine whether the object in front of the inspection robot is an obstacle by combining the information of the road surface information and the distance between the object and the inspection robot, specifically calculate the position of the object on the road surface (on the inspection route) to determine, determine the type of the object according to the road surface information, and specifically calculate the distance between the object and the inspection robot to determine. The method can well avoid some obstacles of the inspection robot in the traveling route, and improves the flexibility of the inspection robot.
And S108, optimizing the patrol route according to the position of the obstacle to obtain the optimized patrol route.
In this embodiment, the inspection robot avoids the obstacle through calculation, and obtains the inspection route after optimizing.
Correspondingly, the inspection robot may specifically execute the step S103 when executing the inspection robot
And S109, moving according to the optimized patrol route and sequentially arriving at each patrol viewpoint to be patrolled in the patrol route.
The content of the method in this embodiment of the step is substantially the same as that of the step S103 in the embodiment of fig. 2, and for detailed description, reference is made to the foregoing description, which is not repeated herein.
In an embodiment, on the basis of the method in the embodiment in fig. 2, as shown in fig. 5, the provided monitoring method for the substation further includes:
and S110, acquiring the infrared image of each inspection point through an infrared image acquisition unit, and detecting the temperature value of each node on the infrared image.
And S111, executing the step S112 when detecting that the node with the temperature value exceeding the preset threshold exists, and returning to execute the step S104 when not detecting that the node with the temperature value exceeding the preset threshold exists.
And S112, sending an early warning signal to the dispatching platform.
In this embodiment, the inspection robot can preset a temperature value threshold, and when the inspection robot reaches an inspection point, the image acquisition unit of the inspection robot firstly acquires an infrared image of the current inspection point, and detects a temperature value of each node on the infrared image, and optionally, the temperature value of each pixel point on the infrared image. If the inspection robot detects that the temperature value of a certain node on the infrared image of the current inspection point is greater than or equal to the preset threshold value, an alarm signal is sent through a communication unit of the inspection robot, and if the inspection robot does not detect that the temperature value of a certain node on the infrared image of the current inspection point is greater than or equal to the preset threshold value, the acquired inspection data of the current inspection point is sent to the scheduling platform through the communication unit.
In an embodiment, the present application further provides a specific implementation manner of the "moving process according to the patrol route" described above, as shown in fig. 6, including:
s301, sensing the radio frequency sensor within a preset distance range through the vehicle-mounted sensing element.
In this embodiment, can preset the preset distance range of patrolling and examining the on-vehicle perception element on the robot, if patrol and examine the in-process that the robot removed according to the tour route, patrol and examine on-vehicle perception element perception on the robot and after a radio frequency sensor of presetting distance range, then remove to current tour point, if patrol and examine the in-process that the robot removed according to the tour route, patrol and examine on-vehicle perception element perception on the robot and after a plurality of radio frequency sensor of presetting distance range, optionally, can go earlier to patrol and examine the nearest tour point of robot and examine, then go relatively far tour point and patrol and examine again, after having patrolled and examined all the tour points of current preset distance range to the robot, move to next position.
S302, performing radio frequency communication with the sensed radio frequency sensor on a radio frequency channel, and determining a patrol viewpoint to be patrolled according to the radio frequency tag.
The inspection robot is provided with a plurality of radio frequency tags, one radio frequency tag corresponds to one inspection point, and one inspection point is only provided with one radio frequency sensor.
In this embodiment, when the inspection robot reaches an inspection point, the radio frequency tag of the current inspection point is acquired through the radio frequency channel, and it is determined whether the radio frequency tag of the current inspection point is the radio frequency tag of the inspection point on the inspection route.
And S303, sequentially reaching the determined patrol viewpoints to be patrolled.
In this embodiment, after the inspection robot starts, whenever an inspection point is reached, radio frequency communication is performed with the current inspection point, a radio frequency tag of the current inspection point acquired by the inspection robot through a radio frequency channel is compared with a radio frequency tag of the inspection point to be reached by the inspection robot, if the radio frequency tag of the current inspection point acquired by the inspection robot through the radio frequency channel is consistent with the radio frequency tag of the inspection point to be reached by the inspection robot, a request for acquiring inspection data is sent to the current inspection point, and if the radio frequency tag of the current inspection point acquired by a communication unit of the inspection robot is inconsistent with the radio frequency tag of the inspection point to be reached by the inspection robot, the inspection robot leaves the current inspection point and goes to the next inspection point.
The embodiments of fig. 2 to 6 are monitoring methods for a substation on the inspection robot side, and the embodiment of fig. 7 is a monitoring method for a substation on the dispatching platform side, and the monitoring method for a substation on the dispatching platform side is described in detail below.
S401, sending a patrol instruction to the patrol robot to instruct the patrol robot to plan a patrol route according to the patrol instruction, move according to the patrol route and sequentially arrive at each patrol viewpoint to be patrolled in the patrol route, and after arriving at each patrol viewpoint, sending a data reading request to obtain patrol data returned by equipment of each patrol viewpoint according to the received data reading request.
S402, receiving the inspection data sent by the inspection robot.
The method in this embodiment corresponds to the monitoring method for the substation on the inspection robot side in the embodiment of fig. 2, and for detailed description, reference is made to the foregoing description, which is not repeated herein.
According to the monitoring method of the transformer substation, the dispatching platform sends the patrol command to the patrol robot to indicate the patrol robot to plan the patrol route according to the patrol command, moves according to the patrol route and sequentially arrives at each patrol viewpoint to be patrolled in the patrol route, sends a data reading request to obtain patrol data returned by equipment of each patrol viewpoint according to the received data reading request after arriving at each patrol viewpoint, and then receives the patrol data sent by the patrol robot. According to the monitoring method of the transformer substation, the inspection robot is used for planning the inspection route and reading the inspection data, so that the inspection workload of technicians is reduced, and the inspection efficiency is improved; on the other hand uses patrolling and examining the robot and patrols and examines each inspection point of transformer substation, strengthens patrolling and examining the robot and patrolling and examining the interdynamic between viewpoint, the scheduling platform, also scientific and reasonable more to the planning of inspection task, has promoted the intelligent degree that transformer substation patrolled.
The above-mentioned embodiment of fig. 7 is a monitoring method of a substation on the dispatching platform side, the embodiment of fig. 8 is a monitoring method of a substation on the patrol point side, and the monitoring method of a substation on the dispatching platform side is described in detail below.
S501, receiving a data reading request sent by the inspection robot.
In this embodiment, the data reading request of the inspection robot is acquired by the acquisition device of the inspection point, wherein the acquisition device at least comprises a sensor and a camera, and the sensor at least comprises one of an audible and visual alarm, a smoke alarm, a temperature and humidity sensor, a water sensor, an infrared sensor and a leakage sensor.
And S502, the acquisition device is called to acquire the inspection data of the equipment at the current inspection point according to the data reading request.
In this embodiment, collection system can decide whether to begin work according to the distance and the collection signal of patrolling and examining the robot, and after receiving the request signal that the robot was patrolled and examined in the acquisition of patrolling and examining the data, transfer equipment such as audible-visual annunciator, smoke alarm, temperature and humidity inductor, water logging sensor, infrared sensor and electric leakage sensor and acquire the data of patrolling and examining.
And S503, sending the inspection data to the inspection robot so as to instruct the inspection robot to send the inspection data to the dispatching platform.
In this embodiment, the patrol data of each patrol point is sent to the patrol robot through the communication unit of the patrol robot, and the communication unit of the patrol robot sends the patrol data of each patrol point to the scheduling platform.
According to the monitoring method of the transformer substation, the inspection point receives a data reading request sent by the inspection robot, then the acquisition device is called according to the data reading request to acquire the inspection data of the equipment at the current inspection point, and the inspection data is sent to the inspection robot so as to instruct the inspection robot to send the inspection data to the dispatching platform. According to the monitoring method of the transformer substation, the inspection robot is used for planning the inspection route and reading the inspection data, so that the inspection workload of technicians is reduced, and the inspection efficiency is improved; on the other hand, the inspection robot is used for inspecting each inspection point of the transformer substation, the interaction between the inspection robot and the inspection point and between the inspection robot and the scheduling platform is enhanced, the planning of inspection tasks is more scientific and reasonable, and the intelligent degree of inspection of the transformer substation is improved
By combining all the above embodiments, the present application further provides a monitoring method for a substation, as shown in fig. 9, the method includes:
s601, the scheduling platform sends a patrol instruction to the patrol robot.
And S602, the inspection robot receives the inspection instruction sent by the scheduling platform, and extracts each inspection point to be inspected from the inspection instruction.
And S603, solving the shortest route according to each inspection point by the inspection robot by adopting a Floiede path search algorithm, and determining the shortest route as the inspection route.
And S604, the inspection robot acquires the road surface information on the inspection route through the image acquisition device.
And S605, the inspection robot acquires the distance of the object on the inspection route through the radar.
And S606, identifying the obstacles on the patrol route by the patrol robot according to the road surface information and the distance of the object.
And S607, the inspection robot optimizes the inspection route according to the position of the obstacle to obtain the optimized inspection route.
And S608, the inspection robot moves according to the optimized inspection route and sequentially arrives at the determined inspection points to be inspected.
And S609, the inspection robot senses the radio frequency sensor within the preset distance range through the vehicle-mounted sensing element.
S610, the inspection robot performs radio frequency communication with the sensed radio frequency sensor on a radio frequency channel, and determines an inspection point to be inspected according to the radio frequency tag.
S611, the inspection robot acquires the infrared image of each inspection point through the infrared image acquisition unit and detects the temperature value of each node on the infrared image.
S612, when detecting that a node with a temperature value exceeding a preset threshold exists, the inspection robot executes the step S613; if there is no node whose temperature value exceeds the preset threshold, step S614 is executed.
And S613, the inspection robot sends an early warning signal to the scheduling platform.
And S614, the inspection robot sends a data reading request after reaching each inspection point.
And S615, the inspection point receives a data reading request sent by the inspection robot.
And S616, the inspection point invokes the acquisition device to acquire inspection data of the equipment at the current inspection point according to the data reading request.
S617, the inspection point sends the inspection data to the inspection robot so as to instruct the inspection robot to send the inspection data to the dispatching platform.
And S618, the inspection robot receives inspection data returned by the equipment of each inspection point according to the received data reading request.
S619, the inspection robot sends inspection data to the dispatching platform.
And S620, the dispatching platform receives the inspection data sent by the inspection robot.
It should be understood that although the various steps in the flow charts of fig. 2-9 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-9 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 10, there is provided a monitoring apparatus of a substation, including:
the first receiving module 11 is configured to receive a patrol instruction sent by the scheduling platform;
the planning module 12 is used for planning the patrol route according to the patrol instruction;
the first arrival module 13 is used for moving according to the patrol route and sequentially arriving at each patrol viewpoint to be patrolled in the patrol route;
the second receiving module 14 is configured to send a data reading request after each viewpoint is reached, and receive polling data returned by the devices at each viewpoint according to the received data reading request;
and the first sending module 15 is used for sending the polling data to the dispatching platform.
In one embodiment, as shown in fig. 11, the planning module 12 includes:
an extracting unit 121 configured to extract, from the patrol instruction, each patrol point to be patrolled;
and the solving unit 122 is configured to solve the shortest route according to each inspection point by using a froude path search algorithm, and determine the shortest route as the inspection route.
In one embodiment, as shown in fig. 12, the above apparatus further comprises:
the first acquisition module 16 is used for acquiring road surface information on the patrol route through an image acquisition device;
a second obtaining module 17, configured to obtain, by using a radar, a distance to an object on the patrol route;
the identification module 18 is used for identifying the obstacles on the tour route according to the road surface information and the distance of the object;
the optimization module 19 is configured to optimize a patrol route according to the position of the obstacle, so as to obtain an optimized patrol route;
and the arrival module 20 is configured to move according to the optimized patrol route and sequentially arrive at each patrol viewpoint to be patrolled in the patrol route.
In one embodiment, as shown in fig. 13, the above apparatus further comprises:
the detection module 21 is configured to collect an infrared image of each inspection point through an infrared image collection unit, and detect a temperature value of each node on the infrared image;
and the second sending module 22 is configured to send an early warning signal to the scheduling platform when detecting that there is a node whose temperature value exceeds a preset threshold.
In one embodiment, as shown in fig. 14, the first arrival module 13 includes:
the sensing unit 131 is used for sensing the radio frequency sensor within a preset distance range through the vehicle-mounted sensing element;
the communication unit 132 is configured to perform radio frequency communication with the sensed radio frequency sensor on a radio frequency channel, and determine a patrol point to be patrolled according to the radio frequency tag;
and an arrival unit 133, configured to sequentially arrive at the determined patrol points to be patrolled.
In one embodiment, as shown in fig. 15, there is also provided a device for monitoring of a substation, including:
a third sending module 41, configured to send a patrol instruction to the patrol robot, so as to instruct the patrol robot to plan a patrol route according to the patrol instruction, move according to the patrol route and sequentially reach each patrol viewpoint to be patrolled in the patrol route, and obtain, after reaching each patrol viewpoint, patrol data returned by the device at each patrol viewpoint according to the received data reading request by sending a data reading request;
and the third receiving module 42 is used for receiving the inspection data sent by the inspection robot.
In one embodiment, as shown in fig. 16, there is also provided a device for monitoring of a substation, comprising
The fourth receiving module 31 is configured to receive a data reading request sent by the inspection robot;
the transferring module 32 is used for transferring the acquisition device to acquire the inspection data of the equipment at the current inspection point according to the data reading request;
and a fourth sending module 33, configured to send the inspection data to the inspection robot, so as to instruct the inspection robot to send the inspection data to the scheduling platform.
The modules in the monitoring device of the substation can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the above units.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 17. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of monitoring a substation. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 17 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
receiving a patrol instruction sent by a scheduling platform;
planning a patrol route according to the patrol instruction;
moving according to the patrol route and sequentially reaching each patrol viewpoint to be patrolled in the patrol route;
sending a data reading request after each inspection point is reached, and receiving inspection data returned by equipment of each inspection point according to the received data reading request;
and sending the routing inspection data to a dispatching platform.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
sending a patrol instruction to the patrol robot to instruct the patrol robot to plan a patrol route according to the patrol instruction, move according to the patrol route and sequentially reach each patrol viewpoint point to be patrolled in the patrol route, and after reaching each patrol viewpoint point, sending a data reading request to obtain patrol data returned by equipment of each patrol viewpoint point according to the received data reading request;
and receiving the inspection data sent by the inspection robot.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
receiving a data reading request sent by the inspection robot;
the acquisition device is called to acquire the inspection data of the equipment at the current inspection point according to the data reading request;
and sending the inspection data to the inspection robot so as to indicate the inspection robot to send the inspection data to the dispatching platform.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
receiving a patrol instruction sent by a scheduling platform;
planning a patrol route according to the patrol instruction;
moving according to the patrol route and sequentially reaching each patrol viewpoint to be patrolled in the patrol route;
sending a data reading request after each inspection point is reached, and receiving inspection data returned by equipment of each inspection point according to the received data reading request;
and sending the routing inspection data to a dispatching platform.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
sending a patrol instruction to the patrol robot to instruct the patrol robot to plan a patrol route according to the patrol instruction, move according to the patrol route and sequentially reach each patrol viewpoint point to be patrolled in the patrol route, and after reaching each patrol viewpoint point, sending a data reading request to obtain patrol data returned by equipment of each patrol viewpoint point according to the received data reading request;
and receiving the inspection data sent by the inspection robot.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
receiving a data reading request sent by the inspection robot;
the acquisition device is called to acquire the inspection data of the equipment at the current inspection point according to the data reading request;
and sending the inspection data to the inspection robot so as to indicate the inspection robot to send the inspection data to the dispatching platform.
The implementation principle and technical effect of the computer-readable storage medium provided by the above embodiments are similar to those of the above method embodiments, and are not described herein again.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A monitoring method of a substation is characterized by comprising the following steps:
receiving a patrol instruction sent by a scheduling platform;
planning a patrol route according to the patrol instruction;
moving according to the patrol route and sequentially reaching each patrol viewpoint to be patrolled in the patrol route;
sending a data reading request after each inspection point is reached, and receiving inspection data returned by the equipment of each inspection point according to the received data reading request;
and sending the routing inspection data to the dispatching platform.
2. The method of claim 1, wherein planning a tour route according to the tour instruction comprises:
extracting each patrol viewpoint to be patrolled from the patrol instruction;
and solving a shortest route according to each inspection point by adopting a Floiede path search algorithm, and determining the shortest route as the inspection route.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
acquiring road surface information on the patrol route through an image acquisition device;
acquiring the distance of an object on the tour route through a radar;
identifying an obstacle on the patrol route according to the road surface information and the distance of the object;
optimizing the patrol route according to the position of the obstacle to obtain an optimized patrol route;
move according to the tour route and arrive in proper order each tour viewpoint of waiting to tour in the tour route, include:
and moving according to the optimized patrol route and sequentially reaching each patrol viewpoint to be patrolled in the patrol route.
4. The method of claim 1, further comprising:
acquiring an infrared image of each inspection point through an infrared image acquisition unit, and detecting the temperature value of each node on the infrared image;
and when detecting that a node with a temperature value exceeding a preset threshold exists, sending an early warning signal to the scheduling platform.
5. The method of claim 1, wherein during the moving along the tour route, the method further comprises:
sensing a radio frequency sensor within a preset distance range through a vehicle-mounted sensing element;
performing radio frequency communication with the sensed radio frequency sensor on a radio frequency channel, and determining the patrol point to be patrolled according to the radio frequency tag;
reach in proper order each tour viewpoint of waiting to tour in the tour route, include:
and sequentially reaching each determined patrol viewpoint to be patrolled.
6. The method of claim 1, wherein the inspection data includes at least one of grounding information, photoacoustic spectroscopy information, optical fiber temperature measurement information, surface acoustic wave temperature measurement information, neutral point current information, and arrester leakage current information.
7. A monitoring method of a substation is characterized by comprising the following steps:
sending a patrol instruction to a patrol robot to instruct the patrol robot to plan a patrol route according to the patrol instruction, move according to the patrol route and sequentially reach each patrol viewpoint point to be patrolled in the patrol route, and after reaching each patrol viewpoint point, sending a data reading request to obtain patrol data returned by equipment of each patrol viewpoint point according to the received data reading request;
and receiving the inspection data sent by the inspection robot.
8. A monitoring method of a substation is characterized by comprising the following steps:
receiving a data reading request sent by the inspection robot;
the acquisition device is called to acquire the inspection data of the equipment at the current inspection point according to the data reading request;
and sending the inspection data to the inspection robot to indicate the inspection robot to send the inspection data to a dispatching platform.
9. The method according to claim 1, characterized in that said acquisition means comprise at least: the sensor at least comprises one of an audible and visual alarm, a smoke alarm, a temperature and humidity sensor, a water immersion sensor, an infrared sensor and a leakage sensor.
10. The method of claim 8, wherein the inspection robot is communicatively coupled to the dispatch platform via a lateral isolation device.
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Application publication date: 20220415 |