CN114696250A - Intelligent operation and maintenance robot and method for switch cabinet of power distribution room - Google Patents
Intelligent operation and maintenance robot and method for switch cabinet of power distribution room Download PDFInfo
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- CN114696250A CN114696250A CN202210310645.XA CN202210310645A CN114696250A CN 114696250 A CN114696250 A CN 114696250A CN 202210310645 A CN202210310645 A CN 202210310645A CN 114696250 A CN114696250 A CN 114696250A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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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
- H02J13/00002—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 monitoring
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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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manufacturing & Machinery (AREA)
- Computer Networks & Wireless Communication (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
The application discloses intelligent operation and maintenance robot of electricity distribution room cubical switchboard and method, operation and maintenance robot includes: the mechanical operation module is used for carrying out operation and maintenance operation based on the mechanical arm and the semi-decoupling type operating head; the walking module is used for realizing the walking of the robot; the image identification module is used for assisting the mechanical operation module and the walking module to realize operation and maintenance operation and operation of the operation and maintenance robot; the sensing module is used for acquiring operation data and ambient environment data of operating equipment in the switch cabinet; and the control module is used for monitoring and analyzing the operation data of the operation equipment in the switch cabinet in real time, controlling the walking module and the mechanical operation module to carry out emergency brake-separating unlocking and operation on the switch cabinet when the equipment fault is found, and removing the fault equipment. The invention replaces the traditional manual operation, and the equipment operation mode, the system sampling precision, the calculation algorithm, the processing mode and other technologies are more advanced, and the intelligent and integrated degree is higher.
Description
Technical Field
The invention belongs to the technical field of intelligent operation and maintenance of a switch cabinet in a distribution room, and relates to an intelligent operation and maintenance robot and method for the switch cabinet in the distribution room.
Background
At present, most of transformer substations are unattended or guarded by a guard, and emergency situations of field equipment cannot be timely discovered and processed. The operation of the distribution room of the transformer substation is mainly monitored on duty by a regulation and control operation and maintenance center, and the number of the transformer substations and equipment to be monitored is large. Therefore, it is difficult for the operation and maintenance center monitoring personnel to monitor the operation data of all the equipment of the transformer substation, especially the switch cabinet of the distribution room, and to continuously monitor all the equipment of each substation for 24 hours. The operation and maintenance conditions of the existing switchgear have the following defects and shortcomings:
1. the data uploaded by the substation switch cabinet are mostly limited to alarm after abnormity occurs in voltage, current, electric quantity and data, and alarm after protection action occurs. These monitoring systems generally do not allow any potential safety hazards to be detected in advance during the operation of the switchgear, so that further parameters of the operation of the switchgear must be: the temperature of the conductive contact surface, the loop resistance of the whole switch cabinet, the internal partial discharge condition (insulation performance), the mechanical characteristics (the last on-off time, the speed, the bounce and the like) of the switch, the contact state video of the moving contact and the static contact, the actual state video of the grounding disconnecting link and the like are transmitted in real time, so that the monitoring operation can be carried out in real time.
2. When the monitored switch equipment breaks down, the monitored switch equipment is mostly prompted only by alarming, and when the protection action or the alarming prompt is performed, accidents are mostly occurred or expanded. Before the switching equipment breaks down, the operation data is mostly abnormal, then the switching equipment has a sudden failure, but the operation data can not be found in time when the operation data is abnormal. When the switch equipment has sudden failure, the regulation and control operator cannot perform emergency brake-opening operation, and the trip is realized by depending on protection actions to a great extent. After the equipment is in fault or is in protection trip, an operation and maintenance operator is informed, and the operation and maintenance operator at least reaches the site by two persons and one team. The time is consumed from the station to the transformer substation, and when operation and maintenance personnel arrive at the site for treatment, personal safety threats exist, and even the power failure range needs to be expanded. The operation and maintenance personnel report the regulation and control operation and maintenance center according to the fault condition and then inform the maintenance personnel to process, and the maintenance personnel also need a certain time to arrive at the site, so that the emergency treatment efficiency of the accident is greatly reduced, and huge losses are caused to the operation of the power grid and social economy.
3. When switching operation is carried out, at least two persons and one group of maintenance personnel are required to rush to the site for operation. 1) The existing trolley circuit breakers of the switch cabinet are manually operated and maintained, and because original equipment is complicated in mechanical linkage, heavy in equipment and inflexible in a trolley moving system, operators are very laborious in the equipment carrying process, and accidents of damaging the operators and equipment sometimes occur; 2) operators do not know the operation sequence of the equipment, and damage is caused to the equipment in the operation process of the equipment; 3) the equipment is loaded down with trivial details complicated in the operation process, because the operating personnel level is different, and is different to the understanding condition of equipment, the maloperation appears sometimes, in case the maloperation appears, causes the destructive destruction to the person, equipment and electric wire netting safety, 4) when breaking down on the circuit, from the premises to the transformer substation, the long increase of time of inspection with operating, the fault handling efficiency is low.
The defects and deficiencies of the operation and maintenance conditions of the switch equipment are combined with the technical development trend of the power system, the operation of the power system tends to be unmanned and intelligent more and more, higher requirements are provided for safe and reliable operation of the power equipment, and a robot is urgently needed to monitor the operation state of the equipment uninterruptedly, make judgment quickly when equipment faults occur and perform emergency operation.
In conclusion, the intelligent operation and maintenance robot can maintain equipment safety and personal safety of operation and maintenance personnel, the transformer substation actively applies the intelligent operation and maintenance robot to carry out work, a cooperative mechanism is established by mutual complementation with the operation and maintenance personnel, and the intelligent operation and maintenance robot has obvious economic benefits and wide application prospect.
Disclosure of Invention
In order to solve the defects in the prior art, the intelligent operation and maintenance robot and method for the switch cabinet of the power distribution room replace the traditional manual operation, the technology such as an equipment operation mode, system sampling precision, a calculation algorithm and a processing mode is more advanced, and the intelligent degree and the integration degree are higher.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an intelligent operation and maintenance robot for a switch cabinet of a power distribution room comprises a mechanical operation module, a walking module, an image recognition module, a sensing module and a control module;
the mechanical operation module is used for carrying out operation and maintenance operation based on the mechanical arm and the semi-decoupling type operating head;
the walking module is used for realizing robot walking based on a 3D vision high-precision obstacle avoidance algorithm;
the image recognition module is used for realizing operation and maintenance operation and operation of the operation and maintenance robot based on the camera, the image recognition auxiliary mechanical operation module and the walking module;
the sensing module is used for acquiring the operation data and the ambient environment data of the operating equipment in the switch cabinet by acquiring the information of various sensors and monitoring modules installed in the switch cabinet;
the control module is used for monitoring and analyzing the operation data of the operation equipment in the switch cabinet in real time, controlling the walking module and the mechanical operation module to carry out emergency opening unlocking and operation on the switch cabinet when the equipment fault is found, cutting off the fault equipment and realizing the inspection, supervision and maintenance and operation of the switch cabinet of the power distribution room of the transformer substation.
The invention further comprises the following preferred embodiments:
preferably, in the mechanical operation module, the robot arm automatically moves along an X-Y-Z axis in a limited space in front of the switch cabinet, the operation of an operation button on a panel of the switch cabinet is realized through a semi-decoupling type operating head, and the circuit breaker can be drawn out from the cabinet to the chassis truck during operation and maintenance;
in the walking module, an optimal walking path is obtained by adopting a 3D vision high-precision obstacle avoidance algorithm based on a surrounding environment depth map obtained by a binocular camera, so that the robot can make various obstacle avoidance actions in the moving direction of an object obstructed by the outside, and the robot walks;
in the image identification module, identifying the switch cabinet secondary instrument door equipment to perform corresponding acquisition auxiliary mechanical operation module to realize operation and maintenance operation based on the image acquired by the binocular camera; and (5) identifying the surrounding environment in the area to output a walking path to assist the robot walking module to move and walk.
Preferably, the control module specifically includes:
the data acquisition unit is used for acquiring normal operation parameters of the switch equipment through communication with a background server of the power distribution room, and reading real-time operation data and ambient environment data of the equipment in the switch cabinet through a standard communication protocol based on an intelligent monitoring terminal and a sensor on the equipment in the switch cabinet;
the fault analysis unit is used for analyzing the abnormal condition of the equipment by combining the real-time operation data with the normal operation parameters and the ambient environment data and reporting to the regulation and control operation and maintenance center when the equipment fault is found;
the control operation and maintenance center, namely a transformer substation monitoring center, is used for sending operation and maintenance operation instructions when the fault analysis unit reports equipment faults, and supervising and managing the routing inspection and operation processes based on the received real-time influence;
the switching operation unit is used for positioning and controlling the walking module to enable the operation and maintenance robot to operate to a corresponding switch cabinet based on multi-sensing data fusion navigation and stereoscopic vision target positioning and standing posture estimation technologies according to received operation instructions, and controlling the mechanical operation module to perform operation and maintenance operation according to a switching operation ticket and a five-prevention program;
the camera shooting unit is used for uploading a real-time image of the operation process to a regulation and control operation and maintenance center based on the image identification module;
and the inspection unit is used for controlling the robot to inspect the master control and switch cabinet equipment in the power distribution room according to the preset time and uploading the real-time image to the regulation and control operation and maintenance center.
Preferably, the data acquisition unit communicates with a background server of the distribution room through a standard communication interface, deeply learns the operation mode of the substation system through a primary system diagram and equipment definition, and acquires and stores normal operation parameters of the switchgear;
and based on the sensing module, in the operation process of the switch equipment, the real-time operation data of the switch cabinet is continuously monitored and read through a standard communication protocol.
Preferably, the fault analysis unit compares the real-time operation data read by the data acquisition unit with normal operation parameters, analyzes and judges the operation status of the equipment by combining with the ambient environment data, and reports to the regulation and control operation and maintenance center when the equipment fault is found.
Preferably, the operation and maintenance robot is integrated with a transfer trolley and is used for assisting the mechanical operation module to transfer the handcart circuit breaker;
and a locking and traction device is arranged between the robot and the transfer trolley, and the robot and the transfer trolley are combined into a whole when being transferred and walk synchronously.
Preferably, the switch cabinet is provided with a trolley push-pull transmission mechanism and a grounding disconnecting link actuating mechanism, and the mechanism is provided with a driving motor and a gear set; the switch cabinet is characterized in that a controller is additionally arranged on a cabinet door of the instrument room, and the switch cabinet is automatically opened and closed; the switch cabinet is also provided with a video camera for monitoring the states of the moving contact and the static contact of the circuit breaker and the contact of the ground switch; all the information of all the structures or components arranged on the switch cabinet is accessed to the robot control module in a wireless mode;
the controller acquires the operation information of each device in the switch cabinet in a wireless transmission mode, can communicate with a power distribution room monitoring system, and communicates with a higher-level regulation and control operation center through a telemechanical server, so that remote operation is facilitated, and electric operation of pushing the trolley out and switching the grounding disconnecting link on and off is realized.
Preferably, the sensing module acquires operating data and ambient environment data of operating equipment in the switch cabinet by acquiring information of various sensors and monitoring modules installed in the switch cabinet, and wirelessly transmits the acquired data to the control module;
the operation data comprises local temperature of operation equipment, switching characteristics, circuit breaker main circuit resistance and partial discharge online monitoring data.
Preferably, the various sensors and monitoring modules installed in the switch cabinet include:
the wireless temperature measuring sensor is used for monitoring the local temperatures of the contact of the circuit breaker, the lap joint of the busbar and the cable connector in the cabinet on line;
the circuit breaker main loop resistance online monitoring module is used for monitoring the main loop resistance of the circuit breaker of the switch cabinet in real time by acquiring current and voltage analog quantity data of upper and lower fractures of the circuit breaker;
the circuit breaker mechanical characteristic on-line monitoring module is used for measuring the opening and closing time, speed, bounce, current and action voltage parameters and forming a switch characteristic curve;
and the partial discharge online monitoring module is used for monitoring partial discharge of the equipment in real time.
The application also provides an intelligent operation and maintenance method for the switch cabinet of the power distribution room, which comprises the following steps:
step 1: the sensing module acquires the operation data and the ambient environment data of the operating equipment in the switch cabinet through an intelligent monitoring terminal and a sensor which are arranged on the equipment in the switch cabinet;
step 2: the image recognition module is used for carrying out image recognition based on a camera and assisting the mechanical operation module and the walking module to realize operation and maintenance operation and operation of the operation and maintenance robot;
and step 3: the control module collects operation data of operation equipment in the switch cabinet, data calculation and processing are carried out through a software system, real-time monitoring and abnormity analysis are carried out, an instruction is output to control the robot to carry out control operation on the equipment of the switch cabinet, alarm processing is carried out when abnormity is found, and data are uploaded to an upper-stage main station.
The beneficial effect that this application reached:
the invention can find the abnormal operation data in time, analyze the abnormal state of the equipment, and judge the sudden failure of the equipment by sensing the change of the equipment and the surrounding environment. Based on the intelligent robot, switching operation can be realized by operation and maintenance personnel without arriving at the site, only command operation is issued by the operation and maintenance center and the operation and maintenance center duty personnel, the intelligent operation and maintenance robot can receive the command of the operation and maintenance center personnel, intelligent operation and control on the currently-operated switch cabinet are realized according to a switching operation ticket and a five-prevention program, the intelligent operation and maintenance robot feeds back to the operation and maintenance center personnel and the operation and maintenance center supervisor after execution is finished, and the executed video image is uploaded. Thereby achieving the real operation and maintenance intellectualization. The robot can also acquire background monitoring data, monitor the operation of the switch equipment within 24 hours, and regularly inspect the switch equipment, when the switch equipment is in an emergency, the robot can complete emergency brake-separating unlocking and operation actions according to the identified fault information before the switch equipment operates to the fault equipment, timely remove a fault line, and then report a supervisor of the regulation and control operation and maintenance center and a watch keeper of the regulation and control operation and maintenance center.
The invention can complete the operation of monitoring the operation data of the electrical equipment, routing inspection of the switch cabinet, carrying the trolley, switching and the like, has the functions of emergency switching-off operation and the like in emergency, can complete all the service operation by regulating and controlling the operation and maintenance center and regulating and controlling the instructions of personnel in the operation and maintenance center, can almost complete all the work tasks of the operators, and is supervised and managed by operation and maintenance supervisor personnel.
The intelligent operation and maintenance robot is provided with an independent control module, communicates with an original operation system of a transformer substation through a communication interface, can receive an instruction of a regulation and control operation and maintenance center to rapidly perform normal switching operation, greatly shortens the operation time, can realize 24-hour watch, timing inspection and fault emergency treatment of the transformer substation, greatly saves the labor cost and improves the efficiency; the possibility of expansion of equipment and power grid accidents caused by untimely manual monitoring and processing is reduced, and the possibility of personal safety accidents caused by manual operation is avoided. Therefore, the economic loss can be greatly reduced from the aspects of equipment, power grid safety and personal safety.
The robot completely realizes intellectualization, is familiar with and masters the operation and maintenance work flow and the work area map of the substation switch equipment through deep learning, and the control module operates the switch equipment based on instructions to enable the switch equipment to be in the states of hot standby, cold standby, maintenance and the like. When necessary, the switch trolley can be drawn out of the cabinet from the inside of the cabinet and placed at a designated position. The switch trolley can also be placed into the cabinet from a designated position so as to be in a state of receiving the instruction. All the operations of opening and closing the cabinet door and the like meet the requirement of five-prevention interlocking, and real-time images of the operations are uploaded so as to supervise and manage the inspection and operation processes.
Drawings
FIG. 1 is a front view of an intelligent operation and maintenance robot for a switchgear cabinet of a power distribution room according to the present invention;
fig. 2 is a structural side view of an intelligent operation and maintenance robot for a switch cabinet of a power distribution room.
Detailed Description
The present application is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present application is not limited thereby.
As shown in fig. 1 and 2, example 1 of the present invention provides an intelligent operation and maintenance robot for a switch cabinet of a power distribution room, which, in a preferred but non-limiting embodiment of the present invention, comprises a mechanical operation module, a walking module, an image recognition module, a sensing module and a control module;
the mechanical operation module is used for carrying out operation and maintenance operation based on a mechanical arm with high mechanical rigidity and a semi-decoupling type operating head;
the mechanical arm can automatically move along the X-Y-Z axis in the limited space in front of the switch cabinet, the operation of the panel operating button of the switch cabinet is realized through the semi-decoupling operating head, and the circuit breaker can be drawn out from the cabinet to the chassis vehicle during operation and maintenance
The walking module is used for realizing robot walking based on a 3D vision high-precision obstacle avoidance algorithm;
the method comprises the steps that a 3D vision high-precision obstacle avoidance algorithm is adopted to obtain an optimal walking path based on a surrounding environment depth map obtained by a binocular camera, so that the robot can make various obstacle avoidance actions in the moving direction of an object obstructed by the outside, and the robot can walk;
the obstacle avoidance refers to the fact that when the mobile robot senses that static or dynamic obstacles exist on a planned route through a sensor in the walking process, a path is updated in real time according to a certain algorithm, the obstacle is bypassed, and finally a target point is reached;
the image recognition module is used for realizing operation and maintenance operation and operation of the operation and maintenance robot based on the camera, the image recognition auxiliary mechanical operation module and the walking module;
identifying the switch cabinet secondary instrument door equipment to carry out corresponding acquisition auxiliary mechanical operation module to realize operation and maintenance operation based on the image acquired by the binocular camera; and (5) identifying the surrounding environment in the area to output a walking path to assist the robot walking module to move and walk.
The sensing module is used for acquiring the operation data and the ambient environment data of the operating equipment in the switch cabinet by acquiring the information of various sensors and monitoring modules installed in the switch cabinet;
for example: acquiring temperature information of the surface of a contact by acquiring data of wireless temperature measurement modules arranged at the contact, the bus lap joint and the cable lap joint of the circuit breaker; the running information of various devices and the environmental running conditions in the small chamber are obtained by collecting the information of the cameras arranged in the breaker chamber, the cable chamber and the bus chamber.
Further preferably, the sensing module acquires the operation data and the ambient environment data of the operating equipment in the switch cabinet by acquiring the information of various sensors and monitoring modules installed in the switch cabinet, and wirelessly transmits the acquired data to the control module;
the operation data comprises local temperature of operation equipment, switching characteristics, circuit breaker main circuit resistance and partial discharge online monitoring data.
Specifically, the various sensors and monitoring modules installed in the switch cabinet include:
the wireless temperature measuring sensor is used for monitoring the local temperature of the contact of the circuit breaker, the lap joint of the busbar, the cable connector and the like in the cabinet on line;
the circuit breaker main loop resistance online monitoring module is used for monitoring the main loop resistance of the circuit breaker of the switch cabinet in real time by acquiring current and voltage analog quantity data of upper and lower fractures of the circuit breaker;
the circuit breaker mechanical characteristic on-line monitoring module is used for measuring the opening and closing time, speed, bounce, current and action voltage parameters and forming a switch characteristic curve;
and the partial discharge online monitoring module is used for monitoring partial discharge of the equipment in real time.
The control module is used for monitoring and analyzing the operation data of the operation equipment in the switch cabinet in real time, controlling the walking module and the mechanical operation module to carry out emergency opening unlocking and operation on the switch cabinet when the equipment fault is found, cutting off the fault equipment and realizing the inspection, supervision and maintenance and operation of the switch cabinet of the power distribution room of the transformer substation.
Further preferably, the control module specifically includes:
the data acquisition unit is used for acquiring normal operation parameters of the switch equipment through communication with a background server of the power distribution room, and reading real-time operation data and ambient environment data of the equipment in the cabinet through a standard communication protocol based on an intelligent monitoring terminal and a sensor on the equipment in the switch cabinet;
the data acquisition unit is communicated with a background server of the distribution room through a standard communication interface, and the normal operation parameters of the switch equipment are acquired and stored through a primary system diagram and equipment definition and deep learning of the operation mode of the substation system;
and based on the sensing module, in the operation process of the switch equipment, the real-time operation data of the switch cabinet is continuously monitored and read through a standard communication protocol.
The fault analysis unit compares the real-time operation data of the switch cabinet read by the data acquisition unit with normal operation parameters, analyzes and judges the operation condition of the equipment by combining with the ambient environment data, and reports to the regulation and control operation and maintenance center when the equipment fault is found. For example, real-time data such as simulation quantity such as operating current and voltage quantity exceeding a normal set current range, equipment remote signaling state change, temperature change of each small chamber, equipment operation abnormity in a cabinet and the like are monitored, when the real-time data exceed the normal data range, a fault alarm and equipment action SOE are sent out, and the fault alarm and equipment action SOE is reported to a regulation and control operation and maintenance center.
The control operation and maintenance center, namely a transformer substation monitoring center, is used for sending operation and maintenance operation instructions when the fault analysis unit reports equipment faults, and supervising and managing the routing inspection and operation processes based on the received real-time influence;
the switching operation unit is used for positioning and controlling the walking module to enable the operation and maintenance robot to operate to a corresponding switch cabinet based on multi-sensing data fusion navigation and stereoscopic vision target positioning and standing posture estimation technology according to the received operation instruction, and controlling the mechanical operation module to carry out operation and maintenance operation according to a switching operation ticket and a five-prevention program; if the switch is switched on and off, the circuit breaker is pulled out of the switch cabinet for operation;
the switching operation unit processes and analyzes data and gives an optimal path based on a 3D vision high-precision obstacle avoidance algorithm and data collected by a camera according to a received operation instruction, and then controls the walking module to enable the operation and maintenance robot to run to the front of a corresponding switch cabinet according to the optimal path, and automatically adjusts the position of the switching cabinet and aligns the switch cabinet according to the position of the switch cabinet.
The switching operation is carried out according to a disconnecting link operation ticket and a five-prevention program which are set in advance by a system (operation software), and a mechanical operation module is controlled to operate according to a set logic sequence.
Power failure maintenance stage: the robot outputs an instruction to control the breaker to perform opening operation, the breaker is moved to an experimental position from a working position, after the breaker is confirmed to be completely opened, the grounding disconnecting link is controlled to be automatically closed, the cabinet door of the switch cabinet is linked to be automatically opened, and the handcart breaker is pulled out of the switch cabinet by the mechanical operation module and conveyed to a designated area to be overhauled;
and a power transmission stage after the overhaul is finished: the trolley which is overhauled is automatically conveyed to a specified switch cabinet from a specified area and is moved into the cabinet to be positioned at a test position, the robot outputs an instruction to automatically close the cabinet door, the breaker is determined to be in an opening state, the grounding switch is controlled to be opened, and the breaker is driven to move from the test position to a working position to carry out closing and power transmission operations.
Further preferably, the operation and maintenance robot integrates the function of a transfer vehicle and is used for assisting the mechanical operation module to transfer the handcart circuit breaker;
and a locking and traction device is arranged between the robot and the transfer trolley, and the robot and the transfer trolley are combined into a whole when being transferred, so that the handcart can synchronously walk.
For the cooperation robot, upgrade the cubical switchboard, it is specific:
the switch cabinet is provided with a trolley push-pull transmission mechanism and a grounding disconnecting link actuating mechanism, the mechanism is provided with a driving motor and a gear set, the switch cabinet is additionally provided with a controller on an instrument room cabinet door, and the inside of the control cabinet is automatically opened and closed; the switch cabinet is also provided with a video camera for monitoring the states of the moving contact and the static contact of the circuit breaker and the contact of the ground switch; all the information of all the structures or components arranged on the switch cabinet is accessed to the robot control module in a wireless mode;
the robot controller acquires the operation information of each device in the switch cabinet in a wireless transmission mode, can communicate with a power distribution room monitoring system, and communicates with a higher-level regulation and control operation and maintenance center through a telemechanical server, so that remote operation is facilitated, and electric operation of pushing the trolley out and switching the grounding disconnecting link on and off is realized.
The camera shooting unit is used for uploading a real-time image of the operation process to a regulation and control operation and maintenance center based on the image identification module;
and the inspection unit is used for controlling the robot to inspect the master control and switch cabinet equipment in the power distribution room according to the preset time and uploading the real-time image to the regulation and control operation and maintenance center.
The operation and maintenance robot is provided with a set of background display terminals (computer hardware and software), the terminals are provided with standard communication interfaces, real-time information can enter each partition after being encrypted in a partition mode through optical fiber network cables, wireless communication modes and the like, and then the real-time information is uploaded to each level of superior servers for monitoring. Based on the robot, the invention provides an intelligent operation and maintenance method for a switch cabinet of a power distribution room, which comprises the following steps:
step 1: the sensing module acquires the operation data and the ambient environment data of the operating equipment in the switch cabinet through an intelligent monitoring terminal and a sensor which are arranged on the equipment in the switch cabinet;
step 2: the image recognition module carries out image recognition based on the camera and is used for assisting the mechanical operation module and the walking module to realize operation and maintenance operation and operation of the operation and maintenance robot;
and 3, step 3: the control module (controller + human-computer interface) collects operation data of operation equipment in the switch cabinet, data calculation and processing are carried out through a software system, real-time monitoring and anomaly analysis are carried out, an instruction is output to control the robot to carry out control operation on each equipment of the switch cabinet, alarm processing is carried out when anomaly is found, and data are uploaded to an upper-level main station.
The invention can find the abnormal operation data in time, analyze the abnormal state of the equipment, and judge the sudden failure of the equipment by sensing the change of the equipment and the surrounding environment. Based on the intelligent robot, the switching operation can be realized by operation and maintenance personnel without arriving at the site, only the operation and maintenance center and the on-duty personnel of the operation and maintenance center are required to be regulated and controlled to issue instruction operation, the intelligent operation and maintenance robot can receive the instruction of the personnel of the operation and maintenance center, the intelligent operation and control of the currently-operated switch cabinet can be realized according to the switching operation ticket and the five-prevention program, the feedback is carried out to the personnel of the operation and maintenance center and the personnel in charge of the operation and maintenance center after the execution is finished, and the executed video image is uploaded. Thereby achieving the real operation and maintenance intellectualization. The robot can also acquire background monitoring data, monitor the operation of the switch equipment within 24 hours, and regularly inspect the switch equipment, when the switch equipment is in an emergency, the robot can complete emergency brake-separating unlocking and operation actions according to the identified fault information before the switch equipment operates to the fault equipment, timely remove a fault line, and then report a supervisor of the regulation and control operation and maintenance center and a watch keeper of the regulation and control operation and maintenance center.
The invention can complete the operation of monitoring the operation data of electrical equipment, routing inspection of a switch cabinet, carrying a trolley, switching and the like, has the functions of emergency opening operation under emergency conditions (the emergency opening operation refers to that under the emergency condition, a robot outputs an instruction to control a mechanical operation module to open a circuit breaker), and the like, can complete all business operations by regulating and controlling the operation and maintenance center and regulating and controlling the instructions of personnel at the operation and maintenance center, can almost complete all work tasks of operators, and is supervised and managed by operation and maintenance personnel.
The intelligent operation and maintenance robot is provided with an independent control module, communicates with an original operation system of a transformer substation through a communication interface, can receive an instruction of a regulation and control operation and maintenance center to rapidly perform normal switching operation, greatly shortens the operation time, can realize 24-hour watch, timing inspection and fault emergency treatment of the transformer substation, greatly saves the labor cost and improves the efficiency; the possibility of expansion of equipment and power grid accidents caused by untimely manual monitoring and processing is reduced, and the possibility of personal safety accidents caused by manual operation is avoided. Therefore, the economic loss can be greatly reduced from the aspects of equipment, power grid safety and personal safety.
The robot completely realizes intellectualization, is familiar with mastering the operation and maintenance work flow and work area map of the substation switch equipment through deep learning, and the control module operates the switch equipment based on instructions so as to enable the switch equipment to be in a hot standby state and a cold standby state (the hot standby state refers to a state that the switch is in a work position and can be switched on remotely at any time, and the cold standby state refers to a state that the switch is in a test position and has operation conditions but needs to be shaken in the work position before switching on), maintenance and the like. When necessary, the switch trolley can be drawn out of the cabinet from the inside of the cabinet and placed at a designated position. The switch trolley can also be placed in the cabinet from a specified position so as to be in a state of receiving the instruction. All the operations of opening and closing the cabinet door and the like meet the requirement of five-prevention interlocking, and real-time images of the operations are uploaded so as to supervise and manage the inspection and operation processes.
The present applicant has described and illustrated embodiments of the present invention in detail with reference to the accompanying drawings, but it should be understood by those skilled in the art that the above embodiments are merely preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not for limiting the scope of the present invention, and on the contrary, any improvement or modification made based on the spirit of the present invention should fall within the scope of the present invention.
Claims (10)
1. The utility model provides a distribution room cubical switchboard intelligent fortune dimension robot, includes mechanical operation module, walking module, image recognition module, sensing module and control module, its characterized in that:
the mechanical operation module is used for carrying out operation and maintenance operation based on the mechanical arm and the semi-decoupling type operating head;
the walking module is used for realizing robot walking based on a 3D vision high-precision obstacle avoidance algorithm;
the image recognition module is used for realizing operation and maintenance operation and operation of the operation and maintenance robot based on the camera, the image recognition auxiliary mechanical operation module and the walking module;
the sensing module is used for acquiring the operation data and the ambient environment data of the operating equipment in the switch cabinet by acquiring the information of various sensors and monitoring modules installed in the switch cabinet;
the control module is used for monitoring and analyzing the operation data of the operation equipment in the switch cabinet in real time, controlling the walking module and the mechanical operation module to carry out emergency opening unlocking and operation on the switch cabinet when equipment faults are found, removing the fault equipment and realizing the inspection, watching and operation and maintenance operations of the switch cabinet of the power distribution room of the transformer substation.
2. The intelligent operation and maintenance robot for the switch cabinet of the power distribution room as claimed in claim 1, wherein:
in the mechanical operation module, a robot arm automatically moves along an X-Y-Z axis in a limited space in front of a switch cabinet, a panel operation button of the switch cabinet is operated through a semi-decoupling type operating head, and a circuit breaker can be drawn out from the cabinet to a chassis truck during operation and maintenance;
in the walking module, an optimal walking path is obtained by adopting a 3D vision high-precision obstacle avoidance algorithm based on a surrounding environment depth map obtained by a binocular camera, so that the robot can make various obstacle avoidance actions in the moving direction of an object obstructed by the outside, and the robot walks;
in the image identification module, identifying the switch cabinet secondary instrument door equipment to perform corresponding acquisition auxiliary mechanical operation module to realize operation and maintenance operation based on the image acquired by the binocular camera; and (5) identifying the surrounding environment in the area to output a walking path to assist the robot walking module to move and walk.
3. The intelligent operation and maintenance robot for the switch cabinet of the power distribution room as claimed in claim 1, wherein:
the control module specifically comprises:
the data acquisition unit is used for acquiring normal operation parameters of the switch equipment through communication with a background server of the power distribution room, and reading real-time operation data and ambient environment data of the equipment in the cabinet through a standard communication protocol based on an intelligent monitoring terminal and a sensor on the equipment in the switch cabinet;
the fault analysis unit is used for analyzing the abnormal condition of the equipment by combining the real-time operation data with the normal operation parameters and the surrounding environment data, and reporting to the regulation and control operation and maintenance center when the equipment fault is found;
the regulation and control operation and maintenance center is used for sending operation and maintenance operation instructions when the fault analysis unit reports equipment faults and supervising and managing the routing inspection and operation processes based on the received real-time influence;
the switching operation unit is used for positioning and controlling the walking module to enable the operation and maintenance robot to operate to a corresponding switch cabinet based on multi-sensing data fusion navigation and stereoscopic vision target positioning and standing posture estimation technology according to the received operation instruction, and controlling the mechanical operation module to carry out operation and maintenance operation according to a switching operation ticket and a five-prevention program;
the camera shooting unit is used for uploading a real-time image of the operation process to the regulation and control operation and maintenance center based on the image identification module;
and the inspection unit is used for controlling the robot to inspect the master control and switch cabinet equipment in the power distribution room according to the preset time and uploading the real-time image to the regulation and control operation and maintenance center.
4. The intelligent operation and maintenance robot for the switch cabinet of the power distribution room as claimed in claim 3, wherein:
the data acquisition unit is communicated with a background server of the distribution room through a standard communication interface, and the normal operation parameters of the switch equipment are acquired and stored through a primary system diagram and equipment definition and deep learning of the operation mode of the substation system;
and based on the sensing module, in the operation process of the switch equipment, the real-time operation data of the switch cabinet is continuously monitored and read through a standard communication protocol.
5. The intelligent operation and maintenance robot for the switch cabinet of the power distribution room as claimed in claim 4, wherein:
the fault analysis unit compares the real-time operation data read by the data acquisition unit with normal operation parameters, analyzes and judges the operation condition of the equipment by combining the ambient environment data, and reports the operation condition to the regulation and control operation and maintenance center when the equipment fault is found.
6. The intelligent operation and maintenance robot for the switch cabinet of the power distribution room as claimed in claim 5, wherein:
the operation and maintenance robot integrated transfer trolley is used for assisting the mechanical operation module to transfer the handcart circuit breaker;
and a locking and traction device is arranged between the robot and the transfer trolley, and the robot and the transfer trolley are combined into a whole when being transferred, so that the handcart can synchronously walk.
7. The intelligent operation and maintenance robot for the switch cabinet of the power distribution room as claimed in claim 6, wherein:
the switch cabinet is provided with a trolley push-pull transmission mechanism and a grounding disconnecting link actuating mechanism, and the mechanism is provided with a driving motor and a gear set; the switch cabinet is characterized in that a controller is additionally arranged on a cabinet door of the instrument room, and the switch cabinet is automatically opened and closed; the switch cabinet is also provided with a video camera for monitoring the states of the moving contact and the static contact of the circuit breaker and the contact of the ground switch; all the information of all the structures or components arranged on the switch cabinet is accessed to the robot control module in a wireless mode;
the controller acquires the operation information of each device in the switch cabinet in a wireless transmission mode, can communicate with a power distribution room monitoring system, and communicates with a higher-level regulation and control operation center through a telemechanical server, so that remote operation is facilitated, and electric operation of pushing the trolley out and switching the grounding disconnecting link on and off is realized.
8. The intelligent operation and maintenance robot for the switch cabinet of the power distribution room as claimed in claim 1, wherein:
the sensing module acquires the operation data and the ambient environment data of the operating equipment in the switch cabinet by acquiring the information of various sensors and monitoring modules arranged in the switch cabinet, and wirelessly transmits the acquired data to the control module;
the operation data comprises local temperature of operation equipment, switching characteristics, circuit breaker main loop resistance and partial discharge online monitoring data.
9. The intelligent operation and maintenance robot for the switch cabinet of the power distribution room as claimed in claim 8, wherein:
the various sensors and monitoring modules installed in the switch cabinet comprise:
the wireless temperature measuring sensor is used for monitoring the local temperatures of the contact of the circuit breaker, the lap joint of the busbar and the cable connector in the cabinet on line;
the circuit breaker main loop resistance online monitoring module is used for monitoring the main loop resistance of the circuit breaker of the switch cabinet in real time by acquiring current and voltage analog quantity data of upper and lower fractures of the circuit breaker;
the circuit breaker mechanical characteristic on-line monitoring module is used for measuring the opening and closing time, speed, bounce, current and action voltage parameters and forming a switch characteristic curve;
and the partial discharge online monitoring module is used for monitoring partial discharge of the equipment in real time.
10. An intelligent operation and maintenance method of a power distribution room switch cabinet based on the intelligent operation and maintenance robot of the power distribution room switch cabinet as claimed in any one of claims 1 to 9, characterized in that:
the method comprises the following steps:
step 1: the sensing module acquires the operation data and the ambient environment data of the operating equipment in the switch cabinet through an intelligent monitoring terminal and a sensor which are arranged on the equipment in the switch cabinet;
step 2: the image recognition module carries out image recognition based on the camera and is used for assisting the mechanical operation module and the walking module to realize operation and maintenance operation and operation of the operation and maintenance robot;
and step 3: the control module collects operation data of operation equipment in the switch cabinet, data calculation and processing are carried out through a software system, real-time monitoring and abnormity analysis are carried out, an instruction is output to control the robot to carry out control operation on the equipment of the switch cabinet, alarm processing is carried out when abnormity is found, and data are uploaded to an upper-stage main station.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210310645.XA CN114696250A (en) | 2022-03-28 | 2022-03-28 | Intelligent operation and maintenance robot and method for switch cabinet of power distribution room |
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| CN202210310645.XA CN114696250A (en) | 2022-03-28 | 2022-03-28 | Intelligent operation and maintenance robot and method for switch cabinet of power distribution room |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115576240A (en) * | 2022-10-07 | 2023-01-06 | 国网湖北省电力有限公司黄石供电公司 | High tension switchgear trouble is discerned, intelligent danger elimination and fire control linked system |
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- 2022-03-28 CN CN202210310645.XA patent/CN114696250A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115576240A (en) * | 2022-10-07 | 2023-01-06 | 国网湖北省电力有限公司黄石供电公司 | High tension switchgear trouble is discerned, intelligent danger elimination and fire control linked system |
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