CN115091491B - Power distribution room maintenance patrol robot and control method thereof - Google Patents
Power distribution room maintenance patrol robot and control method thereof Download PDFInfo
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- CN115091491B CN115091491B CN202211037022.6A CN202211037022A CN115091491B CN 115091491 B CN115091491 B CN 115091491B CN 202211037022 A CN202211037022 A CN 202211037022A CN 115091491 B CN115091491 B CN 115091491B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
Abstract
The invention relates to the technical field of power distribution room maintenance patrol, and particularly discloses a power distribution room maintenance patrol robot and a control method thereof, wherein the robot comprises the following components: the scene acquisition module is used for acquiring an operation scene of the power distribution room; the inspection strategy judgment module is used for selecting a corresponding inspection strategy according to the operation scene of the power distribution room; the environment monitoring module is used for acquiring the environmental parameters of the power distribution room through the robot according to the maintenance strategy, acquiring the parameters of a fixed sensor in the power distribution room and judging the environmental state of the power distribution room and the running state of the sensor through parameter comparison; the equipment monitoring module is used for acquiring the operation parameters and the operation states of all equipment in the power distribution room according to the maintenance strategy; the twin model adjusting module is used for adjusting the twin model according to the real-time equipment state information acquired by the equipment monitoring module; and the power distribution room state three-dimensional display module is used for visually displaying through the twin model according to results of the environment monitoring module and the equipment monitoring module.
Description
Technical Field
The invention relates to the technical field of power distribution room maintenance, in particular to a power distribution room maintenance robot and a control method thereof.
Background
As an important component of the power system, the power distribution room has the functions of receiving, distributing, controlling and protecting electric energy, and the safe and stable operation of the power distribution room also determines the stable operation of the power system, so that the power distribution station considers the factors of fire extinguishing, corrosion prevention, pollution prevention, water prevention, rain prevention, shock prevention and the like in the construction stage, and establishes corresponding regulations to carry out timely and regular inspection on the normal operation of electrical equipment in the power distribution room and the environment in the power distribution room, thereby avoiding the potential safety hazard in the power distribution room from influencing the normal operation of the power system.
The conventional power distribution room patrol method comprises manual patrol and patrol robot realization, wherein the manual patrol judges whether the power distribution room and internal electric equipment are abnormal or not by checking the environment in a power distribution box and observing the working voltage, working current, power factor, indicator light, noise and the like of a control loop of each power transformation cabinet, feed cabinet, contact cabinet, capacitor cabinet and the like, and the patrol process of the power distribution room is gradually transferred from the manual patrol mode to the patrol mode of the patrol robot along with the rapid development of intelligent manufacturing and internet technology.
Although the existing inspection robot has basic monitoring functions, the existing inspection robot still has defects in specific application, firstly, various monitoring sensors configured on the inspection robot can only monitor when the robot reaches a specific position point, so that the environment state inside a power distribution room cannot be monitored in real time, meanwhile, the sensors are prone to failure, errors in monitoring values and other problems under long-term use, larger potential safety hazards are easily generated due to untimely replacement, secondly, monitoring emphasis of the power distribution room under different states is different, if the same mode is adopted, the monitoring efficiency is lower, in addition, when the inspection robot judges that the power distribution room has a fault, although messages can be timely pushed to a manager, the fault position is difficult to be displayed quickly and intuitively, the inspection personnel cannot judge in time, and finally, the inspection robot can cause deviation of a detection position point along with adjustment of the position of equipment and errors of self movement in a long-term working process, the management personnel is required to frequently adjust the detection position point, and great inconvenience is achieved.
Disclosure of Invention
The invention aims to provide a power distribution room maintenance inspection robot and a control method thereof, and solves the following technical problems:
how to efficiently judge the potential safety hazard of the power distribution room and quickly show the potential safety hazard to maintainers;
how to ensure the accuracy of the working route of the inspection robot in the long-term working process.
The purpose of the invention can be realized by the following technical scheme:
a power distribution room maintenance patrol robot, the robot comprising:
the scene acquisition module is used for acquiring an operation scene of the power distribution room;
the inspection strategy judgment module is used for selecting a corresponding inspection strategy according to the operation scene of the power distribution room;
the environment monitoring module is used for acquiring the environmental parameters of the power distribution room through the robot according to the maintenance patrol strategy, acquiring the parameters of a fixed sensor in the power distribution room and judging the environmental state of the power distribution room and the running state of the sensor through parameter comparison;
the equipment monitoring module is used for acquiring the operation parameters and the operation states of all equipment in the power distribution room according to the maintenance strategy;
the twin model adjusting module is used for adjusting the twin model according to the real-time equipment state information acquired by the equipment monitoring module;
and the power distribution room state three-dimensional display module is used for visually displaying through the twin model according to results of the environment monitoring module and the equipment monitoring module.
In one embodiment, the environment monitoring module comprises a plurality of sensors and a parameter acquisition unit;
the working process of the environment monitoring module is as follows:
s100, obtaining various environmental parameters in a power distribution room through a plurality of sensors on the robot to form a first environmental parameter set
，
，…，
Sending out warning information when any environmental parameter in the first environmental parameter set does not fall into the corresponding threshold interval;
s200, collecting various environmental parameters monitored by a fixed sensor in a power distribution room through a parameter collecting unit on the robot to form a second environmental parameter set
，
，…，
Sending out warning information when any environmental parameter in the second environmental parameter set does not fall into the corresponding threshold interval;
s300, passing formula
Calculating the deviation value of the ith environmental parameter
A deviation threshold value preset with the environmental parameter
And (3) carrying out comparison:
if it is
＜
If the sensor is in a normal state, judging that the sensor is in a normal state;
otherwise, judging that the monitoring state of the sensor is abnormal, and sending an abnormal instruction.
In one embodiment, the step S200 includes:
s201, collecting various environmental parameters monitored by a fixed sensor and corresponding time data through a parameter collecting unit;
s202, establishing
Curve of relative time change
(t) to
(t) deriving to obtain a curve
（t）；
S203, mixing
(t) a threshold interval [ 2 ] corresponding to the environmental parameter under the corresponding policy
y]And (3) carrying out comparison:
if it is
（t）∈[
y]Then will be
(t) a change threshold corresponding to the environmental parameter
z for alignment:
if it is
（t）≥
z, judging that the environmental parameter variation is abnormal, and generating early warning information;
if it is
（t）＜
z, judging that the environmental parameters are normal;
if it is
（t）∉[
y]If so, judging that the environmental parameter is abnormal and generating warning information.
In an embodiment, the scene acquiring module acquires a scene including: a high peak load scene, a low peak load scene, a high temperature climate scene, a low temperature climate scene, and a thunderstorm climate scene;
and the patrol maintenance strategy judgment module is configured with a corresponding patrol maintenance strategy aiming at each scene in advance.
In one embodiment, the operation steps of the device monitoring module are as follows:
the SS100 acquires image information of each monitoring point according to a preset route;
SS200, acquiring parameter information in the dial plate of each device through image analysis, and acquiring position information of the dial plate in the acquired image information;
the SS300 is used for judging the running state of the equipment by analyzing the parameter information in the dial plate;
and SS400, comparing the dial plate position information with the initial dial plate position information to judge the path offset of the robot.
In one embodiment, the twin model adjusting module comprises the following steps:
correcting and adjusting the monitoring point positions of the preset route according to the path offset;
the modified adjusted content is synchronized into the twin model.
In one embodiment, the robot further comprises a failure problem prediction module;
the failure problem prediction module is used for judging a failure problem according to the environment parameter abnormal information and the equipment running state information and generating a corresponding maintenance strategy according to the failure problem.
In one embodiment, the working steps of the failure item prediction module are:
setting corresponding abnormal equipment items and abnormal environmental parameter factors for each fault problem in advance according to historical data, and generating a judgment model;
acquiring abnormal equipment items according to the monitoring result of the equipment monitoring module, acquiring abnormal environmental parameters according to the monitoring result of the environmental monitoring module, and taking the abnormal environmental parameters as environmental parameter abnormal factors;
inputting abnormal equipment items and abnormal factors of environmental parameters into a judgment model, sorting the fault problems according to the contact ratio, and selecting the first sorted fault problem as the fault problem predicted by a fault item prediction module;
and taking a maintenance strategy which is correspondingly set in advance according to the fault problem as a generated maintenance strategy.
A control method of a maintenance inspection robot, the control method comprising:
step one, acquiring an operation scene of a power distribution room, and selecting a corresponding maintenance patrol strategy according to the operation scene of the power distribution room;
secondly, driving the robot to acquire power distribution room environment parameters through the robot according to a maintenance patrol strategy, acquiring parameters of a fixed sensor in the power distribution room, and judging the power distribution room environment state and the sensor running state through parameter comparison; collecting the running parameters and running states of all equipment in the power distribution room according to the maintenance patrol strategy;
and step three, visually displaying the environmental state of the power distribution room and the running state of each device through the twin model, and adjusting the twin model in real time according to the running state information of each device.
The invention has the beneficial effects that:
(1) According to the invention, through the working processes of the scene acquisition module and the patrol maintenance strategy judgment module, the power distribution room can be adaptively ensured to be effectively patrolled, and potential safety hazards can be found in time; the robot is provided with the environment monitoring module, so that the environment parameters of a plurality of position points can be dynamically detected, the effectiveness of the sensor can be judged by acquiring and comparing the parameters of the fixed sensor in the power distribution room, and the problem of monitoring failure caused by sensor failure is further avoided; through the power distribution room state three-dimensional display module, potential safety hazard positions in the power distribution room can be accurately and clearly displayed to relevant managers, and therefore maintenance efficiency can be improved; the twin model is adjusted in real time through the twin model adjusting module, so that the accuracy of the model is guaranteed, on one hand, the subsequent monitoring process is facilitated, and on the other hand, the state display can be performed on the manager more clearly.
(2) According to the invention, through derivation of the environmental parameter change curve and judgment of whether the parameter change is abnormal or not through the derived curve, the potential safety hazard problem can be found in advance at the initial time point of the fault occurrence, and the timeliness of fault problem finding is ensured.
(3) According to the invention, the fault problem prediction module is arranged, the fault problem is judged according to the environment parameter abnormal information and the equipment running state information, and the corresponding maintenance strategy is generated according to the fault problem, so that a manager can be assisted to quickly determine the specific fault reason, the corresponding maintenance strategy is further pushed, and the rapidity of solving the fault problem is ensured.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic block diagram of a power distribution room maintenance robot according to the present invention;
fig. 2 is a flowchart of a power distribution room maintenance robot control method in the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in one embodiment, there is provided a power distribution room maintenance patrol robot, including:
the scene acquisition module is used for acquiring an operation scene where the power distribution room is located;
the maintenance patrol strategy judgment module is used for selecting a corresponding maintenance patrol strategy according to the operation scene of the power distribution room;
the environment monitoring module is used for acquiring the environmental parameters of the power distribution room through the robot according to the maintenance strategy, acquiring the parameters of a fixed sensor in the power distribution room and judging the environmental state of the power distribution room and the running state of the sensor through parameter comparison;
the equipment monitoring module is used for acquiring the operation parameters and the operation states of all equipment in the power distribution room according to the maintenance strategy;
the twin model adjusting module is used for adjusting the twin model according to the real-time equipment state information acquired by the equipment monitoring module;
and the power distribution room state three-dimensional display module is used for visually displaying through the twin model according to results of the environment monitoring module and the equipment monitoring module.
According to the technical scheme, the current state of the power distribution room is acquired by the scene acquisition module, and then the corresponding patrol strategy is configured by the patrol strategy judgment module, wherein the current state of the power distribution room comprises an operation state and a state of the environment, the operation state represents the load size, the state of the environment represents the weather state, such as thunderstorm weather, high-temperature weather and the like, the specific acquisition mode can be obtained by connecting the internet with the related API (application program interface), and for each state, the corresponding patrol strategy is preset in the embodiment, the patrol strategy can carry out targeted patrol according to the state of the power distribution room, for example, when the load is high, the corresponding patrol strategy can carry out patrol focusing on the high-temperature part, and patrol whether water leakage in the power distribution room is focused or not in the rainstorm weather state, the specific patrol strategy is not detailed, and the working process of the scene acquisition module and the patrol strategy judgment module can ensure effective adaptability of the power distribution room, and find potential safety hazards in time.
This embodiment still utilizes environmental monitoring module to acquire the parameter of joining in marriage electrical room environmental parameter and joining in marriage electrical room internal fixation sensor, wherein, it can all be provided with the sensor of rigidity in the electrical room and detect current environmental parameter to join in marriage, but its scope that detects has the limitation, and this embodiment is through setting up environmental monitoring module on the robot, the environmental parameter of a plurality of position points of detection that on the one hand can be dynamic, on the other hand, through the parameter of acquiring the internal fixation sensor of electrical room and rather than the comparison, when can accurately judge the electrical room internal environment of joining in marriage, can also judge the validity of sensor, and then avoid the sensor trouble to cause the appearance of monitoring failure problem.
In the scheme, the acquisition of the fixed sensor parameters can acquire the image information of the sensor meter through a video monitoring device on the robot, the sensor parameters are acquired through image information analysis, and the detection parameters can be acquired by establishing communication connection between the environment monitoring module and the fixed sensor.
In this embodiment, the device monitoring module is further utilized to acquire the running parameters and running states of each device in the power distribution room according to the maintenance strategy, so as to judge the running states of the device parameters, and the specific mode can be obtained through acquiring the corresponding image information and analyzing and judging the image information.
The power distribution room state three-dimensional display module is further arranged in the embodiment, and potential safety hazard positions in the power distribution room can be accurately and clearly displayed to relevant managers through the module, so that the maintenance efficiency can be improved; in addition, in order to ensure the accuracy and synchronization of the three-dimensional display, the twin model is adjusted in real time by the twin model adjusting module in the embodiment, so that the accuracy of the model is further ensured, on one hand, the subsequent monitoring process is facilitated, and on the other hand, the state display can be performed on the manager more clearly.
As an implementation mode of the invention, the environment monitoring module comprises a plurality of sensors and a parameter acquisition unit;
the working process of the environment monitoring module is as follows:
s100, obtaining various environmental parameters in a power distribution room through a plurality of sensors on the robot to form a first environmental parameter set
，
，…，
Sending out warning information when any environmental parameter in the first environmental parameter set does not fall into the corresponding threshold interval;
s200, collecting various environmental parameters monitored by a fixed sensor in a power distribution room through a parameter collecting unit on the robot to form a second environmental parameter set
，
，…，
Sending out warning information when any environmental parameter in the second environmental parameter set does not fall into the corresponding threshold interval;
s300, passing formula
Calculating the deviation value of the ith environmental parameter
A deviation threshold value preset with the environmental parameter
And (3) carrying out comparison:
if it is
＜
If the sensor is in a normal state, judging that the sensor is in a normal state;
otherwise, judging that the monitoring state of the sensor is abnormal, and sending an abnormal instruction.
Through above-mentioned technical scheme, utilize the environment monitoring module to acquire respectively and join in marriage each item environmental parameter in the electrical room, form first environmental parameter set, gather simultaneously and join in marriage each item environmental parameter that electrical room internal fixation sensor monitored, form second environmental parameter set, through comparing first environmental parameter set, second environmental parameter set and corresponding threshold interval, judge whether there is the environmental parameter that surpasss the standard, simultaneously, through the formula
Calculate ith environmental parameter's deviation value, through comparing and then can judge whether there is the malfunctioning problem of sensor to in time send out abnormal instruction when the malfunctioning problem appears, guarantee that the block terminal is in controllable scope all the time, guaranteed the operation that the block terminal is stable and safe.
As an embodiment of the present invention, the step S200 includes:
s201, collecting various environmental parameters monitored by a fixed sensor and corresponding time data through a parameter collecting unit;
s202, establishing
Curve of relative time change
(t) to
(t) deriving to obtain a curve
（t）；
S203, mixing
(t) a threshold interval [ 2 ] corresponding to the environmental parameter under the corresponding policy
y]And (3) carrying out comparison:
if it is
（t）∈[
y]Then will be
(t) a threshold value for a change corresponding to the environmental parameter
z for alignment:
if it is
（t）≥
z, then judging the environmental parameterIf the variation is abnormal, generating early warning information;
if it is
（t）＜
z, judging that the environmental parameters are normal;
if it is
（t）∉[
y]If so, judging that the environmental parameter is abnormal and generating warning information.
According to the technical scheme, the method for analyzing the change trend of the environmental parameters is characterized by firstly obtaining various environmental parameters and corresponding time data, such as relative time change curves of temperature, humidity, harmful gas concentration and the like, comparing the curves with corresponding threshold intervals, indicating that the parameters are abnormal when the curves do not fall into the threshold intervals, further generating warning information, and judging whether the problems of abnormal parameter changes, such as sudden temperature rise, sudden humidity rise, sudden harmful gas concentration rise and the like, occur or not through the derived curves by deriving the change curves when the curves fall into the threshold intervals, further finding potential safety hazards in advance at the initial time point of fault occurrence, and ensuring the timeliness of fault problem finding.
As an embodiment of the present invention, the scene acquired by the scene acquisition module includes: a high peak load scene, a low peak load scene, a high temperature climate scene, a low temperature climate scene, and a thunderstorm climate scene;
and the patrol maintenance strategy judgment module is configured with a corresponding patrol maintenance strategy aiming at each scene in advance.
Through the technical scheme, five scenes, namely a high peak load scene, a low peak load scene, a high temperature climate scene, a low temperature climate scene and a thunderstorm climate scene, are provided, and corresponding patrol maintenance strategies are configured in advance aiming at different scenes, so that the patrol maintenance can be carried out more reasonably according to the specific state of the power distribution room in an adaptive manner through the acquisition of the scenes and the matching of the patrol maintenance strategies.
As an embodiment of the present invention, the working steps of the device monitoring module are:
the SS100 acquires image information of each monitoring point location according to a preset route;
SS200, acquiring parameter information in the dial plate of each device through image analysis, and acquiring position information of the dial plate in the acquired image information;
SS300, analyzing the parameter information in the dial plate and judging the running state of the equipment;
and SS400, comparing the dial plate position information with the initial dial plate position information to judge the path offset of the robot.
According to the technical scheme, the working steps of the equipment monitoring module are provided, the robot is driven to firstly drive the image information of each monitoring point position on the preset route corresponding to the patrol maintenance strategy, the relevant parameters of equipment operation can be identified through analysis of the image information, the parameters are compared with standard parameters, namely, the judgment process of the running state of the equipment is completed, the position information of the equipment dial plate relative to the image is collected, the path offset of the robot is judged through comparison of the dial plate position information and the initial dial plate position information, and whether the position of the equipment is adjusted or not can be judged, so that the position of the detection point position can be adjusted in time, and the accuracy of the next monitoring point position is ensured.
As an embodiment of the invention, the working steps of the twin model adjusting module are as follows:
correcting and adjusting the monitoring point positions of the preset route according to the path offset;
the modified adjusted content is synchronized into the twin model.
Through the technical scheme, after the equipment monitoring module patrols the offset that the dimension process acquireed equipment, twin model adjustment module can revise the adjustment to the monitoring point location of predetermineeing the route according to the offset of route, guarantee that follow-up monitoring point location remains in the within range that can monitor throughout, simultaneously through in the content synchronization to twin model with revising the adjustment, can make twin model and join in marriage the actual state of interior equipment of electrical room and keep corresponding, and then more clear accurate reaction goes out the state of joining in marriage electrical room, improve the efficiency that maintainer handled.
As an embodiment of the present invention, the robot further includes a failure problem prediction module;
and the failure problem prediction module is used for judging a failure problem according to the environment parameter abnormal information and the equipment running state information and generating a corresponding maintenance strategy according to the failure problem.
Through the technical scheme, the robot in the embodiment is further provided with a fault problem prediction module, the fault problem prediction module judges a fault problem according to the environment parameter abnormal information and the equipment running state information, and generates a corresponding maintenance strategy according to the fault problem, so that a manager can be assisted to quickly determine the specific fault reason, the corresponding maintenance strategy is further pushed, and the rapidity of solving the fault problem is ensured.
As an embodiment of the present invention, the working steps of the failure item prediction module are as follows:
setting corresponding abnormal equipment items and environmental parameter abnormal factors for each fault problem according to historical data in advance, and generating a judgment model;
acquiring abnormal equipment items according to the monitoring result of the equipment monitoring module, acquiring abnormal environmental parameters according to the monitoring result of the environmental monitoring module, and taking the abnormal environmental parameters as environmental parameter abnormal factors;
inputting abnormal equipment items and abnormal factors of environmental parameters into a judgment model, sorting the fault problems according to the contact ratio, and selecting the first sorted fault problem as the fault problem predicted by a fault item prediction module;
and taking a maintenance strategy which is correspondingly set in advance according to the fault problem as a generated maintenance strategy.
According to the technical scheme, the working steps of the fault item prediction module are provided, when each fault problem occurs, corresponding abnormal equipment items and abnormal environmental parameter factors are obtained according to historical data, a judgment model is generated according to the corresponding relation, then the abnormal equipment items are obtained according to the monitoring result of the equipment monitoring module, the abnormal environmental parameter factors are obtained according to the monitoring result of the environment monitoring module, the abnormal equipment items and the abnormal environmental parameter factors are input into the judgment model, the sequence of the corresponding fault problems can be obtained, the fault problems are sorted according to the contact ratio, the first-sorted fault problem is selected as the predicted fault problem, the fault problem judgment process is achieved, the maintenance strategy which is correspondingly set in advance according to the fault problems is used as the generated maintenance strategy, and some electric power maintenance personnel can be assisted to adopt corresponding maintenance measures.
In the above technical solution, the "coincidence degree" refers to the number of coincidences of the abnormal equipment items and the abnormal environmental parameter factors with the abnormal equipment items and the abnormal environmental parameter factors corresponding to the fault problem, and obviously, the greater the number of coincidences, the higher the probability that the fault problem is, and therefore, the first-ranked fault problem is selected as the predicted fault problem.
Referring to fig. 2, in an embodiment, a control method for a maintenance inspection robot is provided, where the control method includes:
step one, acquiring an operation scene of a power distribution room, and selecting a corresponding maintenance patrol strategy according to the operation scene of the power distribution room;
secondly, driving the robot to acquire power distribution room environment parameters through the robot according to a maintenance patrol strategy, acquiring parameters of a fixed sensor in the power distribution room, and judging the power distribution room environment state and the sensor running state through parameter comparison; acquiring operation parameters and operation states of all devices in the power distribution room according to the patrol strategy;
and step three, visually displaying the environmental state of the power distribution room and the running state of each device through the twin model, and adjusting the twin model in real time according to the running state information of each device.
By the technical scheme, the current state of the power distribution room is obtained, and then the corresponding patrol strategy is selected, so that the power distribution room can be adaptively ensured to be effectively patrolled, and potential safety hazards can be found in time; by comparing and judging the environmental state of the power distribution room and the running state of the sensor, on one hand, the environmental parameters of a plurality of position points can be dynamically detected, and on the other hand, the effectiveness of the sensor can be judged by acquiring and comparing the parameters of the fixed sensor in the power distribution room, so that the problem of monitoring failure caused by sensor failure is avoided; according to the embodiment, potential safety hazard positions in the power distribution room can be accurately and clearly displayed to related managers, so that the maintenance efficiency can be improved; in addition, the accuracy and the synchronism of the three-dimensional display are ensured through the dynamic adjustment of the twin model.
Although one embodiment of the present invention has been described in detail, the description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (4)
1. A power distribution room patrol robot, which is characterized by comprising:
the scene acquisition module is used for acquiring an operation scene of the power distribution room;
the inspection strategy judgment module is used for selecting a corresponding inspection strategy according to the operation scene of the power distribution room;
the environment monitoring module is used for acquiring the environmental parameters of the power distribution room through the robot according to the maintenance strategy, acquiring the parameters of a fixed sensor in the power distribution room and judging the environmental state of the power distribution room and the running state of the sensor through parameter comparison;
the equipment monitoring module is used for acquiring the operation parameters and the operation states of all equipment in the power distribution room according to the maintenance strategy;
the twin model adjusting module is used for adjusting the twin model according to the real-time equipment state information acquired by the equipment monitoring module;
the power distribution room state three-dimensional display module is used for visually displaying through the twin model according to results of the environment monitoring module and the equipment monitoring module;
the environment monitoring module comprises a plurality of sensors and a parameter acquisition unit;
the working process of the environment monitoring module is as follows:
s100, obtaining various environmental parameters in a power distribution room through a plurality of sensors on the robot to form a first environmental parameter set
，
，…，
Sending out warning information when any environmental parameter in the first environmental parameter set does not fall into the corresponding threshold interval;
s200, collecting various environmental parameters monitored by a fixed sensor in a power distribution room through a parameter collecting unit on the robot to form a second environmental parameter set
，
，…，
Sending out warning information when any environmental parameter in the second environmental parameter set does not fall into the corresponding threshold interval;
s300, passing formula
Calculating the deviation value of the ith environmental parameter
A deviation threshold value preset with the environmental parameter
And (3) carrying out comparison:
if it is
＜
Judging that the state of the sensor is normal;
otherwise, judging that the monitoring state of the sensor is abnormal, and sending an abnormal instruction;
the step S200 is:
s201, collecting various environmental parameters monitored by a fixed sensor and corresponding time data through a parameter collecting unit;
s202, establishing
Curve of relative time change
(t) to
(t) deriving to obtain a curve
（t）；
S203, mixing
(t) a threshold interval [ 2 ] corresponding to the environmental parameter under the corresponding policy
y]And (3) carrying out comparison:
if it is
（t）∈[
y]Then will be
(t) a change threshold corresponding to the environmental parameter
z for alignment:
if it is
（t）≥
z, judging that the environmental parameter variation is abnormal, and generating early warning information;
if it is
（t）＜
z, judging that the environmental parameters are normal;
if it is
（t）∉[
y]If so, judging that the environmental parameter is abnormal, and generating warning information;
the working steps of the equipment monitoring module are as follows:
the SS100 acquires image information of each monitoring point according to a preset route;
SS200, acquiring parameter information in the dial plate of each device through image analysis, and acquiring position information of the dial plate in the acquired image information;
the SS300 is used for judging the running state of the equipment by analyzing the parameter information in the dial plate;
SS400, judging the path offset of the robot by comparing the dial plate position information with the initial dial plate position information;
the robot further comprises a fault problem prediction module;
the fault problem prediction module is used for judging a fault problem according to the environment parameter abnormal information and the equipment running state information and generating a corresponding maintenance strategy according to the fault problem;
the fault problem prediction module comprises the following working steps:
setting corresponding abnormal equipment items and environmental parameter abnormal factors for each fault problem according to historical data in advance, and generating a judgment model;
acquiring abnormal equipment items according to the monitoring result of the equipment monitoring module, acquiring abnormal environmental parameters according to the monitoring result of the environmental monitoring module, and taking the abnormal environmental parameters as environmental parameter abnormal factors;
inputting abnormal equipment items and abnormal factors of environmental parameters into a judgment model, sorting the fault problems according to the contact ratio, and selecting the first sorted fault problem as the fault problem predicted by a fault problem prediction module;
and taking the maintenance strategy which is correspondingly set in advance according to the fault problem as the generated maintenance strategy.
2. The patrol robot for the power distribution room according to claim 1, wherein the scene obtained by the scene obtaining module comprises: a high peak load scene, a low peak load scene, a high temperature climate scene, a low temperature climate scene, and a thunderstorm climate scene;
and the patrol maintenance strategy judgment module is configured with a corresponding patrol maintenance strategy aiming at each scene in advance.
3. The patrol robot for the power distribution room according to claim 1, wherein the twin model adjusting module operates by:
correcting and adjusting the monitoring point positions of the preset route according to the path offset;
the modified adjusted content is synchronized into the twin model.
4. A control method of the maintenance patrol robot according to any one of claims 1 to 3, characterized by comprising:
step one, acquiring an operation scene of a power distribution room, and selecting a corresponding maintenance patrol strategy according to the operation scene of the power distribution room;
secondly, driving the robot to acquire power distribution room environment parameters through the robot according to a maintenance strategy, acquiring parameters of a fixed sensor in the power distribution room, and judging the power distribution room environment state and the sensor running state through parameter comparison; acquiring operation parameters and operation states of all devices in the power distribution room according to the patrol strategy;
and step three, visually displaying the environmental state of the power distribution room and the running state of each device through the twin model, and adjusting the twin model in real time according to the running state information of each device.
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