CN115194785A - Intelligent power grid inspection robot with laser scanning function - Google Patents
Intelligent power grid inspection robot with laser scanning function Download PDFInfo
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- CN115194785A CN115194785A CN202210806076.8A CN202210806076A CN115194785A CN 115194785 A CN115194785 A CN 115194785A CN 202210806076 A CN202210806076 A CN 202210806076A CN 115194785 A CN115194785 A CN 115194785A
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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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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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Abstract
The invention discloses a power grid intelligent inspection robot with a laser scanning function, which belongs to the field of power grids and is used for solving the problem that a corresponding solution and supervision measures are not established aiming at factors such as fault conditions of power grid lines.
Description
Technical Field
The invention belongs to the field of power grids, relates to inspection robot technology, and particularly relates to a power grid intelligent inspection robot with a laser scanning function.
Background
The whole of the substation and the transmission and distribution line of various voltages in the power system is called a power grid. The system comprises three units of power transformation, power transmission and power distribution. The task of the power grid is to deliver and distribute electrical energy, changing the voltage.
In the prior art, a power grid line fault maintenance personnel carries out rush repair, a corresponding solution and a corresponding supervision measure are not established aiming at factors such as the fault condition of the power grid line, namely, the power grid line is accurately patrolled based on multi-source data and different forces, and therefore, a power grid intelligent patrol robot with a laser scanning function is provided.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the intelligent power grid inspection robot with the laser scanning function.
The technical problem to be solved by the invention is as follows:
how to accurately patrol the power grid line based on multi-source data and differentiation strength.
The purpose of the invention can be realized by the following technical scheme:
the intelligent power grid inspection robot with the laser scanning function comprises an inspection robot and a processor arranged in the inspection robot, wherein the inspection robot is provided with a laser scanner and an alarm, the processor is in communication connection with a data acquisition module, the alarm and a server, and the server is connected with a scanning analysis module, an environment monitoring module, a monitoring grade setting module, a history monitoring module, a big data module, a user terminal and an area division module; the region division module is used for carrying out line division on the power grid line to obtain a plurality of sections of power grid line sections, and adding a mark number to feed back the sections of power grid line sections to the server; the data acquisition module is used for acquiring a laser scanning image of a power grid line section and real-time environment data of the location of the power grid line section and sending the laser scanning image and the real-time environment data to the processor, the processor sends the laser scanning image and the real-time environment data to the server, and the server sends the laser scanning image to the scanning analysis module and sends the real-time environment data to the environment monitoring module;
the user terminal is used for inputting the serial number of the power grid line section by a power grid worker and sending the serial number to the big data module, the big data module is used for acquiring historical fault data and standard environment data of different power grid line sections, and sending the historical fault data of the power grid line section to the historical monitoring module and sending the standard environment data to the environment monitoring module according to the serial number;
the historical monitoring module is used for analyzing the fault condition of the power grid line section to obtain an operation and maintenance coefficient of the power grid line section and feeding the operation and maintenance coefficient back to the server; the environment monitoring module is used for monitoring the environment condition of the location of the power grid line section to obtain an environment deviation coefficient of the power grid line section and feeding the environment deviation coefficient back to the server, and the server sends the operation and maintenance coefficient and the environment deviation coefficient of the power grid line section to the monitoring level setting module;
the monitoring grade setting module is used for setting the monitoring grade of the power grid line section, the monitoring grade of the power grid line section is fed back to the server, the server sets corresponding analysis times for the power grid line section according to the monitoring grade and sends the analysis times to the scanning analysis module, the scanning analysis module is used for analyzing a laser scanning image of the power grid line section in combination with the analysis times, and a power grid abnormal signal, a power grid patrol signal or a power grid normal signal are fed back to the server.
Further, the real-time environment data comprises a real-time environment temperature value and a real-time environment humidity value of the power grid line section;
the historical fault data comprises the fault times of the power grid line section, the fault time of each fault and the last maintenance time;
the standard environment data comprises a standard environment temperature value and a standard environment humidity value of the power grid line section;
the analysis times of the first monitoring level are greater than the analysis times of the second monitoring level, and the analysis times of the second monitoring level are greater than the analysis times of the third monitoring level.
Further, the analysis process of the history monitoring module is specifically as follows:
obtaining maintenance interval duration of a power grid line section;
if the maintenance interval duration is greater than or equal to the duration threshold, the operation and maintenance coefficient of the power grid line section is a first operation and maintenance coefficient;
if the maintenance interval duration is smaller than the duration threshold, acquiring the failure times and the failure intervals of the power grid line section, and calculating to obtain the operation and maintenance value of the power grid line section;
and if the operation and maintenance value of the power grid line section is smaller than the operation and maintenance threshold value, the operation and maintenance coefficient of the power grid line section is a third operation and maintenance coefficient, and if the operation and maintenance value of the power grid line section is larger than or equal to the operation and maintenance threshold value, the operation and maintenance coefficient of the power grid line section is a second operation and maintenance coefficient.
Furthermore, the value of the third operation and maintenance coefficient is smaller than the value of the second operation and maintenance coefficient, and the value of the second operation and maintenance coefficient is smaller than the value of the first operation and maintenance coefficient.
Further, the monitoring process of the environment monitoring module is specifically as follows:
setting an environment monitoring time period, setting a plurality of time points in the environment monitoring time period, and acquiring a real-time environment temperature value and a real-time environment humidity value of a power grid line section at the plurality of time points;
calculating the difference value between the real-time environment temperature value of the power grid line section and the standard environment temperature value at each time point and taking an absolute value to obtain the environment temperature difference value of the power grid line section at each time point, calculating the difference value between the real-time environment humidity value of the power grid line section at each time point and taking an absolute value to obtain the environment humidity difference value of the power grid line section at each time point;
adding and averaging the environmental temperature difference values of the power grid line sections at all time points to obtain a temperature deviation value of the power grid line section, and adding and averaging the environmental humidity difference values of the power grid line sections at all time points to obtain a humidity deviation value of the power grid line section;
and calculating to obtain an environmental deviation value of the power grid line section, comparing the environmental deviation value with an environmental deviation threshold value, and judging that the environmental deviation coefficient of the power grid line section is a third environmental deviation coefficient, a second environmental deviation coefficient or a first environmental deviation coefficient.
Furthermore, the value of the first environmental deviation coefficient is greater than the value of the second environmental deviation coefficient, and the value of the second environmental deviation coefficient is greater than the value of the third environmental deviation coefficient.
Further, the setting process of the monitoring level setting module is specifically as follows:
acquiring an operation and maintenance coefficient and an environmental deviation coefficient of the power grid line section, and calculating a grade value of the power grid line section;
if the grade value of the power grid line section is greater than or equal to the first grade threshold value, the monitoring grade of the power grid line section is a first monitoring grade;
if the grade value of the power grid line section is smaller than the first grade threshold value and is larger than or equal to the second grade threshold value, the monitoring grade of the power grid line section is a second monitoring grade;
and if the grade value of the power grid line section is smaller than the second grade threshold value, the monitoring grade of the power grid line section is a third monitoring grade.
Further, the value of the second level threshold is smaller than the value of the first level threshold, the monitoring degree of the first monitoring level is greater than the monitoring degree of the second monitoring level, and the monitoring degree of the second monitoring level is greater than the monitoring degree of the third monitoring level.
Further, the analysis process of the scanning analysis module is specifically as follows:
acquiring the length and the width of the laser scanning image, and calculating to obtain the total pixel points of the laser scanning image;
traversing to obtain pixel points of all colors in the laser scanning image, extracting pixel points of flame colors from the pixel points of all colors, and comparing the pixel points of the flame colors with the pixel points of all colors to obtain the pixel ratio of the flame colors;
wherein the flame color comprises dark red, orange, yellow, blue white and white;
calculating pixel point proportion of flame color in the laser scanning image according to the analysis times, adding and summing the pixel point proportion of the flame color in each analysis, and dividing the sum by the analysis times to obtain pixel point proportion of the flame color in the laser scanning image;
marking the single analysis that the pixel point proportion of the flame color exceeds the proportion threshold as exceeding analysis and counting the times of exceeding analysis, and comparing the times of exceeding analysis with the times of analysis to obtain the exceeding analysis proportion;
if the pixel point average occupation ratio exceeds the pixel point average occupation ratio threshold value and exceeds the analysis occupation ratio threshold value, generating a power grid abnormal signal;
if the pixel point average occupation ratio exceeds the pixel point average occupation ratio threshold value or exceeds the analysis occupation ratio and exceeds the analysis occupation ratio threshold value, generating a power grid patrol signal;
and if the pixel point average occupation ratio does not exceed the pixel point average occupation ratio threshold value and the analysis occupation ratio does not exceed the analysis occupation ratio threshold value, generating a power grid normal signal.
Further, if the server receives a normal power grid signal, no operation is performed;
if the server receives the power grid patrol signal, generating a patrol instruction and loading the patrol instruction to the user terminal, and carrying out patrol on the power grid line section needing to be patrolled by a power grid worker at the user terminal;
and if the server receives the power grid abnormal signal, generating an abnormal instruction and sending the abnormal instruction to the user terminal and the processor, the processor receives the abnormal instruction, generates an alarm instruction and loads the alarm instruction to the alarm, the alarm performs alarm work after receiving the alarm instruction, and a power grid worker at the user terminal receives the abnormal instruction and then goes to a specified power grid line section to perform maintenance work.
Compared with the prior art, the invention has the beneficial effects that:
the method comprises the steps of dividing a power grid line into a plurality of sections through a division module of a workmanship area to obtain a plurality of sections of the power grid line sections, analyzing fault conditions of the power grid line sections through a history monitoring module to obtain operation and maintenance coefficients of the power grid line sections, monitoring environment conditions of the locations of the power grid line sections through an environment monitoring module to obtain environment deviation coefficients of the power grid line sections, sending the operation and maintenance coefficients and the environment deviation coefficients of the power grid line sections to a monitoring grade setting module, setting monitoring grades of the power grid line sections through the monitoring grade setting module to obtain monitoring grades of the power grid line sections, setting corresponding analysis times for the power grid line sections according to the monitoring grades and sending the analysis times to a scanning analysis module, analyzing a laser scanning graph of the power grid line sections by the scanning analysis module in combination with the analysis times to generate power grid abnormal signals, power grid inspection signals or power grid normal signals.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is an overall system block diagram of the present invention.
Detailed Description
The technical solutions of the present invention will be described below clearly and completely in conjunction with the embodiments, 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, the intelligent power grid inspection robot with a laser scanning function comprises an inspection robot and a processor arranged in the inspection robot, wherein a laser scanner and an alarm are assembled on the inspection robot;
the processor is in communication connection with a data acquisition module, an alarm and a server, and the server is connected with a scanning analysis module, an environment monitoring module, a monitoring level setting module, a history monitoring module, a big data module, a user terminal and a region division module;
in this embodiment, the area division module is configured to perform line division on a power grid line to obtain a plurality of sections of power grid line sections, and feed back a number u added with a mark to a server, where u =1,2, \ 8230 \ 8230;, z, z are positive integers;
the data acquisition module is used for acquiring a laser scanning image of a power grid line section and real-time environment data of the location of the power grid line section, and sending the laser scanning image and the real-time environment data to the processor, the processor sends the laser scanning image and the real-time environment data to the server, and the server sends the laser scanning image to the scanning analysis module and sends the real-time environment data to the environment monitoring module;
specifically, the real-time environment data includes a real-time environment temperature value, a real-time environment humidity value, and the like of the power grid line section;
in specific implementation, the data acquisition module comprises a laser scanner, various sensor components (such as a temperature sensor, a humidity sensor, a current sensor and a voltage sensor) and other equipment;
the user terminal is used for registering and logging in the server after personal information is input by power grid workers, and sending the personal information to the server for storage;
the personal information comprises the name of a power grid worker, a mobile phone number authenticated by a real name, a work number and the like;
after the power grid staff register and login are successful, the user terminal is used for inputting the serial number of the power grid line section by the power grid staff and sending the serial number of the power grid line section to the big data module, the big data module is used for acquiring historical fault data and standard environment data of different power grid line sections, sending the historical fault data of the power grid line section to the historical monitoring module according to the serial number and sending the standard environment data to the environment monitoring module;
specifically, the historical fault data includes the number of faults of the power grid line section, the fault time of each fault, the last maintenance time and the like; the standard environment data comprises a standard environment temperature value, a standard environment humidity value and the like of the power grid line section;
the historical monitoring module is used for analyzing the fault condition of the power grid line section, and the analysis process is as follows:
the method comprises the following steps: acquiring last maintenance time of the power grid line section and current time of the server, and subtracting the last maintenance time from the current time to obtain maintenance interval time JTu of the power grid line section;
step two: if the maintenance interval duration is greater than or equal to the duration threshold, the operation and maintenance coefficient of the power grid line section is a first operation and maintenance coefficient;
if the maintenance interval duration is less than the duration threshold, entering the next step;
step three: acquiring the failure times of a power grid line section, and marking the failure times as GCu;
step four: acquiring the fault time of each fault of the power grid line section, calculating the fault interval duration of each fault, and adding and averaging all the fault interval durations to obtain the fault interval average time JGTu of the power grid line section;
step five: by the formula
Calculating to obtain an operation and maintenance value YWu of the power grid line section; in the formula, a1 and a2 are proportionality coefficients with fixed numerical values, and the values of a1 and a2 are both greater than zero;
step six: if the operation and maintenance value of the power grid line section is smaller than the operation and maintenance threshold value, the operation and maintenance coefficient of the power grid line section is a third operation and maintenance coefficient;
if the operation and maintenance value of the power grid line section is greater than or equal to the operation and maintenance threshold value, the operation and maintenance coefficient of the power grid line section is a second operation and maintenance coefficient;
it can be understood that the value of the third operation and maintenance coefficient is smaller than the value of the second operation and maintenance coefficient, and the value of the second operation and maintenance coefficient is smaller than the value of the first operation and maintenance coefficient;
the historical monitoring module feeds back the operation and maintenance coefficient of the power grid line section to the server, and the server sends the operation and maintenance coefficient of the power grid line section to the monitoring level setting module;
the environment monitoring module is used for monitoring the environment condition of the location of the power grid line section, and the monitoring process is as follows:
step S1: setting an environment monitoring time period, and setting a plurality of time points in the environment monitoring time period;
step S2: acquiring real-time environmental temperature values and real-time environmental humidity values of a power grid line section at a plurality of time points;
and step S3: calculating the difference value between the real-time environment temperature value of the power grid line section and the standard environment temperature value at each time point and taking an absolute value to obtain the environment temperature difference value of the power grid line section at each time point;
calculating the difference value of the real-time environment humidity values of the power grid line sections at each time point and taking an absolute value to obtain the environment humidity difference value of the power grid line sections at each time point;
and step S4: adding the environmental temperature difference values of the power grid line section at all time points, and taking the average value to obtain a temperature deviation value WPu of the power grid line section;
adding the environmental humidity difference values of the power grid line sections at all time points, and taking the average value to obtain a humidity deviation value SPU of the power grid line section;
step S5: calculating an environment deviation value HPu of the power grid line section by a formula HPu = WPu multiplied by alpha + SPu multiplied by beta; in the formula, both alpha and beta are weight coefficients with fixed numerical values, and the values of both alpha and beta are greater than zero;
step S6: if HPu is less than X1, the environmental deviation coefficient of the power grid line section is a third environmental deviation coefficient;
if the HPu is more than or equal to X1 and less than X2, the environmental deviation coefficient of the power grid line section is a second environmental deviation coefficient;
if X2 is less than or equal to HPu, the environmental deviation coefficient of the power grid line section is a first environmental deviation coefficient; x1 and X2 are both environment deviation threshold values with fixed numerical values, and X1 is less than X2;
understandably, the value of the first environmental deviation coefficient is greater than that of the second environmental deviation coefficient, and the value of the second environmental deviation coefficient is greater than that of the third environmental deviation coefficient;
the environment monitoring module feeds back an environment deviation coefficient of the power grid line section to the server, and the server sends the environment deviation coefficient of the power grid line section to the monitoring level setting module;
the monitoring grade setting module is used for setting the monitoring grade of the power grid line section, and the setting process specifically comprises the following steps:
step SS1: acquiring the operation and maintenance coefficient and the environmental deviation coefficient of the power grid line section obtained by calculation, and respectively marking the operation and maintenance coefficient and the environmental deviation coefficient as YXu and HXu;
step SS2: calculating a grade value DJu of the power grid line section through a formula DJu = Yxu × b1+ HXu × b 2; in the formula, b1 and b2 are both weight coefficients with fixed values, and the values of b1 and b2 are both larger than zero;
step SS3: if the grade value of the power grid line section is greater than or equal to the first grade threshold value, the monitoring grade of the power grid line section is a first monitoring grade;
and step SS4: if the grade value of the power grid line section is smaller than the first grade threshold value and is larger than or equal to the second grade threshold value, the monitoring grade of the power grid line section is a second monitoring grade;
step SS5: if the grade value of the power grid line section is smaller than the second grade threshold value, the monitoring grade of the power grid line section is a third monitoring grade;
specifically, the value of the second level threshold is smaller than the value of the first level threshold, the monitoring strength of the first monitoring level is greater than the monitoring strength of the second monitoring level, and the monitoring strength of the second monitoring level is greater than the monitoring strength of the third monitoring level;
the monitoring grade setting module feeds the monitoring grade of the power grid line section back to the server, and the server sets corresponding analysis times for the power grid line section according to the monitoring grade and sends the analysis times to the scanning analysis module;
understandably, the analysis times of the first monitoring level are greater than the analysis times of the second monitoring level, and the analysis times of the second monitoring level are greater than the analysis times of the third monitoring level;
in this embodiment, the scanning analysis module mainly performs scanning analysis on a fire occurring in the power grid, and the scanning analysis module is used for analyzing a laser scanning pattern of a line segment of the power grid in combination with the analysis times, and the analysis process specifically includes:
step K1: acquiring the length and the width of the laser scanning image, and calculating to obtain the total pixel points of the laser scanning image;
step K2: traversing to obtain pixel points of all colors in the laser scanning image, extracting pixel points of flame colors from the pixel points of all colors, and comparing the pixel points of the flame colors with the pixel points of all colors to obtain the pixel point proportion of the flame colors;
wherein the flame color comprises dark red, orange, yellow, blue white and white;
step K3: calculating pixel point proportion of flame color in the laser scanning image according to the analysis times, adding and summing the pixel point proportion of the flame color in each analysis, and dividing the sum by the analysis times to obtain pixel point proportion of the flame color in the laser scanning image;
step K4: marking the single analysis that the pixel point proportion of the flame color exceeds the proportion threshold as exceeding analysis and counting the times of exceeding analysis, and comparing the times of exceeding analysis with the times of analysis to obtain the exceeding analysis proportion;
and step P5: if the pixel point average occupation ratio exceeds the pixel point average occupation ratio threshold value and exceeds the analysis occupation ratio threshold value, generating a power grid abnormal signal;
if the pixel point average occupation ratio exceeds the pixel point average occupation ratio threshold or exceeds the analysis occupation ratio and exceeds the analysis occupation ratio threshold, generating a power grid patrol signal;
if the pixel point average occupation ratio does not exceed the pixel point average occupation ratio threshold value and the analysis occupation ratio does not exceed the analysis occupation ratio threshold value, generating a power grid normal signal;
the scanning analysis module feeds back a power grid abnormal signal, a power grid inspection signal or a power grid normal signal to the server;
if the server receives a normal power grid signal, no operation is performed;
if the server receives the power grid patrol signal, generating a patrol instruction and loading the patrol instruction to the user terminal, and carrying out patrol on the power grid line section needing to be patrolled by power grid workers at the user terminal;
and if the server receives the power grid abnormal signal, generating an abnormal instruction and sending the abnormal instruction to the user terminal and the processor, the processor receives the abnormal instruction, generates an alarm instruction and loads the alarm instruction to the alarm, the alarm performs alarm work after receiving the alarm instruction, and a power grid worker at the user terminal receives the abnormal instruction and then goes to a specified power grid line section to perform maintenance work.
When the intelligent power grid inspection robot with the laser scanning function works, the area division module divides a power grid line into a plurality of sections of power grid line sections, marks the power grid line sections with numbers u and feeds the power grid line sections back to the server, the data acquisition module acquires a laser scanning image of the power grid line sections and real-time environment data of the positions of the power grid line sections and sends the laser scanning image and the real-time environment data to the processor, the processor sends the laser scanning image and the real-time environment data to the server, and the server sends the laser scanning image to the scanning analysis module and sends the real-time environment data to the environment monitoring module;
the power grid working personnel input the serial number of the power grid line section through the user terminal and send the serial number of the power grid line section to the big data module, the big data module is used for acquiring historical fault data and standard environment data of different power grid line sections, and sending the historical fault data of the power grid line section to the historical monitoring module and sending the standard environment data to the environment monitoring module according to the serial number;
analyzing the fault condition of the power grid line section through a history monitoring module, acquiring last maintenance time of the power grid line section and current time of a server, subtracting the last maintenance time from the current time to obtain maintenance interval duration JTu of the power grid line section, if the maintenance interval duration is greater than or equal to a duration threshold, taking the operation and maintenance coefficient of the power grid line section as a first operation and maintenance coefficient, and if the maintenance interval duration is less than the duration threshold, acquiring fault times GCu and fault interval average JGTu of the power grid line section, and passing through a formula
Calculating to obtain an operation and maintenance value YWu of the power grid line section, wherein if the operation and maintenance value of the power grid line section is smaller than an operation and maintenance threshold value, the operation and maintenance coefficient of the power grid line section is a third operation and maintenance coefficient, if the operation and maintenance value of the power grid line section is larger than or equal to the operation and maintenance threshold value, the operation and maintenance coefficient of the power grid line section is a second operation and maintenance coefficient, the history monitoring module feeds the operation and maintenance coefficient of the power grid line section back to the server, and the server sends the operation and maintenance coefficient of the power grid line section to the monitoring level setting module;
monitoring the environment condition of the location of the power grid line section through an environment monitoring module, setting an environment monitoring period, setting a plurality of time points in the environment monitoring period, acquiring real-time environment temperature values and real-time environment humidity values of the power grid line section at the time points, calculating the difference between the real-time environment temperature values and standard environment temperature values of the power grid line section at the time points and taking an absolute value to obtain the environment temperature difference of the power grid line section at the time points, calculating the difference between the real-time environment humidity values of the power grid line section at the time points and taking an absolute value to obtain the environment humidity difference of the power grid line section at the time points, adding and averaging the environment temperature differences of the power grid line section at all the time points to obtain the temperature deviation value WPu of the power grid line section, adding and averaging the environmental humidity difference values of the power grid line sections at all time points to obtain a humidity deviation value SPU of the power grid line section, calculating an environmental deviation value HPu of the power grid line section through a formula HPu = WPu × alpha + SPu × beta, wherein if HPu is less than X1, the environmental deviation coefficient of the power grid line section is a third environmental deviation coefficient, if X1 is less than or equal to HPu and less than X2, the environmental deviation coefficient of the power grid line section is a second environmental deviation coefficient, if X2 is less than or equal to HPu, the environmental deviation coefficient of the power grid line section is a first environmental deviation coefficient, feeding the environmental deviation coefficient of the power grid line section back to a server by an environmental monitoring module, and sending the environmental deviation coefficient of the power grid line section to a monitoring level setting module by the server;
setting the monitoring grade of the power grid line section through a monitoring grade setting module, acquiring an operation and maintenance coefficient and an environmental deviation coefficient of the power grid line section, respectively marking the operation and maintenance coefficient and the environmental deviation coefficient as Yxu and HXu, calculating through a formula Duu = YXu × b1+ HXu × b2 to obtain a grade value Duu of the power grid line section, if the grade value of the power grid line section is greater than or equal to a first grade threshold value, the monitoring grade of the power grid line section is a first monitoring grade, if the grade value of the power grid line section is smaller than the first grade threshold value and greater than or equal to a second grade threshold value, the monitoring grade of the power grid line section is a second monitoring grade, if the grade value of the power grid line section is smaller than the second grade threshold value, the monitoring grade of the power grid line section is a third monitoring grade, the monitoring grade setting module feeds the monitoring grade of the power grid line section back to a server, and the server sets corresponding analysis times for the power grid line section according to the monitoring grade and sends the corresponding analysis times to a scanning analysis module;
the scanning analysis module analyzes the laser scanning image of the power grid line section by combining the analysis times to obtain the length and the width of the laser scanning image, calculates to obtain total pixel points of the laser scanning image, traverses to obtain pixel points of all colors in the laser scanning image, extracts pixel points of flame colors from the pixel points of all colors, compares the pixel points of the flame colors with the pixel points of all colors to obtain pixel point occupation ratios of the flame colors, calculates the pixel point occupation ratios of the flame colors in the laser scanning image according to the analysis times, adds and divides the pixel point occupation ratios of the flame colors during each analysis by the analysis times to obtain pixel point occupation ratios of the flame colors in the laser scanning image, marks single analysis when the pixel point occupation ratios of the flame colors exceed an occupation ratio threshold value as exceeding analysis and counts the times exceeding the analysis, compares the analysis times to obtain the times exceeding the analysis occupation ratios, if the pixel point average occupation ratio exceeds the pixel point average occupation ratio threshold value and exceeds the analysis occupation ratio threshold value, generating a power grid abnormal signal, if the pixel point average occupation ratio exceeds the pixel point average occupation ratio threshold value or exceeds the analysis occupation ratio and exceeds the analysis occupation ratio threshold value, generating a power grid inspection signal, if the pixel point average occupation ratio does not exceed the pixel point average occupation ratio threshold value and exceeds the analysis occupation ratio, generating a power grid normal signal, feeding the power grid abnormal signal, the power grid inspection signal or the power grid normal signal back to the server by the scanning analysis module, if the server receives the power grid normal signal, not performing any operation, if the server receives the power grid inspection signal, generating an inspection instruction to be loaded to the user terminal, and inspecting the power grid line section needing to be inspected by a power grid worker at the user terminal, and if the server receives the power grid abnormal signal, generating an abnormal instruction and sending the abnormal instruction to the user terminal and the processor, the processor receives the abnormal instruction, generates an alarm instruction and loads the alarm instruction to the alarm, the alarm performs alarm work after receiving the alarm instruction, and a power grid worker at the user terminal receives the abnormal instruction and then goes to a specified power grid line section to perform maintenance work.
The above formulas are all dimensionless values and calculated, the formula is a formula for obtaining the latest real situation by collecting a large amount of data and performing software simulation, the preset parameters in the formula are set by the technical personnel in the field according to the actual situation, the weight coefficient and the scale coefficient are specific values obtained by quantifying each parameter, so that the subsequent comparison is convenient, and the proportional relation between the parameters and the quantified values can be obtained as long as the proportional relation between the parameters and the quantified values is not influenced.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The intelligent power grid inspection robot with the laser scanning function comprises an inspection robot and a processor arranged in the inspection robot, and is characterized in that the inspection robot is provided with a laser scanner and an alarm, the processor is in communication connection with a data acquisition module, the alarm and a server, and the server is connected with a scanning analysis module, an environment monitoring module, a monitoring grade setting module, a history monitoring module, a big data module, a user terminal and a region division module; the region division module is used for carrying out line division on the power grid line to obtain a plurality of sections of power grid line sections, and adding a mark number to feed back the sections of power grid line sections to the server; the data acquisition module is used for acquiring a laser scanning image of a power grid line section and real-time environment data of the location of the power grid line section and sending the laser scanning image and the real-time environment data to the processor, the processor sends the laser scanning image and the real-time environment data to the server, and the server sends the laser scanning image to the scanning analysis module and sends the real-time environment data to the environment monitoring module;
the user terminal is used for inputting the serial number of the power grid line section by a power grid worker and sending the serial number to the big data module, the big data module is used for acquiring historical fault data and standard environment data of different power grid line sections, and sending the historical fault data of the power grid line section to the historical monitoring module and sending the standard environment data to the environment monitoring module according to the serial number;
the historical monitoring module is used for analyzing the fault condition of the power grid line section to obtain an operation and maintenance coefficient of the power grid line section and feeding the operation and maintenance coefficient back to the server; the environment monitoring module is used for monitoring the environment condition of the location of the power grid line section to obtain an environment deviation coefficient of the power grid line section, and feeding the environment deviation coefficient back to the server, and the server sends the operation and maintenance coefficient and the environment deviation coefficient of the power grid line section to the monitoring grade setting module;
the monitoring grade setting module is used for setting the monitoring grade of the power grid line section, the monitoring grade of the power grid line section is fed back to the server, the server sets corresponding analysis times for the power grid line section according to the monitoring grade and sends the analysis times to the scanning analysis module, the scanning analysis module is used for analyzing a laser scanning image of the power grid line section in combination with the analysis times, and a power grid abnormal signal, a power grid patrol signal or a power grid normal signal are fed back to the server.
2. The intelligent power grid inspection robot with the laser scanning function according to claim 1, wherein the real-time environment data comprises real-time environment temperature values and real-time environment humidity values of a power grid line section;
the historical fault data comprises the fault times of the line section of the power grid, the fault time of each fault and the last maintenance time;
the standard environment data comprises a standard environment temperature value and a standard environment humidity value of the power grid line section;
the analysis times of the first monitoring level are greater than the analysis times of the second monitoring level, and the analysis times of the second monitoring level are greater than the analysis times of the third monitoring level.
3. The power grid intelligent inspection robot with the laser scanning function according to claim 1, wherein the analysis process of the history monitoring module is as follows:
obtaining maintenance interval duration of a power grid line section;
if the maintenance interval duration is greater than or equal to the duration threshold, the operation and maintenance coefficient of the power grid line section is a first operation and maintenance coefficient;
if the maintenance interval duration is smaller than the duration threshold, acquiring the failure times and the failure intervals of the power grid line section, and calculating to obtain the operation and maintenance value of the power grid line section;
and if the operation and maintenance value of the power grid line section is smaller than the operation and maintenance threshold value, the operation and maintenance coefficient of the power grid line section is a third operation and maintenance coefficient, and if the operation and maintenance value of the power grid line section is larger than or equal to the operation and maintenance threshold value, the operation and maintenance coefficient of the power grid line section is a second operation and maintenance coefficient.
4. The intelligent power grid inspection robot with the laser scanning function according to claim 3, wherein the value of the third operation and maintenance coefficient is smaller than the value of the second operation and maintenance coefficient, and the value of the second operation and maintenance coefficient is smaller than the value of the first operation and maintenance coefficient.
5. The power grid intelligent inspection robot with the laser scanning function according to claim 1, wherein the monitoring process of the environment monitoring module is as follows:
setting an environment monitoring time period, setting a plurality of time points in the environment monitoring time period, and acquiring real-time environment temperature values and real-time environment humidity values of the power grid line section at the time points;
calculating the difference value between the real-time environment temperature value of the power grid line section and the standard environment temperature value at each time point and taking an absolute value to obtain the environment temperature difference value of the power grid line section at each time point, calculating the difference value between the real-time environment humidity value of the power grid line section at each time point and taking an absolute value to obtain the environment humidity difference value of the power grid line section at each time point;
adding and averaging the environmental temperature difference values of the power grid line sections at all time points to obtain a temperature deviation value of the power grid line section, and adding and averaging the environmental humidity difference values of the power grid line sections at all time points to obtain a humidity deviation value of the power grid line section;
and calculating to obtain an environmental deviation value of the power grid line section, comparing the environmental deviation value with an environmental deviation threshold value, and judging that the environmental deviation coefficient of the power grid line section is a third environmental deviation coefficient, a second environmental deviation coefficient or a first environmental deviation coefficient.
6. The intelligent power grid inspection robot according to claim 5, wherein the first environmental deviation coefficient has a value greater than the second environmental deviation coefficient, and the second environmental deviation coefficient has a value greater than the third environmental deviation coefficient.
7. The intelligent power grid inspection robot with the laser scanning function according to claim 1, wherein the monitoring level setting module is specifically set as follows:
acquiring an operation and maintenance coefficient and an environment deviation coefficient of the power grid line section, and calculating a grade value of the power grid line section;
if the grade value of the power grid line section is greater than or equal to the first grade threshold value, the monitoring grade of the power grid line section is a first monitoring grade;
if the grade value of the power grid line section is smaller than the first grade threshold value and is larger than or equal to the second grade threshold value, the monitoring grade of the power grid line section is a second monitoring grade;
and if the grade value of the power grid line section is smaller than the second grade threshold value, the monitoring grade of the power grid line section is a third monitoring grade.
8. The intelligent power grid inspection robot with the laser scanning function according to claim 7, wherein a value of the second level threshold is smaller than a value of the first level threshold, the monitoring strength of the first monitoring level is greater than that of the second monitoring level, and the monitoring strength of the second monitoring level is greater than that of the third monitoring level.
9. The intelligent power grid inspection robot with the laser scanning function according to claim 1, wherein the scanning analysis module specifically performs an analysis process as follows:
acquiring the length and the width of the laser scanning image, and calculating to obtain the total pixel points of the laser scanning image;
traversing to obtain pixel points of all colors in the laser scanning image, extracting pixel points of flame colors from the pixel points of all colors, and comparing the pixel points of the flame colors with the pixel points of all colors to obtain the pixel point proportion of the flame colors;
wherein the flame color comprises dark red, orange, yellow, blue white and white;
calculating pixel point proportion of flame color in the laser scanning image according to the analysis times, adding and summing the pixel point proportion of the flame color in each analysis, and dividing the sum by the analysis times to obtain pixel point proportion of the flame color in the laser scanning image;
marking the single analysis that the pixel point proportion of the flame color exceeds the proportion threshold as exceeding analysis and counting the times of exceeding analysis, and comparing the times of exceeding analysis with the times of analysis to obtain the exceeding analysis proportion;
if the pixel point average occupation ratio exceeds the pixel point average occupation ratio threshold value and exceeds the analysis occupation ratio threshold value, generating a power grid abnormal signal;
if the pixel point average occupation ratio exceeds the pixel point average occupation ratio threshold value or exceeds the analysis occupation ratio and exceeds the analysis occupation ratio threshold value, generating a power grid patrol signal;
and if the pixel point average occupation ratio does not exceed the pixel point average occupation ratio threshold value and exceeds the analysis occupation ratio but does not exceed the analysis occupation ratio threshold value, generating a power grid normal signal.
10. The intelligent power grid inspection robot with the laser scanning function according to claim 1, wherein no operation is performed if the server receives a normal power grid signal;
if the server receives the power grid patrol signal, generating a patrol instruction and loading the patrol instruction to the user terminal, and carrying out patrol on the power grid line section needing to be patrolled by power grid workers at the user terminal;
and if the server receives the power grid abnormal signal, generating an abnormal instruction and sending the abnormal instruction to the user terminal and the processor, the processor receives the abnormal instruction, generates an alarm instruction and loads the alarm instruction to the alarm, the alarm performs alarm work after receiving the alarm instruction, and a power grid worker at the user terminal receives the abnormal instruction and then goes to a specified power grid line section to perform maintenance work.
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