CN115939996A - Automatic inspection system of power inspection robot - Google Patents
Automatic inspection system of power inspection robot Download PDFInfo
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- CN115939996A CN115939996A CN202211425485.XA CN202211425485A CN115939996A CN 115939996 A CN115939996 A CN 115939996A CN 202211425485 A CN202211425485 A CN 202211425485A CN 115939996 A CN115939996 A CN 115939996A
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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
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Abstract
The invention belongs to the technical field of power inspection, and discloses an automatic inspection system of a power inspection robot, which comprises: a patrol robot terminal; the background center is connected with the inspection robot terminal and is used for monitoring, recording inspection information and controlling the inspection robot terminal; and the track unit is used for providing a routing inspection route for the inspection robot terminal. According to the invention, the setting module of the inspection time parameter, the signal sending module used for sending the inspection instruction to the inspection robot and the marking module used for marking the key detection equipment are arranged in the inspection robot terminal, and the auditing module is used for rechecking abnormal detection data and transmitting the rechecked data to the signal sending module, so that the equipment can be repeatedly detected, and the detection accuracy can be improved.
Description
Technical Field
The invention belongs to the technical field of power inspection, and particularly relates to an automatic inspection system of a power inspection robot.
Background
The transformer substation is used as a hub of power transmission, and safe and reliable operation of the transformer substation is closely related to national economy. Regular inspection of equipment of the transformer substation and special inspection of the transformer substation when the weather condition changes are necessary work during normal operation of the transformer substation. The rapid development of artificial intelligence, and the perception technology based on machine vision can acquire two-dimensional or three-dimensional image information of the surrounding environment of the vehicle, so that the driving environment can be perceived. The intelligent mobile robot has the advantages that the technology of intelligent reasoning, learning, analysis, planning, communication and control, full-autonomous programming, man-machine cooperation and the like lays a theoretical foundation for intelligent operation of the robot, and the practical direction is pointed out to come up as the intelligent mobile robot for replacing manpower to carry out routing inspection in the environment of the transformer substation, so that routing inspection efficiency is improved, and routing inspection reliability and automation level are improved.
The purpose of the power inspection is to monitor and evaluate equipment in a substation, and there are various methods for finding the state and fault conditions of the equipment, such as temperature change, appearance color change of the equipment, odor change and the like. For example, the application number CN112230660A in the prior art provides a system architecture of a power inspection robot, CN112466000A, and an inspection system and an inspection control method based on the power inspection robot, which can both preliminarily determine the operation status of equipment. However, active routing inspection of the device cannot be performed, so that detection accuracy and efficiency are reduced.
Disclosure of Invention
The invention aims to provide an automatic inspection system of a power inspection robot, which aims to solve the problems in the prior art in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic inspection system of a power inspection robot, comprising: a patrol robot terminal; the background center is connected with the inspection robot terminal and is used for monitoring, recording inspection information and controlling the inspection robot terminal; the track unit is used for providing an inspection route for the inspection robot terminal;
patrol and examine robot terminal and include: the system comprises a setting module of inspection time parameters, a signal sending module for sending an inspection instruction to an inspection robot, and an inspection recording module; the marking module is connected with the inspection recording module and is used for marking key detection equipment, and the auditing module is connected with the inspection recording module; the auditing module comprises an auditing model used for rechecking abnormal detection data and transmitting the rechecked data to the signal sending module.
The inspection robot terminal further comprises: an inspection robot; the high-definition visible light video monitoring module is carried on the inspection robot and used for monitoring the power equipment, the infrared thermal imaging module is used for detecting poor contact of the power equipment and overheated mechanical parts, the temperature and humidity environment monitoring module is used for detecting the temperature and humidity around the power equipment, and the sending module is connected with the background center and used for sending detection data.
The inspection robot terminal further comprises: the self-checking module and the electric quantity detection module which is carried on the self-checking module and used for detecting electric quantity are connected with the track unit.
The track unit includes: the track, and set up be in be used for detecting on the track the locating module who patrols and examines the robot position, and be used for sending positional information to the position of backstage center sends the ware module, and be used for patrolling and examining the robot and providing electronic charger module.
The above background center includes: the inspection robot comprises an information storage module, an information sorting module, a control module and an alarm module, wherein the information storage module is used for storing information of the inspection robot and inspection information, the information sorting module is carried in the information storage module and is used for counting and summarizing the information, the control module is used for controlling the inspection robot, and the alarm module is used for giving an alarm.
The alarm module comprises: the system comprises a snapshot module used for snapshot of images of the power equipment at the inspection point and an identification module used for detecting state indication mark information of the power equipment, identifying alarm states and triggering alarm signals to snapshot alarm information, wherein the identification module is an AI identification module; and the rechecking module is used for identifying whether the states of the switch equipment and the switch simulation indication signal are abnormal or not.
The marking module includes: the system comprises a timing module for recording detection time, an information recording module for recording power equipment information and a grid positioning module for determining the position of the power equipment.
The audit model comprises: the system comprises a data set module for recording fault state data of various devices, a comparison module for comparing abnormal detection data with the fault state data in the data set module, and a comparison result output module for transmitting the comparison result to the background center.
The signal emitting module includes: and the active inspection signal sending module is used for controlling the inspection robot to recheck the electrical equipment according to the comparison result.
The invention has the technical effects and advantages that: compared with the prior art, the automatic inspection system of the power inspection robot provided by the invention has the following advantages:
according to the invention, the setting module of the inspection time parameter, the signal sending module used for sending the inspection instruction to the inspection robot and the marking module used for marking the key detection equipment are arranged in the inspection robot terminal, and the auditing module is used for rechecking abnormal detection data and transmitting the rechecked data to the signal sending module, so that the equipment can be repeatedly detected, and the detection accuracy can be improved.
Drawings
Fig. 1 is a block diagram of an automatic inspection system of a power inspection robot according to the present 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. The specific embodiments described herein are merely illustrative of the invention and do not delimit the invention. 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.
An embodiment of the present invention provides an automatic inspection system for a power inspection robot, which, as shown in fig. 1, includes: the system comprises an inspection robot terminal, a background center and a track unit. It mainly is to having to go on actively to patrol and examine equipment among the prior art for the problem that detection accuracy, efficiency reduce.
The background center is connected with the inspection robot terminal through wireless signals, and the inspection robot terminal is used for detecting the state of the power equipment and sending detection data to the background center. The background center is used for monitoring, recording and recording polling information and controlling the polling robot terminal; the track unit is used for providing a routing inspection route for the routing inspection robot terminal.
Specifically, the method comprises the following steps. Patrol and examine robot terminal and include: the setting module of the inspection time parameter can set the inspection time of the inspection robot, so that the inspection robot can perform inspection work regularly. The signal sending module is used for sending an inspection instruction to the inspection robot, and can carry out active inspection according to inspection needs.
The inspection recording module is used for recording information such as inspection time of the inspection robot; and the marking module is connected with the patrol recording module and is used for marking key detection equipment. And the auditing module comprises an auditing model and is used for rechecking abnormal detection data and transmitting the rechecked data to the signal sending module.
Further, the marking module includes: the timing module is used for recording detection time, the information recording module is used for recording electric equipment information, and the grid positioning module is used for determining the position of the electric equipment, so that the suspected equipment with a fault can be positioned, and the retest is facilitated.
The audit model comprises: the system comprises a data set module for recording fault state data of various devices, a comparison module for comparing abnormal detection data with the fault state data in the data set module, and a comparison result output module for transmitting the comparison result to the background center. The suspected fault can be automatically judged and transmitted to the background center for manual judgment, and the detection accuracy is improved. The signal emitting module comprises: and the active inspection signal sending module is used for controlling the inspection robot to recheck the power equipment according to the comparison result.
Patrol and examine robot terminal still includes: an inspection robot; the high-definition visible light video monitoring module is carried on the inspection robot and used for monitoring the power equipment, the infrared thermal imaging module is used for detecting poor contact of the power equipment and overheated mechanical parts, the temperature and humidity environment monitoring module is used for detecting the temperature and humidity around the power equipment, and the sending module is connected with the background center and used for sending detection data. The historical temperature change trend of the equipment can be analyzed, the temperature of the similar equipment is compared, the relation between the equipment load and the equipment temperature is compared, the equipment load and the environmental temperature data are correlated, decision support is provided for equipment maintenance and state evaluation, and the function of analyzing and diagnosing the running state of the equipment in the power distribution room is realized.
In addition, the video monitoring system is composed of various cameras, a local video processing unit and a connecting cable, and supports the functions of face recognition, mobile detection and area detection. Fire prevention: the temperature acquisition module acquires the temperature in the monitoring range in real time, can send out high temperature early warning in time after discovering that the temperature is unusual, uses special conflagration smoke detector can accurately detect conflagration initial stage smoke signal. Anti-theft: the security camera can realize 24-hour uninterrupted real-time monitoring and video recording, is linked with the alarm system, immediately transmits alarm information to the monitoring center, and simultaneously sends short messages to the operators on duty. Water leaching: the water immersion monitoring module can detect whether water leakage exists in the field monitoring area or not, and generates an alarm signal when water leakage is monitored.
The intelligent meter reading and information transmission functions of video monitoring, instruments and the like are achieved by collecting equipment parameters and environmental information through the carried sensor, a manual inspection mode is replaced, inspection efficiency and safety are improved, and the purpose of automatic people reduction is achieved. Real-time monitoring and infrared thermal imaging diagnosis are realized; the integrated sensor such as harmful gas, smog, illuminance, humiture, positioner and pronunciation intercom system make the user control the electric power environment in real time to realize patrolling and examining robot's control, data access, storage, statistics through the control platform.
Patrol and examine robot terminal still includes: the self-checking module and the electric quantity detection module which is carried on the self-checking module and used for detecting electric quantity are connected with the track unit. The automatic inspection function is that after the set time is reached, the robot can automatically inspect along a preset track, the robot can stop according to the originally set place accurately, the robot automatically aligns the instrument to the equipment to be inspected for detection, and the robot automatically returns to a charging position for automatic charging after all detection is finished.
The rail unit includes: the track, and set up be in be used for detecting on the track the locating module who patrols and examines the robot position, and be used for sending positional information to the position of backstage center sends the ware module, and be used for patrolling and examining the robot and providing electronic charger module.
The background center includes: the system comprises an information storage module and an information sorting module, wherein the information storage module is used for storing information of the inspection robot, the information storage module is used for storing inspection information, and the information sorting module is used for counting and summarizing the information in the information storage module, carries out real-time video display on a visible light camera and a thermal infrared imager, is matched with remote control and automatic inspection functions, realizes background inspection of operators, and can realize storage of real-time detection data.
And the control module is used for controlling the inspection robot, an operator can separate from a preset route through a mouse and a keyboard remote control robot, the robot runs to a specified position (the robot can reach) meeting the working environment of the robot in the power distribution room, and special inspection of equipment to be inspected is realized through the running of the remote control robot, the motion of a holder, the focusing of a camera, the operation of an infrared thermal imager, and the acquisition of visible light and infrared data.
And an alarm module for issuing an alarm, the alarm module comprising: the AI identification module is used for capturing images of the power equipment at the patrol point, detecting state indication mark information of the power equipment, identifying alarm states and triggering alarm signals to capture alarm information. And the rechecking module is used for identifying whether the state of the switch equipment and the state monitoring of the switch analog indication signal are abnormal or not.
In this embodiment, the setting module of the inspection time parameter is set in the inspection robot terminal, the signal sending module of the inspection instruction is sent to the inspection robot, the marking module of the key detection equipment is marked, the auditing module is used for rechecking abnormal detection data, and the rechecking data is transmitted to the signal sending module, so that the equipment can be repeatedly detected, and the detection accuracy can be improved.
In addition, still include host computer end and robot end in the backstage center, the host computer end is including remote control framework, task module and data acquisition framework, and the robot end is including chassis control module and cloud platform control module, and chassis control module and cloud platform control module are controlled by the remote control framework, and the user of being convenient for passes through host computer end manual control robot end.
The robot end also comprises a one-key navigation task module, a daily inspection task module, a self-defined inspection task module and a local database module; the one-key navigation task module, the daily inspection task module and the custom inspection task module respectively issue a one-key navigation task, a daily inspection task and a custom inspection task by the task module, and the one-key navigation task module, the daily inspection task module and the custom inspection task module respectively decompose and execute the received tasks, and the three modules comprise a plurality of subtask execution modules.
Each subtask execution module runs in series, the next subtask execution module can be run only when the last subtask execution module runs successfully, if the subtask execution module fails, the next subtask execution module is skipped over when the subtask execution module fails, therefore, in the structure of the behavior tree, all subtask execution modules are used as sequence nodes, and the subtask execution modules comprise an autonomous navigation module, a pan-tilt motion module, an image recognition module and a thermal imaging temperature measurement module.
The one-key navigation task module, the daily inspection task module and the user-defined inspection task module can all perform autonomous navigation tasks through the autonomous navigation module, and the daily inspection task module and the user-defined inspection task module can all perform pan-tilt movement tasks, image identification tasks and thermal imaging temperature measurement tasks through the pan-tilt movement module, the image identification module and the thermal imaging temperature measurement module respectively;
the local database module corresponds to the data acquisition architecture and stores the data transmitted from the data acquisition architecture into the local database, so that the upper computer end can directly acquire the data from the channel and also can acquire the data from the local database, all data and inspection results of the robot end are stored into the local database even if the network is interrupted, and the upper computer end can also acquire the data which are lost before after the network is recovered, so that the integrity of the inspection data is ensured, the data comprise the data of the robot, the real-time data of the robot and the real-time inspection result data, wherein the real-time data of the robot comprise the real-time electric quantity data, the real-time temperature data, the real-time speed data and the real-time position data of the robot end.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments, or make equivalent substitutions and improvements to part of the technical features of the foregoing embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic system of patrolling and examining of robot is patrolled and examined to electric power which characterized in that includes:
a patrol robot terminal; the background center is connected with the inspection robot terminal and is used for monitoring, recording inspection information and controlling the inspection robot terminal;
the track unit is used for providing a routing inspection route for the inspection robot terminal;
patrol and examine robot terminal and include:
setting module of inspection time parameter, and
a signal sending module for sending a patrol command to the patrol robot, an
A patrol recording module;
and a marking module connected with the patrol recording module and used for marking key detection equipment, and
an auditing module;
the auditing module comprises an auditing model used for rechecking abnormal detection data and transmitting the rechecked data to the signal sending module.
2. The automatic inspection system according to claim 1, wherein: patrol and examine robot terminal still includes:
a patrol robot;
and a high-definition visible light video monitoring module which is arranged on the inspection robot and used for monitoring the power equipment, and
infrared thermal imaging module for detecting poor contact of electrical equipment, and overheated mechanical parts, and
temperature and humidity environment monitoring module for detecting temperature and humidity around power equipment, and
and the sending module is connected with the background center and is used for sending detection data.
3. The automatic inspection system according to claim 2, wherein: patrol and examine robot terminal still includes:
self-checking module, and
the electric quantity detection module is carried on the self-detection module and used for detecting electric quantity, and the electric quantity detection module is connected with the track unit.
4. The automatic inspection system according to claim 3, wherein: the rail unit includes:
a rail, and
a positioning module arranged on the track for detecting the position of the inspection robot, and
a position transmitter module for transmitting position information to the background center, an
And the inspection robot is used for providing an electric charger module.
5. The automatic inspection system according to claim 4, wherein: the background center includes:
an information storage module for storing the information of the inspection robot, the inspection information, and
an information arrangement module mounted in the information storage module for counting and summarizing information, and
a control module for controlling the inspection robot, and
and the alarm module is used for sending out an alarm.
6. The automatic inspection system according to claim 5, wherein: the alarm module includes:
a snapshot module for taking a candid photograph power equipment image at patrol point, and
an identification module for detecting the status indicator information of the power equipment, identifying the alarm status and triggering the alarm signal to snapshot the alarm information, and
and the rechecking module is used for identifying whether the states of the switch equipment and the states of the switch simulation indication signals are abnormal or not.
7. The automatic inspection system according to claim 2, wherein: the marking module includes:
a timing module for recording the detection time, and
information recording module for recording power equipment information, and
a grid location module for determining a location of a power device.
8. The automatic inspection system according to claim 7, wherein: the audit model comprises:
data set module for recording fault status data of various devices, and
a comparison module for comparing the abnormal detection data with the fault status data in the data set module, an
And the comparison result output module is used for transmitting the comparison result to the background center.
9. The automatic inspection system according to claim 8, wherein: the signal emitting module comprises: and the active inspection signal sending module is used for controlling the inspection robot to recheck the power equipment according to the comparison result.
10. The automatic inspection system according to claim 6, wherein: the identification module is an AI identification module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211425485.XA CN115939996A (en) | 2022-11-14 | 2022-11-14 | Automatic inspection system of power inspection robot |
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| CN202211425485.XA CN115939996A (en) | 2022-11-14 | 2022-11-14 | Automatic inspection system of power inspection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116307638A (en) * | 2023-05-18 | 2023-06-23 | 华北科技学院(中国煤矿安全技术培训中心) | Coal mine gas inspection method |
| CN116503975A (en) * | 2023-06-29 | 2023-07-28 | 成都秦川物联网科技股份有限公司 | Intelligent gas GIS-based potential safety hazard disposal method and Internet of things system |
-
2022
- 2022-11-14 CN CN202211425485.XA patent/CN115939996A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116307638A (en) * | 2023-05-18 | 2023-06-23 | 华北科技学院(中国煤矿安全技术培训中心) | Coal mine gas inspection method |
| CN116307638B (en) * | 2023-05-18 | 2023-10-10 | 华北科技学院(中国煤矿安全技术培训中心) | Coal mine gas inspection method |
| CN116503975A (en) * | 2023-06-29 | 2023-07-28 | 成都秦川物联网科技股份有限公司 | Intelligent gas GIS-based potential safety hazard disposal method and Internet of things system |
| CN116503975B (en) * | 2023-06-29 | 2023-09-12 | 成都秦川物联网科技股份有限公司 | Intelligent gas GIS-based potential safety hazard disposal method and Internet of things system |
| US12078497B2 (en) | 2023-06-29 | 2024-09-03 | Chengdu Qinchuan Iot Technology Co., Ltd. | Methods and internet of things systems for jointly processing safety hazards based on smart gas geographic information systems |
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