CN116207649A - Automatic inspection system and inspection method for power transformer substation - Google Patents

Automatic inspection system and inspection method for power transformer substation Download PDF

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Publication number
CN116207649A
CN116207649A CN202310499852.9A CN202310499852A CN116207649A CN 116207649 A CN116207649 A CN 116207649A CN 202310499852 A CN202310499852 A CN 202310499852A CN 116207649 A CN116207649 A CN 116207649A
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Prior art keywords
electrostatic
floor
wire
electrostatic floor
floors
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CN202310499852.9A
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CN116207649B (en
Inventor
李道鹏
刘小波
方国民
李方宇
范荣琴
程鹏
赵刚
张悦
王守新
叶国栋
罗晓梅
潘海滨
谢尧
胡建园
朱瑾润
沈龙骏
李国平
曲勇
温馨
邹强
汪树智
刘珂
陆婷婷
刘鑫阳
孙乙巧
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Chaou Power Supply Co of State Grid Anhui Electric Power Co Ltd
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Chaou Power Supply Co of State Grid Anhui Electric Power Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F15/00—Flooring
    • E04F15/02—Flooring or floor layers composed of a number of similar elements
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F15/00—Flooring
    • E04F15/18—Separately-laid insulating layers; Other additional insulating measures; Floating floors
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H5/00—Buildings or groups of buildings for industrial or agricultural purposes
    • E04H5/02—Buildings or groups of buildings for industrial purposes, e.g. for power-plants or factories
    • E04H5/04—Transformer houses; Substations or switchgear houses
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
    • H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
    • 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 substation inspection, in particular to an automatic inspection system and an inspection method of an electric power substation, wherein the inspection system comprises the following components: the system comprises a transformer substation planning module, an electrostatic floor collection module, an electrostatic floor analysis module, an electrostatic floor blockage rate acquisition and analysis module, a wire slot positioning module, a wire slot information collection module, a wire slot analysis module, a transformer substation machine room database, a transformer substation machine room comprehensive analysis module and a transformer substation machine room display module. The invention comprehensively reflects the problems actually existing in the electrostatic floors through the overall consistency of the electrostatic floors, increases the analysis precision of the electrostatic floors, and is convenient for manually processing the electrostatic floors to be trimmed by rapidly positioning the electrostatic floors to be processed; in addition, the invention screens each wire slot to be tidied through the overall conformity of the wiring, and the wire slot is rapidly positioned by referring to the position of the electrostatic floor, thereby increasing the accuracy and efficiency of the wire slot treatment to be tidied.

Description

Automatic inspection system and inspection method for power transformer substation
Technical Field
The invention relates to the technical field of substation inspection, in particular to an automatic inspection system and an inspection method for an electric power substation.
Background
The transformer substation is a place for converting voltage and current, receiving electric energy and distributing electric energy in the electric power system. In order to grasp the states of the substation equipment and the respective mating sites, inspection and inspection of the respective power equipment and the respective sites of the substation are required to be called inspection. The place of the transformer substation is mainly a transformer substation machine room, the transformer substation machine room is mainly inspected manually or in a camera shooting monitoring mode during inspection, the inspection mode can only master the basic condition of the machine room, and more careful inspection cannot be performed on the transformer substation machine room.
In the prior art, a technical scheme for inspecting a transformer substation machine room is also provided, and as disclosed in the patent application with publication number of CN112651516A, an intelligent inspection system and method for the transformer substation machine room based on the AR technology are disclosed.
The above patent application identifies each item of information of the transformer substation machine room by adopting an automatic image identification mode, but the inspection of the transformer substation electrostatic floor is not involved, the transformer substation electrostatic floor mainly guides static generated by personnel walking into the ground to prevent electronic components on electrostatic breakdown equipment, the electrostatic floor generally adopts a manual inspection mode, the damage information of each electrostatic floor cannot be accurately obtained when the transformer substation is inspected manually, and the conductive function of the electrostatic floor can be influenced due to the large damage degree of the electrostatic floor; the stability of the electrostatic floor can only be judged by manual stepping, and the electrostatic floor to be trimmed cannot be effectively positioned, so that the subsequent trimming efficiency of the electrostatic floor is affected; in addition, the wire slot below the electrostatic floor can only be checked by lifting the electrostatic floor, so that hidden danger of damage to the electrostatic floor can be caused, and the inspection efficiency of the wire slot is also affected.
Disclosure of Invention
The invention solves the technical problems, and adopts the following technical scheme: an automated inspection system for an electrical power substation, the automated inspection system comprising:
the substation planning module is used for numbering the substation machine rooms needing to be inspected sequentially according to the preset arrangement sequence of the electrostatic floors;
the static floor acquisition module is used for acquiring paving parameter information of each static floor, wherein the paving parameter information comprises integrity information, stability information and flatness information;
the static floor analysis module is used for analyzing and obtaining the integrity index, the stability index and the flatness index of each static floor according to the laying parameter information of each static floor, and analyzing and obtaining the overall consistency of each static floor according to the integrity index, the stability index and the flatness index of each static floor;
the static floor blockage rate acquisition and analysis module is used for sequentially numbering each ventilation static floor in each static floor by screening the ventilation static floors, collecting data of each ventilation static floor, and analyzing the collected data of each ventilation static floor to obtain the blockage rate of each ventilation static floor;
the wire slot positioning module is used for screening each static floor corresponding to the position of the wire slot based on the paving information of the wire slot by reading the paving information of the wire slot, marking the wire slot as each trend static floor, and numbering each trend static floor in sequence according to the trend of the wire slot;
The wire slot information acquisition module is used for acquiring the laying information of the wire slots at the corresponding positions of the static floors and the distribution information of wires in the wire slots;
the wire slot analysis module is used for analyzing and obtaining the overall wiring conformity of the corresponding positions of the static floors of all the directions according to the laying information of the wire slots of the corresponding positions of the static floors of all the directions and the distribution information of wires in the wire slots;
the transformer substation machine room database is used for storing the laying position information and standard parameters of each electrostatic floor in the transformer substation machine room, the standard laying position information of the wire slot and the standard parameters of the wire slot and the wires;
the transformer substation machine room comprehensive analysis module is used for reading the overall coincidence degree analysis of each electrostatic floor to obtain each coincident electrostatic floor and each electrostatic floor to be corrected, analyzing the blocking rate of each ventilation electrostatic floor to obtain each ventilation electrostatic floor to be cleaned, and reading the overall coincidence degree analysis of the wiring at the corresponding position of each trend electrostatic floor to obtain each coincident wire slot and each wire slot to be corrected;
the transformer substation machine room display module is used for respectively displaying images of the electrostatic floors and the wire slots in the transformer substation according to preset positions of the electrostatic floors, marking specific positions of the electrostatic floors to be modified and the ventilation electrostatic floors to be cleaned according to paving position information of the electrostatic floors, and marking specific positions of the wire slots to be tidied according to paving position information of the wire slots.
Preferably, the electrostatic floor collection module comprises a walking unit, an image collection unit, a hammering detection unit and a height collection unit which are respectively arranged on the walking unit, and the paving parameter information collection mode of each electrostatic floor is as follows:
step one, controlling a walking unit to move to an electrostatic floor at a starting position in a transformer substation machine room, performing image acquisition on the electrostatic floor through an image acquisition unit on the walking unit, performing hammering test on the electrostatic floor through a hammering detection unit, and detecting the flatness of the electrostatic floor through a height acquisition unit;
step two, the image acquisition unit processes the acquired image to obtain the integrity information of the electrostatic floor, the hammering detection unit calculates the hammering result of the electrostatic floor to obtain the stability information of the electrostatic floor, and the height acquisition unit calculates the height acquired by the electrostatic floor to obtain the flatness information of the electrostatic floor;
and thirdly, after the laying parameter information of the electrostatic floors is acquired, carrying out inspection type movement by controlling the traveling unit according to the preset arrangement sequence of each electrostatic floor, so as to obtain the integrity information, the stability information and the flatness information of each electrostatic floor.
Preferably, the specific processing mode of the integrity information of each electrostatic floor is as follows: the standard pictures of all the electrostatic floors are read and compared with the image information acquired by the corresponding electrostatic floors to obtain the incomplete area of each electrostatic floor and the clearance area of each electrostatic floor and the corresponding frame, and the incomplete area and the clearance area are respectively recorded as
Figure SMS_1
I represents the i-th electrostatic floor, +.>
Figure SMS_2
；
The hammering test mode of the hammering detection unit for each electrostatic floor is as follows: the walking unit is controlled to move to the central position of each electrostatic floor, the hammering detection unit is used for hammering the central position of each electrostatic floor, and the central sinking distance of each electrostatic floor is recorded and is recorded as
Figure SMS_3
Control of the power supplyThe walking unit moves to four vertex angles of each electrostatic floor, and performs hammering test, records sinking distances of the four vertex angles of each electrostatic floor, averages sinking distances of the four vertex angles of each electrostatic floor, records the average sinking distance of the vertex angles of each electrostatic floor, and records the average sinking distance as ∈>
Figure SMS_4
；
The mode of the height acquisition unit for each electrostatic floor is as follows: when the walking units move to the four vertex angles of each electrostatic floor respectively, the height of the four vertex angles of each electrostatic floor and the height of the corresponding frame are respectively acquired by the height acquisition unit, and the difference value between the four vertex angles of each electrostatic floor and the height of the corresponding frame is calculated and respectively recorded as
Figure SMS_5
；
The blocking rate of each ventilated electrostatic floor was analyzed in the following manner: image acquisition is carried out on each ventilation electrostatic floor, the through area of each ventilation electrostatic floor is obtained according to the light transmission area of each ventilation electrostatic floor image, the through area is subtracted from the total area of each ventilation hole of each ventilation electrostatic floor, and the blockage rate of each ventilation electrostatic floor is obtained by dividing the total area of each ventilation hole, and is recorded as
Figure SMS_6
H represents the h ventilation electrostatic floor, < ->
Figure SMS_7
，/>
Figure SMS_8
。
Preferably, the specific analysis mode of the electrostatic floor analysis module is as follows:
step one, obtaining the integrity index of each electrostatic floor by reading the incomplete area of each electrostatic floor and the gap area between each electrostatic floor and the corresponding frame
Figure SMS_9
；
Step two, analyzing the center sinking distance of each electrostatic floor and the average sinking distance of the vertex angles of each electrostatic floor to obtain the stability index of each electrostatic floor
Figure SMS_10
；
Step three, analyzing the difference value between the four top angles of each electrostatic floor and the corresponding frame heights to obtain the flatness index of each electrostatic floor,
Figure SMS_11
；
Step four, substituting the integrity index, the stability index and the flatness index of each electrostatic floor into a formula
Figure SMS_12
Obtaining the overall conformity of each electrostatic floor board, < ->
Figure SMS_13
Respectively representing the integrity index influence factor, the stability index influence factor and the flatness index influence factor of the electrostatic floor.
Preferably, the trunking information acquisition module comprises an image perspective acquisition unit, the image perspective acquisition unit is arranged on the walking unit, and the analysis mode of the trunking information acquisition module is as follows: the method comprises the steps of controlling a walking unit to sequentially move along the numbering sequence of each trend electrostatic floor, collecting images of wire grooves at corresponding positions below each trend electrostatic floor through an image perspective collecting unit on the walking unit, comparing the wire groove images collected at the corresponding positions below each trend electrostatic floor with standard images of the wire grooves at the corresponding positions, further obtaining deflection distances of the wire grooves at the corresponding positions of each trend electrostatic floor, deflection distances of a wire groove cover plate, positions, where wires extend out of the wire grooves, and corresponding extension lengths of the wires, screening bending wire grooves at the corresponding positions of each trend electrostatic floor according to the wire groove images collected at the corresponding positions of each trend electrostatic floor, and further obtaining bending angles of the bending wire grooves at the corresponding positions of each trend electrostatic floor and bending angles of the wires in the bending wire grooves.
Preferably, the analysis steps corresponding to the trunking analysis module are as follows:
step one, reading the deflection distance of the wire grooves at the corresponding positions of the static floor boards in each trend to record the deflection distance as
Figure SMS_14
F represents a wire slot of the f-th trend electrostatic floor corresponding position,/>
Figure SMS_15
，/>
Figure SMS_16
；
Step two, reading the deflection distance between the wire slot cover plate and the wire slot at the corresponding position of each trend electrostatic floor as
Figure SMS_17
；
Step three, reading each position of the wire extending out of the wire slot and the corresponding extending length of the wire extending out of the corresponding position of the static floor, and marking the positions as
Figure SMS_18
P represents the p-th position of the wire extending out of the wire slot, < >>
Figure SMS_19
；
Analyzing the deflection distance of the wire slot at the corresponding position of each trend electrostatic floor, the deflection distance between the wire slot cover plate and the wire slot, the positions of the wires extending out of the wire slot and the corresponding extending lengths thereof to obtain the overall wiring conformity of the corresponding position of each trend electrostatic floor, and marking the overall wiring conformity as
Figure SMS_20
，/>
Figure SMS_21
，/>
Figure SMS_22
Indicating the maximum deflection distance allowed by the trunking, +.>
Figure SMS_23
Indicating the influence factor of the wire extending out of the wire slot, +.>
Figure SMS_24
The influence coefficient of the unit length of the wire extending out of the wire slot is represented;
step five, reading the bending angles of the bending wire grooves at the corresponding positions of the static floors and the bending angles of the wires in the bending wire grooves, and respectively marking the bending angles as
Figure SMS_25
G represents a bending wire groove corresponding to the g-th trend electrostatic floor,
Figure SMS_26
，/>
Figure SMS_27
the method comprises the steps of carrying out a first treatment on the surface of the The bending angle of the bending wire groove at the corresponding position of each trend electrostatic floor and the bending angle of the conducting wire in the bending wire groove are brought into the formula +. >
Figure SMS_28
And obtaining the conformity of the wires in the bending wire grooves at the corresponding positions of the static floor.
Preferably, the analysis modes of the matched electrostatic floors and the electrostatic floors to be modified are as follows: reading the overall coincidence degree of each electrostatic floor, comparing the overall coincidence degree with a predefined overall coincidence degree threshold, marking each electrostatic floor which is larger than the overall coincidence degree threshold of the electrostatic floor as each coincident electrostatic floor, and marking each electrostatic floor which is smaller than the overall coincidence degree threshold of the electrostatic floor as each electrostatic floor to be modified;
comparing the blocking rate of each ventilation electrostatic floor with a preset blocking rate threshold value of the ventilation electrostatic floor, and screening each ventilation electrostatic floor which is larger than the blocking rate threshold value as each ventilation electrostatic floor to be cleaned;
the substation machine room display module reads the positions of the electrostatic floors to be trimmed and the positions of the ventilation electrostatic floors to be cleaned, marks different colors at the positions corresponding to image display, and if a certain electrostatic floor to be trimmed corresponds to one of the positions of the ventilation electrostatic floors to be cleaned, the electrostatic floors at the positions need to be trimmed and the ventilation holes of the electrostatic floors to be cleaned, and meanwhile, the marked colors are emphasized.
Preferably, the analysis mode of each corresponding wire slot and each wire slot to be tidied is as follows: reading the overall wiring coincidence degree of the corresponding positions of the static floors of all the directions, comparing the overall wiring coincidence degree with a predefined overall wiring coincidence degree threshold, marking the wire slots of the corresponding positions of the static floors of all the directions which are larger than the overall wiring coincidence degree threshold as corresponding wire slots, and marking the wire slots of the corresponding positions of the static floors of all the directions which are smaller than the overall wiring coincidence degree threshold as wire slots to be tidied;
comparing the coincidence degree of the wires in the bending wire slots at the corresponding positions of the static floors in all directions with a coincidence degree threshold value of the wires, screening the bending wire slots at the corresponding positions of the static floors in all directions, which are smaller than the coincidence degree threshold value of the wires, and marking the bending wire slots as all bending wire slots;
the substation machine room display module reads the positions of the trend static floors corresponding to the wire grooves to be tidied and the positions of the trend static floors corresponding to the wire grooves passing through the bending lines, marks the positions of the trend static floors corresponding to the wire grooves to be tidied with different colors at the positions corresponding to the image display, and if the trend static floors corresponding to one wire groove to be tidied correspond to the position of the trend static floors corresponding to one wire groove passing through the bending lines, the wire groove corresponding to the trend static floors at the position needs to be trimmed and the wires in the wire groove need to be straightened, and meanwhile the marked colors are emphasized.
Preferably, the invention provides an automatic inspection method for an electric power transformer substation, which comprises the following specific steps:
s1, sequentially numbering a substation machine room to be inspected according to a preset arrangement sequence of all the electrostatic floors;
s2, respectively acquiring integrity information, stability information and flatness information of each electrostatic floor;
s3, analyzing the integrity index, the stability index and the flatness index of each electrostatic floor according to the paving parameter information of each electrostatic floor, including the integrity information, the stability information and the flatness information, and further analyzing to obtain the overall consistency of each electrostatic floor;
s4, screening the static floors corresponding to the positions of the wire slots based on the paving information of the wire slots by reading the paving information of the wire slots, marking the static floors as trend static floors, and numbering the trend static floors in sequence according to the trend of the wire slots;
s5, information acquisition is carried out on the laying information of the wire grooves at the corresponding positions of the static floors and the distribution information of wires in the wire grooves;
s6, analyzing the laying information of the wire grooves at the corresponding positions of the static floors in all directions according to the distribution information of wires in the wire grooves to obtain the overall wiring conformity of the corresponding positions of the static floors in all directions;
S7, obtaining the matched electrostatic floors and the electrostatic floors to be trimmed through the overall coincidence degree analysis of the electrostatic floors, and obtaining the matched wire slots and the wire slots to be trimmed through the overall coincidence degree analysis of the wires at the corresponding positions of the trend electrostatic floors;
s8, respectively marking and displaying the specific positions of the electrostatic floors to be modified and the specific positions of the wire slots to be modified.
The beneficial effects of the invention are as follows:
1. the invention analyzes three aspects of the integrity, the stability and the flatness of the electrostatic floors to obtain the overall consistency of each electrostatic floor, thereby comprehensively reflecting the actual problems of the electrostatic floors and increasing the analysis precision of the electrostatic floors; the invention analyzes the overall coincidence degree of the wiring through three aspects of the deflection distance of the wiring groove, the deflection distance of the wiring groove cover plate, each position of the wire extending out of the wiring groove and the corresponding extending length, increases the comprehensiveness of the analysis of the overall coincidence degree of the wiring groove, and the wiring groove is rapidly positioned by referring to the position of the electrostatic floor, thereby increasing the accuracy and the efficiency of the treatment of the wiring groove needing to be tidied.
2. The integrity of the electrostatic floor is analyzed by two aspects of the incomplete area of the electrostatic floor and the clearance area of the frame corresponding to the electrostatic floor, so that the integrity analysis of the electrostatic floor is improved; according to the invention, through hammering tests on the middle part and the four vertex angles of the electrostatic floor, the stepping action of personnel on the electrostatic floor can be simulated, and the two test results are calculated respectively, so that the stability information of the electrostatic floor is analyzed more comprehensively and accurately.
3. The invention collects images of the ventilation electrostatic floors, so as to obtain the blocking rate of the ventilation electrostatic floors, and screens the ventilation electrostatic floors which need to be cleaned according to the blocking rate of the ventilation electrostatic floors.
4. According to the invention, the real-time state of the electrostatic floor can be intuitively seen by displaying the electrostatic floor, and the color distinction is carried out on the electrostatic floor which is not required to be processed, the electrostatic floor which is required to be cleaned and the electrostatic floor which is cleaned and trimmed, so that the intuitiveness of the electrostatic floor of the transformer substation machine room is improved.
5. The method comprises the steps of obtaining each wire slot to be finished through the overall conformity screening of the wires at the corresponding positions of the static floors, obtaining each wire slot passing through the wire slots through the conformity screening of the wires in the bending wire slots at the corresponding positions of the static floors, and facilitating the processing of the wire slots at the corresponding positions by the maintenance personnel through the positions of the static floors; the invention can rapidly distinguish the wire grooves to be tidied and the wire grooves passing through the bending lines, and increases the convenience of wire groove tidying and centralizing.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
Fig. 1 is a schematic connection diagram of each module of an automatic inspection system of a power substation.
Fig. 2 is a flow chart of an automated inspection method of a power substation.
Detailed Description
Embodiments of the present invention are described in detail below. The following examples are illustrative only and are not to be construed as limiting the invention. The examples are not to be construed as limiting the specific techniques or conditions described in the literature in this field or as per the specifications of the product.
Referring to fig. 1, an automatic inspection system for a power substation, the automatic inspection system for a power substation includes: the system comprises a transformer substation planning module, an electrostatic floor collection module, an electrostatic floor analysis module, an electrostatic floor blockage rate acquisition and analysis module, a wire slot positioning module, a wire slot information collection module, a wire slot analysis module, a transformer substation machine room database, a transformer substation machine room comprehensive analysis module and a transformer substation machine room display module.
In the above modules, the transformer substation room database is respectively connected with a transformer substation planning module, an electrostatic floor analysis module, an electrostatic floor blockage rate acquisition and analysis module, a wire slot positioning module, a wire slot analysis module, a transformer substation room comprehensive analysis module and a transformer substation room display module; the substation machine room comprehensive analysis module is respectively connected with the electrostatic floor analysis module, the electrostatic floor blockage rate acquisition analysis module, the wire slot analysis module and the substation machine room display module; the electrostatic floor analysis module is connected with the electrostatic floor acquisition module, and the transformer substation planning module is respectively connected with the electrostatic floor acquisition module and the electrostatic floor blocking rate acquisition analysis module; the wire slot analysis module is connected with the wire slot information acquisition module, and the wire slot positioning module is connected with the wire slot information acquisition module.
The substation planning module is used for numbering the substation machine rooms needing to be inspected sequentially according to the preset arrangement sequence of the electrostatic floors; through carrying out the serial number with each static floor in the transformer substation's computer lab, can be accurate carry out quick location to each static floor that needs to handle, be convenient for the manual work carries out maintenance processing with it.
The static floor acquisition module is used for acquiring paving parameter information of each static floor, wherein the paving parameter information comprises integrity information, stability information and flatness information; the integrity information of the electrostatic floor is used for reflecting the completion degree of the electrostatic floor, the electrostatic floor is damaged due to long-time treading, especially the phenomenon of broken corners or breakage is easier to occur at the positions of corners of the electrostatic floor, the electrostatic floor can be used for a long time, the gap between the electrostatic floor and a corresponding frame of the electrostatic floor is increased, and the problem of safety exists while the appearance of the electrostatic floor is influenced; the stability information of the electrostatic floor can reflect the supporting performance of the electrostatic floor, and if the electrostatic floor is greatly sunk when trampled, the electrostatic floor is problematic or the corresponding frame of the electrostatic floor is improved; the flatness information of the electrostatic floor can reflect the flatness of the electrostatic floor, and as the wire slot is arranged below the electrostatic floor, the electrostatic floor needs to be taken out from the frame when cables are laid in a transformer substation machine room, the electrostatic floor cover is arranged at the initial position after the cables are laid, the flatness of the electrostatic floor can be influenced by frequent taking out and covering of the electrostatic floor, and potential safety hazards can be generated due to poor flatness of the electrostatic floor.
The transformer substation machine room database is used for storing paving position information of each electrostatic floor in the transformer substation machine room, standard paving position information of the wire slot and standard parameters of the wire slot and the wires;
the static floor collection module comprises a walking unit, and an image collection unit, a hammering detection unit and a height collection unit which are respectively arranged on the walking unit, wherein the paving parameter information collection mode of each static floor is as follows:
step one, controlling a walking unit to move to an electrostatic floor at a starting position in a transformer substation machine room, performing image acquisition on the electrostatic floor through an image acquisition unit on the walking unit, performing hammering test on the electrostatic floor through a hammering detection unit, and detecting the flatness of the electrostatic floor through a height acquisition unit;
step two, the image acquisition unit processes the acquired image to obtain the integrity information of the electrostatic floor, the hammering detection unit calculates the hammering result of the electrostatic floor to obtain the stability information of the electrostatic floor, and the height acquisition unit calculates the height acquired by the electrostatic floor to obtain the flatness information of the electrostatic floor;
the specific processing mode of the integrity information of each electrostatic floor is as follows: the standard pictures of all the electrostatic floors are read and compared with the image information acquired by the corresponding electrostatic floors to obtain the incomplete area of each electrostatic floor and the clearance area of each electrostatic floor and the corresponding frame, and the incomplete area and the clearance area are respectively recorded as
Figure SMS_29
I represents the i-th electrostatic floor, +.>
Figure SMS_30
The method comprises the steps of carrying out a first treatment on the surface of the The integrity of the electrostatic floor is analyzed by two aspects of the incomplete area of the electrostatic floor and the clearance area of the frame corresponding to the electrostatic floor, so that the integrity analysis of the electrostatic floor is improved;
thirdly, after the laying parameter information of the electrostatic floors is collected, carrying out inspection type movement by controlling a traveling unit according to a preset arrangement sequence of each electrostatic floor, so as to obtain integrity information, stability information and flatness information of each electrostatic floor;
the hammering test mode of the hammering detection unit for each electrostatic floor is as follows: the walking unit is controlled to move to the central position of each electrostatic floor, the hammering detection unit is used for hammering the central position of each electrostatic floor, and the central sinking distance of each electrostatic floor is recorded and is recorded as
Figure SMS_31
The walking unit is controlled to move to four vertex angles of each electrostatic floor, hammering tests are carried out, sinking distances of the four vertex angles of each electrostatic floor are recorded, average values are obtained for the sinking distances of the four vertex angles of each electrostatic floor, the average sinking distances of the vertex angles of each electrostatic floor are recorded as ∈ >
Figure SMS_32
The method comprises the steps of carrying out a first treatment on the surface of the According to the invention, through hammering test on the middle part and four vertex angles of the electrostatic floor, the stepping action of personnel on the electrostatic floor can be simulated, and the two test results are calculated respectivelyFurther, the stability information of the electrostatic floor is analyzed more comprehensively and accurately;
the mode of the height acquisition unit for each electrostatic floor is as follows: when the walking units move to the four vertex angles of each electrostatic floor respectively, the height of the four vertex angles of each electrostatic floor and the height of the corresponding frame are respectively acquired by the height acquisition unit, and the difference value between the four vertex angles of each electrostatic floor and the height of the corresponding frame is calculated and respectively recorded as
Figure SMS_33
The method comprises the steps of carrying out a first treatment on the surface of the According to the invention, the flatness of each electrostatic floor is analyzed by taking the frame of the electrostatic floor as a reference, and the flatness of the electrostatic floor is standardized by taking the protruding or recessed conditions of the four vertex angles of the electrostatic floor, so that the flatness analysis precision of the electrostatic floor is increased.
It is to be understood that in order to increase the radiating effect of the cable at the lower part of the electrostatic floor in the transformer substation machine room, the electrostatic floor can be laid in a mode of mixing the common electrostatic floor with the ventilation electrostatic floor when being actually laid, namely, the ventilation electrostatic floor is laid at the position where heat is easy to be accumulated in the transformer substation machine room, the common electrostatic floor is laid at other positions, and ventilation holes are uniformly formed in the ventilation electrostatic floor, so that the radiating effect at the lower part of the ventilation electrostatic floor can be increased.
The invention adopts an electrostatic floor blockage rate acquisition and analysis module to acquire, analyze and analyze the blockage rate of each ventilation electrostatic floor, and specifically adopts the steps of sequentially numbering each ventilation electrostatic floor in each electrostatic floor by screening, carrying out image acquisition on each ventilation electrostatic floor, obtaining the through area of each ventilation electrostatic floor according to the light transmission area of each ventilation electrostatic floor image, subtracting the through area from the total area of each ventilation hole of each ventilation electrostatic floor, dividing the through area by the total area of each ventilation hole to obtain the blockage rate of each ventilation electrostatic floor, and recording the blockage rate as the blockage rate of each ventilation electrostatic floor
Figure SMS_34
H represents the h ventilation electrostatic floor, < ->
Figure SMS_35
，/>
Figure SMS_36
。
The static floor analysis module is used for analyzing and obtaining the integrity index, the stability index and the flatness index of each static floor according to the paving parameter information of each static floor, and analyzing and obtaining the overall coincidence degree of each static floor according to the integrity index, the stability index and the flatness index of each static floor;
the specific analysis mode of the electrostatic floor analysis module is as follows:
step one, reading the incomplete area of each electrostatic floor and the gap area between each electrostatic floor and the corresponding frame and substituting the incomplete area into a formula
Figure SMS_37
Obtaining the integrity index of each electrostatic floor >
Figure SMS_38
，
Figure SMS_39
Represents the standard area of the ith electrostatic floor, < +.>
Figure SMS_40
The maximum allowable gap area of the electrostatic floor and the corresponding frame is represented, and e represents a constant;
substituting the center sinking distance of each electrostatic floor and the average sinking distance of the vertex angles of each electrostatic floor into a formula
Figure SMS_41
Obtaining the stability index of each static floor>
Figure SMS_42
，/>
Figure SMS_43
Representing the safe sedimentation distance of the electrostatic floor; the stability index of each electrostatic floor can comprehensively consider the center sinking distance and the vertex angle sinking distance of the electrostatic floor when calculating, and the stability index of each electrostatic floor is increasedThe analysis precision of the number;
substituting the difference values of the four top angles of each electrostatic floor and the corresponding frame heights into a formula
Figure SMS_44
Obtaining the flatness index of each electrostatic floor>
Figure SMS_45
，/>
Figure SMS_46
Representing the flatness index correction coefficient of the electrostatic floor;
step four, substituting the integrity index, the stability index and the flatness index of each electrostatic floor into a formula
Figure SMS_47
Obtaining the overall conformity of each electrostatic floor board, < ->
Figure SMS_48
Respectively representing the integrity index influence factor, the stability index influence factor and the flatness index influence factor of the electrostatic floor; the overall compliance of each electrostatic floor can be basically guided by the safety, the aesthetic property, the stability and the like of the electrostatic floor in actual use, and the possible problems of the electrostatic floor can be comprehensively analyzed.
The substation machine room comprehensive analysis module is used for reading the overall coincidence degree analysis of each electrostatic floor to obtain each coincident electrostatic floor and each electrostatic floor to be modified, obtaining each ventilated electrostatic floor to be cleaned by analyzing the blocking rate of each ventilated electrostatic floor,
the analysis modes of the matched electrostatic floors and the electrostatic floors to be modified are as follows: reading the overall coincidence degree of each electrostatic floor, comparing the overall coincidence degree with a predefined overall coincidence degree threshold, marking each electrostatic floor which is larger than the overall coincidence degree threshold of the electrostatic floor as each coincident electrostatic floor, and marking each electrostatic floor which is smaller than the overall coincidence degree threshold of the electrostatic floor as each electrostatic floor to be modified;
and comparing the blocking rate of each ventilation electrostatic floor with a preset blocking rate threshold value of the ventilation electrostatic floor, and screening each ventilation electrostatic floor which is larger than the blocking rate threshold value as each ventilation electrostatic floor to be cleaned. Since the trimming and cleaning of the electrostatic floors belong to different operations, and each electrostatic floor to be trimmed may include each ventilated electrostatic floor to be cleaned, the two are distinguished.
The substation machine room display module reads the positions of the electrostatic floors to be trimmed and the positions of the ventilation electrostatic floors to be cleaned, marks different colors at the positions corresponding to image display, and if a certain electrostatic floor to be trimmed corresponds to one of the positions of the ventilation electrostatic floors to be cleaned, the electrostatic floors at the positions need to be trimmed and the ventilation holes of the electrostatic floors to be cleaned, and meanwhile, the marked colors are emphasized. The real-time state of the electrostatic floor can be visually seen through displaying the electrostatic floor, and color distinction is performed on the electrostatic floor which is not required to be processed, the electrostatic floor which is required to be trimmed, the electrostatic floor which is required to be cleaned and trimmed, so that the intuitiveness of the electrostatic floor of the transformer substation machine room is improved.
The wire slot positioning module screens each static floor corresponding to the position of the wire slot based on the paving information of the wire slot by reading the paving information of the wire slot, marks the wire slot as each trend static floor, and sequentially numbers each trend static floor according to the trend of the wire slot; the invention positions the wire slot by taking the position of the electrostatic floor as a reference, so that the wire slot which needs to be trimmed can be positioned quickly, and the wire slot at the corresponding position is taken out, so that the wire slot is processed correspondingly and conveniently. It can be understood that the trunking in the substation room generally adopts a splicing mode, so that when the position of the trunking is deviated, a certain section may be greatly deviated, and therefore, the trunking of a certain section needs to be positioned by taking the corresponding electrostatic floor as a reference.
The wire slot information acquisition module is used for acquiring the laying information of the wire slots at the corresponding positions of the static floors in each trend and the distribution information of wires in the wire slots; the laying information of the wire slot can reflect the position accuracy of the wire slot, the position deflection of the wire slot easily affects the frame support of the electrostatic floor, the distribution condition of the wires can reflect hidden danger conditions of the wires, and then the safety of the wires and the uniformity of subsequent wire arrangement are improved.
The wire slot information acquisition module comprises an image perspective acquisition unit, wherein the image perspective acquisition unit is arranged on the walking unit, and the analysis mode of the wire slot information acquisition module is as follows: the method comprises the steps of controlling a walking unit to sequentially move along the numbering sequence of each trend electrostatic floor, collecting images of wire grooves at corresponding positions below each trend electrostatic floor through an image perspective collecting unit on the walking unit, comparing the wire groove images collected at the corresponding positions below each trend electrostatic floor with standard images of the wire grooves at the corresponding positions, further obtaining deflection distances of the wire grooves at the corresponding positions of each trend electrostatic floor, deflection distances of a wire groove cover plate, positions of wires extending out of the wire grooves and corresponding extending lengths of the wires, screening bending wire grooves at the corresponding positions of each trend electrostatic floor according to the wire groove images collected at the corresponding positions of each trend electrostatic floor, and further obtaining bending angles of the bending wire grooves at the corresponding positions of each trend electrostatic floor and bending angles of the wires in the bending wire grooves; the deflection distance of the wire slot is used for reflecting whether the wire slot at the position deflects or not; the deflection distance of the wire slot cover plate can reflect whether the wire slot cover plate is covered in order; the probability of damage of the wires is increased when the wires extend out of the wire slots, and the longer the wires extend out of the wire slots, the greater the probability of damage, and the wires extend out of the wire slots, so that the subsequent arrangement of the wires is not facilitated; the bending angle of the bending wire groove and the bending angle deviation of the wire in the bending wire groove are large, so that the bending angle of the wire is overlarge, or the bending angle of the wire is insufficient, the internal stress exists in the wire groove, and the wire terminal or the side wall of the wire groove is influenced.
The wire slot analysis module is used for analyzing and obtaining the overall wiring conformity of the corresponding positions of the static floors of all the directions according to the laying information of the wire slots of the corresponding positions of the static floors of all the directions and the distribution information of wires in the wire slots;
the analysis steps corresponding to the trunking analysis module are as follows:
step one, reading the deflection distance of the wire grooves at the corresponding positions of the static floor boards in each trend to record the deflection distance as
Figure SMS_49
F represents a wire slot of the f-th trend electrostatic floor corresponding position,/>
Figure SMS_50
，/>
Figure SMS_51
；
Step two, reading the deflection distance between the wire slot cover plate and the wire slot at the corresponding position of each trend electrostatic floor as
Figure SMS_52
；
Step three, reading each position of the wire extending out of the wire slot and the corresponding extending length of the wire extending out of the corresponding position of the static floor, and marking the positions as
Figure SMS_53
P represents the p-th position of the wire extending out of the wire slot, < >>
Figure SMS_54
；
Analyzing the deflection distance of the wire slot at the corresponding position of each trend electrostatic floor, the deflection distance between the wire slot cover plate and the wire slot, the positions of the wires extending out of the wire slot and the corresponding extending lengths thereof to obtain the overall wiring conformity of the corresponding position of each trend electrostatic floor, and marking the overall wiring conformity as
Figure SMS_55
，/>
Figure SMS_56
，/>
Figure SMS_57
Indicating the maximum deflection distance allowed by the trunking, +.>
Figure SMS_58
Indicating the influence factor of the wire extending out of the wire slot, +. >
Figure SMS_59
The influence coefficient of the unit length of the wire extending out of the wire slot is represented;
step five, reading the bending angles of the bending wire grooves at the corresponding positions of the static floors and the bending angles of the wires in the bending wire grooves, and respectively marking the bending angles as
Figure SMS_60
G represents a bending wire groove corresponding to the g-th trend electrostatic floor,
Figure SMS_61
，/>
Figure SMS_62
the method comprises the steps of carrying out a first treatment on the surface of the The bending angle of the bending wire groove at the corresponding position of each trend electrostatic floor and the bending angle of the conducting wire in the bending wire groove are brought into the formula +.>
Figure SMS_63
And obtaining the conformity of the wires in the bending wire grooves at the corresponding positions of the static floor.
The transformer substation machine room comprehensive analysis module is used for reading the overall wiring coincidence degree analysis of the corresponding positions of the static floors in all directions to obtain all coincidence wire slots and all wire slots to be tidied;
the analysis mode of each corresponding wire slot and each wire slot to be tidied is as follows: reading the overall wiring coincidence degree of the corresponding positions of the static floors of all the directions, comparing the overall wiring coincidence degree with a predefined overall wiring coincidence degree threshold, marking the wire slots of the corresponding positions of the static floors of all the directions which are larger than the overall wiring coincidence degree threshold as corresponding wire slots, and marking the wire slots of the corresponding positions of the static floors of all the directions which are smaller than the overall wiring coincidence degree threshold as wire slots to be tidied;
And comparing the coincidence degree of the wires in the bending wire grooves at the corresponding positions of the static floors in all directions with a coincidence degree threshold value of the wires, screening the bending wire grooves at the corresponding positions of the static floors in all directions, which are smaller than the coincidence degree threshold value of the wires, and marking the bending wire grooves as all the bending wire grooves.
The substation machine room display module reads the positions of the trend static floors corresponding to the wire grooves to be tidied and the positions of the trend static floors corresponding to the wire grooves passing through the bending lines, marks the positions of the trend static floors corresponding to the wire grooves to be tidied with different colors at the positions corresponding to the image display, and if the trend static floors corresponding to one wire groove to be tidied correspond to the position of the trend static floors corresponding to one wire groove passing through the bending lines, the wire groove corresponding to the trend static floors at the position needs to be trimmed and the wires in the wire groove need to be straightened, and meanwhile the marked colors are emphasized. Through the mode, the wire grooves to be tidied and the wire grooves to be crossed can be distinguished rapidly, convenience of wire groove tidying and righting is improved, and the display module of the transformer substation machine room can display images of the electrostatic floors and the wire grooves in the transformer substation according to preset positions of the display module, so that the images of the electrostatic floors and the wire grooves in the transformer substation machine room are not overlapped, and the images of the electrostatic floors and the wire grooves are not influenced by each other.
Referring to fig. 2, in addition, the invention provides an automatic inspection method for an electric power substation, which comprises the following specific steps:
s1, sequentially numbering a substation machine room to be inspected according to a preset arrangement sequence of all the electrostatic floors;
s2, respectively acquiring integrity information, stability information and flatness information of each electrostatic floor;
s3, analyzing the integrity index, the stability index and the flatness index of each electrostatic floor according to the paving parameter information of each electrostatic floor, including the integrity information, the stability information and the flatness information, and further analyzing to obtain the overall consistency of each electrostatic floor;
s4, screening the static floors corresponding to the positions of the wire slots based on the paving information of the wire slots by reading the paving information of the wire slots, marking the static floors as trend static floors, and numbering the trend static floors in sequence according to the trend of the wire slots;
s5, information acquisition is carried out on the laying information of the wire grooves at the corresponding positions of the static floors and the distribution information of wires in the wire grooves;
s6, analyzing the laying information of the wire grooves at the corresponding positions of the static floors in all directions according to the distribution information of wires in the wire grooves to obtain the overall wiring conformity of the corresponding positions of the static floors in all directions;
S7, obtaining the matched electrostatic floors and the electrostatic floors to be trimmed through the overall coincidence degree analysis of the electrostatic floors, and obtaining the matched wire slots and the wire slots to be trimmed through the overall coincidence degree analysis of the wires at the corresponding positions of the trend electrostatic floors;
s8, respectively marking and displaying the specific positions of the electrostatic floors to be modified and the specific positions of the wire slots to be modified.
The invention analyzes three aspects of the integrity, the stability and the flatness of the electrostatic floors to obtain the overall consistency of each electrostatic floor, thereby comprehensively reflecting the actual problems of the electrostatic floors and increasing the analysis precision of the electrostatic floors; the invention analyzes the overall coincidence degree of the wiring through three aspects of the deflection distance of the wiring groove, the deflection distance of the wiring groove cover plate, each position of the wire extending out of the wiring groove and the corresponding extending length, increases the comprehensiveness of the analysis of the overall coincidence degree of the wiring groove, and the wiring groove is rapidly positioned by referring to the position of the electrostatic floor, thereby increasing the accuracy and the efficiency of the treatment of the wiring groove needing to be tidied.
While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention, which is also intended to be covered by the present invention.

Claims (9)

1. The utility model provides an automatic system of patrolling and examining of power substation which characterized in that, this automatic system of patrolling and examining of power substation includes:
the substation planning module is used for numbering the substation machine rooms needing to be inspected sequentially according to the preset arrangement sequence of the electrostatic floors;
the static floor acquisition module is used for acquiring paving parameter information of each static floor, wherein the paving parameter information comprises integrity information, stability information and flatness information;
the static floor analysis module is used for analyzing and obtaining the integrity index, the stability index and the flatness index of each static floor according to the laying parameter information of each static floor, and analyzing and obtaining the overall consistency of each static floor according to the integrity index, the stability index and the flatness index of each static floor;
the static floor blockage rate acquisition and analysis module is used for sequentially numbering each ventilation static floor in each static floor by screening the ventilation static floors, collecting data of each ventilation static floor, and analyzing the collected data of each ventilation static floor to obtain the blockage rate of each ventilation static floor;
The wire slot positioning module is used for screening each static floor corresponding to the position of the wire slot based on the paving information of the wire slot by reading the paving information of the wire slot, marking the wire slot as each trend static floor, and numbering each trend static floor in sequence according to the trend of the wire slot;
the wire slot information acquisition module is used for acquiring the laying information of the wire slots at the corresponding positions of the static floors and the distribution information of wires in the wire slots;
the wire slot analysis module is used for analyzing and obtaining the overall wiring conformity of the corresponding positions of the static floors of all the directions according to the laying information of the wire slots of the corresponding positions of the static floors of all the directions and the distribution information of wires in the wire slots;
the transformer substation machine room database is used for storing the laying position information and standard parameters of each electrostatic floor in the transformer substation machine room, the standard laying position information of the wire slot and the standard parameters of the wire slot and the wires;
the transformer substation machine room comprehensive analysis module is used for reading the overall coincidence degree analysis of each electrostatic floor to obtain each coincident electrostatic floor and each electrostatic floor to be corrected, analyzing the blocking rate of each ventilation electrostatic floor to obtain each ventilation electrostatic floor to be cleaned, and reading the overall coincidence degree analysis of the wiring at the corresponding position of each trend electrostatic floor to obtain each coincident wire slot and each wire slot to be corrected;
The transformer substation machine room display module is used for respectively displaying images of the electrostatic floors and the wire slots in the transformer substation according to preset positions of the electrostatic floors, marking specific positions of the electrostatic floors to be modified and the ventilation electrostatic floors to be cleaned according to paving position information of the electrostatic floors, and marking specific positions of the wire slots to be tidied according to paving position information of the wire slots.
2. The automatic inspection system of a power transformer substation according to claim 1, wherein the electrostatic floor collection module comprises a walking unit, and an image collection unit, a hammering detection unit and a height collection unit which are respectively arranged on the walking unit, and the paving parameter information collection mode of each electrostatic floor is as follows:
step one, controlling a walking unit to move to an electrostatic floor at a starting position in a transformer substation machine room, performing image acquisition on the electrostatic floor through an image acquisition unit on the walking unit, performing hammering test on the electrostatic floor through a hammering detection unit, and detecting the flatness of the electrostatic floor through a height acquisition unit;
step two, the image acquisition unit processes the acquired image to obtain the integrity information of the electrostatic floor, the hammering detection unit calculates the hammering result of the electrostatic floor to obtain the stability information of the electrostatic floor, and the height acquisition unit calculates the height acquired by the electrostatic floor to obtain the flatness information of the electrostatic floor;
And thirdly, after the laying parameter information of the electrostatic floors is acquired, carrying out inspection type movement by controlling the traveling unit according to the preset arrangement sequence of each electrostatic floor, so as to obtain the integrity information, the stability information and the flatness information of each electrostatic floor.
3. The automatic inspection system of the power transformer substation according to claim 2, wherein the specific processing mode of the integrity information of each electrostatic floor is as follows: the standard pictures of all the electrostatic floors are read and compared with the image information acquired by the corresponding electrostatic floors to obtain the incomplete area of each electrostatic floor and the clearance area of each electrostatic floor and the corresponding frame, and the incomplete area and the clearance area are respectively recorded as
Figure QLYQS_1
I represents the i-th electrostatic floor, +.>
Figure QLYQS_2
；
The hammering test mode of the hammering detection unit for each electrostatic floor is as follows: the walking unit is controlled to move to the central position of each electrostatic floor, the hammering detection unit is used for hammering the central position of each electrostatic floor, and the central sinking distance of each electrostatic floor is recorded and is recorded as
Figure QLYQS_3
The walking unit is controlled to move to four vertex angles of each electrostatic floor, hammering tests are carried out, sinking distances of the four vertex angles of each electrostatic floor are recorded, average values are obtained for the sinking distances of the four vertex angles of each electrostatic floor, the average sinking distances of the vertex angles of each electrostatic floor are recorded as ∈ >
Figure QLYQS_4
；
The mode of the height acquisition unit for each electrostatic floor is as follows: when the walking units move to the four vertex angles of each electrostatic floor respectively, the height of the four vertex angles of each electrostatic floor and the height of the corresponding frame are respectively acquired by the height acquisition unit, and the difference value between the four vertex angles of each electrostatic floor and the height of the corresponding frame is calculated and respectively recorded as
Figure QLYQS_5
；
The blocking rate of each ventilated electrostatic floor was analyzed in the following manner: image acquisition is carried out on each ventilation electrostatic floor, the through area of each ventilation electrostatic floor is obtained according to the light transmission area of each ventilation electrostatic floor image, the through area is subtracted from the total area of each ventilation hole of each ventilation electrostatic floor, and the blockage rate of each ventilation electrostatic floor is obtained by dividing the total area of each ventilation hole, and is recorded as
Figure QLYQS_6
H represents the h ventilation electrostatic floor, < ->
Figure QLYQS_7
，/>
Figure QLYQS_8
。
4. The automatic inspection system of a power substation according to claim 3, wherein the specific analysis mode of the electrostatic floor analysis module is as follows:
step one, obtaining the integrity index of each electrostatic floor by reading the incomplete area of each electrostatic floor and the gap area between each electrostatic floor and the corresponding frame
Figure QLYQS_9
；
Step two, analyzing the center sinking distance of each electrostatic floor and the average sinking distance of the vertex angles of each electrostatic floor to obtain the stability index of each electrostatic floor
Figure QLYQS_10
；
Step three, obtaining the flatness index of each electrostatic floor by analyzing the difference value between the four top angles of each electrostatic floor and the corresponding frame heights of each electrostatic floor
Figure QLYQS_11
；
Step four, substituting the integrity index, the stability index and the flatness index of each electrostatic floor into a formula
Figure QLYQS_12
Obtaining the overall conformity of each electrostatic floor board, < ->
Figure QLYQS_13
Respectively represent the integrity index influence factor and the stability index influence factor of the static floor and the flatnessAn exponential influence factor.
5. The automatic inspection system of a power transformer substation according to claim 2, wherein the trunking information acquisition module comprises an image perspective acquisition unit, the image perspective acquisition unit is arranged on the walking unit, and the analysis mode of the trunking information acquisition module is as follows: the method comprises the steps of controlling a walking unit to sequentially move along the numbering sequence of each trend electrostatic floor, collecting images of wire grooves at corresponding positions below each trend electrostatic floor through an image perspective collecting unit on the walking unit, comparing the wire groove images collected at the corresponding positions below each trend electrostatic floor with standard images of the wire grooves at the corresponding positions, further obtaining deflection distances of the wire grooves at the corresponding positions of each trend electrostatic floor, deflection distances of a wire groove cover plate, positions, where wires extend out of the wire grooves, and corresponding extension lengths of the wires, screening bending wire grooves at the corresponding positions of each trend electrostatic floor according to the wire groove images collected at the corresponding positions of each trend electrostatic floor, and further obtaining bending angles of the bending wire grooves at the corresponding positions of each trend electrostatic floor and bending angles of the wires in the bending wire grooves.
6. The automated inspection system of claim 5, wherein the analysis steps corresponding to the trunking analysis module are:
step one, reading the deflection distance of the wire grooves at the corresponding positions of the static floor boards in each trend to record the deflection distance as
Figure QLYQS_14
F represents a wire slot of the f-th trend electrostatic floor corresponding position,/>
Figure QLYQS_15
，/>
Figure QLYQS_16
；
Step two, reading the deflection distance between the wire slot cover plate and the wire slot at the corresponding position of each trend electrostatic floor as
Figure QLYQS_17
；
Step three, reading each position of the wire extending out of the wire slot and the corresponding extending length of the wire extending out of the corresponding position of the static floor, and marking the positions as
Figure QLYQS_18
P represents the p-th position of the wire extending out of the wire slot, < >>
Figure QLYQS_19
；
Analyzing the deflection distance of the wire slot at the corresponding position of each trend electrostatic floor, the deflection distance between the wire slot cover plate and the wire slot, the positions of the wires extending out of the wire slot and the corresponding extending lengths thereof to obtain the overall wiring conformity of the corresponding position of each trend electrostatic floor, and marking the overall wiring conformity as
Figure QLYQS_20
，/>
Figure QLYQS_21
，/>
Figure QLYQS_22
Indicating the maximum deflection distance allowed by the trunking, +.>
Figure QLYQS_23
Indicating the influence factor of the wire extending out of the wire slot, +.>
Figure QLYQS_24
The influence coefficient of the unit length of the wire extending out of the wire slot is represented;
step five, reading the bending angles of the bending wire grooves at the corresponding positions of the static floors and the bending angles of the wires in the bending wire grooves, and respectively marking the bending angles as
Figure QLYQS_25
G represents the g-th trend of static electricityThe corresponding bending wire grooves of the plates,
Figure QLYQS_26
，/>
Figure QLYQS_27
the method comprises the steps of carrying out a first treatment on the surface of the The bending angle of the bending wire groove at the corresponding position of each trend electrostatic floor and the bending angle of the conducting wire in the bending wire groove are brought into the formula +.>
Figure QLYQS_28
And obtaining the conformity of the wires in the bending wire grooves at the corresponding positions of the static floor.
7. The automatic inspection system of an electric power transformer substation according to claim 4, wherein the analysis modes of each conforming electrostatic floor and each electrostatic floor to be modified are as follows: reading the overall coincidence degree of each electrostatic floor, comparing the overall coincidence degree with a predefined overall coincidence degree threshold, marking each electrostatic floor which is larger than the overall coincidence degree threshold of the electrostatic floor as each coincident electrostatic floor, and marking each electrostatic floor which is smaller than the overall coincidence degree threshold of the electrostatic floor as each electrostatic floor to be modified;
comparing the blocking rate of each ventilation electrostatic floor with a preset blocking rate threshold value of the ventilation electrostatic floor, and screening each ventilation electrostatic floor which is larger than the blocking rate threshold value as each ventilation electrostatic floor to be cleaned;
the substation machine room display module reads the positions of the electrostatic floors to be trimmed and the positions of the ventilation electrostatic floors to be cleaned, marks different colors at the positions corresponding to image display, and if a certain electrostatic floor to be trimmed corresponds to one of the positions of the ventilation electrostatic floors to be cleaned, the electrostatic floors at the positions need to be trimmed and the ventilation holes of the electrostatic floors to be cleaned, and meanwhile, the marked colors are emphasized.
8. The automated inspection system of claim 6, wherein the analysis modes of each line-matching slot and each line slot to be sorted are: reading the overall wiring coincidence degree of the corresponding positions of the static floors of all the directions, comparing the overall wiring coincidence degree with a predefined overall wiring coincidence degree threshold, marking the wire slots of the corresponding positions of the static floors of all the directions which are larger than the overall wiring coincidence degree threshold as corresponding wire slots, and marking the wire slots of the corresponding positions of the static floors of all the directions which are smaller than the overall wiring coincidence degree threshold as wire slots to be tidied;
comparing the coincidence degree of the wires in the bending wire slots at the corresponding positions of the static floors in all directions with a coincidence degree threshold value of the wires, screening the bending wire slots at the corresponding positions of the static floors in all directions, which are smaller than the coincidence degree threshold value of the wires, and marking the bending wire slots as all bending wire slots;
the substation machine room display module reads the positions of the trend static floors corresponding to the wire grooves to be tidied and the positions of the trend static floors corresponding to the wire grooves passing through the bending lines, marks the positions of the trend static floors corresponding to the wire grooves to be tidied with different colors at the positions corresponding to the image display, and if the trend static floors corresponding to one wire groove to be tidied correspond to the position of the trend static floors corresponding to one wire groove passing through the bending lines, the wire groove corresponding to the trend static floors at the position needs to be trimmed and the wires in the wire groove need to be straightened, and meanwhile the marked colors are emphasized.
9. The automatic inspection method for the power transformer substation is characterized by comprising the following specific steps of:
s1, sequentially numbering a substation machine room to be inspected according to a preset arrangement sequence of all the electrostatic floors;
s2, respectively acquiring integrity information, stability information and flatness information of each electrostatic floor;
s3, analyzing the integrity index, the stability index and the flatness index of each electrostatic floor according to the paving parameter information of each electrostatic floor, including the integrity information, the stability information and the flatness information, and further analyzing to obtain the overall consistency of each electrostatic floor;
s4, screening the static floors corresponding to the positions of the wire slots based on the paving information of the wire slots by reading the paving information of the wire slots, marking the static floors as trend static floors, and numbering the trend static floors in sequence according to the trend of the wire slots;
s5, information acquisition is carried out on the laying information of the wire grooves at the corresponding positions of the static floors and the distribution information of wires in the wire grooves;
s6, analyzing the laying information of the wire grooves at the corresponding positions of the static floors in all directions according to the distribution information of wires in the wire grooves to obtain the overall wiring conformity of the corresponding positions of the static floors in all directions;
S7, obtaining the matched electrostatic floors and the electrostatic floors to be trimmed through the overall coincidence degree analysis of the electrostatic floors, and obtaining the matched wire slots and the wire slots to be trimmed through the overall coincidence degree analysis of the wires at the corresponding positions of the trend electrostatic floors;
s8, respectively marking and displaying the specific positions of the electrostatic floors to be modified and the specific positions of the wire slots to be modified.
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