CN116404746A - Intelligent inspection and early warning system for substation equipment - Google Patents

Intelligent inspection and early warning system for substation equipment Download PDF

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Publication number
CN116404746A
CN116404746A CN202310180748.3A CN202310180748A CN116404746A CN 116404746 A CN116404746 A CN 116404746A CN 202310180748 A CN202310180748 A CN 202310180748A CN 116404746 A CN116404746 A CN 116404746A
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China
Prior art keywords
inspection
intelligent
early warning
substation equipment
warning system
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Pending
Application number
CN202310180748.3A
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Chinese (zh)
Inventor
王亮
游丹
张静雯
佘彦杰
纪中豪
曾庆改
李道良
梁师诚
李朋
白正涵
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State Grid Corp of China SGCC
Luoyang Power Supply Co of State Grid Henan Electric Power Co Ltd
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State Grid Corp of China SGCC
Luoyang Power Supply Co of State Grid Henan Electric Power Co Ltd
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Application filed by State Grid Corp of China SGCC, Luoyang Power Supply Co of State Grid Henan Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN202310180748.3A priority Critical patent/CN116404746A/en
Publication of CN116404746A publication Critical patent/CN116404746A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00032—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for
    • H02J13/00034—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for the elements or equipment being or involving an electric power substation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
    • H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
    • H02J13/00028—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment involving the use of Internet protocols

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)

Abstract

The invention belongs to the technical field of intelligent equipment monitoring, and particularly relates to an intelligent inspection and early warning system for substation equipment. The wake-up device comprises a key finger which is arranged on the mounting bottom plate and can move up and down and left and right, a ranging sensor and a positioning camera; the intelligent control system comprises a main control module, a power management module, a GPS positioning module, a 5G communication module and a remote upper computer which are arranged in the walking chassis. The intelligent inspection robot realizes real-time transmission of inspection data based on a 5G technology, has the functions of memory tracking, autonomous obstacle avoidance, image acquisition, automatic inspection and monitoring alarm, and can assist in daily monitoring, operation and maintenance of substation equipment.

Description

Intelligent inspection and early warning system for substation equipment
Technical Field
The invention belongs to the technical field of intelligent equipment monitoring, and particularly relates to an intelligent inspection and early warning system for substation equipment.
Background
The transformer substation plays a very important role in a power system, directly relates to the electricity utilization problem of thousands of households, and the large-scale outage brings immeasurable loss to national economy. Therefore, ensuring the safety work of the substation equipment is one of the problems of high attention of the power department, and in the traditional substation video monitoring system, analysis and judgment of the substation scene need to depend on monitoring staff, intelligent equipment monitoring needs to be developed to replace manual inspection, and early warning information can be automatically sent to prompt staff so as to ensure the safe and stable operation of the substation equipment.
Disclosure of Invention
Aiming at the situation, the intelligent inspection and early warning system for the substation equipment is designed, and the intelligent inspection and early warning system for the substation equipment can well assist in manually completing intelligent inspection and monitoring early warning of the substation equipment based on a 5G artificial intelligent communication technology combined with an automatic inspection robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the intelligent inspection and early warning system for the substation equipment comprises an inspection robot and an intelligent control system, wherein the inspection robot comprises a walking chassis for driving the inspection robot to move according to a preset line and a wake-up device for touching and waking up a screen of the inspected equipment, walking wheels are arranged below the walking chassis, walking wheels are in transmission connection with a walking motor, a supporting column is vertically arranged above the walking chassis, a liftable mechanical arm is horizontally arranged on the supporting column, a lifting motor for driving the mechanical arm to lift is arranged on the side of the mechanical arm, and the wake-up device is arranged on the mechanical arm;
the awakening device comprises a mounting bottom plate and a manipulator assembly, wherein the mounting bottom plate is vertically connected to the manipulator, an X-axis track and a Y-axis track are arranged on the mounting bottom plate, a longitudinal guide rod capable of sliding left and right is connected to the X-axis track, a transverse guide rod capable of sliding up and down is connected to the Y-axis track, a longitudinal screw rod and a transverse screw rod are correspondingly arranged on the longitudinal guide rod and the transverse guide rod, the manipulator assembly comprises a gear box arranged at the crossing position of the longitudinal screw rod and the transverse screw rod, the gear box is in transmission connection with the two screw rods, an X-axis motor for driving the gear box to move left and right and a Y-axis motor for driving the gear box to move up and down are arranged on the gear box, a connecting arm is connected in front of the gear box, a linear motor is connected on the connecting arm, key fingers are arranged on the linear motor, and a ranging sensor and a positioning camera are further arranged on the front side of the mounting bottom plate.
The intelligent control system comprises a main control module, a power management module, a GPS positioning module, a 5G communication module and a remote upper computer which are arranged in a walking chassis, wherein the remote upper computer is connected with a 5G network through the Internet, the remote upper computer and the inspection robot access a server terminal through the 5G network, the server terminal serves as an information interaction transfer station, the inspection robot uploads acquired images and body state information to the server terminal through the 5G network, and the remote upper computer accesses a cloud server terminal through the 5G network to acquire the images and the state information uploaded by the inspection robot.
The main control module, the GPS positioning module and the 5G communication module are electrically connected with the power management module, and the walking motor, the lifting motor, the X-axis motor, the Y-axis motor, the linear motor, the ranging sensor and the positioning camera are electrically connected with the main control module; the intelligent control system has the functions of task management, image identification, user management and log management, and can send inspection instructions to the inspection robot at regular time.
The working process of the intelligent inspection and early warning system of the substation equipment is as follows:
s1, training and self-learning a patrol route and key actions by a patrol robot, and storing patrol tasks in a main control module; the ranging sensor, the positioning camera and the GPS positioning module enable the inspection robot to have the functions of autonomous tracking and automatic obstacle avoidance, and the function of automatically marking the date and landmark information of the received image, and can store and backup the image information within a set period, automatically delete the image information outside the set period and send the image information to a remote upper computer in real time through a TCP communication protocol;
s2, manually storing the image information of the normal picture and the abnormal picture of the substation equipment screen into a remote upper computer of the intelligent control system; the remote upper computer has the function of receiving and displaying the monitoring image in real time, and can recognize and judge the received image information and the image information prestored in the remote upper computer;
s3, the inspection robot sequentially walks to the front of the transformer substation equipment according to an inspection route, the distance measuring sensor senses the distance between the inspection robot and the equipment, the equipment screen is touched by a key finger, the equipment screen is awakened from a standby lock screen, the equipment working interface is displayed on the screen, at the moment, the screen interface is photographed by a positioning camera, an image or a video is transmitted to an intelligent control system in real time through a 5G communication module, the problems of image transmission delay and frame loss are avoided, the remote upper computer can monitor the state of the equipment, meanwhile, the remote upper computer also carries out recognition operation on a received image signal, and if the received image information is judged to be abnormal, the early warning interface can be automatically popped up and/or an audible alarm can be sent.
Further, the walking motor, the lifting motor, the X-axis motor and the Y-axis motor are stepping motors, stepping drivers are correspondingly arranged in the walking chassis respectively, and each stepping driver is electrically connected with the main control module.
Further, the distance measuring sensor is an ultrasonic distance measuring sensor, the mounting bottom plate is a rectangular frame, three ultrasonic distance measuring sensors are arranged on the mounting bottom plate, and the three ultrasonic distance measuring sensors and the positioning camera are respectively located at four corners of the rectangular frame.
Further, an X-axis track is respectively arranged on the upper side and the lower side of the mounting bottom plate, a Y-axis track is respectively arranged on the left side and the right side, the X-axis track and the Y-axis track are both linear guide rails, and two ends of the longitudinal guide rod and the transverse guide rod are respectively connected with the two X-axis tracks and the two Y-axis tracks in a sliding manner through sliding blocks.
Further, the outside of the longitudinal screw rod and the lateral screw rod are respectively connected with a transmission gear in a threaded manner, the X-axis motor and the Y-axis motor are connected with a driving gear, the transmission gear and the driving gear are both positioned in the gear box, the transmission gear is in transmission connection with the driving gear, and the longitudinal screw rod and the lateral screw rod are respectively and correspondingly fixedly connected on the longitudinal guide rod and the lateral guide rod.
Further, the transmission gear and the driving gear are bevel gears, the transmission gear is meshed with the driving gear, and internal threads matched with the longitudinal screw rod and the transverse screw rod are respectively arranged in central holes of the transmission gear and the driving gear.
Further, the inspection robot captures the key positions on the screen of the substation equipment through the ranging sensor and the positioning camera, the positioning camera recognizes the keys through the YOLOv3 target detection algorithm, and three-dimensional coordinate positioning is formed through the key positions and the sensing distance of the ranging sensor.
Further, the inspection task comprises a common task and a personalized task, wherein the common task is that the inspection robot obtains a preset inspection line and key actions through self-learning, the personalized task is that a user manually adds key equipment of a transformer substation into the inspection task according to needs, and then the key equipment is specially inspected, and the personalized task supports functions of adding, editing and deleting. The individualized task enables a user to add more suspicious substation equipment into the task according to actual needs, so that a robot of the substation can perform specific inspection on the suspicious equipment, high efficiency is ensured, repeated inspection on the suspicious equipment is avoided, and waste of inspection resources is avoided.
Further, the intelligent control system has the functions of user management and log management, and can add, modify, delete, bind roles and set user role management authority for user information; the system operation log and the abnormal information can be recorded and inquired, convenient support is provided for system operation and maintenance, and later inquiry is convenient. The image defect detection is to use an identification algorithm to identify the type, the appearance, the number of the table, the working state of the equipment and the like of the substation equipment, and perform early warning treatment on the substation equipment with abnormal work.
The invention also includes other components that enable normal use thereof, all as is conventional in the art, and in addition, the devices or components not defined in the invention are all well known in the art.
The beneficial effects of the invention are as follows:
the intelligent inspection and early warning system for the substation equipment provided by the invention realizes real-time transmission of inspection data based on the 5G technology, and avoids the problems of image transmission delay and frame loss; the intelligent inspection robot has the functions of memory tracking, autonomous obstacle avoidance and image acquisition, and realizes timing automatic inspection and monitoring alarm; the transformer substation staff is assisted to easily complete daily monitoring, operation and maintenance of equipment, the work burden of the transformer substation staff is greatly reduced, and powerful guarantee is provided for stable operation of a power grid.
Drawings
Fig. 1 is a schematic structural diagram of an inspection robot in an embodiment.
Fig. 2 is a schematic structural diagram of the wake-up device in fig. 1.
Fig. 3 is a schematic diagram of a positioning principle of a key position in an embodiment.
Fig. 4 is a workflow diagram of an intelligent inspection and early warning system for substation equipment in an embodiment.
Fig. 5 is a topology structure diagram of an intelligent inspection and early warning system for substation equipment in an embodiment.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments.
It should be noted that, the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "inner", "outer", etc. are shown based on the drawings, and are merely for convenience of description.
Examples
As shown in fig. 1, the intelligent inspection and early warning system for substation equipment comprises an inspection robot and an intelligent control system, wherein the inspection robot comprises a walking chassis 14 for driving the inspection robot to move according to a preset line and a wake-up device for waking up a screen of inspected equipment in a touch manner, a walking wheel 17 is arranged below the walking chassis, the walking wheel is in transmission connection with a walking motor 18, a supporting upright post 15 is vertically arranged above the walking chassis, a liftable mechanical arm 19 is horizontally arranged on the supporting upright post, a lifting motor 16 for driving the mechanical arm to lift is arranged on the side of the mechanical arm, and the wake-up device is arranged on the mechanical arm;
as shown in fig. 2, the wake-up device comprises a mounting bottom plate 1 and a manipulator assembly, wherein the mounting bottom plate is vertically connected to a mechanical arm, an X-axis track 10 and a Y-axis track 4 are arranged on the mounting bottom plate, a longitudinal guide rod 9 capable of sliding left and right is connected to the X-axis track, a transverse guide rod 3 capable of sliding up and down is connected to the Y-axis track, a longitudinal screw rod 8 and a transverse screw rod are correspondingly arranged on the longitudinal guide rod and the transverse guide rod, the manipulator assembly comprises a gear box 6 arranged at the crossing position of the longitudinal screw rod and the transverse screw rod, the gear box is in transmission connection with the two screw rods, an X-axis motor 5 for driving the gear box to move left and right and a Y-axis motor 13 for driving the gear box to move up and down are arranged on the gear box, a connecting arm is connected to the connecting arm, a key finger 12 is arranged on the linear motor, and a ranging sensor 2 and a positioning camera 11 are also arranged on the front side of the mounting bottom plate; the inspection robot has the functions of autonomous tracking, automatic obstacle avoidance and image recognition.
The intelligent control system comprises a main control module, a power management module, a GPS positioning module and a 5G communication module which are arranged in a walking chassis, and a remote upper computer connected with the 5G communication module, wherein the main control module, the GPS positioning module and the 5G communication module are electrically connected with the power management module, and the walking motor, the lifting motor, the X-axis motor, the Y-axis motor, the linear motor, the ranging sensor and the positioning camera are electrically connected with the main control module; the intelligent control system has the functions of task management, image identification, user management and log management, and can send inspection instructions to the inspection robot at regular time.
As shown in fig. 4-5, the working process of the intelligent inspection and early warning system of the substation equipment is as follows:
s1, training and self-learning a patrol route and key actions by a patrol robot, and storing patrol tasks in a main control module; the ranging sensor, the positioning camera and the GPS positioning module enable the inspection robot to have the functions of autonomous tracking and automatic obstacle avoidance, and the function of automatically marking the date and landmark information of the received image, and can store and backup the image information within a set period, automatically delete the image information outside the set period and send the image information to a remote upper computer in real time through a TCP communication protocol;
s2, manually storing the image information of the normal picture and the abnormal picture of the substation equipment screen into a remote upper computer of the intelligent control system; the remote upper computer has the function of receiving and displaying the monitoring image in real time, and can recognize and judge the received image information and the image information prestored in the remote upper computer;
s3, the inspection robot sequentially walks to the front of the transformer substation equipment according to an inspection route, the distance measuring sensor senses the distance between the inspection robot and the equipment, the equipment screen is touched by a key finger, the equipment screen is awakened from the standby screen locking mode, the equipment working interface is displayed on the screen, at the moment, the screen interface is photographed through the positioning camera, an image or a video is transmitted to the intelligent control system in real time through the 5G communication module, the problems of image transmission delay and frame loss are avoided, the remote upper computer can monitor the setting state, meanwhile, the remote upper computer also carries out recognition operation on the received image signals, and if the received image information is judged to be abnormal, the early warning interface can be automatically popped up and/or an audible alarm can be sent.
The remote upper computer is connected with the 5G communication module in a communication way through the signal converter, and is connected with the 5G network through the Internet.
The walking motor, the lifting motor, the X-axis motor and the Y-axis motor are stepping motors, stepping drivers are correspondingly arranged in the walking chassis respectively, and each stepping driver is electrically connected with the main control module.
The distance measuring sensor is an ultrasonic distance measuring sensor, the mounting bottom plate is a rectangular frame, three ultrasonic distance measuring sensors are arranged on the mounting bottom plate, and the three ultrasonic distance measuring sensors and the positioning camera are respectively located at four corners of the rectangular frame.
The upper side and the lower side of the mounting bottom plate are respectively provided with an X-axis track, the left side and the right side are respectively provided with a Y-axis track, the X-axis track and the Y-axis track are both linear guide rails, and two ends of the longitudinal guide rod and the transverse guide rod are respectively connected with the two X-axis tracks and the two Y-axis tracks in a sliding way through sliding blocks.
The X-axis motor and the Y-axis motor are connected with a driving gear, the driving gear and the driving gear are both positioned in the gear box, the driving gear is in transmission connection with the driving gear, and the longitudinal screw and the transverse screw are respectively and correspondingly fixedly connected on the longitudinal guide rod and the transverse guide rod.
The transmission gear and the driving gear are bevel gears, the transmission gear is meshed with the driving gear, and internal threads matched with the longitudinal screw rod and the transverse screw rod are respectively arranged in central holes of the transmission gear and the driving gear.
As shown in fig. 3, the inspection robot captures the key positions on the screen of the substation equipment through the ranging sensor and the positioning camera, and the positioning camera recognizes the keys through the YOLOv3 target detection algorithm and forms three-dimensional coordinate positioning through the key positions and the sensing distance of the ranging sensor. Assuming that the position coordinates of the equipment key B are (x, y), the horizontal distance d from the positioning camera to the substation equipment screen cabinet C can be obtained through a ranging sensor, the horizontal included angle a between the equipment button and the positioning camera is combined with the 45-degree visual angle coordinates (x 45 ,y 45 ) The camera can be positioned as the origin of coordinates (0, 0) with the point (x 45 ,y 45 ) And forming a rectangle for opposite angles, and forming a three-dimensional coordinate system by taking the distance d as a vertical coordinate. At the moment, the key finger on the awakening device can be controlled to accurately position the key coordinates (x, y), and the screen is awakened by pressing the equipment key, so that the equipment running state inspection is completed.
The inspection task comprises a common task and a personalized task, wherein the common task is that the inspection robot inspects according to a preset inspection line and key actions obtained through self-learning, the personalized task is that a user manually adds key equipment of a transformer substation into the inspection task according to needs, and then the key equipment is specially inspected, and the personalized task supports functions of adding, editing and deleting. The individualized task enables a user to add more suspicious substation equipment into the task according to actual needs, so that a robot of the substation can perform specific inspection on the suspicious equipment, high efficiency is ensured, repeated inspection on the suspicious equipment is avoided, and waste of inspection resources is avoided.
The intelligent control system has the functions of user management and log management, and can perform operations such as adding, modifying, deleting, role binding, user role management authority setting and the like on user information; the system operation log and the abnormal information can be recorded and inquired, convenient support is provided for system operation and maintenance, and later inquiry is convenient. The image defect detection is to use an identification algorithm to identify the type, the appearance, the number of the table, the working state of the equipment and the like of the substation equipment, and perform early warning treatment on the substation equipment with abnormal work.
The inspection robot works in the following way:
the robot state is divided into a dormant state and an operating state, when the robot is in the dormant state, a handshake signal is sent to the upper computer at intervals of ten minutes, state information such as the electric quantity and the position of the robot body is uploaded, and if a task is not issued, the upper computer sends a communication connection success signal and does not issue any instruction. After the upper computer issues the inspection task, the robot enters an operation state, and the upper computer sends a handshake signal every three seconds to ensure communication connection. After the communication connection is interrupted, the robot terminates the task and enters a dormant state, so that the safety of the equipment is ensured.
The robot working mode can be divided into an automatic inspection mode and a remote control inspection mode, and before the robot performs the automatic mode inspection operation on the transformer substation, the robot needs to be controlled manually to inspect one side of the route, and information such as inspection route information, a positioning camera angle when photographing is needed and the like is recorded.
After receiving a task instruction issued by the upper computer, the robot body can start an automatic working mode, namely, patrol is performed according to a preset route, and the controller reads the longitude and latitude through the GPS, compares the longitude and latitude with the longitude and latitude of the preset route, calculates an offset value and corrects the route. After the position information to be acquired is reached, the robot controls the positioning camera to acquire pictures of the equipment according to a preset angle. The collected image data will mark the information such as date and landmark, and record the data in three days in the SD card for backup. The detection image is also sent to the upper computer in real time through the TCP communication protocol.
When a user is in a transformer substation, the user formulates a patrol task according to the actual condition of the transformer substation at an intelligent control system of a computer end, and then sends a patrol task instruction to the intelligent patrol robot through a 5G network, and when the intelligent patrol robot receives the patrol task instruction, the intelligent patrol robot starts automatic patrol. In the inspection process, the inspection robot can take pictures and video of the substation equipment and transmit inspection data back to the computer end in real time, and an intelligent control system of the computer end recognizes and detects the states of the pictures and the video. And save the status detection results and the images in a database. Abnormal state detection results can cause abnormal alarms, and when an intelligent control system at the computer end detects abnormal alarms, an alarm interface can be popped up at the computer end until a user knows to take measures.
When the user is not in the transformer substation, the intelligent control system at the computer end can send the formulated inspection task to the intelligent inspection robot at regular time through the 5G network, and when the intelligent inspection robot receives the inspection task instruction, the intelligent inspection robot starts automatic inspection. In the inspection process, the inspection robot can take pictures and video of the substation equipment, transfer inspection data to a computer end in real time, and an intelligent control system of the computer end recognizes and detects the states of the pictures and the video and stores the state detection results and the images in a database. Abnormal state detection results can lead to abnormal alarms, and when an intelligent control system at the computer end detects abnormal alarms, alarm information is sent to the mobile phone end of the user until the user knows to take measures.
The technical solution of the present invention is not limited to the above-described specific embodiments, and many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments, and any technical modifications made within the spirit and principles of the present invention fall within the scope of the present invention.

Claims (10)

1. The utility model provides a substation equipment intelligence inspection and early warning system, includes inspection robot and intelligent control system, its characterized in that: the inspection robot comprises a walking chassis used for driving the inspection robot to move according to a preset line and a wake-up device used for touching and waking up a screen of inspected equipment, a walking wheel is arranged below the walking chassis, a walking motor is connected with the walking wheel in a transmission manner, a supporting column is vertically arranged above the walking chassis, a lifting mechanical arm is horizontally arranged on the supporting column, a lifting motor used for driving the mechanical arm to lift is arranged on the side of the mechanical arm, and the wake-up device is arranged on the mechanical arm;
the wake-up device comprises a mounting bottom plate and a manipulator assembly, wherein the mounting bottom plate is vertically connected to the manipulator, an X-axis track and a Y-axis track are arranged on the mounting bottom plate, a longitudinal guide rod capable of sliding left and right is connected to the X-axis track, a transverse guide rod capable of sliding up and down is connected to the Y-axis track, a longitudinal screw rod and a transverse screw rod are correspondingly arranged on the longitudinal guide rod and the transverse guide rod, the manipulator assembly comprises a gear box arranged at the crossing position of the longitudinal screw rod and the transverse screw rod, the gear box is in transmission connection with the two screw rods, an X-axis motor for driving the gear box to move left and right and a Y-axis motor for driving the gear box to move up and down are arranged on the gear box, a connecting arm is connected to the front of the gear box, a key finger is arranged on the linear motor, and a distance measuring sensor and a positioning camera are also arranged on the front side of the mounting bottom plate;
the intelligent control system comprises a main control module, a power management module, a GPS positioning module and a 5G communication module which are arranged in a walking chassis, and a remote upper computer connected with the 5G communication module, wherein the main control module, the GPS positioning module and the 5G communication module are electrically connected with the power management module, and the walking motor, the lifting motor, the X-axis motor, the Y-axis motor, the linear motor, the ranging sensor and the positioning camera are electrically connected with the main control module;
the working process of the intelligent inspection and early warning system of the substation equipment is as follows:
s1, training and self-learning a patrol route and key actions by a patrol robot, and storing patrol tasks in a main control module; the ranging sensor, the positioning camera and the GPS positioning module enable the inspection robot to have the functions of autonomous tracking and automatic obstacle avoidance, and the function of automatically marking the date and landmark information of the received image, and can store and backup the image information within a set period, automatically delete the image information outside the set period and send the image information to a remote upper computer in real time through a TCP communication protocol;
s2, manually storing the image information of the normal picture and the abnormal picture of the substation equipment screen into a remote upper computer of the intelligent control system; the remote upper computer has the function of receiving and displaying the monitoring image in real time, and can recognize and judge the received image information and the image information prestored in the remote upper computer;
s3, the inspection robot sequentially walks to the front of the transformer substation equipment according to an inspection route, the distance measuring sensor senses the distance between the inspection robot and the equipment, the equipment screen is touched by a key finger, the equipment screen is awakened from a standby lock screen, the equipment working interface is displayed on the screen, at the moment, the screen interface is photographed by a positioning camera, an image or a video is transmitted to an intelligent control system in real time through a 5G communication module, the problems of image transmission delay and frame loss are avoided, the remote upper computer can monitor the state of the equipment, meanwhile, the remote upper computer also carries out recognition operation on a received image signal, and if the received image information is judged to be abnormal, the early warning interface can be automatically popped up and/or an audible alarm can be sent.
2. The intelligent inspection and early warning system for substation equipment according to claim 1, wherein: and the remote upper computer is connected with the 5G network through the Internet.
3. The intelligent inspection and early warning system for substation equipment according to claim 1, wherein: the walking motor, the lifting motor, the X-axis motor and the Y-axis motor are stepping motors, stepping drivers are correspondingly arranged in the walking chassis respectively, and each stepping driver is electrically connected with the main control module.
4. The intelligent inspection and early warning system for substation equipment according to claim 1, wherein: the distance measuring sensor is an ultrasonic distance measuring sensor, the mounting bottom plate is a rectangular frame, three ultrasonic distance measuring sensors are arranged on the mounting bottom plate, and the three ultrasonic distance measuring sensors and the positioning camera are respectively located at four corners of the rectangular frame.
5. The intelligent inspection and early warning system for substation equipment according to claim 4, wherein: the upper side and the lower side of the mounting bottom plate are respectively provided with an X-axis track, the left side and the right side are respectively provided with a Y-axis track, the X-axis track and the Y-axis track are both linear guide rails, and two ends of the longitudinal guide rod and the transverse guide rod are respectively connected with the two X-axis tracks and the two Y-axis tracks in a sliding way through sliding blocks.
6. The intelligent inspection and early warning system for substation equipment according to claim 1, wherein: the X-axis motor and the Y-axis motor are connected with a driving gear, the driving gear and the driving gear are both positioned in the gear box, the driving gear is in transmission connection with the driving gear, and the longitudinal screw and the transverse screw are respectively and correspondingly fixedly connected on the longitudinal guide rod and the transverse guide rod.
7. The intelligent inspection and early warning system for substation equipment according to claim 6, wherein: the transmission gear and the driving gear are bevel gears, the transmission gear is meshed with the driving gear, and internal threads matched with the longitudinal screw rod and the transverse screw rod are respectively arranged in central holes of the transmission gear and the driving gear.
8. The intelligent inspection and early warning system for substation equipment according to claim 4, wherein: the inspection robot captures the key positions on the screen of the substation equipment through a ranging sensor and a positioning camera, the positioning camera recognizes the keys through a YOLOv3 target detection algorithm, and three-dimensional coordinate positioning is formed through the key positions and the sensing distance of the ranging sensor.
9. The intelligent inspection and early warning system for substation equipment according to claim 1, wherein: the inspection task comprises a common task and an individuation task, wherein the common task is that the inspection robot obtains a preset inspection line and key actions through self-learning, the individuation task is that a user manually adds key equipment of a transformer substation into the inspection task according to needs, the key equipment is further subjected to key inspection, and the individuation task supports the functions of adding, editing and deleting.
10. The intelligent inspection and early warning system for substation equipment according to claim 1, wherein: the intelligent control system has the functions of user management and log management, and can add, modify, delete, bind roles and set user role management authority for user information; the system operation log and the anomaly information can be recorded and queried.
CN202310180748.3A 2023-02-28 2023-02-28 Intelligent inspection and early warning system for substation equipment Pending CN116404746A (en)

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CN202310180748.3A CN116404746A (en) 2023-02-28 2023-02-28 Intelligent inspection and early warning system for substation equipment

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Application Number Priority Date Filing Date Title
CN202310180748.3A CN116404746A (en) 2023-02-28 2023-02-28 Intelligent inspection and early warning system for substation equipment

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118042089A (en) * 2024-04-12 2024-05-14 福建省二建建设集团有限公司 Automatic inspection system for safety quality of construction site engineering and application method thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118042089A (en) * 2024-04-12 2024-05-14 福建省二建建设集团有限公司 Automatic inspection system for safety quality of construction site engineering and application method thereof
CN118042089B (en) * 2024-04-12 2024-06-07 福建省二建建设集团有限公司 Automatic inspection system for safety quality of construction site engineering and application method thereof

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