CN116418111A

CN116418111A - Substation primary equipment inspection system, method, terminal and storage medium

Info

Publication number: CN116418111A
Application number: CN202310033792.1A
Authority: CN
Inventors: 白锐; 顾杨青; 何平; 赵灿; 兴胜利; 周游; 蔡玥
Original assignee: Suzhou Power Supply Co of State Grid Jiangsu Electric Power Co Ltd
Current assignee: Suzhou Power Supply Co of State Grid Jiangsu Electric Power Co Ltd
Priority date: 2023-01-10
Filing date: 2023-01-10
Publication date: 2023-07-11

Abstract

The invention discloses a substation primary equipment inspection system, a method, a terminal and a storage medium, which comprise a track and an inspection robot, wherein the inspection robot comprises a storage box, a travelling mechanism is arranged at the bottom of the storage box, the travelling mechanism enables the storage box to move on the surface of the track, a support frame is symmetrically and fixedly connected to the side wall of the storage box, a movable pipeline is arranged on the surface of the support frame, a ground wire is arranged in an inner cavity of the movable pipeline, a protective shell is fixedly connected to the inner wall of the support frame, a control system is arranged in the protective shell, a leakage current sensor is arranged on the surface of the protective shell, a thermal imaging sensor, a temperature sensor and a camera are arranged on the surface of the support frame, the control system performs centralized processing on information transmitted by the thermal imaging sensor, the temperature sensor, the camera and the leakage current sensor, and the inspection robot shoots and detects the condition outside the substation, and then transmits the information to the control system for centralized processing, so that the field management and control quality and the operation efficiency are improved.

Description

Substation primary equipment inspection system, method, terminal and storage medium

Technical Field

The invention belongs to the technical field of artificial intelligence, and particularly relates to a substation primary equipment inspection system, a substation primary equipment inspection method, a substation primary equipment inspection terminal and a storage medium.

Background

In recent years, artificial intelligence recognition has also undergone transportation development in the chinese market, and the steps of development are also getting faster and faster.

At present, the management and behavior control of the personnel in the operation site of the transformer substation completely depend on manual checking and monitoring, and the high strength depends on the responsibility of the personnel. The hidden danger of field management and control is not in place exists, the video system of the transformer substation cannot automatically identify abnormal conditions, the sudden defect of the transformer substation field cannot be found in time, the application research of the inspection artificial intelligence technology of the transformer substation is urgently needed to be developed, and the field management and control quality and the operation and maintenance efficiency are improved.

The outdoor equipment of the transformer substation mainly comprises primary equipment such as inlet and outlet wires of each group, mainly comprises equipment such as a post insulator, a high-voltage live line, a ground wire lightning conductor and the like, is time-consuming and labor-consuming in daily timing inspection, is unfavorable for manual inspection in a severe environment, and meanwhile, the post insulator is easy to produce pollution and influence insulating performance after being subjected to snow and sand, and needs to discover damaged parts in time and maintain and repair as soon as possible. The application is mainly used for daily maintenance and inspection of various post insulators and large-scale power transformation equipment outside the station inner chamber.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides a substation primary equipment inspection system, a substation primary equipment inspection method, a substation primary equipment inspection terminal and a storage medium, and aims to solve the problems in the prior art.

In order to solve the problems, the invention adopts the following technical scheme:

the artificial intelligent inspection system for the transformer substation comprises a track and an inspection robot, wherein the inspection robot comprises a storage box, a mixture of limestone and saw dust is stored in the storage box, and a travelling mechanism is arranged at the bottom of the storage box; the travelling mechanism comprises two first concave plates which are symmetrically and fixedly connected to the bottom of the storage box, a motor is arranged on the inner wall of one side of each first concave plate, the output end of the motor is fixedly connected with a rotating shaft, and the outer wall of the rotating shaft is coaxially and fixedly connected with a first gear; the side wall of the storage box is symmetrically and fixedly connected with a support frame, and a thermal imaging sensor, a temperature sensor and a camera are arranged on the surface of the support frame; the surface of the supporting frame is provided with a movable pipeline; the inner wall of the supporting frame is fixedly connected with a protective shell, the inner cavity of the movable pipeline is provided with a ground wire, and the surface of the protective shell is provided with a leakage current sensor; the inner wall of the supporting frame is provided with a suction pump, the inlet end of the suction pump is communicated with the storage box through an input pipe, and the outlet end of the suction pump is connected with the spray head through an output pipe.

Preferably, the two sides of the upper surface of the storage box are symmetrically provided with first clamping grooves, the first clamping grooves are provided with second mounting grooves, and threads are arranged in the second mounting grooves; the storage box also comprises a separation plate;

preferably, a second sliding groove is formed in the inner wall of the bottom of the storage box, and a second sliding block is connected in the second sliding groove in a sliding manner; the second sliding block is fixedly connected with the bottom of the partition plate; the middle parts of the inner walls of the two sides of the storage box are provided with second grooves, and second racks are fixedly connected in the second grooves.

Preferably, both sides of the partition plate are provided with third grooves, a second rotating rod is rotatably connected in the third grooves, the outer wall of the second rotating rod is coaxially and fixedly connected with a second gear, and the second gear is meshed with a corresponding second rack.

Preferably, the storage bin further comprises a cover plate;

the bottom of the cover plate is symmetrically and fixedly connected with a first clamping block, and a first mounting groove is formed in the surface of the first clamping block; the cover plate covers the upper part of the storage box, and the first clamping block is embedded with the first clamping groove.

Preferably, the top inner wall symmetry fixedly connected with first backup pad of first concave plate, first gear are located between two adjacent first backup pads, and the pivot runs through first backup pad, and the pivot is connected with first backup pad rotation.

Preferably, the upper surface of the rail is provided with a first groove, and a first rack is arranged in the first groove; the two sides of the track are provided with first sliding grooves, and the first racks are meshed with the first gears.

Preferably, the inner walls of the two sides of the first concave plate are symmetrically and rotationally connected with a first rotating rod, one end of the first rotating rod, which is close to the track, is fixedly connected with a rotating wheel, and the rotating wheel is in sliding connection with the first sliding groove.

Preferably, the control system controls the inspection robot to walk along the track or the ground wire or walk and inspect along the double track formed by the track and the ground wire at the same time, and starts the suction pump according to the state information of the primary equipment of the transformer substation.

Preferably, the primary equipment state information of the transformer substation comprises a thermal imaging image acquired by a thermal imaging sensor, primary equipment surface temperature acquired by a temperature sensor, primary equipment images acquired by a camera, surface current of a connection part of a post insulator and a power line acquired by a leakage current sensor and surface current of a line fitting.

Preferably, the control system comprises a remote monitoring layer and a base station layer, the base station layer comprises an instruction information input module, an instruction information receiving module, a singlechip control module and a core control module, the instruction information input module and the instruction information receiving module are electrically connected with the singlechip control module, and signals are transmitted between the instruction information input module and the instruction information receiving module in a radio frequency wireless mode; the control system performs centralized processing on information sensed by the thermal imaging sensor, the temperature sensor, the camera and the leakage current sensor.

Preferably, the remote monitoring layer comprises a computer and a server, the remote monitoring layer remotely commands, controls and monitors a plurality of inspection robots across regions, and the thermal imaging sensor transmits video and image information to the server in real time for control and analysis processing by the core control module.

A substation artificial intelligence inspection method based on a substation artificial intelligence inspection system comprises the following steps:

step 1, storing a mixture containing limestone and sawdust in a storage box, and covering a cover plate;

step 2, starting a motor to drive a rotating shaft to rotate, wherein the rotating shaft rotates to drive a first gear to rotate, and the inspection robot performs inspection along the track of the track;

step 3, collecting the surface current of the connection part of the post insulator and the power line and the line hardware; acquiring a primary equipment thermal imaging image, primary equipment surface temperature and primary equipment thermal imaging, judging whether line breakage occurs or not, and executing step 4 if yes;

step 4, starting a suction pump to spray the mixture in the storage box on the pollution part of the primary equipment;

and 5, collecting the thermal imaging image of the equipment once again and judging whether the damage repair is finished or not. Compared with the prior art, the invention has the advantages that:

(1) Through the design to running gear, the convenience makes the robot of patrolling and examining along orbital orbit patrols and examines, through the design to the storage case, the convenience is at the mixture of storage case internal storage limestone and sawdust, thereby in the robot of patrolling and examining the in-process, the workman takes out the mixture of limestone and sawdust from the storage case and spills it at the pollution position of insulator, through the design to thermal imaging sensor, temperature sensor, the camera, reveal the electric current sensor, the convenience is patrolled and examined the robot and can shoot the condition on every side in the in-process that moves on the orbit, then carry out concentrated processing with information transmission to control system, wait to collect the information and appear unusual phenomenon, start the suction pump and spray the mixture of limestone and sawdust in the storage case at the pollution position of insulator from the shower nozzle at last, need not the workman to handle, this system can handle the pollution position of insulator automatically, the manual work is relied on completely through machinery replacement and is checked and guarded, the scene sudden defect is convenient to discover in time, improve scene management and control quality and transformer substation maintenance efficiency.

(2) Through the design to first concave plate, easy to assemble motor, through the design to first recess, easy to assemble first rack, the rotation of starting motor drive pivot rotates, the rotation of pivot drives first gear and rotates, through the design to first rack, the robot is patrolled and examined along orbital orbit conveniently, through the design to first backup pad, make things convenient for first backup pad to play the supporting role to the pivot, through the design to first rotating lever, make things convenient for first rotating lever to play the supporting role to the runner, simultaneously, conveniently link up runner and first concave plate, through the design to first spout, the runner, the stability of robot in the walking in-process has been patrolled and examined to the improvement.

(3) Through the design to first fixture block, first draw-in groove, make things convenient for the installation and dismantlement between apron and the storage case, through the design to first mounting groove, the second mounting groove, it is convenient when the installation apron, with first fixture block joint in first draw-in groove, this moment second mounting groove aligns with corresponding first mounting groove, screw into first mounting groove with the threaded rod, in the second mounting groove, thereby the position of fixed apron, the steadiness of installation between apron and the storage case has been improved, through the design to dividing the baffle, conveniently carry out the subregion when placing different instruments in the storage case, through the design to second spout, the second slider, conveniently adjust the distance between each division board as required, through the design to second gear, the second rack, the convenience reduces when adjusting the position of division board, the phenomenon of skidding appears.

Drawings

FIG. 1 is a schematic diagram of a control system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an inspection robot in an embodiment of the present invention;

FIG. 3 is a schematic view of a part of a walking mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a cover plate according to an embodiment of the invention;

FIG. 5 is a schematic view of a storage tank according to an embodiment of the present invention;

FIG. 6 is a schematic view of a partition plate according to an embodiment of the present invention;

fig. 7 is a schematic diagram of a moving pipeline according to an embodiment of the present invention.

The reference numerals in the figures illustrate:

1. a storage bin; 2. a cover plate; 3. a protective shell; 4. a thermal imaging sensor; 5. a temperature sensor; 6. a leakage current sensor; 7. a camera; 8. a track; 9. a first groove; 10. a first rack; 11. a first concave plate; 12. a motor; 13. a first support plate; 14. a rotating shaft; 15. a first gear; 16. a first rotating lever; 17. a rotating wheel; 18. a first chute; 19. a first clamping block; 20. a first clamping groove; 21. a first mounting groove; 22. a second mounting groove; 23. a threaded rod; 24. a second chute; 25. a second slider; 26. a partition plate; 27. a second groove; 28. a second rack; 29. a second gear; 30. a third groove; 31. a second rotating rod; 32. a remote monitoring layer; 321. a computer; 322. a server; 33. a base station layer; 331. a command information input module; 332. an instruction information receiving module; 333. the singlechip control module; 334. a core control module; 34. a support frame; 35. moving the pipeline; 36. a ground wire; 37. a spray head; 38. an input tube; 39. a suction pump; 40. and outputting the pipe.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described herein are merely some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art without making any inventive effort, are within the scope of the present invention.

Examples:

referring to fig. 1-2, an artificial intelligent inspection system for a transformer substation comprises a rail 8 and an inspection robot, wherein the rail 8 is a sliding rail extending structure which is suspended above power equipment outside the transformer substation, in practical application, the rail 8 can be additionally paved by being arranged on an existing in-station support structure or arranged outside the support structure so as to facilitate inspection of all the power equipment, the inspection robot comprises a storage box 1, through the design of the storage box 1, a mixture of limestone and sawdust is conveniently stored in the storage box 1, tools can be stored in the storage box in a partitioned manner, and the mixture of the tools and the limestone and the sawdust can be separated in different areas by a partition plate so as to facilitate inspection, in the inspection process of the inspection robot, a travelling mechanism is arranged at the bottom of the storage box 1, and the travelling mechanism enables the storage box 1 to move on the surface of the rail 8, through the design of the travelling mechanism, the inspection robot can conveniently inspect along the track of the track 8, the cover plate 2 is arranged on the surface of the storage box 1, the supporting frame 34 is symmetrically and fixedly connected with the side wall of the storage box 1, the movable pipeline 35 is arranged on the surface of the supporting frame 34, the ground wire 36 is arranged in the inner cavity of the movable pipeline 35, the pulley block is arranged in the movable pipeline 35 so as to facilitate the sliding travelling of the ground wire, the inspection robot can conveniently move along the track laid by the ground wire 36 through the design of the movable pipeline 35 and the ground wire 36, because the structure in the transformer substation is complex, the inspection can be performed on the ground wire, namely the area below the ground wire in the way, in the process, the movable pipeline 35 moves along the outer wall of the ground wire 36, the inner wall of the supporting frame 34 is fixedly connected with the protective shell 3, the control system is arranged in the protective shell 3, the surface of the protective shell 3 is provided with a leakage current sensor 6, the surface of the supporting frame 34 is provided with a thermal imaging sensor 4, a temperature sensor 5 and a camera 7, the camera 7 is a camera 7 capable of changing the direction of the camera, and the thermal imaging sensor 4 is used for collecting the surface radiation intensity of primary equipment and generating a thermal imaging image; the temperature sensor 5 is used for collecting the surface temperature of primary equipment; the camera 7 is used for acquiring primary equipment images; the leakage current sensor 6 is used for collecting the surface current of the connection part of the post insulator and the power line and the line hardware fitting;

the control system carries out centralized processing on information transmitted by the thermal imaging sensor 4, the temperature sensor 5, the camera 7 and the leakage current sensor 6, through the design of the thermal imaging sensor 4 and the temperature sensor 5, the surrounding situation can be shot and detected conveniently in the process that the inspection robot moves on the track 8, the leakage current sensor 6 can identify the damage problem of the connection part of the post insulator and the electric power line or other line fittings, the thermal radiation phenomenon caused by electric leakage or damage is monitored by the thermal imaging sensor 4, the situation of electric leakage or damage can be confirmed, qualitative judgment can be carried out on the degree of electric leakage or damage, the follow-up repair and perfection are facilitated, the leakage current sensor 6 is mainly used for sensitively finding the damage point in early inspection, maintenance is carried out, the thermal imaging sensor 4 can realize insulation effect inspection after spraying repair, the insulation effect after repair is observed intuitively through the thermal imaging image, and fault diagnosis and repair effects can be realized effectively through two front and back detection modes. The invention can independently walk along the track 8 or the ground wire 36, and can walk and patrol along the double tracks formed by the track 8 and the ground wire 36 at the same time, so as to achieve the full-coverage patrol of the outdoor equipment in the station.

Referring to fig. 1, the control system includes a remote monitoring layer 32 and a base station layer 33, the base station layer 33 includes an instruction information input module 331, an instruction information receiving module 332, a single-chip microcomputer control module 333, and a core control module 334, wherein the instruction information input module 331 and the instruction information receiving module 332 are electrically connected with the single-chip microcomputer control module 333, and signals are transmitted between the instruction information input module 331 and the instruction information receiving module 332 in a radio frequency wireless manner.

Referring to fig. 1, the remote monitoring layer 32 includes a computer 321 and a server 322, the remote monitoring layer 32 remotely directs, controls and monitors a plurality of inspection robots across regions, and the thermal imaging sensor 4 transmits video and image information to the server 322 in real time for control and analysis processing by the core control module 334. The control system controls the inspection robot to walk along the track or the ground wire or walk and inspect along the double track formed by the track and the ground wire, and starts the suction pump according to the state information of the primary equipment of the transformer substation.

Referring to fig. 2-3, the travelling mechanism comprises a first concave plate 11 fixedly connected to the bottom of the storage tank 1, two first support plates 13 are symmetrically and fixedly connected to the inner wall of the top of the first concave plate 11, a motor 12 is mounted on the inner wall of one side of the first concave plate 11, a rotating shaft 14 is fixedly connected to the output end of the motor 12, a first gear 15 is coaxially and fixedly connected to the outer wall of the rotating shaft 14, the first gear 15 is located between two adjacent first support plates 13, the rotating shaft 14 penetrates through the two first support plates 13, the rotating shaft 14 is rotatably connected with the first support plates 13, and the first support plates 13 play a supporting role on the rotating shaft 14.

The upper surface of track 8 is opened there is first recess 9, installs first rack 10 in the first recess 9, and first rack 10 and first gear 15 intermesh, motor 12 drive pivot 14 rotate, and the rotation of pivot 14 drives first gear 15 rotation and moves on first rack 10, makes things convenient for the robot of patrolling and examining to patrol and examine along the orbit of track 8.

Referring to fig. 2-3, the inner walls of two sides of the first concave plate 11 are symmetrically and rotatably connected with a first rotating rod 16, one end of the first rotating rod 16, which is close to the track 8, is fixedly connected with a rotating wheel 17, two sides of the track 8 are respectively provided with a first sliding groove 18, the rotating wheel 17 is slidably connected with the first sliding grooves 18, the first rotating rod 16 is used for supporting the rotating wheel 17 and connecting the rotating wheel 17 with the first concave plate 11, and the first sliding grooves 18 and the rotating wheel 17 are used for improving the stability of the inspection robot in the walking process.

Referring to fig. 4-5, a first clamping block 19 is symmetrically and fixedly connected to the bottom of the cover plate 2, a first clamping groove 20 is symmetrically formed in the surface of the storage box 1, the first clamping groove 20 is matched with the corresponding first clamping block 19, the first clamping block 19 and the first clamping groove 20 are designed, so that the cover plate 2 and the storage box 1 can be conveniently installed and dismounted, a first mounting groove 21 is formed in the surface of the first clamping block 19, a second mounting groove 22 is formed in the side, close to the storage box 1, of the first clamping groove 20 in a penetrating mode, the second mounting groove 22 is matched with the corresponding first mounting groove 21, threads are formed in the second mounting groove 22, a threaded rod 23 can be connected with the corresponding first mounting groove 21 through threads, the first clamping block 19 is clamped in the first clamping groove 20, and the threaded rod 23 is screwed into the first mounting groove 21 and the second mounting groove 22 through the alignment of the corresponding first mounting groove 21, so that the position of the cover plate 2 is fixed, and the stability of installation between the cover plate 2 and the storage box 1 is improved.

Referring to fig. 5-6, the inner wall of the storage box 1 is provided with a second chute 24, a second slide block 25 is slidably connected in the second chute 24, the distance between each partition plate 26 is conveniently adjusted according to the needs through the design of the second chute 24 and the second slide block 25, the partition plates 26 are fixedly connected to the surfaces of the second slide block 25, the partition plates 26 are slidably connected in the inner cavity of the storage box 1, and the sizes of each partition in the inner cavity of the storage box 1 are conveniently adjusted according to the needs through the design of the partition plates 26.

The storage box 1 is symmetrically opened in the middle part of the inner walls of both sides that contact with both sides of the partition plate 26 and is provided with a second groove 27, a second rack 28 is fixedly connected in the second groove 27, both sides of the partition plate 26 are provided with a third groove 30, a second rotating rod 31 is rotationally connected in the third groove 30, the outer wall of the second rotating rod 31 is coaxially and fixedly connected with a second gear 29, the second gear 29 is meshed with the corresponding second rack 28, and the slipping phenomenon is reduced when the position of the partition plate 26 is adjusted through the design of the second gear 29 and the second rack 28.

Referring to fig. 7, a suction pump 39 is mounted on the inner wall of the supporting frame 34, an inlet end of the suction pump 39 is communicated with the storage box 1 through an input pipe 38, an outlet end of the suction pump 39 is connected with a spray head 37 through an output pipe 40, when an abnormal condition occurs in the inspection process of the inspection robot, the suction pump 39 is started to spray a mixture of limestone and sawdust in the storage box 1 on a pollution part of an insulator from the spray head 37 automatically and sequentially through the input pipe 38 and the output pipe 40, and the pollution part of the post insulator can be automatically treated by the system without worker treatment, so that the working efficiency is improved.

The working principle of the embodiment is as follows:

the motor 12 is started to drive the rotating shaft 14 to rotate, the rotating shaft 14 drives the first gear 15 to rotate, the inspection robot can conveniently inspect along the track of the track 8 through the design of the first rack 10, the mixture of limestone and sawdust is conveniently stored in the storage box 1 through the design of the storage box 1, so that the mixture of limestone and sawdust can be taken out from the storage box 1 and sprayed on the pollution part of the insulator in the inspection process of the inspection robot, the surrounding situation can be shot and detected conveniently in the process of moving on the track 8 through the design of the thermal imaging sensor 4, the temperature sensor 5, the camera 7 and the leakage current sensor 6, then information is transmitted to the control system to be intensively processed, and the abnormal phenomenon of the information is to be collected, starting the suction pump 39 to automatically spray the mixture of the limestone and the sawdust in the storage box 1 on the pollution part of the insulator sequentially through the input pipe 38 and the output pipe 40 and finally from the spray head 37 without processing by workers, the system can automatically process the pollution part of the insulator, the working efficiency is improved, the traditional manual check and monitoring are completely relied on by machinery, the field sudden defects of a transformer substation can be conveniently and timely found, the field control quality and the operation and maintenance efficiency are improved, the design of the first sliding groove 18 and the rotating wheel 17 improves the stability of the inspection robot in the running process, the first clamping block 19 is clamped in the first clamping groove 20 when the cover plate 2 is installed, the second mounting groove 22 is aligned with the corresponding first mounting groove 21, the threaded rod 23 is screwed into the first mounting groove 21 and the second mounting groove 22, the position of the cover plate 2 is fixed, the installation stability between the cover plate 2 and the storage box 1 is improved, through the design to dividing plate 26, conveniently adjust the size of storage case 1 inner chamber as required, through the design to second spout 24, second slider 25, conveniently adjust the distance between each dividing plate 26 as required, through the design to second gear 29, second rack 28, conveniently when adjusting dividing plate 26's position, the phenomenon of skidding appears in the reduction, also be convenient for the timely adjustment space size of sawdust lime stone mixture stock when less is convenient for the suction pump's of suction size, guarantee the release of mixture.

Based on the primary equipment inspection system of the transformer substation and the working principle thereof, the invention also provides a primary equipment inspection method of the transformer substation, which comprises the following steps:

step 1, storing a mixture containing limestone and sawdust in a storage box 1, and covering a cover plate 2;

step 2, starting a motor 12 to drive a rotating shaft 14 to rotate, wherein the rotation of the rotating shaft 14 drives a first gear 15 to rotate, and the inspection robot inspects along the track of the track 8;

step 3, collecting the surface current of the connection part of the post insulator and the power line and the line hardware; acquiring a primary equipment thermal imaging image, primary equipment surface temperature and primary equipment thermal imaging, judging whether line breakage pollution occurs or not, and executing step 4 if yes;

step 4, starting a suction pump 39 to spray the mixture in the storage box 1 on the damaged pollution part of the primary equipment;

and 5, collecting the thermal imaging image of the equipment once again and judging whether the damage repair is finished or not.

Compared with the prior art, the invention has the beneficial effects that the walking mechanism is designed to facilitate the inspection robot to inspect along the track of the track, the storage box is designed to facilitate the storage of the mixture of the limestone and the sawdust in the storage box, so that in the inspection process of the inspection robot, the mixture of the limestone and the sawdust is taken out of the storage box by workers and sprinkled on the pollution part of the insulator, the surrounding situation can be shot and detected in the process of moving on the track by the aid of the thermal imaging sensor, the temperature sensor, the camera and the leakage current sensor, the information is transmitted to the control system to be intensively processed, the abnormal phenomenon is generated when the information is collected, the suction pump is started to automatically spray the mixture of the limestone and the sawdust in the storage box on the pollution part of the insulator sequentially through the input pipe and the output pipe, the worker is not required to process, the system can automatically process the pollution part of the insulator, the working efficiency is improved, the traditional mechanical replacement is completely relied on manual inspection, the field quality and the burst operation efficiency are improved, and the field operation quality is convenient to be controlled and the field operation efficiency is improved. Through the design to first concave plate, easy to assemble motor, through the design to first recess, easy to assemble first rack, the rotation of starting motor drive pivot rotates, the rotation of pivot drives first gear and rotates, through the design to first rack, the robot is patrolled and examined along orbital orbit conveniently, through the design to first backup pad, make things convenient for first backup pad to play the supporting role to the pivot, through the design to first rotating lever, make things convenient for first rotating lever to play the supporting role to the runner, simultaneously, conveniently link up runner and first concave plate, through the design to first spout, the runner, the stability of robot in the walking in-process has been patrolled and examined to the improvement. Through the design to first fixture block, first draw-in groove, make things convenient for the installation and dismantlement between apron and the storage case, through the design to first mounting groove, the second mounting groove, it is convenient when the installation apron, with first fixture block joint in first draw-in groove, this moment second mounting groove aligns with corresponding first mounting groove, screw into first mounting groove with the threaded rod, in the second mounting groove, thereby the position of fixed apron, the steadiness of installation between apron and the storage case has been improved, through the design to dividing the baffle, conveniently carry out the subregion when placing different instruments in the storage case, through the design to second spout, the second slider, conveniently adjust the distance between each division board as required, through the design to second gear, the second rack, the convenience reduces when adjusting the position of division board, the phenomenon of skidding appears.

The present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.

The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.

Computer program instructions for performing the operations of the present disclosure can be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.

Claims

1. The utility model provides a substation primary equipment inspection system, includes track (8) and inspection robot, its characterized in that:

the inspection robot comprises a storage box (1), wherein a mixture of limestone and sawdust is stored in the storage box (1), and a travelling mechanism is arranged at the bottom of the storage box (1); the walking mechanism comprises two first concave plates (11) which are symmetrically and fixedly connected to the bottom of the storage box (1), a motor (12) is arranged on the inner wall of one side of each first concave plate (11), a rotating shaft (14) is fixedly connected to the output end of each motor (12), and a first gear (15) is coaxially and fixedly connected to the outer wall of each rotating shaft (14); the side wall of the storage box (1) is symmetrically and fixedly connected with a supporting frame (34), and a thermal imaging sensor (4), a temperature sensor (5) and a camera (7) are arranged on the surface of the supporting frame (34); a movable pipeline (35) is arranged on the surface of the supporting frame (34); the inner wall of the supporting frame (34) is fixedly connected with a protective shell (3), the inner cavity of the movable pipeline (35) is provided with a ground wire (36), and the surface of the protective shell (3) is provided with a leakage current sensor (6); a control system is arranged in the protective shell (3), a suction pump (39) is arranged on the inner wall of the supporting frame (34), the inlet end of the suction pump (39) is communicated with the storage box (1) through an input pipe (38), and the outlet end of the suction pump (39) is connected with a spray head (37) through an output pipe (40).

2. A substation primary equipment inspection system according to claim 1, characterized in that:

the two sides of the upper surface of the storage box (1) are symmetrically provided with first clamping grooves (20), the first clamping grooves (20) are provided with second mounting grooves (22), and threads are arranged inside the second mounting grooves (22); the storage box (1) also comprises a separation plate (26);

a second sliding groove (24) is formed in the inner wall of the bottom of the storage box (1), and a second sliding block (25) is connected in a sliding manner in the second sliding groove (24); the second sliding block (25) is fixedly connected with the bottom of the partition plate (26); the middle part of the inner walls of the two sides of the storage box (1) is provided with a second groove (27), and a second rack (28) is fixedly connected in the second groove (27).

3. A substation primary equipment inspection system according to claim 2, characterized in that:

both sides of the partition plate (26) are provided with third grooves (30), the third grooves (30) are rotationally connected with second rotating rods (31), the outer walls of the second rotating rods (31) are coaxially and fixedly connected with second gears (29), and the second gears (29) are meshed with corresponding second racks (28).

4. A substation primary equipment inspection system according to claim 3, characterized in that:

the storage box (1) further comprises a cover plate (2); the bottom of the cover plate (2) is symmetrically and fixedly connected with a first clamping block (19), and a first mounting groove (21) is formed in the surface of the first clamping block (19); the cover plate (2) covers the upper part of the storage box (1), and the first clamping block (19) is embedded with the first clamping groove (20).

5. The substation primary equipment inspection system according to claim 4, wherein:

the top inner wall symmetry fixedly connected with first backup pad (13) of first concave plate (11), first gear (15) are located between two adjacent first backup pads (13), pivot (14) run through first backup pad (13), pivot (14) are connected with first backup pad (13) rotation.

6. A substation primary equipment inspection system according to claim 5, characterized in that:

the upper surface of the rail (8) is provided with a first groove (9), and a first rack (10) is arranged in the first groove (9); the two sides of the track (8) are provided with first sliding grooves (18), and the first racks (10) are meshed with the first gears (15).

7. The substation primary equipment inspection system of claim 6, wherein:

the two side inner walls of the first concave plate (11) are symmetrically and rotatably connected with a first rotating rod (16), one end of the first rotating rod (16) close to the track (8) is fixedly connected with a rotating wheel (17), and the rotating wheel (17) is in sliding connection with the first sliding groove (18).

8. The substation primary equipment inspection system of claim 7, wherein:

the control system controls the inspection robot to walk along the track (8) or the ground wire (36) or walk and inspect along the double tracks formed by the track (8) and the ground wire (36) at the same time, and the suction pump is started according to the state information of the primary equipment of the transformer substation.

9. The substation primary equipment inspection system of claim 8, wherein:

the primary equipment state information of the transformer substation comprises a thermal imaging image acquired by a thermal imaging sensor (4), primary equipment surface temperature acquired by a temperature sensor (5), primary equipment image acquired by a camera (7), surface current of a connection part of a pillar insulator and a power line acquired by a leakage current sensor (6) and surface current of a line fitting.

10. A substation primary equipment inspection system according to claim 9, characterized in that:

the control system comprises a remote monitoring layer (32) and a base station layer (33), wherein the base station layer (33) comprises an instruction information input module (331), an instruction information receiving module (332), a singlechip control module (333) and a core control module (334), the instruction information input module (331) and the instruction information receiving module (332) are electrically connected with the singlechip control module (333), and signals are transmitted between the instruction information input module (331) and the instruction information receiving module (332) in a radio frequency wireless mode; the control system performs centralized processing on information transmitted by the thermal imaging sensor (4), the temperature sensor (5), the camera (7) and the leakage current sensor (6).

11. A substation primary equipment inspection system according to claim 10, characterized in that:

the remote monitoring layer (32) comprises a computer (321) and a server (322), the remote monitoring layer (32) remotely commands, controls and monitors a plurality of inspection robots across regions, and the thermal imaging sensor (4) transmits video and image information to the server (322) in real time for control and analysis processing of the core control module (334).

12. A substation primary equipment inspection method based on a substation primary equipment inspection system according to any one of claims 1-11, characterized by comprising the steps of:

step 1, storing a mixture containing limestone and sawdust in a storage box (1), and covering a cover plate (2);

step 2, starting a motor (12) to drive a rotating shaft (14) to rotate, and enabling the rotating shaft (14) to rotate so as to drive a first gear (15) to rotate, so that the inspection robot performs inspection along the track of the track (8);

step 4, starting a suction pump (39) to spray the mixture in the storage box (1) on the pollution part of the primary equipment;

13. A terminal comprising a processor and a storage medium; the method is characterized in that:

the storage medium is used for storing instructions;

the processor is operative according to the instructions to perform the steps of the method as claimed in claim 12.

14. A computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the method according to claim 12.