CN202443332U - Intelligent routing-inspection robot environmental information measurement and control system of transformer substation - Google Patents
Intelligent routing-inspection robot environmental information measurement and control system of transformer substation Download PDFInfo
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- CN202443332U CN202443332U CN2012200623225U CN201220062322U CN202443332U CN 202443332 U CN202443332 U CN 202443332U CN 2012200623225 U CN2012200623225 U CN 2012200623225U CN 201220062322 U CN201220062322 U CN 201220062322U CN 202443332 U CN202443332 U CN 202443332U
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Abstract
The utility model discloses an intelligent routing-inspection robot environmental information measurement and control system of a transformer substation. The intelligent routing-inspection robot environmental information measurement and control system comprises a routing-inspection robot, a main control device and dispersed measurement and control systems, wherein the main control device communicates with the routing-inspection robot through a first wireless channel, and the dispersed measurement and control systems are distributed on the side of a routing-inspection object on a routing-inspection line of the routing-inspection robot; the routing-inspection robot is provided with a radio frequency identification module and correspondingly the routing-inspection line is provided with an identification card for identifying the dispersed measurement and control systems in advance; and the routing-inspection robot is provided with a first wireless communication module and a second wireless communication module is arranged on each dispersed measurement and control system so that a second wireless channel between the current dispersed measurement and control system and the routing-inspection robot is established to measure, control and upload measurement and control information when the identification card corresponding to the current dispersed measurement and control system is identified. According to the intelligent routing-inspection robot environmental information measurement and control system of the transformer substation, disclosed by the utility model, the measurement and control system is easy to be operated, a control loop is relatively simpler, especially the measurement and control system can meet requirements on complex routing-inspection tasks.
Description
Technical field
The utility model relates to a kind of substation information TT&C system based on crusing robot.
Background technology
Along with the development of technology, and such as the restriction of the occasion of this electromagnetic environment more complicated of transformer station, increasing robot is applied in each system of transformer station.Wherein, utilize the intelligent inspection machine people to accomplish patrolling and examining of converting station electric power equipment and can improve substation inspection work efficiency and quality, and can really play the effect of personnel reduction and enlargement, advance the unattended process of transformer station quickly.
The control of existing crusing robot mainly contains the crusing robot based on the feedforward automatic control, the crusing robot of upper strata machine remote control and based on the automatic control crusing robot of close-loop feedback.First kind of crusing robot is based on preset steering logic, and the control crusing robot is patrolled and examined according to predetermined path, and cost is low, and steering logic is fairly simple, but error is big, is interfered easily and can not obtains accurate data.Second kind of crusing robot needs artificial participation, and may receive complex electromagnetic environments and misoperation, perhaps moves not in placely, even situation out of control can occur.The third has bigger improvement than first kind, but the control system more complicated needs the abundant reference sample of configuration, and the design phase difficulty is bigger.
In addition, to the different objects of patrolling and examining, the complexity of needed observing and controlling environmental system and hardware configuration have bigger difference.For example; Realized that interior environmental monitoring in each production chamber of transformer station (master-control room, continue and protect chamber, telemechanical machine room etc.) and ancillary apparatus equipment operation control; Aforesaid three kinds of crusing robots all have different obstacles in realization, and like the crusing robot of remote control, it often is subject to the operating distance of telechiric device; Can not satisfy patrolling and examining in a big way, obviously and the bigger situation of transformer station incompatible.
Therefore; Present detection and ruuning situation for each production chamber; Basically need still that the staff of transformer station is artificial in each pulpit on time to carry out dependence test and operation; Such as the running status of manual work collection fire-fighting system, the control of the temperature of production chamber, humidity and air-conditioning, electric light etc.Both expend manpower in this case, reduced work efficiency again, can not embody the advantage of intelligent transformer substation construction.
Summary of the invention
Therefore, the purpose of the utility model is, a kind of robot used for intelligent substation patrol environmental information TT&C system is provided, easy operating, and controlling unit is relatively simple, especially can satisfy complicated patrol task.
In order to realize the goal of the invention of this utility model, the technical scheme that is adopted is:
A kind of robot used for intelligent substation patrol environmental information TT&C system, the main control equipment that comprises crusing robot, communicates by letter with this crusing robot through first wireless channel, and be distributed in crusing robot and patrol and examine the dispersion TT&C system of patrolling and examining subject side on the circuit;
Wherein, said crusing robot is provided with radio frequency identification module, is preset with the identification card that is used to identify said dispersion TT&C system on the circuit patrolling and examining accordingly;
And said crusing robot is provided with first wireless communication module; And in disperseing TT&C system, be provided with second wireless communication module; With when the corresponding identification card of current dispersion TT&C system is identified; Set up second wireless channel of current dispersion TT&C system and crusing robot, carry out observing and controlling and upload observing and controlling information.
Can preset as required according to the robot used for intelligent substation patrol environmental information TT&C system of said structure so and patrol and examine route; And at the identification card that expression observing and controlling object is set by the observing and controlling subject side; Then be provided with the recognition of devices module of this identification card of identification on the crusing robot that receives to control as the main control equipment of host computer; Can carry out the stop of robot accurately, and can send instruction through said second wireless channel and carry out observing and controlling and be uploaded to main control equipment to test result.Its operation can be accomplished through logic of propositions automatically, and confirms that through RF identification controlling unit is compact by the position of observing and controlling object.
On the other hand, obvious is that the dispersion TT&C system can be in the dormant state of low-power consumption, can when connecting with crusing robot, be activated, and greatly reduces energy consumption.
Especially the electromagnetic environment of the TT&C system of each dispersion is fairly simple; The discrete areas scope is less, can carry out observing and controlling through the mode of wired connection, has reduced the complicacy of whole TT&C system; The observing and controlling of main control equipment thinks to be dispersed in and disperses in the TT&C system that response speed is also fast; Comparatively speaking, according to the TT&C system of the utility model, can accomplish the TT&C task of more complicated.
Above-mentioned robot used for intelligent substation patrol environmental information TT&C system, the said track of circuit of patrolling and examining for setting.
Above-mentioned robot used for intelligent substation patrol environmental information TT&C system,, said identification card is embedded under the rail portion of corresponding dispersion TT&C system.
Above-mentioned robot used for intelligent substation patrol environmental information TT&C system is loaded with on the said crusing robot:
Wireless bridge is used for setting up said first wireless channel with said main control equipment;
The s operation control module connects said wireless bridge, with mutual with said main control equipment;
Said radio frequency identification module connects said s operation control module, to read the information that said identification card presets; And
Information acquisition module, said s operation control module of bridge joint and said first wireless communication module.
Above-mentioned robot used for intelligent substation patrol environmental information TT&C system, said s operation control module is an industrial computer.
Above-mentioned robot used for intelligent substation patrol environmental information TT&C system, said dispersion TT&C system is arranged on by in the observing and controlling target chamber, and respective chamber/chambers is furnished with the automatically-controlled door of relay control, and its repeat circuit is connected in the control module of disperseing TT&C system.
Above-mentioned robot used for intelligent substation patrol environmental information TT&C system; Said control module constitutes the indoor control module that disperses TT&C system, and this dispersion TT&C system also comprises the environmental information pick-up transducers and predetermined controlled device that is connected in this indoor control module.
Above-mentioned robot used for intelligent substation patrol environmental information TT&C system, said controlled device comprises light fixture and air-conditioning.
Above-mentioned robot used for intelligent substation patrol environmental information TT&C system, said dispersion TT&C system also comprise and are arranged on the sensor that is used to detect the fire-fighting system situation on the said fire-fighting system.
Above-mentioned robot used for intelligent substation patrol environmental information TT&C system, said main control equipment is configured in transformer station's master-control room, contains master hosts and display screen at least, and comprises that the said master hosts of connection is to set up the wireless bridge of said first wireless channel.
Description of drawings
Fig. 1 is the structured flowchart of a preferred application example.
Embodiment
With reference to explanation accompanying drawing 1, the lightning sign is represented radio communication among the figure, respectively three links of establishment of connection radio communication; As the cordless communication network of setting up; Only some underlying device activates when satisfying in the condition of response, when detecting corresponding ID label like RFID in the drawings, activates corresponding dispersion TT&C system; Add corresponding wireless network, crusing robot has played the effect of wireless base station.
So according to configuration mode shown in Figure 1; Corresponding communication network formation comprises that transformer station's master control is the backstage; Perhaps be configured in equipment such as interior industrial computer of master-control room or medium-sized machine, microcomputer,, be arranged in transformer station's master-control room as main control equipment; Be convenient to the ruuning situation of each equipment of comprehensive evaluation, especially be convenient to other opertaing devices couplet controls with transformer station.
Among Fig. 1, transformer station master-control room backstage issues robot and patrols and examines instruction, can know with this, and crusing robot also can be for a plurality of, and is identified, and to satisfy the different demands of patrolling and examining, activates corresponding crusing robot as required and patrols and examines.
Patrol and examine instruction and convey to crusing robot through wireless bridge I and wireless bridge II; Robot begins to carry out patrol task after receiving instruction, and the orbit walking along preset guarantees reliability of operation and improves controllability.As RFID (Radio Frequency Identification; When RF identification) detection module detects the ID label that is embedded on the ground; Label information is passed to industrial computer through serial ports, but show and arrive in the monitoring range, can carry out associative operation said ID label corresponding equipment.
Industrial computer sends the information operating order through serial ports to information acquisition module, sends the information operating order through wireless radio frequency modules after information acquisition module receives orders; After indoor control module receives order through the wireless radio frequency modules II, according to command information open or close chamber in electric equipment, and gather the indoor temperature and humidity value through Temperature Humidity Sensor, gather fire protection warning information through fire-fighting system; After control and information acquisition completion, pass to industrial computer through wireless module, industrial computer is passed to the Control Room backstage through wireless bridge again.
As stated, according to the information TT&C system of the utility model, rely on daemon software, industrial computer software and each module software; Robot can not have under the artificial situation of intervening; Automatically accomplish patrol task, improved the personnel's of transformer station work efficiency, embody the intelligent of robot.
The above-mentioned mode that track is set is to ensure the reliability service of crusing robot, if the configuration of crusing robot is better, can not establish track, and the crusing robot dirigibility that produces according to this is better, but cost is high, and poor controllability.
Wireless channel establish multiple mode; And reason and cost according to operating distance have differentiation again; Obviously, like communicating by letter between transformer station master-control room backstage and the crusing robot, needed operating distance is far away in this programme; And communication quality is relatively good, especially requires to have higher antijamming capability.
And opposite be, like the communication between crusing robot and the particular dispersing TT&C system, distance is then closer, if adopt as with transformer station's the same communication apparatus in master-control room backstage, the certainty cost is higher, under the condition that especially is widely applied.Therefore, this type of communication apparatus preferably adopts operating distance near, antijamming capability a little less than, but on corresponding operating distance, can satisfy the communication apparatus of communication quality preferably, wireless radio frequency modules I shown in accompanying drawing 1 and wireless radio frequency modules II.Certainly, this programme is not got rid of and is adopted identical communication facilities, dispose fairly simplely, but that cost is understood relatively is higher, less economical.
Information acquisition module is a kind of interface circuit; The data-switching and the encapsulation of relevant Information Monitoring have been accomplished if disperse TT&C system in fact; Design only limits to the carrying of data to the structural circuit of this information acquisition module, need not deal with to data, like network interface card.
And, belong to industrial computer for industrial computer, and more definite saying belongs to special purpose computer, and OO Application and Development, integral body are simple relatively, good reliability.But do not get rid of the use of other s operation control modules,, can make special chip in the single-chip microcomputer yet, constitute embedded system like single-chip microcomputer.Simultaneously also can adopt PLC, cost is higher, but better reliability.In view of the above, those skilled in the art can select according to the needs of oneself.
As previously mentioned, it is indoor to disperse TT&C system to be set at, so, and especially; In substation, it is indoor preferably that possible some equipment is set at shield effectiveness, therefore; This chamber preferably can be provided with automatically-controlled door, and simultaneously, the polling path of also not getting rid of crusing robot extends to indoor.Can satisfy the needs of patrolling and examining automatically like this.
The environmental parameter that influences the power equipment operation mainly is a humiture, and therefore, relevant Information Monitoring should comprise the humiture data at least, adopts Temperature Humidity Sensor or transmitter can satisfy this demand.Simultaneously, note the monitoring of fire fighting equipment.
In addition, relate to the matching problem of some equipment under test when observing and controlling, should be configured according to the equipment under test situation of disperseing TT&C system, in view of the above, those skilled in the art is easy to be provided with.
Claims (10)
1. robot used for intelligent substation patrol environmental information TT&C system; It is characterized in that; The main control equipment that comprises crusing robot, communicates by letter with this crusing robot through first wireless channel, and be distributed in crusing robot and patrol and examine the dispersion TT&C system of patrolling and examining subject side on the circuit;
Wherein, said crusing robot is provided with radio frequency identification module, is preset with the identification card that is used to identify said dispersion TT&C system on the circuit patrolling and examining accordingly;
And said crusing robot is provided with first wireless communication module; And in disperseing TT&C system, be provided with second wireless communication module; With when the corresponding identification card of current dispersion TT&C system is identified; Set up second wireless channel of current dispersion TT&C system and crusing robot, carry out observing and controlling and upload observing and controlling information.
2. robot used for intelligent substation patrol environmental information TT&C system according to claim 1 is characterized in that, the said track of circuit for setting of patrolling and examining.
3. robot used for intelligent substation patrol environmental information TT&C system according to claim 2 is characterized in that, said identification card is embedded under the rail portion of corresponding dispersion TT&C system.
4. according to the arbitrary described robot used for intelligent substation patrol environmental information TT&C system of claim 1 to 3, it is characterized in that, be loaded with on the said crusing robot:
Wireless bridge is used for setting up said first wireless channel with said main control equipment;
The s operation control module connects said wireless bridge, with mutual with said main control equipment;
Said radio frequency identification module connects said s operation control module, to read the information that said identification card presets; And
Information acquisition module, said s operation control module of bridge joint and said first wireless communication module.
5. robot used for intelligent substation patrol environmental information TT&C system according to claim 4 is characterized in that said s operation control module is an industrial computer.
6. robot used for intelligent substation patrol environmental information TT&C system according to claim 4; It is characterized in that; Said dispersion TT&C system is arranged on by in the observing and controlling target chamber, and respective chamber/chambers is furnished with the automatically-controlled door of relay control, and its repeat circuit is connected in the control module of disperseing TT&C system.
7. robot used for intelligent substation patrol environmental information TT&C system according to claim 6; It is characterized in that; Said control module constitutes the indoor control module that disperses TT&C system, and this dispersion TT&C system also comprises the environmental information pick-up transducers and predetermined controlled device that is connected in this indoor control module.
8. robot used for intelligent substation patrol environmental information TT&C system according to claim 7 is characterized in that said controlled device comprises light fixture and air-conditioning.
9. robot used for intelligent substation patrol environmental information TT&C system according to claim 8 is characterized in that, said dispersion TT&C system also comprises and is arranged on the sensor that is used to detect the fire-fighting system situation on the said fire-fighting system.
10. robot used for intelligent substation patrol environmental information TT&C system according to claim 1; It is characterized in that; Said main control equipment is configured in transformer station's master-control room; At least contain master hosts and display screen, and comprise that the said master hosts of connection is to set up the wireless bridge of said first wireless channel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200623225U CN202443332U (en) | 2012-02-24 | 2012-02-24 | Intelligent routing-inspection robot environmental information measurement and control system of transformer substation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200623225U CN202443332U (en) | 2012-02-24 | 2012-02-24 | Intelligent routing-inspection robot environmental information measurement and control system of transformer substation |
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| CN202443332U true CN202443332U (en) | 2012-09-19 |
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| CN2012200623225U Expired - Lifetime CN202443332U (en) | 2012-02-24 | 2012-02-24 | Intelligent routing-inspection robot environmental information measurement and control system of transformer substation |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104376613A (en) * | 2014-10-21 | 2015-02-25 | 山东鲁能智能技术有限公司 | Intelligent inspection robot system of convertor station valve hall |
| CN104391506A (en) * | 2014-09-19 | 2015-03-04 | 福州大学 | Transformer station guide rail type inspection robot |
| CN105259899A (en) * | 2015-12-01 | 2016-01-20 | 国网重庆市电力公司电力科学研究院 | Control system for transformer substation patrol robot |
| CN105835031A (en) * | 2016-05-20 | 2016-08-10 | 苏州震旦科技有限公司 | Inspection robot for distribution room |
| CN110752668A (en) * | 2019-10-25 | 2020-02-04 | 国网陕西省电力公司电力科学研究院 | Inspection system and inspection method for closed cabinet of transformer substation |
| CN111941388A (en) * | 2020-07-01 | 2020-11-17 | 中国南方电网有限责任公司超高压输电公司广州局 | Communication control method, electronic equipment and system of valve hall equipment inspection robot |
-
2012
- 2012-02-24 CN CN2012200623225U patent/CN202443332U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104391506A (en) * | 2014-09-19 | 2015-03-04 | 福州大学 | Transformer station guide rail type inspection robot |
| CN104376613A (en) * | 2014-10-21 | 2015-02-25 | 山东鲁能智能技术有限公司 | Intelligent inspection robot system of convertor station valve hall |
| CN105259899A (en) * | 2015-12-01 | 2016-01-20 | 国网重庆市电力公司电力科学研究院 | Control system for transformer substation patrol robot |
| CN105835031A (en) * | 2016-05-20 | 2016-08-10 | 苏州震旦科技有限公司 | Inspection robot for distribution room |
| CN110752668A (en) * | 2019-10-25 | 2020-02-04 | 国网陕西省电力公司电力科学研究院 | Inspection system and inspection method for closed cabinet of transformer substation |
| CN111941388A (en) * | 2020-07-01 | 2020-11-17 | 中国南方电网有限责任公司超高压输电公司广州局 | Communication control method, electronic equipment and system of valve hall equipment inspection robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
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| CP03 | Change of name, title or address |
Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 B, block 1-202, Qilu Software Zone, Lixia District, Shandong, Ji'nan Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120919 |