CN202649815U - Transformer substation panorama automation inspection system based on robot technology - Google Patents
Transformer substation panorama automation inspection system based on robot technology Download PDFInfo
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- CN202649815U CN202649815U CN 201220116574 CN201220116574U CN202649815U CN 202649815 U CN202649815 U CN 202649815U CN 201220116574 CN201220116574 CN 201220116574 CN 201220116574 U CN201220116574 U CN 201220116574U CN 202649815 U CN202649815 U CN 202649815U
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Abstract
A transformer substation panorama automation inspection system based on a robot technology is disclosed. According to the utility model, a robot (1) which is on a robot travel route track (2) is connected with a wireless network bridge (3) through a wireless network communication mode. The wireless network bridge (3) is connected with a server (4) through an Ethernet. The server (4) is connected with a monitoring terminal (5) through a wired or wireless mode. The system of the utility model has the following advantages that: robot inspection information can be visually presented in a panoramic three-dimensional scene of the transformer substation; a real position of the robot in the transformer substation is reflected in the three-dimensional scene; the concrete position of equipment which has a fault is located and is identified in the three-dimensional scene; simultaneously, concrete information of the fault is displayed on the corresponding equipment in the three-dimensional scene of the transformer substation. Through combining a three-dimensional panoramic virtual display technology, operation personnel can grasp inspected real-time data, image, other information and the omnibearing robot position in real time only through the panoramic system.
Description
Technical field
The utility model relates to transformer station's automatic detecting technical field.
Background technology
For a long time, the substation equipment manual inspection operating type that China's power industry is continued to use, not only large to hazard to person under high pressure, UHV (ultra-high voltage) and bad weather condition, and electric power netting safe running brought certain hidden danger.Mobile Robot for Substation Equipment Inspection can replace manually finishing transformer station's high-tension transformation equipment all patrol and examine operation.But it all is to adopt traditional demonstration means that robot of existing transformer station patrols and examines supervisory system, the monitor message of on monitoring interface, patrolling and examining with the form display device people of literal, and can not the physical location of display device people in transformer station in monitoring interface, can not represent very intuitively the information of patrolling and examining of robot.
Summary of the invention
The purpose of this utility model is that to patrol and examine information for robot of existing transformer station single, can not be comprehensive, the deficiency of showing intuitively transformer station's panorama information, a kind of transformer station's panorama automatic tour inspection system based on Robotics is provided, with Robotics, location technology, automatic detecting informationization technology and the combination of panoramic virtual reality technology, in transformer station's panorama automatic tour inspection system, represent in real time the positional information of robot and patrol and examine the device temperature of discovery, defective, failure message makes the operations staff can be comprehensive, understanding intuitively the full station of transformer station patrols and examines situation and patrols and examines information.
The technical scheme that realization the utility model purpose adopts is as follows:
A kind of transformer station's panorama automatic tour inspection system based on Robotics, be connected with wireless network bridge by the wireless network communication mode at robot traveling route track by robot, be used for transmission and patrol and examine screen, infrared temperature, audio-frequency information and robot location's information of process, and information is stored in the server, wireless network bridge is connected with server by Ethernet, and server is connected with monitor terminal by wired or wireless mode; Be respectively arranged with for the screen monitoring module, infrared measurement of temperature module and recording and the wireless communication module that monitor the substation field machine operation in robot; Patrol and examine monitoring software at the robot traveling panorama of monitor terminal and be respectively arranged with data processing module, data analysis module and application module, on robot traveling route track, also be equipped with for the electronics anchor point of determining substation field device location and robot motion location.
The utility model is respectively arranged with substation equipment environment Panoramic Warping module, robot panorama position tracking module, the comprehensive display module of equipment routing inspection in application module; In data analysis module, be respectively arranged with robot position data analysis module, infrared picture data analysis module, screen data analysis module, voice data analysis module; In data processing module, be respectively arranged with device location and information association processing module, robot motion position processing module, infrared picture data processing module, screen image processing module, voice data processing module.
The utility model is installed in server and is used for carrying out the SQL Server 2000 of data interaction as database with monitor terminal.
The beneficial effects of the utility model are, the information of robot can being patrolled and examined shows in transformer station's panorama three-dimensional scenic intuitively, the actual position of reflection robot in transformer station in three-dimensional scenic, the concrete device location that breaks down in the location also identifies out in three-dimensional scenic, shows simultaneously the specifying information of fault by equipment corresponding in transformer station's three-dimensional scenic.By the virtual display technique combination of three-dimensional panorama, operating personnel only need by panorama system just can be to information such as the real time data of patrolling and examining, images, the robot location is comprehensive carries out in real time control.
Further set forth content of the present utility model below in conjunction with Figure of description.
Description of drawings
Fig. 1 is the utility model system syndeton schematic diagram;
Fig. 2 is the module diagram that arranges in robot;
Fig. 3 is that the panorama of monitor terminal is patrolled and examined the monitoring software structural representation.
Embodiment
A kind of transformer station's panorama automatic tour inspection system based on Robotics, as shown in Figure 1, be connected with wireless network bridge 3 by the wireless network communication mode at robot traveling route track 2 by robot 1, be used for transmission and patrol and examine screen, infrared temperature, audio-frequency information and robot location's information of process, and information is stored in the server 4, wireless network bridge 3 is connected with server 4 by Ethernet, and server 4 is connected with monitor terminal 5 by wired or wireless mode; Be respectively arranged with for the screen monitoring module, infrared measurement of temperature module and recording and the wireless communication module that monitor the substation field machine operation in robot 1; Patrol and examine monitoring software at the robot traveling panorama of monitor terminal 5 and be respectively arranged with data processing module, data analysis module and application module, on robot traveling route track 2, also be equipped with for the electronics anchor point of determining substation field device location and robot motion location.
The utility model is respectively arranged with substation equipment environment Panoramic Warping module, robot panorama position tracking module, the comprehensive display module of equipment routing inspection in application module; In data analysis module, be respectively arranged with robot position data analysis module, infrared picture data analysis module, screen data analysis module, voice data analysis module; In data processing module, be respectively arranged with device location and information association processing module, robot motion position processing module, infrared picture data processing module, screen image processing module, voice data processing module.
The utility model is installed in server and is used for carrying out the SQL Server 2000 of data interaction as database with monitor terminal.
As shown in Figure 2, be separately installed with for the screen monitoring module, infrared measurement of temperature module and recording and the wireless communication module that monitor the substation field machine operation in robot 1; Be equipped with for the electronics anchor point of determining substation field device location and robot motion location at robot traveling route track 2.Robot traveling route track 2 is to set in transformer station in advance according to equipment and position that transformer station need patrol and examine, and robot 1 can be along the track that the sets in advance walking of its traveling route track 2.Robot 1 and robot traveling route track 2 are connected with network bridge 3 by the wireless network communication mode, are used for screen, infrared temperature, audio-frequency information and robot location's information that process is patrolled and examined in transmission, and information is stored in the server 4; Network bridge 3 and server 4 are connected by Ethernet; Server 4 is connected by wired or wireless mode with monitor terminal 5.In server 4, install and be used for carrying out the SQL Server 2000 of data interaction as database with monitor terminal 5.Be equipped with in monitor terminal 5 and patrol and examine transformer station's panorama that process data and robot patrol and examine the position for supervision and patrol and examine monitoring software, panorama is patrolled and examined monitoring software and is comprised as shown in Figure 3 data processing module, data analysis module and application module.Data processing module is to from robot screen monitoring module, device location information in the transformer station that infrared measurement of temperature module and recording and wireless communication module obtain, infrared picture data, video image, the robot motion position of voice data and electronics anchor point feedback is carried out data and is processed, then by data analysis module to robot position data, infrared picture data, video data, voice data is analyzed, again analysis result is realized substation equipment environment Panoramic Warping by application module, the robot panorama position is followed the tracks of, thereby failure message is resolved, determine the equipment that breaks down, and monitor data is corresponding with equipment and positional information in the transformer station three-dimensional scenic, carry out equipment and failure message and show in real time.
Claims (3)
1. transformer station's panorama automatic tour inspection system based on Robotics, it is characterized in that, be connected with wireless network bridge (3) by the wireless network communication mode at robot traveling route track (2) by robot (1), wireless network bridge (3) is connected with server (4) by Ethernet, and server (4) is connected with monitor terminal (5) by wired or wireless mode; Be respectively arranged with for the screen monitoring module, infrared measurement of temperature module and recording and the wireless communication module that monitor the substation field machine operation in robot (1); Patrol and examine monitoring software at the robot traveling panorama of monitor terminal (5) and be respectively arranged with data processing module, data analysis module and application module, on robot traveling route track (2), also be equipped with for the electronics anchor point of determining substation field device location and robot motion location.
2. a kind of transformer station's panorama automatic tour inspection system based on Robotics as claimed in claim 1, it is characterized in that, in application module, be respectively arranged with substation equipment environment Panoramic Warping module, robot panorama position tracking module, the comprehensive display module of equipment routing inspection; In data analysis module, be respectively arranged with robot position data analysis module, infrared picture data analysis module, screen data analysis module, voice data analysis module; In data processing module, be respectively arranged with device location and information association processing module, robot motion position processing module, infrared picture data processing module, screen image processing module, voice data processing module.
3. a kind of transformer station's panorama automatic tour inspection system based on Robotics as claimed in claim 1 is characterized in that, installs to be used for carrying out the SQL Server 2000 of data interaction as database with monitor terminal (5) in server (4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220116574 CN202649815U (en) | 2012-03-26 | 2012-03-26 | Transformer substation panorama automation inspection system based on robot technology |
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| CN 201220116574 CN202649815U (en) | 2012-03-26 | 2012-03-26 | Transformer substation panorama automation inspection system based on robot technology |
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| CN 201220116574 Expired - Lifetime CN202649815U (en) | 2012-03-26 | 2012-03-26 | Transformer substation panorama automation inspection system based on robot technology |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105468060A (en) * | 2015-11-27 | 2016-04-06 | 国家电网公司 | Substation inspection management system |
| CN105741379A (en) * | 2016-01-28 | 2016-07-06 | 江苏省电力试验研究院有限公司 | Method for panoramic inspection on substation |
| CN106681333A (en) * | 2017-03-02 | 2017-05-17 | 刘伟豪 | Method and system for improving stability of transformer substation inspection robot |
| CN108762172A (en) * | 2018-04-12 | 2018-11-06 | 广东电网有限责任公司 | A kind of cruising inspection system of dispatching automation computer room robot |
| CN109282807A (en) * | 2018-09-29 | 2019-01-29 | 南方电网科学研究院有限责任公司 | Wearable transformer substation monitoring equipment and method |
| CN109382831A (en) * | 2018-10-10 | 2019-02-26 | 许昌许继软件技术有限公司 | A kind of Intelligent Mobile Robot monitoring system and its data remote method |
| CN109405895A (en) * | 2018-12-29 | 2019-03-01 | 广州供电局有限公司 | Cable tunnel monitoring management system |
| CN109446290A (en) * | 2018-10-19 | 2019-03-08 | 广东省气象探测数据中心 | A kind of intelligent three-dimensional virtual visualization meteorological equipment comprehensive coverage method |
| CN109886432A (en) * | 2019-01-31 | 2019-06-14 | 湖北交投智能检测股份有限公司 | Freeway bridge tunnel inspection maintenance process and system based on 3-D technology |
| CN109904926A (en) * | 2019-02-27 | 2019-06-18 | 国网福建省电力有限公司漳州供电公司 | The intelligent robot and its control method maked an inspection tour suitable for unusual condition in substation room |
| CN110048509A (en) * | 2019-04-22 | 2019-07-23 | 国网陕西省电力公司宝鸡供电公司 | A kind of substation inspection system and method based on MR intelligent safety helmet |
| CN110181519A (en) * | 2019-06-25 | 2019-08-30 | 广东希睿数字科技有限公司 | Subway station door fault detection method and system based on the twin robot of number |
| CN110290350A (en) * | 2019-06-26 | 2019-09-27 | 广东康云科技有限公司 | A kind of real-time status monitoring method, system and the storage medium of crusing robot |
| CN110770989A (en) * | 2017-06-28 | 2020-02-07 | Abb瑞士股份有限公司 | Unmanned and maintainable switchgear or control device system and method for operating same |
| CN113204233A (en) * | 2020-01-15 | 2021-08-03 | 智慧起源机器人(苏州)有限公司 | Unmanned patrol control system |
| US11362489B2 (en) | 2017-06-28 | 2022-06-14 | Abb Schweiz Ag | Substation for medium or high voltage, containing switchgear or controlgear with unmanned operation and maintenance |
| US11626713B2 (en) | 2017-06-28 | 2023-04-11 | Abb Schweiz Ag | Substation containing switch-gear or control-gear with unmanned operation and maintenance |
| WO2024125124A1 (en) * | 2022-12-12 | 2024-06-20 | 广东电网有限责任公司广州供电局 | Power grid metaverse system and construction method |
-
2012
- 2012-03-26 CN CN 201220116574 patent/CN202649815U/en not_active Expired - Lifetime
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105468060A (en) * | 2015-11-27 | 2016-04-06 | 国家电网公司 | Substation inspection management system |
| CN105741379A (en) * | 2016-01-28 | 2016-07-06 | 江苏省电力试验研究院有限公司 | Method for panoramic inspection on substation |
| CN106681333A (en) * | 2017-03-02 | 2017-05-17 | 刘伟豪 | Method and system for improving stability of transformer substation inspection robot |
| US11362489B2 (en) | 2017-06-28 | 2022-06-14 | Abb Schweiz Ag | Substation for medium or high voltage, containing switchgear or controlgear with unmanned operation and maintenance |
| US11451015B2 (en) | 2017-06-28 | 2022-09-20 | Abb Schweiz Ag | Substation containing switchgear or controlgear with unmanned operation and maintenance |
| US11581712B2 (en) | 2017-06-28 | 2023-02-14 | Abb Schweiz Ag | Robot for unmanned operation and maintenance in an indoor medium or high voltage switch-gear station |
| CN110770989A (en) * | 2017-06-28 | 2020-02-07 | Abb瑞士股份有限公司 | Unmanned and maintainable switchgear or control device system and method for operating same |
| CN110770989B (en) * | 2017-06-28 | 2023-02-14 | Abb瑞士股份有限公司 | Unmanned and maintainable switchgear or control device system and method for operating same |
| US11626713B2 (en) | 2017-06-28 | 2023-04-11 | Abb Schweiz Ag | Substation containing switch-gear or control-gear with unmanned operation and maintenance |
| CN108762172A (en) * | 2018-04-12 | 2018-11-06 | 广东电网有限责任公司 | A kind of cruising inspection system of dispatching automation computer room robot |
| CN109282807A (en) * | 2018-09-29 | 2019-01-29 | 南方电网科学研究院有限责任公司 | Wearable transformer substation monitoring equipment and method |
| CN109382831A (en) * | 2018-10-10 | 2019-02-26 | 许昌许继软件技术有限公司 | A kind of Intelligent Mobile Robot monitoring system and its data remote method |
| CN109446290A (en) * | 2018-10-19 | 2019-03-08 | 广东省气象探测数据中心 | A kind of intelligent three-dimensional virtual visualization meteorological equipment comprehensive coverage method |
| CN109405895A (en) * | 2018-12-29 | 2019-03-01 | 广州供电局有限公司 | Cable tunnel monitoring management system |
| CN109886432A (en) * | 2019-01-31 | 2019-06-14 | 湖北交投智能检测股份有限公司 | Freeway bridge tunnel inspection maintenance process and system based on 3-D technology |
| CN109904926A (en) * | 2019-02-27 | 2019-06-18 | 国网福建省电力有限公司漳州供电公司 | The intelligent robot and its control method maked an inspection tour suitable for unusual condition in substation room |
| CN110048509A (en) * | 2019-04-22 | 2019-07-23 | 国网陕西省电力公司宝鸡供电公司 | A kind of substation inspection system and method based on MR intelligent safety helmet |
| CN110181519B (en) * | 2019-06-25 | 2022-03-18 | 广东希睿数字科技有限公司 | Subway station door fault detection method and system based on digital twin robot |
| CN110181519A (en) * | 2019-06-25 | 2019-08-30 | 广东希睿数字科技有限公司 | Subway station door fault detection method and system based on the twin robot of number |
| CN110290350A (en) * | 2019-06-26 | 2019-09-27 | 广东康云科技有限公司 | A kind of real-time status monitoring method, system and the storage medium of crusing robot |
| CN113204233A (en) * | 2020-01-15 | 2021-08-03 | 智慧起源机器人(苏州)有限公司 | Unmanned patrol control system |
| WO2024125124A1 (en) * | 2022-12-12 | 2024-06-20 | 广东电网有限责任公司广州供电局 | Power grid metaverse system and construction method |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20130102 |