CN205029436U - Robot system is patrolled and examined to intelligence in centralized control formula transformer substation - Google Patents
Robot system is patrolled and examined to intelligence in centralized control formula transformer substation Download PDFInfo
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- CN205029436U CN205029436U CN201520796223.3U CN201520796223U CN205029436U CN 205029436 U CN205029436 U CN 205029436U CN 201520796223 U CN201520796223 U CN 201520796223U CN 205029436 U CN205029436 U CN 205029436U
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Abstract
The utility model discloses a robot system is patrolled and examined to intelligence in centralized control formula transformer substation, including the centralized control center, the centralized control center is including monitor terminal, management server and video server, monitor terminal and video server connection management server, the centralized control center is connected with a plurality of basic station control system and a plurality of video monitor system, and every basic station control system is connected with environmental monitoring system, wireless terminal and a plurality of the robot of patrolling and examining, and basic station control system receives corresponding image, the sound data that the robot gathered of patrolling and examining, gives monitor terminal with its transmission, and environmental monitoring system connects monitor terminal, video monitor system connects and to set up the camera in the transformer substation, looks screen monitored control system and transmits the video information of camera collection for video server. The utility model discloses centralized control station owner body operating environment's change and long -range intervention power equipment's operation can in time be discover in real -time long -range collection, control and intelligence linkage configuration, improved work efficiency, reduced the control degree of difficulty.
Description
Technical field
The utility model relates to intelligent inspection robot system in a kind of centralized-control type transformer station.
Background technology
The production equipment of concentrator station mainly refers to collect primary equipment, the secondary device in the local controlled transformer station of control.Comprise transformer, circuit breaker, lightning arrester, capacitor, isolating switch, reactor, current transformer, voltage transformer, current voltmeter, relay, protection system, supervisory control system, metering system, communication system.These equipment constitute the main body running environment of concentrator station, and the main body running environment monitoring that is whether good and device security of concentrator station directly affects the safe operation of concentrator station first and second equipment.
Along with increasing substantially of domestic energy demand, country increases the dynamics of investment of power grid construction, wherein unattended operation concentrator station will get more and more, but current dispatch automated system does not possess the field observation of deciliter state of equipment appearance to concentrator station main body running environment, device temperature, machinery instrument numerical value, switch tool, and the function of the running status observation of equipment under extreme climate.How realizing real-time, long-range, the automatic integrated management of unattended operation concentrator station main body running environment is a problem needing solution badly.
Current concentrator station adopts manual inspection mode all mostly, carries out traditional data transcription, and this mode exists various disadvantages:
(1) be a high-strength working to patrol officer, in rough-weather works difficulty;
(2) for the data collected, because all factors are difficult to ensure accuracy;
(3) stand in operator on duty's operation every day need a large amount of Dynamic System and management, waste of manpower, material resources, and be difficult to the interlock that realizes between system and system;
(4) if Unattended Centralized Control Substation all adopts fixed video monitoring and infrared monitoring, not only scale of investment is huge, and intellectuality, specialized process cannot be completed to the data collected, the remote equipment failure diagnosis basis required by collection control cannot be formed, be therefore difficult to this scheme to put into practice.
Utility model content
The utility model is in order to solve the problem, propose intelligent inspection robot system in a kind of centralized-control type transformer station, native system possesses autonomous, intelligent navigation, precisely stops, accurately the outline drawing picture of first and second equipment, infrared data, instrument numerical value and video capability in Real-time Collection station, possesses the function of Intelligent Recognition circuit breaker, disconnecting link real-time deciliter state, there is installation simultaneously easy, advantage easy to maintenance, possesses the innate advantage of spread.
To achieve these goals, the utility model adopts following technical scheme:
Intelligent inspection robot system in a kind of centralized-control type transformer station, comprise centralized control center, described centralized control center comprises monitor terminal, management server and video server, described monitor terminal and video server connection management server;
Described centralized control center is connected with multiple base control and multiple video monitoring system, wherein: each base control is connected with environmental monitoring system, wireless terminal and multiple inspection machine human body, base control receives image, the voice data that corresponding inspection machine human body gathers, be transferred to monitor terminal, described environmental monitoring system connects monitor terminal;
Described video monitoring system is connected in the camera in transformer station, screen supervisory control system by the video information transmission of camera collection to video server.
Described environmental monitoring system, comprises serial server, and serial server is connected with Temperature Humidity Sensor, anemometer detector, precipitation detector, snowfall detector and flame detector, and described serial server connects monitor terminal.
Described inspection machine human body, comprise car body and car body control system, car body control system comprises main controller, main controller is connected with audible-visual annunciator, infrared collecting device and video collector, main controller controls power-driven system, power-driven system drives body movement, and described infrared collecting device and video collector are arranged at car body front end.
Described car body is provided with scarecrow device and buzzer, scarecrow device is connected main controller with buzzer.
Described main controller is also connected with locator, ultrasonicly stops barrier system and omniselector, and main controller is connected with monitor terminal by Wireless Telecom Equipment.
Operation principle of the present utility model is:
Base station data gathers and monitoring: base station control center and robot master control system carry out data interaction by radio channel, base station control center is formed for the environmental information that environmental monitoring system collects and patrols and examines scheme, robot master control system is assigned in control command mode, when robot start and perform patrol and examine time, base station control center Real-time Obtaining is patrolled and examined data and is carried out intellectual analysis, form instrumented data, equipment deficiency intellectual analysis data, aided remote equipment fault diagnosis data, defect alarm data, and provide intelligent data to retrieve, after third party's interface to interlock security protection instruction, intelligent route planning can be formed assign and patrol and examine instruction control machine human body and arrive specified point and work in coordination with security protection and monitor in real time, audible and visual alarm can be initiated under specific circumstances, base station control center possesses IEC61850 standard interface, supports centralized-control type sequence, third party's intelligent monitor system, intelligent inspection robot is patrolled and examined: autonomous function is through master control system, power drive device, wheel realizes walking, enter regulated station data collection zone, arrive predetermined collection point through omniselector and locator and carry out data acquisition, infrared collecting equipment completes infrared data ' s acquisition, video collector completes image and video acquisition, in walking process, if there is barrier in front, alarm data is sent by ultrasonic barrier system of stopping, audible and visual alarm instruction is sent through audible and visual alarm device, warning lamp sends alarm instruction, buzzer sends and pipes, barrier is removed rear system and is automatically restored, robot recovers normally to patrol and examine, patrol and examine the autonomous energy control equipment of complete arrival charge point and carry out recharging, scarecrow device is opened, under centralized control center possesses the advantage prerequisite of primary equipment service data, by third party's data-interface by primary equipment load data drawing-in system platform, and then the equipment deficiency Comprehensive Assessment defining machine utilization and device temperature is reported, for the safe operation of primary equipment provides effective guarantee, by multisystem fusion function, each test item that can complete for needing infrared, outward appearance, instrument numerical value and intelligent inspection robot system in pending trial faulty equipment, centralized control center generates intelligent spy and seeks task, fixed point, regularly, determine item remote automation detection is carried out to equipment, for the automation of pending trial faulty equipment is audited, provide effective foundation.
The beneficial effects of the utility model are:
(1), the utility model real time remote gathers, controls and intelligent linkage configuration, facilitates the change of dispatching and monitoring personnel Timeliness coverage concentrator station main body running environment and the operation of remote intervention power-equipment, improves operating efficiency, reduces monitoring difficulty;
(2), the utility model has infrared data, video data, the instrumented data of centralized-control type remote collection regulated station, there is intellectual analysis equipment deficiency, aided remote equipment fault diagnosis, defect alarm, intelligent data retrieval, integrative solution is provided, reduce operations staff's working strength, improve the equipment safety operation cycle;
(3), inspection machine human body of the present utility model can realize security protection linkage function, possesses and realizes real-time video following function for entering of Migrant women, substantially increase automatic management and the monitoring level of concentrator station;
(4), the utility model has the hot standby function of the dual multiple spot of system core data;
(5), the utility model has centralized control center and goes offline, and the adapter of base station control center intelligence, to complete regulated station inner machine human body to the patrol task of station equipment, and after centralized control center reaches the standard grade, the function that intelligent data transmits, reaches active and standby control, the object of work compound;
(6), the utility model has existing video monitoring system in fusion regulated station, realize the function of seamless access, intelligence adapter monitor video, and the Intelligent Recognition achieved video, thus enriched the monitoring system of operational outfit, improve regulated station monitoring level;
(7), the utility model has good outdoor environment adaptability, normally can patrol and examine in night, daytime, rainy day, snow sky.Technical parameter: the rainy day patrols and examines, rainfall is less than 10cm; Snow sky is patrolled and examined, and snowfall is less than 10cm.Round-the-clockly to patrol and examine, for the equipment operation management improving regulated station, be significant.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is centralized control center of the present utility model structural representation;
Fig. 3 is link supervisory control system structural representation of the present utility model;
Fig. 4 is far-end intelligent inspection robot body apparatus structural representation of the present utility model.
Embodiment:
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
As Figure 1-Figure 4, centralized-control type intelligent inspection robot system is that the monitoring of system is dominated with centralized control center, and the base station control center be connected with centralized control center respectively, video monitor (NVR); Described base station control center is connected with environmental monitoring system, radio terminal system, centralized control center described in far-end intelligent inspection robot body apparatus comprise management server, the video server be connected with management server and monitor terminal.
Base station control center comprises base station Control Server.
The signal input part of environmental monitoring system connects multichannel RS232/422/485 serial server, its signal input part accesses Temperature Humidity Sensor, anemometer detector, precipitation detector, snowfall detector, flame detector respectively.
Radio terminal system comprises employing 802.11g standard antenna, wireless terminal controller.
Far-end intelligent inspection robot body apparatus, includes power drive device, audible-visual annunciator, locator, GPS navigation device, infrared collecting device, video collector, ultrasonicly stops barrier equipment, scarecrow device, autonomous energy control equipment, Industrial Control Computer, master control system, carbody shell, car body domain, wheel, buzzer, warning lamp.
Centralized-control type intelligent inspection robot system, includes centralized control center, base station control center, video monitoring equipment, centralized control center 1 comprises management server, the video server be connected with management server and display terminal, multiple video cameras that video monitoring comprises video monitoring equipment (NVR) and is connected with NVR, the server of base station control center respectively with management server, environmental monitoring system, radio terminal system connects in LAN (LocalAreaNetwork) mode, with far-end intelligent inspection robot body apparatus with WirelessLocalAreaNetworks) mode is connected, signal input part and the signal output part of video monitoring equipment (NVR) and video server are connected.
The signal input part of environmental monitoring system is connected with Temperature Humidity Sensor, anemometer detector, precipitation detector, snowfall detector, flame detector, signal receiving end is serial server, and serial port service signal output part connects base station control center;
Far-end intelligent inspection robot body apparatus forms wireless data channel by onboard wireless communication apparatus and radio terminal system, and the data interaction of base station control center and robot body device realizes with this passage.The logical RTOS system of fortune (customization LINUX) above Industrial Control Computer, it runs master control system, signal all connects constrained input end audible-visual annunciator, locator, infrared collecting device, video collector with duplex mode, ultrasonicly stops barrier system, scarecrow device, autonomous energy control equipment, omniselector, Wireless Telecom Equipment, buzzer, warning lamp, power drive device, above physical equipment is all deployed on car body domain, and carbody shell is for protect main body outward.
Centralized-control type intelligent inspection robot system, three grades of frameworks (centralized control center, base station control center, robot body) are adopted to cover the mode in whole collection control area under one's jurisdiction, centralized control center completes the function of the data acquisition of administrative regulated station base station control center, defect alarm, autoreport, intelligent inquire, and possess and control command collection is assigned to administrative base station control center Remote, reach the function of manipulation robot body.
The long-range connection centralized control center of base station control center and robot body, function has: patrol task configuration, real-time control robot body motion work, real-time intelligent analytic engine human body gather station equipment data, intelligent diagnostics primary equipment running status, intelligence generate once, secondary device defect remote diagnosis report, patrol and examine data intelligence query function, robot body running status real time monitoring function, possess the support of IEC61850 monitoring level and possess centralized-control type sequence function, centralized-control type base station service.The long-range connection base station control center of robot body, possess the operating features such as autonomous, Intelligent stop barrier, precision navigation, fixed point stop, polymorphic collection, intelligent sequence, recharging, security protection interlock, include power drive device, audible-visual annunciator, locator, GPS navigation device, infrared collecting device, video collector, ultrasonicly stop barrier equipment, scarecrow device, autonomous energy control equipment, Industrial Control Computer, master control system, carbody shell, car body domain, wheel, buzzer, warning lamp.
Base station data gathers and monitoring: base station control center and robot master control system carry out data interaction by radio channel, base station control center is formed for the environmental information that environmental monitoring system collects and patrols and examines scheme, robot master control system is assigned in control command mode, when robot start and perform patrol and examine time, base station control center Real-time Obtaining is patrolled and examined data and is carried out intellectual analysis, form instrumented data, equipment deficiency intellectual analysis data, aided remote equipment fault diagnosis data, defect alarm data, and provide intelligent data to retrieve, after third party's interface to interlock security protection instruction, intelligent route planning can be formed assign and patrol and examine instruction control machine human body and arrive specified point and work in coordination with security protection and monitor in real time, audible and visual alarm can be initiated under specific circumstances, base station control center possesses IEC61850 standard interface, supports centralized-control type sequence, third party's intelligent monitor system,
Intelligent inspection robot is patrolled and examined: autonomous function is through master control system, power drive device, wheel realizes walking, enter regulated station data collection zone, arrive predetermined collection point through omniselector and locator and carry out data acquisition, infrared collecting equipment completes infrared data ' s acquisition, video collector completes image and video acquisition, in walking process, if there is barrier in front, alarm data is sent by ultrasonic barrier system of stopping, audible and visual alarm instruction is sent through audible and visual alarm device, warning lamp sends alarm instruction, buzzer sends and pipes, barrier is removed rear system and is automatically restored, robot recovers normally to patrol and examine, patrol and examine the autonomous energy control equipment of complete arrival charge point and carry out recharging, scarecrow device is opened, under centralized control center possesses the advantage prerequisite of primary equipment service data, by third party's data-interface by primary equipment load data drawing-in system platform, and then the equipment deficiency Comprehensive Assessment defining machine utilization and device temperature is reported, for the safe operation of primary equipment provides effective guarantee, by multisystem fusion function, each test item that can complete for needing infrared, outward appearance, instrument numerical value and intelligent inspection robot system in pending trial faulty equipment, centralized control center generates intelligent spy and patrols task, fixed point, regularly, determine item remote automation detection is carried out to equipment, for the automation of pending trial faulty equipment is audited, provide effective foundation.
Burglar alarm: the motion of camera human body, illegal invasion, video monitoring equipment (NVR) produces alarm data, reports centralized control center; The data acquisition and monitoring of centralized control center: management server and base station control center carry out data interaction by LAN, integrated robot remote operation unified platform, realizes controlling the real-time level of the long-range of local all regulated station robot bodies; Be integrated with patrolling and examining and creation data of local all regulated stations, achieve across station, trans-regional, across the unified operation of data platform; Adopt distributed cloud to store, improve Information Security, data access ageing; Intelligent data appraisement system, to the multistation primary equipment of identical electric pressure, realizes infrared data comprehensive test, for operations staff provides device security to check and rate coefficient, improves device security.
Dual multiple spot hot standby with take over: data that far-end intelligent inspection robot body apparatus generates are simultaneously hot standby in centralized control center and base station Surveillance center; Centralized control center goes offline, the adapter of base station control center intelligence, and to complete regulated station inner machine human body to the patrol task of station equipment, and after centralized control center reaches the standard grade, the function that intelligent data transmits, reaches active and standby control, the object of work compound.
By reference to the accompanying drawings embodiment of the present utility model is described although above-mentioned; but the restriction not to the utility model protection range; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection range of the present utility model.
Claims (5)
1. an intelligent inspection robot system in centralized-control type transformer station, is characterized in that: comprise centralized control center, and described centralized control center comprises monitor terminal, management server and video server, described monitor terminal and video server connection management server;
Described centralized control center is connected with multiple base control and multiple video monitoring system, wherein: each base control is connected with environmental monitoring system, wireless terminal and multiple inspection machine human body, base control receives image, the voice data that corresponding inspection machine human body gathers, be transferred to monitor terminal, described environmental monitoring system connects monitor terminal;
Described video monitoring system is connected in the camera in transformer station, screen supervisory control system by the video information transmission of camera collection to video server.
2. intelligent inspection robot system in a kind of centralized-control type transformer station as claimed in claim 1, it is characterized in that: described environmental monitoring system, comprise serial server, serial server is connected with Temperature Humidity Sensor, anemometer detector, precipitation detector, snowfall detector and flame detector, and described serial server connects monitor terminal.
3. intelligent inspection robot system in a kind of centralized-control type transformer station as claimed in claim 1, it is characterized in that: described inspection machine human body, comprise car body and car body control system, car body control system comprises main controller, main controller is connected with audible-visual annunciator, infrared collecting device and video collector, main controller controls power-driven system, and power-driven system drives body movement, and described infrared collecting device and video collector are arranged at car body front end.
4. intelligent inspection robot system in a kind of centralized-control type transformer station as claimed in claim 3, is characterized in that: described car body is provided with scarecrow device and buzzer, scarecrow device is connected main controller with buzzer.
5. intelligent inspection robot system in a kind of centralized-control type transformer station as claimed in claim 3, is characterized in that: described main controller is also connected with locator, ultrasonicly stops barrier system and omniselector, and main controller is connected with monitor terminal by Wireless Telecom Equipment.
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| CN105929426A (en) * | 2016-04-21 | 2016-09-07 | 北京元心科技有限公司 | Method and device for GPS positioning in multiple systems |
| CN106208395A (en) * | 2016-09-29 | 2016-12-07 | 国网福建省电力有限公司 | Unattended substation is met an urgent need monitoring system |
| CN106444588A (en) * | 2016-11-30 | 2017-02-22 | 国家电网公司 | Inspection system and inspection method of valve hall robot based on video monitoring linkage system |
| CN106527153A (en) * | 2017-01-12 | 2017-03-22 | 深圳明创自控技术有限公司 | Substation inspection robot cluster control system |
| CN106625663A (en) * | 2016-12-13 | 2017-05-10 | 山东鲁能智能技术有限公司 | Information subscription subsystem of substation polling robot centralized monitoring system and method |
| CN108803438A (en) * | 2018-07-18 | 2018-11-13 | 华南理工大学 | A kind of fully-automatic conversion power station inspection robot system based on Wifi communication protocols |
| CN108839062A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | Safety-type robot |
| CN108839063A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | Security system for robot |
| CN108839055A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | Robot with independent navigation |
| CN109015664A (en) * | 2018-05-31 | 2018-12-18 | 芜湖星途机器人科技有限公司 | Control system for robot |
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| CN110161898A (en) * | 2019-04-11 | 2019-08-23 | 广西电网有限责任公司电力科学研究院 | A kind of substation inspection robot resource sharing system of compatible multiple agent |
| CN110854725A (en) * | 2019-11-29 | 2020-02-28 | 国网智能科技股份有限公司 | Service linkage system and method between multiple power substations |
| CN111493055A (en) * | 2020-03-25 | 2020-08-07 | 深圳威阿科技有限公司 | Multi-airport-collaborative airspace intelligent bird repelling system and method |
| CN112311097A (en) * | 2020-11-03 | 2021-02-02 | 国网智能科技股份有限公司 | On-line intelligent patrol centralized monitoring system and method for transformer substation |
| 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 |
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| CN105929426A (en) * | 2016-04-21 | 2016-09-07 | 北京元心科技有限公司 | Method and device for GPS positioning in multiple systems |
| CN105929426B (en) * | 2016-04-21 | 2019-04-02 | 北京元心科技有限公司 | Method and device for GPS positioning in multiple systems |
| CN106208395B (en) * | 2016-09-29 | 2019-12-27 | 国网福建省电力有限公司 | Unattended substation emergency monitoring system |
| CN106208395A (en) * | 2016-09-29 | 2016-12-07 | 国网福建省电力有限公司 | Unattended substation is met an urgent need monitoring system |
| CN106444588A (en) * | 2016-11-30 | 2017-02-22 | 国家电网公司 | Inspection system and inspection method of valve hall robot based on video monitoring linkage system |
| CN106444588B (en) * | 2016-11-30 | 2019-04-26 | 国家电网公司 | Valve hall robot method for inspecting based on video monitor linkage system |
| CN106625663A (en) * | 2016-12-13 | 2017-05-10 | 山东鲁能智能技术有限公司 | Information subscription subsystem of substation polling robot centralized monitoring system and method |
| CN106527153A (en) * | 2017-01-12 | 2017-03-22 | 深圳明创自控技术有限公司 | Substation inspection robot cluster control system |
| CN106527153B (en) * | 2017-01-12 | 2019-02-05 | 南京七宝机器人技术有限公司 | A kind of Intelligent Mobile Robot cluster managing and control system |
| CN108839062A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | Safety-type robot |
| CN109015664A (en) * | 2018-05-31 | 2018-12-18 | 芜湖星途机器人科技有限公司 | Control system for robot |
| CN108839055A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | Robot with independent navigation |
| CN108839063A (en) * | 2018-05-31 | 2018-11-20 | 芜湖星途机器人科技有限公司 | Security system for robot |
| CN108803438A (en) * | 2018-07-18 | 2018-11-13 | 华南理工大学 | A kind of fully-automatic conversion power station inspection robot system based on Wifi communication protocols |
| CN109117521A (en) * | 2018-07-21 | 2019-01-01 | 中铁十八局集团有限公司 | A kind of steel truss rod piece splice plate bolt auxiliary assembly system |
| CN110161898A (en) * | 2019-04-11 | 2019-08-23 | 广西电网有限责任公司电力科学研究院 | A kind of substation inspection robot resource sharing system of compatible multiple agent |
| CN110854725A (en) * | 2019-11-29 | 2020-02-28 | 国网智能科技股份有限公司 | Service linkage system and method between multiple power substations |
| 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 |
| CN111493055A (en) * | 2020-03-25 | 2020-08-07 | 深圳威阿科技有限公司 | Multi-airport-collaborative airspace intelligent bird repelling system and method |
| CN112311097A (en) * | 2020-11-03 | 2021-02-02 | 国网智能科技股份有限公司 | On-line intelligent patrol centralized monitoring system and method for transformer substation |
| CN112311097B (en) * | 2020-11-03 | 2024-01-26 | 国网智能科技股份有限公司 | Online intelligent patrol centralized monitoring system and method for transformer substation |
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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 Shandong city of Ji'nan province high tech Zone (Lixia District) Xinluo Avenue No. 2008 silver bearing building B block 626 Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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