CN207835156U - Intelligent inspection robot for current conversion station - Google Patents
Intelligent inspection robot for current conversion station Download PDFInfo
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- CN207835156U CN207835156U CN201820300437.0U CN201820300437U CN207835156U CN 207835156 U CN207835156 U CN 207835156U CN 201820300437 U CN201820300437 U CN 201820300437U CN 207835156 U CN207835156 U CN 207835156U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02B90/20—Smart grids as enabling technology in buildings sector
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission
Abstract
The utility model discloses a kind of intelligent inspection robots for current conversion station, it is installed on the wall surface in the valve Room, the equipment such as integrated visible light, infrared, sound, in a manner of from remote control of advocating peace, the valve Room and Indoor DC Field equipment are carried out instead of people to patrol survey, the inner heat defect of timely discovering device, external mechanically or electrically defect；The video of tested measurement equipment, sound and infrared measurement of temperature data are passed through into network transmission to inspection backstage；Inspection background system is realized by the technologies such as equipment image procossing and pattern-recognition, the infrared experts database of bonding apparatus image to equipment thermal defect, division state, the differentiation of abnormal appearance and the identification of meter reading.The robot of the utility model can be under converter station valve hall strong electromagnetic, enclosed environment long lasting for stable operation, and it is compact-sized reliable, it can be accurately positioned, detect and identify, real-time status monitoring can be carried out, improve automation and the intelligent level of current conversion station.
Description
Technical field
The utility model is related to power domains, relate more specifically to a kind of intelligent inspection robot for current conversion station.
Background technology
Current conversion station is that direct current includes the change of current with the system for carrying out phase cross energy conversion, current conversion station is exchanged in DC transmission engineering
The peculiar equipment such as valve, converter power transformer, alternating current-direct current wave filter.The runnability of current conversion station and DC transmission system and safe and reliable
The safe operation of degree and converter is closely related, is had a major impact to the operation of entire electric system.Exchange in current conversion station
The timing monitoring of flow device and periodical inspection are essential, and generally use manual inspection and fixed video monitor under traditional approach
Mode, daily infrared inspection work are carried out by operations staff with thermal imaging system, and after noting abnormalities, profession is reported by liaison mode
Administrative staff, then analyzed by professional's repetition measurement, the reaction time is slow, and working efficiency is low, and the special defect in part is easy to miss inspection, artificial to examine
The data of survey can not accurately and timely access-in management information system；And because the big equipment in place is more, the workload of operations staff also phase
It answers larger；Fixed video frequency monitoring system can only be monitored capital equipment, and there are prodigious monitoring blind areas, it is difficult to really full
Sufficient video tour, comprehensive covering.
Intelligent patrol detection technology has certain applications in conventional 500kV AC Substations.Intelligence in AC Substation at present
Energy inspection tour system is network distribution type framework, respectively base station layer, Communication Layer and terminating layer.Base station layer is controlled by background computer and intelligence
System is formed with analyzing software system；Communication Layer is made of equipment such as the network switch, wireless bridges, is responsible for establishing station level and intelligence
The network channel of energy terminal interlayer；Terminating layer includes crusing robot, accumulator plant, environment monitoring module etc.；Mobile robot with
It is wireless telecommunications between background computer.
But the artificial ground moving robot of inspection machine in conventional 500kV AC Substations, robot head peace
Equipped with camera and audio detection equipment, running track is laid on outdoor surfaces, and robot can be in the track being laid in advance
Upper traveling monitors the power equipment of both sides in real time.And the installation environment in converter station valve hall is different from outdoor sports ground,
Main electric power equipment in the valve Room is converter valve valve tower, wall bushing and valve Room earthing knife-switch etc., and high end valve Room converter valve valve tower is set
Standby height is about 14 meters (low side is about 10 meters).Conventional ground rail formula robot can not be applied to the vertical wall in the valve Room at present
On face.
By taking ± 800kV current conversion stations as an example, voltage is high, capacity is big, and the difference of electromagnetic environment and AC Substation is larger,
Middle converter station valve hall is the core of current conversion station, is the closing building for placing converter valve, and electromagnetic interference is especially serious；Therefore
The equipment requirement used in current conversion station environment has preferable capability of electromagnetic shielding.
Converter station valve hall installation environment is special, and the valve tower in the valve Room is generally divided into six row, and each column valve tower is divided into as multilayer；It changes
Stream valve is distributed in each layer of valve tower, therefore crusing robot needs have preferable detection visual angle to each layer.It is examined to meet
Range and the requirement of valve tower creepage distance are surveyed, inspection device need to consider the movement of vertical direction.The valve Room is indoor environment, inspection device
It need to consider the influence of indoor illumination unevenness.
To sum up, the defect of the prior art is in particular in：
(1) the artificial ground moving robot of inspection machine in routine 500kV AC Substations can not be applied to the valve Room
Vertical wall surface on.Mobile robot is mainly by the way of wheeled, crawler belt or composite drive at present.By the equipment cloth such as valve tower
Limitation system, will realize the detection function comprehensive to equipment, need robot can be in movement in vertical direction.
(2) current conversion station electromagnetic interference is serious, and especially inside the valve Room, current equipment can not be in valve Room strong electromagnetic, closing
Under environment long lasting for stable operation, be accurately positioned, accurately detect.
(3) valve Room environment is indoor environment, and it is larger to be illuminated by the light the interference such as uneven influence and extraneous abnormal object fallen into,
Common machine vision detection method can not be applied directly.
(4) inspection machine in routine 500kV AC Substations artificially singly covers；But current conversion station is more valve Rooms, need to be configured more
A robot.Application in current conversion station need to consider more valve Room multirobot Collaborative Control technologies, solve multirobot in inspection
Shop problem is independently distributed rationally in task cooperation.
Therefore, this field still lacks a kind of intelligent inspection robot that can effectively solve the above problems.
Utility model content
The purpose of this utility model is to provide a kind of intelligent inspection robot for current conversion station, the machines of the utility model
Device people can be applied in the complex electromagnetic environment in current conversion station, and compact-sized reliable, can be accurately positioned, accurately detect, essence
Really identification, can be also large-scale indoor for electric system under converter station valve hall strong electromagnetic, enclosed environment long lasting for stable operation
The real-time status monitoring of equipment provides a kind of innovative technological means, and the few people of raising or unattended current conversion station run automatic
Change and intelligent level has positive effect.
The utility model provides a kind of intelligent inspection robot for current conversion station, which integrates visible
The equipment such as light, infrared, sound carry out the valve Room and Indoor DC Field equipment instead of people to patrol survey in a manner of from remote control of advocating peace, and
When discovering device inner heat defect, external mechanically or electrically defect.Specifically, intelligent inspection robot includes audio detection
Device, audio detection device include sound pick-up, noise reducing apparatus and sound stage process handling equipment, wherein sound pick-up and noise reducing apparatus
Signal connects, and noise reducing apparatus is connect with acoustic processing control device signal；Sound pick-up acquires the sound of change of current station equipment, and will
Collected sound sends noise reducing apparatus to；Noise reducing apparatus carries out single treatment to collected sound, weakens its noise and makes an uproar
Sound, and sound sends acoustic processing control device to by treated；Acoustic processing control device carries out collected sound
Secondary analysis processing, and the operating status of output equipment.
In another preferred example, intelligent inspection robot includes visible light and infrared detecting device, it is seen that light and red
Outer detection device is used to acquire and analyze the video information of current conversion station, including visible light camera and thermal infrared imager, wherein can
Light-exposed video camera is used for the appearance of detection device, and thermal infrared imager is used for the thermal defect of detection device.
In another preferred example, it is seen that light and infrared detecting device include infrared chart processing equipment.
In another preferred example, it is seen that light and infrared detecting device include image-enhancing equipment, and image-enhancing equipment is used
In the influence for weakening backlight and strong light environment, clarity, fidelity and the visibility of image are improved.
In another preferred example, intelligent inspection robot includes ultraviolet detector, and ultraviolet detector is set for detecting
Standby fault of construction and surface partial discharge phenomenon.
In another preferred example, ultraviolet detector is ultraviolet imager.
In another preferred example, intelligent inspection robot includes rail system, and rail system includes track motion platform, fortune
Autocontrol system and robot body, kinetic control system control robot body move on track motion platform.
In another preferred example, vertical rail is mounted on the wall surface of the valve Room.
In another preferred example, robot body carries out horizontal tilt rotation by holder, to realize to current conversion station
A wide range of details inspection.
In another preferred example, the teletransmission of data is realized between robot body and backstage using optic fiber beam sensor mode
With the remote control of order.
In another preferred example, track motion platform is equipped with synchronous belt and slide, and synchronous belt drives slide movement, and slide
On auxiliary control case and detection components are installed.
In another preferred example, intelligent inspection robot includes communication and interference preventer, communication and interference preventer packet
Include electromagnetic shielding ventilation waveguide, electromagnetic shielding connector and conducting foam.
In another preferred example, intelligent inspection robot includes warning device, when detecting that equipment breaks down, alarm
Equipment provides warning information.
It should be understood that in the scope of the utility model, above-mentioned each technical characteristic of the utility model and (strictly according to the facts below
Apply example) in specifically describe each technical characteristic between can be combined with each other, to form a new or preferred technical solution.Limit
In length, not repeated them here.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art does and simply introduces, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is the current conversion station intelligent inspection system network architecture structure schematic diagram in one example of the utility model.
Fig. 2 is the low side valve Room intelligent inspection robot arrangement schematic diagram in one example of the utility model.
Specific implementation mode
The present inventor after extensive and in-depth study, by largely screening, develops a kind of for current conversion station for the first time
Intelligent inspection robot, the intelligent inspection robot of the utility model are rail mounted crusing robot, carry visible light camera,
The equipment such as infrared thermography and audio detection device, using entirely autonomous or remote control mode, instead of patrol officer to mainly changing
Flow device carries out inspection, monitors converter in real time, detects, can be sent out in time to the thermal defect of electrical equipment and circuit
Now, it handles, prevent major accident, complete the utility model on this basis.
Term
As used herein, term " intelligent inspection system " is the core using intelligent inspection robot as whole system；Intelligence
Energy crusing robot integrates the multiple sensors such as infrared thermography, visible light camera, highly sensitive sound pick-up, can be complete
It under the conditions of weather, is positioned by accurate independent navigation and equipment, with complete autonomous or remote control mode, completes preset
Business carries out comprehensive inspection to substation.
The utility model provides the intelligent inspection robot for current conversion station, it is a kind of intelligence with specific structure
Crusing robot.
Typically, the intelligent inspection robot of the utility model can lack showing for effective inspection means for converter station valve hall
Real, design is suitable for carrying out electrical equipment under complex electromagnetic environment the intelligent inspection robot of effective inspection.Integrated visible light,
The equipment such as infrared, sound carry out patrolling survey, in time instead of people in a manner of from remote control of advocating peace to the valve Room and Indoor DC Field equipment
The inner heat defect of discovering device, external mechanically or electrically defect.Using rail type mobile technology, realize robot in the valve Room
Vertical movement on wall surface.Using audio mode identification technology, infra-red thermal imaging detection technique, digital remote picture control
Technology, Real-Time Databases System Technique, multi-sensor information fusion technology etc. improve the degree of automation of equipment routing inspection work, ensure
The working effect of equipment routing inspection.
The major advantage of the utility model includes：
(a) intelligent inspection robot is replaced into traditional manual inspection, the inner heat defect of timely discovering device, outside
Mechanically or electrically defect；
(b) rail type mobile technology is used, realizes vertical movement of the robot on the wall surface of the valve Room；
(c) effective means for anti-jamming is used, is realized in current conversion station especially under converter station valve hall complex electromagnetic environment
Application；
(d) reliable audio and video detection technology are used, valve Room particular surroundings is applied to, improves equipment routing inspection work
The degree of automation ensures the working effect of equipment routing inspection.
Therefore, the intelligent inspection robot of the utility model can be under current conversion station complexity electromagnetic interference and particular surroundings to electricity
Effective intelligent patrol detection of gas equipment reduces operations staff's input, reduces labor intensity, improve current conversion station equipment safety it is horizontal and
Intelligent level.The utility model device anti-electromagnetic interference capability is strong, and Electro Magnetic Compatibility is high.The survey monitor of vertical track formula installation
Device people can meet the comprehensive testing requirements of stacked valve tower, realize the detection of a wide range of multi-angle.
With reference to specific embodiment, the utility model is expanded on further.It should be understood that these embodiments are merely to illustrate this
Utility model rather than limitation the scope of the utility model.In addition, attached drawing is schematic diagram, therefore utility model device and set
Standby is not limited by the size or ratio of the schematic diagram.
It should be noted that in the claim and specification of this patent, such as first and second or the like relationship
Term is only used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying
There are any actual relationship or orders between these entities or operation.Moreover, the terms "include", "comprise" or its
Any other variant is intended to non-exclusive inclusion so that including the processes of a series of elements, method, article or
Equipment includes not only those elements, but also includes other elements that are not explicitly listed, or further include for this process,
Method, article or the intrinsic element of equipment.In the absence of more restrictions, being wanted by what sentence " including one " limited
Element, it is not excluded that there is also other identical elements in the process, method, article or apparatus that includes the element.
Embodiment
The intelligent inspection robot of the present embodiment is carried out based on current conversion station intelligent inspection system.As shown in Figure 1, the change of current
Intelligent inspection system of standing can be divided into two layers, respectively base station layer and terminating layer.Base station layer is by background computer and intelligent control and analysis
Software forms；Terminating layer is devices or the equipment such as track machine people and fixed thermal infrared imager in the valve Room.Communication is by network
Interchanger, the communications cable are realized.Crusing robot and fixed thermal infrared imager pass through wired mode and base station layer Ethernet
Equipment connects, and realizes the communication with backstage.
Intelligent inspection system monitors obtained facility information and can be interacted with SCADA system in station, by equipment operation exception
Situation is uploaded to SCADA system.In addition, intelligent patrol detection information can also be uploaded to Operation and Maintenance Center in station, realized in Operation and Maintenance Center
Cross-region remote command, control and monitoring intelligent inspection robot.
The intelligent inspection robot for current conversion station of the present embodiment includes audio detection device, visible light and infrared inspection
Survey device, image-enhancing equipment, ultraviolet detector, rail system, communication and interference preventer and warning device.Wherein,
Valve Room mount scheme is as shown in Figure 2.
Audio detection device includes that sound pick-up, noise reducing apparatus and sound stage process handling equipment, sound pick-up are configured at robot
On platform, the sound for acquiring running equipment, and send collected sound to noise reducing apparatus.Because valve Room environment is complicated,
Audio detection need to consider that the ambient noise of voice data is rejected and voice characteristics data extracts and analysis, and noise reducing apparatus is to acquisition
The sound arrived carries out single treatment, weakens its noise and noise, and sound sends acoustic processing control device to by treated.
In addition, when carrying out double-directional speech, the equipment inside the valve Room can send out some noises, influence to stressing results, it is therefore desirable to consider
Noise reduction.Acoustic processing control device carries out secondary analysis processing to collected sound, passes through the time domain and frequency domain point to sound
Analysis, and comparative apparatus abnormal sound feature, identification equipment internal abnormality, and it is incorporated in the equipment voice data of valve Room field calibration
Secure threshold realizes the automatic detection to equipment audio, the operating status of last output equipment.
The video information of valve Room crusing robot automatic checkout equipment is essentially from two kinds of sensors：Visible light camera and
Thermal infrared imager.Wherein, it is seen that light images the appearance of machine testing valve Room equipment, mainly in collecting device information on daytime, by right
The equipment image of acquisition is analyzed, and judges the state of equipment, to replace manual site to make an inspection tour；Thermal infrared imager predominantly detects
The thermal defect of valve Room equipment, by being acquired to valve Room device temperature, the temperature of real-time judge equipment, for the part at night
Equipment can also be handled by infrared chart processing equipment, detection device state.
Valve Room environment is larger by extraneous light change, the extraneous interference for falling into abnormal object etc., meeting in image acquisition process
There is the problem of the image irradiation unevenness caused by ambient lighting is bad or the unequal reason of body surface daylighting, therefore needs to consider
Valve Room complex environment image enhancement technique adds image-enhancing equipment, image-enhancing equipment is used to improve the clarity of image,
Make image that there is higher color fidelity, significantly increases the visibility of detailed information in the domain of dark picture areas.In Power Robot
During inspection, the image under backlight state, the aerial region in day is partially bright, and the overall intensity of equipment is partially dark, is unfavorable for equipment
Therefore the identification of state under the premise of keeping original light environment, in the case of the gray scale for not changing background, can pass through image
Enhancing equipment lifting equipment institute in the picture region come improve the two contrast.For picture quality when strong light under the environment of the valve Room
The problem of decline, can use the strong light hypograph Enhancement Method based on guiding filtering by image-enhancing equipment.For dim light feelings
Under condition, image-enhancing equipment can analyze low light image histogram, by image equipment region and background area detach, utilize figure
As histogram is adjusted contrast.
Valve Room equipment will appear fault of construction or surface partial discharge phenomenon with the reduction of insulation performance, in shelf depreciation
A large amount of ultraviolet lights will be radiated in the process.Robot can configure ultraviolet detector, such as：Imager records corona and surface
The ultraviolet light radiated in discharge process, then processing analysis is carried out, valuator device situation prevents equipment significant trouble.
Rail system includes track motion platform, kinetic control system and robot body.Valve tower equipment in the valve Room compared with
Height, in order to meet detection range, the detection visual angle ensured, the level that Robot vertical rail runs and passes through holder up and down
Pitching rotates, to realize a wide range of details inspection to converter valve.
On the track installation valve Room wall surface of Fa Ting robots, when site layout project, according to the detection of the valve Room it needs to be determined that track
Installation site.There are synchronous belt and slide, synchronous belt that slide is driven to move up and down on track, auxiliary control case and correlation are installed on slide
Detection components.For synchronous pulley in synchronous wheeled box, synchronous wheeled box is mounted on the upper and lower ends of track；Synchronization at one end
Retarder and servo drive motor are installed on belt wheel, form orbital drive system.Synchronous belt is mounted in track with synchronous pulley cooperation
In the slot of proximate matter, slide is mounted on profiled rail, is realized and is oriented to by profiled rail, and be fixedly connected with synchronous belt, same
It walks and realizes up and down motion under the drive of band.
To ensure high Electro Magnetic Compatibility and anti-valve Room electromagnetic interference, the communication in the valve Room between crusing robot and backstage
Wireless telecommunications are no longer used, but use optic fiber beam sensor mode, realize the remote control of teletransmission and the order of data.
In addition, electromagnetic environment is complicated in the valve Room, it is mounted on the kinetic control system critical component such as control cabinet etc. in the valve Room, is removed
Meet outside cooling requirements, electromagnetic shielding requirements must be met, electromagnetic Compatibility Design need to be considered in structure design.Control cabinet leads to
Increase electromagnetic shielding ventilation waveguide at air holes, electromagnetic shielding connector is installed on connector pinboard, it is whole to improve control cabinet
Capability of electromagnetic shielding；Case lid edge surrounding is bonded conducting foam, is pressed into contact with the surrounding of babinet, is formed good electrically continuous
Property, enhance effectiveness.
If detecting, the equipment in current conversion station is in abnormality, and warning message can be provided by warning device, notice
Related personnel is handled as early as possible.
The intelligent inspection robot of the present embodiment has the following method of operation：
A) autonomous inspection：Operations staff according to monitoring time, period, target, type (infrared, visible light etc.) flexibly into
Row task customizes, and robot carries out automatic detecting according to customized task；After reaching setting time, robot can be carried out along track
It is automatic to make an inspection tour, after accurately being stopped according to the place originally set, instrument is directed at equipment to be checked automatically and is detected.
B) inspection is pinpointed：Operations staff's selected section equipment carries out inspection, and system executes fixed point task automatically；
C) it is remotely controlled inspection：Operations staff executes patrol task by backstage manual control interface, control robot.
The intelligent inspection robot of the present embodiment is with the following functions：
A) detection function
1. by the appearance for detecting primary equipment in online visible camera；
2. detecting the thermal defect of primary equipment by online thermal infrared imager；
3. application image processing and mode identification technology realize the accurate positionin of equipment region on image；Automatic disconnecting link opening and closing
State；Automatic identification meter reading, oil level indicator position etc.；
4. detecting the noise analysis in converter valve and the valve Room by online audio collecting device.Mobile robot can acquire existing
Field sound is transmitted to backstage and plays, and is compared by audio, is analyzed noise, whether automatic decision is normal；
5. can be with detection device shelf depreciation situation by online ultraviolet imager.
B) automatic cruising function
1. by planning in advance for task, automatic traveling in orbit；
2. being stopped automatically in the position planned in advance；
3. adjust automatically holder detects valve Room equipment.
C) it analyzes and alarms
1. the intellectual analysis and automatic alarm of equipment fault or defect；
2. automatically generating the reports such as infrared measurement of temperature, equipment-patrolling, statement form can be customized by user, and it is automatic on deliver letters breath
Unified platform；
3. providing the auxiliary system of equipment fault cause analysis and solution scheme by device class, equipment infrared image is provided
The failure of patrol officer's discriminating device is assisted in library.
D) control function
1. equipment routing inspection personnel can carry out tour control in monitoring backstage；
2. can be manually controlled to robot body, holder, infrared and visible camera；
3. realizing local and the remote operation of current conversion station equipment-patrolling；
4. being combined with sequence control system, indirect labor realizes the check of switch, switch operation front and back position.
It is incorporated herein by reference in all documents that the utility model refers to, just as each document quilt
It is individually recited as reference.In addition, it should also be understood that, after having read the above-mentioned instruction content of the utility model, this field skill
Art personnel can make various changes or modifications the utility model, and such equivalent forms equally fall within the application appended claims
Book limited range.
Claims (10)
1. a kind of intelligent inspection robot for current conversion station, which is characterized in that the intelligent inspection robot includes audio inspection
Device is surveyed, the audio detection device includes sound pick-up, noise reducing apparatus and sound stage process handling equipment, wherein the sound pick-up
It is connect with the noise reducing apparatus signal, the noise reducing apparatus is connect with the acoustic processing control device signal；
The sound pick-up acquires the sound of the change of current station equipment, and sends collected sound to the noise reducing apparatus；
The noise reducing apparatus carries out single treatment to collected sound, weakens its noise and noise, and sound transmits by treated
To the acoustic processing control device；The acoustic processing control device carries out secondary analysis processing to collected sound, and
Export the operating status of the equipment.
2. intelligent inspection robot as described in claim 1, which is characterized in that the intelligent inspection robot includes visible light
And the video information of infrared detecting device, the visible light and infrared detecting device for acquiring and analyzing current conversion station, packet
Include visible light camera and thermal infrared imager, wherein the visible light camera is used to detect the appearance of the equipment, described red
Outer thermal imaging system is used to detect the thermal defect of the equipment.
3. intelligent inspection robot as claimed in claim 2, which is characterized in that the visible light and infrared detecting device packet
Include image-enhancing equipment, described image enhancing equipment is used to weaken the influence of backlight and strong light environment, improve image clarity,
Fidelity and visibility.
4. intelligent inspection robot as described in claim 1, which is characterized in that the intelligent inspection robot includes ultraviolet inspection
Device is surveyed, the ultraviolet detector is used to detect the fault of construction and surface partial discharge phenomenon of the equipment.
5. intelligent inspection robot as described in claim 1, which is characterized in that the intelligent inspection robot includes track system
System, is installed on the wall surface in the valve Room, and the rail system includes track motion platform, kinetic control system and robot body,
The kinetic control system controls the robot body and is moved on the track motion platform.
6. intelligent inspection robot as claimed in claim 5, which is characterized in that the robot body carries out water by holder
Flat pitching rotation.
7. intelligent inspection robot as claimed in claim 5, which is characterized in that used between the robot body and backstage
Optic fiber beam sensor mode realizes the remote control of teletransmission and the order of data.
8. intelligent inspection robot as claimed in claim 5, which is characterized in that the track motion platform be equipped with synchronous belt and
Slide, the synchronous belt drives the slide movement, and auxiliary control case and detection components are equipped on the slide.
9. intelligent inspection robot as described in claim 1, which is characterized in that the intelligent inspection robot include communication and
Interference preventer, the communication and interference preventer include electromagnetic shielding ventilation waveguide, electromagnetic shielding connector and conductive bubble
Cotton.
10. intelligent inspection robot as described in claim 1, which is characterized in that the intelligent inspection robot includes alarm
Equipment, when detecting that the equipment breaks down, the warning device provides warning information.
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| CN201820300437.0U CN207835156U (en) | 2018-03-05 | 2018-03-05 | Intelligent inspection robot for current conversion station |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109297544A (en) * | 2018-11-27 | 2019-02-01 | 怀化市中三源电子有限公司 | Detection device is used in a kind of production and processing of magnet ring |
| CN109580109A (en) * | 2018-12-20 | 2019-04-05 | 国网福建省电力有限公司 | A kind of method that soft straight converter valve tower cooler water leak monitors automatically |
| CN112002029A (en) * | 2020-08-24 | 2020-11-27 | 国网湖北省电力有限公司直流运检公司 | Intelligent inspection system for convertor station |
| CN112116209A (en) * | 2020-08-25 | 2020-12-22 | 国网福建省电力有限公司检修分公司 | Method for judging working state of valve module through surface temperature and ultrahigh frequency data |
| CN112304364A (en) * | 2020-09-24 | 2021-02-02 | 许继集团有限公司 | Panoramic inspection method for energy-consuming converter valve and monitoring device for energy-consuming converter valve |
| CN112489239A (en) * | 2020-09-09 | 2021-03-12 | 北京潞电电气设备有限公司 | Inspection system |
| CN112781721A (en) * | 2021-01-12 | 2021-05-11 | 国家电网有限公司 | Inspection platform, intelligent noise acquisition device and use method of inspection platform |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109297544A (en) * | 2018-11-27 | 2019-02-01 | 怀化市中三源电子有限公司 | Detection device is used in a kind of production and processing of magnet ring |
| CN109580109A (en) * | 2018-12-20 | 2019-04-05 | 国网福建省电力有限公司 | A kind of method that soft straight converter valve tower cooler water leak monitors automatically |
| CN112002029A (en) * | 2020-08-24 | 2020-11-27 | 国网湖北省电力有限公司直流运检公司 | Intelligent inspection system for convertor station |
| CN112116209A (en) * | 2020-08-25 | 2020-12-22 | 国网福建省电力有限公司检修分公司 | Method for judging working state of valve module through surface temperature and ultrahigh frequency data |
| CN112489239A (en) * | 2020-09-09 | 2021-03-12 | 北京潞电电气设备有限公司 | Inspection system |
| CN112304364A (en) * | 2020-09-24 | 2021-02-02 | 许继集团有限公司 | Panoramic inspection method for energy-consuming converter valve and monitoring device for energy-consuming converter valve |
| CN112781721A (en) * | 2021-01-12 | 2021-05-11 | 国家电网有限公司 | Inspection platform, intelligent noise acquisition device and use method of inspection platform |
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