CN207896741U - A kind of intelligent substation inspection system - Google Patents

Abstract

The utility model discloses an intelligent inspection system for substations. The system includes a local monitoring master station, a data communication system and a mobile inspection body system. The local monitoring master station communicates with the inspection body mobile system through the data communication system; The body mobile system includes inspection robots and auxiliary equipment. The inspection robot includes robot main body, chassis, robot controller, navigation and positioning mechanism and charging mechanism; a ring groove is arranged above the robot body, and a spring is arranged in the ring groove. There is a platform with a turntable on the platform, a bracket on the turntable, a detection component on the bracket, a platform retractable device inside the robot body, and anti-collision devices on the front, back, left and right sides of the robot body. The device; the auxiliary equipment includes a T-shaped support frame and a sensor module arranged on the support frame, and the sensor module communicates with the data communication system through the WIFI module.

Description

A substation intelligent inspection system

technical field

The utility model belongs to the field of substation inspection, in particular to an intelligent inspection system for a substation.

Background technique

The substation is the core of the entire power grid, and ensuring the safe operation of power equipment has become the top priority of power management. With the continuous deepening of the State Grid Corporation's "three sets and five major" system reforms, under the background of major overhauls, the unattended substation mode has been further promoted, and the integration of operation and maintenance has put forward higher requirements for the operation and maintenance of substations. In daily operation and maintenance work, equipment inspection is the basic work. The main task of equipment inspection is to check the operation status, pressure, temperature, appearance and other aspects of primary and secondary substation equipment, so as to find equipment defects in time and prevent equipment from appearing in a "sub-healthy" state. The traditional on-site manual inspection method mainly relies on the on-duty personnel to enter the equipment area of the substation and use experience, senses and related testing equipment to judge the condition of the equipment in operation. Affected by objective factors such as weather conditions and observation and recording methods, it is no longer able to meet the current situation of fewer people at the station after the reform of the "three episodes and five majors" and the society's higher requirements for power supply quality.

In recent years, with the development of electric power detection technology, the patrol operation mode of substation equipment has been continuously expanded. Taking the common handheld infrared temperature measurement technology and video monitoring technology as examples, infrared temperature measurement technology is a fast, easy and very effective The method of determining the failure of electrical equipment, due to its strong professionalism, has high requirements for operators, and cannot be normalized, standardized and standardized. In addition, during peak power consumption, especially in high temperature seasons, the task of infrared temperature measurement is extremely difficult. Heavy, poor working environment and high workload. However, the video surveillance system, due to various conditions, has a large monitoring blind spot, and it is difficult to truly meet the requirements of all-round coverage of video surveillance. At the same time, due to the complexity of the system, the large number of cameras, and the heavy workload of installation and wiring, the failure rate is relatively high. , Difficult to maintain. To sum up, how to design a substation equipment system based on inspection robots is still a technical problem to be solved.

Utility model content

In order to overcome the deficiencies of the prior art above, the utility model provides an intelligent substation inspection system, which uses an inspection robot to conduct automatic unmanned inspections of substation equipment, and transmits the images of substation power equipment to the local monitoring host in real time, avoiding It eliminates the inconvenient, missed and wrong detection of information during the inspection process, improves the efficiency and quality of inspections, reduces the operation and maintenance costs of power companies, reduces the labor force of front-line operators, and promotes intelligent substations and unattended substations building.

The technical scheme adopted in the utility model is:

An intelligent inspection system for substations, including a local monitoring master station, a data communication system, and a mobile inspection body system, the local monitoring master station is used to issue inspection tasks to the inspection body mobile system and receive inspection body mobile system The information collected; the data communication system is responsible for the information communication between the local monitoring master station and the mobile system of the inspection body; the mobile system of the inspection body includes an inspection robot and auxiliary equipment for collecting state information of substation equipment. The inspection robot includes a robot main body, a chassis connected to the bottom of the robot main body, a robot controller arranged in the robot main body, a navigation positioning mechanism arranged on the robot main body, and a charging mechanism arranged on the side of the robot body. The wireless transmission module communicates with the data communication system; a ring groove is arranged above the robot body, a spring is arranged in the ring groove, a platform is arranged on the spring, a turntable is arranged on the platform, and a turntable is set on the turntable There is a bracket, and the detection component for collecting the status information of the substation equipment is set on the bracket. The platform retractable device for controlling the rise and fall of the platform is set in the robot body, and the front, rear, left and right sides of the robot body are respectively set. Anti-collision device; the auxiliary equipment includes a T-shaped support frame and a sensor module arranged on the support frame for collecting ambient temperature, humidity and wind speed data, and the sensor module communicates with the data communication system through a WIFI module.

Further, the platform retractable device includes a control cable, a take-up wheel, a motor, an upper balance bar, a lower balance bar, and a drive gear for the balance bar. One end of the control cable is fixedly connected to the bottom of the platform, and the other end is wound around the take-up line. On the wheel, the take-up wheel is connected and driven by a motor, an upper balance bar is provided above the balance bar drive gear, and a lower balance bar is provided below the balance bar drive gear; the balance bar drive gear and the take-up wheel are connected by a shaft .

Further, the anti-collision device includes an anti-collision bar, the outer part of the anti-collision bar is connected with a sleeve rod, the inner end of the anti-collision bar is connected with one end of a compression spring, and the other end of the compression spring is connected with a top block, the top block The block rests against a pressure sensor mounted on the bottom of the sleeve rod; the pressure sensor is connected to the robot controller, which is connected to an impact alarm device.

Further, the detection component includes a high-definition camera, an infrared thermal imager, a pickup, a speaker, and an infrared temperature measurement module, and the high-definition camera, an infrared thermal imager, a pickup, a speaker, and an infrared temperature measurement module are respectively connected to the robot controller.

Further, the charging mechanism includes a transmission motor, a lead screw, a lead screw slider, a transmission rod, a baffle and a charging brush, one end of the screw rod is connected to the output shaft of the transmission motor, and the other end is connected to the The baffle is connected, and the lead screw can rotate relative to the baffle, and the lead screw slider is sleeved on the lead screw; the transmission rod is arranged parallel to the lead screw, and the transmission rod One end is connected to the lead screw slider, and the other end is connected to the charging brush through the baffle plate; when the lead screw rotates, the lead screw slider moves axially along the lead screw and passes through the The transmission rod pushes the charging brush to move; the charging brush includes a positive electrode of the brush, a negative electrode of the brush and a connecting plate, and the positive electrode of the brush and the negative electrode of the brush are arranged on the connecting plate at intervals through a compression spring. side; the other side of the connecting plate is connected with the transmission rod.

Further, the inner cavity of the robot body is also provided with a cooling fan, and the chassis is provided with an air inlet, and the air inlet communicates with the inner cavity of the robot body, and is connected with the fan in the inner cavity of the robot main body. The position opposite to the fan is provided with an air outlet.

Further, the lower end of the main body of the robot is provided with four wheels, the two front wheels are driving wheels, and each driving wheel is independently connected to a driving motor, and the driving motor is connected to a motor controller through a motor driver, and the motor controller Connect with robot controller.

Further, the navigation and positioning mechanism includes a magnetic sensor group, an RFID sensor, and an ultrasonic sensor arranged on the robot body, and the magnetic sensor group is used to collect corresponding trajectory information and transmit it to the motor controller; the RFID sensor uses It is used to collect ID tag information and transmit it to the robot controller; the ultrasonic sensor is used to collect the obstacle situation in the robot's motion path and transmit it to the motor controller.

Further, the local monitoring master station is composed of a local monitoring host and a database server, the local monitoring host is used to receive and store the information collected by the inspection robot, and at the same time call the information in the database server and the received information collected by the inspection robot The information is compared to determine the operating status of the substation.

Further, the data communication system includes a network switch, a wireless bridge base station and a wireless bridge mobile station, the wireless bridge mobile station communicates with the inspection robot and auxiliary equipment through the network switch, and the wireless bridge base station communicates with the The wireless bridge mobile station is connected through a wireless network, and the wireless bridge base station communicates with a local monitoring host through a network switch.

Compared with the prior art, the beneficial effects of the utility model are:

(1) The utility model adopts the inspection robot to carry out automatic unmanned inspection of the substation equipment, and transmits the image of the substation power equipment to the local monitoring host in real time, avoiding the situation that the information is not fast, missed inspection, and wrong inspection during the inspection process , avoiding the harm to the staff in the harsh environment, improving the efficiency and quality of inspections, reducing the operation and maintenance costs of power companies, reducing the labor force of front-line operators, and promoting the construction of intelligent substations and unattended substations;

(2) The utility model effectively improves the position of the detection component through the platform retractable device, thereby realizing a certain height of shooting, solving the problems of visual dead angle and monitoring blind area, improving the inspection effect, and the inspection robot does not work , the position of the detection component will be lowered, which is convenient for storage and transportation;

(3) The navigation and positioning mechanism proposed by the utility model uses the magnetic sensor group to collect the navigation information of the robot, which becomes the basis for the navigation of the robot in automatic mode, and collects the ID tag information through the RFID sensor as the basis for the positioning of the robot's docking detection point. Obtain the obstacles in the robot's movement path through sensory information, and provide corresponding basis for the robot to avoid obstacles;

(4) The robot charging mechanism proposed by the utility model has the advantages of simple structure, convenient assembly, safety and reliability, and stable transmission performance; the charging brush can be kept stable during the moving process, and the charging connector will not shake when it extends out of the robot body for charging.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application, and do not constitute improper limitations to the present application.

Fig. 1 is a block diagram of the overall structure of the substation intelligent inspection system disclosed in the embodiment of the present invention;

Fig. 2 is a schematic structural diagram of the platform retractable device disclosed in the embodiment of the present invention;

Fig. 3 is a structural schematic diagram of the anti-collision device disclosed in the embodiment of the present invention;

Fig. 4 is a schematic structural diagram of the charging mechanism disclosed in the embodiment of the present invention;

Among them, 1. Local monitoring master station, 11. Local monitoring host, 12. Database server, 2. Data communication system, 21. Network switch, 22. Wireless bridge mobile station, 23. Wireless bridge base station, 3. Inspection Robot, 31, robot controller, 32, wireless communication module, 33, charging mechanism, 331, transmission motor, 332, lead screw, 333, lead screw slider, 334, baffle plate, 335, transmission rod, 336, electric brush Positive pole, 337, brush negative pole, 338, connecting plate, 34, detection component, 341, high-definition camera, 342, infrared thermal imager, 343, pickup, 344, speaker, 345, infrared temperature measurement module, 35, motor controller , 36. Navigation and positioning mechanism, 361. RFID sensor, 362. Magnetic sensor group, 363. Ultrasonic sensor, 37. Motor driver, 38. Driving motor, 39. Driving wheel, 4. Auxiliary equipment, 41. Temperature sensor, 42, Humidity sensor, 43, wind speed sensor, 44, WIFI module, 5, robot body, 51, ring groove, 52, spring, 53, platform, 54, turntable, 55, bracket, 56, balance bar drive gear, 57, upper balance Bar, 58, lower balance bar, 59, take-up wheel, 60, motor, 61, control guy wire, 62, anti-collision bar, 63, sleeve bar, 64, compression spring, 65, top block.

Detailed ways

It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

In a typical implementation of the present application, as shown in FIG. 1 , a substation intelligent inspection system is provided, which includes a local monitoring master station 1 , a data communication system 2 and an inspection object moving system.

The local monitoring master station 1 is composed of a local monitoring host 11 and a database server 12, and is used to issue patrol inspection tasks and receive information collected by the patrolling body mobile system; the local monitoring host 11 and database The server 12 is connected; the local monitoring host 11 is used to receive and store the information collected by the inspection body mobile system, and simultaneously call the information in the database server in real time to compare with the received information collected by the inspection body mobile system to judge the operation of the substation state;

Described data communication system 1 comprises network switchboard 21, wireless network bridge base station 23 and wireless network bridge mobile station 22, is used for being responsible for the information communication of local monitoring main station and patrol body mobile system; Described wireless network bridge mobile station 22 passes The network switch 21 communicates with the inspection robot 3 and the auxiliary equipment 4, and the wireless bridge base station 23 is connected with the wireless bridge mobile station 22 through a wireless network, and the wireless bridge base station 23 communicates with the local monitoring host 11 through the network switch 21 communication connection.

The inspection body moving system includes an inspection robot 3 and auxiliary equipment 4 for inspection of substation equipment.

The inspection robot 3 includes a robot main body 5. The inside of the robot main body 5 is a cavity structure. A robot controller 31 is arranged inside the robot main body. The robot controller 31 communicates with the data communication system 2 through a wireless communication module 32. Communication connection; As shown in Figure 2, an annular groove 51 is provided on the top of the robot body 5, a spring 52 is arranged in the annular groove, a platform 53 is provided on the spring, and a rotating disk 54 is provided on the platform, so A bracket 55 is arranged on the turntable, and a detection component 34 for collecting the status information of the substation equipment is arranged in the bracket, and a platform retractable device for controlling the rise and fall of the platform is arranged in the robot body, and the platform retractable device includes control Backguy 61, take-up wheel 59, motor 60, upper balance bar 57, lower balance bar 58 and balance bar drive gear 56, one end of said control backguy 61 is fixedly connected with the bottom of platform 53, and the other end is wound on the take-up wheel 59 , the take-up pulley 59 is connected and driven by a motor 60, an upper balance bar 57 is provided above the balance bar drive gear 56, and a lower balance bar 58 is provided below the balance bar drive gear 56; the balance bar drive gear 56 and the take-up The wire wheel 59 is connected through a shaft; the motor 60 is connected with the robot controller 31 .

The detection assembly 34 includes a high-definition camera 341, an infrared thermal imager 342, a pickup 343, a loudspeaker 344 and an infrared temperature measurement module 345, and the high-definition camera 341, an infrared thermal imager 342, a pickup 343, a loudspeaker 344 and an infrared temperature measurement module 345 are respectively connected with the robot controller 31.

Anti-collision devices are respectively arranged on the front, back, left and right sides of the robot body. The inner end of the plunger 62 is connected with one end of a compression spring 64, and the other end of the compression spring 64 is connected with a jacking block 65, and the jacking block 65 leans against the pressure sensor, which is installed at the bottom of the sleeve rod 63; The sensor is connected to the robot controller 31, and the robot controller is connected with an impact alarm device, and the impact alarm device adopts an audible and visual alarm.

The bottom of the robot body is connected to a chassis, and the chassis is provided with an air inlet, and the air inlet is connected with the inner cavity of the robot body, and a cooling fan is also arranged in the inner cavity of the robot body. An air outlet is provided at a part of the cavity opposite to the diffuser fan. A battery pack for providing power to the robot is also arranged in the inner cavity of the robot body.

The lower end of the main body of the robot is provided with four wheels, and the front two wheels are driving wheels 39, each driving wheel 39 is independently connected to a driving motor 38, and the driving motor 38 is connected to a motor controller 35 through a motor driver 37. The motor controller 35 is connected with the robot controller 31; the motor controller 35 receives the control command of the robot controller, controls the motor driver 37 to drive the driving motor 38, thereby drives the driving wheel 39 to rotate, and the rear wheel follows the movement.

On the robot body, a navigation positioning mechanism 36 is also provided, and the navigation positioning mechanism includes a magnetic sensor group 362, an RFID sensor 361 and an ultrasonic sensor 363 arranged on the robot body, and the magnetic sensor group 362, the RFID sensor 361 and the ultrasonic sensor 363 are respectively connected with the robot controller; the magnetic sensor group 362 is used to collect corresponding trajectory information, thereby realizing the collection of the navigation information of the robot, and sending it to the motor controller 35; The eight magnetic sensors on the front side detect the corresponding trajectory information through the eight magnetic sensors and transmit it to the motor controller; the RFID sensor 631 is used to collect ID tag information and transmits it to the robot controller 31, which The stop command is issued as the basis for positioning the robot's stop detection point; the ultrasonic sensor 363 is used to collect the obstacle situation in the robot's motion path, and transmit it to the motor controller 35, so as to achieve the purpose of stopping the obstacle.

As shown in Figure 4, a charging mechanism 33 is also provided on the upper side of the robot body, and the charging mechanism includes a transmission motor 331, a leading screw 332, a leading screw slider 333, a transmission rod 335, a baffle plate 334 and a charging brush, The transmission motor 331 is connected with the robot controller, one end of the screw rod 332 is connected with the output shaft of the transmission motor 331, and the other end is connected with the baffle plate 334, and the lead screw can be opposite to the baffle plate Rotate, the screw slider 333 is sleeved on the screw 332; the transmission rod 335 is parallel to the screw 332, and one end of the transmission rod 335 is connected to the slider 333 , the other end passes through the baffle plate 334 and connects with the charging brush; when the screw 332 rotates, the screw slider 333 moves axially along the screw and is pushed by the transmission rod 335 The charging brush moves, and the transmission rod keeps the charging brush stable during the moving process, and the charging connector does not shake when extending out of the robot body for charging; the charging brush includes a brush positive pole 336, a brush negative pole 337 and a connection Plate 338, the brush positive pole 336 and the brush negative pole 337 are arranged on one side of the connecting plate 338 in parallel and spaced through compression springs; the other side of the connecting plate 338 is connected with the transmission rod 335; the brush The positive pole and the brush negative pole are respectively connected to the battery pack.

The auxiliary equipment 4 includes a T-shaped support frame and a sensor module arranged on the support frame for collecting ambient temperature, humidity and wind speed data. The sensor module includes a temperature sensor 41, a humidity sensor 42 and a wind speed sensor 43. The sensor module communicates with the data communication system through the WIFI module 44, and transmits the collected environmental data to the local monitoring host 11 through the data communication system.

As shown in Figure 1, when the substation intelligent inspection system proposed by the embodiment of the utility model is used, the inspection robot walks along the auxiliary magnetic track inspection line. After the RFID sensor collects the ID tag information set on the substation equipment , indicating that the robot has arrived at the corresponding position, the robot controller sends a control command to the motor controller, the motor controller controls the robot to stop at the corresponding position, the platform rises, and the visible light and infrared images of the substation equipment are collected by the visible light camera and infrared camera , using the infrared temperature measurement module to measure the temperature of the equipment, the robot controller transmits the collected images and temperature information to the local monitoring host through the wireless communication module and the data communication system, and the local monitoring host calls the information in the database server and receives the inspection robot to collect The information is compared to determine the operating status of the substation; after the inspection robot completes the inspection, the platform descends, and the inspection robot moves along the auxiliary magnetic track inspection line to the next substation equipment to be inspected.

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (10)

1. A substation intelligent inspection system is characterized in that it includes a local monitoring master station, a data communication system and a mobile system for patrolling inspection bodies, and the local monitoring master station is used to issue inspection tasks and Receive the information collected by the mobile system of the inspection body; the data communication system is responsible for the information communication between the local monitoring master station and the mobile system of the inspection body; the mobile system of the inspection body includes an inspection robot for collecting status information of substation equipment and Auxiliary equipment, the inspection robot includes a robot main body, a chassis connected to the bottom of the robot main body, a robot controller arranged in the robot main body, a navigation positioning mechanism arranged on the robot main body and a charging mechanism arranged on the side of the robot body, The robot controller communicates with the data communication system through a wireless transmission module; a ring groove is arranged above the robot body, a spring is arranged in the ring groove, a platform is arranged on the spring, and a turntable is arranged on the platform , the turntable is provided with a bracket, the bracket is provided with a detection component for collecting the status information of the substation equipment, and a platform retractable device for controlling the rise and fall of the platform is provided in the robot body, and the front, rear, left and right sides of the robot body are and the right side are respectively provided with anti-collision devices; the auxiliary equipment includes a T-shaped support frame and a sensor module arranged on the support frame for collecting ambient temperature, humidity and wind speed data, and the sensor module communicates with the data through the WIFI module System communication connection. 2. The substation intelligent inspection system according to claim 1, wherein the platform retractable device includes a control cable, a take-up wheel, a motor, an upper balance pole, a lower balance pole and a balance pole drive gear, and the One end of the control cable is fixedly connected to the bottom of the platform, and the other end is wound on the take-up wheel. The take-up wheel is connected and driven by a motor. There is an upper balance bar above the balance bar drive gear, and a lower balance bar below the balance bar drive gear. A balance bar; the drive gear of the balance bar is connected with the take-up wheel through a shaft. 3. The substation intelligent inspection system according to claim 1, wherein the anti-collision device comprises an anti-collision bar, the outer part of the anti-collision bar is connected with a sleeve rod, and the inner end of the anti-collision bar is connected with a Compress one end of the spring, and the other end of the compression spring is connected with a top block, the top block leans against the pressure sensor, and the pressure sensor is installed at the bottom of the sleeve rod; the pressure sensor is connected to the robot controller, and the robot controller is connected to an impact sensor. alarm system. 4. The substation intelligent inspection system according to claim 1, wherein the detection components include a high-definition camera, an infrared thermal imager, a pickup, a loudspeaker and an infrared temperature measurement module, and the high-definition camera, an infrared thermal imager , pickup, loudspeaker and infrared temperature measurement module are respectively connected with the robot controller. 5. The substation intelligent inspection system according to claim 1, characterized in that, the charging mechanism includes a transmission motor, a lead screw, a lead screw slider, a transmission rod, a baffle and a charging brush, and the lead screw One end is connected to the output shaft of the transmission motor, the other end is connected to the baffle, and the lead screw can rotate relative to the baffle, and the lead screw slider is sleeved on the lead screw; The transmission rod is arranged parallel to the lead screw, and one end of the transmission rod is connected to the lead screw slider, and the other end passes through the baffle to connect with the charging brush; when the lead screw rotates, the The lead screw slider moves axially along the lead screw, and pushes the charging brush to move through the transmission rod; the charging brush includes a positive pole of the brush, a negative pole of the brush and a connecting plate, and the positive pole of the brush The negative pole of the brush is arranged on one side of the connecting plate at intervals in parallel with the compressed spring; the other side of the connecting plate is connected with the transmission rod. 6. The substation intelligent inspection system according to claim 1, wherein a cooling fan is also arranged in the inner cavity of the robot body, and an air inlet is arranged on the chassis, and the air inlet is connected with the inner cavity of the robot body. The cavity is connected, and an air outlet is provided at a position opposite to the heat dissipation fan in the inner cavity of the main body of the robot. 7. The substation intelligent inspection system according to claim 1, characterized in that, the lower end of the robot main body is provided with four wheels, the front two wheels are driving wheels, and each driving wheel is independently connected to a driving motor, so The driving motor is connected to a motor controller through a motor driver, and the motor controller is connected to a robot controller. 8. The substation intelligent inspection system according to claim 1, wherein the navigation and positioning mechanism includes a magnetic sensor group, an RFID sensor and an ultrasonic sensor arranged on the robot body, and the magnetic sensor group is used to collect corresponding The trajectory information of the robot is sent to the motor controller; the RFID sensor is used to collect ID tag information and sent to the robot controller; the ultrasonic sensor is used to collect the obstacle situation in the robot’s motion path and send it to the motor controller. 9. The substation intelligent inspection system according to claim 1, wherein the local monitoring master station is composed of a local monitoring host and a database server, and the local monitoring host is used to receive and store the information collected by the inspection robot At the same time, the information in the database server is called to compare with the received information collected by the inspection robot to judge the operation status of the substation. 10. The substation intelligent inspection system according to claim 1, wherein the data communication system includes a network switch, a wireless bridge base station and a wireless bridge mobile station, and the wireless bridge mobile station communicates with the network switch through the network switch. The inspection robot is connected to the auxiliary equipment in communication, the wireless bridge base station is connected to the wireless bridge mobile station through a wireless network, and the wireless bridge base station is connected to the local monitoring host through a network switch.