CN215870916U - Low-burden and high-efficiency intelligent substation inspection system - Google Patents
Low-burden and high-efficiency intelligent substation inspection system Download PDFInfo
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- CN215870916U CN215870916U CN202122142755.3U CN202122142755U CN215870916U CN 215870916 U CN215870916 U CN 215870916U CN 202122142755 U CN202122142755 U CN 202122142755U CN 215870916 U CN215870916 U CN 215870916U
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- 238000007689 inspection Methods 0.000 title claims abstract description 102
- 238000004891 communication Methods 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000001931 thermography Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009125 negative feedback regulation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model relates to a low-burden and high-efficiency intelligent substation inspection system which comprises an inspection robot, a plurality of positioning base stations and an upper computer, wherein the inspection robot comprises an inspection trolley, the inspection trolley is provided with a controller, a navigation module, a sensing module, wireless communication equipment and an RFID reader, the navigation module, the sensing module, the wireless communication equipment and the RFID reader are connected with the controller, the controller controls the inspection robot to travel along a preset inspection path through the navigation module, the positioning base stations are correspondingly arranged around each piece of equipment near the inspection path one by one, each positioning base station comprises an RFID tag and a ZigBee terminal node connected with the RFID tag, and the RFID tag stores equipment information of the corresponding equipment. Compared with the prior art, the utility model has the advantages of high efficiency, light memory burden, high reliability and the like.
Description
Technical Field
The utility model relates to a transformer substation inspection technology, in particular to a low-burden and high-efficiency transformer substation intelligent inspection system.
Background
With the rapid development of the robot industry, the daily equipment inspection of the transformer substation tends to be intelligent. A transformer substation inspection robot is a mobile robot applied to special operation of a transformer substation. Through searching for data and visiting the transformer substation, the current transformer substation inspection task mainly depends on manpower, most of detection modes depend on experience of workers, and certain accuracy and safety are lacked. Because the transformer substation is large in field, only manual inspection is needed, the required time is long, and the efficiency is low. In order to reduce the labor force and obtain the equipment information more quickly and efficiently, the robot is introduced to participate in the routine inspection task of the transformer substation. Nowadays, the transformer substation inspection robot has already been put into some transformer substations to assist the staff to accomplish the daily task of patrolling and examining, and its function summarization is: the method comprises the steps of map construction, path planning, autonomous positioning, intelligent detection and data transmission.
The robot is patrolled and examined to current transformer substation, adopt magnetic navigation more often, lay the magnet wire on ground, make and patrol and examine the robot along the magnet wire motion, the flexibility is poor, it is big and with high costs to lay the degree of difficulty, the transformer substation patrols and examines the detection form singleness of the equipment that the robot carried, often can only acquire the simple natural light image of equipment, it is single to patrol and examine the function, make equipment failure diagnosis's accuracy and reliability lower, the monitoring data of patrolling and examining the robot collection is usually saved locally, accomplish once only to patrol and examine the back and once upload, low efficiency, the storage burden of patrolling and examining the robot is heavy, the ageing of monitoring data has been reduced simultaneously, can't in time discover equipment trouble and solve, the security is poor.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide the intelligent substation inspection system with low burden and high efficiency, light memory burden and high reliability.
The purpose of the utility model can be realized by the following technical scheme:
a low-burden and high-efficiency intelligent substation inspection system comprises an inspection robot, a plurality of positioning base stations and an upper computer, wherein the inspection robot comprises an inspection trolley, the inspection trolley is provided with a controller, a navigation module, a sensing module, wireless communication equipment and an RFID reader, the navigation module, the sensing module, the wireless communication equipment and the RFID reader are connected with the controller, the controller controls the inspection robot to advance along a preset inspection path through the navigation module, the plurality of positioning base stations are correspondingly arranged around each piece of equipment near the inspection path one by one, each positioning base station comprises an RFID tag and a ZigBee terminal node connected with the RFID tag, the RFID tag stores equipment information of corresponding equipment, when the inspection robot is close to the equipment, the RFID reader reads the equipment information in the RFID tag through sending a radio frequency signal, and the RFID tag receives the radio frequency signal of the RFID reader and sends the radio frequency signal to the ZigBee terminal node, the ZigBee terminal node wirelessly transmits radio frequency signals to the upper computer, the sensing module comprises a plurality of types of sensors, the controller controls the sensors of corresponding types to acquire sensing information according to equipment information, and the controller wirelessly transmits the acquired sensing information to the upper computer through wireless communication equipment.
Further, the navigation module include the monocular camera, the system still include the typewriter ribbon of following the route of patrolling and examining and laying.
Furthermore, the inspection trolley comprises a bottom plate and a walking unit on the bottom plate.
Furthermore, the walking unit comprises a plurality of driving wheels arranged at the bottom side of the bottom plate, each driving wheel is correspondingly connected with a driving motor, and the driving motors are connected with the controller.
Further, the sensing module comprises an audio collector.
Furthermore, the sensing module comprises an infrared thermal imager and a monitoring camera.
Further, the inspection trolley further comprises a second steering engine holder arranged on the bottom plate.
Furthermore, infrared thermal imaging appearance and monitoring camera locate on the second steering wheel cloud platform.
Further, the inspection trolley further comprises a first steering engine holder arranged on the bottom plate, and the navigation module is arranged on the first steering engine holder.
Further, the inspection trolley further comprises an antenna, and the antenna is arranged on the bottom plate and connected with the controller.
Compared with the prior art, the utility model has the following beneficial effects:
(1) the positioning base stations are correspondingly arranged around the equipment to be monitored, when the RFID reader detects the RFID tag, the RFID reader pauses on the routing inspection path, the controller reads the equipment information in the RFID tag and selects an effective sensor to collect sensing information, the controller wirelessly transmits the acquired sensing information to the upper computer through wireless communication equipment, the step of uploading data in a centralized manner by the routing inspection robot after the routing inspection is finished is omitted, the sensing information of each equipment is uploaded step by step in real time, the monitoring timeliness and efficiency are improved, the routing inspection robot does not need to store locally, the memory burden of the routing inspection robot is greatly reduced, and the positioning base stations are suitable for substations with large area and large equipment quantity;
(2) when the upper computer receives the radio frequency signal sent by the ZigBee terminal node, the upper computer indicates that the inspection robot is positioned near the base station corresponding to the ZigBee terminal node at the moment, so that the inspection robot has a positioning function, is simple in principle, does not need additional positioning equipment, saves the layout cost and realizes the monitoring of the inspection robot;
(3) the device adopts the sensors with various detection forms to carry out multi-angle and all-around monitoring on the equipment, the accuracy of fault judgment is improved, the RFID label stores the equipment information of the corresponding equipment, different equipment needs different monitoring modes, and the controller selects an effective monitoring mode according to the equipment information, so that the generation of invalid sensing data is avoided, and the monitoring efficiency is improved;
(4) the navigation module comprises a monocular camera, the system also comprises a color ribbon laid along the routing inspection path, the controller controls the routing inspection trolley to advance along the laying direction of the color ribbon by using a visual detection technology through the monocular camera, road surface information is obtained through the monocular camera, a visual event is connected with a driving event, negative feedback regulation is applied, the routing inspection robot advances according to the color ribbon, the center of the routing inspection robot is aligned with the central axis of the color ribbon, and the laying cost and difficulty are low;
(5) the upper computer can obtain the accurate positioning of the inspection robot through an electromagnetic wave intensity algorithm according to the radio frequency signals, the accurate positioning can be realized only by means of the RFID tags and the ZigBee terminal nodes, additional positioning equipment is not needed, and the arrangement cost is low.
Drawings
Fig. 1 is a schematic perspective view of an inspection robot;
FIG. 2 is a front view of the inspection robot;
FIG. 3 is a side view of the inspection robot;
FIG. 4 is a top view of the inspection robot;
FIG. 5 is a schematic view of the positions of the inspection robot, the ribbon and the base station;
FIG. 6 is a grid map of a substation;
the reference numbers in the figures illustrate:
the system comprises a base plate 1, a driving wheel 2, a driving motor 3, a lithium battery pack 4, a first steering engine holder 5, a monocular camera 6, an audio collector 7, a controller 8, a wireless communication device 9, a first supporting plate 10, a second supporting plate 11, a third supporting plate 12, a second steering engine holder 13, an infrared thermal imager 14, a monitoring camera 15, a RFID reader 16, an RFID tag 17, a ZigBee terminal node 18, a color band 19 and an antenna 20.
Detailed Description
The utility model is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
A low-burden and high-efficiency intelligent substation inspection system comprises an inspection robot, a plurality of positioning base stations and an upper computer, wherein the inspection robot comprises an inspection trolley, the inspection trolley is provided with a controller 8, a navigation module, a sensing module, wireless communication equipment 9 and an RFID reader 16, the navigation module, the sensing module, the wireless communication equipment and the RFID reader 16 are connected with the controller 8, the inspection robot is controlled to move along a preset inspection path by the controller 8 through the navigation module, the positioning base stations are correspondingly arranged around each equipment near the inspection path one by one, each positioning base station comprises an RFID tag 17 and a ZigBee terminal node 18 connected with the RFID tag 17, equipment information of the corresponding equipment is stored in the RFID tag, when the inspection robot approaches the equipment, the RFID reader 16 reads the equipment information in the RFID tag 17 by sending a radio frequency signal, the RFID tag 17 receives the radio frequency signal of the RFID reader 16 and sends the radio frequency signal to the ZigBee terminal node 18, the ZigBee terminal node 18 wirelessly transmits radio frequency signals to an upper computer, the sensing module comprises a plurality of types of sensors, the controller 8 controls the sensors of corresponding types to collect sensing information according to the equipment information, and the controller 8 wirelessly transmits the acquired sensing information to the upper computer through the wireless communication equipment 9;
the method comprises the steps that a positioning base station is correspondingly arranged around equipment to be monitored, when an RFID reader 16 detects an RFID tag 17, the positioning base station is suspended on a routing inspection path, a controller 8 reads equipment information in the RFID tag 17 and selects an effective sensor to collect sensing information, the controller 8 wirelessly transmits the acquired sensing information to an upper computer through a wireless communication device 9, the step that the routing inspection robot uploads data in a centralized mode after the routing inspection is finished is omitted, the sensing information of each equipment is uploaded step by step in real time, the monitoring timeliness and the monitoring efficiency are improved, the routing inspection robot does not need to be stored locally, the memory burden of the routing inspection robot is greatly reduced, and the method is suitable for substations with large areas and large equipment quantity;
when the upper computer receives the radio frequency signal sent by the ZigBee terminal node 18, the inspection robot is shown to be positioned near the base station corresponding to the ZigBee terminal node 18 at the moment, so that the positioning function is achieved, and the inspection robot is monitored;
sensing module includes audio collector 7, infrared thermal imager 14 and monitoring camera 15, adopt the sensor of multiple detection form, carry out the multi-angle to equipment, all-round monitoring, improve the rate of accuracy of fault diagnosis, 17 stores the equipment information that corresponds equipment in the RFID label, different equipment need different monitoring methods, controller 8 chooses effectual monitoring methods for use according to equipment information, invalid sensing data's production has been avoided, monitoring efficiency has been improved, main equipment has 500kV GIS equipment in the transformer substation, main transformer, 220kV relay protection room and 500kV GIS equipment, the inspection index that 220kV relay protection room detected usually has:
whether marks and names of all elements on the dish cabinet are complete or not;
whether the change-over switch, various buttons and actions are flexible or not;
whether the contact has pressure or not and burn;
the light character board and the red and green indicating lamp bulb in the central control room are intact;
whether the meter, the relay and the wiring terminal screw on each plate cabinet are loosened or not;
whether the voltage and the secondary lead terminal are intact or not;
whether the wiring is neat or not and whether the fixing clip falls off or not are judged;
whether the operation of the operating mechanism is normal or not;
except for the inspection indexes needing manual sampling judgment, the other inspection indexes are the connection conditions of the surface of the equipment and the equipment, so that high-definition pictures and videos of a relay protection chamber need to be collected to judge whether the equipment normally operates, and the monitoring camera 15 is mainly used;
in operation of the main transformer, the usual detection indicators are:
the main transformer has the phenomena of oil leakage and oil leakage;
whether the sound generated by the main transformer is normal or not;
whether the temperature indication of the transformer is normal;
whether the color and the oil level of the oil are normal or not is judged, the new transformer oil is light yellow and is light red after running, and a high-definition picture of a main transformer needs to be collected for judging whether the transformer has oil leakage or not and whether the color and the oil level of the oil are normal or not; the sound generated by the main transformer is generally a steady hum, if a noise or uneven discharge sound is found, the inside of the transformer is considered to be faulty, and the sound generated when the main transformer operates needs to be collected to judge whether the main transformer operates normally; if the temperature exceeds 85 ℃, measures are taken immediately, or the operation is stopped, or the temperature is forced to be reduced. Need collect the infrared thermal imaging picture of main transformer promptly, judge whether transformer temperature is normal, to sum up, audio collector 7, infrared thermal imager 14 and monitoring camera 15 need be used to the monitoring main transformer.
The navigation module includes monocular camera 6, the system still includes along the typewriter ribbon 19 that patrols and examines the route and lay, controller 8 passes through monocular camera 6, utilize visual detection technique control to patrol and examine the dolly and advance along typewriter ribbon 19 direction of laying, acquire road surface information through monocular camera 6, through linking visual event and drive incident, application negative feedback adjusts for patrol and examine the robot and advance according to typewriter ribbon 19, patrol and examine the center of robot and aim at typewriter ribbon 19 axis, it is low with the degree of difficulty to lay the cost.
The preset process of the routing inspection path comprises the following steps:
acquiring a transformer substation environment map;
carrying out binarization and rasterization processing on the transformer substation environment map to obtain a transformer substation grid map;
acquiring a routing inspection path by optimizing an ant colony algorithm;
the method comprises the following steps of binarization processing, namely uniformly blurring obstacles on a transformer substation environment map into an unexecutable area, simplifying a road into an executable area, laying a color band 19 on a grid where a routing inspection path is located on a transformer substation grid map, and planning the routing inspection path of a routing inspection robot, wherein the operation is simple and convenient;
rasterization processing is carried out on MATLAB software;
the substation grid map is shown in fig. 6, where the executable area is shown in white, the non-executable area is shown in black, and the black dots indicate the location where the base station is located.
The inspection trolley comprises a bottom plate 1, a walking unit, a lithium battery pack 4, a first steering engine cloud platform 5 and a second steering engine cloud platform 13, wherein the walking unit, the lithium battery pack 4, the first steering engine cloud platform and the second steering engine cloud platform are arranged on the bottom plate 1;
the walking unit comprises a plurality of driving wheels 2 arranged at the bottom side of the bottom plate 1, each driving wheel 2 is correspondingly connected with a driving motor 3, and the driving motors 3 are connected with a controller 8;
the controller 8 acquires the color ribbon 19 image according to the monocular camera 6, increases the rotating speed of the corresponding driving motor 3 according to the offset of the color ribbon 19 image, and finally enables the inspection robot to advance along the inspection path according to negative feedback regulation.
Be equipped with first backup pad 10 and third backup pad 12 on bottom plate 1, second steering wheel cloud platform 13 is located on third backup pad 12, and on second steering wheel cloud platform 13 was located to infrared thermal imaging system 14 and monitoring camera 15, navigation module located on first steering wheel cloud platform 5, and controller 8 is Jetson NANO core control ware, locates on first backup pad 10.
The inspection trolley also comprises an antenna 20, and the antenna 20 is arranged on the bottom plate 1 and connected with the controller 8;
the antenna 20 is used for connecting the controller 8 with the mobile terminal, so that the inspection trolley can be conveniently controlled, debugged and checked through the mobile terminal.
The embodiment provides a low burden and efficient transformer substation intelligence system of patrolling and examining, has improved the timeliness and the efficiency of monitoring, has alleviateed the memory burden of patrolling and examining the robot greatly, realizes carrying out multi-angle, all-round monitoring to equipment to the control of patrolling and examining the robot, improves the rate of accuracy of fault diagnosis, has avoided invalid sensory data's production, has improved monitoring efficiency.
The foregoing detailed description of the preferred embodiments of the utility model has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The intelligent substation inspection system with low burden and high efficiency is characterized by comprising an inspection robot, a plurality of positioning base stations and an upper computer, wherein the inspection robot comprises an inspection trolley, the inspection trolley is provided with a controller (8), and a navigation module, a sensing module, wireless communication equipment (9) and an RFID reader (16) which are connected with the controller (8), the controller (8) controls the inspection robot to advance along a preset inspection path through the navigation module, the positioning base stations are arranged around each piece of equipment near the inspection path in a one-to-one correspondence manner, each positioning base station comprises an RFID tag (17) and a ZigBee terminal node (18) connected with the RFID tag (17), the RFID tag stores equipment information of corresponding equipment, and when the inspection robot is close to the equipment, the RFID reader (16) reads the equipment information in the RFID tag (17) by sending a radio frequency signal, RFID label (17) receive the radio frequency signal of RFID reader (16) and send to zigBee terminal node (18), zigBee terminal node (18) with radio frequency signal wireless transmission to the host computer, sensing module include a plurality of types of sensor, controller (8) according to equipment information, the sensor acquisition sensing information of corresponding type, controller (8) through wireless communication equipment (9) with the sensing information wireless transmission who obtains to the host computer.
2. A low-load and high-efficiency substation intelligent inspection system according to claim 1, wherein the navigation module comprises a monocular camera (6), and the system further comprises a color tape (19) laid along the inspection path.
3. A low-load and high-efficiency substation intelligent inspection system according to claim 1, wherein the inspection trolley comprises a base plate (1) and a walking unit on the base plate (1).
4. The intelligent substation inspection system according to claim 3, wherein the walking unit comprises a plurality of driving wheels (2) arranged on the bottom side of the base plate (1), each driving wheel (2) is correspondingly connected with a driving motor (3), and the driving motors (3) are connected with the controller (8).
5. A low-load and high-efficiency substation intelligent inspection system according to claim 4, characterized in that the sensing module comprises an audio collector (7).
6. A low-load and high-efficiency substation intelligent inspection system according to claim 4, wherein the sensing module comprises an infrared thermal imager (14) and a monitoring camera (15).
7. The low-burden and high-efficiency substation intelligent inspection system according to claim 6, wherein the inspection trolley further comprises a second steering engine cradle head (13) arranged on the bottom plate (1).
8. The low-burden and high-efficiency substation intelligent inspection system according to claim 7, wherein the infrared thermal imager (14) and the monitoring camera (15) are arranged on the second steering engine pan-tilt (13).
9. The intelligent substation inspection system according to claim 5, wherein the inspection trolley further comprises a first steering engine holder (5) arranged on the bottom plate (1), and the navigation module is arranged on the first steering engine holder (5).
10. A low-load and high-efficiency substation intelligent inspection system according to claim 5, characterized in that the inspection trolley further comprises an antenna (20), and the antenna (20) is arranged on the bottom plate (1) and connected with the controller (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122142755.3U CN215870916U (en) | 2021-09-07 | 2021-09-07 | Low-burden and high-efficiency intelligent substation inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122142755.3U CN215870916U (en) | 2021-09-07 | 2021-09-07 | Low-burden and high-efficiency intelligent substation inspection system |
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| Publication Number | Publication Date |
|---|---|
| CN215870916U true CN215870916U (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122142755.3U Expired - Fee Related CN215870916U (en) | 2021-09-07 | 2021-09-07 | Low-burden and high-efficiency intelligent substation inspection system |
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| CN (1) | CN215870916U (en) |
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2021
- 2021-09-07 CN CN202122142755.3U patent/CN215870916U/en not_active Expired - Fee Related
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