CN216609010U - Oil-immersed transformer detection robot, control device and system - Google Patents
Oil-immersed transformer detection robot, control device and system Download PDFInfo
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- CN216609010U CN216609010U CN202121841952.8U CN202121841952U CN216609010U CN 216609010 U CN216609010 U CN 216609010U CN 202121841952 U CN202121841952 U CN 202121841952U CN 216609010 U CN216609010 U CN 216609010U
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Abstract
The application relates to an oil immersed transformer internal detection robot, including a plurality of first network equipment, first switch, first wireless communication module and first antenna, wherein: the plurality of first network devices are used for collecting data; the first switch is used for forwarding the data collected by the first network devices to the first wireless communication module; the first wireless communication module is used for converting the data from the first switch into wireless data and sending the wireless data to the first antenna; the first antenna is used for transmitting wireless data from the first wireless communication module to the control device of the detection robot inside the oil-immersed transformer. The application also provides a control device of the oil immersed transformer detection robot and an oil immersed transformer detection system. According to the scheme of the application, the oil immersed transformer detection robot and the control device thereof are provided with the wireless AP mobile station and the wireless AP base station, the emitted power is much higher than that of a common wireless module, signal interference can be effectively resisted, and long-distance transmission can be realized.
Description
Technical Field
The application relates to the field of unmanned submersible, in particular to an oil immersed transformer detection robot, a control device of the oil immersed transformer detection robot and an oil immersed transformer detection system.
Background
At present, a transformer is taken as an important component in a power system, but the internal maintenance of large and super-large transformers is very difficult, the internal maintenance of the traditional transformer needs to cut off the power of the transformer, drain the internal transformer oil, and then enter the transformer for maintenance by maintenance personnel, so that the workload is large, and the economic loss caused by the power failure is very great.
The robot is used for replacing manpower to overhaul and maintain the interior of the transformer, so that the workload of power workers can be greatly reduced, and the maintenance loss is reduced. However, the maintenance robot needs a professional to control and transmit data such as overhaul data, self-attitude data, environmental parameters, and acquired images to a monitor display in real time and high definition, and a conventional ROV (Remote Operated Vehicle) robot is a cable-controlled robot and performs data transmission through a cable or an optical fiber. However, the internal structure of the transformer is complex, and the cable greatly limits the flexibility of the robot. If a cable is not used, but a common WiFi module or a common router is used, the requirements of large data volume transmission and high-resolution high-definition video images are difficult to meet due to the problems of low signal strength, large signal loss, poor anti-interference capability, too short communication distance and the like.
SUMMERY OF THE UTILITY MODEL
In the prior art, the flexibility of the cable-controlled robot is limited by the cable-controlled robot, and if a common WiFi module or a common router is used, the problem of interference cannot be effectively solved due to low power.
According to a first aspect of the application, an oil immersed transformer internal detection robot is provided, including a plurality of first network devices, a first switch, a first wireless communication module and a first antenna, the plurality of first network devices are connected with the first switch, the first switch is connected with the first wireless communication module, the first wireless communication module is connected with the first antenna, wherein:
the plurality of first network devices are used for collecting data;
the first switch is used for forwarding the data collected by the plurality of first network devices to the first wireless communication module;
the first wireless communication module is used for converting the data from the first switch into wireless data and sending the wireless data to the first antenna;
the first antenna is used for sending wireless data from the first wireless communication module to a control device of the oil-immersed transformer internal detection robot.
According to a second aspect of the present application, there is provided a control apparatus for an oil immersed transformer internal inspection robot, including a plurality of second network devices, a second switch, a second wireless communication module and a second antenna, where the plurality of second network devices are connected to the second switch, the second switch is connected to the second wireless communication module, and the second wireless communication module is connected to the second antenna, where:
the second antenna is used for receiving data from the oil immersed transformer internal detection robot;
the second wireless communication module is used for converting wireless data from the second antenna into wired data; and
the second switch is configured to forward the wired data from the second wireless communication module to one or more of the plurality of second network devices.
In this regard, according to a fifth aspect of the present application, there is provided an oil transformer inspection system comprising one or more oil transformer internal inspection robots according to the first aspect and a control device of the oil transformer internal inspection robot according to the second aspect.
According to the oil immersed transformer detection robot, the control device of the oil immersed transformer detection robot and the oil immersed transformer detection system provided by the application, the oil immersed transformer detection robot and the control device thereof are provided with a wireless AP (Access Point) mobile station and a wireless AP base station, the sent power is much higher than that of a common WiFi module or a common router, signal interference can be effectively resisted, remote transmission can be realized, and the requirements of large data volume transmission and high-resolution high-definition video images are met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without exceeding the protection scope of the present application.
Fig. 1 is a schematic diagram of an oil transformer detection system according to an embodiment of the present application.
Fig. 2 is a flowchart of a wireless communication method of an oil immersed transformer internal detection robot according to an embodiment of the application.
Fig. 3 is a flowchart of a wireless communication method of a control device of an oil immersed transformer internal inspection robot according to an embodiment of the application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic diagram of an oil transformer detection system according to an embodiment of the present application. As shown in fig. 1, the system includes an oil transformer internal inspection robot 1 and a control device 2 of the oil transformer internal inspection robot.
As shown in fig. 1, the oil immersed transformer internal detection robot 1 includes a first switch 15, a first wireless communication module 16, a first antenna 17, a camera 11, a sensor 12, an actuator 13, and a monitoring board 14, wherein: the camera 11, the sensor 12, the actuator 13, the monitor board 14, and other network devices are connected to a first switch 15, the first switch 15 is connected to a first wireless communication module 16, and the first wireless communication module 16 is connected to a first antenna 17.
In the embodiment shown in fig. 1, the camera 11, the sensor 12, the actuator 13 and the monitoring board 14 are all network devices, which are directly or indirectly connected to the first switch 15, and besides these network devices, the internal detection robot of the oil transformer may also include other network devices. The monitoring board 14 is connected with various general sensors and is responsible for collecting data of the sensors and controlling the actuator to act according to a received instruction, the camera 11 is responsible for transmitting video images to the control device 2 of the robot in real time and providing image data of control personnel to judge the internal state and fault condition of the oil immersed transformer and assist the control personnel to complete control and maintenance, the camera 11 preferably uses high-definition cameras, and the number of the cameras 11 can be multiple.
In the embodiment shown in fig. 1, a first switch 15, a first wireless communication module 16, and a first antenna 17 are main components of the robot for performing wireless communication, where the first switch 15 functions as a hub to connect network devices such as the camera 11, the sensor 12, the actuator 13, and the monitoring board 14 together, the first switch 15 is responsible for connecting all network devices inside the oil-immersed transformer inside the robot and performing a data exchange function, and specifically, the first switch 15 is configured to receive data of the network devices and send the data to the first wireless communication module 16, or receive data from the first wireless communication module 16 and forward the data to corresponding network devices. The first wireless communication module 16 is responsible for wireless access of wired network signals, and specifically, the first wireless communication module 16 is used for converting wired data from the first switch 15 into wireless data to be sent to the first antenna 17, or converting wireless data from the first antenna 17 into wired data to be sent to the first switch 15. The first antenna 17 is configured to receive data from the first wireless communication module 16 and transmit the data to the control device 2 of the oil-filled transformer internal inspection robot, or receive data from the control device 2 of the oil-filled transformer internal inspection robot and transmit the data to the first wireless communication module 16. In one embodiment, the first wireless communication module 16 may include a wireless AP mobile station that is powerful and capable of efficient data transmission in the presence of significant signal interference and long distances.
In one embodiment, the first antenna 17 comprises an antenna array consisting of a plurality of antennas which are uniformly distributed based on the surface of the oil transformer internal inspection robot, which is suitable for situations with a long distance from the control device 2 of the oil transformer internal inspection robot or with large environmental interference. For example, the oil transformer internal inspection robot 1 may be a cylinder, and a plurality of antennas are uniformly disposed on each surface of the inside of the cylinder. Of course, the oil transformer internal inspection robot 1 may also have other shapes, and a plurality of antennas may be arranged according to the specific shape of the oil transformer internal inspection robot 1, so that even if the robot moves and turns inside the oil transformer, the antenna faces or substantially faces the control device. In another embodiment, the first antenna may be an omni-directional antenna, e.g., located in close proximity to the control device and with less interference.
In one embodiment, the oil immersed transformer internal inspection robot further comprises a battery 18, and the battery 18 is used for supplying power to the network devices, the first switch 15, the first wireless communication module 16 and the first antenna 17. In a preferred embodiment, the battery is a lithium battery. The use of battery can avoid the drawback of the wired power supply of robot for the inside removal of robot at oil immersed transformer is more free.
As shown in fig. 1, the control apparatus 2 of the oil immersed transformer internal inspection robot includes a monitoring device 21, a control device 22, a second switch 23, a second wireless communication module 24, and a second antenna 25, wherein: the monitoring device 21 and the control device 22 are connected to a second switch 23, the second switch 23 is connected to a second wireless communication module 24, and the second wireless communication module 24 is connected to a second antenna 25.
In the embodiment shown in fig. 1, the monitoring device 21 and the control device 22 are network devices, which are respectively connected to the second switch 23, and the control apparatus 2 of the internal inspection robot of the oil transformer may include other network devices besides these network devices.
In the embodiment shown in fig. 1, the second switch 23, the second wireless communication module 24, and the second antenna 25 are main components of the wireless communication of the control apparatus 2, where the second switch 23 functions as a hub to connect network devices such as a monitoring device and a control device together, the second switch 23 is responsible for connecting the network devices in the control apparatus of the inspection robot inside all oil transformers and performing a data exchange function, and specifically, the second switch 23 is configured to receive data of the network devices and send the data to the second wireless communication module 24, or receive data from the second wireless communication module 24 and forward the data to corresponding network devices. The second wireless communication module 24 is responsible for wireless access of wired network signals, and specifically, the second wireless communication module 24 is configured to convert wired data from the second switch 23 into wireless data and send the wireless data to the second antenna 25, or convert wireless data from the second antenna 25 into wired data and send the wired data to the second switch 23. The second antenna 25 is used for receiving data from the second wireless communication module 24 and sending the data to the oil-immersed transformer internal detection robot, or receiving data from the oil-immersed transformer internal detection robot and sending the data to the second wireless communication module 24. In one embodiment, the second wireless communication module 24 may include a wireless AP base station with high power, which can achieve effective data transmission in case of severe signal interference and long distance. In the embodiment shown in fig. 1, the second antenna may be a directional antenna.
In the exemplary embodiment shown in fig. 1, the camera 11, the sensor 12, the actuator 13, the monitoring board 14, the monitoring device 21, the control device 22 and other network devices each have a separate IP address, which together form a local area network. The network devices communicate based on a common network communication protocol (e.g., TCP/IP protocol). On the basis of the system shown in fig. 1, for example, the collected water temperature data is sent to the monitoring device, and the process includes:
1. the monitoring board 14 reads data of the temperature sensor;
2. the monitoring board 14 sends data to a socket (IP address + port number) of the monitoring device through the internet access;
3. the display is read by the control computer software of the first switch, the first wireless communication module, the first antenna, the second wireless communication module, the second switch and the monitoring equipment, wherein the communication between the first wireless communication module and the second wireless communication module is wireless. One second wireless communication module can simultaneously communicate with a plurality of first wireless communication modules.
4. The flow of the control device is just opposite, the control device is initiated by software of the monitoring equipment, and the target network equipment of the robot is still determined by socket (IP address + port number).
On the basis of the system shown in fig. 1, the present application provides a wireless communication method for detecting a robot inside an oil transformer, as shown in fig. 2, the method includes the following steps.
Step S201, data is collected through a first network device.
The first network device includes network devices such as a camera 11, a sensor 12, an actuator 13, and a monitor board 14. For example, a camera of an oil transformer internal inspection robot can capture images or videos.
Step S202, the data collected by the first network device is forwarded to the first wireless communication module through the first switch.
The first switch 15 has a function of a concentrator, and connects network devices such as the camera 11, the sensor 12, the actuator 13, and the monitoring board 14 together, the first switch 15 is responsible for connecting all network devices in the oil-immersed transformer internal detection robot and completing a data exchange function, and the first switch 15 is used for receiving data of the network devices and sending the data to the first wireless communication module 16.
Step S203, converting the wired data from the first switch into wireless data through the first wireless communication module and sending the wireless data to the first antenna.
The first wireless communication module 16 is responsible for wireless access to wired network signals, and specifically, the first wireless communication module 16 is used for converting wired data from the first switch 15 into wireless data and transmitting the wireless data to the first antenna 17. In one embodiment, the first wireless communication module 16 may include a wireless AP mobile station that is powerful and capable of efficient data transmission in the presence of severe signal interference and long distances.
Step S204, the wireless data from the wireless communication module is transmitted to the control device of the detection robot in the oil immersed transformer through the first antenna.
The above describes the process of acquiring and sending data by the oil transformer internal detection robot, and the process of receiving data from the control device by the oil transformer internal detection robot includes the following steps.
Step S205, receiving wireless data from a control device of an oil immersed transformer internal detection robot through a first antenna;
step S206, converting the wireless data from the first antenna into wired data through the first wireless communication module; and
step S207, the wired data from the first wireless communication module is forwarded to one or more of the plurality of first network devices through the first switch.
On the basis of the system shown in fig. 1, the present application provides a wireless communication method for a control device of an oil transformer internal inspection robot, as shown in fig. 3, the method includes the following steps.
And S301, receiving data from the oil immersed transformer internal detection robot through the second antenna.
Step S302, the wireless data from the first antenna is converted into wired data through the second wireless communication module.
Step S303, forwarding the wired data from the second wireless communication module to one or more of the plurality of second network devices through the second switch.
The above describes a process of the control device of the oil transformer internal inspection robot receiving data from the oil transformer internal inspection robot, and the process of the control device of the oil transformer internal inspection robot transmitting data includes the following steps.
Step S304, the control data sent by the second network equipment is forwarded to the second wireless communication module through the second switch;
step S305, converting the data from the second exchanger into wireless data through the second wireless communication module and sending the wireless data to the second antenna; and
and S306, transmitting the data from the second wireless communication module to the oil immersed transformer internal detection robot through the second antenna.
According to the oil immersed transformer detection robot, the control device of the oil immersed transformer detection robot and the oil immersed transformer detection system, the oil immersed transformer detection robot and the control device of the oil immersed transformer detection robot are provided with the wireless AP mobile station and the wireless AP base station, the sent power is much higher than that of a common WiFi module or a common router, signal interference can be effectively resisted, remote transmission can be achieved, and the requirements of large data volume transmission and high-resolution high-definition video images are met.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the description of the embodiments is only intended to facilitate the understanding of the methods and their core concepts of the present application. Meanwhile, a person skilled in the art should, according to the idea of the present application, change or modify the embodiments and applications of the present application based on the scope of the present application. In view of the above, the description should not be taken as limiting the application.
Claims (10)
1. The utility model provides an oil immersed transformer internal detection robot, its characterized in that, the robot includes a plurality of first network equipment, first switch, first wireless communication module and first antenna, a plurality of first network equipment with first switch is connected, first switch with first wireless communication module is connected, first wireless communication module with first antenna is connected, wherein:
the plurality of first network devices are used for collecting data;
the first switch is used for forwarding the data collected by the plurality of first network devices to the first wireless communication module;
the first wireless communication module is used for converting the data from the first switch into wireless data and sending the wireless data to the first antenna;
the first antenna is used for sending wireless data from the first wireless communication module to a control device of the oil-immersed transformer internal detection robot.
2. A robot as set forth in claim 1, wherein said first wireless communication module comprises a wireless AP mobile station.
3. The robot according to claim 1 or 2, wherein the first antenna comprises an antenna array consisting of a plurality of antennas that are evenly distributed based on the surface of the oil transformer internal inspection robot device.
4. A robot as claimed in claim 1 or 2, further comprising a battery for powering the first network device, the first switch, the first wireless communication module and the first antenna, wherein the battery comprises a lithium battery.
5. A robot as claimed in claim 1 or 2, wherein the first network device comprises: camera, monitor board, sensor and executor.
6. The utility model provides a control device of oil-immersed transformer internal detection robot, its characterized in that, control device includes a plurality of second network equipment, second switch, second wireless communication module and second antenna, a plurality of second network equipment with the second switch is connected, the second switch with the second wireless communication module is connected, the second wireless communication module with the second antenna is connected, wherein:
the second antenna is used for receiving data from the oil immersed transformer internal detection robot;
the second wireless communication module is used for converting wireless data from the second antenna into wired data; and
the second switch is configured to forward wired data from the second wireless communication module to one or more of the plurality of second network devices.
7. The apparatus of claim 6, wherein the second wireless communication module comprises a wireless AP base station.
8. The apparatus of claim 6 or 7, wherein the second antenna comprises a directional antenna.
9. The apparatus of claim 6 or 7, wherein the second network device comprises: monitoring equipment and control equipment.
10. Oil transformer detection system, characterized in that the detection system comprises one or more oil transformer internal detection robots according to any of claims 1 to 5 and control means of an oil transformer internal detection robot according to any of claims 6 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121841952.8U CN216609010U (en) | 2021-08-06 | 2021-08-06 | Oil-immersed transformer detection robot, control device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121841952.8U CN216609010U (en) | 2021-08-06 | 2021-08-06 | Oil-immersed transformer detection robot, control device and system |
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| Publication Number | Publication Date |
|---|---|
| CN216609010U true CN216609010U (en) | 2022-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121841952.8U Active CN216609010U (en) | 2021-08-06 | 2021-08-06 | Oil-immersed transformer detection robot, control device and system |
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- 2021-08-06 CN CN202121841952.8U patent/CN216609010U/en active Active
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