JP2018129914A - Abnormality detection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an abnormality detection system capable of supporting detection of abnormality in substation facilities at low cost.SOLUTION: An abnormality detection system includes: a sound detection unit; a generation unit; a body unit; a drive unit; and a control unit. The sound detection unit collects the sound generated from target substation facilities installed in a transformer substation. In addition, the sound detection unit has directivity regarding sound collection. The generation unit generates frequency characteristics information representing frequency characteristics of the sound on the basis of sound information based on the sound detected by the sound detection unit. The body unit is equipped with at least the sound detection unit. The drive unit moves the body unit. The control unit controls the drive unit.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to an abnormality detection system.

  Examples of abnormalities in substation equipment that converts electric power include air discharge, bolt dropout, and looseness. When these abnormalities occur in the substation equipment, abnormal sounds different from those in the normal state may occur. For this reason, the presence or absence of abnormality in the substation equipment is determined by detecting the sound generated from the substation equipment with a microphone or the like placed in the vicinity of the substation equipment or by analyzing the detected data. There are cases where it is possible.

  In relation to this, as one of the abnormality diagnosis methods for substation equipment installed in substations, etc., a method is known in which sound generated from substation equipment is measured and the measured sound is analyzed to determine the presence or absence of abnormality. ing.

  However, in the conventional technology, when collecting and analyzing the sound generated from the substation equipment to determine the presence or absence of abnormality in the substation equipment, it is required to install a detector such as a microphone for each substation equipment There is. Therefore, it is difficult for the conventional technology to reduce the cost generated in the detector that detects the abnormality of the substation equipment.

  In addition, when a supervisor conducts inspection work on substation equipment, it may be required to arrange a supervisor at each substation. Therefore, it has been difficult to reduce the costs incurred when the supervisor conducts inspection work on the substation equipment.

JP-A-11-344408

  The problem to be solved by the present invention is to provide an abnormality detection system capable of supporting detection of abnormality of a substation facility at low cost.

  The abnormality detection system of the embodiment includes a sound detection unit, a generation unit, a body unit, a drive unit, and a control unit. The sound detection unit collects sound generated from the detection target substation equipment installed in the substation. The sound detector has directivity with respect to sound collection. The generation unit generates frequency characteristic information indicating a frequency characteristic of the sound based on sound information based on the sound detected by the sound detection unit. The body portion carries at least the sound detection portion. The drive unit moves the body unit. The control unit controls the driving unit.

The figure which shows the outline | summary of the abnormality detection system of 1st Embodiment. The figure which shows an example of a structure of the traveling unit of 1st Embodiment, and a control unit. The figure which shows an example of the substation of 1st Embodiment. The figure which shows an example of a structure of the sound detection unit of 1st Embodiment. The graph which shows an example of the sound information of 1st Embodiment. The graph which shows an example of the frequency characteristic information of 1st Embodiment. The figure which shows an example of the content of the detection information of 1st Embodiment. The flowchart which shows an example of operation | movement of the sound detection unit of 1st Embodiment. The figure which shows the outline | summary of the abnormality detection system of the modification 1. The figure which shows the outline | summary of the abnormality detection system of the modification 2. The figure which shows an example of a structure of the abnormality detection system of 2nd Embodiment. The figure which shows an example of the content of the detection information of 2nd Embodiment.

  Hereinafter, an abnormality detection system of an embodiment will be described with reference to the drawings. The abnormality detection system of the embodiment is a device that supports detection of abnormality of substation equipment in a substation. The abnormality of the substation equipment is, for example, air discharge, bolt dropout, loosening, and the like. When these abnormalities occur in the substation equipment, the substation equipment may generate an abnormal sound different from the normal state. The abnormality detection system moves in the substation, collects sound generated by the substation equipment in the vicinity of the substation equipment, and detects an abnormality of the substation equipment.

(First embodiment)
FIG. 1 is a diagram illustrating an overview of an abnormality detection system 1 according to the first embodiment. The abnormality detection system 1 includes, for example, a sound detection unit 10, a traveling unit 20, and a control unit 30. The sound detection unit 10 collects sound generated by the substation equipment 99. The traveling unit 20 moves inside the substation based on the control of the control unit 30 while mounting the sound detection unit 10. The control unit 30 controls the operation of the traveling unit 20. Hereinafter, the detail of each part with which the abnormality detection system 1 is provided is demonstrated.

<About the sound detection unit 10>
The sound detection unit 10 includes, for example, a sound detection unit 12 having a plurality of microphones 11, an imaging unit 13, a control unit 14, and a wireless communication unit 15. The sound detection unit 12 includes, for example, a plurality of microphones 11 that are arranged in an array. The sound detection unit 12 is connected to the traveling unit 20 by a support unit 19 that supports the sound detection unit 12. The sound detection unit 12 collects the composite sound of the sound generated by the substation equipment 99 and the ambient sound around the substation equipment 99 by the microphone 11 and supplies the control unit 14 with sound information 72 indicating the collected sound. To do. The sound detection unit 12 has directivity with respect to sound collection. The direction of directivity (hereinafter referred to as the directivity direction) of the sound detection unit 12 is a normal direction with respect to the surface on which the microphone 11 is disposed.

  The imaging unit 13 images the substation equipment 99 that is the target of sound collection by the sound detection unit 12. Here, the direction in which the imaging unit 13 images the substation equipment 99 (hereinafter, the optical axis direction) is preferably a direction along the directivity direction of the sound detection unit 12. When the sound detection unit 12 collects sound, the imaging unit 13 images the substation equipment 99 that exists around the abnormality detection system 1. The imaging unit 13 supplies image information 73 based on the captured image to the control unit 14.

  The control unit 14 generates information related to the state of the substation facility 99 based on the sound information 72 acquired from the sound detection unit 12 and the image information 73 acquired from the imaging unit 13, and communicates to other devices via the wireless communication unit 15. Send. The wireless communication unit 15 transmits information related to the state of the substation facility 99 to, for example, wireless communication, to a device that collects information related to the state of the substation facility 99 (hereinafter, a collection device).

  The abnormality detection system 1 relates to the state of the substation facility 99 in a storage unit (not shown) included in the abnormality detection system 1 instead of the configuration in which the wireless communication unit 15 transmits information regarding the state of the substation facility 99 to the collection device. It may be configured to store information.

<About the traveling unit 20>
The traveling unit 20 includes, for example, a body part 21, a plurality of wheels 22, and a drive part 23. The body part 21 carries the sound detection unit 10. The wheel 22 moves the traveling unit 20 by rotating on the road surface 90. The drive unit 23 drives the wheels 22. The moving direction and moving speed of the traveling unit 20 are controlled by the control unit 30. The traveling unit 20 is, for example, an automobile that can automatically travel without a driver's driving operation.

<About the structure of the traveling unit 20 and the control unit 30>
Hereinafter, the details of the traveling unit 20 and the control unit 30 will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of the configuration of the traveling unit 20 and the control unit 30 according to the first embodiment. The traveling unit 20 is operated by electric power, for example. In this case, as shown in FIG. 2, the drive unit 23 of the traveling unit 20 includes, for example, a connection unit 231, a power storage unit 232, a converter 233, and a motor 234. A power supply cable for connecting the power supply source 55 and the traveling unit 20 is connected to the connecting portion 231. The power supply source 55 is, for example, a commercial power source. The power supply source 55 supplies power to the traveling unit 20 by connecting a power feeding cable to the connection portion 231. The power storage unit 232 includes, for example, a commutator (not shown) and stores power supplied from the power supply source 55 via the connection unit 231. Based on the control of control unit 30, converter 233 converts the electric power supplied from power storage unit 232 into an alternating current and supplies it to motor 234. The motor 234 drives the wheels 22 with the supplied electric power. The control unit 30 and the traveling unit 20 are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like.

  In the above description, the case where the power supply source 55 and the power supply cable for connecting the traveling unit 20 are connected to the connection unit 231 has been described. However, the present invention is not limited to this. The connection unit 231 may be a power receiving resonator that receives power from a power transmission resonator that transmits power from the power supply source 55 by non-contact power feeding. Further, the traveling unit 20 may be configured to travel using power obtained by the internal combustion engine instead of the configuration to travel by electric power.

  Further, as illustrated in FIG. 2, the control unit 30 includes, for example, a control unit 31 and a storage unit 32. The control unit 31 is realized, for example, when a processor such as a CPU (Central Processing Unit) executes a program stored in the storage unit 32. The control unit 31 may be realized by hardware such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array), or by cooperation of software and hardware. It may be realized. Control unit 31 controls converter 233 based on information indicating the inspection route stored in advance in storage unit 32. The inspection route is a route along which the traveling unit 20 moves in the substation, and the abnormality detection system 1 is a route through which the substation equipment is inspected.

  The control unit 31 controls the converter 233 and drives the wheels 22 to control the moving speed and moving direction of the traveling unit 20. As an example, the control unit 31 performs feedback control that brings the rotation speed of the wheel 22 close to the target value. For example, the control unit 31 controls the torque output from the motor 234 by changing the duty ratio when the converter 233 performs the switching operation, and controls the rotational speed of the wheels 22, thereby moving the traveling speed of the traveling unit 20. To control. Moreover, the control part 31 differs in the rotational speed of the wheel 22 arrange | positioned on the right side of the traveling unit 20 among the wheels 22 with which the traveling unit 20 is provided, and the rotational speed of the wheel 22 arrange | positioned on the left side of the traveling unit 20. By controlling the speed, the moving direction of the traveling unit 20 is controlled.

  The traveling unit 20 may include a steering mechanism (not shown), and the moving direction and moving speed of the traveling unit 20 may be controlled by operating the steering mechanism.

  In addition to the inspection route stored in advance in the storage unit 32, the control unit 31 controls the moving speed and moving direction of the traveling unit 20 based on operation instruction information 71 indicating an operation instruction of the traveling unit 20. The operation instruction acquisition unit 33 acquires the operation instruction information 71 from, for example, wireless communication from a terminal used by a pilot who instructs the operation of the traveling unit 20 (hereinafter, “control terminal”). An operation instruction of the traveling unit 20 is input to the control terminal by the operator, and the operation terminal transmits the input operation instruction to the control unit 30 as the operation instruction information 71.

<Outline of operation of abnormality detection system 1>
Hereinafter, the inspection route of the abnormality detection system 1 will be described with reference to FIG. FIG. 3 is a diagram illustrating an example of the substation 50 according to the first embodiment. In the example shown in FIG. 3, two substation facilities 99, that is, a substation facility 99-1 and a substation facility 99-2 are installed in the substation 50. The control unit 30 controls the operation of the traveling unit 20 on which the sound detection unit 10 is mounted, and moves in the substation 50. The control unit 30 controls the movement of the traveling unit 20 based on information indicating the inspection route 52 stored in the storage unit 32. The control unit 30 can acquire the position of the traveling unit 20 as will be described later, and controls the drive unit 23 so that the traveling unit 20 moves along the inspection route 52.

  The inspection path 52 is a path through which the sound detection unit 10 can detect the sound of the substation equipment 99 while moving at an appropriate distance. In FIG. 3, the inspection path 52 is a path that moves along the substation equipment 99-1 and the substation equipment 99-2. The sound detection unit 10 collects sound generated by the substation equipment 99 while the traveling unit 20 moves along the inspection route 52 (may be temporarily stopped).

  The control unit 30 may store a movable route in the substation 50 as three-dimensional point cloud data. In this case, the control unit 30 controls the movement of the traveling unit 20 based on the position of the obstacle, the width of the inspection route, and the like indicated in the three-dimensional point cloud data stored in advance, and moves the traveling unit 20. Further, a line indicating the inspection route 52 may be provided in the substation 50. In this case, the control unit 30 includes a detection unit that detects a line indicating the inspection route 52, controls the movement of the traveling unit 20 according to the detection result of the detection unit, and moves the traveling unit 20.

<About the structure of the sound detection unit 10>
Hereinafter, the sound detection unit 10 will be described in detail with reference to FIG. FIG. 4 is a diagram illustrating an example of the configuration of the sound detection unit 10 according to the first embodiment. As described above, the sound detection unit 10 includes, for example, the sound detection unit 12, the imaging unit 13, the control unit 14, and the wireless communication unit 15. As described above, the sound information 72 is supplied from the sound detection unit 12 and the image information 73 is supplied from the imaging unit 13 to the control unit 14. The control unit 14 includes a sound information acquisition unit 111, a generation unit 112, an image information acquisition unit 113, a position detection unit 114, a timing unit 115, and a detection information generation unit 116 as functional units. The control unit 14 is realized by a processor such as a CPU executing a program stored in a storage unit (not shown). The sound information acquisition unit 111 acquires the sound information 72 from the sound detection unit 12 at all times or every predetermined time, and supplies the acquired sound information 72 to the generation unit 112 and the detection information generation unit 116.

  The details of the sound information 72 will be described below with reference to the drawings. FIG. 5 is a graph illustrating an example of the sound information 72 according to the first embodiment. As shown in FIG. 5, the sound information 72 is information indicating the amplitude of the sound acquired by the microphone 11. The microphone 11 has a performance capable of collecting sound from a low frequency (for example, 10 Hz) to a high frequency (for example, 20 kHz).

  Note that the arrangement interval of the microphones 11 in the sound detection unit 12 is determined by the wavelength of the target sound. For this reason, the size of the microphone 11 is smaller in the case where the sound from the low frequency to the high frequency can be detected and in the case where only the high frequency can be detected. Therefore, when only a high frequency can be detected, the size of the sound detection unit 12 can be reduced. Moreover, since the abnormal sound of a substation equipment is generally a sound of several hundred Hz or more, it is preferable to be configured by the sound detection unit 12 that can collect sound in a band of several hundred Hz or more.

  Returning to FIG. 4, the generation unit 112 acquires the sound information 72 from the sound information acquisition unit 111. The generation unit 112 generates frequency characteristic information 75 based on the acquired sound information 72.

  FIG. 6 is a graph illustrating an example of the frequency characteristic information 75 of the first embodiment. Specifically, FIG. 6 is a graph showing the relationship between the amplitude spectrum and frequency of the sound information 72 acquired at a certain time. For example, the generation unit 112 performs FFT (Fast Fourier Transform) on the composite sound of the sound indicated by the sound information 72 and the sound generated by the substation equipment 99 and the surrounding environmental sound where the substation equipment 99 is installed. The amplitude spectrum for each frequency is calculated, and the frequency characteristic information 75 is generated. The generation unit 112 supplies the generated frequency characteristic information 75 to the detection information generation unit 116.

  Returning to FIG. 4, the image information acquisition unit 113 acquires the image information 73 from the imaging unit 13 at all times or every predetermined time. The image information acquisition unit 113 supplies the acquired image information 73 to the detection information generation unit 116. The position detection unit 114 detects the current position of the traveling unit 20. The position detecting unit 114 is, for example, a method using a global navigation satellite system (Global Navigation Satellite System (s): GNSS) such as GPS (Global Positioning System), a quasi-zenith satellite (QZS), or the like. The position of the anomaly detection system 1 is detected by a method using the Regional Navigation Satellite System (RNSS). Here, the position detection unit 114 may have a function of complementing the position of the abnormality detection system 1 detected by a method using GNSS or a method using RNSS with an inertial navigation system (INS). . The position detection unit 114 supplies position information 77 indicating the detected position to the detection information generation unit 116 and the control unit 30. The timer unit 115 measures the date and time when the sound detection unit 10 acquires the sound information 72. The time measuring unit 115 supplies date / time information 78 indicating the time / date measured to the detection information generating unit 116. The detection information generation unit 116 generates detection information 80 in which the acquired sound information 72, frequency characteristic information 75, image information 73, position information 77, and date / time information 78 are associated with each other. The detection information 80 is transmitted to the collection device.

  The detection information 80 may include only the frequency characteristic information 75, and further includes at least one of the sound information 72, date / time information 78, position information 77, and image information 73. Also good. In addition, when the sound information 72 includes information indicating the date and time when the sound detection unit 12 collected the sound, or when the image information 73 includes information indicating the date and time when the imaging unit 13 captured the substation equipment 99, The control unit 14 may not include the time measuring unit 115.

<About the detection information 80>
FIG. 7 is a diagram illustrating an example of the content of the detection information 80 according to the first embodiment. The detection information 80 is, for example, information in which position information 77, image information 73, sound information 72, and frequency characteristic information 75 in certain date and time information 78 are associated. The detection information 80 includes a position (position information 77: 35,000, 135,000) of the abnormality detection system 1 at a certain time (date information 78: 2016/12/01 10:00:00) and a substation at this position. The image of the facility 99 (image information 73: image_1), the sound (sound information 72: sound_1) generated by the substation facility 99 shown in the captured image, and the frequency characteristics of the sound generated by the substation facility 99 ( Frequency characteristic information 75: frequency characteristic_1) is stored in association with each other.

<Operation of the sound detection unit 10>
FIG. 8 is a flowchart showing an example of the operation of the sound detection unit 10 of the first embodiment. The sound detection unit 12 collects the composite sound of the environmental sound around the substation equipment 99 and the substation equipment 99 (step S510). The imaging unit 13 captures the substation equipment 99 and generates an image (step S520). The sound information acquisition unit 111 included in the control unit 14 acquires sound information 72 indicating the sound detected by the sound detection unit 12, and supplies the sound information 72 to the generation unit 112 and the detection information generation unit 116 (step S530). The generation unit 112 generates frequency characteristic information 75 based on the sound information 72 acquired from the sound information acquisition unit 111, and supplies the frequency characteristic information 75 to the detection information generation unit 116 (step S540). The image information acquisition unit 113 acquires the image information 73 indicating the image captured and generated by the imaging unit 13, and supplies the acquired image information 73 to the detection information generation unit 116 (step S550). The position detection unit 114 detects the position of the abnormality detection system 1, and supplies position information 77 indicating the detected position to the detection information generation unit 116 (step S560). The timer 115 measures the date and time when the sound detection unit 10 acquired the sound information 72, and supplies the position information 77 indicating the date and time to the detection information generator 116 (step S570). The detection information generation unit 116 generates detection information 80 that associates the sound information 72, the image information 73, the frequency characteristic information 75, the position information 77, and the date / time information 78 acquired from each unit of the control unit 14, and generates the detection information. 80 is supplied to the wireless communication unit 15 (step S580). The wireless communication unit 15 transmits the detection information 80 acquired from the control unit 14 to the collection device (step S590).

  In addition, each part with which the sound detection unit 10, the traveling unit 20, and the control unit 30 are provided may be distributed in a different unit. For example, the sound detection unit 10 only needs to include at least the sound detection unit 12, and another unit may include the imaging unit 13. Moreover, the traveling unit 20 should just be equipped with the sound detection unit 10 (sound detection part 12) at least in the body part 21, and does not need to mount another apparatus.

<Summary of First Embodiment>
As described above, the abnormality detection system 1 of the present embodiment includes the sound detection unit 10, the traveling unit 20, and the control unit 30. In the abnormality detection system 1, the traveling unit 20 moves by itself based on the control of the control unit 30. The sound detection unit 10 included in the abnormality detection system 1 collects sound generated by the substation equipment 99 at the moved position, and collects detection information 80 including frequency characteristic information 75 generated based on the detected sound. Send to. Thereby, the abnormality detection system 1 of this embodiment collects the sound of the substation equipment 99 without installing the detector which collects the sound of the substation equipment 99 for every substation equipment 99, and the frequency characteristic information 75 is obtained. Can be generated. Therefore, the abnormality detection system 1 of the present embodiment can support the detection of abnormality in the substation equipment at a low cost.

  In addition, when a supervisor performs inspection work on the substation equipment 99, the supervisor is required to have a high degree of skill regarding the inspection work. For example, when a supervisor who has a lot of knowledge about the inspection work of the substation equipment 99 performs the inspection work, the abnormality of the substation equipment 99 is detected with higher accuracy than when a supervisor who has little knowledge performs the inspection work. Can do. However, in some cases, it is difficult to place a supervisor who has a lot of knowledge about the inspection work of the substation equipment 99 in each substation 50. In this regard, the abnormality detection system 1 of the present embodiment transmits the detection information 80 generated by the abnormality detection system 1 to the collection device. Thereby, the abnormality detection system 1 of this embodiment can reduce the effort which arises when a supervisor moves to the place where the substation equipment 99 is installed, and inspects by directly observing the substation equipment 99. In addition, according to the abnormality detection system 1 of the present embodiment, a monitoring person who has a high degree of skill in inspection work installs the detection information 80 for each substation 50 collected in the collection device in the plurality of substations 50. It is possible to confirm the state of the plurality of substation facilities 99 to be operated.

  Here, when an abnormality occurs in the substation equipment 99, the abnormal sound generated by the substation equipment 99 may be characterized by frequency characteristics. By referring to the frequency characteristic information 75 in the detection information 80 generated by the abnormality detection system 1 of the present embodiment, the monitor can determine whether or not the substation equipment 99 is generating abnormal sound. In addition, the monitor can reproduce the sound indicated by the sound information 72 included in the detection information 80 and confirm the abnormal sound of the substation facility 99 in detail. In addition, the monitor can check the state of the substation equipment 99 that emits the sound indicated by the sound information 72 with reference to the image indicated by the image information 73 included in the detection information 80. Further, the monitor can refer to the position indicated by the position information 77 included in the detection information 80 and grasp the position of the substation equipment 99 that is emitting the sound indicated by the sound information 72. In addition, the monitor can refer to the date and time indicated by the date and time information 78 included in the detection information 80 and grasp the date and time when the sound indicated by the sound information 72 is emitted. Therefore, according to the abnormality detection system 1 of this embodiment, the state of the substation equipment 99 can be grasped in detail.

  The sound detection unit 12 included in the abnormality detection system 1 of the present embodiment includes a plurality of microphones 11 in an array. As a result, the abnormality detection system 1 of the present embodiment selectively selects the sound arriving from a specific direction to some extent based on the phase difference of the sound when the sound generated by the substation equipment 99 is collected by each microphone 11. Can be collected.

  Further, the optical axis direction of the imaging unit 13 provided in the abnormality detection system 1 of the present embodiment is a direction along the directivity direction of the sound detection unit 12. Thereby, the abnormality detection system 1 of this embodiment can selectively image the direction in which the sound is emitted.

  Moreover, the traveling unit 20 provided in the abnormality detection system 1 of the present embodiment operates with electric power. As described above, the abnormality detection system 1 is a device that moves the substation 50. In this case, the abnormality detection system 1 can easily acquire power that is power within the movement range of the abnormality detection system 1. Further, when the traveling unit 20 included in the abnormality detection system 1 of the present embodiment is powered by non-contact power feeding, after traveling on the inspection route 52, by returning to the power feeding possible range of the non-contact power feeding, without human intervention. Charging can be performed. Therefore, the abnormality detection system 1 of the present embodiment can reduce the labor that occurs when power is supplied to the abnormality detection system 1.

  Further, the control unit 30 included in the abnormality detection system 1 of the present embodiment acquires the operation instruction information 71 from the operation instruction acquisition unit 33, and controls the operation of the traveling unit 20 based on the acquired operation instruction information 71. Here, when the detection information 80 collected in the collection device indicates that an abnormality has occurred in the substation equipment 99, the operator (for example, a monitor) of the traveling unit 20 inputs an operation instruction to the operation terminal. The movement speed and movement direction of the abnormality detection system 1 (travel unit 20) are controlled. Thereby, the supervisor can control the position of the traveling unit 20 (abnormality detection system 1) with respect to the substation equipment 99 in which abnormality has occurred. That is, according to the abnormality detection system 1 of the present embodiment, the position and direction of the abnormality detection system 1 are controlled based on an instruction from the supervisor, and the sound generated by the substation equipment 99 is detected from the position and direction desired by the supervisor. can do. Further, according to the abnormality detection system 1 of the present embodiment, the position and direction of the abnormality detection system 1 are controlled based on an instruction from the supervisor, and an image obtained by imaging the substation facility 99 from the desired direction of the supervisor is confirmed. be able to. Therefore, according to the abnormality detection system 1 of the present embodiment, the state of the substation equipment 99 can be grasped in more detail.

(Modification 1)
Hereinafter, Modification 1 according to the embodiment of the present invention will be described with reference to the drawings. FIG. 9 is a diagram illustrating an outline of the abnormality detection system 1 of the first modification. In 1st Embodiment, the case where the sound detection part 12 was connected with the traveling unit 20 by the rod-shaped support part 19 was demonstrated. In the first modification, a case where the support unit 19 that supports the sound detection unit 12 rotates in the horizontal direction will be described.

  The abnormality detection system 1 of Modification 1 includes a microphone drive unit 17. The microphone driving unit 17 rotates the support unit 19 around the rotation axis of the support unit 19 by driving. The support part 19 is arrange | positioned perpendicularly | vertically with respect to the surface where the wheel 22 of the traveling unit 20 contacts, for example. The rotation axis of the support portion 19 is an axis that passes through the center of the support portion 19 and is an axis that is parallel to an axis that is perpendicular to the surface of the traveling unit 20 that contacts the wheel 22. The support unit 19 is rotated by the microphone drive unit 17 to change the direction of the sound detection unit 12 indicated by the support unit 19. As a result, the directivity direction of the sound detection unit 12 is changed.

  Here, there may be a location in the substation 50 where it is difficult for the abnormality detection system 1 to sufficiently approach the substation equipment 99. The location where the abnormality detection system 1 is difficult to sufficiently approach the substation 99 is a location in the substation 50 where the width of the circuit used for the inspection of the substation 99 is narrower than the width of the traveling unit 20 For example, the substation 99 is surrounded by a fence. According to the abnormality detection system 1 of the modified example 1, even if the abnormality detection system 1 is difficult to sufficiently approach the substation equipment 99, the direction of the sound detection unit 12 is changed by the microphone driving unit 17, Sound generated by the substation equipment 99 installed in different directions can be collected from the same position.

  Note that when the microphone driving unit 17 changes the direction of the sound detection unit 12, the imaging unit 13 has a configuration in which the optical axis direction of the imaging unit 13 is also changed according to the directivity direction of the sound detection unit 12. Also good. Thereby, the imaging part 13 can image the substation equipment 99 in which the sound detection part 12 collects a sound.

(Modification 2)
Hereinafter, Modification 2 according to the embodiment of the present invention will be described with reference to the drawings. FIG. 10 is a diagram illustrating an outline of the abnormality detection system 1 of the second modification. The abnormality detection system 1 according to the second modification includes an endless track band 24. Specifically, as shown in FIG. 10, an endless track 24 surrounding the wheel 22 is provided. In this case, the wheel 22 is an activation wheel, a rolling wheel, a floating wheel, or the like. The drive unit 23 included in the traveling unit 20 drives the endless track 24 by driving the wheels 22.

  Here, the circuit used for the inspection of the substation equipment 99 may be provided with stairs or steps. According to the abnormality detection system 1 of the modified example 2, even if a staircase, a step, or the like is provided, it is possible to move beyond the staircase or the step by the endless track band 24.

(Second Embodiment)
The second embodiment of the present invention will be described below with reference to the drawings.
In the first embodiment, the case where the abnormality detection system 1 transmits the detection information 80 to the collection device, and the monitoring person confirms the detection information 80 received by the collection device, so that the abnormality of the substation equipment 99 is confirmed. did.

  2nd Embodiment demonstrates the case where the abnormality detection system 2 determines the state of the substation equipment 99, and transmits the determination result information 81 which shows the determined result to a collection apparatus. In addition, about the structure similar to embodiment mentioned above and a modification, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  FIG. 11 is a diagram illustrating an example of a configuration of the abnormality detection system 2 according to the second embodiment. As shown in FIG. 11, the abnormality detection system 2 includes a storage unit 16. The storage unit 16 stores detection information 80 generated by the detection information generation unit 116. The abnormality detection system 2 includes a control unit 18. The control unit 18 includes a CPU, and includes a sound information acquisition unit 111, a generation unit 112, an image information acquisition unit 113, a position detection unit 114, a timing unit 115, a detection information generation unit 116, and a state determination. The unit 117 is provided as the functional unit. Of the detection information 80 stored in the storage unit 16, the state determination unit 117 detects detection information 80 (hereinafter referred to as first detection information 80-1) at a certain time (hereinafter referred to as “first time”) and the past from a certain time. By comparing the first detection information 80-1 and the second detection information 80-2 based on the detection information 80 (second detection information 80-2) of the time (hereinafter referred to as the second time) of The presence or absence of abnormality of the substation equipment 99 is determined. Here, it is preferable that the position indicated by the position information 77 included in the first detection information 80-1 matches the position indicated by the position information 77 included in the second detection information 80-2. Moreover, it is preferable that the time indicated by the date / time information 78 included in the first detection information 80-1 and the time indicated by the position information 77 included in the second detection information 80-2 match. The state determination unit 117 supplies determination result information 81 indicating the determination result to the wireless communication unit 15. The wireless communication unit 15 transmits the detection information 80 acquired from the detection information generation unit 116 and the determination result information 81 acquired from the state determination unit 117 to the collection device by wireless communication. The wireless communication unit 15 may be configured to transmit only the determination result information 81.

<About the detection information 80>
FIG. 12 is a diagram illustrating an example of the content of the detection information 80 according to the second embodiment. As described above, the storage unit 16 includes detection information 80 generated at a plurality of times. As shown in FIG. 12, the first detection information 80-1 generated at “2016/12/01 10:00:00” and the second detection information generated at “2016/12/01 10:00:10”. Information 80-2 is stored in the storage unit 16. In response to the generation of the first detection information 80-1, the state determination unit 117 determines the first detection information 80-1 based on the first detection information 80-1 and the second detection information 80-2. Determines whether an abnormality has occurred in the substation equipment 99. In the state determination unit 117, for example, the frequency characteristic information 75 (frequency characteristic_1) included in the first detection information 80-1 is changed from the frequency characteristic information 75 (frequency characteristic_2) included in the second detection information 80-2. When it shows that it did, it determines with abnormality having arisen in the substation equipment 99. FIG. Further, the state determination unit 117 is configured such that the shape of the substation equipment 99 indicated by the image information 73 included in the first detection information 80-1 is the shape of the substation equipment 99 indicated by the image information 73 included in the second detection information 80-2. When it shows that has changed, it determines with abnormality having arisen in the substation equipment 99. FIG.

  In the above description, the case where the state determination unit 117 compares the first detection information 80-1 acquired at the first time with the second detection information 80-2 acquired at the second time has been described. However, it is not limited to this. For example, the state determination unit 117 compares the first detection information 80-1 acquired at the first time with a reference determined based on the detection information 80 acquired in the past from the first time, The structure which determines the presence or absence of abnormality of the substation equipment 99 may be sufficient. This reference may be the average of each piece of information included in the detection information 80 acquired in the past, and based on the detection information 80 acquired in the past, monitoring that has a high level of skill regarding inspection work It may be a standard set by a member. For example, when the frequency characteristic information 75 included in the first detection information 80-1 is different from the reference of the frequency characteristic information 75 determined based on the detection information 80 acquired in the past, the state determination unit 117 99, it is determined that an abnormality has occurred.

<Summary of Second Embodiment>
As described above, the abnormality detection system 2 of the second embodiment includes the state determination unit 117. The state determination unit 117 compares the first detection information 80-1 and the second detection information 80-2 to determine whether there is an abnormality in the substation facility 99. Here, when the supervisor performs the inspection work of the substation equipment 99, the supervisor may be required to have a high degree of skill regarding the inspection work. For example, when a supervisor who has a lot of knowledge about the inspection work of the substation equipment 99 performs the inspection work, the abnormality of the substation equipment 99 is detected with higher accuracy than when a supervisor who has little knowledge performs the inspection work. Can do. That is, when the supervisor performs the inspection work of the substation equipment 99, there may be a difference in the determination result of the abnormality of the substation equipment 99 according to the skill level of the supervisor. According to the abnormality detection system 2 of the present embodiment, it is possible to determine the presence / absence of an abnormality in the substation facility 99 based on a reference.

  According to at least one embodiment described above, the abnormality detection system 1 includes the sound detection unit 12, the generation unit 112, the body unit 21, the drive unit 23, and the control unit 31. The sound detection unit 12 collects sound generated from the substation equipment 99 installed in the substation 50. The sound detector 12 has directivity with respect to sound collection. The generation unit 112 generates frequency characteristic information 75 indicating the frequency characteristic of the sound based on the sound information 72 based on the sound detected by the sound detection unit 12. The body part 21 carries at least the sound detection part 12. The drive unit 23 moves the body unit 21. The control unit 31 controls the drive unit 23. By having such a configuration, it is possible to support detection of abnormality in the substation equipment at low cost.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1, 2 ... Abnormality detection system, 10 ... Sound detection unit, 11 ... Microphone, 12 ... Sound detection part, 13 ... Imaging part, 15 ... Wireless communication part, 17 ... Microphone drive part, 19 ... Support part, 20 ... Traveling unit , 21 ... body part, 22 ... wheel, 23 ... drive part, 24 ... endless track zone, 30 ... control unit, 33 ... operation instruction acquisition part, 14, 18, 31 ... control part, 16, 32 ... storage part, 111 ... sound information acquisition unit, 112 ... generation unit, 113 ... image information acquisition unit, 114 ... position detection unit, 115 ... timing unit, 116 ... detection information generation unit, 117 ... state determination unit, 231 ... connection unit, 232 ... power storage Part, 233 ... converter, 234 ... motor, 50 ... substation, 52 ... inspection path, 55 ... power supply source, 71 ... operation instruction information, 72 ... sound information, 73 ... image information, 75 ... frequency characteristic information, 77 ... Place Information, 78 ... date and time information, 80 ... detection information, 80-1 ... first detection information, 80-2 ... second detection information, 81 ... determination result information

Claims (9)

A sound detection unit that collects sound generated from substation equipment installed in a substation, and a sound detection unit having directivity with respect to sound collection;
Based on sound information based on the sound detected by the sound detection unit, a generation unit that generates frequency characteristic information indicating the frequency characteristic of the sound;
At least a body portion on which the sound detection portion is mounted;
A drive unit for moving the body part;
A control unit for controlling the driving unit;
An abnormality detection system comprising: The sound detection unit has a plurality of microphones arranged in an array.
The abnormality detection system according to claim 1. Further comprising an imaging unit that images the substation equipment and generates an image of the substation equipment;
The abnormality detection system according to claim 1 or 2. The optical axis direction of the imaging unit is
It is a direction along the directivity direction of the sound detection unit,
The abnormality detection system according to claim 3. The abnormality detection system according to any one of claims 1 to 4, further comprising a microphone driving unit that changes a directivity direction of the sound detection unit. A connection for connecting a power supply source for supplying power;
A power storage unit that stores power supplied from the power supply source through the connection unit;
With
In the drive unit,
The abnormality detection system according to claim 1, wherein electric power is supplied from the power storage unit, and the body unit is moved by the electric power. The drive unit moves the body unit by driving an endless track band,
The abnormality detection system according to any one of claims 1 to 6. An operation instruction acquisition unit for acquiring operation instruction information indicating the operation of the own device from the terminal of the operator who instructs the operation of the own device;
The drive unit is
The abnormality detection system according to any one of claims 1 to 7, wherein the body part is moved according to the operation instruction information acquired by the operation instruction acquisition unit. A storage unit for storing the frequency characteristic information;
Of the frequency characteristic information stored in the storage unit, the frequency characteristic information generated by the generation unit at a first time and the generation unit generated at a second time before the first time. By comparing the frequency characteristic information, a state determination unit that determines presence or absence of abnormality of the substation equipment,
The abnormality detection system according to any one of claims 1 to 8, further comprising:

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