JPH06233419A - Abnormal time assisting system for field machine - Google Patents

Abstract

PURPOSE:To grasp the content of abnormality quickly by detecting information of a field machine through various sensors, inputting the detected information to a computor and comparing with a diagnostic knowledge base prestored for each machine, and moving a robot through a robot control function when an abnormality is displayed. CONSTITUTION:A transforming machine 1 in a transforming station is fixed with various sensors and detection values are fed therefrom to a computor 4 through an input unit 3. A machine diagnostic unit 43 decides the conditions of the machine 1 with reference to a diagnostic knowledge base 41 and a facility data base 42. If the machine 1 is abnormal, abnormality is displayed on a CRT 5 and a robot control function 45 is driven to move a robot 7 along a guide rail to an abnormal point. Sampled images and data are then displayed 6. This constitution allows rational remote monitoring of a plurality of machines thus shortening the time required for recovery.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention, when an abnormality occurs in a substation device (hereinafter referred to as a field device) installed in a substation or the like, an appearance of the abnormal device can be observed in a driver's cab by a monitoring camera to assist recovery. The present invention relates to a device for assisting abnormal operation of field equipment.

[0002]

2. Description of the Related Art Conventionally, when an abnormality in a substation equipment is reported to a driver's cab, an operator goes directly to a site far away from the driver's cab to read the instrument installed in the appliance to know the condition of the equipment. The contents of the abnormality and the degree of the abnormality were examined and the measures were taken. In recent years, sensor technology for observing the state of equipment has been developed, and the information necessary for operating the equipment is measured by sensors, and this information is input to and displayed on a computer via a transmission line to leave the site. It is now possible to monitor the status of the equipment even in places where it is used. In addition, a device diagnostic device has been developed that diagnoses the content of an abnormality based on the observed information when an abnormality occurs.

On the other hand, substations regularly patrol equipment for maintenance of substation equipment. In recent years, in order to support this work, a patrol mobile robot having a function of observing the state of the equipment from the outside by regularly moving around the substation twice a day has been developed. Accordingly, the operator can grasp the state of the device by operating the patrol mobile robot without directly going to the site.

[0004]

In the prior art, the abnormality content is diagnosed based on the observation information of the sensor. However, in order to actually identify the abnormality content, go to the site and directly check the condition of the equipment. I had to observe. For this reason, it took time to determine the method of treatment and perform the treatment.

Further, in a substation in which a mobile robot for patrol is installed, if an abnormality occurs during regular patrol of the robot, it is possible to observe the state of the site by using the robot. However, in cases other than regular patrols, in order for the robot to observe abnormal equipment, it was necessary for the operator to determine the abnormal portion and manually issue a movement command to the robot. It was very difficult to promptly determine the abnormal part and issue a command to the robot in the situation where emergency measures are being taken in an emergency such as an accident or abnormality.

In order to solve the above-mentioned problems, the present invention presents field equipment that presents information that enables quick treatment so that the status of equipment that has been diagnosed as abnormal by equipment diagnosis can be observed in a driver's cab by a surveillance camera. The purpose of the present invention is to provide an abnormal time support device.

[0007]

In order to achieve the above object, according to the present invention, the state of the substation equipment is observed by a sensor installed in the monitored part of the substation equipment, and this observation information is sent to an electronic computer via an input device. input. The electronic computer refers to the input observation information of the equipment, the knowledge database for diagnosis stored in advance, and the equipment database that defines the installation location of the equipment, and diagnoses the abnormality content and the location of the abnormality with the equipment diagnosis function. To do. The device diagnosis function section displays the diagnosis result on the diagnosis result display section and at the same time stores it in the diagnosis result storage section. Next, the robot control function, based on the diagnosis result,
A command to move the robot to a location where an abnormality has occurred is transmitted via a transmission device. The robot moves to the place where the command is received, observes the appearance state of the equipment in the vicinity by the surveillance camera, and transmits the image information to the electronic computer. The electronic computer is configured to input the image information received by the transmission device to the image display function unit and display the information on the device appearance display unit.

[0008]

With the above structure, when an abnormality occurs in the substation,
The abnormality content of the equipment diagnosed by the equipment diagnostic function unit and the image information of the abnormal equipment observed by the robot can be viewed at the same time, and the abnormality content can be specified without going to the site.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration example of an embodiment of a substation abnormality time support device according to the present invention.

In FIG. 1, 1 is a substation device, 2 is a sensor provided in a substation monitoring target part, and a sensor 3 for observing the state of the substation device is shown, and 3 is an input device for taking in information from the sensor 2. Reference numeral 4 is an electronic computer for diagnosing a device abnormality based on the observation information of the substation device and controlling the robot. Detailed functions will be described later. Reference numeral 5 denotes a diagnosis result display section (hereinafter referred to as a CRT display device) which displays a diagnosis result of the electronic computer 4. Reference numeral 6 denotes a device appearance display unit for displaying appearance observation information by the robot as an image. Reference numeral 7 denotes a mobile robot equipped with a camera for moving to a predetermined place along a guide rail in response to a command from the electronic computer 4 and observing the surrounding situation. Reference numeral 8 is a transmission device for exchanging information with the robot 7.

The electronic computer 4 stores a diagnostic knowledge base 41 for storing diagnostic knowledge of substation equipment, an equipment database 42 defining installation locations of substation equipment, and observation information and diagnosis of equipment input from the input device 3. Device diagnosis function unit 43 for diagnosing the abnormality content of the device from the application knowledge base 41, and a diagnostic result storage unit for saving the result diagnosed by the device diagnosis function unit 43
44, the robot control function unit 45 that receives the output from the device diagnosis function unit 43, issues a movement command to the moving robot 7, controls the operation of the robot, and receives the monitoring information from the robot 7, and displays the image. It is composed of an image display function unit 46 for displaying on the device 6. The image display device 6 and the image display function unit 46
Are collectively referred to as a device appearance display device. FIG. 2 is a flow chart showing the processing of the device diagnosis function unit 43, and the operation of the present invention will be described using this figure.

When an abnormality occurs in the substation device 1, the sensor 2
Observes the state of the device, and the observed information is input to the electronic computer 4 via the input device 3. On the condition that the observation information is input, the device diagnosis function unit 43 performs the following processes S1 to S5.
I do.

First, a device diagnostic process S1 for diagnosing a device in which an abnormality has occurred and an abnormal aspect is performed from the input observation information and the diagnostic knowledge base 41. Next, diagnostic results and equipment database
A device position determination process S2 for determining and extracting the position of the device where the abnormality has occurred from 42 is performed. Next, a diagnostic result display process S3 for displaying the diagnostic result created by the above process on the CRT display device 5 is performed, and a diagnostic result saving process S4 for saving the diagnostic result in the diagnostic result saving unit 44 is performed. Finally, the device position notification process S5 for notifying the robot control function 45 of the position of the device in which the abnormality has occurred is performed, and the process ends.

FIG. 3 shows an example of the structure of the diagnostic knowledge base 41. In the figure, GCB is a circuit breaker using an arc extinguishing contact body, Ar
r means arrester. This knowledge base diagnoses anomalies by the combination of input information from the sensor, and if the combination of the data input when the anomaly occurs and the data defined in the rules of the knowledge base match, the combination is dealt with. The equipment and contents are adopted as the diagnosis result. For example, as the information at the time of abnormality, GCB2
When the data A and the data C are input, the rule 2 is adopted by the device diagnosis function unit 43, and the result of the diagnosis is "GCB2" for "abnormal device" and "partial discharge" for "modality".

FIG. 4 shows an example of the method of defining the installation location of the substation equipment, and FIG. 5 shows an example of the configuration of the equipment database 42.
As shown in FIG. 4, the substation equipment includes a bus (BUS) and a power transmission line L.
_{1 to} L ₂ , a transformer (TR), a switch (LS), etc. These are divided into some according to the place where they are installed, and the address and section number for identifying each position are attached. Here, the address represents the distance from the robot standby station (St ₁ , St ₂ ), and the section represents the distance from the robot stop position. The movement distance as the robot movement command information and the direction of the surveillance camera are determined by these. To be GR is a guide rail of the monitoring robot 7. Which device is in which place is defined as shown in FIG. For example, the GCB2 that is diagnosed as abnormal as a result of the device diagnosis is the second address and belongs to the section 1. Thereby, the installation location of the abnormal device can be recognized.

FIG. 6 shows an example of the structure of information stored in the diagnostic result storage unit 44. The "abnormal device" and "modality" diagnosed by the device diagnosis process S1 and the "address" and "section" indicating the installation location of the abnormal device obtained by the device position determination process S2 are stored. The above is the processing of the device diagnosis function unit 43. Next, the robot control function unit 45 will be described.

The robot control function unit 45 is a device diagnosis function unit.
Based on the position of the abnormal device notified from 43, movement command information for the moving robot 7 is created, and a transmission request is made to the transmission device 8. The transmission device 8 transmits information to the mobile robot 7. Next, the operation of the mobile robot 7 will be described with reference to the flowchart shown in FIG.

The mobile robot 7 performs a reception process F1 for receiving the movement command information from the transmission device 8 and a movement position extraction process F2 for extracting the "address" and the "section" of the movement destination from the movement command information. Next, the movement process F3 of moving to the designated address is performed, and the observation process F4 of observing the situation at that point is performed. The mobile robot 7 transmits the observation information from the surveillance camera to the transmission device 8 in the observation information transmission process F5.
To end the processing.

In the electronic computer 4, the transmission device 8 receives the equipment appearance information transmitted from the robot 7, and inputs the information to the image display function unit 46. The image display function unit 46 performs an image display process for displaying the input appearance information on the image display unit 6.

In the above embodiment, the mobile monitoring robot is used for observing the state of abnormal equipment. However, instead of providing the mobile monitoring robot, an observation function and a function of transmitting the observation result without moving are provided. The present invention can be realized by installing the provided device in, for example, each section of the substation.

FIG. 8 shows a configuration example of another embodiment of the substation abnormality time assisting apparatus according to the present invention. The difference from the above embodiment is that the robot control function unit is removed from the electronic computer 4 instead of the mobile robot. This is the point that the function 47 for controlling the fixed observation device is added. That is, the electronic computer 4 includes a diagnostic knowledge base 41 that stores diagnostic knowledge of substation equipment, an equipment database 42 that defines the installation location of substation equipment, observation information and diagnostic knowledge of equipment input from the input device 3. Device diagnosis function unit 43 for diagnosing device abnormality contents from the base 41
And a diagnostic result storage unit 44 that stores the result diagnosed by the device diagnostic function unit 43, an observation device control function unit 47 that issues a command to the observation device 9, and observation information from the observation device 9, and an image display It is composed of an image display function unit 46 displayed on the unit 6. 9 ₁ , ..., 9 _n are observation devices having a function of observing the surrounding situation according to a command from the electronic computer 4, and when the number is divided into several sections in the substation yard, the division Install one for each.

In the present embodiment, the substation premises are divided into several observation ranges, and observation devices are installed for each division. Therefore, instead of issuing a movement command to the robot, observation is made from a plurality of observation devices. The target device can be selected and the command can be directly transmitted, and the time required for moving the robot can be omitted.

FIG. 9 shows a method of installing the observation device. As shown in FIG. 9, the substation equipment is a bus (BUS), transmission lines L ₁ and L.
₂ , consisting of transformer (TR), switch (CB, LS), etc. These are divided into some according to the place where they are installed, and the address and section number for identifying each position are attached. Here, the address represents the installation position of the observing device, and the section represents the distance from the observing device. By these, it is possible to define which observing device should be issued a command when an abnormality occurs in which device. For example, it is assumed that the device diagnosed as abnormal as a result of device diagnosis based on sensor information is GCB2. In this case, GCB2 is address 2 and belongs to section 1. Thus, it is determined that the command should be issued to the observation device 9 ₂ installed at the address ₂ . Next, the observation device control function unit 47 will be described.

The observation device control function unit 47 is a device diagnosis function unit.
Based on the position of the abnormal device notified from 43, the observation command information for the observation device 9 is created and a transmission request is made to the transmission device 8. The transmission device 8 transmits the information to a predetermined observation device 9.

The operation of the observation device 9 which has received the observation command is as follows.
Except for the movement process of moving to the target address, it is the same as the case of the robot, the observation process of observing the situation at that point is performed, and the observation information transmission process of transmitting the observation information to the transmission device 8 is performed. The computer 4 is similar to the robot,
The observation information transmitted from the observation device 9 is received and the observation information is displayed on the image display unit 6.

In addition to the embodiment described above, the function of diagnosing the equipment based on the observation information from the sensor and the function of controlling the mobile robot or the fixed observation device are different from each other. It is also possible to use a computer and connect each computer via a transmission line. In this case, the functions can be distributed and each computer can be operated independently.

Further, instead of dividing the display device into two units of 5 and 6, one large CRT display device or a multi-screen is replaced, and a robot or a fixed part is provided on the screen of the CRT display device or the multi-screen. The images transmitted from the observing device may be displayed in an overlapping manner.

[0028]

As described above, according to the present invention, when an abnormality occurs in the on-site equipment, the abnormality content of the equipment diagnosed by the equipment diagnosis function and the guidance of the recovery procedure and the abnormal equipment observed by the surveillance camera By displaying the image information on one or two display devices at the same time, the details of the abnormality can be quickly grasped without going to the site. As a result, the time required for recovery processing in the event of an abnormality can be shortened and the work of maintenance personnel can be reduced. Moreover, since the situation can be grasped without approaching the site where the abnormality occurs, the safety of the maintenance personnel can be secured.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing the configuration of an embodiment of a substation abnormality time assistance apparatus according to the present invention.

FIG. 2 is a flowchart showing the processing of a device diagnosis function 43.

FIG. 3 is a configuration diagram of a diagnostic knowledge base.

FIG. 4 is a diagram showing an example of a method of defining an installation place of a substation device.

FIG. 5 is a configuration diagram of an equipment database 42.

FIG. 6 is a configuration diagram of a diagnosis result storage unit 44.

FIG. 7 is a flowchart showing the operation of the robot 7.

FIG. 8 is a functional block diagram showing the configuration of another embodiment of the present invention.

FIG. 9 is a diagram showing an installation state of an observation device corresponding to the embodiment of FIG.

[Explanation of symbols]

 1 ... Substation device 2 ... Sensor 3 ... Input device 4 ... Electronic computer 5 ... CRT display device 6 ... Image display device 7 ... Mobile robot 8 ... Transmission device 9 ... Fixed observation device 41 ... Diagnostic knowledge base 42 ... Facility database 43 ... Equipment diagnosis function 44 ... Diagnostic result storage unit 45 ... Robot control function 46 ... Image display function 47 ... Observation device control function

Claims (7)

[Claims] 1. A sensor installed corresponding to a monitored part of an on-site device, for observing the state of the device, an input device for inputting information observed by this sensor, and device information input from this input device, A device based on a knowledge base that stores knowledge for diagnosing abnormalities in field devices in advance and a device diagnostic function unit that diagnoses the condition of the device using the facility database that defines the installation location of the field device, and the appearance of the field device. Appearance observation device equipped with a surveillance camera for observation, a diagnostic result display unit for displaying the device diagnosis result by the device diagnosis function unit, a diagnosis result of the device diagnosis function unit, or a device or device diagnosed as abnormal An observation device control function unit that gives a control command to the appearance observation device to observe the appearance of the part of
An apparatus for assisting in-field equipment abnormality, which comprises an apparatus appearance display device having a display unit for displaying the appearance of an abnormal equipment based on the equipment appearance information obtained from the appearance observation apparatus. 2. The diagnostic result display unit and the device appearance display unit are configured as a common display unit, and the device appearance information is superimposed and displayed on a part of an area for displaying the device diagnosis result. Item 1. An abnormal time support device for a field device according to Item 1. 3. The appearance observing device is composed of a moving robot, and the moving robot is moved to the vicinity of the abnormal equipment in accordance with a control command from the observing device control function section. Abnormality support device for field equipment described in. 4. The appearance observing device is fixedly arranged corresponding to the appearance observing part of the on-site equipment, and the observing device control function unit selects the appearance observing device located near the abnormal device. The abnormal time support device for a field device according to claim 1 or 2. 5. The abnormal time assistance device for a field device according to claim 1, further comprising a diagnosis storage unit for storing a result of device diagnosis. 6. The abnormal support device for a field device according to claim 1, wherein the device diagnosis function unit and the observation device control function unit are configured by one electronic computer. 7. The site according to claim 1, wherein the device diagnosis function unit and the observation device control function unit are configured by different electronic computers, and the two computers are connected by a transmission device. Equipment for abnormal equipment support.