RU2748134C1 - Robotic control system for power transmission lines and power substations - Google Patents

Abstract

FIELD: electrical power engineering.

SUBSTANCE: claimed invention relates to a complex that is designed to control high-voltage lines and electrical substations installed on sections of considerable length. A robotic complex of the active monitoring system and the center for receiving and processing information is characterized in that the active monitoring system consists of an all-weather helicopter, a communication and information transmission system, an automated service complex, an information processing center and software. The helicopter is controlled by two programs. The first one is installed on its internal carrier and is responsible for direct control of the device, altitude, flight speed, scanning the surrounding space and avoiding collisions. It controls the flight conditions, forms an adequate response to changes in weather conditions, maintains a communication channel and transmits information. Receiving commands from the central server corrects the flight task.

EFFECT: technical result is the ability to control a large length and a significant distance of power transmission lines, no need to train narrowly focused specialists, all-weather capability, autonomy of helicopter and no need for pilot participation.

1 cl, 2 dwg

Description

The claimed invention relates to a complex, which is designed to control high-voltage lines and electrical substations installed in areas of considerable length.

The declared complex carries out patrolling by helicopter of the area of 200 kilometers up to 12 times a day, in any weather. At the same time, it monitors the condition of insulators, suspensions, joints and connections. Controls the level of overgrowing with trees and shrubs of power lines (hereinafter - power lines), the presence of strangers in the area of supports and substations. Controls the fire situation throughout. Generates reports for submission to responsible persons, and interacts with repair teams. When requested, it hovers over a problem area and transmits, in real time, a general picture of the incident, a detailed image of the problem parts, including temperature and ultraviolet images, allowing you to realistically assess the incident.

The closest analogue, chosen as a prototype, is a small-sized unmanned aerial vehicle for diagnostics of high-voltage electrical installations, containing a laptop computer, an automatic UAV piloting system, and measuring equipment, while the UAV automatic piloting system contains an automatic piloting device, a navigation unit and sensors for measuring magnetic intensity. fields, and the laptop is connected to an automatic piloting device, a navigation unit, sensors for measuring the magnetic field strength, measuring equipment, as well as to a remote radio control unit for a UAV, according to the present utility model, additionally contains rotating elements, a system of magnetic antennas, a battery and a recharging device , while the recharging device contains a series-connected energy storage device and a system for supplying the UAV with electricity, which is connected to a portable computer. thermo and battery, and the system of magnetic antennas is built into the rotating elements and connected by galvanic connection to the storage of electricity and magnetic connection to the high-voltage electrical installation (utility model patent No. 149070, publication date: 20.12.2014).

The selected prototype uses an unmanned aerial vehicle that can control up to a hundred kilometers of power lines and quadcopters for local use by repair teams. In addition, similar complexes require the training of highly specialized specialists who must constantly monitor the system. The prototype does not have analytical programs and systems for automatic notification of responsible persons. Quadrocopters used in existing systems, as well as unmanned aerial vehicles, are not all-weather, unlike the proposed invention, the helicopter of this complex is completely autonomous and does not require the participation of a pilot in its work. The previous systems are not complexes as such, since they do not combine several complementary systems. All these are significant disadvantages of the chosen prototype.

The objective of the claimed invention is to eliminate the shortcomings of the prototype, and the technical result is the ability to control a large length and significant distance of power lines, no need to train highly specialized specialists, all-weather, autonomy of the helicopter and no need for pilot participation.

The achieved technical result is that a robotic complex of an active monitoring system and a center for receiving and processing information, characterized in that the active monitoring system consists of an all-weather helicopter, a communication and information transfer system, an automated service complex, and an information processing center and software;

helicopter, controlled by two programs, with the first installed on its internal carrier, and is responsible for direct control of the apparatus, altitude, flight speed, scanning the surrounding space and avoiding collisions, by controlling the flight conditions, it forms an adequate response to changes in weather conditions, maintains a communication channel and transmission of information, receiving commands from the central server, corrects the flight task, the second program is installed on the central server, and receives and processes data received from the helicopter, performs video stream analytics, generates reports, commands to change the flight task, archives information, and sends reports to the responsible persons;

the communication and information transmission system consists of sets of autonomous equipment, which are access points and communication lines, installed seven kilometers along the route, forming a seamless wi-fi field, along the entire flight route, the sets are interconnected by radio bridges and provide information transfer between a helicopter and a central server, with a speed of at least 100 MB;

an automatic maintenance complex is installed in the middle of the patrol route, the complex ensures the reception of the helicopter, analysis of the technical condition, refueling, downloads the information accumulated during the flight to internal media, ensures the departure of the helicopter according to the flight schedule, transmits information to the central server, the complex has the terminal equipment of radio bridges , which is a radio bridge antenna connected to the server and the transition to cable communication channels, the complex operates autonomously, it is a box in which the helicopter lands, while the box has communication equipment for downloading information in amounts exceeding the capabilities of the wi-fi network installed along the route movement, the complex includes a refueling tank and a device for automatic refueling, in addition, the box is equipped with a tank with a liquid that prevents icing and devices for sprinkling screws; in this case, the management of the service complex is carried out by software installed on the central server;

the central server is configured to be located in any convenient place for work, subject to the availability of a stable cable communication channel with an automatic service complex, carries out the functions of receiving, accumulating and storing information, provides constant analytics of the information received, sends out analytics containing information, generates a summary certificate results of control and analysis of incidents and the state of controlled objects, equipment, provides employees with access to archives and databases.

The claimed invention is illustrated in FIG. 1 and FIG. 2.

FIG. 1 shows the layout of the central server, routes and range of the helicopter departure.

FIG. 2 shows the layout of access points for seamless wi-fi coverage.

The complex consists of an active monitoring system and a center for receiving and processing information.

The active monitoring system consists of an all-weather helicopter, a communication and information transmission system, an automated service complex, and an information processing center.

The helicopter carries a suspension of up to five kilograms, the possible flight distance in one flight is up to three hundred kilometers, the speed is 70 km / h. With these characteristics, the device can move suspended equipment, automatically patrolling an area of two hundred kilometers along a given route, provided that the service complex is in the middle of the flight. The power reserve will provide movement along the route and, if necessary, hovering at specified points, planned or unplanned. At any point on the route, he can receive unscheduled, additional commands and, after their execution, he will proceed to perform a planned flight. The helicopter is controlled by two programs. The first is installed on its internal carrier, and is responsible for direct control of the apparatus, altitude, flight speed, scanning of the surrounding space and collision avoidance. By controlling the flight conditions, it forms an adequate response to changes in weather conditions (rain, wind, precipitation, temperature). Supports a communication channel and information transfer, receiving commands from a central server. Corrects the flight mission.

The second program is installed on the central server and receives and processes data received from the helicopter. Performs video stream analytics, generates reports, commands to change flight missions, archives information, and sends reports to responsible persons.

Helicopter specifications:

Dimensions:

- frame diagonal: 1400 mm

- beam length of the frame: 345 mm

Radar:

- working range: 1.5-3.5 m

- detection accuracy: <10 cm

Control system:

- model: Datalink3

- operating frequency: from 2.400 GHz to 2.483 GHz

- transmission range (no interference): 1 km

Flight characteristics:

- total weight: 13.2 kg

- standard takeoff weight: 23.8 kg

- maximum takeoff weight: 24.8 kg (at sea level)

- maximum thrust to weight ratio: 1.71 (takeoff weight 23.8 kg)

- power consumption: 2450 W (takeoff weight 23.8 kg)

- normal operation at wind speed: 17 m / s

- maximum flight speed: 70 km / h

- maximum flight range 300 km

- maximum ceiling, above sea level: 2000 m

- operating temperature: -50 ° C to 50 ° C

The communication and information transmission system consists of sets of autonomous equipment installed seven kilometers along the route, forming a seamless wi-fi field along the entire flight route. The kits are interconnected by radio bridges and provide information transfer between the helicopter and the central server at a speed of at least 100 Mb. This is enough to control and monitor the operation of the helicopter and receive information from three gimbal devices in real time.

Communication equipment specifications:

Radio bridge characteristics:

Operating frequency 2 GHz

Throughput 150+ Mbps

RAM 64MB DDR2, 8 MB Flash

Network interface (1) 10/100 Ethernet Port

Channel width 5/8/10/20/30/40 MHz

Operating range: 405 - 2475 MHz)

Coverage area 20+ Km

AirOS software

Gain 18 dBi

Dimensions 420 × 420 × 289 mm (16.54 × 16.54 × 11.38 ")

Weight 1.795 kg (4.809 lb)

Housing material UV-resistant plastic for outdoor use

Maximum power consumption 6 W

Power supply POE. 24 V, 0.5 A. POE adapter included

Passive POE power supply method. Voltage is supplied via Ethernet (pair

4 and 5 are positive, 7 and 8 are negative)

Operating temperature -40 ° to + 70 ° C (-40 to 158 ° F)

Humidity 5% to 95% (condensing)

Vibration test ETSI300-019-1.4

FCC Part 15.247, IC RS210, CE

Characteristics of access points forming a wi-fi field:

Atheros MIPS 24KC processor, 400 MHz

RAM 32 MB SDRAM, 8MB Flash

Network interface 2x10 / 100 BASE-TX (cat.5, RJ-45), Ethernet interface

Certificate of Conformity FCC 15.247, IC, CE

Channel width 5/10/20/40 MHz

Operating range 2412-2462 MHz (802.11b / g / n)

Transmitter power 26dBm, +/- 2dB

RX Sensitivity 97dBm +/- 2dB

WiFi Antenna 10.4 ~ 11.2 dBi Dual Polarization

Coverage area Up to 10 km (with minimum channel width)

TCP / IP Throughput up to 150 Mbps +

Maximum power consumption 8 W

Power supply 24 V, 0.5 A (12 W). Supplied with injector

PoE power supply method. Voltage is supplied via Ethernet (pair 4 and 5 -

positive, 7 and 8 are negative)

Vibration test ETSI300-019-1.4

Humidity 5% to 95% (condensing)

Working temperature from -30 to + 80 ° С

Dimensions 29.4 cm × 8 cm × 3 cm

Weight 0.4 kg

An automatic service complex is installed in the middle of the patrol route. The complex provides helicopter reception, technical condition analysis, refueling. Downloads the information accumulated during the flight to internal media. Provides helicopter departure according to the flight schedule. Transfers information to a central server. The complex has the final equipment for radio bridges and the transition to cable communication channels.

The complex operates autonomously and is serviced in accordance with the regulations. The service complex is a box in which the helicopter lands, box size 1500X1500X500 mm. The box has communication equipment for downloading information in volumes exceeding the capabilities of the Wi-fi network installed along the route. The complex includes a 200 liter refueling tank and a device for automatic refueling. Additionally, the box is equipped with a container with anti-icing liquid and propeller irrigation devices (for work in low temperatures).

The service complex is managed by software installed on the central server.

Helicopter-mounted gimbals:

ultraviolet camera - optical characteristics

Absolute solar rejection - in full sunlight and all weather conditions, the target can be surveyed with the sun in sight

Min. detectable discharge 3 pK at 10 m

Min. UV sensitivity 7.8 × 10-18 W / cm ²

Min. detectable RFI voltage 30 dBμV (RIV) at 1 MHz at 10 m

Field of view horizontal: 20 ° × vertical: 11.25 °

Focusing manual and automatic focusing, the UV image adjusts to the visible

UV scaling 3-x digital, adjustable to the visible image channel, constant

Combining frames of UV images On, selection from a series of frames | Off

Colors of UV images, selectable from the color gamut

Spectral range 240-280 nm

Corona events counts Corona events per minute, volume 3 fields of view

video camera - optical characteristics

UV / Video Overlay Accuracy Deviation <1 milliradian

Min. visible light sensitivity 0.03 lux

Field of view (horizontal × vertical) 20 ° × 11.25 °, UV and video channels synchronized

Video image scaling 3x optical

Noise Reduction Yes

Focusing from 5 m to infinity, automatic and manual

data storage

Video output standard HD 720p 60fps

MOV video format

Image format JPG

File system format FAT-32, exFAT

interfaces and modes of data input / output

Video interface HDMI, RTSP

Communication protocol micROM-Protocol, GPS-NMEA, MAVlink, S. BUS

RS232, CAN BUS, MFIO-PWM, UART interfaces

MicroHDMI, RJ45, Power, AUX, MFIO, miniUSB, JST

UV and video output modes Combined (UV and video), UV only, visible only

physical characteristics and power supply

Storage and operating temperature -20 ° C to + 50 ° C

Weight Camera main element: 700 g | camera unit: 900g

Dimensions (length x width x height) 156 x 112 x 71 mm

Power supply and power consumption 7-28 VDC, 12 watts

Protection degree IP42

Provides control of the presence of damage to insulators and connections by fixing electrical discharges in unacceptable places. The images of the insulators are transferred to a central server on which the insulator wear analytics program is installed. Wear is determined as a percentage of the image of a new insulator at intervals of five percent until the insulator is completely worn out and replacement is required. By analyzing the percentage of wear, a schedule (plan) for replacing insulators is calculated relative to the operating time.

Integrated camera:

• Camera with 20 megapixel zoom

• Camera with 12MP wide-angle lens

• Laser rangefinder 1200 m

• Radiometric thermal camera 640 × 512 pixels

Specifications:

Size 167 × 135 × 161mm

Weight 828 ± 5 g

Protection class IP44

Operating temperature -20 ° C ... + 50 ° C (temperature measurement is only available in the range from -10 ° C to 50 ° C)

Matrice 300 RTK Compatibility

1. Camcorder:

Effective pixels 20 MP

1 / 1.7 "CMOS sensor

Lens Diagonal angle of view: 66.6 ° -4 °, Focal length: 6.83-119.94 mm (equivalent: 31.7-556.2 mm), Aperture: f / 2.8-f / 11 (typical), f / 1.6-f / 11 (at night), Focus: 1m to ∞ (wide-angle lens), 8m to ∞ (telephoto lens)

Shutter speed 1-1 / 8000 s

ISO Video: 100-25600, Photo: 100-25600

Image size 5184 × 3888

Supported file formats MP4, JPEG

Video resolution 3840 × 2160 at 30fps, 1920 × 1080 at 30fps

Metering mode Spot metering, center-weighted metering

Exposure mode Auto, manual

Exposure compensation ± 3 (1/3 steps)

2. Camera with a wide-angle lens:

ISO Video: 100-25600; Photo: 100-25600

Shutter speed 1-1 / 8000

Lens Diagonal angle of view: 82.9 °; Focal length: 4.5mm (24mm equivalent); Aperture: f / 2.8; Focus: 1 m to ∞

Supported file formats MP4, JPEG

Image size 4056 × 3040

Video resolution 1920 × 1080 at 30fps

Metering mode Spot metering, center-weighted metering

Exposure Mode Auto

CMOS sensor 1 / 2.3 ", 12 MP

Exposure compensation ± 3 (1/3 steps)

3. Laser length gauge:

Measuring range 3-1200 m (vertical surface with a diameter of ≥ 12 m and an illumination level> 20%)

Wavelength 905 nm

Measurement accuracy ± (0.2 m + D × 0.15%), where D is the distance to the vertical surface

4. Thermal chamber:

Temperature measurement method Spot measurement, area measurement

Resolution Video: 640 × 512 @ 30Hz, Still image: 640 × 512

Digital zoom 1x, 2x, 4x, 8x

Pixel pitch 12 μm

Spectral band 8-14 microns

Sensitivity (NEdT) ≤ 50 mK at f / 1.0

Scene range -40 ° C ... + 150 ° C (high sensitivity), -40 ° C ... + 550 ° C (low sensitivity)

FFC Auto / Manual

Sensor Vanadium Oxide Microbolometer (VOx)

Temperature measurement method Spot measurement, area measurement

Lens Diagonal angle of view: 40.6 °, Aperture: f / 1.0, Focus: 5m to ∞

Photo format R-JPEG (16 bit)

MP4 video format

Focal length 13.5mm (58mm equivalent)

With the help of a complex video camera, a general view of the terrain and objects will be obtained, in case of detection of unauthorized persons, incidents, receiving a signal about an increase in temperature, a close-up of the terrain of the object. The distance from the places where the temperature rises, the presence of an unauthorized person to the controlled object, equipment will be automatically measured. The temperature was measured in different areas, the general thermal picture of the area was recorded.

Programs that analyze images from a complex video camera are installed on a central server. Analyzing the information received, it is determined: the general fire situation along the patrol route, the places where the temperature values rise to dangerous values, the direction of the spread of fires and the time of their exit to the controlled objects. Places of overgrowing of the clearing, the rate of overgrowing and the time to reach dangerous distances, using these parameters, a schedule for cleaning the clearing is calculated.

The central server can be located in any place convenient for work, provided there is a stable cable communication channel with an automatic service complex. The server carries out the functions of receiving, accumulating and storing information. Provides constant analytics of the information received. Carries out a mailing containing information analytics to the employees of the Customer, in accordance with the appointment. Generates a summary report on the results of monitoring and analysis of incidents and the state of controlled objects, equipment. Provides employee access to archives and databases.

The software installed on the server will make it possible to recognize the faces of people in the area of the object on the principle of "friend or foe", and your employee using the database. Analysis of the image of the object will allow you to identify the object and recognize changes in relation to the reference scan. The information from the UV camera will be used by the program to determine the percentage of wear on the insulator or joint, to determine the recommended replacement times. The data from the thermal imager together with the image of the video cameras will be used to programmatically determine the type of fire, the speed and direction of fire propagation, and the estimated time for the fire to reach the facility or equipment.

Server Specifications:

Intel Xeon Silver 4214R processor (12-core (24-thread), 16.5M Cache, 2.40 GHz, 100W) x 2

Cooling System Supermicro SNK-P0070APS4 4U Active Cooler for Socket P x 2

RAM 64GB PC4-23400 2933MHz DDR4 ECC Registered DIMM x 4

Expansion slots 4x PCI-E x16; 2x PCI-E x8;

Integrated RAID Intel C621 10-Port SATA3 (6Gb / s) Software RAID 0, 1, 5, 10

Hard drives 1 Seagate 1TB SATA3 6Gb / s 7.2krpm 128Mb Exos 7E2 3.5 "HDD (512n) ST1000NM0008 x 2

Hard Drives 2 Seagate 16TB SATA3 6Gb / s 7.2krpm 256Mb Exos X16 3.5 "HDD (512e / 4Kn) ST16000NM001G x 8

Integrated NIC 2-port 1Gbps (2x RJ-45)

IPMI Integrated IPMI 2.0 + KVM-over-LAN with dedicated LAN port

Aspeed AST2500 Integrated Video (1x VGA)

GPU PNY NVIDIA GeForce GTX 1070 Blower 8Gb GDDR5 (1xDVI, 1xHDMI, 3xDP) x 1

Operating system Microsoft Windows Server 2016 Standard (24-core) Rus DSP OEI DVD

Warranty Plan Standard Warranty 3 Years Technical Center

Platform specifications:

Main Applications Workstation for rendering, prototyping, animation, design, CAD

Supported processors Up to two Intel Xeon Scalable series processors

Features of IPMI 2.0 + KVM with dedicated LAN port

Server motherboard

board / Chipset

SuperMicro X11DAi-N

Intel C621 Chipset

System Memory Up to 1TB 2666MHz Reg ECC DDR4 Load Reduced DIMM in 16 DIMM slots

Expansion slots 4x PCI-Express 3.0 x16 for GPU

2x PCI-Express 3.0 x8

Integrated

raid controller

Intel C621 for 8 SATA3 (6Gb / s) ports; RAID 0,1,5,10

Network / Video / Audio 2x 1Gbps network ports (2x RJ-45)

Integrated video AST2500 (1x VGA)

IPMI 2.0 management + KVM with dedicated LAN port

Intel Node Manager, SUM, SPM, SSM

SuperDoctor 5, Watchdog

HDD baskets 8x 3.5 "Hot-Swap SAS3 / SATA3 baskets

Peripheral equipment Optional DVD-ROM drive

3x 5.25 "drive bays

Power supply High efficiency PSU 1200W

Cooling system 5 fans with speed control

4U Rackmountable / Tower Form Factor 452 x 178 x 648 mm (17.8 "x 7" x 25.5 ")

Thus, the security control complex will provide:

1. Helicopter patrolling of the site, objects, equipment, on terrain with a length of 200 kilometers, making 12 flights per day.

2. During the flight, information will be collected on the technical condition of equipment, cable products, insulators.

3. Control of the presence of unauthorized persons at the facilities, lines, the work of service teams was carried out.

4. Conducted fire control in the area where equipment and facilities are located.

5. Control of the growth of trees and shrubs, which can interfere with the operation of facilities and equipment, has been carried out.

6. All information will be saved on the server and analyzed.

7. Responsible persons for maintenance and repair will be sent messages about incidents with appropriate links to the archive with images on the server.

8. For the head, a summary certificate will be generated and a report on the work done will be provided, in a timely manner.

The complex was tested at the facility for the production of asphalt and concrete structures and cast iron products (foundry). Since the production is energy-intensive, it has an electrical substation and twenty kilometers of power lines. The complex made it possible to identify all unstable elements of the system, took under constant control the line along its entire length and the electrical substation, made it possible to reduce control costs in accordance with the regulations, developed a forecast for replacing high-voltage line insulators. Now it is possible to immediately respond to incidents, receive analytical information by the responsible persons of the Customer.

The complex performs tasks related to the control of equipment and power lines installed at a considerable distance.

All systems are designed for an ordinary user, in-depth knowledge of the system is not required by the user.

Claims (5)

A robotic complex of an active monitoring system and a center for receiving and processing information, characterized in that the active monitoring system consists of an all-weather helicopter, a communication and information transfer system, an automated service complex, an information processing center and software; the helicopter is controlled by two programs, while the first is installed on its internal carrier and is responsible for direct control of the vehicle, altitude, flight speed, scanning of the surrounding space and collision avoidance, controlling flight conditions, forms an adequate response to changes in weather conditions, maintains a communication channel and transmission information, receiving commands from the central server, corrects the flight task, the second program is installed on the central server and receives and processes data received from the helicopter, performs video stream analytics, generates reports, commands to change the flight task, archives information and sends reports to responsible persons; the communication and information transfer system consists of sets of autonomous equipment, which are access points and communication lines installed seven kilometers along the route, forming a seamless wi-fi field along the entire flight route, the sets are interconnected by radio bridges and provide information transfer between the helicopter and a central server with a speed of at least 100 MB; an automatic maintenance complex is installed in the middle of the patrol route, the complex ensures the reception of the helicopter, analysis of the technical condition, refueling, downloads the information accumulated during the flight to internal media, ensures the departure of the helicopter according to the flight schedule, transmits information to the central server, the complex has the terminal equipment of radio bridges , which is a radio bridge antenna connected to a server and a transition to cable communication channels, the complex operates autonomously, is a box in which a helicopter lands, while the box has communication equipment for downloading information in volumes exceeding the capabilities of the wi-fi network installed by the route of movement, the complex includes a refueling tank and a device for automatic refueling, in addition, the box is equipped with a tank with a liquid that prevents icing, and devices for sprinkling screws; in this case, the management of the service complex is carried out by software installed on the central server; the central server is designed to be located in any convenient place for work, subject to the availability of a stable cable communication channel with an automatic service complex, carries out the functions of receiving, accumulating and storing information, provides constant analytics of the information received, sends out mailing containing analytic information, generates a summary information on the results of monitoring and analyzing incidents and the state of controlled objects, equipment, provides employees with access to archives and databases.

Images