WO2019015278A1 - 高压开关柜带电检测方法及装置 - Google Patents

高压开关柜带电检测方法及装置 Download PDF

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Publication number
WO2019015278A1
WO2019015278A1 PCT/CN2018/072631 CN2018072631W WO2019015278A1 WO 2019015278 A1 WO2019015278 A1 WO 2019015278A1 CN 2018072631 W CN2018072631 W CN 2018072631W WO 2019015278 A1 WO2019015278 A1 WO 2019015278A1
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WIPO (PCT)
Prior art keywords
module
detection
voltage switchgear
switch cabinet
motion module
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PCT/CN2018/072631
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English (en)
French (fr)
Inventor
刘玉婷
王鹏
周求宽
刘明军
李唐兵
童超
张宇
童军心
刘衍
陈�田
邹阳
Original Assignee
国网江西省电力有限公司电力科学研究院
国家电网有限公司
南昌科晨电力试验研究有限公司
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Application filed by 国网江西省电力有限公司电力科学研究院, 国家电网有限公司, 南昌科晨电力试验研究有限公司 filed Critical 国网江西省电力有限公司电力科学研究院
Priority to US16/306,270 priority Critical patent/US11513142B2/en
Publication of WO2019015278A1 publication Critical patent/WO2019015278A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/145—Indicating the presence of current or voltage
    • G01R19/155—Indicating the presence of voltage
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
    • G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
    • G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/10—Small scale networks; Flat hierarchical networks
    • H04W84/12—WLAN [Wireless Local Area Networks]

Definitions

  • the present application relates to the technical field of high voltage electrical equipment, such as a method and a device for detecting a live voltage of a high voltage switchgear.
  • the high-voltage switchgear undertakes the task of directly supplying power to the user, but most of the power lines are difficult to be configured like the transmission line according to the "N-1" reliability principle, and the reliability of the switchgear device directly determines the reliability of supplying power to the user. Due to the large number of high-voltage switchgear, low equipment cost and high monitoring equipment cost, it is impossible to use an on-line monitoring device like a transformer, Gas Insulated Switchgear (GIS) to achieve comprehensive and real-time online monitoring.
  • GIS Gas Insulated Switchgear
  • Insulation and current-carrying faults are characterized by partial discharge or heat generation. Therefore, the partial discharge detection and infrared thermal image detection of the switchgear have an important positive effect on reducing the failure rate of the equipment.
  • the live detection of the switchgear is mainly carried out by the operator carrying the partial discharge charging detector and the infrared thermal image detector according to different detection items. The detection workload is large and the detection working time is long.
  • the application provides a method and a device for detecting the liveness of a high-voltage switchgear, and realizes partial discharge of the high-voltage switchgear and automatic detection and intelligent diagnosis of the infrared thermal image.
  • the embodiment of the present application provides a high-voltage switchgear charging detection device, including a robot body.
  • the robot body includes a host module, a power module, a detection module, and a motion module.
  • the power module is electrically connected to the host module and the motion module, and the host module signal is connected to the motion module.
  • a detecting module comprising a visible light camera, an infrared camera, a non-contact ultrasonic sensor and an ultra high frequency sensor.
  • the motion module includes a horizontal motion module, a vertical motion module, and a rotational motion module.
  • the horizontal motion module is composed of an electric trolley and a laser navigation system
  • the vertical motion module is fixed on the electric trolley
  • the rotary motion module is fixed on the vertical motion module
  • the detection module is fixed. On the rotary motion module.
  • the electric trolley is composed of two main front wheels and two main rear wheels, a driving motor, a driving gear and a frame, the two main front wheels and two main rear wheels, a driving motor and a driving gear. Fixed to the rack.
  • the host module is fixed on the frame of the electric trolley; the host module is composed of a Wireless Fidelity (WIFI) communication module, an image processing module, a partial discharge signal processing module, a motion control system, and a data acquisition system.
  • WIFI Wireless Fidelity
  • the motion control system signal is connected to the motion module and the detection module, and the data acquisition system is connected to the signal detection module.
  • the high-voltage switchgear charging detection device is further provided with an in-station control terminal, a remote control terminal, a mobile query terminal, and a background server, wherein the remote control terminal connects the control terminal in the station through an optical fiber; the mobile query terminal remotely wirelessly through 4G communication mode Connect to the control terminal in the station.
  • the embodiment of the present application further provides a method for detecting the liveness of a high-voltage switchgear, based on the foregoing high-voltage switchgear charging detection device; the steps are as follows:
  • Step 1 Plan the detection path
  • Step 2 Create a task package according to the layout of the switch cabinet
  • Step 3 Detecting alignment: When the detection work starts, the operator clicks “one-key detection” remotely through the computer, and the robot body in the high-voltage switchgear charging detection device starts from the charging dock and moves according to the planned path trajectory. When a switch cabinet detects the preset position, the robot body in the high-voltage switch cabinet charging detection device stops moving, automatically adjusts the angle of the vehicle body and the detection system, so that the front end of the vehicle body and the detection system face the switch cabinet;
  • Step 4 Infrared detection: divide the switch cabinet door into two areas, A and B, automatically turn on the infrared camera, horizontally align the door to the area A thermal image, and then the module rotates vertically to make the infrared image
  • the instrument is at an angle of 45 degrees with the horizontal, and the thermal imaging picture of the area B is taken, and the detection module restores the horizontal angle to complete the infrared detection of the switch cabinet;
  • Step 5 The robot body in the high-voltage switchgear charging detection device approaches the switch cabinet door.
  • the vertical motion module raises the detection module at a constant speed and turns on the visible light camera to perform the second recognition and feature extraction on the switch cabinet.
  • the detection module stops moving; at this time, the UHF sensor and The non-contact ultrasonic sensor is aligned with the gap of the cabinet door for partial discharge detection; the detection module continues to rise to find and identify the gap of the next cabinet door and performs detection.
  • the detection module is lowered to the original position, and the partial discharge of the switch cabinet is completed. Detection
  • Step 6 The robot body in the high-voltage switchgear charging detection device returns to the detection path, and moves to the next switch cabinet according to the calibration switch cabinet position map for detection; until all the switch cabinets are detected and returned to the charging dock.
  • the robot body in the high-voltage switchgear charging detection device automatically traverses the entire working environment. While traversing the working environment, the robot body in the high-voltage switchgear charging detection device uses the laser navigation system to create a second After the map is created, the 2D map will be stored in the background server: the operator will call up the 2D map in the remote computer, plan the detection path on the 2D map, and the robot body in the high voltage switch cabinet charging detection device. The motion is performed according to the planned detection path trajectory, and the obstacle is detected in real time while moving, and the obstacle is bypassed to return to the previously planned path.
  • step 2 the operator creates a task package according to the layout of the switch cabinet of the switch cabinet, and starts to detect the task package on the robot body download server in the live detection device of the high-voltage switch cabinet, and utilizes the layout of the switch cabinet in the task package.
  • the two-dimensional map created before is processed, and the position of the switch cabinet and the serial number of the switch cabinet door are marked on the map.
  • the robot body in the high-voltage switchgear charging detection device sends the thermal imaging picture and the partial emission detection map to the background server in real time, and the infrared detection result is compared with the original thermal imaging picture, such as detecting an area. There is an abnormal temperature rise and continue to detect the next area until there is no abnormal temperature rise in the detection area.
  • the partial discharge detection map is compared with the original spectrum.
  • the non-contact ultrasonic sensor or the UHF sensor partial discharge detection map shows that there is a gap with an abnormal discharge signal, and the next gap is continuously detected until the gap ultrasonic wave is detected. There is no abnormal discharge signal at UHF.
  • the robot body in the high-voltage switchgear charging detection device is suspended and detected by the background server.
  • the operator receives the alarm, he can view the detection map remotely, make a manual judgment, and select whether to retest the suspected defect area through the computer, or continue the detection of the next switch cabinet.
  • the embodiment of the present application can realize automatic detection of partial discharge and infrared thermal image detection items of the high voltage switchgear; real-time monitoring of the state of the high voltage switchgear can be realized. Moreover, the detection of partial discharge and infrared thermal image detection items of the high voltage switchgear of the high voltage room of the substation can be realized, and the operator does not need to arrive at the site, thereby greatly reducing the labor cost of the live test.
  • FIG. 1 is a structural block diagram of a high voltage switchgear charging detection device in an embodiment of the present application
  • FIG. 2 is a structural block diagram of a motion module of a robot body in an embodiment of the present application
  • FIG. 3 is a perspective view of the robot body in the embodiment of the present application.
  • FIG. 4 is a schematic diagram of a live detection path of a high voltage switchgear in the embodiment of the present application.
  • FIG. 5 is a flow chart of a method for detecting a live power of a high voltage switchgear in an embodiment of the present application.
  • a high-voltage switchgear charging detection device includes a robot body 11 .
  • the robot body 11 is composed of a host module 2 , a power module 3 , a detection module 4 , and a motion module 5 .
  • the power module 3 is electrically connected to the host.
  • the module 2 and the motion module 5 are connected to the motion module 5 and the detection module 4.
  • the detection module 4 includes a visible light camera 41, an infrared camera 42, a non-contact ultrasonic sensor 43, and an ultra high frequency sensor 44.
  • the motion module 5 includes a horizontal motion module 51, a vertical motion module 52, and a rotational motion module 53.
  • the horizontal motion module 51, the vertical motion module 52, and the rotational motion module 53 are all coupled to the motion control system included in the host module 2.
  • the horizontal motion module 51 is composed of an electric trolley 62 and a laser navigation system 61.
  • the vertical movement module 52 is fixed on the electric trolley 62, and height adjustment in the range of 50 cm to 150 cm in the vertical direction of the detection module 4 can be realized.
  • the rotary motion module 53 is fixed on the vertical motion module 52, and the detection module 4 can be rotated 360 degrees in the horizontal direction and -60° to 60° in the vertical direction.
  • the visible light camera 41, the infrared camera 42, the non-contact ultrasonic sensor 43, and the ultra high frequency sensor 44 are fixed to the rotary motion module 53.
  • the laser navigation system 61 is fixed on the front end of the electric trolley 62; the indoor laser radar real-time positioning and map construction (SLAM) navigation technology is adopted, and the laser navigation system 61 includes the URG-04LX two-dimensional laser radar of HOKUYO company. It is installed in front of the lower portion of the robot body 11.
  • the visible light camera 41 adopts a 1/2.8" Progressive Scan Complementary Metal Oxide Semiconductor (CMOS) sensor with a focal length of 4.5 to 135 mm and 30 times optical zoom;
  • CMOS Complementary Metal Oxide Semiconductor
  • the thermal imager 42 uses an uncooled focal plane micro-thermal detector with a wavelength range of 8 to 14 um;
  • the non-contact ultrasonic sensor 43 uses a Physical Acoustics Corporation (PAC) ultrasonic PD detector to detect the frequency band. It is 20 kHz to 80 kHz and has a condenser.
  • the UHF sensor 44 is a multi-arm helical antenna with a detection frequency band of 300 MHz to 1500 MHz and directional reception.
  • the electric trolley 62 is composed of two main front moving wheels and two main rear moving wheels, a DC brushless servo motor, a driving gear and a frame, the two main front moving wheels and two main rear moving wheels, DC brushless The servo motor and drive gear are fixed to the frame.
  • the host module 2 is fixed on the frame of the electric trolley; the host module 2 is composed of a WIFI communication module, an image processing module, a partial discharge signal processing module, a motion control system, and a data acquisition system; RT3070L module; the image processing module adopts i.MX6Q core board, and realizes image compression coding in JPEG format; the partial discharge signal processing module adopts digital signal processing (DSP) module as the main control part of the system,
  • DSP chip and its peripheral expansion chip are included, and the TMS320C6173B DSP of Texas Instruments (TI) is selected as the main control chip, and the Samsung K4H5 series chip is used as the Synchronous Dynamic Random Access Memory (SDRAM).
  • SDRAM Synchronous Dynamic Random Access Memory
  • the data acquisition system includes Complex Programmable Logic Device (CPLD), discharge signal analog-to-digital converter chip and envelope detector, and CPLD and video signal analog-to-digital converter chip.
  • CPLD Complex Programmable Logic Device
  • the motion control system adopts STM32F405RGT6 enhanced microcontroller as control core, adopts TMS320LF2407A DSP chip and drive circuit as motor drive control; motion control system signal connection motion module 5
  • the detecting module 4 the data collecting system signal is connected to the detecting module 4.
  • the host module 2 and the in-station control terminal 12 adopt WIFI communication mode.
  • the motion module 5 is controlled by a motion control system via an RS485 bus
  • the horizontal motion module 51 is composed of an electric trolley 62 and a laser navigation system 61.
  • the electric trolley 62 has a driving device therein, and the driving device includes a servo.
  • the driver, the driving motor and the encoder control the movement of the robot body, and the servo driver is connected to the driving motor, and the driving motor has an encoder.
  • the vertical motion module 52 is composed of a push rod motor, a driver, a position encoder, and a limiter, and is fixed on the frame of the electric trolley 62 and electrically connected to the host module 2; the vertical motion module 52 is composed of a lifting rod and a gas pump. The cylinder, the winding mechanism and the positioning mechanism are composed; the vertical movement module 52 has a height extension range of 50 cm to 150 cm from the ground.
  • the rotary motion module 53 is a two-degree-of-freedom pan/tilt head fixed to the lifting rod of the vertical motion module 52 and electrically connected to the host module 2; the rotary motion module 53 is driven by the driving motor, the rotating shaft and the circumferential direction.
  • the mechanism consists of a horizontal rotation angle of 0 to 360° and a vertical rotation angle of -60° to 60°.
  • the high-voltage switchgear charging detection device is further equipped with an in-station control terminal 12, a remote control terminal 13 and a mobile inquiry terminal 14 for controlling the movement track, automatic detection, data processing and data communication of the robot body 11 And the power detection data analysis and diagnosis;
  • the remote control terminal 13 receives the field detection data uploaded by the control terminal 12 in the station for centralized monitoring and alarm;
  • the mobile query terminal 14 is used to query the field detection data about the high voltage switch cabinet.
  • the remote control terminal 13 is connected to the in-station control terminal 12 via an optical fiber; the mobile inquiry terminal 14 remotely wirelessly connects to the in-station control terminal 12 by means of 4G communication.
  • the robot body In the new environment, the robot body needs to automatically traverse the entire working environment. While traversing the working environment, the robot body will use laser radar to create a two-dimensional map. After the creation, the two-dimensional map will be stored to the background server. The operator calls up the two-dimensional map in the remote computer, and the detection path 20 is planned on the two-dimensional map. The robot body moves according to the planned trajectory of the detection path 20, and detects the obstacle in real time while moving, and bypasses the obstacle back. Previously planned on the path.
  • the operator creates a task package according to the switch cabinet layout of the switch cabinet room, starts to detect the task package on the background server before downloading the robot body, and uses the switch cabinet layout in the task package to process the previously created two-dimensional map and mark it on the map.
  • the position of the switchgear and the serial number of the switch cabinet door is not limited to the switch cabinet layout of the switch cabinet room.
  • the robot body in the high-voltage switchgear charging detection device When the robot body in the high-voltage switchgear charging detection device is not working, it is to be in the charging dock in the high-voltage switchgear charging detection device.
  • the high voltage switchgear charging detection device is activated.
  • the detecting operation the robot body in the charging detection device of the high-voltage switchgear starts from the charging dock, moves according to the planned detection path trajectory, and reaches the robot body in the charging detection device of the high-voltage switchgear when the first switching cabinet detects the preset position. Stop the movement, automatically adjust the body and inspection system angle, so that the front end of the body and the detection system face the switchgear.
  • the switch cabinet door is divided into two areas A and B, the infrared camera 42 is automatically turned on, the thermal imaging picture of the area A is aligned horizontally, and then the detection module 4 is rotated vertically to make the infrared heat
  • the imager 42 is at an angle of 45 degrees with the horizontal plane, and the photographing area B is thermally imaged, and the detecting module 4 restores the horizontal angle to complete the infrared detection of the switchgear.
  • the partial discharge (referred to as partial discharge) detection is performed, and the robot body approaches the switch cabinet door.
  • the lidar detects that the front preset distance has a cabinet door
  • the robot body stops moving.
  • the preset distance is 20 cm.
  • the vertical motion module 52 is activated to raise the detection module 4 at a constant speed, and the visible light camera 41 is turned on to perform second recognition and feature extraction on the switch cabinet.
  • the detection module 4 stops moving.
  • the UHF sensor 44 and the non-contact ultrasonic sensor 43 are aligned with the door gap for partial discharge detection.
  • the detecting module 4 continues to rise to find and identify the gap of the next door, and the detection module 4 is lowered to the original position after the detection is completed, and the partial discharge detection of the switch cabinet is completed.
  • the robot body in the high-voltage switchgear charging detection device returns to the detection path 20, and moves to the next switch cabinet for detection according to the calibration switch cabinet position map. Until all the switch cabinets have been tested and returned to the charging dock.
  • the robot body in the high-voltage switchgear charging detection device sends the thermal imaging picture and the partial emission detection map to the background server in real time, and compares the real-time acquired thermal imaging picture with the original thermal imaging picture, such as detecting an area. If there is abnormal temperature rise, continue to detect the next area until there is no abnormal temperature rise in the detection area. For example, if abnormal temperature rise (T ⁇ 0) is detected in #1 switch cabinet A area to #3 switch cabinet B area, then The temperature rise number set T ⁇ T 1 , T 2 , T 3 , T 4 , T 5 , T 6 ⁇ of the heat generating region, as shown in FIG. 5 . According to the horizontal comparison method, the suspected area of the starting thermal defect is automatically diagnosed as the region of the maximum temperature rise value TMAX;
  • the partial discharge detection map is compared with the original spectrum.
  • the non-contact ultrasonic sensor 43 or the ultra-high frequency sensor 44 partial discharge detection map shows that there is a gap with an abnormal discharge signal, and the next gap is continuously detected until the gap ultrasonic and extra high are detected. There is no abnormal discharge signal at all frequencies. For example, it is detected that #1 switch cabinet slot 1 to #3 switch cabinet slot 2 has ultrasonic partial discharge amount Q 1 and UHF partial discharge quantity Q' (Q 1 +Q' ⁇ 0), and ultrasonic waves are obtained.
  • the robot body pauses detection and reports an alarm through the background server.
  • the operator receives the alarm, he can view the detection map remotely, make a manual judgment, and select whether to retest the suspected defect area through the computer, or continue the detection of the next switch cabinet.
  • the application is equipped with a set of high-performance detection instruments through a mobile mobile platform to realize automatic detection of partial discharge and infrared thermal image detection items of the high-voltage switchgear, without requiring the operator to arrive at the scene, thereby greatly reducing the labor cost of the live detection.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Acoustics & Sound (AREA)
  • Automation & Control Theory (AREA)
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Abstract

一种高压开关柜带电检测方法及装置，高压开关柜带电检测装置包括机器人本体(11)和后台服务器，机器人本体(11)包括主机模块(2)、电源模块(3)、检测模块(4)及运动模块(5)，电源模块(3)电性连接主机模块(2)和运动模块(5)，主机模块(2)信号连接运动模块(5)和检测模块(4)，检测模块(4)包括可见光摄像机(41)、红外热像仪(42)、非接触式超声波传感器(43)及特高频传感器(44)；运动模块(5)包括水平运动模块(51)、垂直运动模块(52)及旋转运动模块(53)；水平运动模块(51)由电动小车(62)与激光导航系统(61)组成，垂直运动模块(52)固定在电动小车(62)上，旋转运动模块(53)固定在垂直运动模块(52)上，检测模块(4)固定在旋转运动模块(53)上。

Description

高压开关柜带电检测方法及装置 技术领域
本申请涉及高压电气设备技术领域，例如一种高压开关柜带电检测方法及装置。
背景技术
高压开关柜承担直接向用户供电的任务，但大多数用电线路难以像输电线路按照“N-1”可靠性原则配置，开关柜设备的可靠性直接决定了向用户供电的可靠性。由于高压开关柜数量众多，设备造价低，监测设备成本高，开关柜不可能采用像变压器、气体绝缘开关设备(Gas Insulated Switchgear，GIS)那样的在线监测装置，实现全面、实时的在线监测。
根据中国电科院对1989年至1997年间和2004年40.5kV以下电压等级开关设备的故障类型调研结果，绝缘与载流性故障(含障碍)占30％～53％。而江西电网公司对2010年至2015年间开关柜故障类型的统计结果显示，绝缘与载流性故障的比例高达53％。
绝缘与载流故障初期表征为局部放电或发热现象。因此，开关柜实施局部放电检测及红外热像检测对降低设备的故障率有着重要积极的作用。开关柜带电检测工作主要是操作员携带局部放电带电检测仪和红外热像检测仪按照不同检测项目分别开展，检测工作量大且检测工作时间长。
发明内容
本申请提供一种高压开关柜带电检测方法及装置，实现高压开关柜局部放电和红外热像自动检测及智能诊断。
本申请实施例提供一种高压开关柜带电检测装置，包括机器人本体，机器人本体包括主机模块、电源模块、检测模块及运动模块，电源模块电性连接主机模块和运动模块，主机模块信号连接运动模块和检测模块，所述检测模块包括可见光摄像机、红外热像仪、非接触式超声波传感器及特高频传感器。
可选地，所述运动模块包括水平运动模块、垂直运动模块及旋转运动模块。
可选地，所述水平运动模块由电动小车与激光导航系统组成，所述垂直运动模块固定在所述电动小车上，所述旋转运动模块固定在所述垂直运动模块上，所述检测模块固定在旋转运动模块上。
可选地，所述电动小车由两个主前动轮和两个主后动轮、驱动电机、驱动齿轮及机架组成，所述两个主前动轮和两个主后动轮、驱动电机、驱动齿轮固定在机架上。
可选地，主机模块固定在电动小车的机架上；所述主机模块由无线保真(Wireless Fidelity，WIFI)通讯模块、图像处理模块、局部放电信号处理模块、运动控制系统及数据采集系统组成；运动控制系统信号连接运动模块和检测模块，数据采集系统信号连接检测模块。
可选地，高压开关柜带电检测装置还配备站内控制终端、远程控制终端、移动查询终端以及后台服务器，所述远程控制终端通过光纤连接站内控制终端；所述移动查询终端通过4G通讯方式远程无线连接站内控制终端。
本申请实施例还提供了一种高压开关柜带电检测方法，基于前述的高压开关柜带电检测装置；步骤如下：
步骤一、规划检测路径；
步骤二、根据开关柜布局创建一个任务包；
步骤三、检测对齐：检测工作开始时，操作员在远程通过电脑点击“一键检测”，高压开关柜带电检测装置中的机器人本体从充电坞出发，根据规划的路径轨迹进行运动，当到达第一个开关柜检测预设位时，高压开关柜带电检测装置中的机器人本体停止运动，自动调整车身和检测系统角度，使车身前端和检测系统面对开关柜；
步骤四、红外检测：将开关柜柜门分为A、B上下两个区域，自动开启红外热像仪，水平对准柜门拍摄区域A热成像图片，然后检测模块垂直旋转，使红外热像仪与水平成45度角，拍摄区域B热成像图片，检测模块恢复水平角度，完成此面开关柜的红外检测；
步骤五、局放检测：高压开关柜带电检测装置中的机器人本体向开关柜柜门靠近，当激光雷达检测到前方20cm有柜门时，高压开关柜带电检测装置中的机器人本体停止运动；启动垂直运动模块将检测模块匀速升高，并开启可见光摄像机，对开关柜进行第二次识别和特征提取，识别到开关柜的柜门缝隙后，检测模块停止运动；此时，特高频传感器和非接触式超声波传感 器对准此柜门缝隙进行局放检测；检测模块继续升高寻找识别下一条柜门缝隙并进行检测，检测完成后检测模块下降至原始位置，完成此面开关柜的局放检测；
步骤六、高压开关柜带电检测装置中的机器人本体返回至检测路径，根据标定的开关柜位置地图运动到下一面开关柜进行检测；直到检测完毕所有的开关柜，并自主返回充电坞中。
可选地，步骤一中、让高压开关柜带电检测装置中的机器人本体自动遍历整个工作环境，在遍历工作环境的同时，高压开关柜带电检测装置中的机器人本体会利用激光导航系统创建一个二维地图，创建完毕后，会将该二维地图存储至后台服务器：操作员在远程电脑中调出二维地图，在二维地图上面规划出检测路径，高压开关柜带电检测装置中的机器人本体根据规划的检测路径轨迹进行运动，运动的同时实时检测障碍，并绕过障碍回到之前规划的路径上。
可选地，步骤二中，操作员根据开关柜室的开关柜布局创建一个任务包，开始检测前高压开关柜带电检测装置中的机器人本体下载服务器上的任务包，利用任务包中开关柜布局对之前创建的二维地图进行加工，在地图上标定出开关柜位置及开关柜柜门序号。
可选地，在检测过程中高压开关柜带电检测装置中的机器人本体实时将热成像图片和局放检测图谱发至后台服务器，红外检测结果与原始热成像图片进行比对，如检测到一个区域有异常温升，继续检测下一个的区域，直到检测区域无异常温升。
可选地，局放检测图谱与原始图谱进行比对，如非接触式超声波传感器或特高频传感器局放检测图谱显示有一条缝隙存在异常放电信号，继续检测下一条缝隙，直到检测缝隙超声波和特高频均无异常放电信号。
可选地，一旦诊断出发热缺陷疑似区域或放电缺陷疑似区域，高压开关柜带电检测装置中的机器人本体暂停检测，并通过后台服务器报警。操作员收到报警可在远程查看检测图谱，进行人工判断，通过电脑选择是否对疑似缺陷区域进行复测，或继续下一面开关柜的检测。
本申请实施例可以实现对高压开关柜局部放电及红外热像检测项目的自动检测；可以实现对高压开关柜状态实时监控。并且可实现变电站高压室高压开关柜局部放电及红外热像检测项目的检测作业，不需要操作员到达现场， 从而大幅度降低带电检测人工成本。
附图说明
图1是本申请实施例中的一种高压开关柜带电检测装置的结构框图；
图2是本申请实施例中的机器人本体的运动模块的结构框图；
图3是本申请实施例中的机器人本体的立体图；
图4是本申请实施例中的高压开关柜带电检测路径示意图；
图5是本申请实施例中的高压开关柜带电检测方法的流程图。
具体实施方式
下面结合附图进一步详细阐明本申请。
如图1所示，一种高压开关柜带电检测装置，包括机器人本体11，所述机器人本体11由主机模块2、电源模块3、检测模块4及运动模块5构成，电源模块3电性连接主机模块2和运动模块5，主机模块2信号连接运动模块5和检测模块4，所述检测模块4包括可见光摄像机41、红外热像仪42、非接触式超声波传感器43及特高频传感器44。
可选地，如图2所示，所述运动模块5，包括水平运动模块51、垂直运动模块52及旋转运动模块53。水平运动模块51、垂直运动模块52及旋转运动模块53均与主机模块2中包括的运动控制系统信号连接。如图3所示，所述水平运动模块51由电动小车62与激光导航系统61组成。所述垂直运动模块52固定在所述电动小车62上，可实现所述检测模块4垂直方向50cm～150cm范围内的高度调节。所述旋转运动模块53固定在所述垂直运动模块52上，可实现所述检测模块4水平方向360°旋转及垂直方向-60°～60°旋转。可见光摄像机41、红外热像仪42、非接触式超声波传感器43及特高频传感器44固定在旋转运动模块53上。所述激光导航系统61固定在电动小车62前端；采用室内激光雷达即时定位与地图构建(Simultaneous Localization and Mapping，SLAM)导航技术，激光导航系统61中包括HOKUYO公司的URG-04LX二维激光雷达，并安装在机器人本体11下部的前方。
可选地，所述可见光摄像机41采用1/2.8"逐行扫描(Progressive Scan)互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS) 传感器，焦距4.5～135mm、30倍光学变倍；所述红外热像仪42采用非制冷焦平面微热型探测器、波长范围为8～14um；所述非接触式超声波传感器43采用美国物理声学公司(Physical Acoustics Corporation，PAC)超声波局放检测仪，检测频带为20kHz～80kHz，且附带聚波器；所述特高频传感器44采用多臂螺旋天线，检测频带为300MHz～1500MHz，具备定向接收性。
可选地，电动小车62由两个主前动轮和两个主后动轮、直流无刷伺服电机、驱动齿轮及机架组成，所述两个主前动轮和两个主后动轮、直流无刷伺服电机以及驱动齿轮固定在机架上。
可选地，主机模块2固定在电动小车的机架上；所述主机模块2由WIFI通讯模块、图像处理模块、局部放电信号处理模块、运动控制系统及数据采集系统组成；所述WIFI模块采用RT3070L模块；所述图像处理模块采用i.MX6Q核心板，并以JPEG格式实现图像压缩编码；所述局部放电信号处理模块采用数字信号处理(Digital Signal Processing，DSP)模块为系统的主控部分，包含DSP芯片及其外围扩展芯片，选择德州仪器(Texas Instruments，TI)公司的TMS320C6173B DSP作为主控芯片，采用三星K4H5系列芯片作为外扩同步动态随机存储器(Synchronous Dynamic Random Access Memory，SDRAM)；所述数据采集系统包含复杂可编程逻辑器件(Complex Programmable Logic Device，CPLD)、放电信号模拟数字转换芯片和包络检波器以及CPLD和视频信号模拟数字转换芯片两部分，选择亚德诺半导体公司(Analog Devices，Inc，ADI)的AD7490芯片作为放电信号和视频信号的模拟数字转换芯片；所述运动控制系统采用STM32F405RGT6增强型微控制器作为控制核心，采用TMS320LF2407A DSP芯片和驱动电路作为电机驱动控制；运动控制系统信号连接运动模块5和检测模块4，数据采集系统信号连接检测模块4。所述主机模块2与站内控制终端12采用WIFI通讯方式。
如图2所示，所述运动模块5由运动控制系统通过RS485总线控制，水平运动模块51由电动小车62与激光导航系统61组成，所述电动小车62内有驱动装置，该驱动装置包括伺服驱动器、驱动电机和编码器，控制机器人本体运动，所述伺服驱动器连接驱动电机，驱动电机上带有编码器。
可选地，垂直运动模块52由推杆电机、驱动器、位置编码器、及限位器组成，固定在电动小车62机架上，与主机模块2电气连接；垂直运动模块52由升降杆、气泵、气缸、卷线机构及定位机构组成；垂直运动模块52离 地高度伸缩范围为50cm～150cm。
可选地，旋转运动模块53为一个二自由度云台，固定在垂直运动模块52的升降杆上，与主机模块2电气连接；所述旋转运动模块53由驱动电机、转动轴及周向定位机构组成，水平旋转角度为0～360°、垂直旋转角度为-60°～60°。
如图1所示，高压开关柜带电检测装置还配备站内控制终端12、远程控制终端13和移动查询终端14，站内控制终端12用于控制机器人本体11运动轨迹、自动检测、数据处理、数据通讯和带电检测数据分析及诊断；远程控制终端13接收所述站内控制终端12上传的现场检测数据进行集中监控和报警；移动查询终端14用于查询关于高压开关柜的现场检测数据。所述远程控制终端13通过光纤连接站内控制终端12；所述移动查询终端14通过4G通讯方式远程无线连接站内控制终端12。
在新的环境中，需要让机器人本体自动遍历整个工作环境，在遍历工作环境的同时，机器人本体会利用激光雷达创建一个二维地图，创建完毕后，会将该二维地图存储至后台服务器。操作员在远程电脑中调出二维地图，在二维地图上面规划出检测路径20，机器人本体会根据规划的检测路径20的轨迹进行运动，运动的同时实时检测障碍，并绕过障碍回到之前规划的路径上。
操作员根据开关柜室的开关柜布局创建一个任务包，开始检测前机器人本体下载后台服务器上的任务包，利用任务包中开关柜布局对之前创建的二维地图进行加工，在地图上标定出开关柜位置及开关柜柜门序号。
高压开关柜带电检测装置中的机器人本体不工作时，待在高压开关柜带电检测装置中的充电坞中。检测工作开始时，操作员在远程通过电脑点击“一键检测”，其中“一键检测”可以为电脑界面上的虚拟按钮，当操作员点击该虚拟按钮时，启动高压开关柜带电检测装置进行检测操作，高压开关柜带电检测装置中的机器人本体从充电坞出发，根据规划的检测路径轨迹进行运动，当到达第一个开关柜检测预设位时，高压开关柜带电检测装置中的机器人本体停止运动，自动调整车身和检测系统角度，使车身前端和检测系统面对开关柜。
进行红外检测，将开关柜柜门分为A、B上下两个区域，自动开启红外热像仪42，水平对准柜门拍摄区域A的热成像图片，然后检测模块4垂直旋 转，使红外热像仪42与水平面成45度角，拍摄区域B热成像图片，检测模块4恢复水平角度，完成此面开关柜的红外检测。
进行局部放电(简称局放)检测，机器人本体向开关柜柜门靠近，当激光雷达检测到前方预设距离有柜门时，机器人本体停止运动。可选地，预设距离为20cm。启动垂直运动模块52将检测模块4匀速升高，并开启可见光摄像机41，对开关柜进行第二次识别和特征提取，识别到开关柜的柜门缝隙后，检测模块4停止运动。此时，特高频传感器44和非接触式超声波传感器43对准此柜门缝隙进行局放检测。检测模块4继续升高寻找识别下一条柜门缝隙并进行检测，检测完成后检测模块4下降至原始位置，完成此面开关柜的局放检测。
高压开关柜带电检测装置中的机器人本体返回至检测路径20，根据标定的开关柜位置地图运动到下一面开关柜进行检测。直到检测完毕所有的开关柜，并自主返回充电坞中。
在检测过程中高压开关柜带电检测装置中的机器人本体实时将热成像图片和局放检测图谱发至后台服务器，将实时获取的热成像图片与原始热成像图片进行比对，如检测到一个区域有异常温升，继续检测下一个的区域，直到检测区域无异常温升，例如：检测到#1开关柜A区域到#3开关柜B区域都存在异常温升(T≠0)，则得到发热区域温升数集T{T 1、T 2、T 3、T 4、T 5、T 6}，如图5。根据横向比较法，自动诊断出发热缺陷疑似区域为最大温升值TMAX的区域；
局放检测图谱与原始图谱进行比对，如非接触式超声波传感器43或特高频传感器44局放检测图谱显示有一条缝隙存在异常放电信号，继续检测下一条缝隙，直到检测缝隙超声波和特高频均无异常放电信号，例如：检测到#1开关柜缝隙1到#3开关柜缝隙2有超声波局放量Q 1和特高频局放量Q′(Q 1+Q′≠0)，得到超声波信号幅值数集Q{Q 1、Q 2、Q 3、Q 4、Q 5、Q 6}和特高频信号峰值数集Q′{Q′ 1、Q′ 2、Q′ 3、Q′ 4、Q′ 5、Q′ 6}，根据横向比较法，若Q MAX和Q′ MAX为同一个缝隙处局放量，自动诊断出放电缺陷疑似区域为Q MAX/Q′ MAX缝隙区域；若Q MAX和Q′ MAX为不同缝隙处局放量，则通过后台服务器显示检测结果，操作员进行人工复测。
一旦诊断出疑似发热缺陷区域或疑似放电缺陷区域，机器人本体暂停检测，并通过后台服务器报警。操作员收到报警可在远程查看检测图谱，进行 人工判断，通过电脑选择是否对疑似缺陷区域进行复测，或继续下一面开关柜的检测。
工业实用性
本申请通过机动移动平台搭载一组高性能检测仪器，实现对高压开关柜局部放电及红外热像检测项目的自动检测，不需要操作员到达现场，从而大幅度降低带电检测人工成本。

Claims (12)

  1. 一种高压开关柜带电检测装置，包括机器人本体；
    所述机器人本体包括主机模块、电源模块、检测模块及运动模块，所述电源模块电性连接所述主机模块和所述运动模块，所述主机模块与所述运动模块和所述检测模块通信连接；
    其中，所述检测模块包括可见光摄像机、红外热像仪、非接触式超声波传感器及特高频传感器；
    所述运动模块包括水平运动模块、垂直运动模块及旋转运动模块；所述水平运动模块包括电动小车和激光导航系统，所述垂直运动模块固定在所述电动小车上，所述旋转运动模块固定在所述垂直运动模块上，所述检测模块固定在旋转运动模块上。
  2. 根据权利要求1所述的高压开关柜带电检测装置，其中，所述电动小车包括两个主前动轮、两个主后动轮、驱动电机、驱动齿轮及机架，所述两个主前动轮、所述两个主后动轮、所述驱动电机以及所述驱动齿轮固定在所述机架上。
  3. 根据权利要求1所述的高压开关柜带电检测装置，其中，所述主机模块固定在所述电动小车的所述机架上；所述主机模块包括无线保真WIFI通讯模块、图像处理模块、局部放电信号处理模块、运动控制系统及数据采集系统；所述运动控制系统与所述运动模块和所述检测模块通信连接，所述数据采集系统与所述检测模块通信连接。
  4. 根据权利要求1所述的高压开关柜带电检测装置，还包括站内控制终端、远程控制终端、移动查询终端和后台服务器，所述远程控制终端通过光纤连接所述站内控制终端；所述移动查询终端设置为无线连接所述站内控制终端；所述机器人本体设置为与所述后台服务器无线通信。
  5. 根据权利要求2所述的高压开关柜带电检测装置，其中，垂直运动模块包括推杆电机、驱动器、位置编码器和限位器，固定在所述电动小车机架上，与所述主机模块电气连接；所述垂直运动模块包括升降杆、气泵、气缸、卷线机构及定位机构；所述垂直运动模块离地高度伸缩范围为50cm～150cm；所述旋转运动模块为一个二自由度云台，固定在所述垂直运动模块的所述升降杆上， 与主机模块电气连接；所述旋转运动模块由驱动电机、转动轴及周向定位机构组成，水平旋转角度为0～360°、垂直旋转角度为-60°～60°。
  6. 一种高压开关柜带电检测方法，基于权利要求1-5任意一项所述的高压开关柜带电检测装置；包括：
    获取预先规划的检测路径；
    获取根据开关柜布局创建的任务包，根据所述任务包在二维地图上标定开关柜位置及开关柜柜门序号；其中，所述二维地图根据工作环境预先创建；
    远程当获取到启动指令，高压开关柜带电检测装置中的机器人本体从充电坞出发，根据所述检测路径的轨迹进行运动，当到达第一个开关柜检测预设位时，所述机器人本体停止运动，调整车身和检测系统角度，使车身前端和检测系统面对开关柜；
    将开关柜柜门分为A、B上下两个区域，自动开启红外热像仪，水平对准柜门拍摄区域A热成像图片；检测模块垂直旋转，使红外热像仪与水平面呈45度角，拍摄区域B热成像图片，检测模块恢复水平角度，完成此面开关柜的红外检测；
    所述机器人本体向开关柜柜门靠近，当激光导航系统中的激光雷达检测到前方预设距离有柜门时，所述高压开关柜带电检测装置中的机器人本体停止运动；启动垂直运动模块将检测模块匀速升高，并开启可见光摄像机，对开关柜进行第二次识别和特征提取，识别到开关柜的柜门缝隙后，检测模块停止运动；特高频传感器和非接触式超声波传感器对准此柜门缝隙进行局放检测；检测模块继续升高寻找识别下一条柜门缝隙并进行检测，检测完成后检测模块下降至原始位置，完成此面开关柜的局放检测，得到局放检测图谱；
    所述高压开关柜带电检测装置中的机器人本体返回至检测路径，根据标定的开关柜位置地图运动到下一面开关柜进行检测；直到检测完毕所有的开关柜，并自主返回充电坞中。
  7. 根据权利要求6所述的一种高压开关柜带电检测方法，其中，所述获取预先规划的检测路径包括：让所述高压开关柜带电检测装置中的机器人本体遍历整个工作环境，在遍历工作环境的同时，所述高压开关柜带电检测装置中的 机器人本体会利用激光导航系统创建二维地图；根据所述二维地图，在所述二维地图上面规划出所述检测路径。
  8. 根据权利要求6所述的一种高压开关柜带电检测方法，其中，所述获取根据开关柜布局创建的任务包，根据所述任务包在二维地图上标定开关柜位置及开关柜柜门序号包括：高压开关柜带电检测装置下载所述任务包，利用所述任务包中开关柜布局对预先创建的所述二维地图进行加工，在所述二维地图上标定出开关柜位置及开关柜柜门序号。
  9. 根据权利要求6所述的一种高压开关柜带电检测方法，在所述完成此面开关柜的红外检测之后，还包括：在检测过程中将所述热成像图片与原始热成像图片进行比对，如检测到一个区域有异常温升，所述高压开关柜带电检测装置中的机器人本体继续检测下一个的区域，直到检测区域无异常温升；
    根据每个检测区域的所述热成像图片与原始热成像图片的比对，得到发热区域温升数集；
    根据横向比较法，通过所述发热区域温升数集，诊断出发热缺陷疑似区域。
  10. 根据权利要求9所述的一种高压开关柜带电检测方法，在所述诊断出发热缺陷疑似区域之后，还包括：
    所述高压开关柜带电检测装置中的机器人本体暂停检测，并报警。
  11. 根据权利要求6所述的一种高压开关柜带电检测方法，在所述得到局放检测图谱之后，还包括：
    将所述局放检测图谱与原始图谱进行比对，如非接触式超声波传感器的局放检测图谱显示有一条缝隙存在异常放电信号，或者特高频传感器的局放检测图谱显示有一条缝隙存在异常放电信号，继续检测下一条缝隙，直到检测缝隙超声波和特高频均无异常放电信号；
    根据每个缝隙的所述局放检测图谱与原始图谱的比对，得到超声波信号幅值数集和特高频信号峰值数集；
    根据横向比较法，通过所述超声波信号幅值数集和特高频信号峰值数集，诊断出放电缺陷疑似区域。
  12. 根据权利要求11所述的一种高压开关柜带电检测方法，在所述诊断出放电缺陷疑似区域之后，还包括：
    所述高压开关柜带电检测装置中的机器人本体暂停检测，并报警。
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CN106291278A (zh) * 2016-08-03 2017-01-04 国网山东省电力公司电力科学研究院 一种基于多视觉系统的开关柜局部放电自动检测方法
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CN107367672A (zh) * 2017-07-20 2017-11-21 国网江西省电力公司电力科学研究院 高压开关柜全自动带电检测方法及装置

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CN111175616A (zh) * 2019-12-25 2020-05-19 南京悠阔电气科技有限公司 一种利用机器人进行开关柜局部放电检测的方法
CN118091208A (zh) * 2024-04-26 2024-05-28 扬州东安电气有限公司 一种开关柜故障智能检测装置

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