Method for controlling switching operation sequences of full-automatic transformer substation based on mobile robot

Abstract

The invention relates to a method for controlling switching operation sequences of a full-automatic transformer substation based on a mobile robot. The method comprises the following steps: 1) a transformer substation sequential control platform carries out a switching operation and simultaneously sends a device detection command to a mobile robot background through an IEC61850 protocol; 2) the mobile robot background receives the device detection command sent by the transformer substation sequential control platform and then issues the device detection command to the mobile robot; 3) the mobile robot receives the device detection command and then collects visible lights and infrared images of the related devices and uploads to the mobile robot background through a wireless network bridge; 4) the obtained visible lights and the infrared images are analyzed by utilizing an image analysis algorithm and the recognition result is reported to the transformer substation sequential control platform through the IEC61850 protocol; and 5) the transformer substation sequential control platform receives the device state reported by the mobile robot background, drives the continuation of the switching operation according to the state and automatically realizes the switching operation sequential control process for the transformer substation.

Description

technical field [0001] The invention relates to a method for controlling the switching operation sequence of a fully automatic substation based on a mobile robot, belonging to the field of substation automation control. Background technique [0002] In an ultra-high voltage substation, when electrical equipment changes from one state to another or changes the operation mode of the power system, a series of operations are required, which are called switching operations of electrical equipment. In conventional substations, switching operations require on-site operations by operators. This mode is labor-intensive and takes a long time to operate, and has been gradually eliminated. With the development of digital substations, the switching operation has been improved to the direction of remote automatic operation, but operators still need to participate in each operation and the on-site personnel manually confirm whether the operation is completed accurately. Although this mode ...

AI Technical Summary

Problems solved by technology

[0007] 1. The "intelligent automatic inspection robot for power transformation and distribution equipment" cannot realize the automatic identification of the equipment status after the switching operation, cannot interact with the sequence control platform of the substation, and cannot realize the sequence control process of the switching oper

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