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 mobile robot-based automatic substation switching operation sequence control method, which belongs to the field of substation automation control. Background technique [0002] In the ultra-high voltage substation, when the electrical equipment changes from one state to another state or changes the operation mode of the power system, a series of operations are required, which is called the switching operation of the electrical equipment. In conventional substations, the switching operation requires operators to operate on site. This mode is labor-intensive and takes a long time, and it has been gradually eliminated. With the development of digital substations, the switching operation has been improved in the direction of remote automation. However, it is still necessary for the operators to participate in each operation and the on-site personnel to manually confirm whether the operation is completed accurately. This mode reduces th...

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 operation

[0008] 2. "Visible and interactive substation sequence control system" cannot realize automatic identification of equipment status after switching operations, and the "intelligent video system" used in it needs to install image acquisition equipment at all equipment locations in the substation, making the system complex , huge investment

Images