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Robot inspection system and inspection method for cold region transformer substation

A patrol inspection system and substation technology, applied in the direction of two-dimensional position/channel control, etc., can solve problems such as low efficiency and poor detection quality, and achieve the effects of low environmental dependence, strong environmental adaptability, and wide application range

Inactive Publication Date: 2016-03-30
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problems of low efficiency and poor detection quality of the existing manual inspection methods for substations, and provides a robot inspection system and inspection method for substations in cold regions

Method used

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  • Robot inspection system and inspection method for cold region transformer substation
  • Robot inspection system and inspection method for cold region transformer substation
  • Robot inspection system and inspection method for cold region transformer substation

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specific Embodiment approach 1

[0077] Specific implementation mode one: see figure 1 Describe this embodiment, a robot inspection system for substations in cold regions described in this embodiment, which includes a main control system 1, a motion control system 2, a sensor detection system 3, a wireless communication system 4 and a fault alarm system 5;

[0078] The main control system 1 is used to schedule tasks for the inspection robot, and is also used to receive environmental perception signals, orientation data, temperature data, environmental images and pointer instrument images, and send motion control signals according to the environmental perception signals and orientation data. The temperature data is compared with the set temperature threshold. When the collected temperature data exceeds the set temperature threshold, an alarm control signal is sent, and the received environmental image is matched with the image in the fault type model library. When the match is successful, Send an alarm contro...

specific Embodiment approach 2

[0085] Embodiment 2: The difference between this embodiment and the robot inspection system for substations in cold regions described in Embodiment 1 is that the specific process of reading the meter data of the substation according to the received pointer meter image is as follows: :

[0086] Firstly, the image of the pointer instrument is preprocessed. The preprocessing process is to remove the interference noise in the image of the pointer instrument by means of median filtering and image enhancement, and obtain the dial information;

[0087] Secondly, Hough transformation is performed on the obtained dial information to obtain the pointer straight line;

[0088] Finally, the barycenter method is used to extract the center of gravity of the scale in the straight line of the pointer, and the least squares circle is used to fit the center of gravity of the scale to the center of the dial in the extracted dial information, and the meter reading is calculated by using the defle...

specific Embodiment approach 3

[0090] Specific implementation mode three: see figure 2 Describe this embodiment. The difference between this embodiment and the robot inspection system for substations in cold regions described in the first embodiment is that the motion control system 2 includes a servo motion control card 2-1, two Servo drive 2-2;

[0091] The servo motion control card 2-1 is used to send the servo drive signal according to the motion control signal;

[0092] The servo driver 2-2 is used to receive the servo drive signal, and is also used to drive a DC servo motor of the inspection robot.

[0093] In this embodiment, the motion control system of the inspection robot realizes the basic control such as forward, backward, and turning of the mobile platform of the inspection robot, as well as the adjustment control of running speed and position. servo motor.

[0094] Adopt the "industrial computer + servo motion control card + servo driver + servo motor" control method to realize the servo c...

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Abstract

The invention relates to a robot inspection system and inspection method for a cold region transformer substation, and belongs to the robot inspection field for a transformer substation. The robot inspection system and inspection method for a cold region transformer substation solve the problem that an existing manual inspection mode for a transformer substation is low in efficiency and bad in the detection quality. The robot inspection system for a cold region transformer substation comprises a main control system, a motion control system, a sensing detection system, a wireless communication system and a failure warning system, wherein the main control system is used for task scheduling of an inspection robot, and is also used for receiving an environment perception signal, orientation data, temperature data, environmental images and pointer instrument images, and sends a motion control signal according to the environment perception signal and the orientation data; by means of comparison between the collected temperature data and a set temperature threshold, when the collected temperature data exceeds the set temperature threshold, an warning control signal is transmitted; the images in a failure type model base are matched with the received environmental images; and if the matching is successful, the instrument data of the transformer substation can be read according to the received pointer instrument images. The robot inspection system and inspection method for a cold region transformer substation are used for inspection of a transformer substation.

Description

technical field [0001] The invention belongs to the field of robot inspection of substations. Background technique [0002] At present, the main inspection method of substations in my country's power system is manual inspection, which requires operation and maintenance personnel to inspect according to a fixed route and collect a large amount of operating data. This monotonous working method leads to high labor intensity for the staff, and due to factors such as long working hours, it will inevitably lead to problems such as low efficiency and large differences in detection quality. [0003] Using robots to inspect outdoor high-voltage equipment in substations can effectively solve the above problems. When the inspection robot works in the substation, it needs to carry out inspection operations along a fixed path, which requires the robot to have accurate positioning and navigation capabilities. In addition, the robot carries detection equipment, which can detect abnormal ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 李瑞峰王珂王力赵立军高云峰胡胜豪
Owner HARBIN INST OF TECH
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