A substation indoor inspection robot system and inspection method thereof

Abstract

The invention discloses an indoor inspection robot system for a substation and an inspection method for the indoor inspection robot system. The indoor inspection robot system comprises a remote monitoring center and multiple robot terminals communicating with the remote monitoring center. Each robot terminal comprises a control module for controlling a robot to move in a three-dimensional space. The control modules drive movement modules so as to drive the robot to move in the X-axis direction, the Y-axis direction and the Z-axis direction and walk to the target detection position. Detection modules monitor the environment of the position and transmit monitoring data to the remote monitoring center. In the running and monitoring processes of the robot, safety protection modules keep detecting barriers and prevent the robot from moving out of the track. The remote monitoring center dispatches the robot terminals. By the adoption of the indoor inspection robot system for the substation and the inspection method for the indoor inspection robot system, the working labor intensity is lowered effectively, the substation operation and maintenance cost is lowered, the intelligent level and the automated level of normal inspection work and management are increased, and a detection means and an all-around safety guarantee are provided for intelligent substations and unmanned substations.

Description

technical field [0001] The invention relates to a substation indoor inspection robot system and an inspection method thereof. Background technique [0002] For a long time, the inspection of indoor equipment in substations has mostly been carried out manually. The traditional manual inspection method not only has the disadvantages of high labor intensity, low work efficiency, scattered detection quality, and single means, but also cannot be manually detected afterwards. The data is transmitted to the management information system in an accurate and timely manner. With the promotion of unattended substations, the inspection workload of substations is increasing, and the inspection rate and timeliness cannot be guaranteed. Especially after special geographical conditions such as plateaus and Gobi or extreme weather such as strong winds, fog, ice and snow, hail, thunderstorms, etc., manual inspections cannot be performed in time, and there are greater safety risks in inspectio...

AI Technical Summary

Problems solved by technology

Due to the limitation of equipment layout, to realize all-round detection function, it is necessary to lay out multiple tracks, which is costly and not very beautiful

[0007] 2. There is no global path planning function for indoor orbital robots

When inspecting specific equipment, the inspection robot does not optimize the path, and needs to take some unnecessary paths, which not only wastes power, but also prolongs the inspection time of the inspection robot, and the detection efficiency is not high

[0008] 3. Lack of safety protection system

During the commissioning and normal inspection process of the indoor inspection robot, due to the lack of effective protection measures, the inspection robot may collide with the equipment when an unexpected situation occurs, which may affect the operation of the power equipment

[0009] 4. Weak pattern recognition function

The current working status of the equipment in the substation room mostly depends on manual inspection or online monitoring. Manual inspection is labor-intensive and low in work efficiency; inspection / verification is not in place, and the docking cycle with the existing management information system is long; the mentioned inspection The online monitoring of the robot has fewer sampling signals and insufficient data; lack of records for the movement process; low analysis accuracy and lack of convincing diagnostic conclusions, etc.

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