Method and system for self-optimizing inspection of power transformation/converter station based on three-dimensional model

Abstract

A method and a system for self-optimizing inspection of a power transformation / converter station based on a three-dimensional model. The invention discloses a method and system for inspecting a powertransformation / converter station based on a multispectral robot, and belongs to the technical field of power inspection. The method comprises the following steps: determining an equipment type, a non-equipment type and an inspection movable path of a power transformation / converter station three-dimensional model; setting parameters of the multispectral robot; mapping equipment of the power transformation / converter station, a movable path in the preset periphery of the equipment and a sight barrier between the equipment and the movable path; determining an optimal preset point position of to-be-inspected equipment of the power transformation / converter station and a preset angle of the optimal preset point position; generating a two-dimensional node undirected map according to the optimal preset point position of the inspection equipment and the preset angle of the optimal preset point position; and traversing the two-dimensional node undirected map to determine a shortest inspection path, and controlling the multispectral robot to inspect the power transformation / converter station according to the shortest inspection path. Edge calculation of the inspection robot end is avoided, thepower consumption of the inspection robot is reduced, and the charging frequency and the total inspection time are reduced.

Description

technical field [0001] The invention relates to the technical field of electric power inspection, and more specifically, relates to a method and system for inspection of a substation / converter station based on a multispectral robot. Background technique [0002] During the operation of the substation / converter station, the power system operation and maintenance personnel need to conduct inspections and data entry on the equipment, instruments, meters and lines in the station to ensure the normal operation of the above-mentioned facilities and complete data records. At present, more than 500 power substation / converter stations across the country have realized the inspection of the above-mentioned facilities by using inspection robots. During the inspection process, the inspection robot generally has three inspection methods: [0003] 1) Carry out automatic inspection according to the preset points on the ground in the station; [0004] 2) The operator conducts inspections b...

AI Technical Summary

Problems solved by technology

Therefore, the setting of preset points has problems such as inappropriate shooting distance, poor shooting angle, partial obstruction by obstacles, and single shooting angle, which lead to increased difficulty in later data analysis and low data utilization.

[0009] 2) Manual operation is complex

[0010] Manually operated inspection robots are complicated to operate, increase inspection time, are prone to missed inspections and false inspections, require real-time image communication, and high power consumption of communication devices, resulting in increased workload for power system operation and maintenance personnel and increased communication costs for inspection robots

[0011] 3) The effect of edge computing is poor

In addition, due to the dense distribution of current substation / converter station equipment and meters, and the scattered spatial structure, the two-dimensional electronic map can no longer meet the needs of high-precision and efficient inspections, and there is an urgent need for inspection path planning based on three-dimensional spatial models , improve robot inspection efficiency

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