Transformer substation robot intelligent inspection system and method based on active cooperation of intelligent sensor

Abstract

The invention provides a transformer substation robot intelligent inspection system and method based on intelligent sensor active cooperation. The inspection system comprises an intelligent robot cooperation inspection layer, an autonomous cooperation layer and a transformer substation intelligent sensing layer which form a three-layer intelligent inspection architecture. In the inspection system, the inspection robot performs autonomous path planning to complete image data acquisition, the intelligent sensor senses the state of the detected equipment and performs data preprocessing and analysis, and the inspection robot and the intelligent sensor perform active cooperation through a near field communication mechanism and an intelligent actuator. And a cooperative server performs complex scene identification based on the inspection robot sensing data, and performs multi-source data fusion analysis on the inspection robot sensing data and the intelligent sensor sensing data. The timeliness of inspection tour is remarkably improved, the personnel safety risk in the operation process is avoided, manual intervention in the inspection tour process is reduced, and it is guaranteed that the power transformation inspection tour task is smoothly carried out.

Description

technical field [0001] The invention belongs to the technical field, and in particular relates to a substation robot intelligent inspection system and method with active cooperation of intelligent sensors. Background technique [0002] At present, with the continuous advancement of large power grid construction, the scale of the power grid has grown rapidly, and the number of power grid equipment has also increased rapidly. The traditional substation manual inspection method is time-consuming and labor-intensive, and it is difficult to effectively meet the operation and maintenance management needs of substation equipment. [0003] With the rapid development of informatization and intelligent technology, sensor and robot technology have developed rapidly, and both have been implemented in the field of substation inspection business. The substation equipment carries out remote status monitoring through the installation of sensors, and the use of inspection robots relieves par...

AI Technical Summary

Problems solved by technology

[0004] First of all, although substation sensors can currently complete part of the data collection work, the application scenarios are relatively single, and there is no interconnection and comprehensive analysis and utilization of sensor data. Existing IoT communication technologies such as zigbee and WiFi are limited by wireless networking. The influence of transmission mechanism, security, power consumption, and communication distance cannot meet the working requirements of power equipment sensors for 1 year or even more than 3 years;

[0005] Secondly, the current operating environment of the substation robot is an isolated local area network, and the data collected by the inspection cannot interact with other systems or devices; the inspection strategy and method are single, and it can only inspect according to several established paths and methods set manually; Insufficient early warning capabilities, mainly relying on data from infrared temperature measurement and simple image recognition, the data source is single, and it does not have the ability to fully reflect equipment status information

Images