Converter station valve hall ground water trace detection system

Abstract

The application relates to a water trace detection system for a valve hall of a converter station, which is installed in the valve hall of the converter station and is characterized in that the system comprises a water trace inspection robot, a robot lifting platform and a robot lifting platform track, the robot lifting platform track is installed in the valve hall of the converter station along a vertical direction, the robot lifting platform is installed on the robot lifting platform track and is in sliding connection with the robot lifting platform track, the inspection robot moves between a patrol corridor of the valve hall of the converter station and the valve hall through the robot lifting platform, a patrol guide line is arranged on the ground of the valve hall of the converter station, and the water trace inspection robot patrols along the patrol guide line. Compared with the prior art, the application has the advantages of effectively realizing detection of water traces in the valve hall, high reliability and strong practicability.

Description

Technical Field

[0001] This invention relates to the field of water stain detection technology in converter station valve halls, and in particular to a water stain detection system for the floor of converter station valve halls. Background Technology

[0002] The converter station valve hall is the core of ultra-high voltage direct current (UHVDC) transmission. The normal operation of its internal converter valves is crucial for ensuring the safe long-distance transmission of clean energy. The valve hall is constructed of steel, forming a sealed space. The converter valve equipment inside is extremely precise and expensive, and relatively fragile compared to traditional AC transmission equipment. Therefore, it operates under constant temperature and humidity conditions year-round. Water leakage in the valve hall directly threatens the normal operation of the converter valves, potentially causing short circuits, DC blockage, and even fires.

[0003] Water leakage mainly occurs in two ways. One is due to the steel structure of the valve hall; over time, rust may develop, making it difficult to ensure the airtightness of the top and surrounding area, potentially leading to leaks during thunderstorms. The other is aging and rupture of the cold water pipes within the converter valve, causing leakage. However, these leaks are difficult to detect immediately. This is because the valve hall is large, the inspection passage for maintenance personnel is high (approximately 10 meters above the ground), and the epoxy flooring is highly reflective, making it difficult to detect even minor leaks using binoculars during routine inspections. Therefore, a robot to detect water stains on the valve hall floor is needed to solve this problem. However, robotic equipment used in valve halls faces many limitations, such as: wireless communication is not permitted within the valve hall, electromagnetic shielding from the outside world is required, the electric field strength is high, and electromagnetic interference is severe.

[0004] Although existing valve hall inspection robots are used, such as the valve hall inspection method and robot based on lidar disclosed in Chinese patent CN106695747A, the inspection method includes: setting the measuring surface of the lidar fixed on the inspection robot perpendicular to the ground; after receiving a data acquisition task, the inspection robot travels along a preset track, detects the target valve hall equipment through lidar, and obtains the robot's position information through a positioning device, reporting the reference data and position information to a database; after receiving a valve hall inspection task, the inspection robot travels along the preset track, obtains position information and reference data from the database, obtains radar data as real-time data, compares this real-time data with the reference data, and determines whether the target valve hall equipment corresponding to this position information is abnormal based on the difference between the two and a preset threshold. While this valve hall inspection method and robot can effectively detect whether valve hall equipment is abnormal, their purpose is to monitor the valve group's abnormality through lidar, the inspection route is singular, and lidar alone cannot detect water leakage. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a converter station valve hall floor water stain detection system that is effective, reliable, and practical in detecting water stains in the valve hall.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] A water stain detection system for the valve hall floor of a converter station is disclosed. The system is installed within the valve hall and is characterized by comprising a water stain inspection robot, a robot lifting platform, and a robot lifting platform track. The robot lifting platform track is vertically installed within the valve hall. The robot lifting platform is mounted on the robot lifting platform track and slidably connected to it. The inspection robot moves between the inspection corridor and the valve hall via the robot lifting platform. Inspection guide lines are provided on the floor of the valve hall, and the water stain inspection robot performs inspections along these guide lines.

[0008] Preferably, the water stain inspection robot includes a shell, a first bracket, a second bracket, a walking mechanism, a bearing detection wheel set, a photoelectric sensing unit, a strong magnetic marking plate, a strong magnetic pickup plate, a relay, an electromagnet, and a power supply.

[0009] The first and second supports are respectively set at the front and rear ends of the shell along the forward direction of the inspection robot.

[0010] The aforementioned traveling mechanism, photoelectric sensing unit, and relay are each connected to a power source;

[0011] The traveling mechanism is installed at the bottom of the housing; the bearing detection wheel assembly, photoelectric sensing unit and strong magnetic pickup plate are respectively installed on the first bracket, the strong magnetic pickup plate is installed on the side away from the housing, the bearing detection wheel assembly is installed on the side close to the housing, and the photoelectric sensing unit is installed between the bearing detection wheel assembly and the strong magnetic pickup plate.

[0012] The electromagnet is mounted on the second bracket; the strong magnetic pickup plate is connected to the electromagnet; the electromagnet is also connected to the bearing detection wheel group through a relay, and the power on and power off of the electromagnet is controlled by the bearing detection wheel group.

[0013] More preferably, the traveling mechanism includes wheels, a motor drive circuit, a drive motor, and a photoelectric tracking circuit; the photoelectric sensing unit is connected to the photoelectric tracking circuit; the photoelectric tracking circuit is connected to the motor drive circuit; the motor drive circuit is connected to the drive motor; and the output shaft of the drive motor is connected to the wheels.

[0014] More preferably, the water stain inspection robot is equipped with an audible and visual alarm and a motion camera; the audible and visual alarm and the motion camera are respectively mounted on the outer shell and are respectively connected to a power source for power supply; the audible and visual alarm is also connected to the bearing detection wheel assembly.

[0015] More preferably, the strong magnetic pickup plate is specifically a magnetic metal plate or a pickup plate made of neodymium iron boron magnets.

[0016] More preferably, the robot lifting platform is equipped with a liftable baffle.

[0017] More preferably, the photoelectric sensing unit includes a first photoelectric sensing subunit and a second photoelectric sensing subunit;

[0018] The first photoelectric sensing subunit is set perpendicular to the ground and its position corresponds to the inspection guide line.

[0019] The second optoelectronic unit is set parallel to the ground, and its position corresponds to the position of the liftable baffle.

[0020] More preferably, the strong magnetic marking plate includes a colored plastic base plate and a neodymium iron boron magnet; when the strong magnetic marking plate is not dropped, one end of the colored plastic base plate is connected to the electromagnet, and the other end is connected to the neodymium iron boron magnet.

[0021] More preferably, the strong magnetic marking plate is equipped with a water-reactive color-changing cloth; the water-reactive color-changing cloth is connected to a neodymium iron boron magnet; when the water stain inspection robot is inspecting in the converter station valve hall, the water-reactive color-changing cloth is in contact with the floor of the converter station valve hall.

[0022] More preferably, the bearing detection wheel assembly includes an insulating fixing rod, a first miniature bearing assembly, and a second miniature bearing assembly;

[0023] The first micro bearing assembly and the second micro shaft assembly are alternately arranged on the insulating fixing rod;

[0024] The first micro-bearing assembly is specifically described as follows: a single bearing in the bearing assembly consists of two inner and outer metal rings and a middle layer of several metal balls, and each bearing is connected by a thin film conductive sheet to form a conductor;

[0025] The second micro-bearing assembly is specifically described as follows: each bearing in the bearing assembly consists of two inner and outer metal rings and a middle layer of several metal balls, and the bearings are connected by thin film conductive sheets to form another conductor;

[0026] The width range of a single bearing in the first and second micro bearing groups is [1mm, 3mm].

[0027] The spacing between the first and second micro-bearing assemblies is in the range of [1mm, 3mm].

[0028] The length of the bearing inspection wheel assembly is greater than the spacing between two adjacent inspection guide lines;

[0029] When the water stain inspection robot is inspecting the valve hall of the converter station, the bearing inspection wheel assembly is in contact with the floor of the valve hall.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] I. Effective Detection of Water Markers in Valve Halls: The water mark detection system in this invention uses a photoelectric sensing unit for tracking and a bearing detection wheel assembly to detect water marks along the inspection path. It can detect tiny water droplets with a diameter of 1-3 mm. Even when the bearing detection wheel assembly malfunctions, although the strong magnetic marker plate will not be lowered, the inspection range covers the entire valve hall floor. The water-reflecting cloth will become damp, and the corresponding part will change color, thus still indicating whether there are indeed water marks on the valve hall floor. Through the cooperation of the bearing detection wheel assembly and the water-reflecting cloth, the missed detection rate can be guaranteed to be zero, effectively detecting water marks in valve halls and promptly repairing and handling water leakage in valve halls.

[0032] II. High Reliability: The water stain detection system in this invention adopts a pure hardware form, without the need for program control and wireless information communication. It can still operate reliably in the environment of strong battery interference, strong light, and glossy epoxy flooring in the valve hall. Furthermore, even if the inspection trolley accidentally deviates from the predetermined route in the valve hall environment, it can automatically find the inspection route and return to the lifting platform during subsequent travel, which greatly improves the reliability of the water stain detection system.

[0033] Third, high practicality: The water stain detection system in this invention uses colored plastic plates for marking. When the bearing detection wheel set detects water stains, the resistance of the wheel set is much smaller than infinitesimal, driving the relay to open and close, causing the electromagnet to demagnetize. The strong magnetic marking plate falls on the water stain, making it easier for subsequent maintenance personnel to find the water stain, greatly improving the practicality of the detection system. At the same time, the inspection robot implemented purely in hardware is inexpensive and highly scalable. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the water stain inspection robot in this invention;

[0035] Figure 2 This is a schematic diagram of the water stain inspection robot performing an inspection in this invention;

[0036] Figure 3 This is a schematic diagram of the structure of the strong magnetic marking plate in this invention;

[0037] Figure 4 This is a schematic diagram of the bearing detection wheel assembly in this invention.

[0038] The numbers in the diagram are as follows:

[0039] 1. Converter station valve hall; 2. Water stain inspection robot; 3. Robot lifting platform; 4. Robot lifting platform track; 5. Inspection guide line; 201. Outer shell; 202. First support; 203. Second support; 204. Traveling mechanism; 205. Bearing detection wheel assembly; 206. Photoelectric sensor unit; 207. Strong magnetic marking plate; 208. Strong magnetic pickup plate; 209. Audible and visual alarm; 210. Action camera; 2051. Insulating fixing rod; 2052. First miniature bearing assembly; 2053. Second miniature bearing assembly; 2071. Colored plastic base plate; 2072. Neodymium iron boron magnet; 2073. Water-reflecting cloth. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0041] A converter station valve hall floor water stain detection system, the structure of which is as follows: Figure 1 and Figure 2 As shown, the system includes a water trace inspection robot 2, a robot lifting platform 3, and a robot lifting platform track 4. The robot lifting platform track 4 is installed vertically inside the converter station valve hall 1. The robot lifting platform 3 is installed on the robot lifting platform track 4 and is slidably connected to the robot lifting platform track 4. The inspection robot 2 moves between the inspection corridor and the valve hall 1 of the converter station via the robot lifting platform 3. An inspection guide line 5 is provided on the ground of the converter station valve hall 1, and the water trace inspection robot 2 performs inspections along the inspection guide line 5.

[0042] The water stain inspection robot 2 includes a shell 201, a first support 202, a second support 203, a walking mechanism 204, a bearing detection wheel assembly 205, a photoelectric sensor unit 206, a strong magnetic marking plate 207, a strong magnetic pickup plate 208, a relay, an electromagnet, and a power supply. The first support 202 and the second support 203 are respectively located at the front and rear ends of the shell 201 along the forward direction of the inspection robot 2. The walking mechanism 204, the photoelectric sensor unit 207, and the relay are respectively connected to the power supply. The walking mechanism 204 is installed at the bottom of the shell 201. The bearing detection wheel assembly 205... 05. The photoelectric sensing unit 206 and the strong magnetic pickup plate 208 are respectively installed on the first bracket 202. The strong magnetic pickup plate 208 is installed on the side away from the outer shell 201. The bearing detection wheel group 205 is installed on the side close to the outer shell 201. The photoelectric sensing unit 206 is installed between the bearing detection wheel group 205 and the strong magnetic pickup plate 208. The electromagnet is installed on the second bracket 203. The strong magnetic pickup plate 208 is connected to the electromagnet. The electromagnet is also connected to the bearing detection wheel group 205 through a relay. The bearing detection wheel group 205 controls the energization and de-energization of the electromagnet.

[0043] The traveling mechanism 204 includes wheels, a motor drive circuit, a drive motor, and a photoelectric tracking circuit. The photoelectric sensing unit 206 is connected to the photoelectric tracking circuit, the photoelectric tracking circuit is connected to the motor drive circuit, the motor drive circuit is connected to the drive motor, and the output shaft of the drive motor is connected to the wheels.

[0044] The photoelectric tracking circuit in this embodiment is a pure hardware tracking circuit, which only needs to be able to complete the tracking. The photoelectric tracking circuit is used to track the inspection guide line 5 to realize the inspection function.

[0045] The water stain inspection robot 2 is equipped with an audible and visual alarm 209 and a motion camera 210. The audible and visual alarm 209 and the motion camera 210 are respectively mounted on the outer shell 201 and are respectively connected to the power supply for power supply. The audible and visual alarm 209 is also connected to the bearing detection wheel group 205.

[0046] The strong magnetic pickup plate 208 is specifically a magnetic metal plate or a pickup plate made of neodymium iron boron magnets.

[0047] The robot lifting platform 3 is equipped with a liftable baffle.

[0048] The photoelectric sensing unit 206 includes a first photoelectric sensing subunit and a second photoelectric sensing subunit. The first photoelectric sensing subunit is set perpendicular to the ground and its position corresponds to the inspection guide line 5. The second photoelectric sensing subunit is set parallel to the ground and its position corresponds to the position of the liftable baffle.

[0049] The structure of the strong magnetic marking board 207 is as follows: Figure 3As shown, the strong magnetic label 207 includes a colored plastic base plate 2071 and a neodymium iron boron magnet 2072. When the strong magnetic label 207 is not dropped, one end of the colored plastic base plate 2071 is connected to the electromagnet, and the other end is connected to the neodymium iron boron magnet 2072.

[0050] In this embodiment, the colored plastic base plate 2071 is a striking red plastic base plate.

[0051] The strong magnetic marking board 207 is equipped with a water-reactive color-changing cloth 2073, which is connected to a neodymium iron boron magnet 2072. When the water stain inspection robot 2 is inspecting the converter station valve hall 1, the water-reactive color-changing cloth 2073 is in contact with the ground of the converter station valve hall 1.

[0052] The structure of bearing inspection wheel set 205 is as follows: Figure 4 As shown, it includes an insulating fixing rod 2051, a first miniature bearing group 2052 and a second miniature bearing group 2053, which are alternately arranged on the insulating fixing rod 2051.

[0053] Specifically, the first miniature bearing group 2052 is composed of two inner and outer metal rings and several metal balls in the middle layer. The bearings are connected by thin film conductive sheets to form a conductor.

[0054] The second miniature bearing assembly 2053 is specifically: each bearing in the bearing assembly consists of two inner and outer metal rings and several metal balls in the middle layer, and the bearings are connected by thin film conductive sheets to form a conductor.

[0055] The width of each bearing in the first micro bearing group 2052 and the second micro bearing group 2053 is in the range of [1mm, 3mm], and the spacing between the first micro bearing group 2052 and the second micro bearing group 2053 is in the range of [1mm, 3mm].

[0056] The length of the bearing inspection wheel assembly 205 is greater than the spacing between two adjacent inspection guide lines 5, ensuring that the inspection range of the bearing inspection wheel assembly 205 can cover the entire valve hall when the robot is inspecting it. The bearing inspection wheel assembly 205 runs close to the ground. Under normal conditions, the two sets of conductors, the first micro-bearing assembly 2052 and the second micro-bearing assembly 2053, are not in contact, and the resistance is close to infinite. When passing through water, if any two or more bearings come into contact with water, the first micro-bearing assembly 2052 and the second micro-bearing assembly 2053 will come into contact, and the resistance will be much less than infinite.

[0057] When the water stain inspection robot 2 is inspecting the valve hall 1 of the converter station, the bearing inspection wheel assembly 205 is in contact with the ground of the valve hall 1 of the converter station.

[0058] The working principle of the water stain detection system in this embodiment is as follows:

[0059] The water stain inspection robot 2 is deployed by maintenance personnel onto the robot lifting platform 3. Once the robot lifting platform 3 reaches the valve hall floor along the robot lifting platform track 4, it automatically lowers the liftable baffle. The water stain inspection robot 2 then begins detecting water stains along its inspection route. The entire inspection process is recorded by a motion camera 210. After the inspection is complete, it automatically returns to the lifting platform and is handed back to the maintenance personnel for later maintenance. The water stain detection is primarily achieved using the bearing detection wheel assembly 205. When water stains are detected, the water stain inspection robot 2 automatically lowers the strong magnetic marker plate 207 and triggers an audible and visual alarm. During subsequent defect repair, maintenance personnel use the marker plate's position to locate the leak in the valve hall. During normal inspections, the strong magnetic marker plate 207 and the bearing detection wheel assembly 205 move along the ground with the robot. If, after the entire inspection is completed, the bearing detection wheel assembly 205 does not detect any water stains, the strong magnetic marker plate 207 will be taken away from the site along with the robot. At the bottom of the strong magnetic marker 207, where it touches the ground, is a water-reflective cloth 2073. If the special bearing inspection wheel assembly misses a test or malfunctions during the inspection, and there is actually water on the valve hall floor, maintenance personnel can determine the actual water leakage status in the valve hall by observing the color change of the strong magnetic marker 207 after the robot returns. If the strong magnetic marker has been left on the valve hall floor as a mark, the robot will automatically pick up the strong magnetic marker 207 via the strong magnetic pickup plate 208 when it reaches the marked location during the next inspection.

[0060] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A water stain detection system for the valve hall floor of a converter station, the system being installed inside the valve hall (1) of the converter station, characterized in that, The water stain detection system includes a water stain inspection robot (2), a robot lifting platform (3), and a robot lifting platform track (4); the robot lifting platform track (4) is installed vertically in the converter station valve hall (1); the robot lifting platform (3) is installed on the robot lifting platform track (4) and is slidably connected to the robot lifting platform track (4); the inspection robot (2) moves between the inspection corridor and the valve hall of the converter station valve hall (1) via the robot lifting platform (3); an inspection guide line (5) is provided on the ground of the converter station valve hall (1), and the water stain inspection robot (2) performs inspections along the inspection guide line (5); The water stain inspection robot (2) includes a shell (201), a first bracket (202), a second bracket (203), a walking mechanism (204), a bearing detection wheel set (205), a photoelectric sensing unit (206), a strong magnetic marking plate (207), a strong magnetic pickup plate (208), a relay, an electromagnet, and a power supply. The first bracket (202) and the second bracket (203) are respectively set at the front end and rear end of the outer shell (201) along the forward direction of the inspection robot (2); The traveling mechanism (204), photoelectric sensing unit (206), and relay are respectively connected to the power supply; The traveling mechanism (204) is installed at the bottom of the outer shell (201); the bearing detection wheel assembly (205), the photoelectric sensing unit (206) and the strong magnetic pickup plate (208) are respectively installed on the first bracket (202), the strong magnetic pickup plate (208) is installed on the side away from the outer shell (201), the bearing detection wheel assembly (205) is installed on the side close to the outer shell (201), and the photoelectric sensing unit (206) is installed between the bearing detection wheel assembly (205) and the strong magnetic pickup plate (208); The electromagnet is mounted on the second bracket (203); the strong magnetic pickup plate (208) is connected to the electromagnet; the electromagnet is also connected to the bearing detection wheel group (205) through a relay, and the power on and power off of the electromagnet is controlled by the bearing detection wheel group (205); The bearing detection wheel assembly (205) includes an insulating fixing rod (2051), a first miniature bearing assembly (2052), and a second miniature bearing assembly (2053); The first miniature bearing assembly (2052) and the second miniature bearing assembly (2053) are alternately arranged on the insulating fixing rod (2051); The first micro-bearing assembly (2052) is specifically: a single bearing in the bearing assembly consists of two inner and outer metal rings and a middle layer of several metal balls, and each bearing is connected by a thin film conductive sheet to form a conductor; The second micro bearing assembly (2053) is specifically: a single bearing in the bearing assembly consists of two inner and outer metal rings and a middle layer of several metal balls, and each bearing is connected by a thin film conductive sheet to form another conductor; The width range of a single bearing in the first micro-bearing group (2052) and the second micro-bearing group (2053) is [1]. mm ,3 mm ]; The spacing range between the first micro-bearing assembly (2052) and the second micro-bearing assembly (2053) is [1]. mm ,3 mm ]; The length of the bearing inspection wheel set (205) is greater than the distance between two adjacent inspection guide lines (5); The robot lifting platform (3) is equipped with a liftable baffle; the photoelectric sensing unit (206) includes a first photoelectric sensing subunit and a second photoelectric sensing subunit; the first photoelectric sensing subunit is set perpendicular to the ground and its position corresponds to the inspection guide line (5); the second photoelectric sensing subunit is set parallel to the ground and its position corresponds to the position of the liftable baffle. When the water stain inspection robot (2) is inspecting the valve hall (1) of the converter station, the bearing inspection wheel group (205) is in contact with the ground of the valve hall (1) of the converter station.

2. The converter station valve hall floor water stain detection system according to claim 1, characterized in that, The traveling mechanism (204) includes wheels, a motor drive circuit, a drive motor, and a photoelectric tracking circuit; the photoelectric sensing unit (206) is connected to the photoelectric tracking circuit; the photoelectric tracking circuit is connected to the motor drive circuit; the motor drive circuit is connected to the drive motor; and the output shaft of the drive motor is connected to the wheels.

3. The converter station valve hall floor water stain detection system according to claim 1, characterized in that, The water stain inspection robot (2) is equipped with an audible and visual alarm (209) and a motion camera (210); the audible and visual alarm (209) and the motion camera (210) are respectively installed on the outer shell (201) and are respectively connected to the power supply for power supply; the audible and visual alarm (209) is also connected to the bearing detection wheel group (205).

4. The converter station valve hall floor water stain detection system according to claim 1, characterized in that, The strong magnetic pickup plate (208) is specifically a magnetic metal plate or a pickup plate made of neodymium iron boron magnets.

5. The converter station valve hall floor water stain detection system according to claim 1, characterized in that, The strong magnetic label plate (207) includes a colored plastic base plate (2071) and a neodymium iron boron magnet (2072); when the strong magnetic label plate (207) is not dropped, one end of the colored plastic base plate (2071) is connected to the electromagnet, and the other end is connected to the neodymium iron boron magnet (2072).

6. A converter station valve hall floor water stain detection system according to claim 5, characterized in that, The strong magnetic marking board (207) is equipped with a water-sensitive color-changing cloth (2073); the water-sensitive color-changing cloth (2073) is connected to a neodymium iron boron magnet (2072); when the water stain inspection robot (2) is inspecting in the converter station valve hall (1), the water-sensitive color-changing cloth (2073) is in contact with the ground of the converter station valve hall (1).

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