An intelligent linkage inspection method applied to converter station equipment failure

Abstract

This application relates to an intelligent linkage inspection method for converter station equipment faults. The method includes: acquiring the operating data of the converter station equipment corresponding to the power grid converter station equipment; in the event of abnormal data in the converter station equipment operating data, initiating an intelligent linkage inspection mode for the power grid converter station equipment; in the intelligent linkage inspection mode, selecting at least two real inspection points from a real inspection point database, generating at least two power grid converter station inspection paths based on the selected real inspection points, and selecting the power grid converter station inspection path that meets preset conditions as the target converter station inspection path based on a path selection algorithm; issuing inspection instructions to the inspection robot located at the power grid converter station equipment location according to the target converter station inspection path, and receiving power grid converter station fault data collected by the inspection robot. This method can ensure the safety and reliability of converter station operation and improve the efficiency of daily power grid operation and maintenance.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to an intelligent linkage inspection method for converter station equipment faults. Background Technology

[0002] With the development of computer technology, intelligent operation and maintenance (O&M) technology has emerged, which combines artificial intelligence with O&M, using machine learning methods to improve O&M efficiency. Intelligent O&M includes historical data management, streaming data management, log data extraction, wire data extraction, metric data extraction, text and NLP document extraction, automated pattern discovery and prediction, anomaly detection, root cause analysis, on-premises delivery, and software as a service (SaaS).

[0003] In traditional technologies, the level of intelligence in the daily operation and maintenance of power grids is still insufficient, especially in converter stations. As key nodes in the DC transmission network, converter stations are characterized by numerous devices, large amounts of data, and complex types of anomalies. The total amount of data is enormous and the types are complex. The types of faults and anomalies are numerous, large in volume, and highly complex. The personnel configuration and the number of devices maintained per person are far higher than those in substations. Although the current power equipment inspection methods in converter stations also adopt machine inspection combined with manual inspection, there are problems with unreliable, inaccurate, and inefficient human-machine interaction, resulting in low efficiency in the daily operation and maintenance of power grids. Summary of the Invention

[0004] Therefore, it is necessary to provide an intelligent linkage inspection method, device, computer equipment, computer-readable storage medium, and computer program product for converter station equipment faults that can improve the safety and reliability of converter station operation and address the aforementioned technical problems.

[0005] Firstly, this application provides an intelligent linkage inspection method for converter station equipment faults. The method includes: acquiring converter station equipment operation data corresponding to the grid converter station equipment; in the event of abnormal data in the converter station equipment operation data, initiating an intelligent linkage inspection mode for the grid converter station equipment; in the intelligent linkage inspection mode, selecting at least two real inspection points from a real inspection point database corresponding to the grid converter station equipment, wherein the real inspection points correspond to virtual inspection points in a virtual inspection point database, and the real inspection points are determined based on a selection operation performed on the virtual inspection points; and selecting at least two real inspection points from the real inspection point database corresponding to the grid converter station equipment. At least two real inspection points are selected from the inspection point database to generate at least two power grid converter station inspection paths. Based on a path selection algorithm, an inspection path that meets preset conditions is selected from the power grid converter station inspection paths as the target converter station inspection path. According to the target converter station inspection path, an inspection command is issued to the inspection robot at the location of the power grid converter station equipment, and the power grid converter station fault data collected by the inspection robot is received. The power grid converter station fault data is used to determine the fault status of the power grid converter station equipment.

[0006] In one embodiment, selecting at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment in the intelligent linkage inspection mode includes: determining whether the intelligent linkage inspection enables automatic inspection of the converter station equipment based on the intelligent linkage inspection mode; if the automatic inspection of the converter station equipment is not enabled, starting a first inspection mode and accepting the instruction to select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment; if the automatic inspection of the converter station equipment is enabled, starting a second inspection mode and selecting at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment based on the fault characteristics of the converter station equipment operating data.

[0007] In one embodiment, the method further includes: when the automatic inspection of the converter station equipment is started and a second inspection mode is started, determining whether the first inspection mode can be started when the automatic inspection of the converter station equipment is not started; if the determination result is that it can be started, canceling the start of the second inspection mode and starting the first inspection mode, and accepting the instruction to select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment; if the determination result is that it cannot be started, prohibiting the start of the first inspection mode and starting the second inspection mode, and selecting at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment based on the fault characteristics of the converter station equipment operating data.

[0008] In one embodiment, after receiving the instruction to select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment, the method further includes: selecting virtual inspection points in the virtual inspection point database based on the converter station control terminal of the power grid converter station equipment to obtain a virtual inspection point selection result; and retrieving, based on the virtual inspection point selection result, the real inspection point that has established a corresponding relationship with the virtual inspection point as the target real inspection point, wherein the target real inspection point is used to calculate the inspection path of the target converter station.

[0009] In one embodiment, selecting at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment based on the fault characteristics of the converter station equipment operation data includes: establishing a correspondence between the fault characteristics of the converter station equipment operation data and the real inspection point database based on the correspondence between the fault characteristic database corresponding to the converter station equipment operation data and the real inspection point database; and selecting at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment based on the correspondence between the fault characteristics of the converter station equipment operation data and the real inspection point database.

[0010] In one embodiment, after the steps of issuing inspection instructions to the inspection robot at the location of the power grid converter station equipment according to the inspection path of the target converter station and receiving the power grid converter station fault data collected by the inspection robot, the method further includes: determining the fault characteristics of the converter station equipment operation data corresponding to the power grid converter station equipment based on the online monitoring data and the power grid converter station fault data; comparing the matching degree of the fault characteristics of the converter station equipment operation data with each emergency response strategy in the emergency response strategy library, selecting the emergency response strategy with a matching degree greater than a preset condition as the target emergency response strategy; and sending the target emergency response strategy to each terminal.

[0011] Secondly, this application also provides an intelligent linkage inspection device for converter station equipment faults. The device includes: an operation data acquisition module, used to acquire the operation data of the converter station equipment corresponding to the power grid converter station equipment, and to initiate an intelligent linkage inspection mode for the power grid converter station equipment when the operation data of the converter station equipment is abnormal; an inspection point confirmation module, used to select at least two real inspection points from a real inspection point database corresponding to the power grid converter station equipment in the intelligent linkage inspection mode, wherein the real inspection points correspond to virtual inspection points in a virtual inspection point database, and the real inspection points are determined based on the selection operation performed on the virtual inspection points; and an inspection path confirmation module. The module is used to generate at least two inspection paths for power grid converter stations by selecting at least two real inspection points from the real inspection point database, and to select the power grid converter station inspection path that meets preset conditions from the inspection paths of each power grid converter station based on the path selection algorithm, as the target converter station inspection path; the inspection instruction issuing module is used to issue inspection instructions to the inspection robot in the location of the power grid converter station equipment according to the target converter station inspection path, and to receive the power grid converter station fault data collected by the inspection robot; the power grid converter station fault data is used to determine the fault status of the power grid converter station equipment.

[0012] In one embodiment, the inspection point confirmation module is further configured to: determine whether the intelligent linkage inspection is enabled for automatic inspection of converter station equipment based on the intelligent linkage inspection mode; if the automatic inspection of converter station equipment is not enabled, activate the first inspection mode and accept the instruction to select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment; if the automatic inspection of converter station equipment is enabled, activate the second inspection mode and select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment based on the fault characteristics of the converter station equipment operation data.

[0013] In one embodiment, the inspection point confirmation module is further configured to: determine whether, when the automatic inspection of the converter station equipment is not started and the second inspection mode is started, the first inspection mode can be started; if the determination result is that it can be started, cancel the execution of starting the second inspection mode and execute the execution of starting the first inspection mode, and accept the instruction to select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment; if the determination result is that it cannot be started, prohibit the execution of starting the first inspection mode and execute the execution of starting the second inspection mode, and select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment based on the fault characteristics of the converter station equipment operation data.

[0014] In one embodiment, the inspection point confirmation module is further configured to: select virtual inspection points in the virtual inspection point database based on the converter station control terminal of the power grid converter station equipment to obtain a virtual inspection point selection result; and, based on the virtual inspection point selection result, retrieve the real inspection point that has established a corresponding relationship with the virtual inspection point as the target real inspection point, wherein the target real inspection point is used to calculate the inspection path of the target converter station.

[0015] In one embodiment, the inspection point confirmation module is further configured to: establish a correspondence between the fault features of the converter station equipment operation data and the actual inspection points based on the correspondence between the fault feature database corresponding to the converter station equipment operation data and the actual inspection point database; and select at least two actual inspection points from the actual inspection point database corresponding to the power grid converter station equipment based on the correspondence between the fault features of the converter station equipment operation data and the actual inspection points.

[0016] In one embodiment, the processing strategy selection module is configured to: determine the fault characteristics of the converter station equipment operation data corresponding to the converter station equipment based on online monitoring data and the fault data of the power grid converter station; compare the matching degree of the fault characteristics of the converter station equipment operation data with each emergency response strategy in the emergency response strategy library, select the emergency response strategy with a matching degree greater than a preset condition as the target emergency response strategy; and send the target emergency response strategy to each terminal.

[0017] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: acquiring the operating data of the power grid converter station equipment; in the event of data anomalies in the operating data of the converter station equipment, initiating an intelligent linkage inspection mode for the power grid converter station equipment; in the intelligent linkage inspection mode, selecting at least two real inspection points from a database of real inspection points corresponding to the power grid converter station equipment, wherein the real inspection points correspond to virtual inspection points in a virtual inspection point database, and the real inspection points are selected based on the... The selection of virtual inspection points is determined; at least two real inspection points are selected from the real inspection point database to generate at least two grid converter station inspection paths; and based on a path selection algorithm, a grid converter station inspection path that meets preset conditions is selected from each of the grid converter station inspection paths as the target converter station inspection path; according to the target converter station inspection path, inspection instructions are issued to the inspection robot at the location of the grid converter station equipment, and the grid converter station fault data collected by the inspection robot is received; the grid converter station fault data is used to determine the fault status corresponding to the grid converter station equipment.

[0018] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps: acquiring the operating data of the power grid converter station equipment; in the event of abnormal data in the operating data of the converter station equipment, initiating an intelligent linkage inspection mode for the power grid converter station equipment; in the intelligent linkage inspection mode, selecting at least two real inspection points from a database of real inspection points corresponding to the power grid converter station equipment, wherein the real inspection points correspond to virtual inspection points in a virtual inspection point database, and the real inspection points are selected based on the virtual inspection points... The selection operation is determined by the location; at least two real inspection points are selected from the real inspection point database to generate at least two power grid converter station inspection paths, and based on the path selection algorithm, the power grid converter station inspection path that meets the preset conditions is selected from each of the power grid converter station inspection paths as the target converter station inspection path; according to the target converter station inspection path, inspection instructions are issued to the inspection robot in the location of the power grid converter station equipment, and the power grid converter station fault data collected by the inspection robot is received; the power grid converter station fault data is used to determine the fault status of the power grid converter station equipment.

[0019] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps: acquiring the operating data of the power grid converter station equipment; in the event of abnormal data in the operating data of the converter station equipment, initiating an intelligent linkage inspection mode for the power grid converter station equipment; in the intelligent linkage inspection mode, selecting at least two real inspection points from a database of real inspection points corresponding to the power grid converter station equipment, wherein the real inspection points correspond to virtual inspection points in a virtual inspection point database, and the real inspection points are selected based on the implementation of the virtual inspection points. The selection operation is determined by: selecting at least two real inspection points from the real inspection point database, generating at least two power grid converter station inspection paths, and selecting, based on a path selection algorithm, the power grid converter station inspection path that meets preset conditions from each of the power grid converter station inspection paths as the target converter station inspection path; issuing inspection instructions to the inspection robot in the location of the power grid converter station equipment according to the target converter station inspection path, and receiving power grid converter station fault data collected by the inspection robot; the power grid converter station fault data is used to determine the fault status corresponding to the power grid converter station equipment.

[0020] The aforementioned intelligent linkage inspection method, device, computer equipment, storage medium, and computer program product applied to converter station equipment faults acquire the corresponding converter station equipment operating data. When abnormal data occurs in the converter station equipment operating data, an intelligent linkage inspection mode is initiated for the grid converter station equipment. In this intelligent linkage inspection mode, at least two real inspection points are selected from the real inspection point database corresponding to the grid converter station equipment. These real inspection points correspond to virtual inspection points in the virtual inspection point database. The real inspection points are then selected based on the virtual inspection points. The selection of inspection points is determined; at least two real inspection points are selected from the real inspection point database to generate at least two power grid converter station inspection paths, and based on the path selection algorithm, a power grid converter station inspection path that meets preset conditions is selected from each power grid converter station inspection path as the target converter station inspection path; based on the target converter station inspection path, inspection instructions are issued to the inspection robot in the location of the power grid converter station equipment, and the power grid converter station fault data collected by the inspection robot is received; the power grid converter station fault data is used to determine the corresponding fault status of the power grid converter station equipment.

[0021] During inspections at power grid converter stations, two modes are provided for maintenance personnel: manual inspection and intelligent inspection. In manual inspection mode, operators can issue real-time commands to the robot via the integrated platform or handheld terminal to perform inspections at fixed points. The system automatically plans the optimal route based on a genetic algorithm to complete the inspection. In intelligent inspection mode, when abnormal data is detected, the system automatically issues inspection tasks to the robot by calling the typical fault characteristic database and corresponding inspection point database, and transmits the real-time inspection information to the integrated platform. The power grid converter station defaults to intelligent inspection mode, but maintenance personnel can switch to manual inspection mode if needed. This makes the inspection operation of the power grid converter station flexible, allowing for rapid inspection upon detecting abnormalities in operating equipment, identifying potential fault types, and providing corresponding inspection and maintenance strategies to prevent more serious faults, ensuring the safety and reliability of converter station operation, and improving the efficiency of daily power grid maintenance. Attached Figure Description

[0022] Figure 1 This is an application environment diagram of an intelligent linkage inspection method for converter station equipment faults in one embodiment;

[0023] Figure 2 This is a flowchart illustrating an intelligent linkage inspection method applied to converter station equipment faults in one embodiment.

[0024] Figure 3 This is a flowchart illustrating the method for selecting actual inspection points in one embodiment;

[0025] Figure 4 This is a flowchart illustrating a method for preferentially selecting the first inspection mode in one embodiment.

[0026] Figure 5 This is a flowchart illustrating a method for retrieving the actual inspection points of a target in one embodiment.

[0027] Figure 6 This is a flowchart illustrating the method for selecting actual inspection points in another embodiment;

[0028] Figure 7 This is a flowchart illustrating a method for selecting a target emergency response strategy in one embodiment;

[0029] Figure 8 This is a schematic diagram illustrating the implementation process of intelligent linkage inspection for converter station equipment failure in one embodiment;

[0030] Figure 9 This is a schematic diagram of the location of a power grid converter station in one embodiment;

[0031] Figure 10This is a structural block diagram of an intelligent linkage inspection device applied to equipment failure in a converter station, as shown in one embodiment.

[0032] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0034] This application provides an intelligent linkage inspection method for converter station equipment faults, which can be applied to, for example... Figure 1 In the application environment shown, terminal 102 acquires data, server 104 receives the data from terminal 102 in response to the terminal 102's instructions, performs calculations on the acquired data, and transmits the calculation results back to terminal 102 for display. Terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or placed in the cloud or on other network servers. Server 104 obtains the operating data of the power grid converter station equipment from terminal 102. If abnormal data is detected, it initiates an intelligent linkage inspection mode for the power grid converter station equipment. In this mode, at least two real inspection points are selected from the real inspection point database corresponding to the power grid converter station equipment. These real inspection points correspond to virtual inspection points in the virtual inspection point database, and are determined based on the selection operation performed on the virtual inspection points. Based on the selection of at least two real inspection points from the database, at least two power grid converter station inspection paths are generated. Using a path selection algorithm, a power grid converter station inspection path that meets preset conditions is selected from each path as the target inspection path. Based on the target inspection path, inspection commands are issued to the inspection robot located at the power grid converter station equipment location, and the server receives power grid converter station fault data collected by the inspection robot. This fault data is used to determine the fault status of the power grid converter station equipment. The terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, and smart in-vehicle systems. Portable wearable devices can include smartwatches, smart bracelets, and head-mounted devices. The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0035] In one embodiment, such as Figure 2 As shown, an intelligent linkage inspection method for converter station equipment faults is provided, which is applied to... Figure 1 Taking the server in the example, the following steps are included:

[0036] Step 202: Obtain the operating data of the converter station equipment corresponding to the power grid converter station equipment. If the operating data of the converter station equipment is abnormal, start the intelligent linkage inspection mode of the power grid converter station equipment.

[0037] Among them, the grid converter station equipment can be the equipment corresponding to the site established in the high voltage direct current transmission system to complete the conversion of AC to DC or DC to AC, and to meet the requirements of power system for safety, stability and power quality. The main equipment or facilities that the grid converter station equipment should include include: converter valves, converter transformers, smoothing reactors, AC switchgear, AC filters and AC reactive power compensation devices, DC switchgear, DC filters, control and protection devices, external grounding electrodes and remote communication systems, etc.

[0038] Among them, the converter station equipment operation data can be digital or analog quantities that reflect the real-time status of the power grid operation and equipment, collected automatically or manually.

[0039] Among them, the intelligent linkage inspection mode, also known as the intelligent linkage patrol inspection mode, can be a mode of automatically conducting regular or random mobile inspections of the product production and manufacturing process based on actual conditions. It checks for problems within its jurisdiction, promptly identifies and reports issues, and handles them in a timely manner to prevent problems before they occur. Compared to traditional manual inspection, the intelligent linkage inspection mode mainly uses modern technology to pre-set inspection routes, automatically transmits equipment detection values, automatically reports anomalies, and uses technologies such as network communication and radio frequency identification to ensure the actual presence of inspection personnel, while also achieving visualization of the entire inspection process.

[0040] Specifically, the server responds to the terminal's instructions, retrieves the corresponding converter station equipment operation data from the terminal, and stores the retrieved data in the storage unit. When the server needs to process the data record corresponding to any grid device in the converter station equipment operation data, it retrieves volatile storage resources from the storage unit for the central processing unit to perform calculations. The processing of converter station equipment operation data can involve inputting data from a single grid device or inputting data from multiple grid devices simultaneously. When the server detects an anomaly in the received converter station equipment operation data, it correspondingly initiates an intelligent linkage inspection mode for the grid converter station equipment. The intelligent linkage inspection mode for power grid converter station equipment offers two modes: manual inspection mode and intelligent inspection mode. In manual inspection mode, operators can issue real-time commands to the robot via the integrated platform or handheld terminal to perform inspections at fixed points. The system automatically plans the optimal route based on a genetic algorithm to complete the inspection. In intelligent inspection mode, when abnormal data is detected, the system automatically issues inspection tasks to the robot by calling the corresponding inspection point database of typical fault characteristics and transmitting real-time inspection information to the integrated platform. The server is set to intelligent inspection mode by default; maintenance personnel can switch to manual inspection mode if needed.

[0041] Step 204: In the intelligent linkage inspection mode, select at least two real inspection points from the real inspection point database corresponding to the grid converter station equipment.

[0042] The real inspection point database can be a database that collects the locations of equipment in various power grid converter stations that need to be inspected. When an inspection task needs to be performed, the locations to be inspected can be retrieved from the real inspection database.

[0043] Among them, the actual inspection points can be the inspection points in the actual inspection point database. For each power grid converter station equipment, the actual inspection points include oil temperature gauges, silicone sealant appearance, tap changers, bushing SF6 density meters, and SF6 pressure gauges, etc.

[0044] Specifically, when the integrated 3D platform in the power grid converter station activates the intelligent linkage inspection mode, an alarm will be issued on the integrated 3D platform, and the platform will be connected to the robot control system. Through the integrated 3D platform, at least two real inspection points will be selected from the database of real inspection points corresponding to the power grid converter station equipment, using either manual or intelligent inspection mode. Manual inspection mode will be prioritized over intelligent inspection mode. If manual inspection mode is unavailable, intelligent inspection mode will be activated. If both manual and intelligent inspection modes are available, manual inspection mode will still be selected.

[0045] There is a correspondence between actual inspection points and virtual inspection points in the virtual inspection point library. The virtual inspection point library is a database established within the integrated 3D platform corresponding to the actual inspection point library. Actual inspection points are determined based on the selection operation performed on virtual inspection points. That is, if a virtual inspection point is selected from the integrated 3D platform, the corresponding actual inspection point is simultaneously selected in the power converter station. The table below shows the actual inspection points corresponding to the equipment in the power grid converter station.

[0046]

[0047] Step 206: Select at least two real inspection points from the real inspection point database to generate at least two power grid converter station inspection paths, and select the power grid converter station inspection path that meets the preset conditions from each power grid converter station inspection path based on the path selection algorithm, as the target converter station inspection path.

[0048] Among them, the inspection path of the power grid converter station can be generated by taking at least two real inspection points and using a path generation algorithm to generate a path for intelligent linkage inspection of the power grid converter station equipment.

[0049] The path selection algorithm can be an algorithm used to optimize the inspection path of multiple power grid converter stations. The path selection algorithm can be a genetic algorithm, etc.

[0050] The target converter station inspection path can be the final inspection path selected from multiple power grid converter station inspection paths through a path selection algorithm, which is then used as the final path for inspecting the power grid converter station equipment.

[0051] Specifically, the data acquisition and control systems of the inspection robot are also integrated into the integrated platform, and the data collected by the inspection robot is visualized in real time. Operators can directly issue commands to the robot through the integrated 3D platform. Operators only need to manually select at least two real inspection points from the real inspection point library. Based on the selected real inspection points, the integrated 3D platform generates multiple paths for intelligent linkage inspection of the power grid converter station equipment according to the path generation algorithm. Furthermore, the integrated 3D platform uses a genetic algorithm to automatically plan the optimal inspection route for the inspection robot from multiple power grid converter station inspection paths, and uses the planned inspection route as the final target converter station inspection path for the power grid converter station equipment inspection.

[0052] Step 208: Based on the inspection path of the target converter station, issue inspection instructions to the inspection robot in the location of the power grid converter station equipment, and accept the power grid converter station fault data collected by the inspection robot.

[0053] Among them, the inspection robot can be an infrared thermal imaging inspection robot, which can perform timed inspections of outdoor equipment in substations at any set time, and can perform remote inspections, fixed-point inspections, and temporary inspections. The infrared thermal imaging inspection robot is equipped with a microphone, an infrared thermal imager, a visible light camera and other equipment.

[0054] Among them, the fault data of the power grid converter station can be the recorded data that describes the main characteristics of the fault events of the power grid converter station equipment (fault mode, type, cause, location, impact and consequences, and time of occurrence, etc.).

[0055] Specifically, based on the target converter station inspection path selected from multiple power grid converter station inspection routes, an integrated 3D platform sends inspection commands to at least one inspection robot located in the power grid converter station equipment area. During the inspection process, the integrated 3D platform can display the inspection images of the inspection robot and cameras in real time, record the inspection status of each point in real time, and display the position and operating status of the inspection robot in real time; it can also display the operating status of typical equipment in the converter station in real time, and maintenance personnel can also view the inspection situation in real time on a handheld terminal. For special real inspection points, operators can also issue real-time commands to the robot on the integrated platform or handheld terminal to achieve fixed-point inspection.

[0056] During the inspection process, once fault data of the power grid converter station collected by the inspection robot is detected, an alarm is triggered on the one hand, and on the other hand, in conjunction with the online monitoring system, the possible fault types are identified in the 3D visualization platform based on the existing fault characteristic database, thus realizing intelligent fault early warning. Based on the intelligent fault early warning, the inspection robot is invoked to inspect the relevant points for further analysis. Once a fault is identified, operation and maintenance, anomaly diagnosis, and auxiliary handling information are automatically pushed to on-duty personnel at all levels via handheld terminals. The overall process of the intelligent linkage inspection method for power grid converter station equipment faults is as follows: Figure 8 As shown, the situation for power grid converter station sites is as follows: Figure 9 As shown.

[0057] The aforementioned intelligent linkage inspection method applied to converter station equipment faults involves acquiring the operating data of the converter station equipment corresponding to the grid converter station equipment. When abnormal data is detected in the converter station equipment operating data, an intelligent linkage inspection mode for the grid converter station equipment is initiated. In this intelligent linkage inspection mode, at least two real inspection points are selected from the real inspection point database corresponding to the grid converter station equipment. These real inspection points correspond to virtual inspection points in the virtual inspection point database. The real inspection points are determined based on the selection operation performed on the virtual inspection points. The process involves: selecting at least two real inspection points from a database of real inspection points to generate at least two inspection paths for power grid converter stations; selecting, based on a path selection algorithm, a power grid converter station inspection path that meets preset conditions from the existing paths as the target inspection path; issuing inspection commands to the inspection robots located at the power grid converter station equipment locations based on the target inspection path; and receiving fault data collected by the inspection robots for the power grid converter stations. The fault data is used to determine the corresponding fault conditions of the power grid converter station equipment.

[0058] During inspections at power grid converter stations, two modes are provided for maintenance personnel: manual inspection and intelligent inspection. In manual inspection mode, operators can issue real-time commands to the robot via the integrated platform or handheld terminal to perform inspections at fixed points. The system automatically plans the optimal route based on a genetic algorithm to complete the inspection. In intelligent inspection mode, when abnormal data is detected, the system automatically issues inspection tasks to the robot by calling the typical fault characteristic database and corresponding inspection point database, and transmits the real-time inspection information to the integrated platform. The power grid converter station defaults to intelligent inspection mode, but maintenance personnel can switch to manual inspection mode if needed. This makes the inspection operation of the power grid converter station flexible, allowing for rapid inspection upon detecting abnormalities in operating equipment, identifying potential fault types, and providing corresponding inspection and maintenance strategies to prevent more serious faults, ensuring the safety and reliability of converter station operation, and improving the efficiency of daily power grid maintenance.

[0059] In one embodiment, such as Figure 3 As shown, in the intelligent linkage inspection mode, at least two real inspection points are selected from the real inspection point database corresponding to the grid converter station equipment, including:

[0060] Step 302: Based on the intelligent linkage inspection mode, determine whether the intelligent linkage inspection is enabled for automatic inspection of converter station equipment.

[0061] Among them, automatic inspection of converter station equipment can be one of the inspection modes in the intelligent linkage inspection mode. The intelligent linkage inspection mode has automatic inspection of converter station equipment and manual inspection of converter station equipment, while automatic inspection of converter station equipment is the use of intelligent inspection mode for the inspection of converter station.

[0062] Specifically, when the integrated 3D platform in the power grid converter station activates the intelligent linkage inspection mode, an alarm will be issued on the integrated 3D platform, and the platform will be connected to the robot control system. The integrated 3D platform will then determine whether to activate the automatic inspection of the converter station equipment, i.e., whether to activate the manual inspection mode or the intelligent inspection mode. Manual inspection mode will be prioritized. If manual inspection mode is unavailable, intelligent inspection mode will be activated. If both manual and intelligent inspection modes are available, manual inspection mode will still be selected.

[0063] Step 304: If the automatic inspection of the converter station equipment is not started, start the first inspection mode and accept the instruction to select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment.

[0064] The first inspection mode can be the manual inspection mode activated when the automatic inspection of the converter station equipment is not started.

[0065] Specifically, if the automatic inspection of the converter station equipment is determined to be inactive, the manual inspection mode is immediately activated. The system then uses an integrated 3D platform to manually select at least two real inspection points from a database of corresponding real inspection points for the converter station equipment. In this manual inspection mode, operators can issue real-time commands to the robot via the integrated 3D platform or a handheld terminal to inspect fixed points. Based on the integrated 3D platform, a genetic algorithm automatically plans the optimal route to complete the inspection.

[0066] Step 306: When the automatic inspection of the converter station equipment is not started, start the second inspection mode, and select at least two real inspection points from the real inspection point library corresponding to the power grid converter station equipment based on the fault characteristics of the converter station equipment operation data.

[0067] The second inspection mode can be the intelligent inspection mode activated when the automatic inspection of the converter station equipment is not started.

[0068] Specifically, if the automatic inspection of the converter station equipment is determined to be activated, the intelligent inspection mode is immediately initiated for the power grid converter station equipment. Through the integrated 3D platform, at least two real inspection points are automatically selected from the corresponding real inspection point database of the power grid converter station equipment using the intelligent inspection mode. The intelligent inspection mode includes routine inspections and abnormal situation inspections. For routine maintenance inspections, the integrated 3D platform plans the inspection route for the robot to complete regular inspection and maintenance tasks. When abnormal data is detected, the integrated 3D platform automatically assigns inspection tasks to the inspection robot by calling the corresponding machine inspection point database of typical fault characteristics, and transmits real-time inspection information to the integrated 3D platform for intelligent inspection of the abnormal data area.

[0069] In this embodiment, by determining whether the intelligent linkage inspection is enabled for automatic inspection of converter station equipment, it is further determined whether the first inspection mode or the second inspection mode is enabled. This allows for the selection of an appropriate inspection mode for specific abnormal conditions of the power grid converter station equipment, thereby ensuring the inspection effect of the power grid converter station equipment and improving the maintenance efficiency of the power grid converter station equipment.

[0070] In one embodiment, such as Figure 4 As shown, the method also includes:

[0071] Step 402: If the automatic inspection of the converter station equipment is started and the second inspection mode is started, determine whether the first inspection mode can be started if the automatic inspection of the converter station equipment is not started.

[0072] Specifically, if the judgment result of "whether the automatic inspection of the converter station equipment is started is 'started'" is executed, then the intelligent inspection mode of the power grid converter station equipment is immediately started, and at least two real inspection points are automatically selected from the real inspection point library corresponding to the power grid converter station equipment using the intelligent inspection mode through the integrated 3D platform. Then, it is further determined whether the following can be executed: "if the judgment result of whether the automatic inspection of the converter station equipment is started is 'not started', then the manual inspection mode of the power grid converter station equipment is immediately started, and at least two real inspection points are manually selected from the real inspection point library corresponding to the power grid converter station equipment using the manual inspection mode through the integrated 3D platform."

[0073] Step 404: If the judgment result is that it can be executed, cancel the execution of starting the second inspection mode, execute the execution of starting the first inspection mode, and accept the instruction to select at least two real inspection points from the real inspection point library corresponding to the grid converter station equipment.

[0074] Specifically, if the automatic inspection of the converter station equipment is not initiated, and the judgment result of immediately initiating the manual inspection mode of the power grid converter station equipment is that it can be executed, then the execution of "immediately initiating the intelligent inspection mode of the power grid converter station equipment and accepting the automatic selection of at least two real inspection points from the real inspection point library corresponding to the power grid converter station equipment using the intelligent inspection mode" is cancelled, and the execution of "immediately initiating the manual inspection mode of the power grid converter station equipment and accepting the manual selection of at least two real inspection points from the real inspection point library corresponding to the power grid converter station equipment using the manual inspection mode" is further executed.

[0075] Step 406: If the judgment result is that it cannot be executed, the execution of the first inspection mode is prohibited, and the second inspection mode is executed. Based on the fault characteristics of the converter station equipment operation data, at least two real inspection points are selected from the real inspection point database corresponding to the power grid converter station equipment.

[0076] Specifically, if the automatic inspection of the converter station equipment is not initiated, and the judgment that the manual inspection mode of the power grid converter station equipment should be initiated immediately is not feasible, then the following actions are prohibited: "Initially initiate the manual inspection mode of the power grid converter station equipment and, through the integrated 3D platform, accept the manual selection of at least two real inspection points from the real inspection point library corresponding to the power grid converter station equipment using the manual inspection mode." Furthermore, the following actions are permitted: "Initially initiate the intelligent inspection mode of the power grid converter station equipment and, through the integrated 3D platform, accept the automatic selection of at least two real inspection points from the real inspection point library corresponding to the power grid converter station equipment using the intelligent inspection mode."

[0077] In this embodiment, when both the first inspection mode and the second inspection mode are satisfied, the first inspection mode is selected first. This can achieve a more accurate judgment of abnormal conditions of the power grid converter station equipment and propose a more suitable solution. At the same time, the intervention of the first inspection mode makes the selection of actual inspection points more targeted, thereby improving the inspection efficiency and accuracy of the power grid converter station equipment.

[0078] In one embodiment, such as Figure 5 As shown, after receiving the instruction to select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment, the process also includes:

[0079] Step 502: Based on the converter station control terminal of the power grid converter station equipment, select virtual inspection points from the virtual inspection point database to obtain the virtual inspection point selection result.

[0080] The converter station control terminal can be an operation terminal of an integrated three-dimensional platform for power grid converter station equipment or a handheld terminal for maintenance personnel.

[0081] The virtual inspection point selection result can be obtained by maintenance personnel selecting each virtual inspection point corresponding to each real inspection point from the operating terminal of the integrated 3D platform or the handheld terminal of the maintenance personnel.

[0082] Specifically, at least two virtual inspection points can be manually selected from the virtual inspection point library corresponding to the grid converter station equipment using the manual inspection mode via the operation terminal of the integrated 3D platform or the handheld terminal of the maintenance personnel; or, based on the abnormal data of the converter station equipment operation data fed back by the inspection robot, the integrated 3D platform can automatically select at least two virtual inspection points from the virtual inspection point library corresponding to the grid converter station equipment using the intelligent inspection mode according to the preset selection rules.

[0083] Step 504: Based on the virtual inspection point selection results, retrieve the real inspection points that correspond to the virtual inspection points as the target real inspection points.

[0084] Among them, the target real inspection point can be the real inspection point corresponding to the virtual inspection point in the virtual inspection point selection result. Each target real inspection point is used to calculate the target converter station inspection path.

[0085] Specifically, based on the virtual inspection points in the virtual inspection point selection results, and the one-to-one correspondence between virtual inspection points and real inspection points, the real inspection points that correspond to the virtual inspection points are retrieved from the real inspection point database as target real inspection points. In other words, the real inspection points in the power grid converter station are selected through the virtual inspection points, and the selected real inspection points are the target real inspection points, which are used to calculate the inspection path of the target converter station.

[0086] In this embodiment, by establishing a correspondence between virtual inspection points and real inspection points, the real inspection points of the power grid converter station equipment can be selected through an integrated 3D platform when abnormal situations occur. This avoids personnel entering high-voltage areas to set up the equipment, improves the personal safety of maintenance personnel, and further enhances the troubleshooting efficiency of the power grid converter station equipment.

[0087] In one embodiment, such as Figure 6 As shown, based on the fault characteristics of the converter station equipment operation data, at least two real inspection points are selected from the real inspection point database corresponding to the power grid converter station equipment, including:

[0088] Step 602: Based on the correspondence between the fault feature database corresponding to the converter station equipment operation data and the actual inspection point database, establish the correspondence between the fault features of the converter station equipment operation data and the actual inspection points.

[0089] Among them, the fault feature database can be a database containing multiple fault features, and there is a corresponding relationship between the fault feature database and the virtual inspection point database, the real inspection point database, and the emergency response strategy database.

[0090] Specifically, based on the various data anomalies contained in the operating data of the power grid converter station equipment, a fault feature database corresponding to various data anomalies is established, and any data anomaly has at least one corresponding fault feature in the fault feature database; furthermore, based on the correspondence between the fault feature database and the actual inspection point database, and the principle that for any actual inspection point in the actual inspection point database, there is a fixed one-to-one correspondence with power grid converter station equipment, a correspondence between the fault features of the converter station equipment operating data (power grid converter station equipment) and the actual inspection points is established.

[0091] Step 604: Based on the correspondence between the fault characteristics of the converter station equipment operation data and the actual inspection points, select at least two actual inspection points from the database of actual inspection points corresponding to the power grid converter station equipment.

[0092] Specifically, based on the fault characteristics of the converter station equipment operation data, the corresponding fault conditions of the converter station equipment can be determined. Combining the fault characteristics of the converter station equipment operation data with the correspondence between the actual inspection points, virtual inspection points can be selected from the integrated 3D platform. Through the correspondence between the virtual inspection points and the actual inspection points, at least two actual inspection points in the database of actual inspection points corresponding to the power grid converter station equipment can be determined.

[0093] In this embodiment, by establishing the correspondence between the fault characteristics of the converter station equipment operation data and the actual inspection points, it is possible to promptly identify the fault problems corresponding to the actual inspection points when abnormal situations occur. This helps maintenance personnel to conduct specific inspections and propose specific solutions, thereby improving the maintenance efficiency of the power grid converter station equipment.

[0094] In one embodiment, such as Figure 7 As shown, after issuing inspection commands to the inspection robot located at the power grid converter station equipment site according to the target converter station inspection path, and receiving the power grid converter station fault data collected by the inspection robot, the process also includes:

[0095] Step 702: Based on the online monitoring data and the fault data of the power grid converter station, determine the fault characteristics of the corresponding converter station equipment operation data.

[0096] Among them, the online monitoring data can be the data obtained by the integrated three-dimensional platform to monitor the grid converter station equipment 24 hours a day. This online monitoring data can update the status of the grid converter station equipment in real time. If abnormal data is encountered, an alarm will be triggered immediately and the intelligent linkage inspection mode will be activated.

[0097] Specifically, during the inspection process of the inspection robot, once abnormal data is detected in the converter station equipment operation data, an alarm is triggered on the one hand, and on the other hand, based on the online monitoring data and the existing fault feature database in the integrated 3D platform, the characteristics of potential faults in the converter station equipment operation data are determined, thus achieving intelligent fault early warning. Furthermore, based on the intelligent fault early warning, the inspection robot is invoked to inspect the actual inspection points related to the fault.

[0098] Step 704: Based on the fault characteristics of the converter station equipment operation data, compare the matching degree with each emergency response strategy in the emergency response strategy library, select the emergency response strategy with a matching degree greater than the preset condition as the target emergency response strategy, and send the target emergency response strategy to each terminal.

[0099] The emergency response strategy library can be a collection of emergency response strategies adopted to control and reduce the harm caused by a sudden event in the power grid system as quickly as possible.

[0100] Among them, emergency response strategies can be emergency response work for power safety accidents in the power grid system, standardize the investigation and handling of power safety accidents, and control, mitigate and eliminate the corresponding handling methods for power safety accident damage.

[0101] Among them, the target emergency response strategy can be selected from the emergency response strategy library based on the specific circumstances of power safety accidents in the power grid system, and used as the target emergency response strategy.

[0102] Specifically, the fault characteristics of the converter station equipment operation data are traversed through the emergency response strategy library for each emergency response strategy, and the traversal results are output, that is, the matching degree comparison results between the fault characteristics of the converter station equipment operation data and the corresponding emergency response strategies are output. For the matching degree comparison results obtained through traversal, a minimum matching degree condition is preset. When the matching degree comparison result is greater than the emergency response strategy corresponding to the preset minimum matching degree condition, it can be selected as the target emergency response strategy, and the target emergency response strategy is sent to each terminal through the integrated 3D platform.

[0103] In this embodiment, after selecting fault characteristics by combining online monitoring data and grid converter station fault data, the matching degree is further compared with each emergency response strategy in the emergency response strategy library. This enables the selection of reasonable emergency response strategies based on fault characteristics to maintain grid converter station equipment, reducing the time spent finding solutions and improving the efficiency of grid converter station equipment maintenance.

[0104] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0105] Based on the same inventive concept, this application also provides an intelligent linkage inspection device for converter station equipment faults, which implements the aforementioned intelligent linkage inspection method for converter station equipment faults. The solution provided by this device is similar to the implementation scheme described in the above method. Therefore, the specific limitations of one or more embodiments of the intelligent linkage inspection device for converter station equipment faults provided below can be found in the limitations of the intelligent linkage inspection method for converter station equipment faults described above, and will not be repeated here.

[0106] In one embodiment, such as Figure 10 As shown, an intelligent linkage inspection device for converter station equipment faults is provided, including: an operation data acquisition module 1002, an inspection point confirmation module 1004, an inspection path confirmation module 1006, and an inspection command issuance module 1008, wherein:

[0107] The operation data acquisition module 1002 is used to acquire the operation data of the power grid converter station equipment. When the operation data of the converter station equipment is abnormal, the intelligent linkage inspection mode of the power grid converter station equipment is activated.

[0108] The inspection point confirmation module 1004 is used to select at least two real inspection points from the real inspection point library corresponding to the grid converter station equipment in the intelligent linkage inspection mode. The real inspection points have a corresponding relationship with the virtual inspection points in the virtual inspection point library. The real inspection points are determined based on the selection operation performed on the virtual inspection points.

[0109] The inspection path confirmation module 1006 is used to generate at least two grid converter station inspection paths by selecting at least two real inspection points from the real inspection point database, and select the grid converter station inspection path that meets the preset conditions from each grid converter station inspection path based on the path selection algorithm, as the target converter station inspection path.

[0110] The inspection command issuing module 1008 is used to issue inspection commands to the inspection robot in the location of the power grid converter station equipment according to the inspection path of the target converter station, and to receive the power grid converter station fault data collected by the inspection robot; the power grid converter station fault data is used to determine the corresponding fault status of the power grid converter station equipment.

[0111] In one embodiment, the inspection point confirmation module 1004 is further configured to: determine whether the intelligent linkage inspection is enabled for automatic inspection of converter station equipment based on the intelligent linkage inspection mode; if the automatic inspection of converter station equipment is not enabled, activate the first inspection mode and receive an instruction to select at least two real inspection points from the real inspection point database corresponding to the grid converter station equipment; if the automatic inspection of converter station equipment is not enabled, activate the second inspection mode and select at least two real inspection points from the real inspection point database corresponding to the grid converter station equipment based on the fault characteristics of the converter station equipment operation data.

[0112] In one embodiment, the inspection point confirmation module 1004 is further configured to: determine whether it is possible to start the first inspection mode when the automatic inspection of the converter station equipment is not started, in the case of starting the second inspection mode when the automatic inspection of the converter station equipment is not started; if the determination result is that it is possible to start the second inspection mode, cancel the execution of starting the second inspection mode, and execute the execution of starting the first inspection mode, and accept the instruction to select at least two real inspection points from the real inspection point database corresponding to the grid converter station equipment; if the determination result is that it is not possible to start the first inspection mode, prohibit the execution of starting the first inspection mode, execute the execution of starting the second inspection mode, and select at least two real inspection points from the real inspection point database corresponding to the grid converter station equipment based on the fault characteristics of the converter station equipment operation data.

[0113] In one embodiment, the inspection point confirmation module 1004 is further configured to: select virtual inspection points in the virtual inspection point library based on the converter station control terminal of the power grid converter station equipment to obtain the virtual inspection point selection result; and, based on the virtual inspection point selection result, retrieve the real inspection points that have established a corresponding relationship with the virtual inspection points as the target real inspection points, and use the target real inspection points to calculate the inspection path of the target converter station.

[0114] In one embodiment, the inspection point confirmation module 1004 is further configured to: establish a correspondence between the fault features of the converter station equipment operation data and the actual inspection point database based on the correspondence between the fault feature database corresponding to the converter station equipment operation data and the actual inspection point database; and select at least two actual inspection points from the actual inspection point database corresponding to the power grid converter station equipment based on the correspondence between the fault features of the converter station equipment operation data and the actual inspection point database.

[0115] In one embodiment, the processing strategy selection module is used to: determine the fault characteristics of the converter station equipment operation data corresponding to the converter station equipment based on online monitoring data and grid converter station fault data; compare the matching degree of the fault characteristics of the converter station equipment operation data with each emergency response strategy in the emergency response strategy library, select the emergency response strategy with a matching degree greater than a preset condition as the target emergency response strategy; and send the target emergency response strategy to each terminal.

[0116] The modules in the aforementioned intelligent linkage inspection device for converter station equipment faults can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0117] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11 As shown, the computer device includes a processor, memory, and network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores server data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements an intelligent, coordinated inspection method for converter station equipment faults.

[0118] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0119] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0120] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0121] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and executes the computer instructions, causing the computer device to perform the steps in the above method embodiments.

[0122] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0123] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0124] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0125] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An intelligent linkage inspection method for converter station equipment faults, characterized in that, The method includes: Obtain the operating data of the power grid converter station equipment; if the operating data of the converter station equipment is abnormal, initiate the intelligent linkage inspection mode of the power grid converter station equipment. In the intelligent linkage inspection mode, at least two real inspection points are selected from the real inspection point database corresponding to the power grid converter station equipment. The real inspection points correspond to the virtual inspection points in the virtual inspection point database. The real inspection points are determined based on the selection operation performed on the virtual inspection points. The virtual inspection point database is a database established in the integrated three-dimensional platform corresponding to the real inspection point database. The virtual inspection points are obtained based on the selection of virtual inspection points in the virtual inspection point database by the converter station control terminal of the power grid converter station equipment. At least two inspection paths for power grid converter stations are generated by selecting at least two real inspection points from the real inspection point database. Based on the converter station control terminal of the power grid converter station equipment, virtual inspection points are selected from the virtual inspection point database to obtain virtual inspection point selection results; Based on the virtual inspection point selection result, the real inspection point that corresponds to the virtual inspection point is retrieved as the target real inspection point. The target real inspection point is used to calculate the inspection path of the target converter station. Based on the path selection algorithm, the inspection path of the power grid converter station that meets the preset conditions is selected from the inspection paths of each power grid converter station and used as the target converter station inspection path. According to the inspection path of the target converter station, inspection instructions are issued to the inspection robot at the location of the power grid converter station equipment, and the power grid converter station fault data collected by the inspection robot is received; the power grid converter station fault data is used to determine the fault status of the power grid converter station equipment.

2. The method according to claim 1, characterized in that, In the intelligent linkage inspection mode, at least two real inspection points are selected from the real inspection point database corresponding to the power grid converter station equipment, including: Based on the intelligent linkage inspection mode, determine whether the intelligent linkage inspection enables automatic inspection of converter station equipment. When the automatic inspection of the converter station equipment is not activated, the first inspection mode is activated, and the instruction to select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment is received. When the automatic inspection of the converter station equipment is not activated, the second inspection mode is activated, and at least two real inspection points are selected from the real inspection point database corresponding to the power grid converter station equipment based on the fault characteristics of the converter station equipment operation data.

3. The method according to claim 2, characterized in that, The method further includes: When the automatic inspection of the converter station equipment is started and the second inspection mode is started, determine whether the first inspection mode can be started when the automatic inspection of the converter station equipment is not started. If the judgment result is that it can be executed, cancel the execution of the second inspection mode and execute the first inspection mode, and accept the instruction to select at least two real inspection points from the real inspection point library corresponding to the power grid converter station equipment; If the judgment result is that it cannot be executed, the execution of the first inspection mode is prohibited, and the second inspection mode is executed. Based on the fault characteristics of the converter station equipment operation data, at least two real inspection points are selected from the real inspection point database corresponding to the power grid converter station equipment.

4. The method according to claim 2, characterized in that, The step of selecting at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment based on the fault characteristics of the converter station equipment operation data includes: Based on the correspondence between the fault feature database corresponding to the converter station equipment operation data and the actual inspection point database, establish the correspondence between the fault features of the converter station equipment operation data and the actual inspection points. Based on the correspondence between the fault characteristics of the converter station equipment operation data and the actual inspection points, at least two actual inspection points are selected from the database of actual inspection points corresponding to the power grid converter station equipment.

5. The method according to any one of claims 1 to 4, characterized in that, After the steps of issuing inspection instructions to the inspection robot at the location of the power grid converter station equipment according to the inspection path of the target converter station, and receiving the power grid converter station fault data collected by the inspection robot, the method further includes: Based on online monitoring data and the fault data of the power grid converter station, determine the fault characteristics of the operating data of the converter station equipment corresponding to the power grid converter station equipment; The fault characteristics of the converter station equipment operation data are compared with the matching degree of each emergency response strategy in the emergency response strategy library. The emergency response strategy with a matching degree greater than a preset condition is selected as the target emergency response strategy. The target emergency response strategy is then sent to each terminal.

6. An intelligent linkage inspection device for converter station equipment faults, characterized in that, The device includes: The operation data acquisition module is used to acquire the operation data of the power grid converter station equipment. In the event of abnormal data in the operation data of the converter station equipment, the intelligent linkage inspection mode of the power grid converter station equipment is activated. The inspection point confirmation module is used to select at least two real inspection points from the real inspection point database corresponding to the power grid converter station equipment in the intelligent linkage inspection mode. The real inspection points correspond to virtual inspection points in the virtual inspection point database. The real inspection points are determined based on the selection operation performed on the virtual inspection points. The virtual inspection point database is a database established in the integrated three-dimensional platform corresponding to the real inspection point database. The virtual inspection points are obtained based on the selection of virtual inspection points in the virtual inspection point database by the converter station control terminal of the power grid converter station equipment. The inspection path confirmation module is used to generate at least two inspection paths for power grid converter stations by selecting at least two real inspection points from the real inspection point database; based on the converter station control terminal of the power grid converter station equipment, it selects virtual inspection points from the virtual inspection point database to obtain virtual inspection point selection results; based on the virtual inspection point selection results, it retrieves the real inspection points that have established a corresponding relationship with the virtual inspection points as target real inspection points, and the target real inspection points are used to calculate the target converter station inspection path; based on the path selection algorithm, it selects the power grid converter station inspection path that meets the preset conditions from each of the power grid converter station inspection paths as the target converter station inspection path. The inspection command issuing module is used to issue inspection commands to the inspection robot in the location of the power grid converter station equipment according to the inspection path of the target converter station, and to receive the power grid converter station fault data collected by the inspection robot; the power grid converter station fault data is used to determine the fault status of the power grid converter station equipment.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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