A method and system for substation operation and maintenance using robots

Abstract

This invention provides a method and system for substation operation and maintenance using robots. The method includes: receiving an operation and maintenance instruction; determining a target operation and maintenance device based on the instruction; planning an operation and maintenance path based on first data from the robot and second data from the substation; and controlling the robot to perform operation and maintenance operations on the target operation and maintenance device according to the operation and maintenance path. This solution, which uses robots to perform operation and maintenance operations on relevant substation equipment, avoids the safety issues associated with manual labor and has high market application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of substation operation and maintenance, and in particular to a method, system, electronic equipment and computer storage medium for substation operation and maintenance using a robot. Background Art

[0002] A substation is a location within a power system that transforms voltage and current, receives electricity, and distributes it. Substations primarily include transformers, high-voltage circuit breakers, disconnectors, busbars, lightning arresters, capacitors, reactors, and other equipment. These devices typically operate at very high voltages, such as 3 million kW and 750 / 500 / 330 kV. Even with comprehensive existing protective measures, manual operation and maintenance of these devices remains risky. The present invention aims to further reduce the risks of substation operation and maintenance. Summary of the Invention

[0003] In order to at least solve the technical problems existing in the above-mentioned background technology, the present invention provides a method, system, electronic equipment and computer storage medium for using a robot to perform substation operation and maintenance.

[0004] A first aspect of the present invention provides a method for substation operation and maintenance using a robot, the method comprising the following steps:

[0005] Receive an operation and maintenance instruction, and determine a target operation and maintenance device according to the operation and maintenance instruction;

[0006] planning an operation and maintenance path according to the first data of the robot and the second data of the substation;

[0007] Control the robot to perform operation and maintenance operations on the target operation and maintenance equipment according to the operation and maintenance path.

[0008] In some embodiments, receiving the operation and maintenance instruction includes:

[0009] Receive a first operation and maintenance instruction sent from a remote control; and / or receive a second operation and maintenance instruction sent from a server; and / or receive a third operation and maintenance instruction sent from a target operation and maintenance device.

[0010] In some embodiments, planning an operation and maintenance path according to the first data of the robot and the second data of the substation includes:

[0011] Determine a first traversable area according to the second data of the substation, and determine a second traversable area from the first traversable area according to the first data of the robot;

[0012] The operation and maintenance path is planned according to the second traversable area.

[0013] In some embodiments, determining the second traversable area from the first traversable area based on the first data of the robot includes:

[0014] The robot's pass type is determined according to the first data, and the first passable area is screened according to the pass type to obtain the second passable area.

[0015] In some embodiments, planning the operation and maintenance path according to the second traversable area includes:

[0016] Determining an operation and maintenance item of a target operation and maintenance device and three-dimensional position data related to the operation and maintenance item according to the operation and maintenance instruction;

[0017] The operation and maintenance path is planned according to the operation and maintenance project and the three-dimensional location data.

[0018] In some embodiments, planning the operation and maintenance path according to the operation and maintenance project and the three-dimensional location data includes:

[0019] Determining first threat data of the operation and maintenance project and second threat data related to the operation and maintenance project;

[0020] determining an operation and maintenance point according to the first threat data, the second threat data, and the three-dimensional position data;

[0021] The operation and maintenance path is planned according to the operation and maintenance work point.

[0022] In some embodiments, when there are multiple operation and maintenance items, determining an operation and maintenance work point according to the first threat data, the second threat data, and the three-dimensional position data includes:

[0023] Grouping the operation and maintenance items according to the three-dimensional position data;

[0024] For each of the groups, according to the operation and maintenance items in the group, a plurality of first operation and maintenance work points are determined according to the first threat data, the second threat data, and the three-dimensional position data;

[0025] Determining an operation line including each of the first operation and maintenance operation points based on the first threat data, the second threat data, and the three-dimensional position data related to each of the operation and maintenance items;

[0026] A second operation and maintenance operation point is obtained by screening from the operation line according to the operation parameters of the robot, and is used as the operation and maintenance operation point.

[0027] A second aspect of the present invention provides a system for substation operation and maintenance using a robot, comprising an acquisition module, a processing module, and a storage module; the processing module is connected to the acquisition module and the storage module;

[0028] The storage module is used to store executable computer program code;

[0029] The acquisition module is used to acquire operation and maintenance instructions and data related to the robot and the substation, and transmit them to the processing module;

[0030] It is characterized in that: the processing module is used to execute the method as described in any of the above items by calling the executable computer program code in the storage module.

[0031] The third aspect of the present invention also provides an electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the processor calling the executable program code stored in the memory to execute the method as described in any of the previous items.

[0032] A fourth aspect of the present invention provides a computer storage medium having a computer program stored thereon, which executes any of the methods described above when the computer program is executed by a processor.

[0033] The beneficial effects of the present invention are:

[0034] The solution of the present invention parses received maintenance instructions to identify the target equipment requiring maintenance. It then plans a reasonable operation path based on the characteristics of the robot and the substation itself, ultimately enabling rapid and safe robot maintenance of the target equipment. By employing robots to perform maintenance on substation equipment, the solution avoids the safety concerns associated with manual labor and has promising market applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 This is a flow chart of a method for substation operation and maintenance using a robot disclosed in an embodiment of the present invention;

[0037] Figure 2 The present invention discloses a schematic structural diagram of a system for substation operation and maintenance using a robot. DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only some, not all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0039] The terms used in the examples of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a," "the," and "the" used in the examples of this application and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0040] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0041] It should be understood that although the terms "first," "second," "third," etc. may be used in the embodiments of this application to describe "...," these "..." should not be limited to these terms. These terms are merely used to distinguish "...." For example, "first..." could also be referred to as "second...", and similarly, "second..." could also be referred to as "first..." without departing from the scope of the embodiments of this application.

[0042] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0043] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or system. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or system comprising the element.

[0044] See Figure 1 As shown, an embodiment of the present invention discloses a method for substation operation and maintenance using a robot, the method comprising the following steps:

[0045] Receive an operation and maintenance instruction, and determine a target operation and maintenance device according to the operation and maintenance instruction;

[0046] planning an operation and maintenance path according to the first data of the robot and the second data of the substation;

[0047] Control the robot to perform operation and maintenance operations on the target operation and maintenance equipment according to the operation and maintenance path.

[0048] The received maintenance instructions can be parsed to identify the target equipment requiring maintenance, such as transformers, high-voltage circuit breakers, disconnectors, busbars, lightning arresters, capacitors, and reactors. Based on the robot's and the substation's own characteristic data, a reasonable operation path is then planned, ultimately enabling the robot to quickly and safely perform maintenance on the target equipment. This solution, which employs robots to perform maintenance on substation equipment, avoids the safety concerns associated with manual labor and has promising market applications.

[0049] In some embodiments, receiving the operation and maintenance instruction includes:

[0050] Receive a first operation and maintenance instruction sent from a remote control; and / or receive a second operation and maintenance instruction sent from a server; and / or receive a third operation and maintenance instruction sent from a target operation and maintenance device.

[0051] In this embodiment, the operation and maintenance instructions can be sent to the operation and maintenance robot or the network server of the operation and maintenance robot by the remote control or remote server used by the operator. For certain substation equipment with self-inspection and communication functions, such substation equipment can also automatically send them to the robot equipped in the substation according to certain conditions.

[0052] In some embodiments, planning an operation and maintenance path according to the first data of the robot and the second data of the substation includes:

[0053] Determine a first traversable area according to the second data of the substation, and determine a second traversable area from the first traversable area according to the first data of the robot;

[0054] The operation and maintenance path is planned according to the second traversable area.

[0055] In this embodiment, the substation's second data includes at least a high-precision map of the substation and the specific layout of each substation equipment within the high-precision map. The high-precision map also includes high-precision three-dimensional models of the substation equipment, and even includes the connection layout of the wiring between the three-dimensional models. Thus, using the substation's second data, a first traversable area within which the robot can traverse can be preliminarily determined. This first traversable area can then be further screened based on the robot's own characteristics to determine a second traversable area within which the robot can traverse, allowing operation and maintenance routes to be planned within the second traversable area.

[0056] In some embodiments, determining the second traversable area from the first traversable area based on the first data of the robot includes:

[0057] The robot's pass type is determined according to the first data, and the first passable area is screened according to the pass type to obtain the second passable area.

[0058] In this embodiment, the robot can have multiple types of traffic, which are mainly divided into traffic type categories. The first category is wheeled / tracked robots, the second category is legged robots (two-legged, four-legged, etc.), the third category is flying robots, and the fourth category is a hybrid robot of the above three categories. For the same first traversable area, the second traversable areas that robots of different traversable types can actually traverse are completely different. For example, a legged robot can cross certain building obstacles and reach the work point more quickly, while a flying robot can reach the work point more quickly through an aerial path and operate on substation equipment at a closer distance (necessitating avoiding contact with related lines). Therefore, the present invention determines the second traversable area suitable for the current robot based on the robot's own traffic type, which is conducive to planning a more reasonable operation and maintenance path for the robot.

[0059] The robot's access type can be pre-stored in the robot's memory or network server, or even configured in the primary or secondary operation and maintenance instructions sent by the remote control or server. For example, if the substation robot is equipped with multiple access types, the operator can bind the operation and maintenance path constraints involving path type restrictions to the primary or secondary operation and maintenance instructions based on the actual situation. The robot or network server can then select the second passable area based on the operation and maintenance path constraints.

[0060] In some embodiments, planning the operation and maintenance path according to the second traversable area includes:

[0061] Determining an operation and maintenance item of a target operation and maintenance device and three-dimensional position data related to the operation and maintenance item according to the operation and maintenance instruction;

[0062] The operation and maintenance path is planned according to the operation and maintenance project and the three-dimensional location data.

[0063] In this embodiment, the operation and maintenance instructions will at least include the operation and maintenance items required for the target equipment, such as operating the working status of circuit breakers, load switches, and disconnectors, and removing foreign objects from cables and relay protection devices. They will also include the specific operation points for these items. Based on this, a reasonable operation and maintenance route can be planned.

[0064] Among them, the planned operation and maintenance path can be a single ground path, a single air path, and a ground-air combined path, etc., which can be determined based on factors such as the three-dimensional position data of the operation and maintenance project and the operating range of the robot operating arm. The details will not be repeated here.

[0065] In some embodiments, planning the operation and maintenance path according to the operation and maintenance project and the three-dimensional location data includes:

[0066] Determining first threat data of the operation and maintenance project and second threat data related to the operation and maintenance project;

[0067] determining an operation and maintenance point according to the first threat data, the second threat data, and the three-dimensional position data;

[0068] The operation and maintenance path is planned according to the operation and maintenance work point.

[0069] In this embodiment, while the robot's working arm generally possesses a high level of protection, its internal electronic components, such as the controller, camera, and communicator, are susceptible to the effects of substation equipment, potentially causing the robot to malfunction and shut down. In light of this, the present invention assesses threat data for the substation equipment requiring maintenance, as well as for adjacent substation equipment related to the substation. This threat data primarily includes voltage intensity and electromagnetic intensity. By evaluating this threat data, the most suitable maintenance point for the robot to dock is identified, and this point is used as the endpoint of the maintenance path. This allows the robot's maintenance path to be planned.

[0070] In some embodiments, when there are multiple operation and maintenance items, determining an operation and maintenance work point according to the first threat data, the second threat data, and the three-dimensional position data includes:

[0071] Grouping the operation and maintenance items according to the three-dimensional position data;

[0072] For each of the groups, according to the operation and maintenance items in the group, a plurality of first operation and maintenance work points are determined according to the first threat data, the second threat data, and the three-dimensional position data;

[0073] Determining an operation line including each of the first operation and maintenance operation points based on the first threat data, the second threat data, and the three-dimensional position data related to each of the operation and maintenance items;

[0074] A second operation and maintenance operation point is obtained by screening from the operation line according to the operation parameters of the robot, and is used as the operation and maintenance operation point.

[0075] In this embodiment, the operation and maintenance instructions may include multiple operation and maintenance items, and multiple operation and maintenance items may also involve multiple substation equipment. In response to this situation, the present invention first groups the operation and maintenance items according to their locations, and for each operation and maintenance item in the group, multiple first operation and maintenance operation points are determined in the aforementioned manner; then, an operation line containing each first operation and maintenance operation point is determined in the same manner as the aforementioned consideration of threat data; finally, the most suitable second operation and maintenance operation point is selected from the operation line based on the robot's operating parameters, such as the operating range of the operating arm. Therefore, after using the second operation and maintenance operation point as the robot's operation point, the robot can reduce displacement and path planning when operating multiple operation and maintenance items in the group. It only needs to change its posture on the spot, thereby effectively reducing the computational load of path planning and improving operation and maintenance efficiency.

[0076] It should be noted that the robot's operating arm can be equipped with multiple operating modules, so that a single robot can perform operations on different operation and maintenance projects of different substation equipment. The specific type of specific operating module is not limited by this invention and can be set according to the specific situation of the substation.

[0077] See Figure 2 The embodiment of the present invention further discloses a system for substation operation and maintenance using a robot, comprising an acquisition module, a processing module, and a storage module; the processing module is connected to the acquisition module and the storage module;

[0078] The storage module is used to store executable computer program code;

[0079] The acquisition module is used to acquire operation and maintenance instructions and data related to the robot and the substation, and transmit them to the processing module;

[0080] It is characterized in that: the processing module is used to execute the method as described in the above embodiment by calling the executable computer program code in the storage module.

[0081] An embodiment of the present invention further discloses an electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the processor calling the executable program code stored in the memory to execute the method as described in the above embodiment.

[0082] An embodiment of the present invention further discloses a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in the above embodiment is executed.

[0083] The embodiment of the present invention further discloses a computer program product, which executes the method described in the above embodiment when running.

[0084] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0085] Through the description of the above embodiments, it can be seen that those skilled in the art can clearly understand that the present application can be implemented by means of software plus the necessary general hardware platform. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, an information push server, or a network device, etc.) to execute the methods described in various embodiments of the present application or certain parts of the embodiments.

[0086] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0087] The present application can be used in a variety of general-purpose or specialized computing system environments or configurations, such as personal computers, information push server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments that include any of the above systems or devices.

[0088] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0089] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0090] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for substation operation and maintenance using a robot, characterized in that: The method comprises the following steps: Receive an operation and maintenance instruction, and determine a target operation and maintenance device according to the operation and maintenance instruction; Planning an operation and maintenance route based on the first data of the robot and the second data of the substation; the second data including a high-precision map of the substation and the specific layout of each substation equipment in the high-precision map, a high-precision three-dimensional model of the substation equipment, and the connection layout of the lines between the three-dimensional models; Controlling the robot to perform operation and maintenance operations on the target operation and maintenance equipment according to the operation and maintenance path; The planning of an operation and maintenance path according to the first data of the robot and the second data of the substation includes: Determine a first traversable area according to the second data of the substation, and determine a second traversable area from the first traversable area according to the first data of the robot; Planning the operation and maintenance path according to the second traversable area; The determining a second traversable area from the first traversable area according to the first data of the robot includes: Determining the robot's traversability type based on the first data, and filtering the first traversable area based on the traversability type to obtain the second traversable area; the traversability type includes a wheeled / tracked robot, a legged robot, a flying robot, or a hybrid of the aforementioned three types of robots; Planning the operation and maintenance path according to the second traversable area includes: Determining an operation and maintenance item of a target operation and maintenance device and three-dimensional position data related to the operation and maintenance item according to the operation and maintenance instruction; Planning the operation and maintenance path according to the operation and maintenance project and the three-dimensional location data; Planning the operation and maintenance path according to the operation and maintenance project and the three-dimensional location data includes: Determining first threat data of a substation corresponding to the operation and maintenance project and second threat data of adjacent substations related to the operation and maintenance project; the first threat data and the second threat data both include voltage intensity and electromagnetic intensity; determining an operation and maintenance point according to the first threat data, the second threat data, and the three-dimensional position data; Planning the operation and maintenance path according to the operation and maintenance work point; When there are multiple operation and maintenance items, determining an operation and maintenance work point according to the first threat data, the second threat data, and the three-dimensional position data includes: Grouping the operation and maintenance items according to the three-dimensional position data; For each of the groups, according to the operation and maintenance items in the group, a plurality of first operation and maintenance work points are determined based on the first threat data, the second threat data, and the three-dimensional position data; each of the groups involves a plurality of substation equipment; Determining an operation line including each of the first operation and maintenance operation points based on the first threat data, the second threat data, and the three-dimensional position data related to each of the operation and maintenance items; A second operation and maintenance operation point is obtained by screening from the operation line according to the operation parameters of the robot, and is used as the operation and maintenance operation point; the operation parameters are the operation range of the operation arm.

2. The method for substation operation and maintenance using a robot according to claim 1, characterized in that: The receiving of the operation and maintenance instruction includes: Receive a first operation and maintenance instruction sent from a remote control; and / or receive a second operation and maintenance instruction sent from a server; and / or receive a third operation and maintenance instruction sent from a target operation and maintenance device.

3. A system for substation operation and maintenance using a robot, comprising an acquisition module, a processing module, and a storage module; the processing module is connected to the acquisition module and the storage module; the storage module is configured to store executable computer program code; the acquisition module is configured to acquire operation and maintenance instructions and data related to the robot and the substation, and transmit them to the processing module; characterized in that: The processing module is configured to execute the method according to claim 1 or 2 by calling the executable computer program code in the storage module.

4. An electronic device comprising: a memory storing executable program code; A processor coupled to the memory; characterized in that: the processor calls the executable program code stored in the memory to execute the method according to claim 1 or 2.

5. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to claim 1 or 2 is performed.

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