A substation monitoring system

Abstract

The present invention discloses a substation monitoring system, which includes a patrol robot, an environmental monitoring sensor, a terminal control module, a network transmission module and a remote monitoring center. The remote monitoring center is connected to the terminal control module through the network transmission module, and the patrol robot and the environmental monitoring sensor are both electrically connected to the terminal control module; the patrol robot is used to obtain instrument data of power equipment; the environmental monitoring sensor is used to obtain environmental parameters of the environment in which the power equipment is located; the terminal control module is used to parse the monitored environmental parameters and instrument data and upload them to the remote monitoring center. The substation control system of the present invention realizes real-time monitoring of the substation operating environment and pointer instrument data of power equipment, improves the operation and maintenance management of the smart substation, ensures its safe, stable and effective operation, solves the problems that the current substation monitoring system is difficult to interact and basic operation and maintenance still requires manual intervention, and realizes unmanned operation.

Description

Technical Field

[0001] The present invention relates to the technical field of substation monitoring, and in particular to a substation monitoring system. Background Art

[0002] With the development of society, the infrastructure of urban buildings and public areas has increased, and the scale of power systems has become larger and larger. As an important production unit of power companies, substations have been actively and effectively explored and analyzed under the guidance of the idea of ​​improving the intelligence of substations.

[0003] Substations are an important part of power generation, transmission and distribution systems. Their main function is to perform power distribution and transformation work in the area where they are located, and they are a key link in ensuring the smooth operation of the power grid. Substations are often located in remote geographical locations and are relatively scattered. With the expansion of the scale of the power grid and the increasing number of substations, manual operation alone is far from meeting the operation and maintenance management needs of substations. Therefore, it is very important to select data collection and remotely control the system.

[0004] At present, most substations have realized the monitoring of core equipment such as transformers and circuit breakers, but the monitoring system is obviously insufficient in monitoring environmental parameters such as temperature, humidity, lighting, and pointer parameters of various electromechanical equipment in the substation, and basic operation and maintenance still require manual intervention. In addition, the existing monitoring system of the substation is relatively independent, with problems such as difficulty in interaction, function reuse, and waste of server resources.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a substation monitoring system, aiming to solve the problems of interaction difficulties, function reuse and server resource waste in the existing substation monitoring system.

[0007] The technical solution of the present invention is as follows:

[0008] A substation monitoring system, wherein the substation monitoring system comprises an inspection robot, an environmental monitoring sensor, a terminal control module, a network transmission module and a remote monitoring center, the remote monitoring center is communicatively connected to the terminal control module via the network transmission module, and the inspection robot and the environmental monitoring sensor are both electrically connected to the terminal control module;

[0009] The inspection robot is used to obtain instrument data of power equipment;

[0010] The environmental monitoring sensor is used to obtain environmental parameters of the environment in which the power equipment is located;

[0011] The terminal control module is used to parse the monitored environmental parameters and instrument data and upload them to the remote monitoring center.

[0012] The substation monitoring system, wherein the terminal control module includes a power supply, an environmental monitoring sensor electrically connected to the power supply, a sampling processing circuit, a command unit, a communication unit, and a main control unit connected to the command unit and the sampling processing circuit, wherein the sampling processing circuit is electrically connected to the environmental monitoring sensor;

[0013] The sampling and processing circuit is used to process the environmental parameters monitored by the environmental monitoring sensor and the instrument parameters acquired by the inspection robot into identifiable physical values;

[0014] The main control unit is used to transmit the identifiable physical value to the remote monitoring center, and feed back the warning information of the remote monitoring center to the power equipment to realize data interaction;

[0015] The command unit is responsible for parsing the control command from the main control unit and sending the control command to each power device;

[0016] The communication unit is used for the main control unit to communicate with the remote monitoring center.

[0017] The substation control system, wherein the environmental monitoring sensor and the terminal control module are communicatively connected based on ZigBee.

[0018] The substation control system, wherein the inspection robot is communicatively connected to the terminal control module via a WIFI wireless network.

[0019] The substation control system, wherein the terminal control module is communicatively connected to the remote monitoring center via Ethernet.

[0020] The substation control system described above, wherein the inspection robot has its eyes provided with cameras.

[0021] The substation control system described above, wherein a target detection and recognition module electrically connected to a camera is provided inside the inspection robot.

[0022] The substation control system, wherein the main control unit is an S3C6410 chip.

[0023] Beneficial effects: The substation control system provided by the present invention realizes real-time monitoring of the substation operating environment and the pointer instrument data of the power equipment, effectively improves the operation and maintenance management of the smart substation, ensures its safe, stable and effective operation, and effectively solves the problems that the current substation monitoring system is difficult to interact and basic operation and maintenance still requires manual intervention, thus realizing unmanned operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of a substation monitoring system.

[0025] Figure 2 This is the functional block diagram of the terminal control module. DETAILED DESCRIPTION

[0026] The present invention provides a substation monitoring system. To make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore, cannot be understood as a limitation of the present invention. In addition, "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means more than two.

[0028] Substations are an important part of power generation, transmission and distribution systems. Their main function is to perform power distribution and transformation work in the area where they are located. They are a key link in ensuring the smooth operation of the power grid. At present, most substations have realized the monitoring of core equipment such as transformers and circuit breakers, but the monitoring of environmental parameters such as temperature, humidity, lighting, and pointer parameters of various electromechanical equipment in the substation is obviously insufficient, and basic operation and maintenance still require manual intervention. In addition, the components of the existing monitoring system of the substation are relatively independent and difficult to interact, resulting in a waste of server resources.

[0029] Based on this, this embodiment provides a Figure 1 The substation monitoring system shown in the figure includes a patrol robot, an environmental monitoring sensor, a terminal control module 10, a network transmission module 20 and a remote monitoring center 30. The remote monitoring center 30 is communicatively connected to the terminal control module 10 via the network transmission module 20, and the patrol robot and the environmental monitoring sensor are both electrically connected to the terminal control module 10.

[0030] In this embodiment, the substation includes multiple power equipment, and the inspection robot is set at the location where the power equipment is placed. The inspection robot can cruise along a predetermined track according to instructions and obtain instrument data of each power equipment; in this embodiment, the environmental monitoring sensor is also set at the location where the power equipment is placed in the substation, and the environmental monitoring sensor is used to obtain environmental parameters of the environment in which the power equipment is located; in this embodiment, the terminal control module 10 is used to parse the monitored environmental parameters and instrument data and upload them to the remote monitoring center 30; the remote monitoring center 30 is used for real-time data processing, data storage and interface services.

[0031] The substation control system provided in this embodiment monitors the substation operating environment parameters and pointer instrument data of power equipment in real time through environmental monitoring sensors and inspection robots, and analyzes the monitored environmental parameters and instrument data through the terminal control module 10 and uploads them to the remote monitoring center 30, so that the staff can obtain the operating status of the substation in real time remotely, thereby improving the operation and maintenance management of the smart substation and ensuring its safe, stable and effective operation. The substation control system provided by the present invention effectively solves the problems that the current substation monitoring system is difficult to interact and basic operation and maintenance still requires manual intervention, and realizes unmanned operation.

[0032] In some embodiments, Figure 2 As shown, the terminal control module 10 includes a power supply 11, a sampling processing circuit 12, an instruction unit 13, a communication unit 14 electrically connected to the power supply 11, and a main control unit 15 connected to the instruction unit 13 and the sampling processing circuit 12;

[0033] In this embodiment, the sampling and processing circuit 12 is used to process the environmental parameters monitored by the environmental monitoring sensor and the instrument parameters obtained by the inspection robot into recognizable physical values; the main control unit 15 is used to transmit the recognizable physical values ​​to the remote monitoring center 30, and at the same time feed back the alarm information of the remote monitoring center 30 to the power equipment to realize data interaction; the instruction unit 13 is responsible for parsing the control instructions from the main control unit 15 and sending the control instructions to each power equipment; the communication unit is used for the main control unit 15 to communicate with the remote monitoring center 30.

[0034] In this embodiment, the main control unit 15 is the core of the terminal control module. The main control unit 15 is preferably an S3C6410 chip, whose main frequency is up to 667 Hz and supports up to 512M content.

[0035] In some embodiments, the environmental monitoring sensor is preferably an FT-wqx7 type seven-parameter integrated environmental monitoring sensor, which can realize continuous real-time online monitoring of environmental factors such as ambient temperature, relative humidity, atmospheric pressure, wind direction, wind speed, light intensity, rainfall, etc., and has high measurement accuracy and stable and reliable performance.

[0036] In some embodiments, the inspection robot has a camera at its eyes, and a target detection and recognition module electrically connected to the camera is provided inside the inspection robot. In this embodiment, the instrument data of the electromechanical equipment is realized by the inspection robot, which obtains the image of the instrument to be identified through the camera, and performs data recognition on the instrument image through the target detection and recognition module to obtain accurate instrument data; then the terminal control module performs real-time data analysis on the instrument data and sends it to the remote monitoring center, so that the staff can remotely learn the operating status of each electromechanical equipment in the substation.

[0037] Specifically, the target detection and recognition module includes a target detection unit and a target recognition unit. The target detection unit is used to detect the target position. In order to improve the real-time and accuracy of positioning and minimize the impact of differences in distance, curvature angle, posture, etc. on the acquisition of instrument images, a target detection algorithm based on an SSD network is used to achieve positioning. Its loss function is the weighted sum of the position error and the category confidence error, as shown below: Among them, c is the category confidence prediction value, and c∈[0,1]; l is the prediction value of the position of the bounding box corresponding to the prior box, g is the real target box to be identified, N is the number of positive samples of the prior box, α is the weight coefficient, and the default value is 1.

[0038] The target recognition unit is used to identify the instrument readings. Since a large number of instruments in the substation are in an outdoor environment, in order to correct the influence of uneven illumination, the system adopts a correction algorithm based on a two-dimensional Gamma function, and uses the extracted illumination components to adaptively correct the uneven illumination according to its distribution characteristics. For the identification of instrument readings, an improved algorithm for extracting the pointer area based on MS-ER is adopted. The pointer area is extracted through two stable area detections of the maximum stable extreme value, and then the pointer is accurately positioned under the condition that the pointer passes through the axis of the instrument, combined with a refinement algorithm and a cumulative probability Hough transform (PPHT), and finally the instrument reading coordinate system is constructed to obtain the instrument readings.

[0039] The present invention selects a total of 100 instrument pictures for indication recognition test, and compares the visual results with the system recognition results. The experimental data show that the accuracy of the system recognition results can reach 98%, and the system pointer instrument recognition performance is good, which can provide strong technical support for the instrument monitoring of electromechanical equipment.

[0040] In some implementations, in order to reduce wiring and system deployment difficulty, the environmental monitoring sensor and the terminal control module are connected to each other based on ZigBee. In this embodiment, ZigBee is based on the IEEE802.15.4 standard, can network 254 nodes at the same time, has high reliability, and meets the requirements of the substation monitoring system.

[0041] In some embodiments, the inspection robot is communicatively connected to the terminal control module via a WIFI wireless network.

[0042] In some embodiments, due to the huge amount of received data, considering the real-time and stability of data transmission and command issuance, the terminal control module is connected to the remote monitoring center through Ethernet. For the Ethernet interface, there are two interface forms, namely the standard RJ45 interface and the SFP optical fiber interface. Because the system needs to achieve long-distance transmission and there is strong electromagnetic interference in the substation, the use of optical fiber communication cables for transmission can greatly reduce the impact of electromagnetic interference and ensure the stability of the transmission signal.

[0043] To sum up, the substation monitoring system provided by the present invention realizes real-time monitoring of the substation operating environment and the pointer instrument data of the power equipment, effectively improves the operation and maintenance management of the smart substation, ensures its safe, stable and effective operation, and effectively solves the problems that the current substation monitoring system is difficult to interact and basic operation and maintenance still requires manual intervention, thus realizing unmanned operation.

[0044] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A substation monitoring system, characterized in that: The substation monitoring system includes an inspection robot, an environmental monitoring sensor, a terminal control module, a network transmission module and a remote monitoring center. The remote monitoring center is connected to the terminal control module through the network transmission module, and the inspection robot and the environmental monitoring sensor are both electrically connected to the terminal control module. The inspection robot is used to obtain instrument data of power equipment; The environmental monitoring sensor is used to obtain environmental parameters of the environment in which the power equipment is located; The terminal control module is used to parse the monitored environmental parameters and instrument data and upload them to the remote monitoring center; the inspection robot is provided with a camera at the eye part, and a target detection and recognition module electrically connected to the camera is provided inside the inspection robot; the target detection and recognition module includes a target detection unit and a target recognition unit, and the target detection unit is used to detect the target position. In order to improve the real-time and accuracy of positioning and minimize the influence of distance, curvature angle, and posture differences on the acquisition of instrument images, the target detection algorithm based on the SSD network is used to achieve positioning, and its loss function is the weighted sum of the position error and the category confidence error, as shown below: Wherein, c is the predicted value of the category confidence, and c∈[0,1]; l is the predicted value of the position of the bounding box corresponding to the prior box, g is the real target box to be identified, N is the number of positive samples of the prior box, α is the weight coefficient, and the default value is 1; the target recognition unit is used to identify the instrument readings. Since a large number of instruments in the substation are in an outdoor environment, in order to correct the influence of uneven illumination, the system adopts a correction algorithm based on a two-dimensional Gamma function, and uses the extracted illumination components to adaptively correct the uneven illumination according to its distribution characteristics. For the identification of instrument readings, an improved algorithm for extracting pointer regions based on MS-ER is adopted. Through two stable region detections of the maximum stable extreme value, the pointer region is extracted, and then the pointer is accurately positioned under the condition that the pointer passes through the axis of the instrument, combined with the refinement algorithm and the cumulative probability Hough transform, and finally the instrument reading coordinate system is constructed to obtain the instrument readings; The terminal control module includes a power supply, an environmental monitoring sensor, a sampling and processing circuit, a command unit, a communication unit electrically connected to the power supply respectively, and a main control unit connected to the command unit and the sampling and processing circuit, wherein the sampling and processing circuit is electrically connected to the environmental monitoring sensor; the sampling and processing circuit is used to process the environmental parameters monitored by the environmental monitoring sensor and the instrument parameters obtained by the inspection robot into identifiable physical values; the main control unit is used to transmit the identifiable physical values ​​to a remote monitoring center, and at the same time feed back the alarm information of the remote monitoring center to the power equipment to realize data interaction; the command unit is responsible for parsing the control instructions from the main control unit and sending the control instructions to each power equipment; the communication unit is used for the main control unit to communicate with the remote monitoring center.

2. The substation monitoring system according to claim 1, characterized in that: The environment monitoring sensor is connected to the terminal control module for communication based on ZigBee.

3. The substation monitoring system according to claim 1, characterized in that: The inspection robot is connected to the terminal control module through a WIFI wireless network.

4. The substation monitoring system according to claim 1, characterized in that: The terminal control module is connected to the remote monitoring center through Ethernet.

5. The substation monitoring system according to claim 1, characterized in that: The inspection robot is provided with cameras at its eyes.

6. The substation monitoring system according to claim 5, characterized in that: The inspection robot is internally provided with a target detection and recognition module electrically connected to the camera.

7. The substation monitoring system according to claim 1, characterized in that: The main control unit is a S3C6410 chip.

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